+ python -m lidar_slam --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.12 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters 0.8526122132155989 Centerline is valid? [0, False] SLAMing on 0.034012739 meters 0.8526122132155989 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 -1.92955117e-16 2.28365816e-16 3.40838469e-14] [ 1.98816399e-16 1.00000000e+00 -9.47276802e-17 -4.13211674e-14] [ 3.69356606e-17 1.61514228e-16 1.00000000e+00 1.07336371e-12] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.064012739 meters 0.7710180709901981 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999996e-01 -4.86483710e-05 -7.74801071e-05 7.06359293e-04] [ 4.86418716e-05 9.99999995e-01 -8.38854776e-05 5.49064364e-04] [ 7.74841876e-05 8.38817085e-05 9.99999993e-01 -5.77380956e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094012739 meters 0.7674752015938205 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999990e-01 -5.57598811e-05 -1.28844604e-04 1.24558470e-03] [ 5.57465820e-05 9.99999993e-01 -1.03220113e-04 6.99398426e-04] [ 1.28850359e-04 1.03212930e-04 9.99999986e-01 -1.11635106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters 0.7945632971716631 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999926e-01 -3.01872051e-04 -2.39152351e-04 2.16876615e-03] [ 3.01744782e-04 9.99999813e-01 -5.32024349e-04 3.44933903e-03] [ 2.39312910e-04 5.31952146e-04 9.99999830e-01 -1.72904251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15401273899999998 meters 0.7449506363907707 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999903e-01 -3.62213960e-04 -2.50940820e-04 2.24327065e-03] [ 3.62053700e-04 9.99999731e-01 -6.38389811e-04 4.10823684e-03] [ 2.51171986e-04 6.38298895e-04 9.99999765e-01 -1.78112289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters 0.7766213389012189 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999904e-01 -3.47038719e-04 -2.67481905e-04 2.40947081e-03] [ 3.46873828e-04 9.99999750e-01 -6.16258525e-04 3.99546336e-03] [ 2.67695703e-04 6.16165683e-04 9.99999774e-01 -1.91844626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21401273899999998 meters 0.7729729363142726 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999917e-01 -2.94558478e-04 -2.81769046e-04 2.81683578e-03] [ 2.94410737e-04 9.99999819e-01 -5.24234626e-04 3.43950796e-03] [ 2.81923413e-04 5.24151627e-04 9.99999823e-01 -2.46925811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters 0.8076457635563773 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999896e-01 -2.71891308e-04 -3.65606668e-04 3.52388326e-03] [ 2.71711069e-04 9.99999842e-01 -4.92944205e-04 3.29281983e-03] [ 3.65740637e-04 4.92844815e-04 9.99999812e-01 -3.01451652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274012739 meters 0.7415488168518921 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999847e-01 -1.94455022e-04 -5.16904295e-04 4.68037812e-03] [ 1.94266430e-04 9.99999915e-01 -3.64872986e-04 2.56349516e-03] [ 5.16975203e-04 3.64772514e-04 9.99999800e-01 -3.77162156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters 0.7821038127631557 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999837e-01 -5.42983611e-05 -5.68221272e-04 5.17959767e-03] [ 5.42243840e-05 9.99999990e-01 -1.30205331e-04 1.15468768e-03] [ 5.68228336e-04 1.30174498e-04 9.99999830e-01 -4.18543425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33401273899999995 meters 0.7737668533006646 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999825e-01 6.97155479e-05 -5.86905064e-04 5.41566921e-03] [-6.96670864e-05 9.99999994e-01 8.25913225e-05 -1.63838508e-04] [ 5.86910818e-04 -8.25504201e-05 9.99999824e-01 -4.44152364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters 0.8020355150274009 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999784e-01 2.31985827e-04 -6.15020356e-04 5.68132335e-03] [-2.31759394e-04 9.99999905e-01 3.68217663e-04 -1.96030207e-03] [ 6.15105719e-04 -3.68075047e-04 9.99999743e-01 -4.68729938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394012739 meters 0.7956831732439269 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999743e-01 2.07048799e-04 -6.86018957e-04 6.23500947e-03] [-2.06829606e-04 9.99999928e-01 3.19569331e-04 -1.61895610e-03] [ 6.86085074e-04 -3.19427360e-04 9.99999714e-01 -5.03720360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters 0.7962111992272446 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999716e-01 -5.98839597e-05 -7.50693568e-04 6.70371898e-03] [ 5.97067161e-05 9.99999970e-01 -2.36126594e-04 1.89216036e-03] [ 7.50707686e-04 2.36081705e-04 9.99999690e-01 -5.37081090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45401273899999994 meters 0.8035111919478749 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999627e-01 -2.77545760e-04 -8.18263708e-04 7.00521982e-03] [ 2.77026956e-04 9.99999761e-01 -6.34076285e-04 4.30969598e-03] [ 8.18439497e-04 6.33849367e-04 9.99999464e-01 -5.34224749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters 0.7723339518680465 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999485e-01 -4.57406288e-04 -9.05737912e-04 7.51712947e-03] [ 4.56508127e-04 9.99999404e-01 -9.91592525e-04 6.53528207e-03] [ 9.06190933e-04 9.91178538e-04 9.99999098e-01 -5.48142261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514012739 meters 0.7964602371786274 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99998372e-01 2.72776484e-04 -1.78391940e-03 1.59432276e-02] [-2.75307772e-04 9.99998956e-01 -1.41885608e-03 1.30705401e-02] [ 1.78353051e-03 1.41934490e-03 9.99997402e-01 -1.21909730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters 0.8068782255427197 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99998150e-01 -1.80106946e-04 -1.91490854e-03 1.67896513e-02] [ 1.75583294e-04 9.99997194e-01 -2.36223886e-03 1.89776542e-02] [ 1.91532862e-03 2.36189827e-03 9.99995376e-01 -1.26745223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5740127389999999 meters 0.776106684104648 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99997243e-01 -5.89526523e-04 -2.27305593e-03 1.90044877e-02] [ 5.81165808e-04 9.99993071e-01 -3.67709050e-03 2.77797387e-02] [ 2.27520792e-03 3.67575934e-03 9.99990656e-01 -1.41376323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604012739 meters 0.7902497723515091 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99997004e-01 -8.22613031e-04 -2.30556501e-03 1.93563231e-02] [ 8.13186356e-04 9.99991319e-01 -4.08662074e-03 3.03928612e-02] [ 2.30890670e-03 4.08473364e-03 9.99988992e-01 -1.44365032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.634012739 meters 0.768931591916676 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.9999967 -0.00105892 -0.00233971 0.01937352] [ 0.0010484 0.99998936 -0.00449139 0.0329314 ] [ 0.00234444 0.00448892 0.99998718 -0.01418923] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters 0.7734431794809252 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999634 -0.00124488 -0.00240137 0.0196331 ] [ 0.00123339 0.9999878 -0.00478308 0.03487612] [ 0.00240729 0.0047801 0.99998568 -0.01394605] [ 0. 0. 0. 1. ]] SLAMing on 0.6940127389999999 meters 0.7684426365647333 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999613 -0.00117641 -0.00252031 0.02024206] [ 0.00116465 0.99998846 -0.00465986 0.0341545 ] [ 0.00252576 0.0046569 0.99998597 -0.01393796] [ 0. 0. 0. 1. ]] SLAMing on 0.724012739 meters 0.7684426365647333 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999613 -0.00117641 -0.00252031 0.02024206] [ 0.00116465 0.99998846 -0.00465986 0.0341545 ] [ 0.00252576 0.0046569 0.99998597 -0.01393796] [ 0. 0. 0. 1. ]] SLAMing on 0.754012739 meters 0.7780930701172433 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.9999958 -0.00110778 -0.00267719 0.02138064] [ 0.00109568 0.99998919 -0.00451842 0.03330222] [ 0.00268217 0.00451547 0.99998621 -0.01451889] [ 0. 0. 0. 1. ]] SLAMing on 0.784012739 meters 0.78249762320205 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999526 -0.00111604 -0.00286845 0.02259687] [ 0.0011035 0.99998983 -0.0043726 0.03248993] [ 0.0028733 0.00436941 0.99998633 -0.01493279] [ 0. 0. 0. 1. ]] SLAMing on 0.8140127389999999 meters 0.7668088868384024 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.02 [[ 0.9999946 -0.00103319 -0.0031196 0.0242075 ] [ 0.00102063 0.99999138 -0.00402399 0.03023379] [ 0.00312374 0.00402078 0.99998704 -0.01564159] [ 0. 0. 0. 1. ]] SLAMing on 0.844012739 meters 0.7726727425798251 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99994294e-01 -8.50739365e-04 -3.26939581e-03 2.52437411e-02] [ 8.38666607e-04 9.99992832e-01 -3.69225561e-03 2.82113565e-02] [ 3.27251353e-03 3.68949261e-03 9.99987839e-01 -1.61441744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874012739 meters 0.7619963129135754 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99993960e-01 -5.35842714e-04 -3.43411613e-03 2.64582225e-02] [ 5.25199659e-04 9.99995059e-01 -3.09936530e-03 2.45658527e-02] [ 3.43575994e-03 3.09754298e-03 9.99989300e-01 -1.68522810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9040127389999999 meters 0.7603851500403431 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99993792e-01 -7.51792110e-04 -3.44262213e-03 2.65425835e-02] [ 7.44631457e-04 9.99997558e-01 -2.08080933e-03 1.61480499e-02] [ 3.44417806e-03 2.07823293e-03 9.99991909e-01 -1.68339800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9340127389999999 meters 0.8027280900002165 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 0.99998901 -0.00189014 -0.00429035 0.03409246] [ 0.00187984 0.99999535 -0.00240299 0.01364897] [ 0.00429487 0.0023949 0.99998791 -0.0221668 ] [ 0. 0. 0. 1. ]] SLAMing on 0.964012739 meters 0.7681097009652399 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 0.99999091 -0.00235686 -0.00355234 0.02616858] [ 0.00235139 0.99999605 -0.00154209 0.00379769] [ 0.00355596 0.00153373 0.9999925 -0.01555095] [ 0. 0. 0. 1. ]] SLAMing on 0.994012739 meters 0.7626481852638165 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99991856e-01 -1.87844660e-03 -3.57204018e-03 2.64311358e-02] [ 1.87591989e-03 9.99997988e-01 -7.10577035e-04 -1.44867338e-03] [ 3.57336778e-03 7.03870386e-04 9.99993368e-01 -1.57386861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024012739 meters 0.7635346776105286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99992417e-01 -1.50436503e-03 -3.59207072e-03 2.65021264e-02] [ 1.50413448e-03 9.99998867e-01 -6.68824257e-05 -5.53673642e-03] [ 3.59216726e-03 6.14789611e-05 9.99993546e-01 -1.56284229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054012739 meters 0.7591794428947753 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99992679e-01 -1.18207539e-03 -3.63921950e-03 2.67477972e-02] [ 1.18382597e-03 9.99999185e-01 4.78915182e-04 -8.99231362e-03] [ 3.63865042e-03 -4.83219879e-04 9.99993263e-01 -1.55652905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084012739 meters 0.7474167501387204 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99992976e-01 -4.69246329e-04 -3.71849610e-03 2.72314699e-02] [ 4.75453027e-04 9.99998495e-01 1.66843399e-03 -1.67615045e-02] [ 3.71770760e-03 -1.67019025e-03 9.99991695e-01 -1.57136625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1140127389999999 meters 0.7462222161769878 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99992621e-01 2.96984240e-04 -3.83004305e-03 2.82751844e-02] [-2.85714249e-04 9.99995629e-01 2.94273490e-03 -2.50785881e-02] [ 3.83090025e-03 -2.94161889e-03 9.99988335e-01 -1.64261415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.144012739 meters 0.7635890321029657 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99992178e-01 6.98068919e-04 -3.89327415e-03 2.87672246e-02] [-6.83971003e-04 9.99993209e-01 3.62125162e-03 -2.94178339e-02] [ 3.89577559e-03 -3.61856041e-03 9.99985864e-01 -1.66671720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174012739 meters 0.7449778162476813 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 0.99999152 0.00109858 -0.00396858 0.02922814] [-0.00108151 0.99999017 0.00430028 -0.03379816] [ 0.00397326 -0.00429595 0.99998288 -0.01676749] [ 0. 0. 0. 1. ]] SLAMing on 1.204012739 meters 0.766996735932226 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 0.99998984 0.0018266 -0.00412001 0.03061968] [-0.00180382 0.9999831 0.00552634 -0.04185392] [ 0.00413003 -0.00551885 0.99997624 -0.01771669] [ 0. 0. 0. 1. ]] SLAMing on 1.234012739 meters 0.7392116461260596 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.01 [[ 0.99999377 -0.00114586 -0.00333783 0.02377483] [ 0.00115095 0.99999818 0.00152374 -0.03835195] [ 0.00333608 -0.00152757 0.99999327 -0.01207317] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters 0.7402690965834091 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.01 [[ 0.99999348 -0.00105464 -0.00345463 0.02458403] [ 0.00105993 0.99999827 0.00152961 -0.03831259] [ 0.00345301 -0.00153326 0.99999286 -0.01228521] [ 0. 0. 0. 1. ]] SLAMing on 1.294012739 meters 0.7276548641665982 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.99999299 -0.00112928 -0.0035706 0.02524328] [ 0.00113423 0.9999984 0.00138391 -0.03742933] [ 0.00356903 -0.00138795 0.99999267 -0.01226408] [ 0. 0. 0. 1. ]] SLAMing on 1.3240127389999998 meters 0.7349233841963536 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.99999232 -0.00121474 -0.00372503 0.02631655] [ 0.00121911 0.99999857 0.00117237 -0.03607506] [ 0.0037236 -0.00117691 0.99999237 -0.01263548] [ 0. 0. 0. 1. ]] SLAMing on 1.3540127389999999 meters 0.972934625165996 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 9.99991515e-01 -6.78826075e-04 -4.06305782e-03 2.85328331e-02] [ 6.81717241e-04 9.99999515e-01 7.10231206e-04 -3.12238603e-02] [ 4.06257373e-03 -7.12995037e-04 9.99991494e-01 -1.35778203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3840127389999999 meters 0.9726009673020243 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 9.99990915e-01 -9.32325731e-04 -4.15946559e-03 2.91842795e-02] [ 9.33250535e-04 9.99999540e-01 2.20401805e-04 -2.81047227e-02] [ 4.15925819e-03 -2.24281626e-04 9.99991325e-01 -1.36974522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.414012739 meters 1.0810393168388834 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99989981e-01 -1.22791168e-03 -4.30463376e-03 3.01767470e-02] [ 1.22593299e-03 9.99999142e-01 -4.62273328e-04 -2.35382648e-02] [ 4.30519770e-03 4.56991504e-04 9.99990628e-01 -1.41851338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444012739 meters 0.9820097465077675 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99989408e-01 -1.37625619e-03 -4.39195125e-03 3.07115045e-02] [ 1.37313573e-03 9.99998803e-01 -7.13430114e-04 -2.19176221e-02] [ 4.39292785e-03 7.07391813e-04 9.99990101e-01 -1.43237714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.474012739 meters 0.6046947710570949 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99988865e-01 -1.45685463e-03 -4.48853047e-03 3.11809590e-02] [ 1.45305936e-03 9.99998584e-01 -8.48693700e-04 -2.10490113e-02] [ 4.48976054e-03 8.42162148e-04 9.99989566e-01 -1.42896734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.504012739 meters 0.9243854218589752 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99988137e-01 -1.53356809e-03 -4.62310306e-03 3.21306764e-02] [ 1.52913617e-03 9.99998368e-01 -9.62028433e-04 -2.02692159e-02] [ 4.62457085e-03 9.54947667e-04 9.99988851e-01 -1.46153163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534012739 meters 0.9789186941434463 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99998768 -0.00159415 -0.00470107 0.03246883] [ 0.00158918 0.99999817 -0.00106164 -0.01962857] [ 0.00470275 0.00105416 0.99998839 -0.01446999] [ 0. 0. 0. 1. ]] SLAMing on 1.564012739 meters 0.6107768543816523 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99998715 -0.00179629 -0.00474001 0.03260983] [ 0.00178958 0.99999739 -0.00141997 -0.01718526] [ 0.00474255 0.00141147 0.99998776 -0.0142564 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5940127389999998 meters 1.0881493053848035 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998645 -0.0019997 -0.00480588 0.03295785] [ 0.0019912 0.99999645 -0.0017716 -0.01486194] [ 0.0048094 0.00176201 0.99998688 -0.01417413] [ 0. 0. 0. 1. ]] SLAMing on 1.6240127389999999 meters 1.065621353323976 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998593 -0.00213648 -0.00485546 0.03304641] [ 0.00212676 0.99999573 -0.0020062 -0.01333639] [ 0.00485973 0.00199584 0.9999862 -0.01384834] [ 0. 0. 0. 1. ]] SLAMing on 1.654012739 meters 0.604460943929054 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998521 -0.00225984 -0.00494719 0.03376829] [ 0.00224888 0.99999501 -0.00221912 -0.01189941] [ 0.00495218 0.00220797 0.9999853 -0.0142087 ] [ 0. 0. 0. 1. ]] SLAMing on 1.684012739 meters 1.0777131852332684 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998446 -0.00234536 -0.00505816 0.03445776] [ 0.00233341 0.99999447 -0.00236798 -0.0109142 ] [ 0.00506369 0.00235614 0.9999844 -0.01442012] [ 0. 0. 0. 1. ]] SLAMing on 1.714012739 meters 0.6142015735321279 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99998365 -0.00247117 -0.00515643 0.03510032] [ 0.00245784 0.99999362 -0.00259062 -0.00944457] [ 0.0051628 0.00257791 0.99998335 -0.01457043] [ 0. 0. 0. 1. ]] SLAMing on 1.744012739 meters SLAMing on 1.774012739 meters 0.7376977816929304 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998005 -0.00409446 -0.00480933 0.03103627] [ 0.00407882 0.99998638 -0.00325635 -0.00992047] [ 0.0048226 0.00323667 0.99998313 -0.0108863 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8040127389999998 meters 0.6053016111643159 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99998 -0.0039938 -0.00490346 0.03151765] [ 0.00397874 0.99998735 -0.00307715 -0.01105672] [ 0.00491569 0.00305758 0.99998324 -0.01091204] [ 0. 0. 0. 1. ]] SLAMing on 1.8340127389999998 meters 1.0833988580776763 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99997938 -0.00402096 -0.00500625 0.032159 ] [ 0.00400533 0.99998709 -0.00312804 -0.0106913 ] [ 0.00501876 0.00310793 0.99998258 -0.01104468] [ 0. 0. 0. 1. ]] SLAMing on 1.8640127389999999 meters SLAMing on 1.894012739 meters SLAMing on 1.924012739 meters SLAMing on 1.954012739 meters SLAMing on 1.984012739 meters 1.0280499010823658 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99997393 -0.0050484 -0.0051623 0.03252062] [ 0.00503547 0.99998416 -0.00251332 -0.01908919] [ 0.0051749 0.00248726 0.99998352 -0.01083941] [ 0. 0. 0. 1. ]] SLAMing on 2.014012739 meters SLAMing on 2.0440127390000002 meters 1.1425371324790579 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99997452 -0.00518283 -0.00490832 0.03092058] [ 0.0051761 0.99998565 -0.00138392 -0.02855073] [ 0.00491542 0.00135848 0.999987 -0.00977624] [ 0. 0. 0. 1. ]] SLAMing on 2.074012739 meters 0.7218424010105886 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 9.99976718e-01 -4.67569871e-03 -4.97013534e-03 3.11123578e-02] [ 4.67371779e-03 9.99988994e-01 -4.10103747e-04 -3.48200314e-02] [ 4.97199816e-03 3.86865188e-04 9.99987565e-01 -9.55090608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1040127390000003 meters SLAMing on 2.134012739 meters 0.9906537994252593 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.99997928 -0.00391602 -0.00510951 0.03190328] [ 0.00392172 0.9999917 0.00110613 -0.04470076] [ 0.00510514 -0.00112615 0.99998633 -0.00980825] [ 0. 0. 0. 1. ]] SLAMing on 2.1640127390000004 meters 0.9194813246193051 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 0.99998 -0.00361051 -0.00519276 0.03228476] [ 0.00361922 0.99999206 0.00166892 -0.04827857] [ 0.00518669 -0.00168768 0.99998512 -0.00972889] [ 0. 0. 0. 1. ]] SLAMing on 2.194012739 meters 0.5596595909375558 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 0.99998087 -0.00325056 -0.00526228 0.03260276] [ 0.00326287 0.99999196 0.00233302 -0.05249215] [ 0.00525466 -0.00235015 0.99998343 -0.00969487] [ 0. 0. 0. 1. ]] SLAMing on 2.224012739 meters 0.5622203486457054 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 0.99998229 -0.00255793 -0.00537408 0.03335635] [ 0.00257753 0.99999004 0.00364316 -0.06092718] [ 0.00536471 -0.00365694 0.99997892 -0.0100831 ] [ 0. 0. 0. 1. ]] SLAMing on 2.254012739 meters 0.5546613558763478 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 0.99998253 -0.00231396 -0.00543996 0.0336773 ] [ 0.00233623 0.9999889 0.00409214 -0.06377729] [ 0.00543043 -0.00410477 0.99997683 -0.0100666 ] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters 0.5544564663526869 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999491 0.00279487 -0.00153771 0.00725956] [-0.0027894 0.99998982 0.00354802 -0.07027822] [ 0.00154761 -0.00354372 0.99999252 -0.00897345] [ 0. 0. 0. 1. ]] SLAMing on 2.3140127390000003 meters 0.5476761909577428 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.00 [[ 9.99999618e-01 2.25798657e-04 -8.44965353e-04 1.53489997e-03] [-2.25889244e-04 9.99999969e-01 -1.07113568e-04 -6.82281875e-02] [ 8.44941140e-04 1.07304395e-04 9.99999637e-01 -4.14168212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344012739 meters 0.5492380716830496 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.00 [[ 9.99999522e-01 2.71322888e-04 -9.38833214e-04 1.82417499e-03] [-2.71330908e-04 9.99999963e-01 -8.41497579e-06 -6.88478463e-02] [ 9.38830896e-04 8.66970624e-06 9.99999559e-01 -3.84162546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3740127390000003 meters 0.5756639500918328 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99996368e-01 1.93266483e-03 -1.87863504e-03 8.92580023e-03] [-1.93101683e-03 9.99997750e-01 8.78653635e-04 -6.93362769e-02] [ 1.88032896e-03 -8.75022767e-04 9.99997849e-01 -8.53878970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404012739 meters 0.5571161431943372 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99996285e-01 1.90702944e-03 -1.94755442e-03 9.19039642e-03] [-1.90543242e-03 9.99997847e-01 8.21541238e-04 -6.89905689e-02] [ 1.94911693e-03 -8.17827253e-04 9.99997766e-01 -8.43427004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.434012739 meters 0.5716205790264945 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999603 0.00202199 -0.00196122 0.00913318] [-0.00201995 0.99999742 0.00104121 -0.07033955] [ 0.00196332 -0.00103725 0.99999753 -0.00809162] [ 0. 0. 0. 1. ]] SLAMing on 2.464012739 meters 0.5937549977611783 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999585 0.00205269 -0.0020216 0.00940465] [-0.00205046 0.99999729 0.00110456 -0.07073102] [ 0.00202386 -0.00110041 0.99999735 -0.00805965] [ 0. 0. 0. 1. ]] SLAMing on 2.494012739 meters 0.9764016867215586 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999579 0.00204347 -0.00205905 0.00946795] [-0.00204124 0.99999733 0.00108542 -0.07060291] [ 0.00206127 -0.00108121 0.99999729 -0.00783272] [ 0. 0. 0. 1. ]] SLAMing on 2.5240127390000002 meters 0.6116580271679765 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999551 0.00211968 -0.00211793 0.00979041] [-0.00211703 0.99999697 0.00125322 -0.0716872 ] [ 0.00212058 -0.00124873 0.99999697 -0.00791229] [ 0. 0. 0. 1. ]] SLAMing on 2.554012739 meters 0.611960200523376 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999532 0.00216066 -0.00216759 0.01004997] [-0.00215776 0.99999678 0.00133744 -0.07222207] [ 0.00217048 -0.00133275 0.99999676 -0.0079749 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5840127390000003 meters 0.6167725740207863 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999537 0.00208184 -0.00222003 0.01014566] [-0.00207923 0.99999714 0.00117841 -0.07122633] [ 0.00222247 -0.00117379 0.99999684 -0.00770065] [ 0. 0. 0. 1. ]] SLAMing on 2.614012739 meters 0.6198533766297564 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99995435e-01 1.96688687e-03 -2.29385407e-03 1.03225918e-02] [-1.96471567e-03 9.99997620e-01 9.48400154e-04 -6.98131076e-02] [ 2.29571401e-03 -9.43889053e-04 9.99996919e-01 -7.39389139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644012739 meters 0.6198533766297564 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99995435e-01 1.96688687e-03 -2.29385407e-03 1.03225918e-02] [-1.96471567e-03 9.99997620e-01 9.48400154e-04 -6.98131076e-02] [ 2.29571401e-03 -9.43889053e-04 9.99996919e-01 -7.39389139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674012739 meters 0.6215484419128924 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99995372e-01 1.93222241e-03 -2.35002425e-03 1.03267131e-02] [-1.93016230e-03 9.99997751e-01 8.78584063e-04 -6.93738890e-02] [ 2.35171659e-03 -8.74044068e-04 9.99996853e-01 -6.92087898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704012739 meters 0.6486158098222635 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999502 0.00201613 -0.00242845 0.01047534] [-0.00201357 0.99999742 0.00105615 -0.070494 ] [ 0.00243058 -0.00105126 0.99999649 -0.00648488] [ 0. 0. 0. 1. ]] SLAMing on 2.734012739 meters 0.6801234516322401 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999486 0.00200921 -0.00249662 0.01085077] [-0.00200658 0.99999743 0.00105399 -0.07051801] [ 0.00249873 -0.00104898 0.99999633 -0.00656893] [ 0. 0. 0. 1. ]] SLAMing on 2.764012739 meters 1.0191859924461857 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994861e-01 1.96541384e-03 -2.53278231e-03 1.09986062e-02] [-1.96298572e-03 9.99997612e-01 9.60806508e-04 -6.99603077e-02] [ 2.53466464e-03 -9.55829755e-04 9.99996331e-01 -6.54967423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7940127390000002 meters 0.6666418274689672 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994824e-01 1.94099041e-03 -2.56610415e-03 1.11219345e-02] [-1.93866502e-03 9.99997708e-01 9.08371841e-04 -6.96414250e-02] [ 2.56786141e-03 -9.03392323e-04 9.99996295e-01 -6.51301233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters 1.0217744409748455 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994736e-01 1.91900297e-03 -2.61626713e-03 1.13578312e-02] [-1.91675217e-03 9.99997791e-01 8.62544741e-04 -6.93738305e-02] [ 2.61791658e-03 -8.57525465e-04 9.99996206e-01 -6.54889018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8540127390000003 meters 1.0630577068843066 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994596e-01 1.87885932e-03 -2.69764274e-03 1.15013438e-02] [-1.87676966e-03 9.99997937e-01 7.76947364e-04 -6.88264232e-02] [ 2.69909695e-03 -7.71880312e-04 9.99996060e-01 -6.15788201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999421 0.00199549 -0.00275739 0.01151945] [-0.00199263 0.99999748 0.00103843 -0.07038118] [ 0.00275946 -0.00103293 0.99999566 -0.00569127] [ 0. 0. 0. 1. ]] SLAMing on 2.914012739 meters 1.0569357960950636 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999391 0.00205313 -0.00282339 0.01176434] [-0.00204983 0.99999721 0.00117147 -0.07116124] [ 0.00282579 -0.00116567 0.99999533 -0.00561684] [ 0. 0. 0. 1. ]] SLAMing on 2.944012739 meters 1.06450123483064 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99999388 0.00200418 -0.00286828 0.01192666] [-0.00200114 0.99999743 0.0010625 -0.0705231 ] [ 0.0028704 -0.00105675 0.99999532 -0.00555512] [ 0. 0. 0. 1. ]] SLAMing on 2.974012739 meters 1.068105347231794 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99994322e-01 1.66206438e-03 -2.93145846e-03 1.21020880e-02] [-1.66143692e-03 9.99998596e-01 2.16464879e-04 -6.56362881e-02] [ 2.93181412e-03 -2.11593217e-04 9.99995680e-01 -5.41059870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters 1.0566857668096905 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99994493e-01 1.46710096e-03 -2.97688588e-03 1.22073613e-02] [-1.46782194e-03 9.99998894e-01 -2.40023715e-04 -6.30072734e-02] [ 2.97653045e-03 2.44391931e-04 9.99995540e-01 -5.22192878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034012739 meters 1.0801711646545997 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 9.99994601e-01 1.25320335e-03 -3.03776210e-03 1.22723177e-02] [-1.25545049e-03 9.99998940e-01 -7.37939482e-04 -6.01545608e-02] [ 3.03683409e-03 7.41749257e-04 9.99995114e-01 -4.77965631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0640127390000003 meters 1.0745490647170337 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 9.99994662e-01 1.16479495e-03 -3.05286351e-03 1.23365630e-02] [-1.16768594e-03 9.99998871e-01 -9.45365013e-04 -5.89686138e-02] [ 3.05175891e-03 9.48924752e-04 9.99994893e-01 -4.77809867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094012739 meters 1.0710107877249009 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 0.99999464 0.0010713 -0.00309492 0.01245836] [-0.00107491 0.99999874 -0.00116411 -0.05772164] [ 0.00309367 0.00116743 0.99999453 -0.00466134] [ 0. 0. 0. 1. ]] SLAMing on 3.1240127390000003 meters 1.0752473963216562 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.00 [[ 9.99994751e-01 8.44518893e-04 -3.12820121e-03 1.24580445e-02] [-8.49767604e-04 9.99998233e-01 -1.67691980e-03 -5.48139706e-02] [ 3.12677949e-03 1.67956924e-03 9.99993701e-01 -4.40457353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154012739 meters 0.7102175549137278 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.00 [[ 9.99994584e-01 8.15398511e-04 -3.18860521e-03 1.25880110e-02] [-8.20967172e-04 9.99998140e-01 -1.74550655e-03 -5.44259469e-02] [ 3.18717600e-03 1.74811484e-03 9.99993393e-01 -4.14993062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters 1.0728628905250985 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 9.99994316e-01 9.37392076e-04 -3.23882812e-03 1.26846471e-02] [-9.42132254e-04 9.99998487e-01 -1.46233163e-03 -5.59978579e-02] [ 3.23745244e-03 1.46537472e-03 9.99993686e-01 -3.87345866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214012739 meters 0.7223726883942265 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 0.99999414 0.00102207 -0.00326772 0.01276427] [-0.00102618 0.99999868 -0.00125707 -0.05713926] [ 0.00326643 0.00126042 0.99999387 -0.00379775] [ 0. 0. 0. 1. ]] SLAMing on 3.244012739 meters 0.736661438397538 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 0.99999391 0.00104766 -0.00333024 0.01302078] [-0.00105165 0.99999873 -0.00119459 -0.05748557] [ 0.00332898 0.00119808 0.99999374 -0.00382219] [ 0. 0. 0. 1. ]] SLAMing on 3.2740127390000002 meters 0.7314003892302192 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 9.99992958e-01 2.79886295e-03 -2.49993641e-03 6.66992713e-03] [-2.79782463e-03 9.99995998e-01 4.18740459e-04 -5.82832187e-02] [ 2.50109840e-03 -4.11743126e-04 9.99996787e-01 1.08106852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304012739 meters 0.7287254571502768 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.01 [[ 9.99988762e-01 4.39013848e-03 -1.78930637e-03 9.00323010e-04] [-4.38658950e-03 9.99988414e-01 1.98255641e-03 -5.98373547e-02] [ 1.79798934e-03 -1.97468518e-03 9.99996434e-01 5.80797944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3340127390000003 meters 0.7338626793451382 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.01 [[ 9.99989413e-01 4.25722541e-03 -1.74621242e-03 6.08974055e-04] [-4.25449179e-03 9.99989723e-01 1.56619468e-03 -5.76049895e-02] [ 1.75286212e-03 -1.55874885e-03 9.99997249e-01 6.18054181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364012739 meters 0.7396848279271128 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.01 [[ 9.99989986e-01 4.11437658e-03 -1.76084658e-03 6.58333460e-04] [-4.11226524e-03 9.99990823e-01 1.20099495e-03 -5.56425014e-02] [ 1.76577177e-03 -1.19374185e-03 9.99997729e-01 6.19507026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394012739 meters 0.7358083057968071 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.01 [[ 9.99981950e-01 5.96597505e-03 -7.11865841e-04 -6.36609113e-03] [-5.96402617e-03 9.99978545e-01 2.70911582e-03 -5.41109490e-02] [ 7.28013086e-04 -2.70482133e-03 9.99996077e-01 1.14013289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424012739 meters 0.738930304336108 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.01 [[ 9.99998673e-01 1.37596601e-03 -8.72739966e-04 -5.83467359e-03] [-1.37825588e-03 9.99995595e-01 -2.62862606e-03 -4.87525239e-02] [ 8.69119222e-04 2.62982543e-03 9.99996164e-01 1.13063799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.454012739 meters 0.7448421995052885 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.01 [[ 9.99998711e-01 1.34015019e-03 -8.84589329e-04 -5.76020940e-03] [-1.34254983e-03 9.99995406e-01 -2.71772686e-03 -4.82764686e-02] [ 8.80943103e-04 2.71891096e-03 9.99995916e-01 1.12384470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484012739 meters 0.750541061039367 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.01 [[ 9.99998871e-01 1.20913549e-03 -8.92002205e-04 -5.69333282e-03] [-1.21183922e-03 9.99994655e-01 -3.03679242e-03 -4.65808424e-02] [ 8.88325543e-04 3.03786996e-03 9.99994991e-01 1.11549645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.514012739 meters 0.7486246651857362 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.02 [[ 9.99996422e-01 2.65684957e-03 -3.12743458e-04 -1.09745449e-02] [-2.65734327e-03 9.99995207e-01 -1.58890399e-03 -4.73614553e-02] [ 3.08520481e-04 1.58972937e-03 9.99998689e-01 1.57736707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5440127390000002 meters 0.7473765189543037 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.02 [[ 9.99991332e-01 4.14099324e-03 4.34440222e-04 -1.70164120e-02] [-4.14080170e-03 9.99991330e-01 -4.40866422e-04 -4.56006503e-02] [-4.36262081e-04 4.39063669e-04 9.99999808e-01 2.07678460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574012739 meters 0.7524328475011021 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.02 [[ 9.99992062e-01 3.96174053e-03 4.25332822e-04 -1.70237746e-02] [-3.96135700e-03 9.99991750e-01 -8.98815383e-04 -4.32074464e-02] [-4.28890187e-04 8.97123353e-04 9.99999506e-01 2.08603383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.604012739 meters 0.740535546532458 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.03 [[ 9.99982103e-01 5.77621956e-03 1.55832452e-03 -2.41196704e-02] [-5.77717531e-03 9.99983126e-01 6.09512662e-04 -4.03451039e-02] [-1.55477755e-03 -6.18504468e-04 9.99998600e-01 2.61057705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634012739 meters 0.7493114144389942 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:0.03 [[ 0.99999647 0.00147234 0.0022105 -0.00443573] [-0.00148716 0.9999763 0.00672207 -0.03999761] [-0.00220055 -0.00672534 0.99997496 0.02843294] [ 0. 0. 0. 1. ]] SLAMing on 3.664012739 meters 0.7461880765645198 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:0.03 [[ 0.99999671 0.00126732 0.00222964 -0.00448089] [-0.00128111 0.99997999 0.00619538 -0.03728413] [-0.00222175 -0.00619821 0.99997832 0.02833219] [ 0. 0. 0. 1. ]] SLAMing on 3.694012739 meters 0.7477844671489282 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.02 [[ 9.99998930e-01 -8.80530514e-04 1.16798803e-03 2.09801615e-03] [ 8.76464874e-04 9.99993572e-01 3.47684867e-03 -3.37007921e-02] [-1.17104199e-03 -3.47582125e-03 9.99993274e-01 2.32752464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724012739 meters 0.7471003726386322 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.02 [[ 9.99998915e-01 -9.35393273e-04 1.13831689e-03 2.17460641e-03] [ 9.31587830e-04 9.99993992e-01 3.33899521e-03 -3.29893291e-02] [-1.14143332e-03 -3.33793114e-03 9.99993778e-01 2.33340311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754012739 meters 0.7397297779476708 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.02 [[ 0.99999877 -0.00112003 0.00109405 0.00227127] [ 0.0011169 0.99999528 0.00286232 -0.03055958] [-0.00109725 -0.0028611 0.99999531 0.02341254] [ 0. 0. 0. 1. ]] SLAMing on 3.784012739 meters 0.7379214602568737 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.02 [[ 0.99999875 -0.00116568 0.00106741 0.0023101 ] [ 0.00116275 0.99999556 0.00274476 -0.02995949] [-0.00107061 -0.00274352 0.99999566 0.02353367] [ 0. 0. 0. 1. ]] SLAMing on 3.8140127390000003 meters 0.6757242263476677 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:0.03 [[ 9.99985057e-01 -3.12846504e-03 4.48312470e-03 -5.05191425e-02] [ 3.12767171e-03 9.99995092e-01 1.83958743e-04 -2.78889628e-02] [-4.48367821e-03 -1.69934252e-04 9.99989934e-01 2.70647734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844012739 meters 0.7337637615328553 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.03 [[ 9.99992082e-01 -3.09711980e-03 2.49875894e-03 -1.89988216e-03] [ 3.09701981e-03 9.99995203e-01 4.38825476e-05 -2.59942370e-02] [-2.49888286e-03 -3.61434942e-05 9.99996877e-01 2.60369549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874012739 meters 0.7296755521317227 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.03 [[ 0.99999316 -0.00109401 0.0035339 -0.00855516] [ 0.00108612 0.99999692 0.00223352 -0.02675917] [-0.00353633 -0.00222966 0.99999126 0.03115129] [ 0. 0. 0. 1. ]] SLAMing on 3.904012739 meters 0.6960617707703999 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.03 [[ 0.99999268 -0.00135966 0.00357542 -0.00862729] [ 0.00135419 0.99999791 0.00153244 -0.02328157] [-0.0035775 -0.00152758 0.99999243 0.03093013] [ 0. 0. 0. 1. ]] SLAMing on 3.934012739 meters 0.6893703953920924 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.03 [[ 0.99999255 -0.00144843 0.00357909 -0.0086052 ] [ 0.00144379 0.99999811 0.00129982 -0.02211998] [-0.00358096 -0.00129465 0.99999275 0.03083741] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters 0.6581079775525787 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.04 [[ 9.99988841e-01 5.16549942e-04 4.69575776e-03 -1.56399787e-02] [-5.31916783e-04 9.99994506e-01 3.27183470e-03 -2.12931524e-02] [-4.69404189e-03 -3.27429594e-03 9.99983622e-01 3.64792666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.994012739 meters 0.7034367791848919 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:0.04 [[ 9.99994726e-01 -4.59862792e-05 3.24735052e-03 3.20335714e-02] [ 3.76362648e-05 9.99996693e-01 2.57134572e-03 -1.90090788e-02] [-3.24745803e-03 -2.57120994e-03 9.99991421e-01 3.58506306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters 0.6648716674295725 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.04 [[ 9.99987355e-01 -2.42634508e-03 4.40491383e-03 2.49499849e-02] [ 2.42603772e-03 9.99997054e-01 7.51184943e-05 -1.70346611e-02] [-4.40508311e-03 -6.44310573e-05 9.99990295e-01 4.10292113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054012739 meters 0.6459164602373028 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.05 [[ 0.99997402 -0.0046163 0.00553573 0.01794164] [ 0.00462848 0.99998689 -0.0021885 -0.01604354] [-0.00552556 0.00221406 0.99998228 0.04624615] [ 0. 0. 0. 1. ]] SLAMing on 4.084012739 meters 0.6422126729689369 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.05 [[ 0.99997489 -0.0044845 0.00548722 0.01813593] [ 0.00449446 0.99998827 -0.00180477 -0.01788931] [-0.00547906 0.00182939 0.99998332 0.04611726] [ 0. 0. 0. 1. ]] SLAMing on 4.114012739 meters 0.610832296240138 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.05 [[ 0.99994541 -0.01023958 0.00208051 -0.00180273] [ 0.01023302 0.99994271 0.0031388 -0.02183275] [-0.00211253 -0.00311733 0.99999291 0.04755957] [ 0. 0. 0. 1. ]] SLAMing on 4.144012739 meters 0.5873506895797771 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.05 [[ 9.99971092e-01 -4.00065825e-03 -6.46604112e-03 -5.88027747e-04] [ 3.95059656e-03 9.99962268e-01 -7.73656423e-03 -1.74268867e-02] [ 6.49674849e-03 7.71079586e-03 9.99949167e-01 5.27245482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174012739 meters 0.572194481923737 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.05 [[ 9.99979602e-01 7.82704658e-04 -6.33905258e-03 -8.04187516e-04] [-7.93740566e-04 9.99998174e-01 -1.73861095e-03 -2.51001255e-02] [ 6.33768018e-03 1.74360705e-03 9.99978397e-01 5.24505485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204012739 meters 0.5546254440741046 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.05 [[ 9.99979488e-01 9.67637586e-04 -6.33152659e-03 -7.30870280e-04] [-9.75539722e-04 9.99998749e-01 -1.24509244e-03 -2.74537875e-02] [ 6.33031387e-03 1.25124356e-03 9.99979181e-01 5.22187614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.234012739 meters 0.5594937699899151 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.05 [[ 0.99997164 -0.00108131 -0.00745252 0.00641889] [ 0.00105962 0.99999519 -0.00291354 -0.03023999] [ 0.00745563 0.00290556 0.99996799 0.04668515] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters 0.5520089873587021 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.05 [[ 9.99971690e-01 -8.38446568e-04 -7.47765963e-03 6.48100007e-03] [ 8.21425342e-04 9.99997066e-01 -2.27905808e-03 -3.32703201e-02] [ 7.47954856e-03 2.27285122e-03 9.99969445e-01 4.67225622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294012739 meters 0.07977893419249471 Centerline is valid? [False, True] Translation: X:0.01, Y:-0.04, Z:0.05 [[ 9.99971699e-01 -5.42328468e-04 -7.50379708e-03 6.51345131e-03] [ 5.31027776e-04 9.99998722e-01 -1.50790694e-03 -3.69483275e-02] [ 7.50460527e-03 1.50387954e-03 9.99970709e-01 4.68487609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3240127390000005 meters 0.0779775179872561 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.05, Z:0.06 [[ 9.99998778e-01 -9.14182305e-04 -1.26791829e-03 3.65375787e-02] [ 9.14213205e-04 9.99999582e-01 2.37913714e-05 -4.74436649e-02] [ 1.26789601e-03 -2.49504900e-05 9.99999196e-01 5.61233752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354012739 meters 0.06441977944691994 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.05, Z:0.05 [[ 9.99999616e-01 -5.27699897e-04 -6.99854250e-04 6.59196524e-02] [ 5.27708931e-04 9.99999861e-01 1.27241492e-05 -4.96498649e-02] [ 6.99847438e-04 -1.30934637e-05 9.99999755e-01 5.39030828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384012739 meters 0.061207664726586064 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.05, Z:0.06 [[ 9.99986512e-01 1.30978662e-03 5.02590035e-03 9.63078917e-02] [-1.30932853e-03 9.99999138e-01 -9.44355118e-05 -5.21746396e-02] [-5.02601971e-03 8.78536833e-05 9.99987366e-01 6.07380167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414012739 meters 0.05893945802017244 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.05, Z:0.05 [[ 9.99990603e-01 3.62207167e-03 2.38204883e-03 1.28545046e-01] [-3.62197717e-03 9.99993440e-01 -4.39852046e-05 -5.23559111e-02] [-2.38219252e-03 3.53570648e-05 9.99997162e-01 5.43787878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters 0.05955323128850709 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.05, Z:0.05 [[ 9.99981884e-01 5.66276926e-03 2.04052340e-03 1.61051101e-01] [-5.66270424e-03 9.99983966e-01 -3.76404867e-05 -5.28141514e-02] [-2.04070383e-03 2.60849243e-05 9.99997917e-01 5.16064909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474012739 meters 0.04893102987172248 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.04, Z:0.07 [[ 9.99937999e-01 9.57069235e-03 5.69210558e-03 1.91843434e-01] [-9.57023633e-03 9.99954198e-01 -1.07347787e-04 -4.06012928e-02] [-5.69287227e-03 5.28663353e-05 9.99983794e-01 6.54347247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters 0.05081619597360523 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.04, Z:0.06 [[ 9.99886966e-01 1.33678646e-02 6.88158383e-03 2.22695349e-01] [-1.33673014e-02 9.99910645e-01 -1.27835165e-04 -3.96992729e-02] [-6.88267781e-03 3.58325106e-05 9.99976313e-01 6.48955283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5340127390000005 meters 0.04470442727333292 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.04, Z:0.07 [[ 9.99841588e-01 1.56531484e-02 8.47223166e-03 2.54511004e-01] [-1.56523616e-02 9.99877482e-01 -1.59166421e-04 -3.82101074e-02] [-8.47368511e-03 2.65307733e-05 9.99964097e-01 6.58751293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters 0.04470442727333292 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.04, Z:0.07 [[ 9.99838780e-01 1.58314991e-02 8.47221180e-03 2.87013080e-01] [-1.58307099e-02 9.99874674e-01 -1.60212444e-04 -3.90310522e-02] [-8.47368641e-03 2.60654868e-05 9.99964097e-01 6.52147276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594012739 meters 0.042898242432205566 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.04, Z:0.06 [[ 9.99786793e-01 1.84691090e-02 9.23366274e-03 3.19554871e-01] [-1.84682637e-02 9.99829431e-01 -1.76806332e-04 -3.55941954e-02] [-9.23535322e-03 6.23891702e-06 9.99957353e-01 6.48879741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters 0.04163862225668254 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.02, Z:0.06 [[ 9.99650596e-01 2.45263559e-02 9.85610671e-03 3.51691847e-01] [-2.45256707e-02 9.99699182e-01 -1.90395758e-04 -2.27738324e-02] [-9.85781153e-03 -5.13983946e-05 9.99951409e-01 6.23775559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654012739 meters 0.042919709632359915 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.02, Z:0.06 [[ 9.99574280e-01 2.72659532e-02 1.03839464e-02 3.84282249e-01] [-2.72653192e-02 9.99628212e-01 -2.02645062e-04 -1.87811531e-02] [-1.03856111e-02 -8.05628205e-05 9.99946065e-01 6.33204492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters 0.040063376849235215 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:0.06 [[ 9.99485227e-01 2.92564882e-02 1.31658081e-02 4.15145702e-01] [-2.92556020e-02 9.99571929e-01 -2.59939141e-04 -1.29585129e-02] [-1.31677771e-02 -1.25368310e-04 9.99913293e-01 6.19488444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714012739 meters 0.037507132945282184 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.02, Z:0.06 [[ 9.99463430e-01 2.96924155e-02 1.38279752e-02 4.48458629e-01] [-2.96914529e-02 9.99559074e-01 -2.74950910e-04 -1.56036039e-02] [-1.38300421e-02 -1.35769295e-04 9.99904351e-01 6.33569639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters 0.03887207557351128 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.01, Z:0.06 [[ 9.99464346e-01 2.97519565e-02 1.36324259e-02 4.81019051e-01] [-2.97509938e-02 9.99557304e-01 -2.73453431e-04 -1.49928803e-02] [-1.36345266e-02 -1.32271264e-04 9.99907037e-01 6.34121394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.774012739 meters 0.03493501013642017 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.01, Z:0.06 [[ 9.99437361e-01 3.00593579e-02 1.48794262e-02 5.12287690e-01] [-3.00581934e-02 9.99548105e-01 -3.01941954e-04 -1.33181745e-02] [-1.48817785e-02 -1.45476602e-04 9.99889250e-01 5.68067339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters 0.03396483939687466 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.01, Z:0.06 [[ 9.99404204e-01 3.08772306e-02 1.54218771e-02 5.45112487e-01] [-3.08760620e-02 9.99523171e-01 -3.13924899e-04 -1.34092756e-02] [-1.54242166e-02 -1.62428970e-04 9.99881027e-01 5.51359175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834012739 meters 0.03496277868266711 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.01, Z:0.06 [[ 9.99360679e-01 3.20468098e-02 1.58504319e-02 5.76365272e-01] [-3.20456694e-02 9.99486352e-01 -3.25991093e-04 -8.59075790e-03] [-1.58527374e-02 -1.82155022e-04 9.99874321e-01 5.61978238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters 0.03619492582146202 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.01, Z:0.06 [[ 9.99327916e-01 3.34570984e-02 1.49779526e-02 6.07765019e-01] [-3.34562254e-02 9.99440136e-01 -3.08922370e-04 -5.36664575e-03] [-1.49799027e-02 -1.92391011e-04 9.99887776e-01 5.55909886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894012739 meters 0.03643259738309287 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.00, Z:0.05 [[ 9.99253894e-01 3.56364223e-02 1.48896066e-02 6.38463880e-01] [-3.56357647e-02 9.99364796e-01 -3.09560003e-04 -4.75729713e-04] [-1.48911803e-02 -2.21273479e-04 9.99889096e-01 5.07625773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters 0.03712654915666191 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:0.05 [[ 9.99220406e-01 3.64555261e-02 1.51517429e-02 6.70496817e-01] [-3.64549274e-02 9.99335248e-01 -3.15796062e-04 4.09473798e-04] [-1.51531832e-02 -2.36805817e-04 9.99885156e-01 5.14722041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954012739 meters 0.03724665663041188 Centerline is valid? [True, True] Translation: X:0.70, Y:0.00, Z:0.05 [[ 9.99202723e-01 3.68790275e-02 1.52923557e-02 7.02367213e-01] [-3.68784319e-02 9.99319708e-01 -3.21034371e-04 1.91734628e-03] [-1.52937919e-02 -2.43179682e-04 9.99883014e-01 5.02669623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters 0.035220173392337364 Centerline is valid? [True, True] Translation: X:0.73, Y:0.00, Z:0.05 [[ 9.99193034e-01 3.66102840e-02 1.65217366e-02 7.34688690e-01] [-3.66095024e-02 9.99329586e-01 -3.49854529e-04 3.60078425e-03] [-1.65234685e-02 -2.55280349e-04 9.99863446e-01 4.53160880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014012739 meters 0.034857855955433094 Centerline is valid? [True, True] Translation: X:0.77, Y:0.00, Z:0.04 [[ 9.99167494e-01 3.70270637e-02 1.71264836e-02 7.67853200e-01] [-3.70262401e-02 9.99314227e-01 -3.65283313e-04 3.64501461e-03] [-1.71282640e-02 -2.69150080e-04 9.99853264e-01 4.37387276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters 0.03458464139352176 Centerline is valid? [True, True] Translation: X:0.80, Y:0.01, Z:0.04 [[ 9.99111054e-01 3.85028398e-02 1.71648582e-02 7.99753419e-01] [-3.85021785e-02 9.99258448e-01 -3.69108532e-04 5.65240112e-03] [-1.71663413e-02 -2.92104021e-04 9.99852605e-01 4.47786860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074012739 meters 0.0341784616113068 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:0.04 [[ 9.99070152e-01 3.91195066e-02 1.81244585e-02 8.32472998e-01] [-3.91188160e-02 9.99234489e-01 -3.92773291e-04 8.38859430e-03] [-1.81259492e-02 -3.16599287e-04 9.99835661e-01 4.21464664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters 0.03659849266299913 Centerline is valid? [True, True] Translation: X:0.86, Y:0.02, Z:0.04 [[ 9.99029966e-01 3.97742127e-02 1.88981269e-02 8.64596226e-01] [-3.97735098e-02 9.99208635e-01 -4.13196172e-04 1.67912455e-02] [-1.88996062e-02 -3.38849479e-04 9.99821329e-01 4.13080505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134012739 meters 0.033924144227533905 Centerline is valid? [True, True] Translation: X:0.90, Y:0.01, Z:0.04 [[ 9.99013269e-01 3.95216059e-02 2.02615662e-02 8.96596789e-01] [-3.95206704e-02 9.99218653e-01 -4.46745297e-04 1.31805469e-02] [-2.02633910e-02 -3.54446201e-04 9.99794614e-01 4.29795432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters 0.032341915026666626 Centerline is valid? [True, True] Translation: X:0.93, Y:0.01, Z:0.05 [[ 9.99013810e-01 3.78441802e-02 2.32212337e-02 9.28191527e-01] [-3.78424025e-02 9.99283586e-01 -5.16141801e-04 1.46945641e-02] [-2.32241307e-02 -3.63114486e-04 9.99730218e-01 4.68534405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194012739 meters 0.030766086223787216 Centerline is valid? [True, True] Translation: X:0.96, Y:0.01, Z:0.05 [[ 9.99047608e-01 3.63939332e-02 2.40698657e-02 9.60760786e-01] [-3.63915132e-02 9.99337464e-01 -5.38712728e-04 1.31199443e-02] [-2.40735244e-02 -3.37739172e-04 9.99710134e-01 4.84371754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters 0.02987421085849842 Centerline is valid? [True, True] Translation: X:0.99, Y:0.01, Z:0.05 [[ 9.99091791e-01 3.50486920e-02 2.42318657e-02 9.91634389e-01] [-3.50457505e-02 9.99385560e-01 -5.46183923e-04 1.21304400e-02] [-2.42361197e-02 -3.03536046e-04 9.99706216e-01 4.71945593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254012739 meters 0.027603747346567162 Centerline is valid? [True, True] Translation: X:1.02, Y:0.01, Z:0.04 [[ 9.99211038e-01 3.23079738e-02 2.30975510e-02 1.02388022e+00] [-3.23044931e-02 9.99477936e-01 -5.23908100e-04 7.86907000e-03] [-2.31024190e-02 -2.22659919e-04 9.99733079e-01 4.27959950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters 0.027361262608837936 Centerline is valid? [True, True] Translation: X:1.06, Y:0.01, Z:0.04 [[ 9.99270762e-01 3.11808348e-02 2.20386022e-02 1.05509586e+00] [-3.11773182e-02 9.99513743e-01 -5.03226044e-04 6.56464242e-03] [-2.20435768e-02 -1.84245442e-04 9.99756994e-01 4.14393354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314012739 meters 0.025548103112334904 Centerline is valid? [True, True] Translation: X:1.09, Y:0.00, Z:0.04 [[ 9.99358857e-01 2.82334776e-02 2.20169518e-02 1.08751028e+00] [-2.82291808e-02 9.99601349e-01 -5.05994437e-04 1.15103940e-03] [-2.20224608e-02 -1.15850492e-04 9.99757469e-01 3.86217655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344012739 meters 0.02534691868831771 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.00, Z:0.04 [[ 9.99404277e-01 2.67834230e-02 2.17655564e-02 1.11907175e+00] [-2.67788027e-02 9.99641257e-01 -5.03762878e-04 -1.55012553e-03] [-2.17712406e-02 -7.93927647e-05 9.99762975e-01 3.80118844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374012739 meters 0.024902414059853613 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.01, Z:0.04 [[ 9.99447214e-01 2.49545917e-02 2.19666710e-02 1.15229104e+00] [-2.49493685e-02 9.99688585e-01 -5.11847113e-04 -5.85619380e-03] [-2.19726032e-02 -3.64903992e-05 9.99758573e-01 3.72154362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters 0.024931901255865342 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.01, Z:0.04 [[ 9.99544990e-01 2.00755449e-02 2.25119032e-02 1.18396995e+00] [-2.00687292e-02 9.99798463e-01 -5.28663497e-04 -1.44942377e-02] [-2.25179794e-02 7.66376616e-05 9.99746435e-01 3.78927569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434012739 meters 0.025443817212225984 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.02, Z:0.04 [[ 9.99594466e-01 1.77596835e-02 2.22597801e-02 1.21612752e+00] [-1.77523636e-02 9.99842276e-01 -5.26418592e-04 -1.89717953e-02] [-2.22656182e-02 1.31041402e-04 9.99752082e-01 3.68060200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters 0.026965125276849945 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.03, Z:0.04 [[ 9.99669926e-01 1.32505479e-02 2.20104833e-02 1.24832939e+00] [-1.32422204e-02 9.99912181e-01 -5.24057245e-04 -2.89958422e-02] [-2.20154944e-02 2.32416597e-04 9.99757603e-01 3.55811436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494012739 meters 0.027710004610009272 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.03, Z:0.04 [[ 9.99688958e-01 1.16476583e-02 2.20526490e-02 1.28056291e+00] [-1.16388281e-02 9.99932127e-01 -5.28724225e-04 -3.46059566e-02] [-2.20573106e-02 2.71892778e-04 9.99756671e-01 3.50005433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters 0.030774874569497207 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.05, Z:0.03 [[ 9.99717276e-01 9.08297680e-03 2.19742341e-02 1.31102182e+00] [-9.07351337e-03 9.99958694e-01 -5.30327547e-04 -4.61500501e-02] [-2.19781434e-02 3.30794104e-04 9.99758397e-01 3.48742248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554012739 meters 0.032156442304403704 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:0.04 [[ 9.99695050e-01 8.54273720e-03 2.31695828e-02 1.34360453e+00] [-8.53201869e-03 9.99963444e-01 -5.61428758e-04 -4.46381447e-02] [-2.31735319e-02 3.63574237e-04 9.99731392e-01 4.49716181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters 0.029643286984864996 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.05, Z:0.03 [[ 9.99704950e-01 8.93151391e-03 2.25885016e-02 1.37534223e+00] [-8.92133914e-03 9.99960052e-01 -5.51174681e-04 -4.85879851e-02] [-2.25925220e-02 3.49492374e-04 9.99744695e-01 3.36699213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614012739 meters 0.029179623793725337 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:0.03 [[ 9.99693917e-01 9.39137539e-03 2.28882940e-02 1.40806369e+00] [-9.38095187e-03 9.99955840e-01 -5.62739208e-04 -5.06751431e-02] [-2.28925681e-02 3.47852979e-04 9.99737870e-01 3.30411970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters 0.02808686868408159 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.05, Z:0.03 [[ 9.99692877e-01 1.06803795e-02 2.23624966e-02 1.43975618e+00] [-1.06706607e-02 9.99942913e-01 -5.53888133e-04 -5.30148428e-02] [-2.23671357e-02 3.15095408e-04 9.99749775e-01 3.08696566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674012739 meters 0.02815847081473575 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.06, Z:0.03 [[ 9.99704980e-01 1.02800815e-02 2.20061821e-02 1.47298648e+00] [-1.02704916e-02 9.99947107e-01 -5.48760804e-04 -5.82625715e-02] [-2.20106595e-02 3.22584600e-04 9.99757684e-01 3.01574266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters 0.02840211460509659 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.06, Z:0.03 [[ 9.99711792e-01 9.56842503e-03 2.20176934e-02 1.50523722e+00] [-9.55855867e-03 9.99954163e-01 -5.53310531e-04 -6.18612717e-02] [-2.20219785e-02 3.42693648e-04 9.99757428e-01 2.96423251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734012739 meters 0.03451023291180821 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.04 [[ 9.99706006e-01 8.98512512e-03 2.25204036e-02 1.53780691e+00] [-8.97456557e-03 9.99959565e-01 -5.69914518e-04 -6.63360390e-02] [-2.25246137e-02 3.67636128e-04 9.99746221e-01 4.36330051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters 0.029766274230361225 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.07, Z:0.03 [[ 9.99697636e-01 7.71660408e-03 2.33471950e-02 1.56842191e+00] [-7.70481168e-03 9.99970140e-01 -5.95003221e-04 -7.34465541e-02] [-2.33510893e-02 4.14937573e-04 9.99727240e-01 3.06686490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794012739 meters 0.029870964360323306 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.08, Z:0.03 [[ 9.99685541e-01 7.68901919e-03 2.38683333e-02 1.60115219e+00] [-7.67658993e-03 9.99970347e-01 -6.12327391e-04 -7.70701389e-02] [-2.38723338e-02 4.28907432e-04 9.99714923e-01 3.06203255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters 0.03037399658787001 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.08, Z:0.03 [[ 9.99692083e-01 7.64738302e-03 2.36062874e-02 1.63344600e+00] [-7.63510708e-03 9.99970666e-01 -6.10116795e-04 -8.26188769e-02] [-2.36102608e-02 4.29692398e-04 9.99721147e-01 3.03774645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854012739 meters 0.02980437298896712 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.08, Z:0.03 [[ 9.99707615e-01 8.78245596e-03 2.25289146e-02 1.66582084e+00] [-8.77147554e-03 9.99961358e-01 -5.86166591e-04 -8.35985943e-02] [-2.25331920e-02 3.88383382e-04 9.99746020e-01 2.83566206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters 0.036271544289084474 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:0.04 [[ 9.99734627e-01 1.04502376e-02 2.05296647e-02 1.69723991e+00] [-1.04414070e-02 9.99945343e-01 -5.37286849e-04 -8.73534809e-02] [-2.05341574e-02 3.22785683e-04 9.99789100e-01 3.88701244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914012739 meters 0.02899562944153506 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.09, Z:0.02 [[ 9.99723601e-01 1.37016778e-02 1.91045792e-02 1.72800025e+00] [-1.36945716e-02 9.99906099e-01 -5.02746498e-04 -8.88599554e-02] [-1.91096738e-02 2.40978511e-04 9.99817364e-01 2.05883353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters 0.026421626985967905 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.09, Z:0.02 [[ 9.99646465e-01 1.54597510e-02 2.16319654e-02 1.76025417e+00] [-1.54509735e-02 9.99880462e-01 -5.72852435e-04 -8.55461853e-02] [-2.16382357e-02 2.38414987e-04 9.99765838e-01 2.34649394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974012739 meters 0.02472124706685201 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.08, Z:0.02 [[ 9.99538264e-01 1.95489780e-02 2.32614919e-02 1.79244221e+00] [-1.95398383e-02 9.99808887e-01 -6.20164014e-04 -8.10930257e-02] [-2.32691699e-02 1.65351872e-04 9.99729223e-01 2.48505494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters 0.024223343753045787 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.08, Z:0.02 [[ 9.99515455e-01 2.21852091e-02 2.18328212e-02 1.82351138e+00] [-2.21777098e-02 9.99753873e-01 -5.85588749e-04 -7.99155887e-02] [-2.18404390e-02 1.01103033e-04 9.99761464e-01 2.30357753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034012739 meters 0.023906069378800323 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.07, Z:0.02 [[ 9.99450764e-01 2.70776843e-02 1.91041811e-02 1.85586857e+00] [-2.70727821e-02 9.99633332e-01 -5.15232814e-04 -7.46001791e-02] [-1.91111275e-02 -2.25350060e-06 9.99817366e-01 1.75476519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters 0.024036559771710344 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.07, Z:0.02 [[ 9.99363251e-01 3.00832227e-02 1.91857551e-02 1.88914066e+00] [-3.00787716e-02 9.99547396e-01 -5.20594392e-04 -7.09675432e-02] [-1.91927327e-02 -5.68210409e-05 9.99815801e-01 1.75681254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094012739 meters 0.026753268467966763 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.07, Z:0.03 [[ 9.99251519e-01 3.28454539e-02 2.04347039e-02 1.92111707e+00] [-3.28408944e-02 9.99460436e-01 -5.58756018e-04 -6.74002756e-02] [-2.04420307e-02 -1.12756154e-04 9.99791034e-01 2.60328316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters 0.026244331108401454 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:0.02 [[ 9.99007167e-01 3.84161893e-02 2.25583152e-02 1.95309820e+00] [-3.84119635e-02 9.99261795e-01 -6.20770190e-04 -5.95793303e-02] [-2.25655102e-02 -2.46355311e-04 9.99745336e-01 2.15317465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154012739 meters 0.026950634024656594 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.06, Z:0.02 [[ 9.98909423e-01 4.06009157e-02 2.30549514e-02 1.98516592e+00] [-4.05969905e-02 9.99175398e-01 -6.38461658e-04 -5.76454924e-02] [-2.30618624e-02 -2.98196277e-04 9.99733995e-01 2.24122296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters 0.029143730745058664 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.05, Z:0.02 [[ 9.98806689e-01 4.34390916e-02 2.23213492e-02 2.01663054e+00] [-4.34360399e-02 9.99056016e-01 -6.21759176e-04 -4.93953946e-02] [-2.23272869e-02 -3.48533793e-04 9.99750654e-01 2.12025574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214012739 meters 0.028520978651640272 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.05, Z:0.02 [[ 9.98797354e-01 4.39192298e-02 2.17932778e-02 2.04924361e+00] [-4.39163894e-02 9.99035024e-01 -6.09146636e-04 -5.00859946e-02] [-2.17990011e-02 -3.48668026e-04 9.99762313e-01 1.94715751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters 0.028585976446206567 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.05, Z:0.02 [[ 9.98827971e-01 4.34803228e-02 2.12637077e-02 2.08006781e+00] [-4.34774318e-02 9.99054230e-01 -5.98455053e-04 -5.00752859e-02] [-2.12696182e-02 -3.26737757e-04 9.99773723e-01 1.81893417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274012739 meters 0.0282656942685614 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.05, Z:0.02 [[ 9.98933834e-01 4.13473972e-02 2.05325905e-02 2.11125090e+00] [-4.13441851e-02 9.99144795e-01 -5.81089692e-04 -4.96839853e-02] [-2.05390575e-02 -2.68433069e-04 9.99789015e-01 1.79450297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters 0.027103871699717657 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.05, Z:0.02 [[ 9.98985681e-01 3.99997724e-02 2.06791441e-02 2.14380338e+00] [-3.99961573e-02 9.99199660e-01 -5.88540751e-04 -5.15648234e-02] [-2.06861352e-02 -2.39142516e-04 9.99785990e-01 1.77994590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334012739 meters 0.024790501354309387 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.06, Z:0.02 [[ 9.99119503e-01 3.65279993e-02 2.06379084e-02 2.17583587e+00] [-3.65235881e-02 9.99332617e-01 -5.90750609e-04 -5.60213228e-02] [-2.06457139e-02 -1.63540010e-04 9.99786841e-01 1.70272432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters 0.024488564150121534 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.06, Z:0.02 [[ 9.99168790e-01 3.48502660e-02 2.11468250e-02 2.20675440e+00] [-3.48451800e-02 9.99392537e-01 -6.09046254e-04 -5.76964819e-02] [-2.11552045e-02 -1.28324914e-04 9.99776195e-01 1.78917699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394012739 meters 0.023881460812917123 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.06, Z:0.02 [[ 9.99201025e-01 3.30651229e-02 2.24501410e-02 2.23779914e+00] [-3.30588850e-02 9.99453195e-01 -6.49038371e-04 -6.13476086e-02] [-2.24593257e-02 -9.36568221e-05 9.99747753e-01 1.96362706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters 0.02325685183844683 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.07, Z:0.03 [[ 9.99219764e-01 3.00253751e-02 2.56581324e-02 2.26989307e+00] [-3.00161112e-02 9.99549136e-01 -7.46203703e-04 -6.75223680e-02] [-2.56689692e-02 -2.45358669e-05 9.99670497e-01 2.54513792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454012739 meters 0.02342240406081741 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.07, Z:0.02 [[ 9.99331176e-01 2.78143337e-02 2.37394752e-02 2.30202875e+00] [-2.78056907e-02 9.99613106e-01 -6.94152941e-04 -7.34672593e-02] [-2.37495979e-02 3.35961687e-05 9.99717938e-01 2.08365031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484012739 meters 0.02342240406081741 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.07, Z:0.02 [[ 9.99326114e-01 2.79957269e-02 2.37393619e-02 2.33452307e+00] [-2.79870436e-02 9.99608042e-01 -6.98008440e-04 -7.46093992e-02] [-2.37495983e-02 3.31435065e-05 9.99717938e-01 2.01761366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514012739 meters 0.02359968735051758 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.08, Z:0.02 [[ 9.99402942e-01 2.66561253e-02 2.19820382e-02 2.36743545e+00] [-2.66482739e-02 9.99644660e-01 -6.50074264e-04 -7.91297580e-02] [-2.19915556e-02 6.39027562e-05 9.99758154e-01 1.58561597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544012739 meters 0.023944431288892856 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.08, Z:0.01 [[ 9.99469525e-01 2.55410514e-02 2.02070122e-02 2.39983467e+00] [-2.55341172e-02 9.99673771e-01 -6.01138317e-04 -8.33401923e-02] [-2.02157738e-02 8.48512109e-05 9.99795637e-01 1.27694769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574012739 meters 0.02437527757092191 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.09, Z:0.01 [[ 9.99513662e-01 2.42044367e-02 1.96617587e-02 2.43282112e+00] [-2.41975409e-02 9.99707023e-01 -5.88584958e-04 -8.72971304e-02] [-1.96702446e-02 1.12532496e-04 9.99806516e-01 1.07794146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters 0.025179141954679515 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.09, Z:0.01 [[ 9.99527283e-01 2.31780286e-02 2.01987278e-02 2.46442915e+00] [-2.31704608e-02 9.99731344e-01 -6.08650882e-04 -9.42007532e-02] [-2.02074086e-02 1.40349331e-04 9.99795800e-01 1.13374480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634012739 meters 0.024469275314228305 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.10, Z:0.01 [[ 9.99515820e-01 2.34739541e-02 2.04230095e-02 2.49732763e+00] [-2.34662032e-02 9.99724439e-01 -6.19118784e-04 -9.55998507e-02] [-2.04319149e-02 1.39568528e-04 9.99791237e-01 1.20813348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters 0.024164533629702733 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:0.01 [[ 9.99491668e-01 2.43888256e-02 2.05326915e-02 2.53044407e+00] [-2.43811018e-02 9.99702540e-01 -6.26453122e-04 -9.60749655e-02] [-2.05418623e-02 1.25525034e-04 9.99788986e-01 1.17159965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694012739 meters 0.024112445480457434 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.10, Z:0.01 [[ 9.99459554e-01 2.55850415e-02 2.06398956e-02 2.56175410e+00] [-2.55774075e-02 9.99672644e-01 -6.33807445e-04 -9.70955487e-02] [-2.06493550e-02 1.05549884e-04 9.99786774e-01 1.05791817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters 0.02367904116606735 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.01 [[ 9.99376341e-01 2.84720372e-02 2.08871392e-02 2.59324394e+00] [-2.84647793e-02 9.99594588e-01 -6.44768505e-04 -9.67194408e-02] [-2.08970291e-02 4.98185836e-05 9.99781632e-01 9.98729688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754012739 meters 0.02344307081672869 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.09, Z:0.01 [[ 9.99327324e-01 3.04852352e-02 2.03850339e-02 2.62675291e+00] [-3.04786785e-02 9.99535217e-01 -6.32324480e-04 -9.47677895e-02] [-2.03948358e-02 1.05902373e-05 9.99792004e-01 8.48466535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters 0.02377923855100436 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.09, Z:0.01 [[ 9.99234640e-01 3.42790936e-02 1.88434866e-02 2.65785988e+00] [-3.42741035e-02 9.99412297e-01 -5.87798930e-04 -8.90899187e-02] [-1.88525615e-02 -5.84945594e-05 9.99822273e-01 5.49885913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814012739 meters 0.023992236115727948 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.09, Z:0.00 [[ 9.99200162e-01 3.55818391e-02 1.82474326e-02 2.69053114e+00] [-3.55773528e-02 9.99366763e-01 -5.70526241e-04 -8.91540820e-02] [-1.82561780e-02 -7.91254332e-05 9.99833339e-01 4.27950589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters 0.024423432826234704 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.09, Z:0.00 [[ 9.99167778e-01 3.68275589e-02 1.75351973e-02 2.72221005e+00] [-3.68235500e-02 9.99321631e-01 -5.51551711e-04 -8.89924073e-02] [-1.75436143e-02 -9.46155172e-05 9.99846094e-01 2.45116016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874012739 meters 0.025144534782143013 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.09, Z:0.00 [[ 9.99103395e-01 3.88949019e-02 1.67210419e-02 2.75460802e+00] [-3.88914973e-02 9.99243300e-01 -5.28859533e-04 -8.77340408e-02] [-1.67289590e-02 -1.21921002e-04 9.99860054e-01 8.74171840e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters 0.026105313558085576 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.09, Z:-0.00 [[ 9.99034847e-01 4.05894656e-02 1.67889807e-02 2.78537572e+00] [-4.05862228e-02 9.99175897e-01 -5.33975602e-04 -8.52806990e-02] [-1.67968186e-02 -1.47941075e-04 9.99858913e-01 -8.13059771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934012739 meters 0.02753000405246363 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.08, Z:-0.00 [[ 9.98896335e-01 4.39991421e-02 1.64373943e-02 2.81792505e+00] [-4.39964623e-02 9.99031549e-01 -5.24788504e-04 -8.09796851e-02] [-1.64445658e-02 -1.98977887e-04 9.99864759e-01 -5.22254703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters 0.02978878383499316 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.08, Z:-0.00 [[ 9.98801961e-01 4.58483954e-02 1.71045775e-02 2.84912451e+00] [-4.58457098e-02 9.98948382e-01 -5.49294709e-04 -7.56159489e-02] [-1.71117743e-02 -2.35534866e-04 9.99853555e-01 -6.34200044e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9940127389999995 meters 0.02965330812844165 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.07, Z:0.00 [[ 9.98697419e-01 4.76920974e-02 1.81364199e-02 2.88116821e+00] [-4.76893537e-02 9.98862045e-01 -5.83993194e-04 -7.47346946e-02] [-1.81436333e-02 -2.81681645e-04 9.99835351e-01 2.04304908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters 0.03265753098361227 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.07, Z:0.00 [[ 9.98467081e-01 5.18690467e-02 1.93155376e-02 2.91395662e+00] [-5.18666480e-02 9.98653824e-01 -6.25463059e-04 -6.62227334e-02] [-1.93219776e-02 -3.77327914e-04 9.99813242e-01 4.72573863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054012739 meters 0.03516404225707896 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.06, Z:0.00 [[ 9.98330922e-01 5.46254771e-02 1.87463729e-02 2.94551822e+00] [-5.46236904e-02 9.98506827e-01 -6.07722386e-04 -6.03423530e-02] [-1.87515784e-02 -4.17288015e-04 9.99824087e-01 4.03313659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters 0.042315074678269504 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.04, Z:0.00 [[ 9.98086014e-01 5.88155504e-02 1.91060161e-02 2.97663537e+00] [-5.88144023e-02 9.98268741e-01 -6.22476819e-04 -4.33764933e-02] [-1.91095500e-02 -5.02423513e-04 9.99817270e-01 3.30119719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114012739 meters 0.03800189092199496 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.05, Z:0.00 [[ 9.98008623e-01 6.02705943e-02 1.86076299e-02 3.00821829e+00] [-6.02697587e-02 9.98181942e-01 -6.06201990e-04 -4.77179697e-02] [-1.86103363e-02 -5.16482553e-04 9.99826679e-01 3.32071674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters 0.037776111330893765 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.04, Z:0.00 [[ 9.98044838e-01 5.98660807e-02 1.79597887e-02 3.03993170e+00] [-5.98651882e-02 9.98206298e-01 -5.87794570e-04 -4.29655949e-02] [-1.79627631e-02 -4.88520795e-04 9.99838537e-01 2.04859775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174012739 meters 0.03906472906994763 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.04, Z:0.00 [[ 9.98121107e-01 5.84344442e-02 1.84301583e-02 3.07099632e+00] [-5.84332040e-02 9.98291136e-01 -6.06262338e-04 -3.94896645e-02] [-1.84340903e-02 -4.71809965e-04 9.99829966e-01 1.77380695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters 0.03731061628061801 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.04, Z:0.00 [[ 9.98227611e-01 5.62872758e-02 1.93230425e-02 3.10268402e+00] [-5.62854719e-02 9.98414513e-01 -6.37626060e-04 -4.06714760e-02] [-1.93282963e-02 -4.51110630e-04 9.99813089e-01 2.27582530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234012739 meters 0.03280928997793289 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.04, Z:0.00 [[ 9.98515527e-01 5.11299621e-02 1.87741591e-02 3.13189437e+00] [-5.11273308e-02 9.98691950e-01 -6.20419563e-04 -4.48930789e-02] [-1.87813236e-02 -3.40374075e-04 9.99823557e-01 3.99428736e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters 0.03044324185820573 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.05, Z:-0.00 [[ 9.98623705e-01 4.90275031e-02 1.86279143e-02 3.16376501e+00] [-4.90245562e-02 9.98797384e-01 -6.15091591e-04 -4.87747762e-02] [-1.86356685e-02 -2.98980190e-04 9.99826296e-01 -2.29625384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294012739 meters 0.029157516979916122 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:-0.00 [[ 9.98770601e-01 4.63261480e-02 1.76401304e-02 3.19501722e+00] [-4.63230364e-02 9.98926341e-01 -5.85172727e-04 -4.96101621e-02] [-1.76482997e-02 -2.32691086e-04 9.99844230e-01 -1.49000154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters 0.027190210199283523 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.05, Z:-0.00 [[ 9.98825333e-01 4.50090636e-02 1.79482186e-02 3.22747826e+00] [-4.50055814e-02 9.98986556e-01 -5.98088258e-04 -5.32083595e-02] [-1.79569485e-02 -2.10384309e-04 9.99838739e-01 -9.66088102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354012739 meters 0.025429807945047494 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.06, Z:-0.00 [[ 9.98927937e-01 4.23168341e-02 1.87686477e-02 3.25959864e+00] [-4.23124908e-02 9.99104228e-01 -6.28639603e-04 -5.72408022e-02] [-1.87784373e-02 -1.66182572e-04 9.99823656e-01 -7.86307091e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters 0.025222707726545446 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.06, Z:-0.00 [[ 9.98986427e-01 4.10298607e-02 1.85113526e-02 3.29027512e+00] [-4.10253576e-02 9.99157911e-01 -6.23104639e-04 -5.94782192e-02] [-1.85213303e-02 -1.36961783e-04 9.99828456e-01 -1.94558581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414012739 meters 0.02414121420118253 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.07, Z:-0.00 [[ 9.99113478e-01 3.85368121e-02 1.69461721e-02 3.32226021e+00] [-3.85326404e-02 9.99257178e-01 -5.72736328e-04 -6.85626178e-02] [-1.69556556e-02 -8.07521725e-05 9.99856239e-01 -4.84684029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters 0.02400755721726321 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.07, Z:-0.01 [[ 9.99164602e-01 3.75003246e-02 1.62426692e-02 3.35370346e+00] [-3.74963141e-02 9.99296614e-01 -5.51488605e-04 -7.17277521e-02] [-1.62519253e-02 -5.80123332e-05 9.99867927e-01 -6.49489672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474012739 meters 0.02381281161900924 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.07, Z:-0.01 [[ 9.99205009e-01 3.64206733e-02 1.62137348e-02 3.38578660e+00] [-3.64164879e-02 9.99336546e-01 -5.53400314e-04 -7.49539086e-02] [-1.62231330e-02 -3.74869121e-05 9.99868396e-01 -7.18251941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504012739 meters 0.02378130028159692 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.08, Z:-0.01 [[ 9.99231391e-01 3.58878221e-02 1.57699257e-02 3.41754166e+00] [-3.58837542e-02 9.99355824e-01 -5.40927724e-04 -7.67383835e-02] [-1.57791798e-02 -2.53721746e-05 9.99875501e-01 -8.33664149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534012739 meters 0.023751612785590633 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.08, Z:-0.01 [[ 9.99223584e-01 3.61949590e-02 1.55613148e-02 3.45055301e+00] [-3.61909951e-02 9.99344747e-01 -5.36353332e-04 -7.74448128e-02] [-1.55705315e-02 -2.72425691e-05 9.99878772e-01 -8.19715684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters 0.02364537939730881 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.08, Z:-0.01 [[ 9.99190039e-01 3.68511973e-02 1.61633697e-02 3.48366939e+00] [-3.68469538e-02 9.99320763e-01 -5.60367861e-04 -7.59544317e-02] [-1.61730411e-02 -3.56569500e-05 9.99869207e-01 -7.83209262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594012739 meters 0.023765637225505558 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.08, Z:-0.01 [[ 9.99193737e-01 3.68062044e-02 1.60367854e-02 3.51536307e+00] [-3.68019705e-02 9.99322422e-01 -5.59145676e-04 -7.57226979e-02] [-1.60464993e-02 -3.14904463e-05 9.99871246e-01 -9.83959743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters 0.02378074133079224 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.08, Z:-0.01 [[ 9.99250241e-01 3.57752319e-02 1.48016565e-02 3.54849713e+00] [-3.57714767e-02 9.99359861e-01 -5.18461103e-04 -7.54641219e-02] [-1.48107295e-02 -1.14047300e-05 9.99890315e-01 -1.24546475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654012739 meters 0.023784909619986715 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.08, Z:-0.01 [[ 9.99295154e-01 3.45366495e-02 1.47110242e-02 3.58195127e+00] [-3.45327651e-02 9.99403432e-01 -5.18056269e-04 -7.64382278e-02] [-1.47201400e-02 9.67877704e-06 9.99891653e-01 -1.29467400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684012739 meters 0.02410833513566963 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:-0.01 [[ 9.99400501e-01 3.10417691e-02 1.53312747e-02 3.61461431e+00] [-3.10370916e-02 9.99518086e-01 -5.42992593e-04 -7.84030366e-02] [-1.53407418e-02 6.68288917e-05 9.99882322e-01 -1.12234847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714012739 meters 0.024880903062697066 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.08, Z:-0.01 [[ 9.99457297e-01 2.88086770e-02 1.59740746e-02 3.64604441e+00] [-2.88032549e-02 9.99584938e-01 -5.69441390e-04 -8.11020806e-02] [-1.59838493e-02 1.09027009e-04 9.99872244e-01 -1.05632561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7440127389999995 meters 0.026118592202777378 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.08, Z:-0.01 [[ 9.99531283e-01 2.59586336e-02 1.62284561e-02 3.67854226e+00] [-2.59526416e-02 9.99663005e-01 -5.79756278e-04 -8.48858195e-02] [-1.62380369e-02 1.58313231e-04 9.99868142e-01 -1.09470975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774012739 meters 0.02935135117574839 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.09, Z:-0.01 [[ 9.99694878e-01 1.97011719e-02 1.49001815e-02 3.70962540e+00] [-1.96953830e-02 9.99805884e-01 -5.35168783e-04 -9.14064543e-02] [-1.49078325e-02 2.41540710e-04 9.99888843e-01 -1.35554462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters 0.03367486856069238 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.10, Z:-0.01 [[ 9.99802057e-01 1.37013876e-02 1.44262966e-02 3.74053637e+00] [-1.36953320e-02 9.99906080e-01 -5.18476065e-04 -1.00233295e-01] [-1.44320455e-02 3.20800515e-04 9.99895801e-01 -1.47016315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834012739 meters 0.03715273312192961 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.11, Z:-0.01 [[ 9.99822588e-01 1.15730863e-02 1.48612636e-02 3.77204009e+00] [-1.15664299e-02 9.99932964e-01 -5.33777432e-04 -1.05514414e-01] [-1.48664448e-02 3.61790970e-04 9.99889423e-01 -6.42222363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters 0.038409236465803666 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.11, Z:-0.01 [[ 9.99832754e-01 9.28494756e-03 1.57560944e-02 3.80294142e+00] [-9.27714094e-03 9.99956805e-01 -5.68486187e-04 -1.11217166e-01] [-1.57606922e-02 4.22219601e-04 9.99875703e-01 -1.37709595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894012739 meters 0.04147258407759249 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.12, Z:-0.01 [[ 9.99873161e-01 5.12847339e-03 1.50785108e-02 3.83415996e+00] [-5.12080954e-03 9.99986739e-01 -5.46828023e-04 -1.20232772e-01] [-1.50811152e-02 4.69544482e-04 9.99886163e-01 -1.43838079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters 0.04193518681677486 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.12, Z:-0.02 [[ 9.99886657e-01 4.11374680e-03 1.44827368e-02 3.86606320e+00] [-4.10657749e-03 9.99991430e-01 -5.24728482e-04 -1.23984201e-01] [-1.44847713e-02 4.65194527e-04 9.99894982e-01 -1.58012108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9540127389999995 meters 0.04309038506685188 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.13, Z:-0.01 [[ 9.99895496e-01 4.31945758e-03 1.37963606e-02 3.89883314e+00] [-4.31293951e-03 9.99990573e-01 -5.02166370e-04 -1.28993519e-01] [-1.37983997e-02 4.42611023e-04 9.99904700e-01 -1.29961686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters 0.04138266885550591 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.13, Z:-0.02 [[ 9.99879322e-01 5.59668851e-03 1.44920297e-02 3.93078346e+00] [-5.58960485e-03 9.99984238e-01 -5.29255472e-04 -1.30270519e-01] [-1.44947633e-02 4.48186883e-04 9.99894845e-01 -1.67632535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014012739 meters 0.03760001524256689 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.13, Z:-0.02 [[ 9.99851031e-01 8.77827214e-03 1.48612656e-02 3.96254502e+00] [-8.77112679e-03 9.99961384e-01 -5.45915258e-04 -1.30308785e-01] [-1.48654840e-02 4.15483889e-04 9.99889416e-01 -1.60095976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters 0.042313405908117316 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.13, Z:0.00 [[ 9.99855871e-01 1.06089805e-02 1.32546637e-02 3.99551217e+00] [-1.06034544e-02 9.99943663e-01 -4.87124344e-04 -1.31599248e-01] [-1.32590849e-02 3.46508912e-04 9.99912034e-01 8.20912735e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074012739 meters 0.035886173886203514 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.13, Z:-0.02 [[ 9.99809509e-01 1.27130028e-02 1.48096497e-02 4.02551120e+00] [-1.27063157e-02 9.99919123e-01 -5.45546462e-04 -1.33065117e-01] [-1.48153875e-02 3.57266456e-04 9.99890182e-01 -1.64093823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters 0.030731077655562516 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.13, Z:-0.02 [[ 9.99705231e-01 1.83459974e-02 1.59020614e-02 4.05704089e+00] [-1.83389970e-02 9.99831655e-01 -5.85940860e-04 -1.27953344e-01] [-1.59101340e-02 2.94140286e-04 9.99873383e-01 -1.53487268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134012739 meters 0.037105569818908384 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.13, Z:0.00 [[ 9.99652488e-01 2.19414288e-02 1.46108324e-02 4.08832307e+00] [-2.19359094e-02 9.99759234e-01 -5.37933986e-04 -1.27748868e-01] [-1.46191176e-02 2.17245152e-04 9.99893111e-01 1.35377055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters 0.025639879139320705 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.12, Z:-0.02 [[ 9.99491541e-01 2.78523461e-02 1.55211356e-02 4.11978755e+00] [-2.78467806e-02 9.99612038e-01 -5.74622397e-04 -1.20748399e-01] [-1.55311186e-02 1.42116567e-04 9.99879375e-01 -1.81062832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194012739 meters 0.024545372007182605 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.12, Z:-0.02 [[ 9.99400636e-01 3.09869047e-02 1.54331153e-02 4.15086176e+00] [-3.09817799e-02 9.99519786e-01 -5.71100522e-04 -1.18557257e-01] [-1.54434007e-02 9.26128440e-05 9.99880739e-01 -1.85799282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters 0.023903587371420065 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.12, Z:-0.02 [[ 9.99316023e-01 3.37187995e-02 1.51831415e-02 4.18345183e+00] [-3.37141212e-02 9.99431358e-01 -5.64046354e-04 -1.16701283e-01] [-1.51935267e-02 5.17742873e-05 9.99884570e-01 -1.91248988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254012739 meters 0.023846442899971045 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.11, Z:-0.02 [[ 9.99135033e-01 3.89351071e-02 1.46028223e-02 4.21611453e+00] [-3.89313049e-02 9.99241741e-01 -5.44654984e-04 -1.10948693e-01] [-1.46129558e-02 -2.43230514e-05 9.99893225e-01 -2.11858293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284012739 meters 0.02406865676705931 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.11, Z:-0.02 [[ 9.99048965e-01 4.11861123e-02 1.43132697e-02 4.24942491e+00] [-4.11826571e-02 9.99151491e-01 -5.36182516e-04 -1.09167229e-01] [-1.43232080e-02 -5.37858900e-05 9.99897416e-01 -2.18201978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314012739 meters 0.026176775693977188 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.10, Z:-0.02 [[ 9.98851409e-01 4.59514371e-02 1.35767748e-02 4.28049102e+00] [-4.59487335e-02 9.98943668e-01 -5.11166449e-04 -1.01011433e-01] [-1.35859221e-02 -1.13256278e-04 9.99907701e-01 -2.49431441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters 0.026176775693977188 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.10, Z:-0.03 [[ 9.98843216e-01 4.61292047e-02 1.35767050e-02 4.31298412e+00] [-4.61264924e-02 9.98935475e-01 -5.13012212e-04 -1.02444813e-01] [-1.35859171e-02 -1.13827013e-04 9.99907701e-01 -2.56035761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374012739 meters 0.027067139906010222 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.10, Z:-0.02 [[ 9.98698730e-01 4.89283033e-02 1.43829211e-02 4.34478933e+00] [-4.89255071e-02 9.98802281e-01 -5.46422788e-04 -9.98427308e-02] [-1.43924299e-02 -1.57979964e-04 9.99896411e-01 -2.40131799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters 0.028475713269863295 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.10, Z:-0.02 [[ 9.98541154e-01 5.18316227e-02 1.51343050e-02 4.37743440e+00] [-5.18288243e-02 9.98655816e-01 -5.77324876e-04 -9.64878408e-02] [-1.51438854e-02 -2.07910587e-04 9.99885303e-01 -2.19394154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434012739 meters 0.032534381210827336 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.09, Z:-0.02 [[ 9.98203511e-01 5.75801750e-02 1.65612439e-02 4.40870514e+00] [-5.75775568e-02 9.98340834e-01 -6.35250773e-04 -8.60234919e-02] [-1.65703440e-02 -3.19446413e-04 9.99862651e-01 -1.95321097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters 0.03650820437592188 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.07, Z:-0.02 [[ 9.97878243e-01 6.28725946e-02 1.69129738e-02 4.43978272e+00] [-6.28706126e-02 9.98021475e-01 -6.49394175e-04 -7.44963318e-02] [-1.69203402e-02 -4.15312707e-04 9.99856755e-01 -2.04948055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494012739 meters 0.038650799305927644 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.07, Z:-0.02 [[ 9.97719599e-01 6.55192099e-02 1.62121751e-02 4.47167296e+00] [-6.55177443e-02 9.97851210e-01 -6.22087088e-04 -6.96096588e-02] [-1.62180972e-02 -4.41516662e-04 9.99868381e-01 -2.21655008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters 0.04414031068028997 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.06, Z:-0.02 [[ 9.97556112e-01 6.80308660e-02 1.59249712e-02 4.50333443e+00] [-6.80297332e-02 9.97683106e-01 -6.13466713e-04 -5.96229022e-02] [-1.59298094e-02 -4.71404074e-04 9.99873001e-01 -2.34851402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554012739 meters 0.04450874895298296 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.06, Z:-0.02 [[ 9.97419777e-01 7.01543599e-02 1.52365967e-02 4.53473433e+00] [-7.01535268e-02 9.97536032e-01 -5.89815941e-04 -5.50133492e-02] [-1.52404323e-02 -4.80606908e-04 9.99883742e-01 -2.40747796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters 0.04689176354658488 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.05, Z:-0.03 [[ 9.97439090e-01 6.98955434e-02 1.51615911e-02 4.56455306e+00] [-6.98946806e-02 9.97554203e-01 -5.87435756e-04 -5.06127388e-02] [-1.51655680e-02 -4.73783178e-04 9.99884884e-01 -2.55235416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614012739 meters 0.04440469878779837 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.05, Z:-0.03 [[ 9.97582224e-01 6.78780018e-02 1.49091893e-02 4.59553680e+00] [-6.78769466e-02 9.97693533e-01 -5.77368446e-04 -5.06034913e-02] [-1.49139924e-02 -4.36017748e-04 9.99888685e-01 -2.65496028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters 0.039979651284580496 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.06, Z:-0.03 [[ 9.97673435e-01 6.64160706e-02 1.53825617e-02 4.62635539e+00] [-6.64147719e-02 9.97791924e-01 -5.95817739e-04 -5.59808496e-02] [-1.53881677e-02 -4.27197795e-04 9.99881504e-01 -2.65848155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674012739 meters 0.04231260799328267 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.05, Z:-0.03 [[ 9.97756977e-01 6.50371167e-02 1.58489322e-02 4.65738691e+00] [-6.50355582e-02 9.97882758e-01 -6.14266009e-04 -5.15125675e-02] [-1.58553262e-02 -4.17855953e-04 9.99874209e-01 -2.73868720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters 0.0381454989157887 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.06, Z:-0.03 [[ 9.97990805e-01 6.12649050e-02 1.61543926e-02 4.68889285e+00] [-6.12627863e-02 9.98121475e-01 -6.26448455e-04 -5.50935767e-02] [-1.61624255e-02 -3.64473306e-04 9.99869313e-01 -2.74505969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734012739 meters 0.03317306796396834 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.06, Z:-0.03 [[ 9.98125658e-01 5.91442790e-02 1.57202161e-02 4.72114012e+00] [-5.91420060e-02 9.98249393e-01 -6.09851105e-04 -6.30844534e-02] [-1.57287654e-02 -3.21017082e-04 9.99876244e-01 -2.82924039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters 0.030501014152181337 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.07, Z:-0.03 [[ 9.98424314e-01 5.44824618e-02 1.34368852e-02 4.75109003e+00] [-5.44803592e-02 9.98514706e-01 -5.22739514e-04 -6.85810321e-02] [-1.34454076e-02 -2.10130489e-04 9.99909584e-01 -3.32906624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794012739 meters 0.028754713568893062 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.07, Z:-0.04 [[ 9.98552673e-01 5.22842781e-02 1.26060881e-02 4.78292853e+00] [-5.22822651e-02 9.98632227e-01 -4.89402915e-04 -7.36341598e-02] [-1.26144339e-02 -1.70380252e-04 9.99920420e-01 -3.51456199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters 0.029493584447982377 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.08, Z:-0.03 [[ 9.98675764e-01 5.01388609e-02 1.15244662e-02 4.81488849e+00] [-5.01370178e-02 9.98742248e-01 -4.48971159e-04 -7.88791826e-02] [-1.15324822e-02 -1.29425752e-04 9.99933490e-01 -2.56319699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854012739 meters 0.025130367514485358 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.09, Z:-0.03 [[ 9.98826382e-01 4.63659563e-02 1.40020566e-02 4.84561784e+00] [-4.63628215e-02 9.98924516e-01 -5.48574658e-04 -8.50632272e-02] [-1.40124328e-02 -1.01244008e-04 9.99901816e-01 -3.43118012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters 0.024062876948443144 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.09, Z:-0.03 [[ 9.98891261e-01 4.46189617e-02 1.50132547e-02 4.87795550e+00] [-4.46151244e-02 9.99004075e-01 -5.90596927e-04 -9.09985833e-02] [-1.50246544e-02 -7.98761162e-05 9.99887120e-01 -3.23673704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914012739 meters 0.02333071926325124 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.10, Z:-0.03 [[ 9.99041024e-01 4.08344263e-02 1.57981525e-02 4.90862791e+00] [-4.08296585e-02 9.99165927e-01 -6.24346101e-04 -1.01527301e-01] [-1.58104705e-02 -2.12858053e-05 9.99875006e-01 -3.22198525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters 0.02333695235804515 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.11, Z:-0.03 [[ 9.99123851e-01 3.88286269e-02 1.56162675e-02 4.94071082e+00] [-3.88236880e-02 9.99245884e-01 -6.19417784e-04 -1.08248186e-01] [-1.56285422e-02 1.25939851e-05 9.99877867e-01 -3.37492656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974012738999999 meters 0.023655043023974715 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.12, Z:-0.03 [[ 9.99234096e-01 3.58912324e-02 1.55897840e-02 4.97229388e+00] [-3.58859093e-02 9.99355700e-01 -6.21148961e-04 -1.18973558e-01] [-1.56020333e-02 6.12196475e-05 9.99878279e-01 -3.39169225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters 0.023971670085840738 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.12, Z:-0.03 [[ 9.99266895e-01 3.49152208e-02 1.57034864e-02 5.00483711e+00] [-3.49096596e-02 9.99390275e-01 -6.28199589e-04 -1.24433894e-01] [-1.57158453e-02 7.95356862e-05 9.99876495e-01 -3.43790358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034012739 meters 0.024073306925918754 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.13, Z:-0.04 [[ 9.99277435e-01 3.48124935e-02 1.52544226e-02 5.03687035e+00] [-3.48071902e-02 9.99393858e-01 -6.13092537e-04 -1.28553121e-01] [-1.52665196e-02 8.16859475e-05 9.99883457e-01 -3.54429282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064012739 meters 0.024089687779048744 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.13, Z:-0.04 [[ 9.99267047e-01 3.61446607e-02 1.26068558e-02 5.06914030e+00] [-3.61411234e-02 9.99346567e-01 -5.08372984e-04 -1.30401796e-01] [-1.26169930e-02 5.23744392e-05 9.99920401e-01 -3.92714812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094012739 meters 0.024173904757455292 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.13, Z:-0.04 [[ 9.99226975e-01 3.73893570e-02 1.21444586e-02 5.10151300e+00] [-3.73861442e-02 9.99300773e-01 -4.91544054e-04 -1.32179343e-01] [-1.21543454e-02 3.71295957e-05 9.99926133e-01 -4.18780591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters 0.02362045181386373 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.13, Z:-0.04 [[ 9.99035291e-01 4.18631669e-02 1.32650878e-02 5.13429848e+00] [-4.18596908e-02 9.99123353e-01 -5.39707790e-04 -1.30053551e-01] [-1.32760529e-02 -1.60853443e-05 9.99911869e-01 -3.88045384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154012739 meters 0.02382120808092703 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.13, Z:-0.04 [[ 9.98904903e-01 4.46730578e-02 1.39036805e-02 5.16600725e+00] [-4.46694784e-02 9.99001659e-01 -5.68039472e-04 -1.27389582e-01] [-1.39151760e-02 -5.36527419e-05 9.99903178e-01 -3.77030794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters 0.02449108975721591 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.12, Z:-0.04 [[ 9.98776589e-01 4.74818122e-02 1.38131672e-02 5.19851098e+00] [-4.74785140e-02 9.98872099e-01 -5.66787168e-04 -1.23992797e-01] [-1.38244994e-02 -8.97348965e-05 9.99904433e-01 -3.83099455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214012739 meters 0.026803258249562464 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.12, Z:-0.04 [[ 9.98553654e-01 5.21042981e-02 1.32567518e-02 5.23030034e+00] [-5.21016391e-02 9.98641638e-01 -5.46098575e-04 -1.16378802e-01] [-1.32671984e-02 -1.45389771e-04 9.99911976e-01 -4.14059543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters 0.02701574646213753 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.12, Z:-0.04 [[ 9.98448071e-01 5.38074693e-02 1.43598714e-02 5.26265991e+00] [-5.38044916e-02 9.98551313e-01 -5.93894652e-04 -1.16373232e-01] [-1.43710244e-02 -1.79652609e-04 9.99896715e-01 -3.96711425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274012739 meters 0.02671039246139543 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.12, Z:-0.04 [[ 9.98436284e-01 5.37770059e-02 1.52649904e-02 5.29506850e+00] [-5.37735953e-02 9.98552952e-01 -6.34089007e-04 -1.17425098e-01] [-1.52770006e-02 -1.87755940e-04 9.99883282e-01 -3.79700658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters 0.02675907712648356 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.12, Z:-0.04 [[ 9.98431387e-01 5.36236012e-02 1.61020183e-02 5.32666202e+00] [-5.36197389e-02 9.98561201e-01 -6.71795784e-04 -1.17152780e-01] [-1.61148748e-02 -1.92644020e-04 9.99870128e-01 -3.71323381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334012739 meters 0.02685719743195762 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.12, Z:-0.04 [[ 9.98405988e-01 5.39571510e-02 1.65562262e-02 5.36008143e+00] [-5.39530714e-02 9.98543232e-01 -6.93294005e-04 -1.17701114e-01] [-1.65695158e-02 -2.01070370e-04 9.99862696e-01 -3.78629186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters 0.02719458136469751 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.12, Z:-0.04 [[ 9.98396716e-01 5.44157363e-02 1.55860619e-02 5.39274161e+00] [-5.44121350e-02 9.98518347e-01 -6.55343464e-04 -1.18066540e-01] [-1.55986298e-02 -1.93778141e-04 9.99878315e-01 -4.05563295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394012738999999 meters 0.027954752709957172 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.12, Z:-0.05 [[ 9.98424138e-01 5.46522639e-02 1.27424689e-02 5.42352017e+00] [-5.46498513e-02 9.98505435e-01 -5.37720652e-04 -1.17130749e-01] [-1.27528121e-02 -1.59500750e-04 9.99918667e-01 -4.58151529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters 0.02772482088497319 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.12, Z:-0.05 [[ 9.98434221e-01 5.45079089e-02 1.25696038e-02 5.45646616e+00] [-5.45055300e-02 9.98513327e-01 -5.32004139e-04 -1.19291298e-01] [-1.25799154e-02 -1.53941781e-04 9.99920858e-01 -4.72379542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454012739 meters 0.026808539027828086 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.12, Z:-0.05 [[ 9.98444216e-01 5.41301246e-02 1.33819423e-02 5.48824239e+00] [-5.41273566e-02 9.98533878e-01 -5.69203130e-04 -1.23357077e-01] [-1.33931338e-02 -1.56011591e-04 9.99910296e-01 -4.60124179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters 0.025547036676605534 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.13, Z:-0.04 [[ 9.98499105e-01 5.25198090e-02 1.55308608e-02 5.51897115e+00] [-5.25158368e-02 9.98619871e-01 -6.63768683e-04 -1.28048246e-01] [-1.55442872e-02 -1.52843714e-04 9.99879169e-01 -4.25317391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514012739 meters 0.02524603816050245 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.13, Z:-0.04 [[ 9.98467759e-01 5.28150091e-02 1.65138894e-02 5.55238311e+00] [-5.28105158e-02 9.98604300e-01 -7.08361947e-04 -1.30183262e-01] [-1.65282531e-02 -1.64830449e-04 9.99863386e-01 -4.21439889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters 0.026424453494914853 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.13, Z:-0.05 [[ 9.98417093e-01 5.42495797e-02 1.48422168e-02 5.58404238e+00] [-5.42460693e-02 9.98527393e-01 -6.39296069e-04 -1.28645554e-01] [-1.48550416e-02 -1.66847798e-04 9.99889644e-01 -4.50681032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574012739 meters 0.02737566111379577 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.13, Z:-0.05 [[ 9.98363018e-01 5.54581452e-02 1.39884994e-02 5.61518841e+00] [-5.54551176e-02 9.98460998e-01 -6.04525565e-04 -1.27939947e-01] [-1.40004969e-02 -1.72197913e-04 9.99901973e-01 -4.71868579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters 0.027152329695337523 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.13, Z:-0.05 [[ 9.98305274e-01 5.65465141e-02 1.37503176e-02 5.64771411e+00] [-5.65436656e-02 9.98399949e-01 -5.96148610e-04 -1.29247566e-01] [-1.37620265e-02 -1.82355057e-04 9.99905282e-01 -4.74200437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634012739 meters 0.026907337559690648 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.13, Z:-0.05 [[ 9.98295992e-01 5.63577134e-02 1.51301495e-02 5.67982860e+00] [-5.63541989e-02 9.98410622e-01 -6.58867076e-04 -1.30512325e-01] [-1.51432343e-02 -1.94903097e-04 9.99885316e-01 -4.63148606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters 0.0327692262019705 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.13, Z:-0.03 [[ 9.98360435e-01 5.54289235e-02 1.42854931e-02 5.71118242e+00] [-5.54256627e-02 9.98462621e-01 -6.24370826e-04 -1.32716040e-01] [-1.42981391e-02 -1.68435791e-04 9.99897762e-01 -3.21745926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694012739 meters 0.024772220155049936 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.14, Z:-0.05 [[ 9.98509469e-01 5.25690733e-02 1.46742244e-02 5.74228218e+00] [-5.25652900e-02 9.98617282e-01 -6.43668980e-04 -1.42385077e-01] [-1.46877712e-02 -1.28645291e-04 9.99892121e-01 -4.78666544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters 0.023956107855110754 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.15, Z:-0.05 [[ 9.98632229e-01 5.02886362e-02 1.43081837e-02 5.77470585e+00] [-5.02847632e-02 9.98734722e-01 -6.30545710e-04 -1.47804936e-01] [-1.43217892e-02 -8.98003609e-05 9.99897434e-01 -4.95708135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754012739 meters 0.02267511270951814 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.16, Z:-0.05 [[ 9.98844153e-01 4.54429166e-02 1.56620295e-02 5.80642169e+00] [-4.54376716e-02 9.98966937e-01 -6.90753912e-04 -1.58732225e-01] [-1.56772395e-02 -2.16906473e-05 9.99877104e-01 -4.87000516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters 0.02248229748575397 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.17, Z:-0.05 [[ 9.98925936e-01 4.33382522e-02 1.63942108e-02 5.83870825e+00] [-4.33321766e-02 9.99060456e-01 -7.25803287e-04 -1.66186694e-01] [-1.64102628e-02 1.46268884e-05 9.99865342e-01 -4.75259121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814012739 meters 0.023074862854647663 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.18, Z:-0.05 [[ 9.99086115e-01 3.96456279e-02 1.59736765e-02 5.87002545e+00] [-3.96393388e-02 9.99213800e-01 -7.10259082e-04 -1.79670741e-01] [-1.59892767e-02 7.64240114e-05 9.99872160e-01 -4.76755760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters 0.023438145753428053 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.19, Z:-0.05 [[ 9.99140464e-01 3.87144027e-02 1.48164820e-02 5.90201222e+00] [-3.87088566e-02 9.99250313e-01 -6.61025228e-04 -1.85000198e-01] [-1.48309655e-02 8.69279742e-05 9.99890011e-01 -4.98951904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874012739 meters 0.023622665294878116 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.19, Z:-0.05 [[ 9.99145402e-01 3.90070107e-02 1.36718075e-02 5.93262906e+00] [-3.90022812e-02 9.99238934e-01 -6.12491625e-04 -1.89141036e-01] [-1.36852938e-02 7.87365127e-05 9.99906349e-01 -5.20140623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters 0.023175119084412568 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.20, Z:-0.05 [[ 9.99061296e-01 4.07486837e-02 1.46993560e-02 5.96508772e+00] [-4.07433801e-02 9.99169426e-01 -6.60215309e-04 -1.95445742e-01] [-1.47140500e-02 6.06941139e-05 9.99891741e-01 -5.15896484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934012739 meters 0.022804751970470837 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.20, Z:-0.05 [[ 9.98954863e-01 4.28765282e-02 1.58362008e-02 5.99626381e+00] [-4.28706300e-02 9.99080378e-01 -7.11896899e-04 -1.98148872e-01] [-1.58521612e-02 3.22449628e-05 9.99874346e-01 -4.98863676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters 0.022715084471302317 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.20, Z:-0.05 [[ 9.98699640e-01 4.81038449e-02 1.68833721e-02 6.02906613e+00] [-4.80978416e-02 9.98842339e-01 -7.61683511e-04 -1.95263030e-01] [-1.69004668e-02 -5.13607112e-05 9.99857176e-01 -4.87476553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994012739 meters 0.023590977564615406 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.19, Z:-0.05 [[ 9.98553371e-01 5.12765203e-02 1.61827941e-02 6.06012934e+00] [-5.12713716e-02 9.98684489e-01 -7.33153612e-04 -1.92874802e-01] [-1.61990990e-02 -9.76210372e-05 9.99868781e-01 -5.12285610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters 0.02719389097088825 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.19, Z:-0.06 [[ 9.98266017e-01 5.70642290e-02 1.44441046e-02 6.09138785e+00] [-5.70607051e-02 9.98370495e-01 -6.56299466e-04 -1.87480611e-01] [-1.44580191e-02 -1.69029342e-04 9.99895463e-01 -5.59496877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054012739 meters 0.027843571429872108 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.19, Z:-0.06 [[ 9.98121435e-01 5.94812831e-02 1.46825413e-02 6.12313822e+00] [-5.94778704e-02 9.98229400e-01 -6.69377498e-04 -1.87921893e-01] [-1.46963598e-02 -2.05166258e-04 9.99891982e-01 -5.51542262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters 0.028760653187210928 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.19, Z:-0.05 [[ 9.98034590e-01 6.07718305e-02 1.52885911e-02 6.15513052e+00] [-6.07682448e-02 9.98151657e-01 -6.99410316e-04 -1.87051392e-01] [-1.53028370e-02 -2.31025159e-04 9.99882878e-01 -5.45282729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114012739 meters 0.028191572327424898 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.19, Z:-0.05 [[ 9.98080635e-01 5.98150247e-02 1.60377126e-02 6.18647148e+00] [-5.98109101e-02 9.98209453e-01 -7.36509689e-04 -1.87816085e-01] [-1.60530507e-02 -2.24134127e-04 9.99871116e-01 -5.42536684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters 0.026574940257279373 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.19, Z:-0.05 [[ 9.98177605e-01 5.81614762e-02 1.60845000e-02 6.21861386e+00] [-5.81570844e-02 9.98307169e-01 -7.41047748e-04 -1.93865355e-01] [-1.61003721e-02 -1.95730359e-04 9.99870361e-01 -5.41454879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174012739 meters 0.02502365258603456 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.20, Z:-0.06 [[ 9.98400790e-01 5.41893454e-02 1.61052259e-02 6.24945634e+00] [-5.41843821e-02 9.98530670e-01 -7.44698568e-04 -2.00033697e-01] [-1.61219167e-02 -1.29144076e-04 9.99870025e-01 -5.56169136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters 0.02378205880477112 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.20, Z:-0.06 [[ 9.98478087e-01 5.27496959e-02 1.60928595e-02 6.28109659e+00] [-5.27445147e-02 9.98607760e-01 -7.46511750e-04 -2.04524100e-01] [-1.61098327e-02 -1.03434441e-04 9.99870223e-01 -5.53730770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234012739 meters 0.02313093337447935 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.21, Z:-0.06 [[ 9.98575206e-01 5.11209686e-02 1.53037105e-02 6.31415235e+00] [-5.11160588e-02 9.98692466e-01 -7.12063466e-04 -2.08971767e-01] [-1.53201017e-02 -7.12164411e-05 9.99882638e-01 -5.69561199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters 0.02313093337447935 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.21, Z:-0.06 [[ 9.98565171e-01 5.13166591e-02 1.53035708e-02 6.34662979e+00] [-5.13117265e-02 9.98682430e-01 -7.15050743e-04 -2.10669436e-01] [-1.53201013e-02 -7.12278706e-05 9.99882638e-01 -5.76164967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294012739 meters 0.023310997880603118 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.21, Z:-0.06 [[ 9.98565177e-01 5.14580985e-02 1.48206410e-02 6.37893896e+00] [-5.14534455e-02 9.98675152e-01 -6.95343116e-04 -2.13413354e-01] [-1.48367869e-02 -6.82276213e-05 9.99889926e-01 -5.84923630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters 0.02368717333949388 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.21, Z:-0.06 [[ 9.98524179e-01 5.23259043e-02 1.45417957e-02 6.41138622e+00] [-5.23214788e-02 9.98630059e-01 -6.84871304e-04 -2.14441130e-01] [-1.45577108e-02 -7.69876975e-05 9.99894028e-01 -6.06134856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354012739 meters 0.024238900044131057 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.21, Z:-0.06 [[ 9.98401909e-01 5.46760293e-02 1.42884285e-02 6.44363977e+00] [-5.46719603e-02 9.98504141e-01 -6.75519016e-04 -2.14616256e-01] [-1.43039897e-02 -1.06736921e-04 9.99897687e-01 -6.10065019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters 0.025170112966787176 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.21, Z:-0.06 [[ 9.98313511e-01 5.62489054e-02 1.43594540e-02 6.47448176e+00] [-5.62449224e-02 9.98416769e-01 -6.81386405e-04 -2.13422482e-01] [-1.43750469e-02 -1.27409124e-04 9.99896666e-01 -6.16436700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414012739 meters 0.026693569570073978 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.21, Z:-0.06 [[ 9.98214793e-01 5.81228499e-02 1.37463541e-02 6.50522342e+00] [-5.81193378e-02 9.98309428e-01 -6.55177793e-04 -2.12705426e-01] [-1.37611957e-02 -1.44920830e-04 9.99905300e-01 -6.42116185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters 0.026615043265269218 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.22, Z:-0.06 [[ 9.98176321e-01 5.87678528e-02 1.37975215e-02 6.53805909e+00] [-5.87643862e-02 9.98271664e-01 -6.56889433e-04 -2.16287544e-01] [-1.38122787e-02 -1.55111402e-04 9.99904594e-01 -6.45208016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474012738999999 meters 0.0265900186561207 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.22, Z:-0.06 [[ 9.98123482e-01 5.94202606e-02 1.47901018e-02 6.57110619e+00] [-5.94163043e-02 9.98233040e-01 -7.07155297e-04 -2.19554094e-01] [-1.48059877e-02 -1.72944883e-04 9.99890370e-01 -6.31803405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters 0.026695016770276872 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.22, Z:-0.06 [[ 9.98103994e-01 5.95951985e-02 1.53892887e-02 6.60370022e+00] [-5.95908892e-02 9.98222610e-01 -7.38832700e-04 -2.21465370e-01] [-1.54059668e-02 -1.79629527e-04 9.99881305e-01 -6.33693257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534012739 meters 0.02652148809280368 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.22, Z:-0.06 [[ 9.98089533e-01 5.96863423e-02 1.59632406e-02 6.63715901e+00] [-5.96816677e-02 9.98217164e-01 -7.69487610e-04 -2.23643502e-01] [-1.59807086e-02 -1.84695289e-04 9.99872283e-01 -6.29029609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters 0.0265064374497372 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.23, Z:-0.06 [[ 9.98073228e-01 6.00428871e-02 1.56423798e-02 6.66972980e+00] [-6.00383982e-02 9.98195781e-01 -7.56839113e-04 -2.26525143e-01] [-1.56596003e-02 -1.83762570e-04 9.99877364e-01 -6.37683806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594012739 meters 0.027093897942939104 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.23, Z:-0.07 [[ 9.98045765e-01 6.05863704e-02 1.52951646e-02 6.70145063e+00] [-6.05820984e-02 9.98162941e-01 -7.42907807e-04 -2.26094269e-01] [-1.53120766e-02 -1.85157176e-04 9.99882746e-01 -6.54940698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters 0.02770785783494594 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.22, Z:-0.06 [[ 9.97943762e-01 6.20725249e-02 1.59765311e-02 6.73386835e+00] [-6.20680057e-02 9.98071619e-01 -7.79039111e-04 -2.23232813e-01] [-1.59940792e-02 -2.14194202e-04 9.99872064e-01 -6.39560033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654012739 meters 0.028264490475104778 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.22, Z:-0.06 [[ 9.97893934e-01 6.26959988e-02 1.66405594e-02 6.76621561e+00] [-6.26911358e-02 9.98032644e-01 -8.14233882e-04 -2.23095595e-01] [-1.66588707e-02 -2.30696516e-04 9.99861205e-01 -6.34349682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters 0.027900452759015704 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.22, Z:-0.06 [[ 9.97884026e-01 6.26218951e-02 1.74919488e-02 6.79837949e+00] [-6.26164532e-02 9.98037295e-01 -8.59159249e-04 -2.24895369e-01] [-1.75114195e-02 -2.37942505e-04 9.99846635e-01 -6.22782073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714012739 meters 0.027435372329367307 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.23, Z:-0.06 [[ 9.97958832e-01 6.14806911e-02 1.72712196e-02 6.82999203e+00] [-6.14751666e-02 9.98108250e-01 -8.51101680e-04 -2.25703439e-01] [-1.72908731e-02 -2.12386663e-04 9.99850479e-01 -6.27843651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters 0.027359741292271842 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.23, Z:-0.07 [[ 9.98002514e-01 6.08577219e-02 1.69505027e-02 6.86147522e+00] [-6.08522688e-02 9.98146432e-01 -8.37778045e-04 -2.26119782e-01] [-1.69700691e-02 -1.95371953e-04 9.99855979e-01 -6.57658322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774012739 meters 0.02682543684650124 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.23, Z:-0.07 [[ 9.98005436e-01 6.07747612e-02 1.70756857e-02 6.89479172e+00] [-6.07691736e-02 9.98151487e-01 -8.46390168e-04 -2.29272896e-01] [-1.70955603e-02 -1.92973323e-04 9.99853842e-01 -6.64286804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters 0.02637575335176529 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.23, Z:-0.07 [[ 9.98039771e-01 6.02211330e-02 1.70302572e-02 6.92668747e+00] [-6.02154411e-02 9.98185044e-01 -8.47274238e-04 -2.31919332e-01] [-1.70503718e-02 -1.79871061e-04 9.99854616e-01 -6.78118821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834012739 meters 0.026583522133308064 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.23, Z:-0.07 [[ 9.98059622e-01 6.00358297e-02 1.65133103e-02 6.95834087e+00] [-6.00304119e-02 9.98196208e-01 -8.24023349e-04 -2.33388503e-01] [-1.65329946e-02 -1.68876386e-04 9.99863306e-01 -6.94523318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters 0.026720375024164716 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.23, Z:-0.07 [[ 9.98055499e-01 6.04964326e-02 1.50133882e-02 6.99014357e+00] [-6.04919724e-02 9.98168401e-01 -7.51443332e-04 -2.33743388e-01] [-1.50313494e-02 -1.58207316e-04 9.99887010e-01 -7.20635810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894012738999999 meters 0.0264602370521871 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.24, Z:-0.07 [[ 9.98024197e-01 6.12221190e-02 1.41263590e-02 7.02243064e+00] [-6.12182151e-02 9.98124154e-01 -7.09012058e-04 -2.36450155e-01] [-1.41432673e-02 -1.57179292e-04 9.99899967e-01 -7.23014413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters 0.02658555070924318 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.24, Z:-0.07 [[ 9.98022426e-01 6.13179091e-02 1.38329886e-02 7.05479509e+00] [-6.13141398e-02 9.98118275e-01 -6.96820085e-04 -2.38658549e-01] [-1.38496863e-02 -1.52715726e-04 9.99904077e-01 -7.34177048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954012739 meters 0.027823083834903596 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.24, Z:-0.08 [[ 9.98018160e-01 6.15304833e-02 1.31814994e-02 7.08682282e+00] [-6.15270654e-02 9.98105194e-01 -6.65049822e-04 -2.39146625e-01] [-1.31974438e-02 -1.47287176e-04 9.99912899e-01 -7.68346326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters 0.02704851698622238 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.24, Z:-0.08 [[ 9.97968897e-01 6.26575747e-02 1.14938880e-02 7.11878288e+00] [-6.26550324e-02 9.98035074e-01 -5.81493991e-04 -2.43809087e-01] [-1.15077384e-02 -1.39837010e-04 9.99933774e-01 -7.81017546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014012739 meters 0.03139979108188075 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.24, Z:-0.07 [[ 9.97941274e-01 6.31614898e-02 1.11283338e-02 7.15138671e+00] [-6.31591191e-02 9.98003310e-01 -5.64698232e-04 -2.40426562e-01] [-1.11417811e-02 -1.39320085e-04 9.99937919e-01 -7.32030170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters 0.028129105589103368 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.24, Z:-0.08 [[ 9.97865295e-01 6.41926873e-02 1.20063218e-02 7.18399434e+00] [-6.41899732e-02 9.97937510e-01 -6.11676970e-04 -2.43015041e-01] [-1.20208240e-02 -1.60314252e-04 9.99927734e-01 -7.90894822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074012739 meters 0.028450978081074472 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.24, Z:-0.08 [[ 9.97795426e-01 6.52107733e-02 1.23224940e-02 7.21642619e+00] [-6.52079594e-02 9.97871497e-01 -6.30426319e-04 -2.43266749e-01] [-1.23373761e-02 -1.74488192e-04 9.99923876e-01 -7.86384755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters 0.028606675346524293 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.24, Z:-0.08 [[ 9.97744526e-01 6.58485165e-02 1.30320237e-02 7.24969529e+00] [-6.58453948e-02 9.97829613e-01 -6.68925734e-04 -2.44873761e-01] [-1.30477869e-02 -1.90681755e-04 9.99914856e-01 -7.82375233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134012739 meters 0.028519040480687673 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.25, Z:-0.08 [[ 9.97748770e-01 6.54137944e-02 1.47792672e-02 7.28041729e+00] [-6.54096790e-02 9.97858203e-01 -7.62182205e-04 -2.46977195e-01] [-1.47974702e-02 -2.06240763e-04 9.99890490e-01 -7.61290505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters 0.027716551313737445 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.25, Z:-0.07 [[ 9.97767061e-01 6.50374220e-02 1.51995586e-02 7.31273049e+00] [-6.50329891e-02 9.97882805e-01 -7.86251248e-04 -2.50355790e-01] [-1.52185140e-02 -2.03977135e-04 9.99884171e-01 -7.49955971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194012739 meters 0.027138777874146612 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.25, Z:-0.07 [[ 9.97819866e-01 6.40482496e-02 1.59165694e-02 7.34515194e+00] [-6.40432176e-02 9.97946784e-01 -8.26173255e-04 -2.54235685e-01] [-1.59368042e-02 -1.94976234e-04 9.99872982e-01 -7.34404071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters 0.029171135198745427 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.25, Z:-0.08 [[ 9.97819592e-01 6.39959220e-02 1.61425790e-02 7.37728483e+00] [-6.39906958e-02 9.97950141e-01 -8.40593608e-04 -2.52001431e-01] [-1.61632836e-02 -1.94214093e-04 9.99869347e-01 -7.54398987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254012739 meters 0.02743826423558682 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.26, Z:-0.08 [[ 9.97802113e-01 6.44728998e-02 1.53031867e-02 7.41012823e+00] [-6.44682213e-02 9.97919440e-01 -7.99354763e-04 -2.58777291e-01] [-1.53228842e-02 -1.88971355e-04 9.99882580e-01 -7.57585174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters 0.027788502713068666 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.26, Z:-0.08 [[ 9.97761745e-01 6.51396664e-02 1.51104023e-02 7.44257845e+00] [-6.51351383e-02 9.97876138e-01 -7.92133846e-04 -2.60741116e-01] [-1.51299092e-02 -1.93857294e-04 9.99885518e-01 -7.62092903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314012738999999 meters 0.028034719987245094 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.26, Z:-0.08 [[ 9.97710890e-01 6.58672531e-02 1.53128725e-02 7.47582517e+00] [-6.58626475e-02 9.97828374e-01 -8.05418130e-04 -2.62971855e-01] [-1.53326693e-02 -2.04971884e-04 9.99882427e-01 -7.69140750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters 0.03267813282304553 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.27, Z:-0.07 [[ 9.97677911e-01 6.65354266e-02 1.45541136e-02 7.50843228e+00] [-6.65312988e-02 9.97784043e-01 -7.68145857e-04 -2.67163729e-01] [-1.45729712e-02 -2.01941927e-04 9.99893788e-01 -6.64186215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374012739 meters 0.02857962603474399 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.27, Z:-0.08 [[ 9.97673222e-01 6.66711085e-02 1.42515048e-02 7.54027870e+00] [-6.66671268e-02 9.97774987e-01 -7.54808396e-04 -2.69243999e-01] [-1.42701190e-02 -1.97054756e-04 9.99898157e-01 -8.03648228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters 0.027419632957316534 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.28, Z:-0.08 [[ 9.97693354e-01 6.62057053e-02 1.49925293e-02 7.57215239e+00] [-6.62012211e-02 9.97805976e-01 -7.95735449e-04 -2.77143870e-01] [-1.50123175e-02 -1.98623777e-04 9.99887289e-01 -7.85864781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434012739 meters 0.028036993906480887 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.28, Z:-0.08 [[ 9.97700646e-01 6.58277007e-02 1.61287103e-02 7.60292246e+00] [-6.58224119e-02 9.97830984e-01 -8.59117612e-04 -2.78754216e-01] [-1.61502806e-02 -2.04488420e-04 9.99869555e-01 -7.76967903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters 0.027139461512818357 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.28, Z:-0.08 [[ 9.97713059e-01 6.53227242e-02 1.73664366e-02 7.63530958e+00] [-6.53164645e-02 9.97864168e-01 -9.28013065e-04 -2.83113437e-01] [-1.73899652e-02 -2.08423485e-04 9.99848761e-01 -7.56095623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494012739 meters 0.026111560068728185 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.29, Z:-0.08 [[ 9.97790198e-01 6.41235083e-02 1.74039495e-02 7.66697370e+00] [-6.41169894e-02 9.97941953e-01 -9.32864224e-04 -2.89171668e-01] [-1.74279499e-02 -1.85086066e-04 9.99848105e-01 -7.56994022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters 0.03358652415142777 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.29, Z:-0.06 [[ 9.97915097e-01 6.26573385e-02 1.54763139e-02 7.69814254e+00] [-6.26519725e-02 9.98035089e-01 -8.31798229e-04 -2.94531142e-01] [-1.54980226e-02 -1.39557585e-04 9.99879889e-01 -6.40649992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554012739 meters 0.025151865197019355 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.30, Z:-0.08 [[ 9.97959352e-01 6.19084995e-02 1.56355267e-02 7.73019848e+00] [-6.19028934e-02 9.98081821e-01 -8.42726448e-04 -2.99334914e-01] [-1.56577069e-02 -1.26877603e-04 9.99877403e-01 -8.06431384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters 0.024982693704728914 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.30, Z:-0.08 [[ 9.98009174e-01 6.12626304e-02 1.49859470e-02 7.76278926e+00] [-6.12573744e-02 9.98121675e-01 -8.09929937e-04 -3.03950861e-01] [-1.50074169e-02 -1.09682258e-04 9.99887376e-01 -8.19702125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614012739 meters 0.02476459938908794 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.31, Z:-0.08 [[ 9.98091488e-01 6.00029932e-02 1.45953057e-02 7.79397179e+00] [-5.99978314e-02 9.98198193e-01 -7.91666770e-04 -3.11584495e-01] [-1.46165102e-02 -8.55308282e-05 9.99893169e-01 -8.41251147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters 0.024101459998576314 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.32, Z:-0.08 [[ 9.98148815e-01 5.89640912e-02 1.49056447e-02 7.82632729e+00] [-5.89585523e-02 9.98260102e-01 -8.11137483e-04 -3.18620566e-01] [-1.49275384e-02 -6.91793177e-05 9.99888576e-01 -8.28709991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674012739 meters 0.02366714286344887 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.33, Z:-0.08 [[ 9.98234448e-01 5.72151407e-02 1.59503923e-02 7.85730056e+00] [-5.72085523e-02 9.98361871e-01 -8.69400663e-04 -3.27026991e-01] [-1.59740064e-02 -4.46331630e-05 9.99872406e-01 -8.10627597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters 0.023527209478166528 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.33, Z:-0.08 [[ 9.98265348e-01 5.64760763e-02 1.66357266e-02 7.88801694e+00] [-5.64687571e-02 9.98403952e-01 -9.09743084e-04 -3.31559279e-01] [-1.66605539e-02 -3.12338075e-05 9.99861203e-01 -8.11798886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734012739 meters 0.023594412245864445 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.34, Z:-0.08 [[ 9.98259307e-01 5.64809240e-02 1.69782381e-02 7.92096658e+00] [-5.64732801e-02 9.98403678e-01 -9.29704079e-04 -3.36409517e-01] [-1.70036459e-02 -3.07310479e-05 9.99855427e-01 -8.02376456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters 0.025992357103152293 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.34, Z:-0.08 [[ 9.98138463e-01 5.89517364e-02 1.56301289e-02 7.95215598e+00] [-5.89455158e-02 9.98260832e-01 -8.58779489e-04 -3.37409191e-01] [-1.56535721e-02 -6.41451735e-05 9.99877473e-01 -7.76258759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794012739 meters 0.02555520620244676 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.33, Z:-0.09 [[ 9.97919143e-01 6.28438418e-02 1.44234061e-02 7.98336648e+00] [-6.28389216e-02 9.98023366e-01 -7.94521454e-04 -3.33374230e-01] [-1.44448271e-02 -1.13483119e-04 9.99895662e-01 -8.73703474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters 0.02631077645616843 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.33, Z:-0.09 [[ 9.97787313e-01 6.49796956e-02 1.40754308e-02 8.01533017e+00] [-6.49751948e-02 9.97886577e-01 -7.77313364e-04 -3.32354702e-01] [-1.40961930e-02 -1.38960443e-04 9.99900634e-01 -8.78578167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854012739 meters 0.027286421821882432 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.33, Z:-0.09 [[ 9.97678584e-01 6.66718373e-02 1.38675534e-02 8.04706403e+00] [-6.66675994e-02 9.97774945e-01 -7.68170479e-04 -3.30512427e-01] [-1.38879127e-02 -1.58129258e-04 9.99903546e-01 -8.89825687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters 0.028475093869941008 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.33, Z:-0.09 [[ 9.97520902e-01 6.89705853e-02 1.39681275e-02 8.07940073e+00] [-6.89664818e-02 9.97618676e-01 -7.75827504e-04 -3.28079130e-01] [-1.39883742e-02 -1.89428462e-04 9.99902140e-01 -8.86123985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914012739 meters 0.028695850265947283 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.33, Z:-0.09 [[ 9.97479699e-01 6.94502738e-02 1.45227559e-02 8.11241984e+00] [-6.94458539e-02 9.97585394e-01 -8.09032056e-04 -3.29549807e-01] [-1.45438766e-02 -2.01552130e-04 9.99894212e-01 -8.80230310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944012739 meters 0.028395363577157547 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.33, Z:-0.09 [[ 9.97480382e-01 6.93059555e-02 1.51516091e-02 8.14426849e+00] [-6.93010801e-02 9.97595430e-01 -8.47215897e-04 -3.31270697e-01] [-1.51738931e-02 -2.04941641e-04 9.99884849e-01 -8.71628127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974012738999999 meters 0.027747097103284775 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.33, Z:-0.09 [[ 9.97524086e-01 6.84941040e-02 1.59453761e-02 8.17505697e+00] [-6.84885551e-02 9.97651501e-01 -8.94449889e-04 -3.33311374e-01] [-1.59691930e-02 -1.99840462e-04 9.99872464e-01 -8.64387635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters 0.027882704512077645 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.33, Z:-0.09 [[ 9.97509444e-01 6.87002088e-02 1.59747014e-02 8.20819220e+00] [-6.86946295e-02 9.97637329e-01 -8.98369040e-04 -3.34478834e-01] [-1.59986765e-02 -2.01244589e-04 9.99871993e-01 -8.75645970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034012739 meters 0.02894095750056689 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.33, Z:-0.09 [[ 9.97431085e-01 7.01617972e-02 1.44413627e-02 8.24068365e+00] [-7.01573550e-02 9.97535604e-01 -8.14605693e-04 -3.30381233e-01] [-1.44629277e-02 -2.00654772e-04 9.99895386e-01 -9.14204931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters 0.035745410200437824 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.33, Z:-0.08 [[ 9.97325256e-01 7.18632604e-02 1.33418786e-02 8.27325068e+00] [-7.18595956e-02 9.97414472e-01 -7.54499995e-04 -3.28786283e-01] [-1.33616037e-02 -2.06260103e-04 9.99910709e-01 -7.83954577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094012739 meters 0.03095130765254394 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.33, Z:-0.09 [[ 9.97225990e-01 7.31805375e-02 1.35990427e-02 8.30419564e+00] [-7.31768197e-02 9.97318684e-01 -7.71441280e-04 -3.26177654e-01] [-1.36190338e-02 -2.25833399e-04 9.99907231e-01 -9.38583887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters 0.03180868596244637 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.32, Z:-0.09 [[ 9.97102245e-01 7.47706196e-02 1.40166700e-02 8.33617062e+00] [-7.47667957e-02 9.97200727e-01 -7.97362369e-04 -3.22808185e-01] [-1.40370527e-02 -2.52929691e-04 9.99901444e-01 -9.32628471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154012739 meters 0.030649126708235875 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.32, Z:-0.09 [[ 9.97074723e-01 7.50577352e-02 1.44337744e-02 8.36888000e+00] [-7.50536810e-02 9.97179155e-01 -8.23123490e-04 -3.24804109e-01] [-1.44548407e-02 -2.62592271e-04 9.99895489e-01 -9.14888382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184012739 meters 0.030649126708235875 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.33, Z:-0.09 [[ 9.97060056e-01 7.52523521e-02 1.44336134e-02 8.40134268e+00] [-7.52482776e-02 9.97164487e-01 -8.25934096e-04 -3.26843670e-01] [-1.44548402e-02 -2.62598653e-04 9.99895489e-01 -9.21493104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214012739 meters 0.03186827340140881 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.32, Z:-0.09 [[ 9.97104751e-01 7.44623883e-02 1.54100067e-02 8.43273143e+00] [-7.44575916e-02 9.97223788e-01 -8.85569996e-04 -3.22472878e-01] [-1.54331669e-02 -2.64385935e-04 9.99880867e-01 -9.24911291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters 0.02958224887419723 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.33, Z:-0.09 [[ 9.97181974e-01 7.35026534e-02 1.50156482e-02 8.46441212e+00] [-7.34979746e-02 9.97294992e-01 -8.63944439e-04 -3.27505898e-01] [-1.50385330e-02 -2.42109909e-04 9.99886886e-01 -9.35996863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274012739 meters 0.02943515650029049 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.33, Z:-0.10 [[ 9.97293274e-01 7.21800738e-02 1.40058112e-02 8.49603321e+00] [-7.21758427e-02 9.97391596e-01 -8.07987638e-04 -3.29062168e-01] [-1.40275990e-02 -2.05080590e-04 9.99901587e-01 -9.62157523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters 0.027162125224190384 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.33, Z:-0.10 [[ 9.97497922e-01 6.94580748e-02 1.31708634e-02 8.52784138e+00] [-6.94540693e-02 9.97584859e-01 -7.61827238e-04 -3.34537381e-01] [-1.31919689e-02 -1.54848969e-04 9.99912970e-01 -9.72953462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334012739 meters 0.027163694913295573 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.34, Z:-0.10 [[ 9.97560613e-01 6.84363046e-02 1.37585024e-02 8.55867492e+00] [-6.84318010e-02 9.97655477e-01 -7.98403403e-04 -3.35199555e-01] [-1.37808851e-02 -1.45063311e-04 9.99905029e-01 -9.84765319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters 0.02593289425924678 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.34, Z:-0.09 [[ 9.97583633e-01 6.78442351e-02 1.49684669e-02 8.59081137e+00] [-6.78387995e-02 9.97695915e-01 -8.71172081e-04 -3.38657583e-01] [-1.49930822e-02 -1.46375814e-04 9.99887587e-01 -9.48428878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394012738999999 meters 0.025995834249712794 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.34, Z:-0.09 [[ 9.97569535e-01 6.80304318e-02 1.50626596e-02 8.62264394e+00] [-6.80249105e-02 9.97683236e-01 -8.79199763e-04 -3.39785325e-01] [-1.50875753e-02 -1.47573175e-04 9.99886165e-01 -9.49648443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters 0.026436159627657614 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.34, Z:-0.10 [[ 9.97580813e-01 6.79235349e-02 1.47957913e-02 8.65499213e+00] [-6.79181564e-02 9.97690520e-01 -8.66271776e-04 -3.40702843e-01] [-1.48204610e-02 -1.40726766e-04 9.99890161e-01 -9.64934982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454012739 meters 0.025294142631035254 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.35, Z:-0.10 [[ 9.97599721e-01 6.75688998e-02 1.51407121e-02 8.68721022e+00] [-6.75631839e-02 9.97714601e-01 -8.89293170e-04 -3.45870324e-01] [-1.51661981e-02 -1.35796099e-04 9.99884977e-01 -9.55316925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters 0.0250748647000758 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.35, Z:-0.10 [[ 9.97668896e-01 6.62888172e-02 1.62038929e-02 8.71814114e+00] [-6.62820503e-02 9.97800470e-01 -9.54894816e-04 -3.48977186e-01] [-1.62315508e-02 -1.21358390e-04 9.99868252e-01 -9.53625317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514012739 meters 0.023616743854794713 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.36, Z:-0.09 [[ 9.97912789e-01 6.21366086e-02 1.75814606e-02 8.74877312e+00] [-6.21279423e-02 9.98067652e-01 -1.03921393e-03 -3.59275251e-01] [-1.76120604e-02 -5.52551050e-05 9.99844894e-01 -9.38772282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters 0.023490320003474424 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.37, Z:-0.09 [[ 9.98054358e-01 5.99053069e-02 1.72873332e-02 8.78060626e+00] [-5.98965491e-02 9.98204064e-01 -1.02438820e-03 -3.66336789e-01] [-1.73176526e-02 -1.30564891e-05 9.99850038e-01 -9.49001766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574012739 meters 0.023785326057890868 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.38, Z:-0.10 [[ 9.98285117e-01 5.59914030e-02 1.70818094e-02 8.81286378e+00] [-5.59822287e-02 9.98431249e-01 -1.01515855e-03 -3.76563283e-01] [-1.71118524e-02 5.71399123e-05 9.99853580e-01 -9.59169555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters 0.032613042934874104 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.38, Z:-0.08 [[ 9.98344533e-01 5.51867148e-02 1.62055276e-02 8.84576547e+00] [-5.51783054e-02 9.98476050e-01 -9.65928507e-04 -3.81701729e-01] [-1.62341376e-02 7.01358940e-05 9.99868215e-01 -8.25735668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634012739 meters 0.024450936379135917 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.39, Z:-0.10 [[ 9.98409626e-01 5.38613800e-02 1.66484258e-02 8.87793819e+00] [-5.38522660e-02 9.98548418e-01 -9.95589863e-04 -3.86484682e-01] [-1.66778831e-02 9.74510451e-05 9.99860910e-01 -9.71513274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters 0.03097592537047326 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.39, Z:-0.09 [[ 9.98395778e-01 5.41746417e-02 1.64614288e-02 8.91107161e+00] [-5.41657223e-02 9.98531471e-01 -9.87534595e-04 -3.94215713e-01] [-1.64907541e-02 9.43051882e-05 9.99864014e-01 -8.55035972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694012739 meters 0.02408199695757059 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.40, Z:-0.10 [[ 9.98315779e-01 5.54930184e-02 1.69153598e-02 8.94167266e+00] [-5.54837304e-02 9.98459072e-01 -1.01825125e-03 -3.99219941e-01] [-1.69458003e-02 7.80090288e-05 9.99856407e-01 -9.78196660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters 0.02399647019304831 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.40, Z:-0.10 [[ 9.98256260e-01 5.65998318e-02 1.67600016e-02 8.97502208e+00] [-5.65908280e-02 9.98396943e-01 -1.01137672e-03 -4.02173558e-01] [-1.67903781e-02 6.11507736e-05 9.99859030e-01 -9.88309567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754012739 meters 0.023847152424786848 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.41, Z:-0.10 [[ 9.98218464e-01 5.73690779e-02 1.63916534e-02 9.00774578e+00] [-5.73605206e-02 9.98353037e-01 -9.92112769e-04 -4.05428941e-01] [-1.64215735e-02 5.01115140e-05 9.99865156e-01 -9.97624622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters 0.024228986397901157 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.41, Z:-0.10 [[ 9.98242347e-01 5.73349365e-02 1.49973573e-02 9.03797218e+00] [-5.73277214e-02 9.98354998e-01 -9.10912157e-04 -4.12474500e-01] [-1.50249137e-02 4.95467719e-05 9.99887118e-01 -1.03396213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814012738999999 meters 0.024189268425553724 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.42, Z:-0.11 [[ 9.98235614e-01 5.76129695e-02 1.43667712e-02 9.06992447e+00] [-5.76063683e-02 9.98338992e-01 -8.73229363e-04 -4.15625735e-01] [-1.43932172e-02 4.40711354e-05 9.99896411e-01 -1.05758044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters 0.027146791252003703 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.42, Z:-0.10 [[ 9.98141705e-01 5.92416078e-02 1.42677667e-02 9.10328739e+00] [-5.92352294e-02 9.98243673e-01 -8.69605447e-04 -4.16998653e-01] [-1.42942246e-02 2.28350325e-05 9.99897832e-01 -9.51270111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874012739 meters 0.023821486856915222 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.42, Z:-0.10 [[ 9.98094887e-01 5.99072711e-02 1.47551568e-02 9.13508100e+00] [-5.99004770e-02 9.98203946e-01 -9.02369680e-04 -4.19210328e-01] [-1.47827143e-02 1.68096310e-05 9.99890730e-01 -1.04474500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters 0.023900704156083086 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.42, Z:-0.11 [[ 9.98077284e-01 6.02276173e-02 1.46413829e-02 9.16844980e+00] [-6.02209247e-02 9.98184669e-01 -8.97955622e-04 -4.21963568e-01] [-1.46688857e-02 1.45114908e-05 9.99892406e-01 -1.05045607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934012739 meters 0.024101274369826634 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.42, Z:-0.11 [[ 9.98162439e-01 5.90417946e-02 1.36312796e-02 9.19981988e+00] [-5.90358417e-02 9.98255511e-01 -8.39034511e-04 -4.24498454e-01] [-1.36570380e-02 3.27586724e-05 9.99906738e-01 -1.08235691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters 0.02441235499460787 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.43, Z:-0.11 [[ 9.98248814e-01 5.77332311e-02 1.28910269e-02 9.23185622e+00] [-5.77277913e-02 9.98332045e-01 -7.94000115e-04 -4.28106350e-01] [-1.29153654e-02 4.84391648e-05 9.99916592e-01 -1.09328224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994012739 meters 0.025470558310967572 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.44, Z:-0.11 [[ 9.98415500e-01 5.51183221e-02 1.13340381e-02 9.26219774e+00] [-5.51139302e-02 9.98479827e-01 -6.99708936e-04 -4.36569073e-01] [-1.13553752e-02 7.39368609e-05 9.99935523e-01 -1.13192327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters 0.026118123616745603 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.44, Z:-0.11 [[ 9.98489240e-01 5.36095115e-02 1.20522612e-02 9.29268942e+00] [-5.36044039e-02 9.98561971e-01 -7.46660251e-04 -4.41980490e-01] [-1.20749578e-02 9.94779516e-05 9.99927090e-01 -1.13426440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054012739 meters 0.0263230756205392 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.45, Z:-0.11 [[ 9.98522119e-01 5.27102313e-02 1.32366563e-02 9.32609571e+00] [-5.27039821e-02 9.98609842e-01 -8.20736232e-04 -4.45657122e-01] [-1.32615164e-02 1.21898787e-04 9.99912055e-01 -1.10977898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters 0.02612123482238115 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.45, Z:-0.11 [[ 9.98499323e-01 5.25129768e-02 1.55399175e-02 9.35852537e+00] [-5.25042822e-02 9.98620231e-01 -9.67236339e-04 -4.47809344e-01] [-1.55692684e-02 1.49872618e-04 9.99878780e-01 -1.07328497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114012739 meters 0.02567089228587823 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.45, Z:-0.11 [[ 9.98448427e-01 5.34116299e-02 1.57459846e-02 9.39099907e+00] [-5.34027741e-02 9.98572570e-01 -9.82650483e-04 -4.50388088e-01] [-1.57759933e-02 1.40246569e-04 9.99875541e-01 -1.07855626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters 0.024915121863958375 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.45, Z:-0.11 [[ 9.98349518e-01 5.51142469e-02 1.61449785e-02 9.42347107e+00] [-5.51051154e-02 9.98480048e-01 -1.01025138e-03 -4.53031428e-01] [-1.61761182e-02 1.18913072e-04 9.99869151e-01 -1.07374699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174012739 meters 0.024785730411726933 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.46, Z:-0.11 [[ 9.98282748e-01 5.61640143e-02 1.66480767e-02 9.45509053e+00] [-5.61544029e-02 9.98421550e-01 -1.04459941e-03 -4.55176634e-01] [-1.66804674e-02 1.07942766e-04 9.99860865e-01 -1.06674231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204012739 meters 0.02446734719243133 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.46, Z:-0.11 [[ 9.98204362e-01 5.71689938e-02 1.78817789e-02 9.48600921e+00] [-5.71580081e-02 9.98364511e-01 -1.12525231e-03 -4.56514165e-01] [-1.79168630e-02 1.01144900e-04 9.99839475e-01 -1.05139762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234012738999999 meters 0.02416461786664963 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.46, Z:-0.10 [[ 9.98142077e-01 5.79407161e-02 1.88485280e-02 9.51856791e+00] [-5.79285936e-02 9.98320021e-01 -1.18896212e-03 -4.59113450e-01] [-1.88857522e-02 9.48844038e-05 9.99821644e-01 -1.03488344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters 0.024261146946173012 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.46, Z:-0.11 [[ 9.98154147e-01 5.78557987e-02 1.84663044e-02 9.55019499e+00] [-5.78440875e-02 9.98324946e-01 -1.16814407e-03 -4.62944391e-01] [-1.85029563e-02 9.78213146e-05 9.99828801e-01 -1.05282039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294012739 meters 0.031038854463121258 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.47, Z:-0.10 [[ 9.98249908e-01 5.73642304e-02 1.43689536e-02 9.58178468e+00] [-5.73570584e-02 9.98353313e-01 -9.11074224e-04 -4.68002671e-01] [-1.43975555e-02 8.53188483e-05 9.99896346e-01 -9.99392196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters 0.025131379885586454 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.47, Z:-0.12 [[ 9.98275713e-01 5.70137518e-02 1.39653906e-02 9.61364257e+00] [-5.70069336e-02 9.98373389e-01 -8.86145850e-04 -4.71901571e-01] [-1.39931969e-02 8.84937844e-05 9.99902087e-01 -1.15655080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354012739 meters 0.02461047942249144 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.48, Z:-0.11 [[ 9.98205613e-01 5.80043347e-02 1.48677784e-02 9.64598413e+00] [-5.79966722e-02 9.98316328e-01 -9.46385815e-04 -4.75751437e-01] [-1.48976404e-02 8.24059630e-05 9.99889021e-01 -1.13356826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters 0.024333739406174396 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.48, Z:-0.11 [[ 9.98146918e-01 5.88707955e-02 1.53935168e-02 9.67793212e+00] [-5.88626434e-02 9.98265608e-01 -9.82512711e-04 -4.77850519e-01] [-1.54246597e-02 7.45889417e-05 9.99881030e-01 -1.12556451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414012739 meters 0.024161396989185378 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.48, Z:-0.11 [[ 9.98089370e-01 5.97655289e-02 1.56745065e-02 9.71026575e+00] [-5.97571459e-02 9.98212441e-01 -1.00305088e-03 -4.79501143e-01] [-1.57064353e-02 6.44706476e-05 9.99876644e-01 -1.12933924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters 0.024310027328585115 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.48, Z:-0.12 [[ 9.98088796e-01 5.99736649e-02 1.48967886e-02 9.74195888e+00] [-5.99660794e-02 9.98199958e-01 -9.55761489e-04 -4.83390282e-01] [-1.49272943e-02 6.06328248e-05 9.99888580e-01 -1.16045987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474012738999999 meters 0.0245885194897647 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.49, Z:-0.12 [[ 9.98116900e-01 5.97144293e-02 1.40299865e-02 9.77467647e+00] [-5.97076449e-02 9.98215499e-01 -9.02315313e-04 -4.87588170e-01] [-1.40588312e-02 6.29187124e-05 9.99901168e-01 -1.18515503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters 0.024616653361483283 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.49, Z:-0.12 [[ 9.98084438e-01 6.05112307e-02 1.28781106e-02 9.80657871e+00] [-6.05055523e-02 9.98167515e-01 -8.30450379e-04 -4.90824614e-01] [-1.29047632e-02 4.96624048e-05 9.99916729e-01 -1.20905811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534012739 meters 0.02447794430397797 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.49, Z:-0.12 [[ 9.98034922e-01 6.13076846e-02 1.29484271e-02 9.83803606e+00] [-6.13019808e-02 9.98118914e-01 -8.37316004e-04 -4.93050823e-01] [-1.29754039e-02 4.19063840e-05 9.99915815e-01 -1.21199614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters 0.023995557808846664 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.50, Z:-0.12 [[ 9.97912161e-01 6.29913067e-02 1.42623384e-02 9.87063088e+00] [-6.29845169e-02 9.98014075e-01 -9.25189362e-04 -4.95212081e-01] [-1.42922933e-02 2.49512242e-05 9.99897860e-01 -1.19317817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594012739 meters 0.023926303034138195 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.50, Z:-0.12 [[ 9.97844023e-01 6.39939865e-02 1.45628032e-02 9.90323438e+00] [-6.39869698e-02 9.97950284e-01 -9.47729615e-04 -4.97260146e-01] [-1.45936026e-02 1.38566808e-05 9.99893508e-01 -1.19441918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters 0.023914561586118786 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.50, Z:-0.12 [[ 9.97765202e-01 6.52604566e-02 1.43413789e-02 9.93476284e+00] [-6.52537806e-02 9.97868264e-01 -9.33449570e-04 -4.98973005e-01] [-1.43717242e-02 -4.46569332e-06 9.99896721e-01 -1.20810336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654012739 meters 0.03215427724701499 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.50, Z:-0.11 [[ 9.97566909e-01 6.85417966e-02 1.27390753e-02 9.96705050e+00] [-6.85367719e-02 9.97648245e-01 -8.31089838e-04 -5.00434939e-01] [-1.27660805e-02 -4.40273750e-05 9.99918509e-01 -1.08783197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters 0.024541785169589193 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.50, Z:-0.12 [[ 9.97458251e-01 6.98383650e-02 1.41293811e-02 9.99938490e+00] [-6.98322783e-02 9.97558318e-01 -9.24297770e-04 -5.01170713e-01] [-1.41594331e-02 -6.47384379e-05 9.99899748e-01 -1.21561602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714012739 meters 0.025293730670950858 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.50, Z:-0.12 [[ 9.97209527e-01 7.31743577e-02 1.47876031e-02 1.00320460e+01] [-7.31680113e-02 9.97319157e-01 -9.70455997e-04 -5.01458755e-01] [-1.48189724e-02 -1.14231549e-04 9.99890186e-01 -1.20037341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters 0.026048546984498957 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.50, Z:-0.12 [[ 9.97077341e-01 7.49090791e-02 1.50135426e-02 1.00635189e+01] [-7.49026938e-02 9.97190358e-01 -9.87950528e-04 -5.01560257e-01] [-1.50453664e-02 -1.39491703e-04 9.99886802e-01 -1.20140868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774012739 meters 0.02644621604678105 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.50, Z:-0.12 [[ 9.96949742e-01 7.64863213e-02 1.55259158e-02 1.00958651e+01] [-7.64796453e-02 9.97070617e-01 -1.02415482e-03 -5.02789312e-01] [-1.55587683e-02 -1.66385648e-04 9.99878941e-01 -1.20245781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters 0.02755051758381827 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.50, Z:-0.12 [[ 9.96785394e-01 7.85753294e-02 1.56459237e-02 1.01267116e+01] [-7.85687590e-02 9.96908160e-01 -1.03512994e-03 -5.01133724e-01] [-1.56788847e-02 -1.97478402e-04 9.99877059e-01 -1.20805815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834012739 meters 0.028237271345813705 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.50, Z:-0.12 [[ 9.96708257e-01 7.95030844e-02 1.58716857e-02 1.01582236e+01] [-7.94964239e-02 9.96834597e-01 -1.05111266e-03 -5.02159095e-01] [-1.59050121e-02 -2.14089585e-04 9.99873484e-01 -1.21226722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters 0.028653852066677577 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.50, Z:-0.12 [[ 9.96643261e-01 8.02512394e-02 1.61848063e-02 1.01898730e+01] [-8.02443723e-02 9.96774642e-01 -1.07431080e-03 -5.03944086e-01] [-1.62188193e-02 -2.28035002e-04 9.99868440e-01 -1.20623550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894012738999999 meters 0.028880758951807587 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.51, Z:-0.12 [[ 9.96547836e-01 8.11452056e-02 1.75461439e-02 1.02228877e+01] [-8.11372142e-02 9.96702257e-01 -1.16802158e-03 -5.06387162e-01] [-1.75830606e-02 -2.59655858e-04 9.99845372e-01 -1.18237250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters 0.02953525279843051 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.51, Z:-0.12 [[ 9.96557870e-01 8.10117082e-02 1.75930474e-02 1.02547537e+01] [-8.10035941e-02 9.96713117e-01 -1.17450128e-03 -5.07486918e-01] [-1.76303695e-02 -2.54641578e-04 9.99844541e-01 -1.19400196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954012739 meters 0.02794020719611632 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.51, Z:-0.12 [[ 9.96654806e-01 7.99431250e-02 1.69792171e-02 1.02868779e+01] [-7.99353628e-02 9.96799401e-01 -1.13642238e-03 -5.13728938e-01] [-1.70157226e-02 -2.24619054e-04 9.99855197e-01 -1.21448689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters 0.02857084573265141 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.51, Z:-0.12 [[ 9.96699818e-01 7.92458668e-02 1.75944685e-02 1.03180073e+01] [-7.92373692e-02 9.96855077e-01 -1.18067141e-03 -5.14876181e-01] [-1.76326985e-02 -2.17364416e-04 9.99844508e-01 -1.21526393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014012739 meters 0.026731435309599212 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.52, Z:-0.12 [[ 9.96749988e-01 7.84938740e-02 1.81155406e-02 1.03500674e+01] [-7.84846897e-02 9.96914574e-01 -1.21848286e-03 -5.22099694e-01] [-1.81552899e-02 -2.07269804e-04 9.99835158e-01 -1.20437972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters 0.02642951510755756 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.53, Z:-0.12 [[ 9.96836820e-01 7.77747168e-02 1.63538375e-02 1.03819176e+01] [-7.77670962e-02 9.96970944e-01 -1.10236514e-03 -5.26316386e-01] [-1.63900370e-02 -1.72912294e-04 9.99865659e-01 -1.23893220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074012739 meters 0.027893463987249605 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.53, Z:-0.13 [[ 9.96821798e-01 7.81778199e-02 1.53144456e-02 1.04143463e+01] [-7.81711460e-02 9.96939417e-01 -1.03483025e-03 -5.26313912e-01] [-1.53484752e-02 -1.65606411e-04 9.99882192e-01 -1.28090984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters 0.027893463987249605 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.53, Z:-0.13 [[ 9.96808221e-01 7.83507687e-02 1.53142622e-02 1.04467685e+01] [-7.83440737e-02 9.96925840e-01 -1.03753626e-03 -5.28719156e-01] [-1.53484754e-02 -1.65557014e-04 9.99882192e-01 -1.28751384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134012739 meters 0.027348509304490443 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.53, Z:-0.13 [[ 9.96690604e-01 7.97133230e-02 1.59256516e-02 1.04791380e+01] [-7.97062095e-02 9.96817812e-01 -1.08191088e-03 -5.32855765e-01] [-1.59612159e-02 -1.91042920e-04 9.99872593e-01 -1.26788015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters 0.02814113143560189 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.53, Z:-0.12 [[ 9.96569046e-01 8.09347770e-02 1.73117917e-02 1.05113720e+01] [-8.09265012e-02 9.96719374e-01 -1.17920872e-03 -5.32334784e-01] [-1.73504372e-02 -2.25819820e-04 9.99849444e-01 -1.24573793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194012739 meters 0.028637731149659767 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.53, Z:-0.12 [[ 9.96413829e-01 8.25865677e-02 1.84103359e-02 1.05437159e+01] [-8.25774253e-02 9.96583859e-01 -1.25754395e-03 -5.31969379e-01] [-1.84512999e-02 -2.67243959e-04 9.99829725e-01 -1.23029708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters 0.03157765285290988 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.53, Z:-0.13 [[ 9.96163766e-01 8.57983701e-02 1.72160338e-02 1.05752063e+01] [-8.57908087e-02 9.96312475e-01 -1.17863104e-03 -5.25920579e-01] [-1.72536738e-02 -3.02867921e-04 9.99851098e-01 -1.25809965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254012739 meters 0.032286333500899045 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.53, Z:-0.13 [[ 9.96066772e-01 8.71097160e-02 1.62136576e-02 1.06069426e+01] [-8.71031458e-02 9.96198677e-01 -1.11230745e-03 -5.25898709e-01] [-1.62489171e-02 -3.04328088e-04 9.99867931e-01 -1.28143323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters 0.03358488792290994 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.52, Z:-0.13 [[ 9.95934139e-01 8.86965190e-02 1.57517860e-02 1.06392323e+01] [-8.86904808e-02 9.96058646e-01 -1.08286066e-03 -5.23366882e-01] [-1.57857486e-02 -3.18575568e-04 9.99875347e-01 -1.28845575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314012738999999 meters 0.04150503531442171 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.52, Z:-0.12 [[ 9.95885995e-01 8.95589484e-02 1.37942208e-02 1.06710224e+01] [-8.95543740e-02 9.95981481e-01 -9.50201167e-04 -5.23562323e-01] [-1.38238875e-02 -2.89040772e-04 9.99904404e-01 -1.17028949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters 0.03509012543525162 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.52, Z:-0.13 [[ 9.95797068e-01 9.03567730e-02 1.49617373e-02 1.07037117e+01] [-9.03514457e-02 9.95909408e-01 -1.03300969e-03 -5.17727863e-01] [-1.49938743e-02 -3.23146570e-04 9.99887533e-01 -1.32104031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374012739 meters 0.03496269441633915 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.52, Z:-0.13 [[ 9.95731810e-01 9.09516219e-02 1.56833016e-02 1.07369333e+01] [-9.09457981e-02 9.95855252e-01 -1.08563123e-03 -5.16771991e-01] [-1.57170382e-02 -3.45332829e-04 9.99876420e-01 -1.31951577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters 0.03507250876645264 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.52, Z:-0.13 [[ 9.95667737e-01 9.15570380e-02 1.62192911e-02 1.07701677e+01] [-9.15508384e-02 9.95799767e-01 -1.12588046e-03 -5.15685212e-01] [-1.62542485e-02 -3.63886850e-04 9.99867825e-01 -1.31118926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434012739 meters 0.03377800310287638 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.52, Z:-0.13 [[ 9.95683867e-01 9.12938862e-02 1.67052079e-02 1.08019798e+01] [-9.12872171e-02 9.95823926e-01 -1.16292138e-03 -5.16217514e-01] [-1.67416133e-02 -3.67069884e-04 9.99859782e-01 -1.29767791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters 0.034715841388895226 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.52, Z:-0.13 [[ 9.95790497e-01 9.01878653e-02 1.63534409e-02 1.08337163e+01] [-9.01812811e-02 9.95924713e-01 -1.14111889e-03 -5.16083036e-01] [-1.63897110e-02 -3.38458897e-04 9.99865622e-01 -1.31005548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494012739 meters 0.03178671214539783 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.52, Z:-0.13 [[ 9.96162907e-01 8.60734216e-02 1.58375765e-02 1.08637103e+01] [-8.60666747e-02 9.96288763e-01 -1.10837011e-03 -5.22306564e-01] [-1.58742007e-02 -2.58970355e-04 9.99873963e-01 -1.32097742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters 0.03156120386134881 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.53, Z:-0.12 [[ 9.96273360e-01 8.48245644e-02 1.56264482e-02 1.08952981e+01] [-8.48178512e-02 9.96395874e-01 -1.09304243e-03 -5.30002640e-01] [-1.56628453e-02 -2.36432700e-04 9.99877302e-01 -1.23743134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554012739 meters 0.028328943681566618 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.53, Z:-0.13 [[ 9.96361972e-01 8.35207052e-02 1.69444202e-02 1.09273789e+01] [-8.35125699e-02 9.96506015e-01 -1.18837725e-03 -5.32853231e-01] [-1.69844708e-02 -2.31018181e-04 9.99855727e-01 -1.31489628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters 0.033347902213872405 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.54, Z:-0.12 [[ 9.96486132e-01 8.24172351e-02 1.49261076e-02 1.09584787e+01] [-8.24107660e-02 9.96597895e-01 -1.04900789e-03 -5.38121735e-01] [-1.49617838e-02 -1.84750150e-04 9.99888049e-01 -1.21897733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614012739 meters 0.027754902432689167 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.54, Z:-0.13 [[ 9.96482463e-01 8.21855797e-02 1.63777690e-02 1.09890413e+01] [-8.21777127e-02 9.96617024e-01 -1.15389869e-03 -5.38850908e-01] [-1.64171972e-02 -1.96047783e-04 9.99865210e-01 -1.33955063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters 0.02821236977033264 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.54, Z:-0.13 [[ 9.96447732e-01 8.26195607e-02 1.63072513e-02 1.10207766e+01] [-8.26117760e-02 9.96581140e-01 -1.15158108e-03 -5.41231417e-01] [-1.63466422e-02 -1.99680637e-04 9.99866365e-01 -1.34697956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674012739 meters 0.028916386201438687 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.54, Z:-0.14 [[ 9.96411518e-01 8.31430066e-02 1.58533010e-02 1.10522462e+01] [-8.31356910e-02 9.96537606e-01 -1.12107336e-03 -5.44002426e-01] [-1.58916201e-02 -2.00924726e-04 9.99873700e-01 -1.36226580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters 0.028586239439752477 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.55, Z:-0.14 [[ 9.96334258e-01 8.40166235e-02 1.61013162e-02 1.10853730e+01] [-8.40091463e-02 9.96464330e-01 -1.14139523e-03 -5.49956850e-01] [-1.61402834e-02 -2.15446660e-04 9.99869714e-01 -1.35028316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734012738999999 meters 0.031362631642745165 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.55, Z:-0.13 [[ 9.96310404e-01 8.44584392e-02 1.52430821e-02 1.11160928e+01] [-8.44517444e-02 9.96426981e-01 -1.08351400e-03 -5.52849947e-01] [-1.52801302e-02 -2.07788601e-04 9.99883230e-01 -1.27301688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters 0.027523529750579475 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.56, Z:-0.13 [[ 9.96371697e-01 8.32507761e-02 1.76847242e-02 1.11481151e+01] [-8.32415285e-02 9.96528605e-01 -1.25966163e-03 -5.58666351e-01] [-1.77282014e-02 -2.17012274e-04 9.99842820e-01 -1.33588633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794012739 meters 0.027574455853566663 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.56, Z:-0.13 [[ 9.96400514e-01 8.27687104e-02 1.83127085e-02 1.11795981e+01] [-8.27586536e-02 9.96568761e-01 -1.30762027e-03 -5.62332240e-01] [-1.83581033e-02 -2.12621589e-04 9.99831453e-01 -1.32870272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters 0.027217210947429623 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.57, Z:-0.13 [[ 9.96457852e-01 8.21230927e-02 1.80982542e-02 1.12113848e+01] [-8.21131136e-02 9.96622175e-01 -1.29506607e-03 -5.67732888e-01] [-1.81434763e-02 -1.95625252e-04 9.99835374e-01 -1.33218718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854012739 meters 0.026390282197100733 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.58, Z:-0.14 [[ 9.96532366e-01 8.13717414e-02 1.73747870e-02 1.12433864e+01] [-8.13623840e-02 9.96683806e-01 -1.24594005e-03 -5.76676565e-01] [-1.74185531e-02 -1.72034507e-04 9.99848271e-01 -1.35193932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters 0.026397550677433705 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.58, Z:-0.14 [[ 9.96536780e-01 8.13969470e-02 1.69994998e-02 1.12763789e+01] [-8.13879474e-02 9.96681749e-01 -1.22171296e-03 -5.81529154e-01] [-1.70425349e-02 -1.66072494e-04 9.99854752e-01 -1.36433454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914012739 meters 0.02679720160425781 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.59, Z:-0.14 [[ 9.96458362e-01 8.23614199e-02 1.69508119e-02 1.13071520e+01] [-8.23525544e-02 9.96602511e-01 -1.22155562e-03 -5.86248571e-01] [-1.69938308e-02 -1.78713348e-04 9.99855578e-01 -1.37405907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters 0.032521234355170986 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.59, Z:-0.13 [[ 9.96319502e-01 8.42516567e-02 1.57831793e-02 1.13394674e+01] [-8.42441734e-02 9.96444489e-01 -1.13957852e-03 -5.88666093e-01] [-1.58230734e-02 -1.94256590e-04 9.99874788e-01 -1.27401434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974012738999999 meters 0.028727323270013632 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.59, Z:-0.14 [[ 9.96185290e-01 8.56215831e-02 1.68467105e-02 1.13701284e+01] [-8.56131982e-02 9.96327704e-01 -1.21961754e-03 -5.88331519e-01] [-1.68892699e-02 -2.27335706e-04 9.99857340e-01 -1.39088235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters 0.03282379577787731 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.58, Z:-0.14 [[ 9.95829167e-01 8.97645959e-02 1.63274781e-02 1.14013417e+01] [-8.97572573e-02 9.95962969e-01 -1.18319878e-03 -5.84729081e-01] [-1.63677729e-02 -2.87245794e-04 9.99865998e-01 -1.40870667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034012739 meters 0.0333000606671526 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.59, Z:-0.14 [[ 9.95580941e-01 9.25144795e-02 1.61139836e-02 1.14337629e+01] [-9.25076535e-02 9.95711286e-01 -1.17008178e-03 -5.87282945e-01] [-1.61531249e-02 -3.25755696e-04 9.99869477e-01 -1.41158766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters 0.03692938331835348 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.58, Z:-0.14 [[ 9.95134415e-01 9.69196912e-02 1.77219949e-02 1.14650310e+01] [-9.69120696e-02 9.95292111e-01 -1.29039275e-03 -5.82135028e-01] [-1.77636262e-02 -4.33360974e-04 9.99842120e-01 -1.38390894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094012739 meters 0.041793728521511204 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.58, Z:-0.14 [[ 9.94888112e-01 9.89559458e-02 2.01337094e-02 1.14965070e+01] [-9.89465201e-02 9.95091672e-01 -1.46624747e-03 -5.75544730e-01] [-2.01799804e-02 -5.33408300e-04 9.99796221e-01 -1.35841845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters 0.04062949741756302 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.58, Z:-0.13 [[ 9.94677732e-01 1.00672394e-01 2.19380619e-02 1.15285129e+01] [-1.00661541e-01 9.94919439e-01 -1.60124836e-03 -5.79059922e-01] [-2.19878058e-02 -6.15593025e-04 9.99758049e-01 -1.33123753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154012738999999 meters 0.04147100806575457 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.58, Z:-0.13 [[ 9.94553456e-01 1.01758217e-01 2.25541042e-02 1.15602059e+01] [-1.01746942e-01 9.94808945e-01 -1.64989091e-03 -5.80894757e-01] [-2.26049146e-02 -6.53906411e-04 9.99744262e-01 -1.33088240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters 0.0424233111494706 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.58, Z:-0.13 [[ 9.94549090e-01 1.01915554e-01 2.20301329e-02 1.15922248e+01] [-1.01904764e-01 9.94792849e-01 -1.61480411e-03 -5.81984179e-01] [-2.20799923e-02 -6.38973528e-04 9.99756003e-01 -1.34936839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214012739 meters 0.04517102698799096 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.58, Z:-0.14 [[ 9.94366463e-01 1.04007029e-01 2.04419966e-02 1.16239207e+01] [-1.03998113e-01 9.94576361e-01 -1.50162776e-03 -5.77828803e-01] [-2.04873064e-02 -6.32760787e-04 9.99789913e-01 -1.38168948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters 0.04341266976261616 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.58, Z:-0.14 [[ 9.94222321e-01 1.05462773e-01 1.99894779e-02 1.16558578e+01] [-1.05454485e-01 9.94423042e-01 -1.47119590e-03 -5.81029331e-01] [-2.00331538e-02 -6.45284288e-04 9.99799108e-01 -1.40082050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274012739 meters 0.04252104157003449 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.58, Z:-0.14 [[ 9.94069253e-01 1.07090933e-01 1.89169679e-02 1.16877453e+01] [-1.07083750e-01 9.94249025e-01 -1.39514609e-03 -5.81803199e-01] [-1.89575844e-02 -6.38828031e-04 9.99820085e-01 -1.43081901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters 0.04509271066433635 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.58, Z:-0.14 [[ 9.94036708e-01 1.07330437e-01 1.92665495e-02 1.17199773e+01] [-1.07322968e-01 9.94223190e-01 -1.42422168e-03 -5.79710663e-01] [-1.93081127e-02 -6.52014646e-04 9.99813368e-01 -1.43208573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334012739 meters 0.04596016550648834 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.58, Z:-0.14 [[ 9.94087173e-01 1.06684991e-01 2.02238716e-02 1.17512455e+01] [-1.06676550e-01 9.94292647e-01 -1.49884309e-03 -5.80569281e-01] [-2.02683509e-02 -6.67432156e-04 9.99794353e-01 -1.41803454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters 0.04196567062235953 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.59, Z:-0.14 [[ 9.94307373e-01 1.04330508e-01 2.16331559e-02 1.17820409e+01] [-1.04320248e-01 9.94542462e-01 -1.60535111e-03 -5.88563274e-01] [-2.16825792e-02 -6.60563751e-04 9.99764687e-01 -1.39238769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394012738999999 meters 0.04325040255159996 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.59, Z:-0.14 [[ 9.94405286e-01 1.03363716e-01 2.17731361e-02 1.18130695e+01] [-1.03353071e-01 9.94643418e-01 -1.61668473e-03 -5.88633035e-01] [-2.18236130e-02 -6.42680631e-04 9.99761630e-01 -1.40348234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters 0.038853098942936926 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.60, Z:-0.14 [[ 9.94553122e-01 1.01855412e-01 2.21260627e-02 1.18450194e+01] [-1.01843969e-01 9.94799023e-01 -1.64632046e-03 -5.96101619e-01] [-2.21786722e-02 -6.16052892e-04 9.99753833e-01 -1.41401642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454012739 meters 0.042101050270826695 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.59, Z:-0.14 [[ 9.94612793e-01 1.01226855e-01 2.23274732e-02 1.18765916e+01] [-1.01214963e-01 9.94863186e-01 -1.66498970e-03 -5.92565266e-01] [-2.23813228e-02 -6.03854317e-04 9.99749324e-01 -1.41522253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters 0.037074295646809655 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.60, Z:-0.14 [[ 9.94746051e-01 9.99184180e-02 2.22846055e-02 1.19083582e+01] [-9.99061668e-02 9.94995470e-01 -1.66520487e-03 -6.02475219e-01] [-2.23394662e-02 -5.69913541e-04 9.99750281e-01 -1.42572434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514012739 meters 0.036899212871948125 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.61, Z:-0.14 [[ 9.94808004e-01 9.94079764e-02 2.17965541e-02 1.19393003e+01] [-9.93960569e-02 9.95046612e-01 -1.63223796e-03 -6.05339396e-01] [-2.18508448e-02 -5.42728147e-04 9.99761094e-01 -1.44127091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters 0.03648045102424593 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.61, Z:-0.15 [[ 9.94880940e-01 9.88933331e-02 2.07851654e-02 1.19713601e+01] [-9.88823188e-02 9.95097912e-01 -1.55952874e-03 -6.08148872e-01] [-2.08375017e-02 -5.03739937e-04 9.99782749e-01 -1.46638405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574012739 meters 0.035448443935809586 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.61, Z:-0.15 [[ 9.94999373e-01 9.79341879e-02 1.96250726e-02 1.20028215e+01] [-9.79241226e-02 9.95192790e-01 -1.47551364e-03 -6.13004798e-01] [-1.96752340e-02 -4.53632868e-04 9.99806321e-01 -1.50075999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters 0.03463761352827672 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.62, Z:-0.15 [[ 9.95014076e-01 9.75152265e-02 2.09229347e-02 1.20346034e+01] [-9.75036165e-02 9.95233922e-01 -1.57675562e-03 -6.18038959e-01] [-2.09769720e-02 -4.71167767e-04 9.99779848e-01 -1.49556915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634012739 meters 0.03370642153107406 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.62, Z:-0.15 [[ 9.95140415e-01 9.58731632e-02 2.24475356e-02 1.20656738e+01] [-9.58592935e-02 9.95393450e-01 -1.69558290e-03 -6.22475764e-01] [-2.25066909e-02 -4.64461836e-04 9.99746584e-01 -1.46706159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters 0.03368530415022254 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.62, Z:-0.15 [[ 9.95163889e-01 9.55526427e-02 2.27711893e-02 1.20971378e+01] [-9.55382060e-02 9.95424272e-01 -1.72354467e-03 -6.24757674e-01] [-2.28316838e-02 -4.60309162e-04 9.99739217e-01 -1.46745696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694012739 meters 0.0334288673117547 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.63, Z:-0.15 [[ 9.95165940e-01 9.55417767e-02 2.27270820e-02 1.21297465e+01] [-9.55273133e-02 9.95425317e-01 -1.72370549e-03 -6.28154503e-01] [-2.27877987e-02 -4.55684086e-04 9.99740221e-01 -1.47815122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters 0.0335536691857082 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.63, Z:-0.15 [[ 9.95100669e-01 9.64128234e-02 2.18912316e-02 1.21618411e+01] [-9.63995299e-02 9.95341329e-01 -1.66418549e-03 -6.32465113e-01] [-2.19496964e-02 -4.54272337e-04 9.99758973e-01 -1.50511654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754012739 meters 0.03485772195161596 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.63, Z:-0.15 [[ 9.95031838e-01 9.72635098e-02 2.12473631e-02 1.21928657e+01] [-9.72511085e-02 9.95258560e-01 -1.61862564e-03 -6.33029049e-01] [-2.13040532e-02 -4.55745559e-04 9.99772939e-01 -1.51910862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters 0.035113923963996756 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.63, Z:-0.15 [[ 9.94902690e-01 9.85281290e-02 2.14672894e-02 1.22253485e+01] [-9.85156922e-02 9.95134148e-01 -1.63870299e-03 -6.34910830e-01] [-2.15242911e-02 -4.84514859e-04 9.99768208e-01 -1.52356005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814012738999999 meters 0.03463809177133981 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.64, Z:-0.15 [[ 9.94871534e-01 9.87767784e-02 2.17664450e-02 1.22583530e+01] [-9.87639720e-02 9.95109494e-01 -1.66520228e-03 -6.39070747e-01] [-2.18244794e-02 -4.93078223e-04 9.99761696e-01 -1.52237818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters 0.03292361780144977 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.65, Z:-0.15 [[ 9.94826419e-01 9.90238369e-02 2.26864719e-02 1.22905479e+01] [-9.90098871e-02 9.95084928e-01 -1.74008058e-03 -6.45643342e-01] [-2.27472758e-02 -5.15106898e-04 9.99741115e-01 -1.51782743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874012739 meters 0.04060164362244443 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.64, Z:-0.14 [[ 9.94570372e-01 1.01581779e-01 2.26034682e-02 1.23221392e+01] [-1.01568491e-01 9.94827030e-01 -1.73812189e-03 -6.42263569e-01] [-2.26631027e-02 -5.67115626e-04 9.99742998e-01 -1.40249257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters 0.04094583044848798 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.63, Z:-0.15 [[ 9.94053403e-01 1.06055915e-01 2.46976773e-02 1.23540533e+01] [-1.06041338e-01 9.94359902e-01 -1.90284186e-03 -6.33255296e-01] [-2.47601876e-02 -7.27448321e-04 9.99693155e-01 -1.48698367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934012739 meters 0.04276671853366974 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.63, Z:-0.15 [[ 9.93795392e-01 1.08476101e-01 2.45693605e-02 1.23864487e+01] [-1.08462397e-01 9.94098749e-01 -1.89362982e-03 -6.31241745e-01] [-2.46297841e-02 -7.82971146e-04 9.99696334e-01 -1.49569325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters 0.04276671853366974 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.63, Z:-0.15 [[ 9.93775138e-01 1.08661527e-01 2.45692253e-02 1.24188722e+01] [-1.08647837e-01 9.94078495e-01 -1.89538299e-03 -6.33922209e-01] [-2.46296937e-02 -7.85808678e-04 9.99696334e-01 -1.50230106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994012739 meters 0.04479016370452141 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.63, Z:-0.15 [[ 9.93490259e-01 1.11374892e-01 2.39319592e-02 1.24498069e+01] [-1.11362599e-01 9.93778119e-01 -1.84996727e-03 -6.33952018e-01] [-2.39890973e-02 -8.27200696e-04 9.99711878e-01 -1.46026369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters 0.04990245057964705 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.62, Z:-0.15 [[ 9.93225697e-01 1.13641569e-01 2.42550856e-02 1.24817559e+01] [-1.13629595e-01 9.93521412e-01 -1.87581232e-03 -6.24533357e-01] [-2.43111171e-02 -8.92990559e-04 9.99704042e-01 -1.51848200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054012739 meters 0.0492077602601577 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.62, Z:-0.16 [[ 9.92890164e-01 1.16609363e-01 2.39035109e-02 1.25127794e+01] [-1.16598518e-01 9.93177404e-01 -1.85175845e-03 -6.22924357e-01] [-2.39563593e-02 -9.48521183e-04 9.99712555e-01 -1.55108834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters 0.0497429849105497 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.62, Z:-0.16 [[ 9.92848363e-01 1.17109657e-01 2.31830949e-02 1.25454137e+01] [-1.17099575e-01 9.93118554e-01 -1.79666737e-03 -6.19933584e-01] [-2.32339688e-02 -9.30912294e-04 9.99729621e-01 -1.56784659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114012739 meters 0.05015855363623269 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.62, Z:-0.16 [[ 9.92874558e-01 1.16802291e-01 2.36079644e-02 1.25772206e+01] [-1.16791655e-01 9.93154745e-01 -1.83355367e-03 -6.19256067e-01] [-2.36605251e-02 -9.36724442e-04 9.99719612e-01 -1.56882969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters 0.05175080264973632 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.62, Z:-0.16 [[ 9.92975963e-01 1.15880967e-01 2.38817611e-02 1.26088823e+01] [-1.15869724e-01 9.93262680e-01 -1.85873151e-03 -6.16826544e-01] [-2.39362537e-02 -9.21497357e-04 9.99713062e-01 -1.56526592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174012739 meters 0.047071792711132605 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.62, Z:-0.16 [[ 9.93200174e-01 1.13878638e-01 2.41882347e-02 1.26400374e+01] [-1.13866434e-01 9.93494277e-01 -1.88577285e-03 -6.23051036e-01] [-2.42456220e-02 -8.81278095e-04 9.99705643e-01 -1.57687207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters 0.04648896686852455 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.63, Z:-0.16 [[ 9.93322322e-01 1.12978888e-01 2.33780934e-02 1.26718506e+01] [-1.12967216e-01 9.93597042e-01 -1.82358472e-03 -6.25283549e-01] [-2.34344311e-02 -8.29550725e-04 9.99725032e-01 -1.60168732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234012739 meters 0.04397412794665833 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.63, Z:-0.16 [[ 9.93698014e-01 1.10057969e-01 2.12485392e-02 1.27034745e+01] [-1.10047594e-01 9.93924932e-01 -1.66051390e-03 -6.27496933e-01] [-2.13022057e-02 -6.88301252e-04 9.99772845e-01 -1.64013377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters 0.04002542162787875 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.63, Z:-0.17 [[ 9.93884388e-01 1.08408343e-01 2.10107950e-02 1.27355293e+01] [-1.08397815e-01 9.94106239e-01 -1.64268002e-03 -6.34939038e-01] [-2.10650426e-02 -6.44890245e-04 9.99777899e-01 -1.65621577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294012739 meters 0.04228287213879689 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.63, Z:-0.17 [[ 9.94004164e-01 1.07426513e-01 2.03781004e-02 1.27668885e+01] [-1.07416378e-01 9.94212844e-01 -1.59444170e-03 -6.34075824e-01] [-2.04314544e-02 -6.04060049e-04 9.99791074e-01 -1.67197968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters 0.04012764511591169 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.64, Z:-0.17 [[ 9.94061188e-01 1.06914312e-01 2.02900291e-02 1.27983578e+01] [-1.06904093e-01 9.94268065e-01 -1.59076156e-03 -6.39988117e-01] [-2.03438032e-02 -5.87772840e-04 9.99792871e-01 -1.68093359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354012738999998 meters 0.043172322500512506 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.63, Z:-0.17 [[ 9.93952151e-01 1.07732158e-01 2.12815432e-02 1.28296094e+01] [-1.07721026e-01 9.94179755e-01 -1.67211256e-03 -6.34736868e-01] [-2.13378197e-02 -6.30469794e-04 9.99772124e-01 -1.67073393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters 0.041573057654765315 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.64, Z:-0.17 [[ 9.93867585e-01 1.08322257e-01 2.22151338e-02 1.28616990e+01] [-1.08310228e-01 9.94115607e-01 -1.74754507e-03 -6.38407645e-01] [-2.22737093e-02 -6.69297809e-04 9.99751686e-01 -1.65467117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414012739 meters 0.0432685117416993 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.64, Z:-0.17 [[ 9.93770820e-01 1.09146979e-01 2.25054334e-02 1.28934293e+01] [-1.09134760e-01 9.94025380e-01 -1.77411024e-03 -6.37346157e-01] [-2.25646108e-02 -6.93066089e-04 9.99745147e-01 -1.65544628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters 0.04466342607007673 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.64, Z:-0.17 [[ 9.93779930e-01 1.08998650e-01 2.28198200e-02 1.29245005e+01] [-1.08985968e-01 9.94041654e-01 -1.80240208e-03 -6.35464019e-01] [-2.28803110e-02 -6.95849165e-04 9.99737969e-01 -1.66877034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474012739 meters 0.04020201868018705 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.64, Z:-0.17 [[ 9.93890760e-01 1.08013021e-01 2.26791498e-02 1.29559775e+01] [-1.08000161e-01 9.94149256e-01 -1.79470639e-03 -6.43744242e-01] [-2.27403116e-02 -6.65609744e-04 9.99741184e-01 -1.68189622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters 0.03903281783629538 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.65, Z:-0.17 [[ 9.94178198e-01 1.05261327e-01 2.30166131e-02 1.29865376e+01] [-1.05247264e-01 9.94444409e-01 -1.82488401e-03 -6.45356941e-01] [-2.30808320e-02 -6.08175670e-04 9.99733417e-01 -1.66942721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534012739 meters 0.03530923394213446 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.65, Z:-0.17 [[ 9.94288592e-01 1.03987030e-01 2.40186081e-02 1.30187197e+01] [-1.03971333e-01 9.94578470e-01 -1.90481720e-03 -6.52819531e-01] [-2.40864668e-02 -6.03308689e-04 9.99709697e-01 -1.65877340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters 0.03625080641881266 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.65, Z:-0.16 [[ 9.94409401e-01 1.02776637e-01 2.42261614e-02 1.30500494e+01] [-1.02760262e-01 9.94704293e-01 -1.92319376e-03 -6.51992327e-01] [-2.42955261e-02 -5.77044733e-04 9.99704654e-01 -1.64652758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594012739 meters 0.034536000421633774 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.65, Z:-0.16 [[ 9.94578631e-01 1.00812921e-01 2.54971069e-02 1.30820019e+01] [-1.00794028e-01 9.94905247e-01 -2.02839122e-03 -6.54052229e-01] [-2.55716934e-02 -5.52561532e-04 9.99672838e-01 -1.63691493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters 0.0344592218048242 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.66, Z:-0.16 [[ 9.94649473e-01 1.00169513e-01 2.52684551e-02 1.31132847e+01] [-1.00150646e-01 9.94970246e-01 -2.01426316e-03 -6.55381880e-01] [-2.53431288e-02 -5.27166325e-04 9.99678672e-01 -1.64566585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654012739 meters 0.032750500007448516 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.66, Z:-0.17 [[ 9.94738966e-01 9.93979087e-02 2.47880026e-02 1.31453235e+01] [-9.93794192e-02 9.95047643e-01 -1.97974806e-03 -6.59005940e-01] [-2.48620264e-02 -4.94084763e-04 9.99690770e-01 -1.66320481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters 0.032632505340552884 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.66, Z:-0.17 [[ 9.94727532e-01 9.96411580e-02 2.42647366e-02 1.31784120e+01] [-9.96234138e-02 9.95023318e-01 -1.94204208e-03 -6.61099367e-01] [-2.43374861e-02 -4.85533169e-04 9.99703682e-01 -1.67254246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714012739 meters 0.03326893130085165 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.66, Z:-0.17 [[ 9.94673457e-01 1.00298095e-01 2.37698716e-02 1.32101127e+01] [-1.00281149e-01 9.94957313e-01 -1.90688779e-03 -6.61466801e-01] [-2.38412648e-02 -4.86939360e-04 9.99715638e-01 -1.68513620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters 0.033549359562752484 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.66, Z:-0.17 [[ 9.94653354e-01 1.00771313e-01 2.25798258e-02 1.32428220e+01] [-1.00756055e-01 9.94909504e-01 -1.81531266e-03 -6.61833319e-01] [-2.26478147e-02 -4.69447335e-04 9.99743395e-01 -1.72219869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774012739 meters 0.033574550666934704 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.66, Z:-0.17 [[ 9.94667899e-01 1.00776403e-01 2.19063200e-02 1.32761511e+01] [-1.00761953e-01 9.94908997e-01 -1.76523969e-03 -6.64284698e-01] [-2.19726893e-02 -4.51496320e-04 9.99758469e-01 -1.74186230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters 0.03269872273983335 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.67, Z:-0.17 [[ 9.94798464e-01 9.95015151e-02 2.18051470e-02 1.33069862e+01] [-9.94868030e-02 9.95037323e-01 -1.76116171e-03 -6.66042170e-01] [-2.18721733e-02 -4.17323403e-04 9.99760688e-01 -1.74519611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834012739 meters 0.037000770939536125 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.67, Z:-0.16 [[ 9.94804387e-01 9.94533503e-02 2.17545913e-02 1.33391670e+01] [-9.94386215e-02 9.95042141e-01 -1.76043971e-03 -6.70923545e-01] [-2.18218167e-02 -4.11953424e-04 9.99761791e-01 -1.61784783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters 0.03159248420582956 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.67, Z:-0.17 [[ 9.94877895e-01 9.84687570e-02 2.28446593e-02 1.33706901e+01] [-9.84521649e-02 9.95140060e-01 -1.85260542e-03 -6.72644903e-01] [-2.29160594e-02 -4.05989986e-04 9.99737310e-01 -1.74201137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894012739 meters 0.030617964465484027 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.68, Z:-0.17 [[ 9.94964687e-01 9.72735210e-02 2.41481776e-02 1.34016839e+01] [-9.72545294e-02 9.95257608e-01 -1.96244164e-03 -6.77368523e-01] [-2.42245510e-02 -3.95959515e-04 9.99706464e-01 -1.71377523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters 0.03052300828610011 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.68, Z:-0.17 [[ 9.94984160e-01 9.69602417e-02 2.46014987e-02 1.34333302e+01] [-9.69403393e-02 9.95288178e-01 -2.00314193e-03 -6.79534687e-01] [-2.46798060e-02 -3.91783150e-04 9.99695330e-01 -1.70906165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954012739 meters 0.030124836618534417 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.68, Z:-0.17 [[ 9.95030508e-01 9.67246058e-02 2.36355575e-02 1.34657148e+01] [-9.67060810e-02 9.95311115e-01 -1.92821244e-03 -6.81392882e-01] [-2.37112386e-02 -3.67071931e-04 9.99718782e-01 -1.73936914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters 0.030023444108749554 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.68, Z:-0.18 [[ 9.95092107e-01 9.64200349e-02 2.22457852e-02 1.34963306e+01] [-9.64034748e-02 9.95340678e-01 -1.81814175e-03 -6.84034706e-01] [-2.23174402e-02 -3.35352481e-04 9.99750879e-01 -1.77193675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014012738999998 meters 0.02981242372917762 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.69, Z:-0.18 [[ 9.95130849e-01 9.62230372e-02 2.13476107e-02 1.35287298e+01] [-9.62076996e-02 9.95359748e-01 -1.74671748e-03 -6.87547220e-01] [-2.14166269e-02 -3.15592071e-04 9.99770588e-01 -1.78744571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters 0.029695166997726865 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.69, Z:-0.18 [[ 9.95126773e-01 9.62984541e-02 2.11969981e-02 1.35619317e+01] [-9.62832758e-02 9.95352456e-01 -1.73784780e-03 -6.89059184e-01] [-2.12658362e-02 -3.11537544e-04 9.99773808e-01 -1.78584033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074012739 meters 0.030516202981698912 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.69, Z:-0.18 [[ 9.95038212e-01 9.71216658e-02 2.15948978e-02 1.35935302e+01] [-9.71060180e-02 9.95272461e-01 -1.77453757e-03 -6.88342332e-01] [-2.16651531e-02 -3.31261848e-04 9.99765228e-01 -1.78134089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters 0.031084430581581363 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.69, Z:-0.18 [[ 9.94988472e-01 9.75567411e-02 2.19231032e-02 1.36256469e+01] [-9.75406446e-02 9.95229906e-01 -1.80491053e-03 -6.87777764e-01] [-2.19946091e-02 -3.42528451e-04 9.99758031e-01 -1.78693001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134012739 meters 0.029772393845952153 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.69, Z:-0.18 [[ 9.95131258e-01 9.61470853e-02 2.16683620e-02 1.36575896e+01] [-9.61309471e-02 9.95367091e-01 -1.78759718e-03 -6.92890891e-01] [-2.17398467e-02 -3.04106321e-04 9.99763615e-01 -1.80104477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters 0.028113580921700715 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.70, Z:-0.18 [[ 9.95340666e-01 9.38909297e-02 2.19419980e-02 1.36895954e+01] [-9.38737556e-02 9.95582457e-01 -1.81369144e-03 -6.99697754e-01] [-2.20153575e-02 -2.54536916e-04 9.99757600e-01 -1.80386424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194012738999998 meters 0.024841886505647892 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.71, Z:-0.18 [[ 9.95864494e-01 8.76875305e-02 2.37656707e-02 1.37204500e+01] [-8.76655191e-02 9.96148022e-01 -1.96848067e-03 -7.12366581e-01] [-2.38467370e-02 -1.23089850e-04 9.99715619e-01 -1.75855210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters 0.024136871197968417 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.73, Z:-0.18 [[ 9.96481261e-01 8.04175776e-02 2.36243631e-02 1.37510429e+01] [-8.03936946e-02 9.96761260e-01 -1.96051393e-03 -7.29161570e-01] [-2.37055097e-02 5.43655642e-05 9.99718983e-01 -1.77548716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254012739 meters 0.02504141105898674 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.74, Z:-0.18 [[ 9.96778930e-01 7.67765038e-02 2.31761508e-02 1.37812425e+01] [-7.67524536e-02 9.97048318e-01 -1.92678457e-03 -7.39585611e-01] [-2.32556740e-02 1.41751818e-04 9.99729540e-01 -1.78775262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters 0.025889129460574496 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.75, Z:-0.18 [[ 9.97038783e-01 7.34647605e-02 2.27287213e-02 1.38127009e+01] [-7.34407203e-02 9.97297790e-01 -1.89174374e-03 -7.46590936e-01] [-2.28062800e-02 2.16928214e-04 9.99739879e-01 -1.80893912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314012739 meters 0.02735986175928042 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.75, Z:-0.18 [[ 9.97198851e-01 7.14292053e-02 2.21882874e-02 1.38436292e+01] [-7.14057097e-02 9.97445638e-01 -1.85041343e-03 -7.54965111e-01] [-2.22637841e-02 2.60859730e-04 9.99752097e-01 -1.81828782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters 0.028798410232442635 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.76, Z:-0.18 [[ 9.97333990e-01 6.96512821e-02 2.17626052e-02 1.38740778e+01] [-6.96281834e-02 9.97571356e-01 -1.81825283e-03 -7.63132195e-01] [-2.18363952e-02 2.98114682e-04 9.99761513e-01 -1.82826601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374012739 meters 0.02789836284572474 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.77, Z:-0.18 [[ 9.97253468e-01 7.07886682e-02 2.17826744e-02 1.39060505e+01] [-7.07657304e-02 9.97491297e-01 -1.82302649e-03 -7.66315670e-01] [-2.18570777e-02 2.76552627e-04 9.99761067e-01 -1.83354744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters 0.026816821617199473 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.77, Z:-0.18 [[ 9.97178182e-01 7.20283801e-02 2.11562030e-02 1.39382267e+01] [-7.20069943e-02 9.97402553e-01 -1.77189330e-03 -7.67320961e-01] [-2.12288775e-02 2.43498755e-04 9.99774612e-01 -1.84763064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434012739 meters 0.026677437393355243 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.77, Z:-0.19 [[ 9.97069298e-01 7.36138759e-02 2.08281562e-02 1.39691905e+01] [-7.35934214e-02 9.97286796e-01 -1.74789712e-03 -7.71014025e-01] [-2.09003146e-02 2.09959276e-04 9.99781543e-01 -1.85416469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters 0.025599827251769413 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.77, Z:-0.19 [[ 9.96885836e-01 7.61772134e-02 2.03877715e-02 1.40014198e+01] [-7.61580867e-02 9.97094282e-01 -1.71406084e-03 -7.71148185e-01] [-2.04591027e-02 1.56029306e-04 9.99790678e-01 -1.86564264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494012739 meters 0.02533348760268591 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.77, Z:-0.19 [[ 9.96807244e-01 7.71711417e-02 2.04922492e-02 1.40323222e+01] [-7.71519585e-02 9.97017851e-01 -1.72624914e-03 -7.72846221e-01] [-2.05643549e-02 1.39720488e-04 9.99788522e-01 -1.87415190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters 0.02482115455621682 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.78, Z:-0.19 [[ 9.96667316e-01 7.85723980e-02 2.19234931e-02 1.40647606e+01] [-7.85507010e-02 9.96908403e-01 -1.85040677e-03 -7.75362324e-01] [-2.20011054e-02 1.22134196e-04 9.99757939e-01 -1.85285541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554012739 meters 0.024922475811785652 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.78, Z:-0.18 [[ 9.96650937e-01 7.86574189e-02 2.23588812e-02 1.40965966e+01] [-7.86347881e-02 9.96901697e-01 -1.89093339e-03 -7.79027353e-01] [-2.24383426e-02 1.26414646e-04 9.99748221e-01 -1.84644687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters 0.029034732545502064 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.78, Z:-0.18 [[ 9.96668569e-01 7.83896572e-02 2.25127923e-02 1.41287613e+01] [-7.83665553e-02 9.96922787e-01 -1.90793640e-03 -7.84092637e-01] [-2.25930781e-02 1.37330252e-04 9.99744734e-01 -1.75567099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614012739 meters 0.0249887780750882 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.79, Z:-0.19 [[ 9.96676617e-01 7.85189447e-02 2.16909218e-02 1.41614128e+01] [-7.84974492e-02 9.96912613e-01 -1.84197692e-03 -7.86634694e-01] [-2.17685836e-02 1.33173288e-04 9.99763027e-01 -1.86645770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters 0.024895146827941018 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.79, Z:-0.19 [[ 9.96640528e-01 7.93095928e-02 2.04363840e-02 1.41942576e+01] [-7.92906006e-02 9.96850027e-01 -1.73923475e-03 -7.90447871e-01] [-2.05099480e-02 1.12978673e-04 9.99789643e-01 -1.89995538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674012739 meters 0.030642818716445017 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.79, Z:-0.18 [[ 9.96498928e-01 8.14356985e-02 1.89238875e-02 1.42267307e+01] [-8.14197317e-02 9.96678595e-01 -1.61395233e-03 -7.93604782e-01] [-1.89924669e-02 6.75239250e-05 9.99819625e-01 -1.78842239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters 0.02444649005586542 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.79, Z:-0.19 [[ 9.96380957e-01 8.26825680e-02 1.97124889e-02 1.42588776e+01] [-8.26654163e-02 9.96575933e-01 -1.68476040e-03 -7.93010391e-01] [-1.97842924e-02 4.91220768e-05 9.99804271e-01 -1.91727469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734012739 meters 0.024371937432695924 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.79, Z:-0.19 [[ 9.96204133e-01 8.46287145e-02 2.03790395e-02 1.42920948e+01] [-8.46107102e-02 9.96412555e-01 -1.74563814e-03 -7.92808125e-01] [-2.04536620e-02 1.47269187e-05 9.99790802e-01 -1.91143291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters 0.029383297789900165 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.79, Z:-0.18 [[ 9.96016133e-01 8.67752961e-02 2.05404554e-02 1.43255979e+01] [-8.67573774e-02 9.96227909e-01 -1.76355552e-03 -7.94218940e-01] [-2.06160080e-02 -2.55062965e-05 9.99787467e-01 -1.78714399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794012739 meters 0.02522932388066153 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.79, Z:-0.19 [[ 9.95553959e-01 9.16623462e-02 2.16870626e-02 1.43573795e+01] [-9.16434328e-02 9.95790137e-01 -1.86645692e-03 -7.86382221e-01] [-2.17668468e-02 -1.29318286e-04 9.99763066e-01 -1.89064234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters 0.025940366852214507 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.78, Z:-0.19 [[ 9.95325925e-01 9.38077384e-02 2.29436459e-02 1.43899241e+01] [-9.37870503e-02 9.95590315e-01 -1.97846375e-03 -7.81207009e-01] [-2.30280669e-02 -1.82600612e-04 9.99734802e-01 -1.88347771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854012738999998 meters 0.026812557830204215 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.78, Z:-0.19 [[ 9.95349019e-01 9.35048257e-02 2.31771020e-02 1.44224309e+01] [-9.34835408e-02 9.95618811e-01 -2.00253115e-03 -7.83329319e-01] [-2.32628051e-02 -1.73460147e-04 9.99729369e-01 -1.85239105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters 0.026812557830204215 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.79, Z:-0.19 [[ 9.95331481e-01 9.36914202e-02 2.31767432e-02 1.44548161e+01] [-9.36700893e-02 9.95601269e-01 -2.00667544e-03 -7.86317629e-01] [-2.32628033e-02 -1.73660373e-04 9.99729369e-01 -1.85899492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914012739 meters 0.025312551195083452 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.79, Z:-0.19 [[ 9.95430626e-01 9.28981939e-02 2.20860463e-02 1.44867135e+01] [-9.28785405e-02 9.95675602e-01 -1.91620234e-03 -7.89336657e-01] [-2.21685492e-02 -1.43873259e-04 9.99754237e-01 -1.92772656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters 0.025132575939071512 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.79, Z:-0.20 [[ 9.95550784e-01 9.20332188e-02 2.02119436e-02 1.45172603e+01] [-9.20165165e-02 9.95755931e-01 -1.75679971e-03 -7.92571454e-01] [-2.02878467e-02 -1.10849317e-04 9.99794174e-01 -1.96534110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974012739 meters 0.0248820141649413 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.80, Z:-0.20 [[ 9.95874467e-01 8.90721776e-02 1.73261082e-02 1.45484287e+01] [-8.90594131e-02 9.96025173e-01 -1.50845448e-03 -7.95442594e-01] [-1.73916012e-02 -4.08217210e-05 9.99848754e-01 -2.01391005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters 0.024637814137871902 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.80, Z:-0.20 [[ 9.96053310e-01 8.68958170e-02 1.80809736e-02 1.45814481e+01] [-8.68815279e-02 9.96217404e-01 -1.57579736e-03 -7.97521571e-01] [-1.81495108e-02 -1.32443241e-06 9.99835284e-01 -2.00471261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034012738999998 meters 0.024562292277408606 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.80, Z:-0.20 [[ 9.96099868e-01 8.62856145e-02 1.84349305e-02 1.46139977e+01] [-8.62705892e-02 9.96270441e-01 -1.61025102e-03 -8.01101166e-01] [-1.85051178e-02 1.35785136e-05 9.99828766e-01 -2.00584819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters 0.031705822881771706 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.81, Z:-0.19 [[ 9.96095836e-01 8.63836515e-02 1.81920582e-02 1.46459874e+01] [-8.63689706e-02 9.96261946e-01 -1.59260703e-03 -8.06408658e-01] [-1.82616305e-02 1.51598911e-05 9.99833242e-01 -1.86782157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094012739 meters 0.024586770091578482 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.80, Z:-0.20 [[ 9.96113994e-01 8.62167419e-02 1.79884326e-02 1.46793764e+01] [-8.62023019e-02 9.96276404e-01 -1.57803457e-03 -8.04824540e-01] [-1.80575039e-02 2.12580237e-05 9.99836950e-01 -2.01886948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters 0.024627437398040866 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.81, Z:-0.20 [[ 9.96060127e-01 8.68452530e-02 1.79478456e-02 1.47110397e+01] [-8.68309169e-02 9.96221814e-01 -1.57797768e-03 -8.05811690e-01] [-1.80170752e-02 1.33327563e-05 9.99837679e-01 -2.02981002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154012739 meters 0.024622883238602355 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.81, Z:-0.20 [[ 9.96016370e-01 8.73368648e-02 1.79906332e-02 1.47433103e+01] [-8.73224791e-02 9.96178835e-01 -1.58514110e-03 -8.09869787e-01] [-1.80603293e-02 7.83979458e-06 9.99836899e-01 -2.03886133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters 0.024566144431913184 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.81, Z:-0.20 [[ 9.96030169e-01 8.70713355e-02 1.85063432e-02 1.47760564e+01] [-8.70560280e-02 9.96202079e-01 -1.63269090e-03 -8.13671685e-01] [-1.85782182e-02 1.51206540e-05 9.99827410e-01 -2.02933205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214012739 meters 0.024383239895337094 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.82, Z:-0.20 [[ 9.96072553e-01 8.64934359e-02 1.89302589e-02 1.48081102e+01] [-8.64772408e-02 9.96252420e-01 -1.67397612e-03 -8.16417993e-01] [-1.90041042e-02 3.03651133e-05 9.99819405e-01 -2.02796895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters 0.024811251679009792 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.82, Z:-0.20 [[ 9.96245256e-01 8.44026128e-02 1.92766364e-02 1.48402092e+01] [-8.43853830e-02 9.96431730e-01 -1.70693530e-03 -8.21040081e-01] [-1.93519219e-02 7.38598462e-05 9.99812731e-01 -2.03495535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274012739 meters 0.024823645660484926 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.83, Z:-0.20 [[ 9.96291393e-01 8.36998233e-02 1.99449375e-02 1.48726661e+01] [-8.36811628e-02 9.96491009e-01 -1.76982964e-03 -8.26036634e-01] [-2.00230853e-02 9.42504798e-05 9.99799513e-01 -2.02435868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters 0.024995788082666805 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.83, Z:-0.20 [[ 9.96319102e-01 8.32425518e-02 2.04676592e-02 1.49046295e+01] [-8.32227193e-02 9.96529310e-01 -1.82032534e-03 -8.30033976e-01] [-2.05481509e-02 1.10250648e-04 9.99788858e-01 -2.00871285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334012739 meters 0.02507426227813906 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.83, Z:-0.20 [[ 9.96305997e-01 8.35061360e-02 2.00271027e-02 1.49374905e+01] [-8.34871301e-02 9.96507257e-01 -1.78468649e-03 -8.31537784e-01] [-2.01061854e-02 1.06088526e-04 9.99797845e-01 -2.02457088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters 0.025092614130867368 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.83, Z:-0.21 [[ 9.96291590e-01 8.38638818e-02 1.92332062e-02 1.49694431e+01] [-8.38463514e-02 9.96477215e-01 -1.71747573e-03 -8.33457465e-01] [-1.93094860e-02 9.84724517e-05 9.99813550e-01 -2.05361657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394012739 meters 0.02489061239106837 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.84, Z:-0.21 [[ 9.96205182e-01 8.49447932e-02 1.89635985e-02 1.50027835e+01] [-8.49279066e-02 9.96385656e-01 -1.69550556e-03 -8.35414822e-01] [-1.90390819e-02 7.85327069e-05 9.99818737e-01 -2.06958700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters 0.024687562042369823 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.84, Z:-0.21 [[ 9.96109914e-01 8.59251922e-02 1.95422960e-02 1.50362138e+01] [-8.59073743e-02 9.96301589e-01 -1.75098935e-03 -8.35669221e-01] [-1.96204747e-02 6.53505103e-05 9.99807498e-01 -2.06520207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454012739 meters 0.024608567162232045 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.83, Z:-0.21 [[ 9.95951391e-01 8.77843995e-02 1.93578280e-02 1.50683305e+01] [-8.77671950e-02 9.96139497e-01 -1.73819280e-03 -8.32314114e-01] [-1.94356832e-02 3.21732734e-05 9.99811109e-01 -2.07897780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters 0.024615877992850428 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.83, Z:-0.21 [[ 9.95921234e-01 8.83131154e-02 1.84848481e-02 1.51001839e+01] [-8.82974597e-02 9.96092763e-01 -1.66298882e-03 -8.33958438e-01] [-1.85594871e-02 2.40407473e-05 9.99827758e-01 -2.10467423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514012738999998 meters 0.024669626390912223 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.84, Z:-0.21 [[ 9.95948951e-01 8.80954819e-02 1.80242193e-02 1.51334408e+01] [-8.80805072e-02 9.96112034e-01 -1.62453034e-03 -8.37420830e-01] [-1.80972556e-02 3.03669061e-05 9.99836231e-01 -2.11668561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters 0.025029296253816478 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.84, Z:-0.21 [[ 9.96132016e-01 8.60230639e-02 1.79175513e-02 1.51664516e+01] [-8.60078693e-02 9.96293143e-01 -1.61832399e-03 -8.44040868e-01] [-1.79903467e-02 7.10139252e-05 9.99838158e-01 -2.12409291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574012739 meters 0.025263211449630656 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.85, Z:-0.21 [[ 9.96225202e-01 8.47091720e-02 1.89658428e-02 1.51989636e+01] [-8.46918349e-02 9.96405713e-01 -1.71691092e-03 -8.49526277e-01] [-1.90431123e-02 1.04177895e-04 9.99818658e-01 -2.11620357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters 0.026438698561281216 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.86, Z:-0.21 [[ 9.96426525e-01 8.21446496e-02 1.96579967e-02 1.52291062e+01] [-8.21254465e-02 9.96620404e-01 -1.78352951e-03 -8.58954610e-01] [-1.97380680e-02 1.62734353e-04 9.99805172e-01 -2.10547258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634012739 meters 0.026315778772505075 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.86, Z:-0.21 [[ 9.96514690e-01 8.11386924e-02 1.93645298e-02 1.52608376e+01] [-8.11198108e-02 9.96702804e-01 -1.75986892e-03 -8.62364426e-01] [-1.94434746e-02 1.82888242e-04 9.99810941e-01 -2.11659482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters 0.026915507861041552 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.87, Z:-0.21 [[ 9.96572440e-01 8.05444171e-02 1.88671093e-02 1.52914145e+01] [-8.05263278e-02 9.96751002e-01 -1.71777461e-03 -8.69541259e-01] [-1.89441672e-02 1.92587811e-04 9.99820525e-01 -2.13115744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694012738999998 meters 0.026794691346033503 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.87, Z:-0.21 [[ 9.96536753e-01 8.10499595e-02 1.85850427e-02 1.53246686e+01] [-8.10324431e-02 9.96710023e-01 -1.69487247e-03 -8.73019150e-01] [-1.86612677e-02 1.83011292e-04 9.99825847e-01 -2.14015574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters 0.026281122215575426 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.88, Z:-0.21 [[ 9.96450909e-01 8.20630574e-02 1.87414147e-02 1.53568112e+01] [-8.20453560e-02 9.96627125e-01 -1.71274692e-03 -8.75585335e-01] [-1.88187555e-02 1.69022179e-04 9.99822897e-01 -2.13919961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754012739 meters 0.02562387078901031 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.88, Z:-0.21 [[ 9.96280729e-01 8.41962164e-02 1.83223058e-02 1.53882764e+01] [-8.41796036e-02 9.96449186e-01 -1.67744009e-03 -8.77910822e-01] [-1.83984808e-02 1.28836791e-04 9.99830725e-01 -2.14584979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters 0.02551535051432499 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.88, Z:-0.21 [[ 9.96206307e-01 8.50431035e-02 1.84570791e-02 1.54206538e+01] [-8.50263385e-02 9.96377266e-01 -1.69259478e-03 -8.80635420e-01] [-1.85341575e-02 1.16835745e-04 9.99828221e-01 -2.14518209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814012739 meters 0.02528257157203183 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.88, Z:-0.21 [[ 9.96132339e-01 8.56670862e-02 1.95323709e-02 1.54535616e+01] [-8.56483589e-02 9.96323811e-01 -1.79485417e-03 -8.83253402e-01] [-1.96143261e-02 1.14996769e-04 9.99807614e-01 -2.13812882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters 0.025251649142234888 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.89, Z:-0.21 [[ 9.96101281e-01 8.58546315e-02 2.02785449e-02 1.54850770e+01] [-8.58344024e-02 9.96307667e-01 -1.86746064e-03 -8.87111706e-01] [-2.03639999e-02 1.19583149e-04 9.99792625e-01 -2.13157553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874012739 meters 0.025143753118813682 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.89, Z:-0.21 [[ 9.96080503e-01 8.60684312e-02 2.03925777e-02 1.55183253e+01] [-8.60479436e-02 9.96289220e-01 -1.88163492e-03 -8.90555901e-01] [-2.04788547e-02 1.19520486e-04 9.99790279e-01 -2.13698965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters 0.025194052320705245 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.89, Z:-0.21 [[ 9.96029873e-01 8.65915536e-02 2.06493259e-02 1.55497031e+01] [-8.65705764e-02 9.96243891e-01 -1.90931112e-03 -8.94504242e-01] [-2.07370950e-02 1.14106870e-04 9.99784957e-01 -2.12989887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934012739 meters 0.02505132334490145 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.90, Z:-0.21 [[ 9.95989092e-01 8.71235579e-02 2.03767947e-02 1.55822408e+01] [-8.71031692e-02 9.96197508e-01 -1.88768015e-03 -8.97353454e-01] [-2.04637735e-02 1.05225440e-04 9.99790590e-01 -2.13607176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters 0.024890676316588627 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.90, Z:-0.22 [[ 9.95872028e-01 8.86838688e-02 1.93410028e-02 1.56148235e+01] [-8.86657763e-02 9.96059821e-01 -1.79266578e-03 -8.96390261e-01] [-1.94237763e-02 7.03806788e-05 9.99811338e-01 -2.16978924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994012739 meters 0.024762613174779093 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.90, Z:-0.22 [[ 9.95739968e-01 9.02583313e-02 1.88507316e-02 1.56471009e+01] [-9.02413687e-02 9.95918386e-01 -1.75027965e-03 -8.96359754e-01] [-1.89317675e-02 4.17075845e-05 9.99820777e-01 -2.19016189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters 0.024582313252211104 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.90, Z:-0.22 [[ 9.95604650e-01 9.17300937e-02 1.88936932e-02 1.56791105e+01] [-9.17132543e-02 9.95783907e-01 -1.75765824e-03 -8.96379222e-01] [-1.89752658e-02 1.71306243e-05 9.99819953e-01 -2.19755784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054012739 meters 0.028072981286976113 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.90, Z:-0.21 [[ 9.95449277e-01 9.32722517e-02 1.95198388e-02 1.57111270e+01] [-9.32545039e-02 9.95640641e-01 -1.81948530e-03 -8.97843831e-01] [-1.96044523e-02 -9.10755385e-06 9.99807814e-01 -2.09488798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters 0.024362502354481622 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.90, Z:-0.22 [[ 9.95391904e-01 9.36338079e-02 2.06801238e-02 1.57445114e+01] [-9.36138851e-02 9.95606704e-01 -1.93149632e-03 -8.98428883e-01] [-2.07701232e-02 -1.33509278e-05 9.99784278e-01 -2.17181466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114012739 meters 0.02441741527903944 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.90, Z:-0.22 [[ 9.95388787e-01 9.35962356e-02 2.09977730e-02 1.57767376e+01] [-9.35756023e-02 9.95610237e-01 -1.96520895e-03 -9.01439958e-01] [-2.10895340e-02 -8.73230493e-06 9.99777591e-01 -2.17481871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters 0.024448144678021706 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.90, Z:-0.22 [[ 9.95498836e-01 9.25925917e-02 2.02158405e-02 1.58082055e+01] [-9.25731896e-02 9.95704078e-01 -1.89547874e-03 -9.04933932e-01] [-2.03045021e-02 1.55020422e-05 9.99793842e-01 -2.19826613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174012739 meters 0.02457429413757813 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.91, Z:-0.22 [[ 9.95577090e-01 9.18130261e-02 1.99154561e-02 1.58399167e+01] [-9.17939720e-02 9.95776264e-01 -1.87073788e-03 -9.08832553e-01] [-2.00030966e-02 3.43449596e-05 9.99799917e-01 -2.21714196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters 0.024751505635233952 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.91, Z:-0.22 [[ 9.95725968e-01 9.03702426e-02 1.90529788e-02 1.58731246e+01] [-9.03524793e-02 9.95908236e-01 -1.79284520e-03 -9.11443261e-01] [-1.91370384e-02 6.36986481e-05 9.99816868e-01 -2.24285284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234012739 meters 0.02496243344543417 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.91, Z:-0.23 [[ 9.95771431e-01 8.99135408e-02 1.88364777e-02 1.59061285e+01] [-8.98960314e-02 9.95949572e-01 -1.77594956e-03 -9.14792233e-01] [-1.89198638e-02 7.51152476e-05 9.99821001e-01 -2.25388155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters 0.025015691539784973 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.92, Z:-0.23 [[ 9.95811346e-01 8.94711650e-02 1.88327801e-02 1.59380253e+01] [-8.94535162e-02 9.95989409e-01 -1.77915387e-03 -9.19008234e-01] [-1.89164325e-02 8.70432036e-05 9.99821064e-01 -2.25712134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294012739 meters 0.025158823754756622 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.92, Z:-0.23 [[ 9.95874960e-01 8.86919127e-02 1.91522365e-02 1.59710472e+01] [-8.86734504e-02 9.96059101e-01 -1.81273576e-03 -9.23304858e-01] [-1.92375345e-02 1.06963264e-04 9.99814936e-01 -2.25997545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters 0.025616504768841256 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.93, Z:-0.23 [[ 9.96036106e-01 8.70092099e-02 1.84789657e-02 1.60030340e+01] [-8.69916700e-02 9.96207498e-01 -1.75242771e-03 -9.29996294e-01] [-1.85613616e-02 1.37965186e-04 9.99827714e-01 -2.28106727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354012738999998 meters 0.02656851151450845 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.94, Z:-0.23 [[ 9.96152746e-01 8.59046466e-02 1.73233697e-02 1.60340533e+01] [-8.58890168e-02 9.96303352e-01 -1.64560392e-03 -9.36371056e-01] [-1.74006963e-02 1.51385676e-04 9.99848585e-01 -2.31946023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters 0.028394724337582288 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.95, Z:-0.23 [[ 9.96414826e-01 8.29663983e-02 1.65550805e-02 1.60639776e+01] [-8.29516780e-02 9.96552326e-01 -1.57506288e-03 -9.48349026e-01] [-1.66286813e-02 1.96144304e-04 9.99861715e-01 -2.34207269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414012739 meters 0.028361646816692787 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.96, Z:-0.23 [[ 9.96505984e-01 8.17420828e-02 1.71480294e-02 1.60956425e+01] [-8.17260587e-02 9.96653491e-01 -1.63432776e-03 -9.55437251e-01] [-1.72242367e-02 2.27176532e-04 9.99851626e-01 -2.32543917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters 0.029867582540508853 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.97, Z:-0.23 [[ 9.96616792e-01 8.03514471e-02 1.72804696e-02 1.61255275e+01] [-8.03349132e-02 9.96766562e-01 -1.64996887e-03 -9.65444524e-01] [-1.73571717e-02 2.56161660e-04 9.99849320e-01 -2.31688968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474012739 meters 0.030390025508145478 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.97, Z:-0.23 [[ 9.96714802e-01 7.89747898e-02 1.79606633e-02 1.61566992e+01] [-7.89566622e-02 9.96876570e-01 -1.71728778e-03 -9.74620586e-01] [-1.80401869e-02 2.93532121e-04 9.99837219e-01 -2.31199727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters 0.029996080314787732 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.98, Z:-0.23 [[ 9.96692023e-01 7.91444709e-02 1.84706085e-02 1.61894849e+01] [-7.91252717e-02 9.96863111e-01 -1.76909513e-03 -9.79796076e-01] [-1.85526824e-02 3.01751082e-04 9.99827839e-01 -2.31338349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534012738999998 meters 0.030068986664646954 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.99, Z:-0.23 [[ 9.96661885e-01 7.93322361e-02 1.92738935e-02 1.62216237e+01] [-7.93112920e-02 9.96848182e-01 -1.84983609e-03 -9.86759667e-01] [-1.93598973e-02 3.15023731e-04 9.99812530e-01 -2.31104433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters 0.030450984215937827 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.00, Z:-0.23 [[ 9.96671825e-01 7.90322156e-02 1.99795682e-02 1.62523755e+01] [-7.90095711e-02 9.96872006e-01 -1.92145718e-03 -9.98513613e-01] [-2.00689292e-02 3.36485123e-04 9.99798542e-01 -2.30665848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594012739 meters 0.03117403737698769 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.01, Z:-0.23 [[ 9.96670252e-01 7.91198706e-02 1.97092431e-02 1.62842957e+01] [-7.90977845e-02 9.96865053e-01 -1.89886246e-03 -1.00538702e+00] [-1.97976934e-02 3.33582263e-04 9.99803951e-01 -2.30818189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters 0.030621055768925615 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.01, Z:-0.24 [[ 9.96639288e-01 7.98968396e-02 1.80727707e-02 1.63155333e+01] [-7.98783447e-02 9.96803094e-01 -1.74408038e-03 -1.01081808e+00] [-1.81543403e-02 2.94596023e-04 9.99835153e-01 -2.35958607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654012739 meters 0.030263745945476105 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.02, Z:-0.24 [[ 9.96602427e-01 8.04594954e-02 1.76031952e-02 1.63484521e+01] [-8.04419893e-02 9.96757840e-01 -1.70145828e-03 -1.01607519e+00] [-1.76830213e-02 2.79641412e-04 9.99843604e-01 -2.38388089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters 0.029612952168269292 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.02, Z:-0.24 [[ 9.96558122e-01 8.09767696e-02 1.77389966e-02 1.63813223e+01] [-8.09590151e-02 9.96715951e-01 -1.71789850e-03 -1.02144587e+00] [-1.78198508e-02 2.75854008e-04 9.99841176e-01 -2.38512882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714012739 meters 0.030318308226752713 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.03, Z:-0.24 [[ 9.96557132e-01 8.04911647e-02 1.98759823e-02 1.64122848e+01] [-8.04686936e-02 9.96755270e-01 -1.92906582e-03 -1.03140603e+00] [-1.99667629e-02 3.23029976e-04 9.99800592e-01 -2.35349237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters 0.03013374633407034 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.04, Z:-0.24 [[ 9.96580886e-01 7.99762628e-02 2.07445293e-02 1.64436951e+01] [-7.99515936e-02 9.96796706e-01 -2.01717530e-03 -1.03609311e+00] [-2.08394047e-02 3.51720163e-04 9.99782774e-01 -2.35077526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774012739 meters 0.03013374633407034 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.04, Z:-0.24 [[ 9.96565646e-01 8.01660209e-02 2.07441936e-02 1.64760402e+01] [-8.01413211e-02 9.96781463e-01 -2.02062176e-03 -1.03941858e+00] [-2.08394129e-02 3.51215144e-04 9.99782774e-01 -2.35737972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters 0.030728857496763847 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.05, Z:-0.24 [[ 9.96564603e-01 8.01682796e-02 2.07855536e-02 1.65072176e+01] [-8.01433989e-02 9.96781280e-01 -2.02861141e-03 -1.04942053e+00] [-2.08812810e-02 3.55817410e-04 9.99781899e-01 -2.37070861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834012739 meters 0.030523160150181677 Centerline is valid? [True, True] Translation: X:16.54, Y:-1.06, Z:-0.24 [[ 9.96506281e-01 8.09627986e-02 2.05001982e-02 1.65390148e+01] [-8.09387145e-02 9.96717067e-01 -2.00319292e-03 -1.05531729e+00] [-2.05950815e-02 3.36934643e-04 9.99787842e-01 -2.38700980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters 0.031131973000028654 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.06, Z:-0.24 [[ 9.96462710e-01 8.16537873e-02 1.98677407e-02 1.65696474e+01] [-8.16312419e-02 9.96660704e-01 -1.94449203e-03 -1.06224197e+00] [-1.99601716e-02 3.15785454e-04 9.99800726e-01 -2.40688709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894012739 meters 0.03007583373378235 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.07, Z:-0.24 [[ 9.96392952e-01 8.29445681e-02 1.79243935e-02 1.66010846e+01] [-8.29263841e-02 9.96554127e-01 -1.75665654e-03 -1.06787550e+00] [-1.80083334e-02 2.63915053e-04 9.99837802e-01 -2.44346041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters 0.028220865466088447 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.07, Z:-0.25 [[ 9.96336521e-01 8.38269920e-02 1.69284510e-02 1.66333468e+01] [-8.38108589e-02 9.96480296e-01 -1.66147820e-03 -1.06871270e+00] [-1.70081446e-02 2.36603390e-04 9.99855323e-01 -2.45769917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954012739 meters 0.028738599942444848 Centerline is valid? [True, True] Translation: X:16.66, Y:-1.07, Z:-0.25 [[ 9.96264407e-01 8.47670986e-02 1.64854553e-02 1.66643798e+01] [-8.47518815e-02 9.96400769e-01 -1.62077663e-03 -1.07455408e+00] [-1.65635088e-02 2.17548718e-04 9.99862792e-01 -2.47619257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters 0.027373639931200594 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.08, Z:-0.25 [[ 9.96167139e-01 8.58515064e-02 1.67496032e-02 1.66963698e+01] [-8.58359061e-02 9.96307923e-01 -1.64940929e-03 -1.07579370e+00] [-1.68293666e-02 2.05369966e-04 9.99858355e-01 -2.47407728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014012738999998 meters 0.028019884144164762 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.08, Z:-0.25 [[ 9.96018820e-01 8.72479449e-02 1.82840685e-02 1.67273205e+01] [-8.72295241e-02 9.96186607e-01 -1.80411254e-03 -1.08380258e+00] [-1.83717493e-02 2.02019443e-04 9.99831205e-01 -2.46454173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters 0.03415356300899125 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.09, Z:-0.23 [[ 9.96050573e-01 8.65994035e-02 1.95908103e-02 1.67598467e+01] [-8.65780905e-02 9.96243188e-01 -1.93504941e-03 -1.08906271e+00] [-1.96847854e-02 2.31272120e-04 9.99806209e-01 -2.28231393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074012739 meters 0.027468975361442743 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.09, Z:-0.24 [[ 9.95956451e-01 8.73633924e-02 2.09376531e-02 1.67900805e+01] [-8.73391318e-02 9.96176482e-01 -2.07210653e-03 -1.09310509e+00] [-2.10386239e-02 2.35051417e-04 9.99778636e-01 -2.40921288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters 0.02701821277735784 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.10, Z:-0.24 [[ 9.95964347e-01 8.71851708e-02 2.13017747e-02 1.68229146e+01] [-8.71599449e-02 9.96192093e-01 -2.11156401e-03 -1.09635965e+00] [-2.14047566e-02 2.46380954e-04 9.99770862e-01 -2.41396155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134012739 meters 0.02750331572461577 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.10, Z:-0.24 [[ 9.96005000e-01 8.68096041e-02 2.09316068e-02 1.68545778e+01] [-8.67850815e-02 9.96224888e-01 -2.07882186e-03 -1.10209110e+00] [-2.10330494e-02 2.53965768e-04 9.99778749e-01 -2.42428308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters 0.029006629540326522 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.11, Z:-0.24 [[ 9.96038734e-01 8.62389706e-02 2.16721084e-02 1.68853914e+01] [-8.62124601e-02 9.96274441e-01 -2.15635079e-03 -1.11124708e+00] [-2.17773292e-02 2.79403123e-04 9.99762807e-01 -2.40701370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194012738999998 meters 0.027775380373019656 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.11, Z:-0.24 [[ 9.96038156e-01 8.61410599e-02 2.20841646e-02 1.69184402e+01] [-8.61134296e-02 9.96282908e-01 -2.20085681e-03 -1.11276568e+00] [-2.21916599e-02 2.90394206e-04 9.99753693e-01 -2.40530532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters 0.027336741370606304 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.12, Z:-0.24 [[ 9.95970674e-01 8.70987801e-02 2.13592678e-02 1.69499129e+01] [-8.70730706e-02 9.96199645e-01 -2.13251651e-03 -1.11681129e+00] [-2.14638346e-02 2.64106880e-04 9.99769590e-01 -2.42808412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254012739 meters 0.02762359169558535 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.12, Z:-0.25 [[ 9.95944322e-01 8.75878394e-02 2.05737257e-02 1.69816367e+01] [-8.75640229e-02 9.96156769e-01 -2.05737287e-03 -1.12202165e+00] [-2.06748570e-02 2.47510641e-04 9.99786222e-01 -2.45183165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters 0.027242274803650175 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.13, Z:-0.25 [[ 9.95904632e-01 8.81371549e-02 2.01446358e-02 1.70138349e+01] [-8.81143636e-02 9.96108321e-01 -2.01793588e-03 -1.12696476e+00] [-2.02440945e-02 2.34639924e-04 9.99795040e-01 -2.46384674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314012739 meters 0.02732911605558424 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.13, Z:-0.25 [[ 9.95909778e-01 8.79449918e-02 2.07217924e-02 1.70468382e+01] [-8.79207507e-02 9.96125301e-01 -2.07975336e-03 -1.13153902e+00] [-2.08244056e-02 2.49371170e-04 9.99783117e-01 -2.46110410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters 0.02785696506238335 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.14, Z:-0.25 [[ 9.95939908e-01 8.74328995e-02 2.14286643e-02 1.70774348e+01] [-8.74067683e-02 9.96170374e-01 -2.15484424e-03 -1.13703219e+00] [-2.15350048e-02 2.73085077e-04 9.99768058e-01 -2.45044894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374012739 meters 0.02830015620186989 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.14, Z:-0.25 [[ 9.96032940e-01 8.62728532e-02 2.18031625e-02 1.71089087e+01] [-8.62454482e-02 9.96271499e-01 -2.19589583e-03 -1.14234827e+00] [-2.19113156e-02 3.06761059e-04 9.99759871e-01 -2.45654383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters 0.030343685318323637 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.15, Z:-0.25 [[ 9.96303813e-01 8.33945986e-02 2.05925626e-02 1.71395169e+01] [-8.33694712e-02 9.96516541e-01 -2.07719958e-03 -1.15403831e+00] [-2.06940565e-02 3.52730809e-04 9.99785793e-01 -2.48829124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434012739 meters 0.03146883496243406 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.16, Z:-0.25 [[ 9.96456057e-01 8.17824149e-02 1.96713693e-02 1.71710262e+01] [-8.17591144e-02 9.96650138e-01 -1.98716673e-03 -1.16261475e+00] [-1.97679883e-02 3.71810590e-04 9.99804525e-01 -2.50974976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters 0.032866761156769404 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.17, Z:-0.25 [[ 9.96611762e-01 7.99748110e-02 1.92100447e-02 1.72025066e+01] [-7.99521947e-02 9.96796804e-01 -1.94369185e-03 -1.17409095e+00] [-1.93039575e-02 4.01220928e-04 9.99813581e-01 -2.51094157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494012739 meters 0.03320342164527884 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.18, Z:-0.25 [[ 9.96597735e-01 8.01593830e-02 1.91684186e-02 1.72341865e+01] [-8.01368375e-02 9.96781979e-01 -1.94265422e-03 -1.17958705e+00] [-1.92624562e-02 3.99948346e-04 9.99814382e-01 -2.51433740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters 0.03284902724148753 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.18, Z:-0.25 [[ 9.96549081e-01 8.06933249e-02 1.94555062e-02 1.72660267e+01] [-8.06701318e-02 9.96738897e-01 -1.97527092e-03 -1.18344312e+00] [-1.95514510e-02 3.98976171e-04 9.99808773e-01 -2.52605322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554012739 meters 0.03140533099014633 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.19, Z:-0.25 [[ 9.96393566e-01 8.25597316e-02 1.95895897e-02 1.72978500e+01] [-8.25365140e-02 9.96586050e-01 -1.99214539e-03 -1.18953965e+00] [-1.96871828e-02 3.68104402e-04 9.99806121e-01 -2.53512255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters 0.032442233963031517 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.20, Z:-0.25 [[ 9.96334768e-01 8.33105915e-02 1.94003998e-02 1.73286340e+01] [-8.32878995e-02 9.96523568e-01 -1.97613293e-03 -1.19771459e+00] [-1.94975884e-02 3.53071398e-04 9.99809842e-01 -2.53374751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614012739 meters 0.029876013182829588 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.20, Z:-0.25 [[ 9.96235879e-01 8.45711545e-02 1.90208697e-02 1.73610995e+01] [-8.45495165e-02 9.96417390e-01 -1.94035061e-03 -1.19871733e+00] [-1.91168230e-02 3.24841560e-04 9.99817204e-01 -2.53348521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters 0.029270757784274955 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.20, Z:-0.25 [[ 9.96164709e-01 8.54108509e-02 1.89962879e-02 1.73930426e+01] [-8.53893597e-02 9.96345768e-01 -1.94107281e-03 -1.20230933e+00] [-1.90926598e-02 3.11547367e-04 9.99817670e-01 -2.54853325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674012739 meters 0.029032321338528785 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.21, Z:-0.26 [[ 9.96121428e-01 8.59472092e-02 1.88461591e-02 1.74259280e+01] [-8.59260917e-02 9.96299647e-01 -1.92893623e-03 -1.20779186e+00] [-1.89422083e-02 3.02077915e-04 9.99820535e-01 -2.56714585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters 0.029724756370400982 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.22, Z:-0.26 [[ 9.96008341e-01 8.72472898e-02 1.88492724e-02 1.74566958e+01] [-8.72263262e-02 9.96186645e-01 -1.93304354e-03 -1.21720482e+00] [-1.89460462e-02 2.81174702e-04 9.99820468e-01 -2.57592099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734012739 meters 0.029153079899835045 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.22, Z:-0.26 [[ 9.95913185e-01 8.83249525e-02 1.88581870e-02 1.74891429e+01] [-8.83041052e-02 9.96091679e-01 -1.93696625e-03 -1.21923985e+00] [-1.89555656e-02 2.63794895e-04 9.99820292e-01 -2.57702328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters 0.027423910012577334 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.22, Z:-0.26 [[ 9.95673611e-01 9.08850310e-02 1.93383532e-02 1.75216576e+01] [-9.08635286e-02 9.95861366e-01 -1.98949668e-03 -1.21788806e+00] [-1.94391344e-02 2.23738330e-04 9.99811017e-01 -2.58299095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794012739 meters 0.02665698275514577 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.22, Z:-0.26 [[ 9.95613397e-01 9.14812506e-02 1.96250808e-02 1.75544755e+01] [-9.14591576e-02 9.95806775e-01 -2.02223839e-03 -1.22091089e+00] [-1.97277853e-02 2.18474276e-04 9.99805364e-01 -2.58159219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters 0.026574728405519794 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.23, Z:-0.26 [[ 9.95565205e-01 9.19530735e-02 1.98634255e-02 1.75873481e+01] [-9.19304559e-02 9.95763318e-01 -2.05072725e-03 -1.22583721e+00] [-1.99678411e-02 2.15578934e-04 9.99800600e-01 -2.58704116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854012738999998 meters 0.02702989393973695 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.23, Z:-0.26 [[ 9.95562380e-01 9.19949035e-02 1.98112477e-02 1.76192781e+01] [-9.19723356e-02 9.95759454e-01 -2.04921702e-03 -1.23163721e+00] [-1.99157548e-02 2.18036648e-04 9.99801638e-01 -2.58966855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters 0.026442047379416724 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.23, Z:-0.26 [[ 9.95468890e-01 9.30355144e-02 1.96489893e-02 1.76517219e+01] [-9.30134469e-02 9.95662771e-01 -2.03600141e-03 -1.23227890e+00] [-1.97531875e-02 1.99155839e-04 9.99804867e-01 -2.60136340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914012739 meters 0.026316425449917934 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.24, Z:-0.26 [[ 9.95410387e-01 9.37052339e-02 1.94291321e-02 1.76824923e+01] [-9.36837209e-02 9.95599967e-01 -2.01650499e-03 -1.23515769e+00] [-1.95326004e-02 1.87056621e-04 9.99809203e-01 -2.61081972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters 0.02658083548859911 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.24, Z:-0.26 [[ 9.95403880e-01 9.39032829e-02 1.87959642e-02 1.77142579e+01] [-9.38831545e-02 9.95581308e-01 -1.95238238e-03 -1.24143026e+00] [-1.88962457e-02 1.78784585e-04 9.99821434e-01 -2.61860895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974012739 meters 0.026626420966047486 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.25, Z:-0.26 [[ 9.95382987e-01 9.41026589e-02 1.89049691e-02 1.77468623e+01] [-9.40822688e-02 9.95562483e-01 -1.96704640e-03 -1.24510533e+00] [-1.90061823e-02 1.79342136e-04 9.99819350e-01 -2.62763568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters 0.02585278906056689 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.25, Z:-0.26 [[ 9.95350038e-01 9.43856278e-02 1.92264354e-02 1.77796596e+01] [-9.43645220e-02 9.95535695e-01 -2.00406644e-03 -1.24620229e+00] [-1.93297578e-02 1.80454217e-04 9.99813146e-01 -2.62274438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034012738999998 meters 0.02543745022705476 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.25, Z:-0.26 [[ 9.95249778e-01 9.54839186e-02 1.89921048e-02 1.78120466e+01] [-9.54634532e-02 9.95430960e-01 -1.98335265e-03 -1.24893896e+00] [-1.90947074e-02 1.60879378e-04 9.99817667e-01 -2.64033837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters 0.02594385103898634 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.26, Z:-0.27 [[ 9.95201845e-01 9.62025202e-02 1.78427129e-02 1.78431546e+01] [-9.61845193e-02 9.95361771e-01 -1.86629698e-03 -1.25523106e+00] [-1.79394968e-02 1.41149434e-04 9.99839064e-01 -2.66649555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094012739 meters 0.025220996207311233 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.26, Z:-0.27 [[ 9.95123513e-01 9.72056098e-02 1.67410636e-02 1.78761583e+01] [-9.71898773e-02 9.95264314e-01 -1.75272440e-03 -1.25621464e+00] [-1.68321579e-02 1.17115341e-04 9.99858322e-01 -2.68124230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters 0.024946044673786555 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.26, Z:-0.27 [[ 9.94988228e-01 9.84738541e-02 1.73587765e-02 1.79071338e+01] [-9.84570687e-02 9.95139633e-01 -1.82102541e-03 -1.25722588e+00] [-1.74537299e-02 1.02804594e-04 9.99847667e-01 -2.67792556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154012739 meters 0.024628900855560566 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.26, Z:-0.27 [[ 9.94880630e-01 9.94624382e-02 1.78817071e-02 1.79403710e+01] [-9.94447350e-02 9.95041313e-01 -1.87870619e-03 -1.25874977e+00] [-1.79798980e-02 9.08467747e-05 9.99838344e-01 -2.67557299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters 0.024612037258307528 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.26, Z:-0.27 [[ 9.94761690e-01 1.00566320e-01 1.83192504e-02 1.79725383e+01] [-1.00547858e-01 9.94930354e-01 -1.92841511e-03 -1.26245183e+00] [-1.84203119e-02 7.63520847e-05 9.99830329e-01 -2.68138295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214012739 meters 0.024392859910381384 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.26, Z:-0.27 [[ 9.94716909e-01 1.01104560e-01 1.77802951e-02 1.80057356e+01] [-1.01087199e-01 9.94875803e-01 -1.87482500e-03 -1.26379115e+00] [-1.78787388e-02 6.75599076e-05 9.99840160e-01 -2.68525735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters 0.02460229570034477 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.27, Z:-0.27 [[ 9.94787946e-01 1.00550856e-01 1.69253665e-02 1.80389142e+01] [-1.00534991e-01 9.94931917e-01 -1.78777734e-03 -1.26727828e+00] [-1.70193499e-02 7.68677789e-05 9.99855157e-01 -2.71416002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274012739 meters 0.024893181746952635 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.27, Z:-0.27 [[ 9.94833176e-01 1.00053706e-01 1.72106848e-02 1.80699637e+01] [-1.00037167e-01 9.94982034e-01 -1.82139732e-03 -1.27313503e+00] [-1.73065597e-02 9.02783270e-05 9.99850226e-01 -2.72641835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters 0.02503350755741319 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.28, Z:-0.27 [[ 9.94909542e-01 9.91564994e-02 1.79719488e-02 1.81024879e+01] [-9.91382616e-02 9.95071844e-01 -1.90509373e-03 -1.27952820e+00] [-1.80722827e-02 1.13688170e-04 9.99836676e-01 -2.71792955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334012739 meters 0.025179945197952063 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.29, Z:-0.27 [[ 9.94977848e-01 9.83575348e-02 1.85708907e-02 1.81350563e+01] [-9.83378533e-02 9.95151133e-01 -1.97225445e-03 -1.28510764e+00] [-1.86748290e-02 1.36127959e-04 9.99825601e-01 -2.70812380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters 0.02543201393872201 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.29, Z:-0.27 [[ 9.95010437e-01 9.80173925e-02 1.86231374e-02 1.81674920e+01] [-9.79974734e-02 9.95184691e-01 -1.98138961e-03 -1.29000316e+00] [-1.87276719e-02 1.46482929e-04 9.99824611e-01 -2.71407630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394012739 meters 0.025268791238320185 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.29, Z:-0.27 [[ 9.94936213e-01 9.88860887e-02 1.79853482e-02 1.81981414e+01] [-9.88675887e-02 9.95098751e-01 -1.91706536e-03 -1.29367319e+00] [-1.80867686e-02 1.29189742e-04 9.99836413e-01 -2.73358066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters 0.0245642667981928 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.30, Z:-0.27 [[ 9.94714007e-01 1.01040630e-01 1.82985281e-02 1.82300689e+01] [-1.01021815e-01 9.94882296e-01 -1.95206345e-03 -1.29740917e+00] [-1.84021194e-02 9.31943311e-05 9.99830662e-01 -2.73438802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454012739 meters 0.024286415065617968 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.30, Z:-0.27 [[ 9.94558445e-01 1.02370034e-01 1.93358906e-02 1.82621865e+01] [-1.02349210e-01 9.94746385e-01 -2.06611123e-03 -1.29978839e+00] [-1.94458152e-02 7.58552484e-05 9.99810909e-01 -2.72568389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters 0.02781656129500327 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.30, Z:-0.26 [[ 9.94282688e-01 1.04843156e-01 2.02447136e-02 1.82929954e+01] [-1.04820767e-01 9.94488769e-01 -2.16685751e-03 -1.30379175e+00] [-2.03603205e-02 3.24025099e-05 9.99792707e-01 -2.61588192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514012738999998 meters 0.023686623357010637 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.31, Z:-0.27 [[ 9.94025863e-01 1.07225830e-01 2.03766035e-02 1.83252076e+01] [-1.07203582e-01 9.94234691e-01 -2.18420677e-03 -1.30532690e+00] [-2.04933294e-02 -1.32868559e-05 9.99789990e-01 -2.72242786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters 0.023954057024284443 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.31, Z:-0.27 [[ 9.93856203e-01 1.08933255e-01 1.95804387e-02 1.83584858e+01] [-1.08913000e-01 9.94049065e-01 -2.10106298e-03 -1.30762896e+00] [-1.96927924e-02 -4.44098501e-05 9.99806077e-01 -2.73891439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574012739 meters 0.02486333568761876 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.30, Z:-0.28 [[ 9.93455435e-01 1.12702494e-01 1.85592661e-02 1.83903985e+01] [-1.12684890e-01 9.93628772e-01 -1.99489300e-03 -1.30432772e+00] [-1.86658502e-02 -1.09511581e-04 9.99825772e-01 -2.77071128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters 0.02552706081803375 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.31, Z:-0.28 [[ 9.93216562e-01 1.14752479e-01 1.87811112e-02 1.84223676e+01] [-1.14734763e-01 9.93394105e-01 -2.02165749e-03 -1.30518137e+00] [-1.88890354e-02 -1.46902651e-04 9.99821575e-01 -2.77904013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634012739 meters 0.027145862173984354 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.30, Z:-0.28 [[ 9.92843155e-01 1.17850528e-01 1.93319199e-02 1.84540104e+01] [-1.17832281e-01 9.93031323e-01 -2.08424580e-03 -1.30422627e+00] [-1.94428314e-02 -2.08595039e-04 9.99810949e-01 -2.77400748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters 0.027713833144145193 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.31, Z:-0.28 [[ 9.92666318e-01 1.19321850e-01 1.93875612e-02 1.84860277e+01] [-1.19303720e-01 9.92855599e-01 -2.09318954e-03 -1.30516035e+00] [-1.94988120e-02 -2.35169424e-04 9.99809852e-01 -2.77972270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694012738999998 meters 0.027713833144145193 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.31, Z:-0.28 [[ 9.92644250e-01 1.19505353e-01 1.93872247e-02 1.85183226e+01] [-1.19487198e-01 9.92833528e-01 -2.09630170e-03 -1.30884291e+00] [-1.94988060e-02 -2.35643329e-04 9.99809852e-01 -2.78632643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters 0.02828546000184294 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.31, Z:-0.28 [[ 9.92544244e-01 1.20288181e-01 1.96641085e-02 1.85492320e+01] [-1.20269582e-01 9.92738984e-01 -2.13002724e-03 -1.30843900e+00] [-1.97775442e-02 -2.50847838e-04 9.99804374e-01 -2.79140866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754012739 meters 0.02992921739147448 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.30, Z:-0.28 [[ 9.92356552e-01 1.21847214e-01 1.95378929e-02 1.85806955e+01] [-1.21829125e-01 9.92548829e-01 -2.11789087e-03 -1.30421218e+00] [-1.96503719e-02 -2.78581523e-04 9.99806874e-01 -2.80083212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters 0.02931824446621339 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.31, Z:-0.28 [[ 9.92266569e-01 1.22627930e-01 1.92209932e-02 1.86129672e+01] [-1.22610515e-01 9.92452673e-01 -2.08636147e-03 -1.30741938e+00] [-1.93317723e-02 -2.86469148e-04 9.99813083e-01 -2.80615932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814012739 meters 0.03181402415112544 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.30, Z:-0.28 [[ 9.91908805e-01 1.25650974e-01 1.81316052e-02 1.86445542e+01] [-1.25635926e-01 9.92074457e-01 -1.97119110e-03 -1.30075749e+00] [-1.82355844e-02 -3.22739200e-04 9.99833666e-01 -2.82142158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters 0.03452424718274082 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.30, Z:-0.28 [[ 9.91608684e-01 1.28035853e-01 1.78616628e-02 1.86764098e+01] [-1.28021634e-01 9.91769474e-01 -1.94196016e-03 -1.29595258e+00] [-1.79632925e-02 -3.61014702e-04 9.99838582e-01 -2.83774257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874012738999998 meters 0.0360489497040144 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.29, Z:-0.28 [[ 9.91343420e-01 1.30098364e-01 1.76816287e-02 1.87088791e+01] [-1.30084711e-01 9.91501015e-01 -1.92499427e-03 -1.29396694e+00] [-1.77817914e-02 -3.91779158e-04 9.99841815e-01 -2.84949481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters 0.03769957946616554 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.29, Z:-0.28 [[ 9.90974916e-01 1.32779666e-01 1.83922735e-02 1.87411421e+01] [-1.32765298e-01 9.91145476e-01 -2.00544024e-03 -1.28963583e+00] [-1.84957003e-02 -4.54514694e-04 9.99828837e-01 -2.84290194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934012739 meters 0.03977523843688901 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.29, Z:-0.28 [[ 9.90814309e-01 1.33927077e-01 1.87227946e-02 1.87726089e+01] [-1.33912337e-01 9.90991073e-01 -2.04442969e-03 -1.28652326e+00] [-1.88279268e-02 -4.81562991e-04 9.99822623e-01 -2.84331163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters 0.04018959622170534 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.29, Z:-0.29 [[ 9.90681270e-01 1.34923203e-01 1.86104974e-02 1.88050123e+01] [-1.34908789e-01 9.90855935e-01 -2.03363363e-03 -1.28578691e+00] [-1.87147061e-02 -4.96036907e-04 9.99824742e-01 -2.85018468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994012739 meters 0.04317652632256495 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.28, Z:-0.28 [[ 9.90351507e-01 1.37161545e-01 1.97636834e-02 1.88359216e+01] [-1.37145665e-01 9.90548529e-01 -2.16305507e-03 -1.27590634e+00] [-1.98735755e-02 -5.68318668e-04 9.99802339e-01 -2.83818341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters 0.044644780023806604 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.27, Z:-0.28 [[ 9.90097373e-01 1.38849083e-01 2.06911473e-02 1.88664802e+01] [-1.38832051e-01 9.90313352e-01 -2.26431768e-03 -1.27240815e+00] [-2.08051178e-02 -6.30699435e-04 9.99783351e-01 -2.82832496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054012739 meters 0.04920262168283752 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.26, Z:-0.28 [[ 9.89517791e-01 1.42895249e-01 2.08683844e-02 1.88979732e+01] [-1.42878827e-01 9.89737554e-01 -2.28347739e-03 -1.25854739e+00] [-2.09805218e-02 -7.22108783e-04 9.99779624e-01 -2.82360872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters 0.04947902826150044 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.26, Z:-0.28 [[ 9.89294728e-01 1.44517112e-01 2.02668717e-02 1.89275522e+01] [-1.44501968e-01 9.89502028e-01 -2.21743602e-03 -1.25578591e+00] [-2.03745681e-02 -7.34905091e-04 9.99792147e-01 -2.84014423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114012739 meters 0.050134048962665316 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.25, Z:-0.29 [[ 9.89133753e-01 1.45635606e-01 2.01168884e-02 1.89578321e+01] [-1.45620930e-01 9.89338013e-01 -2.20034290e-03 -1.25257479e+00] [-2.02228506e-02 -7.53006565e-04 9.99795214e-01 -2.85366860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters 0.050781357626271506 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.24, Z:-0.28 [[ 9.89158581e-01 1.45250693e-01 2.16226400e-02 1.89865724e+01] [-1.45233659e-01 9.89394559e-01 -2.36446067e-03 -1.24431701e+00] [-2.17367619e-02 -8.01508559e-04 9.99763407e-01 -2.83190658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174012739 meters 0.04589597493422485 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.25, Z:-0.28 [[ 9.89304078e-01 1.44075883e-01 2.27943401e-02 1.90158977e+01] [-1.44056670e-01 9.89566304e-01 -2.49131310e-03 -1.24893409e+00] [-2.29154490e-02 -8.19010530e-04 9.99737071e-01 -2.81985532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters 0.04476772033639232 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.25, Z:-0.28 [[ 9.89495415e-01 1.42684840e-01 2.32349068e-02 1.90456454e+01] [-1.42664507e-01 9.89767848e-01 -2.53890108e-03 -1.24815256e+00] [-2.33594264e-02 -8.02565553e-04 9.99726809e-01 -2.82236963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234012739 meters 0.04203058793452505 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.25, Z:-0.29 [[ 9.90114035e-01 1.38673351e-01 2.10689034e-02 1.90744947e+01] [-1.38655735e-01 9.90337967e-01 -2.30176206e-03 -1.24800508e+00] [-2.11845281e-02 -6.42317357e-04 9.99775376e-01 -2.87345142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters 0.0406856929562673 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.25, Z:-0.29 [[ 9.90452994e-01 1.36483449e-01 1.93684108e-02 1.91034805e+01] [-1.36468152e-01 9.90642200e-01 -2.11556327e-03 -1.25078164e+00] [-1.94759045e-02 -5.47805253e-04 9.99810177e-01 -2.90477183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294012739 meters 0.035363948017650734 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.26, Z:-0.29 [[ 9.91160591e-01 1.31512460e-01 1.74686999e-02 1.91330867e+01] [-1.31499251e-01 9.91314434e-01 -1.90766575e-03 -1.25720414e+00] [-1.75678562e-02 -4.06317832e-04 9.99845591e-01 -2.93863626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters 0.037118467321090115 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.25, Z:-0.30 [[ 9.91502546e-01 1.28885483e-01 1.76417946e-02 1.91618436e+01] [-1.28871598e-01 9.91659417e-01 -1.92644496e-03 -1.25418760e+00] [-1.77429426e-02 -3.63451177e-04 9.99842516e-01 -2.95563283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354012738999998 meters 0.035336531526036115 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.27, Z:-0.28 [[ 9.91806439e-01 1.26460418e-01 1.81038705e-02 1.91905587e+01] [-1.26445409e-01 9.91971599e-01 -1.97595530e-03 -1.26646199e+00] [-1.82084056e-02 -3.29386132e-04 9.99834159e-01 -2.81039578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters 0.03313630898899715 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.26, Z:-0.29 [[ 9.91979607e-01 1.24807299e-01 1.99899424e-02 1.92193687e+01] [-1.24788674e-01 9.92180946e-01 -2.18126788e-03 -1.26279635e+00] [-2.01058781e-02 -3.30745160e-04 9.99797802e-01 -2.92415690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414012739 meters 0.02968199071907455 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.27, Z:-0.29 [[ 9.92210659e-01 1.23117730e-01 1.89745513e-02 1.92492990e+01] [-1.23100655e-01 9.92392032e-01 -2.06976378e-03 -1.27005456e+00] [-1.90850181e-02 -2.82138011e-04 9.99817825e-01 -2.94224486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters 0.029568229542227827 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.27, Z:-0.30 [[ 9.92275611e-01 1.22764257e-01 1.78339499e-02 1.92780967e+01] [-1.22749115e-01 9.92435827e-01 -1.94543021e-03 -1.27186938e+00] [-1.79378801e-02 -2.58698618e-04 9.99839070e-01 -2.97048246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474012739 meters 0.02899169349836081 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.27, Z:-0.30 [[ 9.92493698e-01 1.21102918e-01 1.70394456e-02 1.93070280e+01] [-1.21088859e-01 9.92639932e-01 -1.85818098e-03 -1.27399658e+00] [-1.71390653e-02 -2.19054120e-04 9.99853091e-01 -2.99935059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters 0.027663060333203055 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.28, Z:-0.30 [[ 9.92715424e-01 1.19193116e-01 1.75809095e-02 1.93361422e+01] [-1.19177862e-01 9.92871071e-01 -1.91655152e-03 -1.27921529e+00] [-1.76840161e-02 -1.92664947e-04 9.99843607e-01 -2.99914556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534012738999998 meters 0.026674222872420085 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.28, Z:-0.30 [[ 9.92953947e-01 1.17145423e-01 1.78719994e-02 1.93657562e+01] [-1.17129336e-01 9.93114759e-01 -1.94779761e-03 -1.28470280e+00] [-1.79771219e-02 -1.59262107e-04 9.99838386e-01 -3.00757730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters 0.025063597524605814 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.29, Z:-0.30 [[ 9.93489881e-01 1.12541184e-01 1.76730758e-02 1.93955404e+01] [-1.12524725e-01 9.93647058e-01 -1.92611773e-03 -1.29421677e+00] [-1.77775674e-02 -7.50795341e-05 9.99841964e-01 -3.01733938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594012739 meters 0.024755526827056305 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.30, Z:-0.30 [[ 9.93703854e-01 1.10727409e-01 1.70906772e-02 1.94267739e+01] [-1.10711750e-01 9.93850813e-01 -1.86257137e-03 -1.29937434e+00] [-1.71918212e-02 -4.12944411e-05 9.99852209e-01 -3.03179089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters 0.024558386530534118 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.30, Z:-0.30 [[ 9.93816982e-01 1.09513937e-01 1.82894236e-02 1.94571726e+01] [-1.09495790e-01 9.93985260e-01 -1.99372248e-03 -1.30136196e+00] [-1.83977579e-02 -2.12196228e-05 9.99830747e-01 -3.01320361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654012739 meters 0.024443558835392277 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.30, Z:-0.30 [[ 9.93776602e-01 1.09708577e-01 1.92897137e-02 1.94877276e+01] [-1.09688427e-01 9.93963796e-01 -2.10275321e-03 -1.30180332e+00] [-1.94039672e-02 -2.61914203e-05 9.99811725e-01 -2.99388415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters 0.02445619380896542 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.30, Z:-0.30 [[ 9.93718793e-01 1.10084563e-01 2.01084641e-02 1.95190510e+01] [-1.10062738e-01 9.93922224e-01 -2.19224823e-03 -1.30178186e+00] [-2.02275821e-02 -3.47143483e-05 9.99795401e-01 -2.99043253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714012739 meters 0.024495441908220925 Centerline is valid? [True, True] Translation: X:19.55, Y:-1.30, Z:-0.30 [[ 9.93651052e-01 1.10787875e-01 1.95865872e-02 1.95496307e+01] [-1.10767296e-01 9.93844075e-01 -2.13580094e-03 -1.30122686e+00] [-1.97026345e-02 -4.73124479e-05 9.99805883e-01 -3.01068514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters 0.024501393163807214 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.30, Z:-0.30 [[ 9.93649332e-01 1.10912370e-01 1.89591813e-02 1.95796812e+01] [-1.10893107e-01 9.93830189e-01 -2.06761131e-03 -1.30385385e+00] [-1.90715304e-02 -4.79619216e-05 9.99818121e-01 -3.02675099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774012739 meters 0.024682459518425195 Centerline is valid? [True, True] Translation: X:19.61, Y:-1.31, Z:-0.30 [[ 9.93691710e-01 1.10579614e-01 1.86797719e-02 1.96094973e+01] [-1.10560856e-01 9.93867268e-01 -2.03712043e-03 -1.30604639e+00] [-1.87904778e-02 -4.09818791e-05 9.99823443e-01 -3.03442683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters 0.024331026082238312 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.31, Z:-0.30 [[ 9.93869454e-01 1.08848220e-01 1.93797334e-02 1.96394552e+01] [-1.08827695e-01 9.94058381e-01 -2.11374558e-03 -1.30589083e+00] [-1.94946639e-02 -8.26455350e-06 9.99809961e-01 -3.01451518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834012739 meters 0.02451965609938162 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.31, Z:-0.30 [[ 9.94199645e-01 1.05718528e-01 1.97650934e-02 1.96694030e+01] [-1.05696569e-01 9.94396093e-01 -2.15530325e-03 -1.31305871e+00] [-1.98821872e-02 5.36991540e-05 9.99802328e-01 -3.02279921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters 0.024946534653841813 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.32, Z:-0.30 [[ 9.94437828e-01 1.03526563e-01 1.93818619e-02 1.96989036e+01] [-1.03505028e-01 9.94626685e-01 -2.11369348e-03 -1.32122103e+00] [-1.94965405e-02 9.58166005e-05 9.99809920e-01 -3.03755394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894012739 meters 0.025836847636366372 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.33, Z:-0.30 [[ 9.94682009e-01 1.01143311e-01 1.94353330e-02 1.97307222e+01] [-1.01121183e-01 9.94871856e-01 -2.12050543e-03 -1.32906712e+00] [-1.95501407e-02 1.43904741e-04 9.99808867e-01 -3.04094651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters 0.028493828296507765 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.34, Z:-0.30 [[ 9.95119970e-01 9.67529109e-02 1.93680056e-02 1.97614738e+01] [-9.67300429e-02 9.95308405e-01 -2.11627583e-03 -1.33785231e+00] [-1.94818946e-02 2.32480329e-04 9.99810183e-01 -3.04133913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954012739 meters 0.028239891297661423 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.34, Z:-0.30 [[ 9.95177734e-01 9.61261558e-02 1.95202486e-02 1.97938665e+01] [-9.61027756e-02 9.95369128e-01 -2.13447065e-03 -1.34095046e+00] [-1.96350313e-02 2.48227590e-04 9.99807183e-01 -3.04794054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters 0.0290739637277343 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.35, Z:-0.30 [[ 9.95155928e-01 9.64591327e-02 1.89819625e-02 1.98250803e+01] [-9.64370285e-02 9.95336917e-01 -2.07856717e-03 -1.34921964e+00] [-1.90939449e-02 2.37934375e-04 9.99817666e-01 -3.04972788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014012738999998 meters 0.027393577511899067 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.35, Z:-0.30 [[ 9.95075956e-01 9.72084265e-02 1.93484663e-02 1.98576060e+01] [-9.71855355e-02 9.95264019e-01 -2.12211046e-03 -1.34905260e+00] [-1.94631193e-02 2.31270040e-04 9.99810549e-01 -3.04587484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters 0.03374545694768463 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.35, Z:-0.29 [[ 9.95023277e-01 9.77046541e-02 1.95570575e-02 1.98891158e+01] [-9.76812975e-02 9.95215428e-01 -2.14830013e-03 -1.35399470e+00] [-1.96733843e-02 2.27249878e-04 9.99806434e-01 -2.91663920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074012739 meters 0.02984282537908282 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.36, Z:-0.30 [[ 9.95137742e-01 9.61771846e-02 2.12326133e-02 1.99193460e+01] [-9.61492596e-02 9.95364190e-01 -2.33453598e-03 -1.36049950e+00] [-2.13587120e-02 2.81684811e-04 9.99771837e-01 -3.02626613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters 0.031223177885387806 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.37, Z:-0.31 [[ 9.95343688e-01 9.41414282e-02 2.06962574e-02 1.99511489e+01] [-9.41143958e-02 9.95558782e-01 -2.27847172e-03 -1.36873070e+00] [-2.08188394e-02 3.20046678e-04 9.99783213e-01 -3.05140641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134012739 meters 0.03409098950462551 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.38, Z:-0.31 [[ 9.95599263e-01 9.16326502e-02 1.96357878e-02 1.99809965e+01] [-9.16077734e-02 9.95792815e-01 -2.16456455e-03 -1.38034027e+00] [-1.97515212e-02 3.56248076e-04 9.99804856e-01 -3.07869995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters 0.03574366552668783 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.39, Z:-0.31 [[ 9.96162044e-01 8.51568589e-02 2.02359063e-02 2.00114306e+01] [-8.51290425e-02 9.96367431e-01 -2.23364251e-03 -1.39169232e+00] [-2.03526079e-02 5.02406569e-04 9.99792738e-01 -3.07056618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194012738999998 meters 0.03981118815673669 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.41, Z:-0.31 [[ 9.96413167e-01 8.18928648e-02 2.13157063e-02 2.00402278e+01] [-8.18612415e-02 9.96640958e-01 -2.35339864e-03 -1.40517110e+00] [-2.14368325e-02 6.00027219e-04 9.99770025e-01 -3.05721116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters 0.040172499095868563 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.42, Z:-0.30 [[ 9.96748389e-01 7.74509926e-02 2.22259641e-02 2.00701666e+01] [-7.74154784e-02 9.96995896e-01 -2.45516117e-03 -1.41765240e+00] [-2.23493496e-02 7.26544300e-04 9.99749958e-01 -3.04194076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254012739 meters 0.04164273423176521 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.43, Z:-0.31 [[ 9.96813017e-01 7.67934363e-02 2.16003952e-02 2.01002593e+01] [-7.67597237e-02 9.97046763e-01 -2.38678027e-03 -1.42620641e+00] [-2.17198932e-02 7.21133282e-04 9.99763835e-01 -3.05494109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters 0.05103213138429869 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.43, Z:-0.29 [[ 9.96856117e-01 7.68605571e-02 1.92441227e-02 2.01317482e+01] [-7.68337606e-02 9.97041644e-01 -2.12906416e-03 -1.43388447e+00] [-1.93508328e-02 6.43772320e-04 9.99812548e-01 -2.90581620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314012739 meters 0.042346599852115155 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.44, Z:-0.31 [[ 9.96737102e-01 7.83144997e-02 1.95445321e-02 2.01625007e+01] [-7.82870690e-02 9.96928505e-01 -2.16586647e-03 -1.43753651e+00] [-1.96541199e-02 6.28715338e-04 9.99806641e-01 -3.09699004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters 0.03965886041403094 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.44, Z:-0.31 [[ 9.96376908e-01 8.23461899e-02 2.12640949e-02 2.01917957e+01] [-8.23145639e-02 9.96603604e-01 -2.35980152e-03 -1.44223114e+00] [-2.13861943e-02 6.00907038e-04 9.99771109e-01 -3.08729396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374012738999998 meters 0.035300675189995065 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.44, Z:-0.31 [[ 9.96148990e-01 8.46946683e-02 2.26716318e-02 2.02233256e+01] [-8.46593157e-02 9.96406779e-01 -2.51635191e-03 -1.44202231e+00] [-2.28032892e-02 5.87296587e-04 9.99739799e-01 -3.07234438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters 0.03553720158814835 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.45, Z:-0.31 [[ 9.95968617e-01 8.70616890e-02 2.16050096e-02 2.02538803e+01] [-8.70301265e-02 9.96202792e-01 -2.39865866e-03 -1.44994781e+00] [-2.17318022e-02 5.08702025e-04 9.99763707e-01 -3.09181833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434012739 meters 0.03559406304600827 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.46, Z:-0.31 [[ 9.95955416e-01 8.76415024e-02 1.97933580e-02 2.02855908e+01] [-8.76150698e-02 9.96151975e-01 -2.20035612e-03 -1.45509923e+00] [-1.99100352e-02 4.57260153e-04 9.99801671e-01 -3.13696277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters 0.03497559568668936 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.46, Z:-0.32 [[ 9.95974581e-01 8.79325509e-02 1.73925230e-02 2.03177229e+01] [-8.79121457e-02 9.96126351e-01 -1.93580878e-03 -1.46174047e+00] [-1.74953711e-02 3.99002322e-04 9.99846865e-01 -3.18756294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494012739 meters 0.03345537151043057 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.46, Z:-0.32 [[ 9.95924388e-01 8.83418582e-02 1.81749750e-02 2.03499870e+01] [-8.83195769e-02 9.96090129e-01 -2.02654156e-03 -1.46443633e+00] [-1.82829416e-02 4.13076058e-04 9.99832768e-01 -3.17573742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters 0.03513269805261258 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.47, Z:-0.32 [[ 9.95812571e-01 8.93913461e-02 1.91444607e-02 2.03809682e+01] [-8.93667509e-02 9.95996492e-01 -2.13811988e-03 -1.47155221e+00] [-1.92589451e-02 4.18288398e-04 9.99814442e-01 -3.16044701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554012739 meters 0.030844226243839045 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.47, Z:-0.31 [[ 9.95386297e-01 9.37221626e-02 2.05493717e-02 2.04131849e+01] [-9.36946754e-02 9.95598325e-01 -2.29847111e-03 -1.46789172e+00] [-2.06743378e-02 3.62499933e-04 9.99786197e-01 -3.14468335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters 0.030844226243839045 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.47, Z:-0.32 [[ 9.95368852e-01 9.39072651e-02 2.05492853e-02 2.04454791e+01] [-9.38798014e-02 9.95580884e-01 -2.29924360e-03 -1.47168548e+00] [-2.06743913e-02 3.59432645e-04 9.99786197e-01 -3.15128782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614012739 meters 0.028855204832423296 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.47, Z:-0.32 [[ 9.95052378e-01 9.72201677e-02 2.04695639e-02 2.04768190e+01] [-9.71935387e-02 9.95262856e-01 -2.29413648e-03 -1.47135024e+00] [-2.05956329e-02 2.93276610e-04 9.99787844e-01 -3.15408918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters 0.025527450471821984 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.46, Z:-0.32 [[ 9.94362554e-01 1.04214583e-01 1.95558599e-02 2.05092731e+01] [-1.04191594e-01 9.94554825e-01 -2.19352776e-03 -1.46457055e+00] [-1.96779724e-02 1.43605654e-04 9.99806360e-01 -3.17535516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674012739 meters 0.02464141982922515 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.46, Z:-0.32 [[ 9.94057154e-01 1.07097991e-01 1.95037374e-02 2.05422289e+01] [-1.07075672e-01 9.94248466e-01 -2.18803917e-03 -1.46248438e+00] [-1.96258956e-02 8.66601922e-05 9.99807390e-01 -3.18569551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters 0.024195037454615414 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.46, Z:-0.32 [[ 9.93792931e-01 1.09494511e-01 1.96611706e-02 2.05738266e+01] [-1.09472234e-01 9.93987399e-01 -2.20902225e-03 -1.46132789e+00] [-1.97848317e-02 4.29584267e-05 9.99804260e-01 -3.18831665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734012739 meters 0.02392860165783772 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.46, Z:-0.32 [[ 9.93552656e-01 1.11490397e-01 2.05672206e-02 2.06059851e+01] [-1.11466378e-01 9.93765511e-01 -2.31415583e-03 -1.46058310e+00] [-2.06970007e-02 6.68208862e-06 9.99785794e-01 -3.17790195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters 0.024015412229311462 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.46, Z:-0.32 [[ 9.93398835e-01 1.12887032e-01 2.03782502e-02 2.06397568e+01] [-1.12863674e-01 9.93607829e-01 -2.29641497e-03 -1.45934539e+00] [-2.05072245e-02 -1.87082328e-05 9.99789705e-01 -3.18643873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794012739 meters 0.024187965098529954 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.46, Z:-0.32 [[ 9.93619763e-01 1.10914348e-01 2.04394980e-02 2.06723312e+01] [-1.10890353e-01 9.93829969e-01 -2.30714095e-03 -1.46298608e+00] [-2.05692807e-02 2.58776890e-05 9.99788430e-01 -3.18494887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters 0.024299530530591768 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.47, Z:-0.32 [[ 9.93763843e-01 1.09508824e-01 2.10057433e-02 2.07042991e+01] [-1.09483081e-01 9.93985822e-01 -2.37512455e-03 -1.46755646e+00] [-2.11395081e-02 6.05394037e-05 9.99776534e-01 -3.18136593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854012738999998 meters 0.024669402405353032 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.47, Z:-0.32 [[ 9.93927898e-01 1.07937832e-01 2.13718794e-02 2.07367554e+01] [-1.07910737e-01 9.94157641e-01 -2.42037625e-03 -1.47229349e+00] [-2.15082674e-02 9.94242244e-05 9.99768666e-01 -3.18477826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters 0.02522187200568408 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.48, Z:-0.32 [[ 9.94100163e-01 1.06316014e-01 2.14888588e-02 2.07671336e+01] [-1.06288157e-01 9.94332382e-01 -2.43759693e-03 -1.47714480e+00] [-2.16262238e-02 1.39204309e-04 9.99766116e-01 -3.18902930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914012739 meters 0.025783109564101788 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.48, Z:-0.32 [[ 9.94355443e-01 1.03908451e-01 2.14542931e-02 2.07988336e+01] [-1.03880079e-01 9.94586847e-01 -2.43572559e-03 -1.48137532e+00] [-2.15912502e-02 1.93303324e-04 9.99766863e-01 -3.19986888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters 0.027158369415409615 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.49, Z:-0.32 [[ 9.94418498e-01 1.03239827e-01 2.17575268e-02 2.08290945e+01] [-1.03210404e-01 9.94656469e-01 -2.47391332e-03 -1.48819536e+00] [-2.18966711e-02 2.14502034e-04 9.99760216e-01 -3.19091098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974012739 meters 0.02731252043507658 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.49, Z:-0.32 [[ 9.94490951e-01 1.02417541e-01 2.23247638e-02 2.08614283e+01] [-1.02386276e-01 9.94741468e-01 -2.54202182e-03 -1.49044094e+00] [-2.24677160e-02 2.42268276e-04 9.99747540e-01 -3.19616411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters 0.026650459083509003 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.49, Z:-0.32 [[ 9.94429223e-01 1.02945712e-01 2.26429056e-02 2.08943880e+01] [-1.02913601e-01 9.94686948e-01 -2.58197785e-03 -1.49091979e+00] [-2.27884062e-02 2.37331262e-04 9.99740282e-01 -3.20766817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034012738999998 meters 0.026276686581178814 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.49, Z:-0.32 [[ 9.94352325e-01 1.03845642e-01 2.18983167e-02 2.09272575e+01] [-1.03815737e-01 9.94593403e-01 -2.50112101e-03 -1.48995114e+00] [-2.20396518e-02 2.13605600e-04 9.99757075e-01 -3.21650166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters 0.02631231801812472 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.49, Z:-0.32 [[ 9.94334182e-01 1.04106023e-01 2.14818634e-02 2.09598612e+01] [-1.04077229e-01 9.94566183e-01 -2.45713617e-03 -1.49228770e+00] [-2.16209376e-02 2.07441668e-04 9.99766219e-01 -3.22902940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094012739 meters 0.026881224883209924 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.50, Z:-0.32 [[ 9.94358210e-01 1.03886115e-01 2.14342026e-02 2.09911941e+01] [-1.03857310e-01 9.94589176e-01 -2.45571177e-03 -1.49690752e+00] [-2.15733403e-02 2.15758532e-04 9.99767245e-01 -3.23710304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters 0.02657862865573492 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.50, Z:-0.32 [[ 9.94330239e-01 1.04160979e-01 2.13977874e-02 2.10239587e+01] [-1.04132279e-01 9.94560428e-01 -2.45419254e-03 -1.50050919e+00] [-2.15370237e-02 2.12077491e-04 9.99768029e-01 -3.24840336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154012739 meters 0.026604031163990932 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.50, Z:-0.32 [[ 9.94288453e-01 1.04455227e-01 2.18992709e-02 2.10553035e+01] [-1.04425147e-01 9.94529567e-01 -2.51579816e-03 -1.50424294e+00] [-2.20422607e-02 2.14594472e-04 9.99757017e-01 -3.24133083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters 0.026603422070503608 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.51, Z:-0.32 [[ 9.94286402e-01 1.04436493e-01 2.20809755e-02 2.10877235e+01] [-1.04405846e-01 9.94531533e-01 -2.53940488e-03 -1.50727316e+00] [-2.22254330e-02 2.19512815e-04 9.99752960e-01 -3.24397793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214012739 meters 0.02695215746380255 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.51, Z:-0.33 [[ 9.94342151e-01 1.04091182e-01 2.11828381e-02 2.11193137e+01] [-1.04062818e-01 9.94567734e-01 -2.43993225e-03 -1.51208501e+00] [-2.13217427e-02 2.21781650e-04 9.99772641e-01 -3.26467783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters 0.027161921129182594 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.52, Z:-0.33 [[ 9.94388703e-01 1.03821564e-01 2.03024653e-02 2.11518744e+01] [-1.03795383e-01 9.94595915e-01 -2.34194024e-03 -1.51638347e+00] [-2.04358930e-02 2.21496755e-04 9.99791141e-01 -3.29334608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274012739 meters 0.02994379683254703 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.52, Z:-0.32 [[ 9.94407552e-01 1.03707105e-01 1.99613799e-02 2.11836601e+01] [-1.03681698e-01 9.94607856e-01 -2.30631102e-03 -1.52291941e+00] [-2.00929261e-02 2.23783329e-04 9.99798092e-01 -3.22496586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters 0.027026657860693373 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.53, Z:-0.33 [[ 9.94321809e-01 1.04346776e-01 2.08779875e-02 2.12160085e+01] [-1.04319068e-01 9.94540950e-01 -2.41483531e-03 -1.52604506e+00] [-2.10159938e-02 2.23151209e-04 9.99779115e-01 -3.27874593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334012739 meters 0.026470137856202794 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.53, Z:-0.33 [[ 9.94092352e-01 1.06373159e-01 2.15672762e-02 2.12471151e+01] [-1.06343979e-01 9.94326262e-01 -2.49866718e-03 -1.52812299e+00] [-2.17107003e-02 1.90355972e-04 9.99764277e-01 -3.27464614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters 0.025961547927176778 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.53, Z:-0.33 [[ 9.93978129e-01 1.07467164e-01 2.14076399e-02 2.12794866e+01] [-1.07438599e-01 9.94208620e-01 -2.48338453e-03 -1.52992978e+00] [-2.15505424e-02 1.68423076e-04 9.99767746e-01 -3.28292780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394012739 meters 0.025456696474921506 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.53, Z:-0.33 [[ 9.93819970e-01 1.08867156e-01 2.16751126e-02 2.13116702e+01] [-1.08838128e-01 9.94056297e-01 -2.51792320e-03 -1.53139275e+00] [-2.18204013e-02 1.43283672e-04 9.99761896e-01 -3.29327750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters 0.02613297587017836 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.53, Z:-0.32 [[ 9.93548181e-01 1.11178653e-01 2.23901759e-02 2.13429672e+01] [-1.11148182e-01 9.93800431e-01 -2.60471390e-03 -1.53165290e+00] [-2.25409550e-02 9.92814242e-05 9.99745915e-01 -3.23822967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454012739 meters 0.02445484700159201 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.53, Z:-0.33 [[ 9.93321538e-01 1.13069555e-01 2.29694966e-02 2.13762879e+01] [-1.13037907e-01 9.93587073e-01 -2.67573553e-03 -1.53236505e+00] [-2.31247391e-02 6.14419113e-05 9.99732586e-01 -3.26320921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters 0.024168454153838483 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.53, Z:-0.33 [[ 9.92811265e-01 1.17413827e-01 2.32332692e-02 2.14079740e+01] [-1.17382550e-01 9.93083074e-01 -2.71019008e-03 -1.52655664e+00] [-2.33907802e-02 -3.64731380e-05 9.99726398e-01 -3.26314276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514012738999998 meters 0.024664567953596856 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.53, Z:-0.33 [[ 9.92519685e-01 1.19860993e-01 2.31951896e-02 2.14394593e+01] [-1.19830479e-01 9.92790680e-01 -2.70604402e-03 -1.52548644e+00] [-2.33523172e-02 -9.36887192e-05 9.99727293e-01 -3.26377080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters 0.0254794672474012 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.52, Z:-0.33 [[ 9.92217189e-01 1.22253036e-01 2.36483794e-02 2.14707459e+01] [-1.22221986e-01 9.92498953e-01 -2.75938127e-03 -1.52450719e+00] [-2.38083346e-02 -1.52446360e-04 9.99716530e-01 -3.26160996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574012739 meters 0.026962354324070063 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.52, Z:-0.33 [[ 9.91845436e-01 1.25126270e-01 2.42084282e-02 2.15009663e+01] [-1.25094588e-01 9.92140799e-01 -2.82468451e-03 -1.52076595e+00] [-2.43716115e-02 -2.26692920e-04 9.99702942e-01 -3.25695204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters 0.026738033320191635 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.52, Z:-0.33 [[ 9.91891717e-01 1.24707977e-01 2.44692018e-02 2.15310846e+01] [-1.24675487e-01 9.92193465e-01 -2.85488313e-03 -1.52407121e+00] [-2.46342089e-02 -2.18974739e-04 9.99696508e-01 -3.26269939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634012739 meters 0.025386961199865266 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.53, Z:-0.33 [[ 9.92192240e-01 1.22390975e-01 2.39793139e-02 2.15611280e+01] [-1.22359095e-01 9.92481952e-01 -2.79781661e-03 -1.53406490e+00] [-2.41414638e-02 -1.58115211e-04 9.99708540e-01 -3.29556389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters 0.025157369356421513 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.54, Z:-0.33 [[ 9.92376082e-01 1.21053396e-01 2.31470827e-02 2.15909570e+01] [-1.21023315e-01 9.92645990e-01 -2.70120959e-03 -1.53917526e+00] [-2.33038494e-02 -1.20720890e-04 9.99728421e-01 -3.31091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694012738999998 meters 0.024892832981295503 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.54, Z:-0.33 [[ 9.92486568e-01 1.20334945e-01 2.21339709e-02 2.16209079e+01] [-1.20307256e-01 9.92733343e-01 -2.58320790e-03 -1.54430496e+00] [-2.22839811e-02 -9.90781554e-05 9.99751676e-01 -3.33333674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters 0.02486767419031525 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.55, Z:-0.34 [[ 9.92555452e-01 1.19886010e-01 2.14713667e-02 2.16498263e+01] [-1.19859848e-01 9.92787660e-01 -2.50589122e-03 -1.54777306e+00] [-2.16169292e-02 -8.63187701e-05 9.99766323e-01 -3.35594258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754012739 meters 0.024982042880971514 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.55, Z:-0.34 [[ 9.92465881e-01 1.20593185e-01 2.16508313e-02 2.16796779e+01] [-1.20566747e-01 9.92702006e-01 -2.52706158e-03 -1.55166177e+00] [-2.17975701e-02 -1.02347914e-04 9.99762400e-01 -3.36517283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters 0.02607844693948272 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.55, Z:-0.34 [[ 9.92184712e-01 1.22773812e-01 2.22730458e-02 2.17094281e+01] [-1.22746383e-01 9.92434666e-01 -2.59966126e-03 -1.55096503e+00] [-2.24237131e-02 -1.54591666e-04 9.99748545e-01 -3.36146021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814012739 meters 0.025950811145729672 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.55, Z:-0.34 [[ 9.92004113e-01 1.24177160e-01 2.25360180e-02 2.17397406e+01] [-1.24149447e-01 9.92260045e-01 -2.63011675e-03 -1.55464982e+00] [-2.26881907e-02 -1.88747529e-04 9.99742572e-01 -3.36903489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters 0.027465882277701074 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.55, Z:-0.34 [[ 9.91874429e-01 1.25224947e-01 2.24461614e-02 2.17686271e+01] [-1.25197724e-01 9.92128352e-01 -2.61956788e-03 -1.55278408e+00] [-2.25975084e-02 -2.11925924e-04 9.99744621e-01 -3.36788338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874012738999998 meters 0.028326212282426644 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.55, Z:-0.34 [[ 9.91735502e-01 1.26337195e-01 2.23518823e-02 2.17979855e+01] [-1.26310496e-01 9.91987327e-01 -2.60797132e-03 -1.55371487e+00] [-2.25022678e-02 -2.36859601e-04 9.99746764e-01 -3.38663511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters 0.03125573380442071 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.56, Z:-0.33 [[ 9.91587465e-01 1.27834204e-01 2.03153968e-02 2.18273252e+01] [-1.27812471e-01 9.91795521e-01 -2.36996048e-03 -1.55770175e+00] [-2.04516816e-02 -2.46537971e-04 9.99790812e-01 -3.33531160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934012739 meters 0.02887239949622974 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.56, Z:-0.34 [[ 9.91490512e-01 1.28647619e-01 1.99086496e-02 2.18565495e+01] [-1.28626921e-01 9.91690336e-01 -2.32205491e-03 -1.55797110e+00] [-2.00419422e-02 -2.58492878e-04 9.99799107e-01 -3.44261113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters 0.031225663003708774 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.55, Z:-0.34 [[ 9.91207069e-01 1.30852945e-01 1.96482455e-02 2.18851137e+01] [-1.30833227e-01 9.91401743e-01 -2.29124157e-03 -1.55294558e+00] [-1.97791206e-02 -2.99548527e-04 9.99804329e-01 -3.44379149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994012739 meters 0.03378524561444004 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.56, Z:-0.33 [[ 9.91051369e-01 1.31972454e-01 2.00113770e-02 2.19136058e+01] [-1.31952247e-01 9.91253330e-01 -2.33263960e-03 -1.55561533e+00] [-2.01441882e-02 -3.28780489e-04 9.99797031e-01 -3.34260618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters 0.03173270451359922 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.55, Z:-0.34 [[ 9.90843405e-01 1.33347553e-01 2.11607178e-02 2.19428658e+01] [-1.33325294e-01 9.91069264e-01 -2.46555713e-03 -1.55498541e+00] [-2.13005131e-02 -3.78277904e-04 9.99773047e-01 -3.43055815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054012739 meters 0.033544102566065874 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.55, Z:-0.34 [[ 9.90593509e-01 1.35161490e-01 2.13511588e-02 2.19712708e+01] [-1.35139272e-01 9.90823493e-01 -2.48668474e-03 -1.54804307e+00] [-2.14913337e-02 -4.22086298e-04 9.99768946e-01 -3.42886623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters 0.035152891056913535 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.55, Z:-0.34 [[ 9.90595374e-01 1.35175839e-01 2.11730542e-02 2.19990553e+01] [-1.35154026e-01 9.90821536e-01 -2.46444990e-03 -1.54582702e+00] [-2.13118521e-02 -4.20350843e-04 9.99772788e-01 -3.44395203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114012739 meters 0.03257153841143399 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.55, Z:-0.34 [[ 9.90799928e-01 1.33536119e-01 2.19910651e-02 2.20278009e+01] [-1.33512212e-01 9.91043866e-01 -2.55834975e-03 -1.55037108e+00] [-2.21357423e-02 -4.01263006e-04 9.99754894e-01 -3.43973973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters 0.03217334494616598 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.55, Z:-0.34 [[ 9.90911672e-01 1.32608829e-01 2.25600595e-02 2.20553118e+01] [-1.32583453e-01 9.91168374e-01 -2.62346962e-03 -1.55152867e+00] [-2.27087127e-02 -3.91463917e-04 9.99742047e-01 -3.43170582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174012739 meters 0.03173340752557239 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.55, Z:-0.34 [[ 9.90960353e-01 1.32119492e-01 2.32813119e-02 2.20840044e+01] [-1.32092359e-01 9.91233719e-01 -2.70623592e-03 -1.55230876e+00] [-2.34347679e-02 -3.93510904e-04 9.99725291e-01 -3.42438381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters 0.030879682143130836 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.55, Z:-0.34 [[ 9.91075895e-01 1.31215202e-01 2.34764074e-02 2.21127302e+01] [-1.31187385e-01 9.91353836e-01 -2.72781332e-03 -1.55308332e+00] [-2.36313571e-02 -3.76338459e-04 9.99720670e-01 -3.42249981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234012739 meters 0.031055797143821708 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.55, Z:-0.35 [[ 9.91179763e-01 1.30599499e-01 2.25043882e-02 2.21401617e+01] [-1.30573803e-01 9.91435147e-01 -2.61382897e-03 -1.55496790e+00] [-2.26530061e-02 -3.47709168e-04 9.99743327e-01 -3.45356601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters 0.029150621466019957 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.56, Z:-0.35 [[ 9.91540517e-01 1.28234392e-01 2.00834113e-02 2.21683759e+01] [-1.28213463e-01 9.91743854e-01 -2.33159505e-03 -1.56060150e+00] [-2.02165904e-02 -2.63092756e-04 9.99795589e-01 -3.50831127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294012739 meters 0.02858609299741806 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.56, Z:-0.35 [[ 9.91764862e-01 1.26549512e-01 1.96895625e-02 2.21955334e+01] [-1.26529082e-01 9.91960267e-01 -2.28497351e-03 -1.56432342e+00] [-1.98204260e-02 -2.25145827e-04 9.99803531e-01 -3.52327520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters 0.02680084343992677 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.57, Z:-0.35 [[ 9.92046802e-01 1.24207711e-01 2.03859655e-02 2.22234006e+01] [-1.24185341e-01 9.92256222e-01 -2.36456555e-03 -1.57143925e+00] [-2.05217984e-02 -1.85878380e-04 9.99789388e-01 -3.50836549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354012738999998 meters 0.026906992616855255 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.57, Z:-0.35 [[ 9.92126113e-01 1.23467779e-01 2.10114906e-02 2.22513916e+01] [-1.23443870e-01 9.92348566e-01 -2.43608495e-03 -1.57411593e+00] [-2.11515006e-02 -1.76836230e-04 9.99776266e-01 -3.50462286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters 0.026349211577389568 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.58, Z:-0.35 [[ 9.92229500e-01 1.22550264e-01 2.14954109e-02 2.22799249e+01] [-1.22525054e-01 9.92462295e-01 -2.49091587e-03 -1.57803667e+00] [-2.16386472e-02 -1.62166182e-04 9.99765844e-01 -3.49335257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414012739 meters 0.025661027570909715 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.58, Z:-0.35 [[ 9.92357150e-01 1.21364245e-01 2.23160503e-02 2.23085079e+01] [-1.21336797e-01 9.92608029e-01 -2.58496734e-03 -1.58154285e+00] [-2.24648133e-02 -1.42547239e-04 9.99747624e-01 -3.48863585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters 0.025579448462384982 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.58, Z:-0.35 [[ 9.92458267e-01 1.20640627e-01 2.17353944e-02 2.23362950e+01] [-1.20614437e-01 9.92696239e-01 -2.51669571e-03 -1.58487779e+00] [-2.18802600e-02 -1.23886887e-04 9.99760591e-01 -3.50885378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474012739 meters 0.02511296525520274 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.59, Z:-0.36 [[ 9.92796698e-01 1.18175285e-01 1.97311286e-02 2.23647578e+01] [-1.18153237e-01 9.92992748e-01 -2.28358480e-03 -1.59062450e+00] [-1.98627309e-02 -6.41612592e-05 9.99802714e-01 -3.55581746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters 0.02511296525520274 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.59, Z:-0.36 [[ 9.92802139e-01 1.18129553e-01 1.97312337e-02 2.23928991e+01] [-1.18107514e-01 9.92998190e-01 -2.28267608e-03 -1.59379181e+00] [-1.98627309e-02 -6.41612591e-05 9.99802714e-01 -3.56157040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534012738999998 meters 0.024973245282713358 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.60, Z:-0.36 [[ 9.92984610e-01 1.16771362e-01 1.86014605e-02 2.24203467e+01] [-1.16751551e-01 9.93158823e-01 -2.15117800e-03 -1.59759862e+00] [-1.87254006e-02 -3.56627142e-05 9.99824664e-01 -3.58967900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters 0.024891828087903137 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.60, Z:-0.36 [[ 9.93163892e-01 1.15283679e-01 1.83073013e-02 2.24483566e+01] [-1.15264256e-01 9.93332610e-01 -2.11612229e-03 -1.60114168e+00] [-1.84291937e-02 -8.52121227e-06 9.99830168e-01 -3.60401850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594012739 meters 0.024909920861304797 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.61, Z:-0.36 [[ 9.93460278e-01 1.12483078e-01 1.96018547e-02 2.24763481e+01] [-1.12460291e-01 9.93653639e-01 -2.26445243e-03 -1.60701618e+00] [-1.97321668e-02 4.52132523e-05 9.99805301e-01 -3.57415091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters 0.02500881481563149 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.61, Z:-0.36 [[ 9.93579171e-01 1.11377146e-01 1.98887592e-02 2.25056619e+01] [-1.11353484e-01 9.93778208e-01 -2.29667287e-03 -1.61256448e+00] [-2.00208123e-02 6.72436866e-05 9.99799561e-01 -3.57646380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654012739 meters 0.02578741221998679 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.62, Z:-0.36 [[ 9.93890438e-01 1.08877098e-01 1.80990426e-02 2.25353351e+01] [-1.08857096e-01 9.94055213e-01 -2.08958790e-03 -1.62039707e+00] [-1.82189559e-02 1.06612209e-04 9.99834015e-01 -3.61970614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters 0.026326767228850356 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.63, Z:-0.36 [[ 9.94055682e-01 1.07398703e-01 1.78555294e-02 2.25642867e+01] [-1.07378996e-01 9.94216023e-01 -2.06152555e-03 -1.62632960e+00] [-1.79736586e-02 1.31962355e-04 9.99838452e-01 -3.62697029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714012738999998 meters 0.026904278101100576 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.63, Z:-0.36 [[ 9.94188724e-01 1.06114629e-01 1.81236719e-02 2.25933063e+01] [-1.06094120e-01 9.94353891e-01 -2.09207087e-03 -1.63258730e+00] [-1.82433430e-02 1.57098250e-04 9.99833564e-01 -3.62518204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters 0.027054776761194874 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.64, Z:-0.36 [[ 9.94204625e-01 1.05532927e-01 2.04930300e-02 2.26227614e+01] [-1.05506592e-01 9.94415791e-01 -2.36505663e-03 -1.63920026e+00] [-2.06281840e-02 1.89200488e-04 9.99787198e-01 -3.57746536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774012739 meters 0.026750701850192748 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.64, Z:-0.35 [[ 9.94209430e-01 1.04862803e-01 2.34819575e-02 2.26538083e+01] [-1.04828048e-01 9.94486671e-01 -2.70956406e-03 -1.64354144e+00] [-2.36366262e-02 2.32306367e-04 9.99720589e-01 -3.52235016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters 0.027459061340336148 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.65, Z:-0.35 [[ 9.94311538e-01 1.03805428e-01 2.38536718e-02 2.26842151e+01] [-1.03769234e-01 9.94597589e-01 -2.75349044e-03 -1.65077345e+00] [-2.40106317e-02 2.62550052e-04 9.99711669e-01 -3.52660593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834012739 meters 0.028348411639056024 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.66, Z:-0.35 [[ 9.94480457e-01 1.02354534e-01 2.30687965e-02 2.27155487e+01] [-1.02320214e-01 9.94747940e-01 -2.66630340e-03 -1.65842433e+00] [-2.32205460e-02 2.91182437e-04 9.99730324e-01 -3.54212499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters 0.03060017288390464 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.67, Z:-0.36 [[ 9.94852835e-01 9.90986215e-02 2.11494585e-02 2.27455876e+01] [-9.90689732e-02 9.95077559e-01 -2.44760233e-03 -1.67235638e+00] [-2.12879055e-02 3.39748976e-04 9.99773329e-01 -3.58235861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894012739 meters 0.030257726770157447 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.68, Z:-0.36 [[ 9.94982052e-01 9.77536786e-02 2.13292117e-02 2.27772483e+01] [-9.77231455e-02 9.95210570e-01 -2.47165006e-03 -1.67786219e+00] [-2.14686698e-02 3.74889788e-04 9.99769451e-01 -3.58285652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters 0.03198502995980376 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.69, Z:-0.36 [[ 9.95102760e-01 9.63764540e-02 2.19562436e-02 2.28071096e+01] [-9.63436795e-02 9.95344866e-01 -2.54813170e-03 -1.68972485e+00] [-2.20996143e-02 4.20307593e-04 9.99755685e-01 -3.57273576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954012739 meters 0.032086914704149844 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.70, Z:-0.36 [[ 9.95082679e-01 9.66811438e-02 2.15224911e-02 2.28385027e+01] [-9.66496503e-02 9.95315322e-01 -2.50114060e-03 -1.69562446e+00] [-2.16634783e-02 4.08700455e-04 9.99765236e-01 -3.58285714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters 0.034203420707109376 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.70, Z:-0.36 [[ 9.95039095e-01 9.73423080e-02 2.05346908e-02 2.28688431e+01] [-9.73137089e-02 9.95250888e-01 -2.38979487e-03 -1.70488309e+00] [-2.06697974e-02 3.79632404e-04 9.99786285e-01 -3.60719266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014012738999998 meters 0.030509231683005202 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.71, Z:-0.37 [[ 9.94898566e-01 9.92500543e-02 1.80629286e-02 2.29008819e+01] [-9.92281984e-02 9.95062478e-01 -2.10445926e-03 -1.70619717e+00] [-1.81826102e-02 3.01371632e-04 9.99834637e-01 -3.66937252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters 0.03014750724803125 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.71, Z:-0.37 [[ 9.94821415e-01 1.00156215e-01 1.72940984e-02 2.29327052e+01] [-1.00136270e-01 9.94971686e-01 -2.01757934e-03 -1.71115868e+00] [-1.74092114e-02 2.75364625e-04 9.99848410e-01 -3.69374366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074012739 meters 0.028963438356550682 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.72, Z:-0.37 [[ 9.94637970e-01 1.01987162e-01 1.71443313e-02 2.29645806e+01] [-1.01967785e-01 9.94785685e-01 -2.00289262e-03 -1.71580883e+00] [-1.72592047e-02 2.43983565e-04 9.99851019e-01 -3.70102881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters 0.030020482655877947 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.72, Z:-0.37 [[ 9.94591876e-01 1.02455230e-01 1.70271853e-02 2.29953338e+01] [-1.02436134e-01 9.94737588e-01 -1.99224298e-03 -1.72333111e+00] [-1.71416970e-02 2.37269657e-04 9.99853042e-01 -3.71395428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134012739 meters 0.028609497001958837 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.73, Z:-0.37 [[ 9.94546138e-01 1.02849987e-01 1.73164324e-02 2.30278739e+01] [-1.02830271e-01 9.94696851e-01 -2.02751760e-03 -1.72578600e+00] [-1.74331310e-02 2.35806356e-04 9.99848004e-01 -3.71358870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters 0.028730708896140923 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.73, Z:-0.37 [[ 9.94527894e-01 1.02889770e-01 1.81097643e-02 2.30579715e+01] [-1.02868154e-01 9.94692733e-01 -2.12358239e-03 -1.73396416e+00] [-1.82321459e-02 2.49043891e-04 9.99833750e-01 -3.70453985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194012738999998 meters 0.02946729816728163 Centerline is valid? [True, True] Translation: X:23.09, Y:-1.74, Z:-0.37 [[ 9.94546497e-01 1.02613685e-01 1.86466486e-02 2.30891777e+01] [-1.02590665e-01 9.94721248e-01 -2.18944929e-03 -1.74229894e+00] [-1.87728850e-02 2.64537043e-04 9.99823739e-01 -3.70411039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters 0.03095277840128303 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.75, Z:-0.37 [[ 9.94448856e-01 1.03315833e-01 1.99326721e-02 2.31194343e+01] [-1.03289594e-01 9.94648563e-01 -2.34420838e-03 -1.75452751e+00] [-2.00681975e-02 2.72357720e-04 9.99798576e-01 -3.69123970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254012739 meters 0.028136836017219377 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.75, Z:-0.37 [[ 9.94323618e-01 1.04566712e-01 1.96556859e-02 2.31522777e+01] [-1.04541384e-01 9.94517844e-01 -2.31454732e-03 -1.75488170e+00] [-1.97899550e-02 2.46576457e-04 9.99804129e-01 -3.69929885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters 0.026974304731899903 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.76, Z:-0.37 [[ 9.94157666e-01 1.06333342e-01 1.85406693e-02 2.31838425e+01] [-1.06311098e-01 9.94330519e-01 -2.18407418e-03 -1.75819325e+00] [-1.86677933e-02 2.00235180e-04 9.99825722e-01 -3.73147131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314012739 meters 0.0262925779443383 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.76, Z:-0.38 [[ 9.93846068e-01 1.09489884e-01 1.67916320e-02 2.32148834e+01] [-1.09472046e-01 9.93987901e-01 -1.98058801e-03 -1.76427388e+00] [-1.69075334e-02 1.30185289e-04 9.99857049e-01 -3.76746020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters 0.030444239998275734 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.77, Z:-0.37 [[ 9.93759458e-01 1.10263271e-01 1.68567707e-02 2.32466744e+01] [-1.10245362e-01 9.93902408e-01 -1.99088144e-03 -1.76948781e+00] [-1.69735061e-02 1.20076470e-04 9.99855932e-01 -3.66177519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374012738999998 meters 0.025356210944311786 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.78, Z:-0.37 [[ 9.93662221e-01 1.10595763e-01 2.00989577e-02 2.32785336e+01] [-1.10570291e-01 9.93865463e-01 -2.37761717e-03 -1.77640367e+00] [-2.02386143e-02 1.40200746e-04 9.99795168e-01 -3.72724934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters 0.02532297804451782 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.78, Z:-0.37 [[ 9.93632030e-01 1.10656324e-01 2.12265703e-02 2.33113333e+01] [-1.10627847e-01 9.93858720e-01 -2.51479791e-03 -1.78350874e+00] [-2.13744903e-02 1.50533982e-04 9.99771528e-01 -3.71865785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434012739 meters 0.02538489531463854 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.79, Z:-0.37 [[ 9.93638726e-01 1.10626991e-01 2.10654093e-02 2.33428011e+01] [-1.10598854e-01 9.93861985e-01 -2.49969779e-03 -1.79008398e+00] [-2.12126436e-02 1.53986400e-04 9.99774975e-01 -3.72249488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters 0.02560702281211719 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.80, Z:-0.38 [[ 9.93678646e-01 1.10534309e-01 1.96192520e-02 2.33750823e+01] [-1.10509820e-01 9.93872298e-01 -2.33134914e-03 -1.79743481e+00] [-1.97567252e-02 1.48491852e-04 9.99804806e-01 -3.75420183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494012739 meters 0.025598487496912112 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.80, Z:-0.38 [[ 9.93676055e-01 1.10524077e-01 1.98072121e-02 2.34079001e+01] [-1.10499039e-01 9.93873435e-01 -2.35745408e-03 -1.80316371e+00] [-1.99464174e-02 1.53867756e-04 9.99801039e-01 -3.75941980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters 0.025744244693680647 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.81, Z:-0.37 [[ 9.93680970e-01 1.10311993e-01 2.07218401e-02 2.34402999e+01] [-1.10284457e-01 9.93896994e-01 -2.47041536e-03 -1.81193869e+00] [-2.08678910e-02 1.69507842e-04 9.99782227e-01 -3.74022713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554012739 meters 0.026092762900941004 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.82, Z:-0.37 [[ 9.93746681e-01 1.09744125e-01 2.05854776e-02 2.34706303e+01] [-1.09716748e-01 9.93959855e-01 -2.45805316e-03 -1.81940477e+00] [-2.07308952e-02 1.84110514e-04 9.99785075e-01 -3.74927786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters 0.02678568918702627 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.83, Z:-0.38 [[ 9.93857683e-01 1.08852937e-01 1.99485540e-02 2.35022477e+01] [-1.08827013e-01 9.94057845e-01 -2.38378075e-03 -1.82695124e+00] [-2.00894981e-02 1.98197262e-04 9.99798166e-01 -3.76888432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614012739 meters 0.02996102485678569 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.84, Z:-0.37 [[ 9.94017693e-01 1.07197685e-01 2.09160575e-02 2.35330545e+01] [-1.07168744e-01 9.94237696e-01 -2.50294711e-03 -1.83753546e+00] [-2.10638430e-02 2.46426107e-04 9.99778102e-01 -3.68880182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters 0.027240639226556843 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.84, Z:-0.37 [[ 9.93945689e-01 1.07569312e-01 2.23788080e-02 2.35654798e+01] [-1.07536191e-01 9.94197554e-01 -2.68166993e-03 -1.84294431e+00] [-2.25374216e-02 2.58902487e-04 9.99745967e-01 -3.73963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674012739 meters 0.02672955805514089 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.85, Z:-0.37 [[ 9.93782012e-01 1.09249537e-01 2.14907042e-02 2.35962000e+01] [-1.09219303e-01 9.94014332e-01 -2.57910298e-03 -1.84785204e+00] [-2.16438338e-02 2.15866423e-04 9.99765721e-01 -3.74998804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters 0.025597971194428342 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.85, Z:-0.38 [[ 9.93542609e-01 1.11676815e-01 2.00342718e-02 2.36280553e+01] [-1.11650977e-01 9.93744567e-01 -2.40716596e-03 -1.84820171e+00] [-2.01777734e-02 1.54775928e-04 9.99796396e-01 -3.78959541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734012739 meters 0.02422814392202202 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.84, Z:-0.38 [[ 9.92910612e-01 1.17437795e-01 1.83542945e-02 2.36602381e+01] [-1.17417040e-01 9.93080240e-01 -2.20808224e-03 -1.84359732e+00] [-1.84865995e-02 3.73213539e-05 9.99829108e-01 -3.82863433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters 0.024154385167245915 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.84, Z:-0.38 [[ 9.92624666e-01 1.19830662e-01 1.83544113e-02 2.36932222e+01] [-1.19810265e-01 9.92794346e-01 -2.21082535e-03 -1.84379914e+00] [-1.84870804e-02 -4.52711156e-06 9.99829099e-01 -3.83221633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794012739 meters 0.024086963428447173 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.84, Z:-0.38 [[ 9.92418552e-01 1.21484346e-01 1.86271866e-02 2.37249801e+01] [-1.21463564e-01 9.92593347e-01 -2.24722898e-03 -1.84448628e+00] [-1.87622247e-02 -3.23327442e-05 9.99823973e-01 -3.83683707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters 0.024207221630692236 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.85, Z:-0.39 [[ 9.92441502e-01 1.21363724e-01 1.81854941e-02 2.37571833e+01] [-1.21343838e-01 9.92608103e-01 -2.19706284e-03 -1.84739757e+00] [-1.83177125e-02 -2.62413117e-05 9.99832216e-01 -3.85769940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854012738999998 meters 0.024137054605521693 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.85, Z:-0.39 [[ 9.92672238e-01 1.19439528e-01 1.83310572e-02 2.37894176e+01] [-1.19418940e-01 9.92841477e-01 -2.21761000e-03 -1.85420907e+00] [-1.84647042e-02 1.22844735e-05 9.99829513e-01 -3.86207145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters 0.02607710566808019 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.87, Z:-0.39 [[ 9.93469930e-01 1.12539259e-01 1.87726820e-02 2.38191270e+01] [-1.12516366e-01 9.93647268e-01 -2.27466176e-03 -1.87020564e+00] [-1.89094129e-02 1.47574103e-04 9.99821190e-01 -3.86762537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914012739 meters 0.030963898920863386 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.88, Z:-0.38 [[ 9.93932636e-01 1.08406965e-01 1.85968848e-02 2.38503142e+01] [-1.08383724e-01 9.94106573e-01 -2.25608898e-03 -1.88001077e+00] [-1.87318612e-02 2.26800841e-04 9.99824518e-01 -3.78370070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters 0.040562413675495734 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.90, Z:-0.37 [[ 9.94602991e-01 1.02072946e-01 1.86011785e-02 2.38803627e+01] [-1.02048524e-01 9.94776855e-01 -2.25994671e-03 -1.89571462e+00] [-1.87347013e-02 3.49526952e-04 9.99824429e-01 -3.70492486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974012739 meters 0.03254519676409726 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.90, Z:-0.39 [[ 9.94740530e-01 1.00471616e-01 1.99181551e-02 2.39110529e+01] [-1.00443281e-01 9.94939842e-01 -2.42043295e-03 -1.90342261e+00] [-2.00605509e-02 4.07057905e-04 9.99798684e-01 -3.86199421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters 0.03460260131105033 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.91, Z:-0.39 [[ 9.94898005e-01 9.88309351e-02 2.02584781e-02 2.39413362e+01] [-9.88012189e-02 9.95104137e-01 -2.46498019e-03 -1.91200799e+00] [-2.04029117e-02 4.50841537e-04 9.99791737e-01 -3.86103107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034012738999998 meters 0.03772219320861839 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.92, Z:-0.38 [[ 9.95076730e-01 9.70784945e-02 1.99516379e-02 2.39728893e+01] [-9.70492858e-02 9.95276612e-01 -2.42933021e-03 -1.92148656e+00] [-2.00932343e-02 4.81077756e-04 9.99797995e-01 -3.80602501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters 0.03616345010145517 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.93, Z:-0.39 [[ 9.95078209e-01 9.71055166e-02 1.97453001e-02 2.40055768e+01] [-9.70768509e-02 9.95273977e-01 -2.40739718e-03 -1.92792414e+00] [-1.98857549e-02 4.78736918e-04 9.99802144e-01 -3.88134190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094012739 meters 0.03548308883342112 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.93, Z:-0.39 [[ 9.95059798e-01 9.76238790e-02 1.80437554e-02 2.40371684e+01] [-9.75999703e-02 9.95223288e-01 -2.20303954e-03 -1.93481364e+00] [-1.81726349e-02 4.31086083e-04 9.99834771e-01 -3.89766541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters 0.03585477423498933 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.94, Z:-0.39 [[ 9.94978572e-01 9.83889439e-02 1.83645602e-02 2.40675738e+01] [-9.83642497e-02 9.95147945e-01 -2.24534160e-03 -1.94254527e+00] [-1.84963712e-02 4.27650593e-04 9.99828836e-01 -3.89827877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154012739 meters 0.03240730386627357 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.95, Z:-0.39 [[ 9.94800322e-01 9.98944767e-02 1.98346624e-02 2.40999248e+01] [-9.98659028e-02 9.94997942e-01 -2.42839995e-03 -1.94757005e+00] [-1.99780320e-02 4.34966584e-04 9.99800325e-01 -3.87264866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters 0.0379541575517596 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.96, Z:-0.38 [[ 9.94721014e-01 1.00707361e-01 1.97010454e-02 2.41304313e+01] [-1.00679294e-01 9.94916003e-01 -2.41384997e-03 -1.95793985e+00] [-1.98439778e-02 4.17619940e-04 9.99803002e-01 -3.77129351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214012738999998 meters 0.031860210396558994 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.96, Z:-0.39 [[ 9.94575109e-01 1.01947527e-01 2.06652819e-02 2.41625521e+01] [-1.01916841e-01 9.94789691e-01 -2.53544386e-03 -1.96055303e+00] [-2.08160916e-02 4.15549107e-04 9.99783235e-01 -3.87376189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters 0.03184671381180754 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.97, Z:-0.39 [[ 9.94369585e-01 1.03978654e-01 2.04344638e-02 2.41926617e+01] [-1.03949008e-01 9.94579459e-01 -2.51056296e-03 -1.97114826e+00] [-2.05847429e-02 3.72285218e-04 9.99788042e-01 -3.88759487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274012739 meters 0.03600490894003394 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.98, Z:-0.38 [[ 9.94270363e-01 1.05109750e-01 1.94521288e-02 2.42247434e+01] [-1.05083045e-01 9.94460572e-01 -2.39278608e-03 -1.97563570e+00] [-1.95958803e-02 3.34987364e-04 9.99807926e-01 -3.77280857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters 0.03606648941652957 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.98, Z:-0.38 [[ 9.93824319e-01 1.09183703e-01 1.98025689e-02 2.42558935e+01] [-1.09156765e-01 9.94021554e-01 -2.43937839e-03 -1.98197145e+00] [-1.99505207e-02 2.62729202e-04 9.99800934e-01 -3.75952260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334012739 meters 0.026441327357652696 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.98, Z:-0.39 [[ 9.93423672e-01 1.12615111e-01 2.06699130e-02 2.42879203e+01] [-1.12586427e-01 9.93638664e-01 -2.54991754e-03 -1.98091399e+00] [-2.08255840e-02 2.05996799e-04 9.99783103e-01 -3.89703651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters 0.02433268821813546 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.98, Z:-0.39 [[ 9.92665208e-01 1.19111926e-01 2.06913749e-02 2.43198140e+01] [-1.19084521e-01 9.92880831e-01 -2.55600437e-03 -1.97665165e+00] [-2.08485201e-02 7.32341417e-05 9.99782643e-01 -3.91215445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394012739 meters 0.02433268821813546 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.98, Z:-0.39 [[ 9.92643214e-01 1.19295155e-01 2.06909579e-02 2.43520482e+01] [-1.19267719e-01 9.92858832e-01 -2.55937597e-03 -1.98083252e+00] [-2.08485214e-02 7.27838441e-05 9.99782643e-01 -3.91875786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters 0.023987947683436664 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.98, Z:-0.39 [[ 9.92303763e-01 1.21949929e-01 2.14815679e-02 2.43856362e+01] [-1.21920888e-01 9.92536253e-01 -2.66134099e-03 -1.98149155e+00] [-2.16457853e-02 2.18068556e-05 9.99765702e-01 -3.91137866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454012739 meters 0.024505754402438153 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.97, Z:-0.39 [[ 9.91580683e-01 1.27386788e-01 2.32455264e-02 2.44182938e+01] [-1.27354166e-01 9.91853112e-01 -2.88444271e-03 -1.97440063e+00] [-2.34235876e-02 -1.00256972e-04 9.99725625e-01 -3.88097859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters 0.025141448718606324 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.97, Z:-0.39 [[ 9.91218832e-01 1.30128153e-01 2.34923479e-02 2.44509294e+01] [-1.30095518e-01 9.91497170e-01 -2.91872790e-03 -1.97338767e+00] [-2.36724051e-02 -1.63151106e-04 9.99719756e-01 -3.89576904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514012738999998 meters 0.02629513361004699 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.97, Z:-0.39 [[ 9.90933042e-01 1.32360317e-01 2.30749483e-02 2.44823839e+01] [-1.32329352e-01 9.91201646e-01 -2.87048014e-03 -1.97146951e+00] [-2.32518644e-02 -2.09039355e-04 9.99729617e-01 -3.91459025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters 0.02731136385390048 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.97, Z:-0.39 [[ 9.90684599e-01 1.34323751e-01 2.23864940e-02 2.45151610e+01] [-1.34295059e-01 9.90937470e-01 -2.78701094e-03 -1.96940052e+00] [-2.25579775e-02 -2.45346701e-04 9.99745506e-01 -3.94214226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574012739 meters 0.026787670258818157 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.97, Z:-0.40 [[ 9.90713325e-01 1.34100727e-01 2.24522406e-02 2.45481478e+01] [-1.34071724e-01 9.90967678e-01 -2.79892743e-03 -1.97197142e+00] [-2.26247829e-02 -2.37275904e-04 9.99743999e-01 -3.95147534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters 0.026610643715203004 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.97, Z:-0.40 [[ 9.90875545e-01 1.33187151e-01 2.06600184e-02 2.45796430e+01] [-1.33162321e-01 9.91090886e-01 -2.57910329e-03 -1.97093019e+00] [-2.08194594e-02 -1.95565625e-04 9.99783232e-01 -3.99526410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634012739 meters 0.03156523941199064 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.98, Z:-0.39 [[ 9.91056587e-01 1.32203909e-01 1.81374555e-02 2.46120296e+01] [-1.32184564e-01 9.91222530e-01 -2.26656979e-03 -1.97608549e+00] [-1.82779039e-02 -1.51192727e-04 9.99832934e-01 -3.92415302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters 0.025672134012876612 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.98, Z:-0.41 [[ 9.91211895e-01 1.31050610e-01 1.80198961e-02 2.46425645e+01] [-1.31031267e-01 9.91375671e-01 -2.25503469e-03 -1.97995562e+00] [-1.81600103e-02 -1.25952612e-04 9.99835085e-01 -4.06158757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694012738999998 meters 0.024356547597800874 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.99, Z:-0.40 [[ 9.91858643e-01 1.25851113e-01 1.94403901e-02 2.46725673e+01] [-1.25827563e-01 9.92049140e-01 -2.43474870e-03 -1.98939507e+00] [-1.95922381e-02 -3.12103657e-05 9.99808053e-01 -4.04082189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters 0.02443065987424591 Centerline is valid? [True, True] Translation: X:24.70, Y:-2.00, Z:-0.40 [[ 9.92231725e-01 1.22745359e-01 2.02430332e-02 2.47045545e+01] [-1.22719113e-01 9.92438197e-01 -2.53846650e-03 -1.99789036e+00] [-2.04015444e-02 3.45399212e-05 9.99791866e-01 -4.03118355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754012739 meters 0.024891818375284352 Centerline is valid? [True, True] Translation: X:24.73, Y:-2.01, Z:-0.40 [[ 9.92559889e-01 1.19878581e-01 2.13071172e-02 2.47346525e+01] [-1.19848750e-01 9.92788555e-01 -2.67616098e-03 -2.00561380e+00] [-2.14742765e-02 1.02618671e-04 9.99769396e-01 -4.02254584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters 0.025916051210682422 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.01, Z:-0.40 [[ 9.92983247e-01 1.16270723e-01 2.15729038e-02 2.47658661e+01] [-1.16239218e-01 9.93217541e-01 -2.71291775e-03 -2.01099418e+00] [-2.17420194e-02 1.86264410e-04 9.99763597e-01 -4.02086910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814012739 meters 0.026168443730090845 Centerline is valid? [True, True] Translation: X:24.80, Y:-2.01, Z:-0.40 [[ 9.93022773e-01 1.15906425e-01 2.17134450e-02 2.47972352e+01] [-1.15874345e-01 9.93260118e-01 -2.73406184e-03 -2.01450378e+00] [-2.18839942e-02 1.98954458e-04 9.99760497e-01 -4.03241172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters 0.02698401369148722 Centerline is valid? [True, True] Translation: X:24.83, Y:-2.02, Z:-0.40 [[ 9.93129253e-01 1.15135530e-01 2.09307732e-02 2.48273869e+01] [-1.15105473e-01 9.93349770e-01 -2.63913144e-03 -2.02084798e+00] [-2.10954366e-02 2.11752071e-04 9.99777444e-01 -4.04844344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874012738999998 meters 0.027522132764061038 Centerline is valid? [True, True] Translation: X:24.86, Y:-2.03, Z:-0.41 [[ 9.93225758e-01 1.14355665e-01 2.06246209e-02 2.48587377e+01] [-1.14326248e-01 9.93439847e-01 -2.60367955e-03 -2.02720823e+00] [-2.07870657e-02 2.28106078e-04 9.99783900e-01 -4.06140257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters 0.027856937180251982 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.03, Z:-0.41 [[ 9.93295447e-01 1.13744129e-01 2.06501330e-02 2.48907623e+01] [-1.13714437e-01 9.93510047e-01 -2.61028045e-03 -2.03286801e+00] [-2.08130187e-02 2.44561444e-04 9.99783356e-01 -4.06340534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934012739 meters 0.028032503915973072 Centerline is valid? [True, True] Translation: X:24.92, Y:-2.04, Z:-0.40 [[ 9.93283620e-01 1.13369799e-01 2.31287312e-02 2.49217653e+01] [-1.13332352e-01 9.93552820e-01 -2.92774688e-03 -2.03687089e+00] [-2.33115342e-02 2.86849524e-04 9.99728208e-01 -4.01525759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters 0.027953659241240082 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.04, Z:-0.40 [[ 9.93176937e-01 1.13888174e-01 2.50809741e-02 2.49549406e+01] [-1.13844195e-01 9.93493529e-01 -3.17909612e-03 -2.04080489e+00] [-2.52798469e-02 3.02081638e-04 9.99680368e-01 -3.98512934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994012739 meters 0.027138400930253916 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.04, Z:-0.40 [[ 9.92915283e-01 1.15535239e-01 2.77641827e-02 2.49880107e+01] [-1.15481833e-01 9.93303339e-01 -3.52476492e-03 -2.04285204e+00] [-2.79854899e-02 2.93534260e-04 9.99608286e-01 -3.95570368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters 0.026993443614053977 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.05, Z:-0.40 [[ 9.92855421e-01 1.16160075e-01 2.72937880e-02 2.50188325e+01] [-1.16108567e-01 9.93230467e-01 -3.46984641e-03 -2.04611792e+00] [-2.75120794e-02 2.76013195e-04 9.99621433e-01 -3.96859467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054012739 meters 0.026876126137380784 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.05, Z:-0.40 [[ 9.92794735e-01 1.16940422e-01 2.61448338e-02 2.50497682e+01] [-1.16893330e-01 9.93138901e-01 -3.32760093e-03 -2.04963639e+00] [-2.63545826e-02 2.47467995e-04 9.99652627e-01 -3.98699818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters 0.026270217729205146 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.05, Z:-0.40 [[ 9.92680657e-01 1.18327176e-01 2.41617972e-02 2.50822189e+01] [-1.18287295e-01 9.92974642e-01 -3.07822994e-03 -2.05287811e+00] [-2.43562902e-02 1.97665694e-04 9.99703322e-01 -4.03469552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114012739 meters 0.02594919981439646 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.06, Z:-0.41 [[ 9.92596346e-01 1.19143840e-01 2.36059053e-02 2.51132230e+01] [-1.19105964e-01 9.92876989e-01 -3.00908852e-03 -2.05646995e+00] [-2.37962745e-02 1.75206171e-04 9.99716813e-01 -4.05126426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters 0.025427866981677705 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.06, Z:-0.41 [[ 9.92429230e-01 1.20720078e-01 2.26027810e-02 2.51443679e+01] [-1.20685684e-01 9.92686579e-01 -2.88465915e-03 -2.05758960e+00] [-2.27857136e-02 1.34987977e-04 9.99740363e-01 -4.07738468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174012739 meters 0.02655325500839506 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.06, Z:-0.41 [[ 9.92369340e-01 1.21370695e-01 2.17312752e-02 2.51767430e+01] [-1.21338988e-01 9.92607244e-01 -2.77659331e-03 -2.06124989e+00] [-2.19076182e-02 1.18555123e-04 9.99759992e-01 -4.06636806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters 0.025329829748669912 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.07, Z:-0.41 [[ 9.92314783e-01 1.21907671e-01 2.12106299e-02 2.52083946e+01] [-1.21877507e-01 9.92541439e-01 -2.71390022e-03 -2.06624457e+00] [-2.13832744e-02 1.07944630e-04 9.99771346e-01 -4.13128536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234012739 meters 0.024636425662204506 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.07, Z:-0.41 [[ 9.92043292e-01 1.24189997e-01 2.06628202e-02 2.52408508e+01] [-1.24161793e-01 9.92258455e-01 -2.64729882e-03 -2.06806103e+00] [-2.08316261e-02 6.07022352e-05 9.99782996e-01 -4.14347967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters 0.024479089129827082 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.07, Z:-0.41 [[ 9.91741263e-01 1.26433182e-01 2.15387487e-02 2.52744043e+01] [-1.26402987e-01 9.91975126e-01 -2.76310806e-03 -2.06858797e+00] [-2.17152515e-02 1.77260987e-05 9.99764196e-01 -4.13689536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294012739 meters 0.024626346199199907 Centerline is valid? [True, True] Translation: X:25.31, Y:-2.07, Z:-0.41 [[ 9.91101260e-01 1.30905605e-01 2.41250018e-02 2.53074184e+01] [-1.30868922e-01 9.91394833e-01 -3.09999509e-03 -2.06566631e+00] [-2.43232088e-02 -8.48039267e-05 9.99704143e-01 -4.10117660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters 0.02486978345576868 Centerline is valid? [True, True] Translation: X:25.34, Y:-2.07, Z:-0.41 [[ 9.90874054e-01 1.32473084e-01 2.48895644e-02 2.53389749e+01] [-1.32434424e-01 9.91186595e-01 -3.20255455e-03 -2.06706343e+00] [-2.50944549e-02 -1.22906919e-04 9.99685077e-01 -4.08908741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354012738999998 meters 0.02522357510208227 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.07, Z:-0.41 [[ 9.90742011e-01 1.33739838e-01 2.33221779e-02 2.53722406e+01] [-1.33706161e-01 9.91016466e-01 -3.00448520e-03 -2.06813980e+00] [-2.35144817e-02 -1.41649152e-04 9.99723486e-01 -4.12353029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters 0.025461771966848897 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.07, Z:-0.42 [[ 9.90628337e-01 1.34719070e-01 2.25004610e-02 2.54049114e+01] [-1.34687881e-01 9.90883822e-01 -2.90284880e-03 -2.07080922e+00] [-2.26864119e-02 -1.54895148e-04 9.99742618e-01 -4.15315682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414012739 meters 0.02647053605440759 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.07, Z:-0.42 [[ 9.90469256e-01 1.35955750e-01 2.20609634e-02 2.54373119e+01] [-1.35925980e-01 9.90714895e-01 -2.85039423e-03 -2.07207039e+00] [-2.22436525e-02 -1.75430206e-04 9.99752564e-01 -4.15659694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters 0.026353316818064822 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.08, Z:-0.41 [[ 9.90379097e-01 1.36469035e-01 2.29226190e-02 2.54699039e+01] [-1.36436931e-01 9.90644319e-01 -2.96607833e-03 -2.07783494e+00] [-2.31129402e-02 -1.89949803e-04 9.99732842e-01 -4.14137004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474012739 meters 0.02581092681393101 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.08, Z:-0.41 [[ 9.90353056e-01 1.36502421e-01 2.38309364e-02 2.55026469e+01] [-1.36467621e-01 9.90639718e-01 -3.08820547e-03 -2.08343676e+00] [-2.40294197e-02 -1.93737469e-04 9.99711233e-01 -4.13717793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters 0.026115241325599867 Centerline is valid? [True, True] Translation: X:25.54, Y:-2.08, Z:-0.41 [[ 9.90198936e-01 1.37424664e-01 2.49104057e-02 2.55351960e+01] [-1.37386806e-01 9.90512197e-01 -3.23306999e-03 -2.08438192e+00] [-2.51183642e-02 -2.20978606e-04 9.99684460e-01 -4.11861154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534012738999998 meters 0.026552287701763343 Centerline is valid? [True, True] Translation: X:25.57, Y:-2.09, Z:-0.41 [[ 9.90060167e-01 1.38423704e-01 2.48946407e-02 2.55671960e+01] [-1.38386100e-01 9.90373071e-01 -3.23535871e-03 -2.08770246e+00] [-2.51028321e-02 -2.41872454e-04 9.99684845e-01 -4.12897175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters 0.027117205629056385 Centerline is valid? [True, True] Translation: X:25.60, Y:-2.09, Z:-0.41 [[ 9.89897642e-01 1.39664096e-01 2.44253520e-02 2.55985266e+01] [-1.39628168e-01 9.90198905e-01 -3.17867072e-03 -2.09072027e+00] [-2.46299030e-02 -2.63908501e-04 9.99696603e-01 -4.13845149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594012739 meters 0.027452539668357763 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.09, Z:-0.42 [[ 9.89800376e-01 1.40365035e-01 2.43489614e-02 2.56311837e+01] [-1.40329447e-01 9.90099783e-01 -3.17268429e-03 -2.09337468e+00] [-2.45532354e-02 -2.76552186e-04 9.99698486e-01 -4.15226297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters 0.027467576829681747 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.10, Z:-0.41 [[ 9.89845452e-01 1.39999809e-01 2.46177796e-02 2.56632462e+01] [-1.39963201e-01 9.90151495e-01 -3.21242737e-03 -2.09670785e+00] [-2.48250705e-02 -2.65776603e-04 9.99691775e-01 -4.14899250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654012739 meters 0.02663519540146669 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.10, Z:-0.42 [[ 9.89978385e-01 1.38978666e-01 2.50544874e-02 2.56947829e+01] [-1.38940306e-01 9.90295346e-01 -3.27392086e-03 -2.10272782e+00] [-2.52663474e-02 -2.39967264e-04 9.99680726e-01 -4.15516056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters 0.02637167471996825 Centerline is valid? [True, True] Translation: X:25.73, Y:-2.11, Z:-0.42 [[ 9.90007148e-01 1.38855905e-01 2.45943833e-02 2.57276595e+01] [-1.38818799e-01 9.90312570e-01 -3.21799927e-03 -2.10707277e+00] [-2.48029652e-02 -2.28320475e-04 9.99692333e-01 -4.17019659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714012738999998 meters 0.026295730149072088 Centerline is valid? [True, True] Translation: X:25.76, Y:-2.11, Z:-0.42 [[ 9.90056391e-01 1.38598359e-01 2.40590264e-02 2.57590110e+01] [-1.38562674e-01 9.90348650e-01 -3.15213503e-03 -2.11046078e+00] [-2.42637050e-02 -2.12891594e-04 9.99705570e-01 -4.17897890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters 0.02639477162062299 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.11, Z:-0.42 [[ 9.90070610e-01 1.38589465e-01 2.35190958e-02 2.57906464e+01] [-1.38555303e-01 9.90349897e-01 -3.08386440e-03 -2.11181527e+00] [-2.37195252e-02 -2.05451929e-04 9.99718631e-01 -4.20225546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774012739 meters 0.026226359461659233 Centerline is valid? [True, True] Translation: X:25.82, Y:-2.12, Z:-0.42 [[ 9.90045522e-01 1.38666134e-01 2.41157099e-02 2.58226891e+01] [-1.38630133e-01 9.90339164e-01 -3.16644067e-03 -2.11578229e+00] [-2.43218101e-02 -2.08243671e-04 9.99704159e-01 -4.20579778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters 0.02642429354564382 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.12, Z:-0.42 [[ 9.89990847e-01 1.38949366e-01 2.47223835e-02 2.58551154e+01] [-1.38911515e-01 9.90299463e-01 -3.25026651e-03 -2.11942854e+00] [-2.49341855e-02 -2.16489635e-04 9.99689071e-01 -4.20583093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834012739 meters 0.02650208742828459 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.12, Z:-0.42 [[ 9.89880464e-01 1.39775197e-01 2.44859202e-02 2.58883451e+01] [-1.39738217e-01 9.90183236e-01 -3.22331200e-03 -2.12301883e+00] [-2.46960868e-02 -2.30925256e-04 9.99694978e-01 -4.22851550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters 0.026795579597985023 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.13, Z:-0.43 [[ 9.89914944e-01 1.39711715e-01 2.34315927e-02 2.59190385e+01] [-1.39677733e-01 9.90192199e-01 -3.08880462e-03 -2.12523375e+00] [-2.36333225e-02 -2.15217895e-04 9.99720671e-01 -4.25175152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894012739 meters 0.02636737613432899 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.13, Z:-0.43 [[ 9.89968438e-01 1.39504749e-01 2.23811769e-02 2.59510043e+01] [-1.39473615e-01 9.90221382e-01 -2.95374895e-03 -2.12760912e+00] [-2.25743819e-02 -1.97465418e-04 9.99745147e-01 -4.28065697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters 0.026575996084192043 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.13, Z:-0.43 [[ 9.89979451e-01 1.39277201e-01 2.32926758e-02 2.59826871e+01] [-1.39243322e-01 9.90253413e-01 -3.07806258e-03 -2.12986379e+00] [-2.34943557e-02 -1.96130858e-04 9.99723950e-01 -4.27132018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954012739 meters 0.025834084372369018 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.14, Z:-0.43 [[ 9.90063843e-01 1.38503895e-01 2.42952210e-02 2.60143884e+01] [-1.38466706e-01 9.90361872e-01 -3.21450329e-03 -2.13663735e+00] [-2.45062818e-02 -1.81515748e-04 9.99699659e-01 -4.26362665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters 0.02494811448888413 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.15, Z:-0.42 [[ 9.90478200e-01 1.35275344e-01 2.55639558e-02 2.60452220e+01] [-1.35232979e-01 9.90808039e-01 -3.38681849e-03 -2.14722540e+00] [-2.57871259e-02 -1.02520020e-04 9.99667452e-01 -4.24292455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014012738999998 meters 0.024656709067982407 Centerline is valid? [True, True] Translation: X:26.08, Y:-2.15, Z:-0.42 [[ 9.90661695e-01 1.33901409e-01 2.56869223e-02 2.60764933e+01] [-1.33858061e-01 9.90994656e-01 -3.40745321e-03 -2.15411357e+00] [-2.59118655e-02 -6.27682298e-05 9.99664229e-01 -4.23934166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters 0.024487996960822524 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.16, Z:-0.43 [[ 9.90821386e-01 1.32980126e-01 2.42748212e-02 2.61082489e+01] [-1.32941038e-01 9.91118704e-01 -3.22417780e-03 -2.16075801e+00] [-2.44879809e-02 -3.25356113e-05 9.99700124e-01 -4.28383927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074012739 meters 0.024598953398281193 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.17, Z:-0.43 [[ 9.90835530e-01 1.33016856e-01 2.34833870e-02 2.61404074e+01] [-1.32980196e-01 9.91113775e-01 -3.12285685e-03 -2.16624758e+00] [-2.36901010e-02 -2.85878931e-05 9.99719350e-01 -4.30852103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters 0.024457355609827477 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.17, Z:-0.43 [[ 9.90868886e-01 1.32829348e-01 2.31347203e-02 2.61724087e+01] [-1.32793620e-01 9.91138923e-01 -3.08071074e-03 -2.17182333e+00] [-2.33389306e-02 -1.95628275e-05 9.99727610e-01 -4.31761280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134012739 meters 0.024370590125900895 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.18, Z:-0.43 [[ 9.90934283e-01 1.32353245e-01 2.30622053e-02 2.62046584e+01] [-1.32317517e-01 9.91202612e-01 -3.07509301e-03 -2.17815518e+00] [-2.32663166e-02 -4.31864550e-06 9.99729303e-01 -4.31458762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters 0.024412571312114627 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.18, Z:-0.43 [[ 9.90901992e-01 1.32588081e-01 2.31007069e-02 2.62363859e+01] [-1.32552201e-01 9.91171227e-01 -3.08432969e-03 -2.18296049e+00] [-2.33057014e-02 -5.78111520e-06 9.99728385e-01 -4.31907729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194012738999998 meters 0.024433552729321992 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.19, Z:-0.43 [[ 9.90695472e-01 1.34200403e-01 2.26436138e-02 2.62692629e+01] [-1.34166287e-01 9.90954212e-01 -3.02607136e-03 -2.18705581e+00] [-2.28448845e-02 -4.00944006e-05 9.99739021e-01 -4.33852735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters 0.02459701839814518 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.19, Z:-0.43 [[ 9.90487603e-01 1.35526009e-01 2.38119502e-02 2.63025452e+01] [-1.35488549e-01 9.90773787e-01 -3.18698425e-03 -2.19037131e+00] [-2.40241754e-02 -6.95782054e-05 9.99711375e-01 -4.33145511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254012739 meters 0.024834559798418265 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.19, Z:-0.43 [[ 9.90270748e-01 1.36904905e-01 2.49177255e-02 2.63341121e+01] [-1.36864200e-01 9.90584189e-01 -3.33983700e-03 -2.19266044e+00] [-2.51403450e-02 -1.03001676e-04 9.99683926e-01 -4.31927795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters 0.024845633073328363 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.19, Z:-0.43 [[ 9.90229090e-01 1.37136240e-01 2.52982460e-02 2.63665276e+01] [-1.37094251e-01 9.90552190e-01 -3.39497325e-03 -2.19498866e+00] [-2.55248068e-02 -1.06442821e-04 9.99674183e-01 -4.33073815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314012739 meters 0.024845633073328363 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.20, Z:-0.43 [[ 9.90203474e-01 1.37321191e-01 2.52976438e-02 2.63987272e+01] [-1.37279148e-01 9.90526567e-01 -3.39945524e-03 -2.19950537e+00] [-2.55248055e-02 -1.06686593e-04 9.99674183e-01 -4.33734186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters 0.024681958012765202 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.20, Z:-0.44 [[ 9.90322518e-01 1.36624791e-01 2.43921362e-02 2.64302788e+01] [-1.36585385e-01 9.90622865e-01 -3.28218316e-03 -2.20403320e+00] [-2.46118354e-02 -8.11894130e-05 9.99697080e-01 -4.36178266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374012738999998 meters 0.024533895712941928 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.21, Z:-0.44 [[ 9.90622101e-01 1.34550267e-01 2.37503215e-02 2.64606844e+01] [-1.34512219e-01 9.90906769e-01 -3.19968974e-03 -2.20983368e+00] [-2.39648734e-02 -2.50250678e-05 9.99712801e-01 -4.38114823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters 0.024541859580020874 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.22, Z:-0.44 [[ 9.90786032e-01 1.33294827e-01 2.39901717e-02 2.64928406e+01] [-1.33255544e-01 9.91076429e-01 -3.23589513e-03 -2.21650791e+00] [-2.42074218e-02 9.25631807e-06 9.99706957e-01 -4.38600343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434012739 meters 0.024727249240544102 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.22, Z:-0.44 [[ 9.90979526e-01 1.31785442e-01 2.43346630e-02 2.65244595e+01] [-1.31744454e-01 9.91278263e-01 -3.28696767e-03 -2.22331541e+00] [-2.45555970e-02 5.13607785e-05 9.99698465e-01 -4.38587194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters 0.0257978216437344 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.23, Z:-0.44 [[ 9.91565738e-01 1.27403310e-01 2.37862108e-02 2.65555894e+01] [-1.27362790e-01 9.91850982e-01 -3.21695200e-03 -2.23272895e+00] [-2.40022269e-02 1.60341208e-04 9.99711892e-01 -4.40377510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494012739 meters 0.026607309103289012 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.24, Z:-0.44 [[ 9.91837726e-01 1.25451975e-01 2.27975203e-02 2.65869441e+01] [-1.25414156e-01 9.92099673e-01 -3.08683963e-03 -2.23998207e+00] [-2.30046625e-02 2.02512232e-04 9.99735337e-01 -4.43160945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters 0.02782900858395885 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.25, Z:-0.45 [[ 9.92207835e-01 1.22625240e-01 2.20604517e-02 2.66183102e+01] [-1.22589050e-01 9.92453012e-01 -2.99054484e-03 -2.24904806e+00] [-2.22606780e-02 2.62872199e-04 9.99752166e-01 -4.45871503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554012738999997 meters 0.02790389661621872 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.25, Z:-0.45 [[ 9.92271451e-01 1.21983285e-01 2.27474507e-02 2.66496343e+01] [-1.21944551e-01 9.92532113e-01 -3.08741088e-03 -2.25405295e+00] [-2.29541879e-02 2.89622008e-04 9.99736476e-01 -4.45265711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters 0.028684424881550496 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.26, Z:-0.44 [[ 9.92270138e-01 1.21825087e-01 2.36351868e-02 2.66805060e+01] [-1.21783171e-01 9.92551537e-01 -3.21020801e-03 -2.26045091e+00] [-2.38502248e-02 3.07025556e-04 9.99715496e-01 -4.43374304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614012739 meters 0.02895404400431793 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.27, Z:-0.44 [[ 9.92140632e-01 1.22769715e-01 2.41777274e-02 2.67115569e+01] [-1.22726070e-01 9.92435142e-01 -3.28645172e-03 -2.26581072e+00] [-2.43983031e-02 2.93384817e-04 9.99702274e-01 -4.42822992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters 0.02727548956196961 Centerline is valid? [True, True] Translation: X:26.74, Y:-2.27, Z:-0.45 [[ 9.92008129e-01 1.24002005e-01 2.33103878e-02 2.67442762e+01] [-1.23961695e-01 9.92281934e-01 -3.17201106e-03 -2.26590642e+00] [-2.35238124e-02 2.57065587e-04 9.99723244e-01 -4.45739993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674012739 meters 0.026425813614190722 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.27, Z:-0.45 [[ 9.91701121e-01 1.26715316e-01 2.17282125e-02 2.67758294e+01] [-1.26680869e-01 9.91939109e-01 -2.96014381e-03 -2.26594329e+00] [-2.19281593e-02 1.83029094e-04 9.99759532e-01 -4.48362584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters 0.02572036699127061 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.27, Z:-0.45 [[ 9.91463206e-01 1.28549676e-01 2.18103479e-02 2.68086340e+01] [-1.28515338e-01 9.91703060e-01 -2.97461087e-03 -2.26723743e+00] [-2.20117740e-02 1.46252994e-04 9.99757701e-01 -4.48634487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734012739 meters 0.02511265643925386 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.27, Z:-0.45 [[ 9.91206941e-01 1.30336165e-01 2.28316364e-02 2.68408472e+01] [-1.30298971e-01 9.91469854e-01 -3.11561926e-03 -2.26884416e+00] [-2.30429571e-02 1.13284719e-04 9.99734469e-01 -4.48311721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters 0.024904910652010538 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.27, Z:-0.45 [[ 9.90962947e-01 1.31826868e-01 2.47813186e-02 2.68743196e+01] [-1.31783399e-01 9.91272752e-01 -3.38627381e-03 -2.26950661e+00] [-2.50114478e-02 8.99054747e-05 9.99687161e-01 -4.46087150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794012739 meters 0.02495651721110813 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.27, Z:-0.44 [[ 9.90999517e-01 1.31422321e-01 2.54584147e-02 2.69048301e+01] [-1.31376194e-01 9.91326466e-01 -3.48331198e-03 -2.27313141e+00] [-2.56953852e-02 1.07330848e-04 9.99669813e-01 -4.44748559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters 0.025534318191200063 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.28, Z:-0.44 [[ 9.91251784e-01 1.29386218e-01 2.60596868e-02 2.69358600e+01] [-1.29337122e-01 9.91594261e-01 -3.56789950e-03 -2.27957470e+00] [-2.63022729e-02 1.66201857e-04 9.99654022e-01 -4.44531699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854012738999998 meters 0.025958617230018688 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.29, Z:-0.45 [[ 9.91375341e-01 1.28448033e-01 2.60006888e-02 2.69673536e+01] [-1.28398760e-01 9.91716222e-01 -3.56273947e-03 -2.28656354e+00] [-2.62429317e-02 1.93555858e-04 9.99655576e-01 -4.45170664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters 0.025676708110687254 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.29, Z:-0.45 [[ 9.91241960e-01 1.29461555e-01 2.60592042e-02 2.69995637e+01] [-1.29412290e-01 9.91584427e-01 -3.57530699e-03 -2.29001983e+00] [-2.63027659e-02 1.71613028e-04 9.99654008e-01 -4.45452555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914012739 meters 0.02524330362615521 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.29, Z:-0.45 [[ 9.91027177e-01 1.31166477e-01 2.56999987e-02 2.70316200e+01] [-1.31119025e-01 9.91360348e-01 -3.53024242e-03 -2.29156082e+00] [-2.59410091e-02 1.28807400e-04 9.99663467e-01 -4.46784307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters 0.024929763767027942 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.29, Z:-0.45 [[ 9.90747277e-01 1.33305824e-01 2.54831322e-02 2.70639879e+01] [-1.33259767e-01 9.91074947e-01 -3.50472611e-03 -2.29315520e+00] [-2.57228943e-02 7.64215911e-05 9.99669109e-01 -4.48547859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974012739 meters 0.024639384534708934 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.29, Z:-0.45 [[ 9.90272114e-01 1.36981477e-01 2.44379986e-02 2.70951289e+01] [-1.36940141e-01 9.90573609e-01 -3.36497295e-03 -2.29288006e+00] [-2.46685754e-02 -1.43041017e-05 9.99695684e-01 -4.50551623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters 0.024799962975020393 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.29, Z:-0.45 [[ 9.89975462e-01 1.39118376e-01 2.43857004e-02 2.71284180e+01] [-1.39077767e-01 9.90275756e-01 -3.36175056e-03 -2.29390825e+00] [-2.46162492e-02 -6.34581827e-05 9.99696972e-01 -4.51750043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034012738999998 meters 0.025135174934185232 Centerline is valid? [True, True] Translation: X:27.16, Y:-2.29, Z:-0.45 [[ 9.89647592e-01 1.41416531e-01 2.44746315e-02 2.71606979e+01] [-1.41376215e-01 9.89950176e-01 -3.37856511e-03 -2.29418229e+00] [-2.47064507e-02 -1.16541941e-04 9.99694742e-01 -4.53746875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters 0.025157238349880377 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.30, Z:-0.45 [[ 9.89660742e-01 1.41325329e-01 2.44697167e-02 2.71913469e+01] [-1.41284906e-01 9.89963201e-01 -3.38170446e-03 -2.29947566e+00] [-2.47020396e-02 -1.10461488e-04 9.99694852e-01 -4.54295469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094012739 meters 0.02491630805083428 Centerline is valid? [True, True] Translation: X:27.22, Y:-2.31, Z:-0.45 [[ 9.89815863e-01 1.40117247e-01 2.51339455e-02 2.72225556e+01] [-1.40074140e-01 9.90134915e-01 -3.47627661e-03 -2.30797096e+00] [-2.53730833e-02 -7.97420646e-05 9.99678048e-01 -4.54134929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters 0.024738617045546654 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.32, Z:-0.45 [[ 9.90256010e-01 1.36612555e-01 2.70193510e-02 2.72544862e+01] [-1.36561299e-01 9.90624555e-01 -3.74192665e-03 -2.31908615e+00] [-2.72772267e-02 1.56676713e-05 9.99627907e-01 -4.50189360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154012739 meters 0.024777499603628163 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.33, Z:-0.45 [[ 9.90429931e-01 1.35237733e-01 2.75555453e-02 2.72867797e+01] [-1.35183743e-01 9.90813177e-01 -3.82150097e-03 -2.32571761e+00] [-2.78192085e-02 5.98672063e-05 9.99612969e-01 -4.49854503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters 0.02527255729638949 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.33, Z:-0.45 [[ 9.90711119e-01 1.33134973e-01 2.76867711e-02 2.73167083e+01] [-1.33079504e-01 9.91097908e-01 -3.84475953e-03 -2.33449285e+00] [-2.79521728e-02 1.24504250e-04 9.99609254e-01 -4.51377085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214012738999998 meters 0.025276178411468876 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.34, Z:-0.45 [[ 9.90772206e-01 1.32704752e-01 2.75659931e-02 2.73494591e+01] [-1.32649472e-01 9.91155603e-01 -3.83254669e-03 -2.34094426e+00] [-2.78307857e-02 1.40566309e-04 9.99612639e-01 -4.53287803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters 0.025586116889728252 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.35, Z:-0.45 [[ 9.90804891e-01 1.32465595e-01 2.75414956e-02 2.73813149e+01] [-1.32410175e-01 9.91187592e-01 -3.83440740e-03 -2.34751081e+00] [-2.78067158e-02 1.52375356e-04 9.99613307e-01 -4.52587621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274012739 meters 0.025027648729075067 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.35, Z:-0.46 [[ 9.90580360e-01 1.34315403e-01 2.66443673e-02 2.74136054e+01] [-1.34264079e-01 9.90938627e-01 -3.71413331e-03 -2.34899448e+00] [-2.69017981e-02 1.01766078e-04 9.99638076e-01 -4.55521779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters 0.02469191735806162 Centerline is valid? [True, True] Translation: X:27.44, Y:-2.35, Z:-0.46 [[ 9.90317066e-01 1.36329969e-01 2.61963572e-02 2.74443689e+01] [-1.36280949e-01 9.90663483e-01 -3.65593449e-03 -2.35174116e+00] [-2.64501879e-02 5.04698899e-05 9.99650131e-01 -4.57069111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334012739 meters 0.024774930889077403 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.35, Z:-0.46 [[ 9.89819664e-01 1.39996204e-01 2.56533814e-02 2.74764867e+01] [-1.39950321e-01 9.90152039e-01 -3.58419649e-03 -2.35379865e+00] [-2.59025218e-02 -4.24908018e-05 9.99664472e-01 -4.58185430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters 0.025043395071784817 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.36, Z:-0.46 [[ 9.89513198e-01 1.42219924e-01 2.52412988e-02 2.75098641e+01] [-1.42176113e-01 9.89835079e-01 -3.53112881e-03 -2.35604370e+00] [-2.54869199e-02 -9.46111711e-05 9.99675151e-01 -4.60261619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394012739 meters 0.02565191970172001 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.36, Z:-0.46 [[ 9.89205414e-01 1.44436578e-01 2.47128272e-02 2.75414046e+01] [-1.44395168e-01 9.89514050e-01 -3.46139036e-03 -2.35667065e+00] [-2.49536411e-02 -1.44386752e-04 9.99688599e-01 -4.61142568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters 0.027662879655633025 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.35, Z:-0.46 [[ 9.88521281e-01 1.49147719e-01 2.40963866e-02 2.75733964e+01] [-1.49109702e-01 9.88814893e-01 -3.37694462e-03 -2.35318473e+00] [-2.43305295e-02 -2.54823398e-04 9.99703936e-01 -4.63487772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454012739 meters 0.029106223329059554 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.35, Z:-0.46 [[ 9.88124461e-01 1.51746055e-01 2.41491904e-02 2.76033083e+01] [-1.51708637e-01 9.88419462e-01 -3.38477649e-03 -2.35270523e+00] [-2.43831563e-02 -3.19060307e-04 9.99702636e-01 -4.63715265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters 0.03217505556788842 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.35, Z:-0.46 [[ 9.87267754e-01 1.57093888e-01 2.49778236e-02 2.76346178e+01] [-1.57055573e-01 9.87583562e-01 -3.50067180e-03 -2.34751943e+00] [-2.52176222e-02 -4.66806011e-04 9.99681876e-01 -4.64194549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514012738999998 meters 0.0340866454150607 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.35, Z:-0.47 [[ 9.86874111e-01 1.59536274e-01 2.50532651e-02 2.76646414e+01] [-1.59498516e-01 9.87191924e-01 -3.51112535e-03 -2.34588827e+00] [-2.52925328e-02 -5.30919887e-04 9.99679952e-01 -4.65065380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters 0.03582782446662241 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.34, Z:-0.47 [[ 9.86617338e-01 1.61183499e-01 2.46192442e-02 2.76934897e+01] [-1.61147566e-01 9.86924294e-01 -3.44965780e-03 -2.34424260e+00] [-2.48533581e-02 -5.63839084e-04 9.99690949e-01 -4.66786346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574012739 meters 0.03782681313994195 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.34, Z:-0.47 [[ 9.86452059e-01 1.62237643e-01 2.43162965e-02 2.77216943e+01] [-1.62202933e-01 9.86751542e-01 -3.40624275e-03 -2.34205330e+00] [-2.45467639e-02 -5.84079429e-04 9.99698512e-01 -4.67382777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters 0.03759179902671058 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.34, Z:-0.47 [[ 9.86467355e-01 1.62002918e-01 2.52430561e-02 2.77505851e+01] [-1.61965472e-01 9.86790095e-01 -3.53458905e-03 -2.34110303e+00] [-2.54822115e-02 -6.01746796e-04 9.99675095e-01 -4.65170315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634012739 meters 0.034040186104723355 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.35, Z:-0.46 [[ 9.87140324e-01 1.57634343e-01 2.65592678e-02 2.77801332e+01] [-1.57591337e-01 9.87497417e-01 -3.71783655e-03 -2.34840380e+00] [-2.68132671e-02 -5.15484160e-04 9.99640327e-01 -4.64528542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters 0.03077748036219028 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.36, Z:-0.47 [[ 9.87759145e-01 1.53825393e-01 2.58770269e-02 2.78089034e+01] [-1.53783271e-01 9.88097964e-01 -3.62195083e-03 -2.35850607e+00] [-2.61261856e-02 -4.01838784e-04 9.99658572e-01 -4.67076218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694012738999998 meters 0.028392659673139954 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.37, Z:-0.47 [[ 9.88439457e-01 1.49434850e-01 2.56255012e-02 2.78373945e+01] [-1.49392083e-01 9.88771533e-01 -3.58613597e-03 -2.36880165e+00] [-2.58736598e-02 -2.83568709e-04 9.99665181e-01 -4.69569609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters 0.02610898616346958 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.38, Z:-0.47 [[ 9.89098987e-01 1.45068878e-01 2.52628951e-02 2.78670392e+01] [-1.45025891e-01 9.89421544e-01 -3.53527979e-03 -2.38131872e+00] [-2.55085117e-02 -1.67032215e-04 9.99674591e-01 -4.70939964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754012739 meters 0.024967890259246995 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.40, Z:-0.47 [[ 9.89737922e-01 1.40604812e-01 2.54780786e-02 2.78971138e+01] [-1.40559575e-01 9.90065798e-01 -3.56673519e-03 -2.39550064e+00] [-2.57264743e-02 -5.10548299e-05 9.99669018e-01 -4.69607079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters 0.024957943193979808 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.40, Z:-0.47 [[ 9.89752610e-01 1.40441565e-01 2.58057731e-02 2.79287044e+01] [-1.40394991e-01 9.90088968e-01 -3.61683200e-03 -2.40207091e+00] [-2.60579648e-02 -4.32323667e-05 9.99660433e-01 -4.69522088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814012739 meters 0.025478269214080616 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.40, Z:-0.47 [[ 9.89294653e-01 1.43417992e-01 2.69697977e-02 2.79604128e+01] [-1.43368106e-01 9.89662197e-01 -3.78440323e-03 -2.40390303e+00] [-2.72337408e-02 -1.22718933e-04 9.99629085e-01 -4.68039037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters 0.026368011469459315 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.41, Z:-0.47 [[ 9.88903720e-01 1.45985988e-01 2.75231483e-02 2.79920963e+01] [-1.45934937e-01 9.89286639e-01 -3.86528295e-03 -2.40503225e+00] [-2.77925600e-02 -1.94196234e-04 9.99613693e-01 -4.67693081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874012738999998 meters 0.027810389637751357 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.41, Z:-0.47 [[ 9.88500672e-01 1.48662599e-01 2.76740635e-02 2.80238812e+01] [-1.48612018e-01 9.88887940e-01 -3.88711077e-03 -2.40578116e+00] [-2.79444156e-02 -2.70286818e-04 9.99609442e-01 -4.68148456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters 0.02994452084636701 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.41, Z:-0.47 [[ 9.87792065e-01 1.53077137e-01 2.88829853e-02 2.80546587e+01] [-1.53023910e-01 9.88214157e-01 -4.05739469e-03 -2.40698472e+00] [-2.91636694e-02 -4.11925076e-04 9.99574565e-01 -4.67345968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934012739 meters 0.03083812305177265 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.41, Z:-0.47 [[ 9.87519815e-01 1.54733549e-01 2.93622705e-02 2.80859080e+01] [-1.54679266e-01 9.87956127e-01 -4.12494460e-03 -2.41015197e+00] [-2.96469024e-02 -4.68269912e-04 9.99560324e-01 -4.68157357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters 0.031188670135893794 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.41, Z:-0.47 [[ 9.87462671e-01 1.55255449e-01 2.85170106e-02 2.81173133e+01] [-1.55204444e-01 9.87874246e-01 -4.00686676e-03 -2.41445162e+00] [-2.87933082e-02 -4.69335437e-04 9.99585277e-01 -4.72221632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994012739 meters 0.03199749776900024 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.42, Z:-0.47 [[ 9.87643879e-01 1.54296227e-01 2.74270286e-02 2.81478639e+01] [-1.54248653e-01 9.88024542e-01 -3.85464986e-03 -2.41717289e+00] [-2.76933353e-02 -4.23560864e-04 9.99616376e-01 -4.73450164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters 0.029485718629078582 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.43, Z:-0.48 [[ 9.87841035e-01 1.53163831e-01 2.66632797e-02 2.81778482e+01] [-1.53118419e-01 9.88200737e-01 -3.74873068e-03 -2.42599381e+00] [-2.69228426e-02 -3.79489242e-04 9.99637443e-01 -4.77571904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054012738999997 meters 0.02912058499839278 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.43, Z:-0.48 [[ 9.87932024e-01 1.52803318e-01 2.53270975e-02 2.82089220e+01] [-1.52762210e-01 9.88256557e-01 -3.56145849e-03 -2.42955790e+00] [-2.55738729e-02 -3.50544498e-04 9.99672874e-01 -4.80654986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters 0.02928354162906888 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.43, Z:-0.48 [[ 9.87867104e-01 1.53257759e-01 2.51126192e-02 2.82397771e+01] [-1.53217479e-01 9.88186182e-01 -3.53178791e-03 -2.43119636e+00] [-2.53572172e-02 -3.58755122e-04 9.99678390e-01 -4.81727842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114012739 meters 0.030442314256413985 Centerline is valid? [True, True] Translation: X:28.27, Y:-2.43, Z:-0.48 [[ 9.87652121e-01 1.54560844e-01 2.55780039e-02 2.82696431e+01] [-1.54519497e-01 9.87983191e-01 -3.59710528e-03 -2.42727436e+00] [-2.58266095e-02 -3.99611642e-04 9.99666358e-01 -4.82055333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters 0.030089830269063967 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.43, Z:-0.48 [[ 9.87599029e-01 1.54776230e-01 2.63149394e-02 2.82990273e+01] [-1.54732560e-01 9.87949464e-01 -3.70008399e-03 -2.42997134e+00] [-2.65705154e-02 -4.17578586e-04 9.99646854e-01 -4.82365458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174012739 meters 0.03026875320338781 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.43, Z:-0.48 [[ 9.87715272e-01 1.53875900e-01 2.72166997e-02 2.83285238e+01] [-1.53828860e-01 9.88090098e-01 -3.82627476e-03 -2.43018106e+00] [-2.74813229e-02 -4.07443859e-04 9.99622234e-01 -4.79512530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters 0.03026875320338781 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.43, Z:-0.48 [[ 9.87718858e-01 1.53852868e-01 2.72167572e-02 2.83574073e+01] [-1.53805831e-01 9.88093684e-01 -3.82586552e-03 -2.43419645e+00] [-2.74813263e-02 -4.07216422e-04 9.99622234e-01 -4.80104851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234012739 meters 0.02978715924957157 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.44, Z:-0.48 [[ 9.87860590e-01 1.52975989e-01 2.70148263e-02 2.83854300e+01] [-1.52929339e-01 9.88229833e-01 -3.79676048e-03 -2.43820865e+00] [-2.72776705e-02 -3.80689475e-04 9.99627823e-01 -4.80868105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters 0.029037624010534502 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.44, Z:-0.48 [[ 9.88131375e-01 1.51379162e-01 2.60909027e-02 2.84142214e+01] [-1.51335112e-01 9.88475717e-01 -3.66614981e-03 -2.44305884e+00] [-2.63452025e-02 -3.25832049e-04 9.99652852e-01 -4.83673188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294012739 meters 0.02701019864641984 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.45, Z:-0.49 [[ 9.88654844e-01 1.48142527e-01 2.48070861e-02 2.84441398e+01] [-1.48101691e-01 9.88965995e-01 -3.48558688e-03 -2.45186879e+00] [-2.50497283e-02 -2.27929057e-04 9.99686180e-01 -4.88049264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters 0.026509972137678178 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.46, Z:-0.49 [[ 9.88882284e-01 1.46620706e-01 2.47830080e-02 2.84730037e+01] [-1.46579467e-01 9.89192768e-01 -3.48238676e-03 -2.45735929e+00] [-2.50257623e-02 -1.89009545e-04 9.99686789e-01 -4.87950184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354012738999998 meters 0.025412557618838236 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.47, Z:-0.49 [[ 9.89370267e-01 1.43013228e-01 2.63380091e-02 2.85022352e+01] [-1.42965379e-01 9.89720772e-01 -3.70063607e-03 -2.46706948e+00] [-2.65965146e-02 -1.04124158e-04 9.99646245e-01 -4.85147319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters 0.02518188805834038 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.47, Z:-0.48 [[ 9.89550269e-01 1.41695043e-01 2.66979277e-02 2.85333711e+01] [-1.41645393e-01 9.89910355e-01 -3.75136121e-03 -2.47346474e+00] [-2.69601044e-02 -6.94779578e-05 9.99636508e-01 -4.84806203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414012739 meters 0.024984555403986128 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.48, Z:-0.49 [[ 9.89651441e-01 1.41071518e-01 2.62460099e-02 2.85646634e+01] [-1.41023276e-01 9.89999406e-01 -3.68933921e-03 -2.47877482e+00] [-2.65039949e-02 -5.01384480e-05 9.99648706e-01 -4.86710505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters 0.024993112999645104 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.49, Z:-0.49 [[ 9.89795348e-01 1.40498592e-01 2.37763291e-02 2.85957909e+01] [-1.40458751e-01 9.90080878e-01 -3.34581028e-03 -2.48508177e+00] [-2.40105704e-02 -2.79260271e-05 9.99711704e-01 -4.93718310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474012739 meters 0.02501371688605383 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.49, Z:-0.50 [[ 9.89802337e-01 1.40561755e-01 2.31025409e-02 2.86265171e+01] [-1.40524069e-01 9.90071913e-01 -3.25475926e-03 -2.49088632e+00] [-2.33306716e-02 -2.48947350e-05 9.99727803e-01 -4.95245462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters 0.024934543989670717 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.50, Z:-0.49 [[ 9.89764237e-01 1.40455521e-01 2.52784963e-02 2.86574226e+01] [-1.40410276e-01 9.90086989e-01 -3.56487109e-03 -2.49787017e+00] [-2.55286162e-02 -2.09787190e-05 9.99674092e-01 -4.91597884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534012738999998 meters 0.024907840237122305 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.50, Z:-0.49 [[ 9.89806400e-01 1.40031457e-01 2.59707672e-02 2.86889164e+01] [-1.39983515e-01 9.90147055e-01 -3.66395981e-03 -2.50348443e+00] [-2.62279483e-02 -8.86841523e-06 9.99655988e-01 -4.90743327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters 0.024954287588205747 Centerline is valid? [True, True] Translation: X:28.72, Y:-2.51, Z:-0.49 [[ 9.89899578e-01 1.39381707e-01 2.59145833e-02 2.87201611e+01] [-1.39333635e-01 9.90238729e-01 -3.66038612e-03 -2.50965303e+00] [-2.61718149e-02 1.26415813e-05 9.99657459e-01 -4.90898987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594012739 meters 0.02501821814753217 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.52, Z:-0.49 [[ 9.89982706e-01 1.38567939e-01 2.70770770e-02 2.87514940e+01] [-1.38515019e-01 9.90352929e-01 -3.82946789e-03 -2.51727391e+00] [-2.73465040e-02 4.05251346e-05 9.99626014e-01 -4.91328268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters 0.02501121127416574 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.52, Z:-0.49 [[ 9.89926139e-01 1.38900191e-01 2.74404227e-02 2.87830676e+01] [-1.38845838e-01 9.90306385e-01 -3.88558368e-03 -2.52208792e+00] [-2.77141341e-02 3.64523725e-05 9.99615889e-01 -4.90019449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654012739 meters 0.02500764315411063 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.52, Z:-0.49 [[ 9.89747597e-01 1.39830319e-01 2.91062916e-02 2.88156495e+01] [-1.39769411e-01 9.90175480e-01 -4.12676358e-03 -2.52345950e+00] [-2.93973829e-02 1.62851028e-05 9.99567803e-01 -4.87022729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters 0.025202250450530005 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.53, Z:-0.49 [[ 9.89569172e-01 1.40956642e-01 2.97334502e-02 2.88485707e+01] [-1.40893433e-01 9.90015770e-01 -4.22085661e-03 -2.52592910e+00] [-3.00315423e-02 -1.24182881e-05 9.99548951e-01 -4.87015797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714012738999998 meters 0.02520557754839678 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.53, Z:-0.49 [[ 9.89430427e-01 1.41821639e-01 3.02333075e-02 2.88811794e+01] [-1.41756513e-01 9.89892227e-01 -4.29763415e-03 -2.52906519e+00] [-3.05372136e-02 -3.35582415e-05 9.99533630e-01 -4.88245609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters 0.02506865535765292 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.53, Z:-0.49 [[ 9.89334851e-01 1.42741815e-01 2.90056412e-02 2.89126937e+01] [-1.42682132e-01 9.89759956e-01 -4.12772126e-03 -2.53071152e+00] [-2.92978205e-02 -5.48882265e-05 9.99570725e-01 -4.89800052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774012739 meters 0.02504904946839812 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.53, Z:-0.49 [[ 9.89334975e-01 1.42908727e-01 2.81674070e-02 2.89443528e+01] [-1.42852421e-01 9.89735870e-01 -4.01164777e-03 -2.53393977e+00] [-2.84515925e-02 -5.49188239e-05 9.99595170e-01 -4.92145029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters 0.02507241737834326 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.54, Z:-0.49 [[ 9.89313199e-01 1.43237021e-01 2.72497751e-02 2.89760803e+01] [-1.43184329e-01 9.89688412e-01 -3.88528150e-03 -2.53503448e+00] [-2.75253028e-02 -5.79804909e-05 9.99621105e-01 -4.94804971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834012739 meters 0.025130667189423733 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.54, Z:-0.50 [[ 9.89231930e-01 1.43811365e-01 2.71750018e-02 2.90076061e+01] [-1.43759062e-01 9.89605116e-01 -3.87886770e-03 -2.53865597e+00] [-2.74503461e-02 -6.95529954e-05 9.99623166e-01 -4.96903114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters 0.02523742270116019 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.54, Z:-0.50 [[ 9.89161116e-01 1.44379529e-01 2.67364451e-02 2.90389780e+01] [-1.44328992e-01 9.89522382e-01 -3.82056892e-03 -2.54185859e+00] [-2.70079228e-02 -7.96859564e-05 9.99635216e-01 -4.97254559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894012739 meters 0.025318629361806483 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.54, Z:-0.50 [[ 9.89040823e-01 1.45330910e-01 2.60226373e-02 2.90699722e+01] [-1.45283286e-01 9.89383099e-01 -3.72156573e-03 -2.54164022e+00] [-2.62872161e-02 -9.98738357e-05 9.99654426e-01 -4.99397512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters 0.0253309806362139 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.54, Z:-0.50 [[ 9.88931601e-01 1.46131652e-01 2.56871427e-02 2.91002121e+01] [-1.46085519e-01 9.89265144e-01 -3.67358576e-03 -2.54255513e+00] [-2.59482221e-02 -1.19594516e-04 9.99663281e-01 -5.01204206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954012739 meters 0.026206062308461512 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.54, Z:-0.50 [[ 9.88598319e-01 1.48150795e-01 2.69203430e-02 2.91306435e+01] [-1.48100872e-01 9.88964766e-01 -3.84999673e-03 -2.53994445e+00] [-2.71936508e-02 -1.80825985e-04 9.99630168e-01 -4.99392922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters 0.02644113680018256 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.54, Z:-0.50 [[ 9.88501158e-01 1.48784273e-01 2.69944449e-02 2.91604480e+01] [-1.48734311e-01 9.88869658e-01 -3.86057608e-03 -2.54193997e+00] [-2.72683805e-02 -1.98816242e-04 9.99628129e-01 -4.99634630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014012738999995 meters 0.026496520589782076 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.54, Z:-0.50 [[ 9.88490866e-01 1.48986706e-01 2.62444257e-02 2.91902851e+01] [-1.48939570e-01 9.88839179e-01 -3.75271745e-03 -2.54341154e+00] [-2.65106214e-02 -1.99306558e-04 9.99648512e-01 -5.02112496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters 0.026510771172962237 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.54, Z:-0.51 [[ 9.88498867e-01 1.49318381e-01 2.39585412e-02 2.92207027e+01] [-1.49279209e-01 9.88789151e-01 -3.42533628e-03 -2.54150861e+00] [-2.42014113e-02 -1.90571056e-04 9.99707085e-01 -5.08516884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074012739 meters 0.026601546374824318 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.54, Z:-0.51 [[ 9.88565923e-01 1.49008658e-01 2.31048790e-02 2.92483318e+01] [-1.48972159e-01 9.88835875e-01 -3.30264922e-03 -2.54272362e+00] [-2.33390566e-02 -1.77097231e-04 9.99727591e-01 -5.10942715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters 0.026314066116890335 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.55, Z:-0.51 [[ 9.88680039e-01 1.48397377e-01 2.21359337e-02 2.92765175e+01] [-1.48363750e-01 9.88927800e-01 -3.16290720e-03 -2.54601843e+00] [-2.23602073e-02 -1.57066907e-04 9.99749967e-01 -5.13179283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13401273899999 meters 0.025600097396453313 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.55, Z:-0.51 [[ 9.89061298e-01 1.45918468e-01 2.15765958e-02 2.93050934e+01] [-1.45885950e-01 9.89296614e-01 -3.08199603e-03 -2.54915770e+00] [-2.17953733e-02 -9.94391857e-05 9.99762448e-01 -5.14509933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters 0.025312263484939413 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.55, Z:-0.51 [[ 9.89284072e-01 1.44313960e-01 2.21473802e-02 2.93324730e+01] [-1.44279322e-01 9.89531948e-01 -3.16239529e-03 -2.55241753e+00] [-2.23719181e-02 -6.69017008e-05 9.99749715e-01 -5.14233018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194012738999994 meters 0.025119216005416837 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.56, Z:-0.51 [[ 9.89887790e-01 1.39909611e-01 2.33979378e-02 2.93597227e+01] [-1.39869755e-01 9.90164279e-01 -3.33947601e-03 -2.55844383e+00] [-2.36350270e-02 3.30427028e-05 9.99720653e-01 -5.12475486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters 0.025362031758251014 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.56, Z:-0.51 [[ 9.90197189e-01 1.37605465e-01 2.39637920e-02 2.93892009e+01] [-1.37563015e-01 9.90487117e-01 -3.41891500e-03 -2.56405079e+00] [-2.42062887e-02 8.88685386e-05 9.99706981e-01 -5.12981117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254012739 meters 0.025828712319887204 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.57, Z:-0.51 [[ 9.90478086e-01 1.35508447e-01 2.43026953e-02 2.94195291e+01] [-1.35464168e-01 9.90776181e-01 -3.46677491e-03 -2.56944751e+00] [-2.45483089e-02 1.41620193e-04 9.99698635e-01 -5.13461502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters 0.02689091445693986 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.58, Z:-0.52 [[ 9.90946128e-01 1.32237148e-01 2.32187028e-02 2.94485675e+01] [-1.32195834e-01 9.91218085e-01 -3.31210628e-03 -2.57519901e+00] [-2.34527817e-02 2.12703103e-04 9.99724923e-01 -5.16062319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314012739 meters 0.028031991128521592 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.58, Z:-0.52 [[ 9.91186943e-01 1.30433444e-01 2.31421911e-02 2.94773214e+01] [-1.30391915e-01 9.91457035e-01 -3.30097224e-03 -2.58228019e+00] [-2.33750454e-02 2.54325954e-04 9.99726734e-01 -5.16293437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters 0.028769832400609156 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.59, Z:-0.51 [[ 9.91409149e-01 1.28356586e-01 2.51492904e-02 2.95075952e+01] [-1.28306868e-01 9.91728026e-01 -3.58740792e-03 -2.58791412e+00] [-2.54017236e-02 3.29762347e-04 9.99677270e-01 -5.12008597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374012738999994 meters 0.02918752758367184 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.59, Z:-0.51 [[ 9.91338491e-01 1.28692293e-01 2.61971325e-02 2.95389207e+01] [-1.28638438e-01 9.91684517e-01 -3.73780166e-03 -2.59249471e+00] [-2.64603169e-02 3.35468457e-04 9.99649808e-01 -5.09780357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters 0.028638142470865522 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.59, Z:-0.51 [[ 9.91266395e-01 1.29017749e-01 2.73011856e-02 2.95700524e+01] [-1.28959289e-01 9.91642225e-01 -3.89867618e-03 -2.59348320e+00] [-2.75760068e-02 3.43885199e-04 9.99619650e-01 -5.08103203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434012738999996 meters 0.028605612560917863 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.59, Z:-0.51 [[ 9.91174677e-01 1.29389300e-01 2.88300067e-02 2.96008486e+01] [-1.29324247e-01 9.91593810e-01 -4.11759501e-03 -2.59281354e+00] [-2.91204289e-02 3.52837008e-04 9.99575848e-01 -5.06520423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters 0.02871709608444066 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.60, Z:-0.51 [[ 9.91133658e-01 1.29583566e-01 2.93627408e-02 2.96329799e+01] [-1.29516119e-01 9.91568441e-01 -4.19541659e-03 -2.59578625e+00] [-2.96588242e-02 3.55270352e-04 9.99560017e-01 -5.06090337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494012739 meters 0.02939295525218454 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.60, Z:-0.51 [[ 9.91172908e-01 1.29060318e-01 3.03265749e-02 2.96641832e+01] [-1.28987975e-01 9.91636669e-01 -4.33801802e-03 -2.59965972e+00] [-3.06328097e-02 3.87962448e-04 9.99530630e-01 -5.05275941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters 0.030095089670967176 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.60, Z:-0.51 [[ 9.91320408e-01 1.28037748e-01 2.98359346e-02 2.96954990e+01] [-1.27967128e-01 9.91769208e-01 -4.27235705e-03 -2.60481058e+00] [-3.01373842e-02 4.17255877e-04 9.99545679e-01 -5.06267328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554012738999994 meters 0.031238652642575308 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.61, Z:-0.51 [[ 9.91567975e-01 1.26437181e-01 2.84005217e-02 2.97265595e+01] [-1.26372415e-01 9.91974515e-01 -4.07110680e-03 -2.61041934e+00] [-2.86873330e-02 4.47736619e-04 9.99588333e-01 -5.09666090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters 0.034270584640119665 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.62, Z:-0.52 [[ 9.92093466e-01 1.22722958e-01 2.62608246e-02 2.97573475e+01] [-1.22666187e-01 9.92440834e-01 -3.76804412e-03 -2.61871485e+00] [-2.65247401e-02 5.16936735e-04 9.99648024e-01 -5.15038720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614012738999996 meters 0.03563801659870496 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.63, Z:-0.52 [[ 9.92335279e-01 1.20734936e-01 2.63395121e-02 2.97885679e+01] [-1.20677019e-01 9.92684615e-01 -3.78328188e-03 -2.62569088e+00] [-2.66036027e-02 5.75710281e-04 9.99645896e-01 -5.15610636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters 0.03942637852872637 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.64, Z:-0.51 [[ 9.92698598e-01 1.17539885e-01 2.70900200e-02 2.98173460e+01] [-1.17477341e-01 9.93067927e-01 -3.89436207e-03 -2.63565071e+00] [-2.73599729e-02 6.83464240e-04 9.99625412e-01 -5.12892625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674012739 meters 0.039328676208096894 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.64, Z:-0.51 [[ 9.92696319e-01 1.17582467e-01 2.69885522e-02 2.98504102e+01] [-1.17520373e-01 9.93062888e-01 -3.88100189e-03 -2.63993656e+00] [-2.72576674e-02 6.80951568e-04 9.99628209e-01 -5.14470791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters 0.038158049717788446 Centerline is valid? [True, True] Translation: X:29.88, Y:-2.64, Z:-0.52 [[ 9.92552228e-01 1.19365666e-01 2.43292367e-02 2.98802343e+01] [-1.19315657e-01 9.92850195e-01 -3.50208994e-03 -2.64259836e+00] [-2.45733167e-02 5.73148297e-04 9.99697866e-01 -5.21407833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73401273899999 meters 0.037313672399110605 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.65, Z:-0.52 [[ 9.92422313e-01 1.20607305e-01 2.34910668e-02 2.99116894e+01] [-1.20560999e-01 9.92700157e-01 -3.38278099e-03 -2.64632001e+00] [-2.37275739e-02 5.25040834e-04 9.99718324e-01 -5.24612552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters 0.036075929736021764 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.65, Z:-0.53 [[ 9.92309876e-01 1.21727616e-01 2.24387674e-02 2.99419467e+01] [-1.21685643e-01 9.92563429e-01 -3.23166917e-03 -2.64853268e+00] [-2.26652833e-02 4.76341385e-04 9.99742996e-01 -5.26433713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794012738999996 meters 0.03487434375807704 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.65, Z:-0.53 [[ 9.92089893e-01 1.23462351e-01 2.26868064e-02 2.99714619e+01] [-1.23419899e-01 9.92349159e-01 -3.26736372e-03 -2.64840517e+00] [-2.29166296e-02 4.41515174e-04 9.99737282e-01 -5.26310878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters 0.03409360709367033 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.65, Z:-0.53 [[ 9.91950694e-01 1.24464056e-01 2.32920377e-02 3.00013051e+01] [-1.24419591e-01 9.92224024e-01 -3.35426758e-03 -2.65099319e+00] [-2.35284051e-02 4.29282265e-04 9.99723077e-01 -5.26074825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854012739 meters 0.03153877344261537 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.65, Z:-0.53 [[ 9.91673970e-01 1.26532197e-01 2.39236288e-02 3.00320241e+01] [-1.26485894e-01 9.91962424e-01 -3.44499627e-03 -2.65179777e+00] [-2.41672438e-02 3.90311560e-04 9.99707853e-01 -5.25762947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters 0.03173764962022995 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.66, Z:-0.53 [[ 9.91695618e-01 1.26365615e-01 2.39067642e-02 3.00617573e+01] [-1.26319329e-01 9.91983657e-01 -3.44256777e-03 -2.65708598e+00] [-2.41501416e-02 3.94092966e-04 9.99708265e-01 -5.26283252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91401273899999 meters 0.03550171533372509 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.67, Z:-0.53 [[ 9.91985060e-01 1.24042827e-01 2.40627768e-02 3.00903564e+01] [-1.23995246e-01 9.92276761e-01 -3.46525597e-03 -2.66836742e+00] [-2.43067744e-02 4.53812235e-04 9.99704444e-01 -5.25210742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters 0.03348936932220883 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.67, Z:-0.53 [[ 9.92111022e-01 1.22986541e-01 2.42905631e-02 3.01216567e+01] [-1.22937708e-01 9.92408220e-01 -3.49929527e-03 -2.66965370e+00] [-2.45365207e-02 4.85463263e-04 9.99698816e-01 -5.26604661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974012738999996 meters 0.03540770639157415 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.68, Z:-0.53 [[ 9.92163206e-01 1.22589852e-01 2.41640486e-02 3.01515430e+01] [-1.22541388e-01 9.92457296e-01 -3.48189285e-03 -2.67842521e+00] [-2.44086310e-02 4.93509931e-04 9.99701943e-01 -5.26960211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters 0.03487528843693592 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.68, Z:-0.53 [[ 9.91981022e-01 1.23855551e-01 2.51685047e-02 3.01817996e+01] [-1.23803332e-01 9.92300140e-01 -3.62853609e-03 -2.68336407e+00] [-2.54241251e-02 4.83494208e-04 9.99676638e-01 -5.25109035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034012739 meters 0.03410451889431817 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.69, Z:-0.53 [[ 9.91875476e-01 1.24720973e-01 2.50543042e-02 3.02119501e+01] [-1.24669497e-01 9.92191750e-01 -3.61229116e-03 -2.68718065e+00] [-2.53092024e-02 4.59435522e-04 9.99679565e-01 -5.25113545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters 0.031899394086560846 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.69, Z:-0.53 [[ 9.91706788e-01 1.26109221e-01 2.47812692e-02 3.02427022e+01] [-1.26059295e-01 9.92016274e-01 -3.57292540e-03 -2.68837469e+00] [-2.50340012e-02 4.19385049e-04 9.99686512e-01 -5.26506357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09401273899999 meters 0.03168287694105093 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.69, Z:-0.53 [[ 9.91650680e-01 1.26650030e-01 2.42631357e-02 3.02718332e+01] [-1.26602330e-01 9.91947384e-01 -3.49827508e-03 -2.69269437e+00] [-2.45108106e-02 3.97297358e-04 9.99699486e-01 -5.28320018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters 0.03168287694105093 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.70, Z:-0.53 [[ 9.91650680e-01 1.26650035e-01 2.42630993e-02 3.03015241e+01] [-1.26602329e-01 9.91947383e-01 -3.49852754e-03 -2.69697537e+00] [-2.45108065e-02 3.97552339e-04 9.99699486e-01 -5.28929303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154012738999995 meters 0.029896595995418385 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.70, Z:-0.53 [[ 9.91559981e-01 1.27454973e-01 2.37493790e-02 3.03317033e+01] [-1.27409497e-01 9.91844289e-01 -3.42445356e-03 -2.69930408e+00] [-2.39921496e-02 3.69654664e-04 9.99712079e-01 -5.31859054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters 0.03097356443403725 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.71, Z:-0.53 [[ 9.91503725e-01 1.27882843e-01 2.37979385e-02 3.03613092e+01] [-1.27837298e-01 9.91789216e-01 -3.43167499e-03 -2.70760486e+00] [-2.40413911e-02 3.60254373e-04 9.99710899e-01 -5.31426975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214012739 meters 0.02924085953043002 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.71, Z:-0.53 [[ 9.91488497e-01 1.27967344e-01 2.39774828e-02 3.03916499e+01] [-1.27921105e-01 9.91778316e-01 -3.45876760e-03 -2.70958510e+00] [-2.42229568e-02 3.62102198e-04 9.99706516e-01 -5.32257130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters 0.02910829867598873 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.72, Z:-0.53 [[ 9.91422218e-01 1.28390110e-01 2.44533434e-02 3.04221569e+01] [-1.28342143e-01 9.91723677e-01 -3.52751616e-03 -2.71556807e+00] [-2.47038578e-02 3.58863391e-04 9.99694749e-01 -5.31778145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27401273899999 meters 0.028856973105682155 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.72, Z:-0.53 [[ 9.91337138e-01 1.28923820e-01 2.50864056e-02 3.04532902e+01] [-1.28873493e-01 9.91654437e-01 -3.61945812e-03 -2.72107606e+00] [-2.53436798e-02 3.55130545e-04 9.99678734e-01 -5.31056601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters 0.02832431423553378 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.73, Z:-0.53 [[ 9.91136360e-01 1.30163903e-01 2.65720767e-02 3.04836650e+01] [-1.30107864e-01 9.91492431e-01 -3.83448105e-03 -2.72961557e+00] [-2.68451239e-02 3.43257457e-04 9.99639546e-01 -5.29159671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334012738999995 meters 0.028089690797821927 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.74, Z:-0.53 [[ 9.91049799e-01 1.30812043e-01 2.66177571e-02 3.05140360e+01] [-1.30756015e-01 9.91407132e-01 -3.84217618e-03 -2.73613058e+00] [-2.68916371e-02 3.27356079e-04 9.99638301e-01 -5.29115234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters 0.027518081286678205 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.74, Z:-0.53 [[ 9.90889366e-01 1.32142008e-01 2.60144877e-02 3.05450770e+01] [-1.32088896e-01 9.91230754e-01 -3.75710182e-03 -2.74153890e+00] [-2.62828313e-02 2.86647271e-04 9.99654506e-01 -5.30845084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394012739 meters 0.027145187308373793 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.75, Z:-0.53 [[ 9.90766098e-01 1.33006728e-01 2.63011335e-02 3.05761029e+01] [-1.32952728e-01 9.91115099e-01 -3.79912893e-03 -2.74601712e+00] [-2.65727603e-02 2.67240701e-04 9.99646846e-01 -5.31431238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters 0.027948329269844516 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.75, Z:-0.53 [[ 9.90619843e-01 1.34085933e-01 2.63303933e-02 3.06054187e+01] [-1.34032179e-01 9.90969679e-01 -3.80390628e-03 -2.75412218e+00] [-2.66026717e-02 2.39105064e-04 9.99646058e-01 -5.29556177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45401273899999 meters 0.026126707521668378 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.76, Z:-0.53 [[ 9.90439738e-01 1.35420397e-01 2.62762632e-02 3.06364582e+01] [-1.35367322e-01 9.90788209e-01 -3.79646935e-03 -2.75566203e+00] [-2.65483312e-02 2.03226712e-04 9.99647510e-01 -5.32554494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters 0.025131780831668133 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.76, Z:-0.54 [[ 9.90035270e-01 1.38553858e-01 2.51593638e-02 3.06665262e+01] [-1.38506198e-01 9.90354894e-01 -3.63561105e-03 -2.75987346e+00] [-2.54204270e-02 1.14655340e-04 9.99676842e-01 -5.35113476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514012738999995 meters 0.024732844790116087 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.76, Z:-0.54 [[ 9.89668718e-01 1.41025662e-01 2.58377709e-02 3.06967219e+01] [-1.40976233e-01 9.90005939e-01 -3.73388555e-03 -2.76308804e+00] [-2.61061203e-02 5.27981269e-05 9.99659176e-01 -5.35176568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters 0.024663064569523784 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.77, Z:-0.54 [[ 9.89451108e-01 1.42545405e-01 2.58323985e-02 3.07271528e+01] [-1.42496514e-01 9.89788264e-01 -3.73310918e-03 -2.76659081e+00] [-2.61007424e-02 1.27022836e-05 9.99659318e-01 -5.36466143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574012739 meters 0.0246259732137083 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.77, Z:-0.54 [[ 9.89202628e-01 1.44343898e-01 2.53574399e-02 3.07562918e+01] [-1.44297378e-01 9.89527583e-01 -3.66453107e-03 -2.76979825e+00] [-2.56208390e-02 -3.40483196e-05 9.99671732e-01 -5.37702730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters 0.024866318114663923 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.77, Z:-0.54 [[ 9.88957917e-01 1.46119016e-01 2.47279557e-02 3.07858590e+01] [-1.46075329e-01 9.89267015e-01 -3.57367514e-03 -2.77280670e+00] [-2.49847328e-02 -7.79299316e-05 9.99687830e-01 -5.40408427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63401273899999 meters 0.026246557259350777 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.77, Z:-0.54 [[ 9.88350813e-01 1.50396529e-01 2.33142577e-02 3.08149095e+01] [-1.50358899e-01 9.88625740e-01 -3.36874198e-03 -2.76887897e+00] [-2.35557224e-02 -1.76007248e-04 9.99722510e-01 -5.44103696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters 0.02682832301931829 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.77, Z:-0.55 [[ 9.88010788e-01 1.52639296e-01 2.31501349e-02 3.08436699e+01] [-1.52602840e-01 9.88281940e-01 -3.34372336e-03 -2.76917304e+00] [-2.33892438e-02 -2.29141577e-04 9.99726408e-01 -5.45463497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694012738999994 meters 0.02845832647606826 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.77, Z:-0.54 [[ 9.87547461e-01 1.55479618e-01 2.40020786e-02 3.08716980e+01] [-1.55441298e-01 9.87839052e-01 -3.46547874e-03 -2.76729541e+00] [-2.42490019e-02 -3.08589528e-04 9.99705902e-01 -5.44448335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters 0.029051764454053275 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.77, Z:-0.54 [[ 9.87587527e-01 1.55108392e-01 2.47439580e-02 3.08993983e+01] [-1.55067594e-01 9.87897409e-01 -3.57082832e-03 -2.77107781e+00] [-2.49983575e-02 -3.10480539e-04 9.99687444e-01 -5.42992793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754012739 meters 0.028087763867279854 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.78, Z:-0.54 [[ 9.87849411e-01 1.53331146e-01 2.53594434e-02 3.09268102e+01] [-1.53287747e-01 9.88174825e-01 -3.65811102e-03 -2.77836733e+00] [-2.56204659e-02 -2.73629139e-04 9.99671705e-01 -5.41804134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters 0.025648680349134506 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.79, Z:-0.54 [[ 9.88574418e-01 1.48426196e-01 2.62732797e-02 3.09530667e+01] [-1.48377921e-01 9.88923476e-01 -3.78835718e-03 -2.78984652e+00] [-2.65445546e-02 -1.53301626e-04 9.99647619e-01 -5.41210508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814012739 meters 0.034208509703523134 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.80, Z:-0.53 [[ 9.88920473e-01 1.46355209e-01 2.48284310e-02 3.09819057e+01] [-1.46311476e-01 9.89232098e-01 -3.57883521e-03 -2.79814192e+00] [-2.50848621e-02 -9.35009739e-05 9.99685321e-01 -5.30207339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters 0.024690023838980175 Centerline is valid? [True, True] Translation: X:31.01, Y:-2.81, Z:-0.55 [[ 9.89300622e-01 1.43606282e-01 2.57199509e-02 3.10099218e+01] [-1.43558435e-01 9.89634900e-01 -3.70683705e-03 -2.81341945e+00] [-2.59856861e-02 -2.51396862e-05 9.99662315e-01 -5.45785070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874012738999994 meters 0.024767236611929533 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.82, Z:-0.55 [[ 9.89491311e-01 1.42292299e-01 2.56874869e-02 3.10384549e+01] [-1.42244132e-01 9.89824682e-01 -3.70209099e-03 -2.82170940e+00] [-2.59528876e-02 9.29259926e-06 9.99663167e-01 -5.45149447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters 0.024738759676157268 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.83, Z:-0.55 [[ 9.89685254e-01 1.40986928e-01 2.54122717e-02 3.10680890e+01] [-1.40939363e-01 9.90011457e-01 -3.66218756e-03 -2.83308359e+00] [-2.56747607e-02 4.28236499e-05 9.99670348e-01 -5.45979867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934012738999996 meters 0.02457689229551341 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.84, Z:-0.55 [[ 9.89636943e-01 1.41333621e-01 2.53678733e-02 3.10993561e+01] [-1.41286313e-01 9.89962023e-01 -3.65671041e-03 -2.84057256e+00] [-2.56300473e-02 3.46824232e-05 9.99671496e-01 -5.49419467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters 0.02463919420526653 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.85, Z:-0.55 [[ 9.89479037e-01 1.42380252e-01 2.56729261e-02 3.11298509e+01] [-1.42332035e-01 9.89812035e-01 -3.70514060e-03 -2.84769292e+00] [-2.59389101e-02 1.20791262e-05 9.99663530e-01 -5.48499384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994012739 meters 0.024899037888565 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.85, Z:-0.55 [[ 9.88895602e-01 1.46262316e-01 2.63215474e-02 3.11602597e+01] [-1.46212915e-01 9.89245838e-01 -3.80215575e-03 -2.85048044e+00] [-2.65945933e-02 -8.86150665e-05 9.99646297e-01 -5.47612167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters 0.029782640338796993 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.85, Z:-0.54 [[ 9.88502439e-01 1.49149485e-01 2.48467174e-02 3.11898085e+01] [-1.49106373e-01 9.88814647e-01 -3.58928458e-03 -2.85038257e+00] [-2.51041380e-02 -1.56787359e-04 9.99684829e-01 -5.39592871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054012738999994 meters 0.027988333447757183 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.85, Z:-0.55 [[ 9.87761466e-01 1.53999091e-01 2.47298541e-02 3.12182439e+01] [-1.53957911e-01 9.88070950e-01 -3.57201984e-03 -2.84981441e+00] [-2.49849382e-02 -2.79053132e-04 9.99687789e-01 -5.52144832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters 0.029268458025588705 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.85, Z:-0.55 [[ 9.87469407e-01 1.55871696e-01 2.46613871e-02 3.12465169e+01] [-1.55831350e-01 9.87777256e-01 -3.56128662e-03 -2.85134641e+00] [-2.49150611e-02 -3.26355648e-04 9.99689518e-01 -5.54015353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114012738999996 meters 0.032046404831396945 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.85, Z:-0.55 [[ 9.86992225e-01 1.58842852e-01 2.48051709e-02 3.12752915e+01] [-1.58803001e-01 9.87303795e-01 -3.58083717e-03 -2.84820381e+00] [-2.50590298e-02 -4.04877155e-04 9.99685891e-01 -5.53987906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters 0.032176932760599845 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.85, Z:-0.56 [[ 9.86812772e-01 1.59952891e-01 2.48117934e-02 3.13036221e+01] [-1.59913404e-01 9.87124553e-01 -3.58041407e-03 -2.85073961e+00] [-2.50650280e-02 -4.34540014e-04 9.99685728e-01 -5.55829736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174012739 meters 0.032824574373207155 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.85, Z:-0.56 [[ 9.86716496e-01 1.60577007e-01 2.46085682e-02 3.13325407e+01] [-1.60538387e-01 9.87023214e-01 -3.54995274e-03 -2.85287197e+00] [-2.48592689e-02 -4.47822919e-04 9.99690860e-01 -5.56467683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters 0.033209815877835495 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.86, Z:-0.56 [[ 9.86810868e-01 1.60130520e-01 2.37176764e-02 3.13604975e+01] [-1.60094544e-01 9.87095760e-01 -3.42031951e-03 -2.85500845e+00] [-2.39593153e-02 -4.21862113e-04 9.99712845e-01 -5.59006792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23401273899999 meters 0.0333705851542801 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.86, Z:-0.56 [[ 9.86926585e-01 1.59477571e-01 2.32985078e-02 3.13886766e+01] [-1.59442705e-01 9.87201471e-01 -3.35849390e-03 -2.85752053e+00] [-2.35359256e-02 -4.00190206e-04 9.99722912e-01 -5.60434939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters 0.030429009439098723 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.87, Z:-0.56 [[ 9.87311407e-01 1.57030183e-01 2.36158414e-02 3.14172473e+01] [-1.56993691e-01 9.87593743e-01 -3.40296450e-03 -2.86514378e+00] [-2.38572254e-02 -3.47752451e-04 9.99715315e-01 -5.61536443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294012738999996 meters 0.029102752812135802 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.87, Z:-0.56 [[ 9.87657855e-01 1.54666471e-01 2.47031020e-02 3.14448096e+01] [-1.54625827e-01 9.87966695e-01 -3.55864718e-03 -2.87162872e+00] [-2.49562455e-02 -3.05011742e-04 9.99688498e-01 -5.59623538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters 0.026012429537262266 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.89, Z:-0.56 [[ 9.88548962e-01 1.48466956e-01 2.69909600e-02 3.14721544e+01] [-1.48416162e-01 9.88917356e-01 -3.88674001e-03 -2.88527423e+00] [-2.72688812e-02 -1.63661881e-04 9.99628122e-01 -5.56111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354012739 meters 0.025122966175863556 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.89, Z:-0.56 [[ 9.88951755e-01 1.45800675e-01 2.67691753e-02 3.15017034e+01] [-1.45749754e-01 9.89313982e-01 -3.85412795e-03 -2.89463926e+00] [-2.70450539e-02 -9.00541169e-05 9.99634212e-01 -5.58265781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters 0.024812878267784024 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.90, Z:-0.56 [[ 9.89284772e-01 1.43703015e-01 2.57892185e-02 3.15319933e+01] [-1.43655038e-01 9.89620858e-01 -3.71317211e-03 -2.90292901e+00] [-2.60551426e-02 -3.13665509e-05 9.99660507e-01 -5.61473654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41401273899999 meters 0.02477387946855699 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.91, Z:-0.56 [[ 9.89445067e-01 1.42922316e-01 2.39096538e-02 3.15623951e+01] [-1.42880825e-01 9.89733910e-01 -3.44357381e-03 -2.91072696e+00] [-2.41563586e-02 -9.00393821e-06 9.99708193e-01 -5.64340252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters 0.02481647963994861 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.91, Z:-0.57 [[ 9.89425499e-01 1.43240949e-01 2.27862508e-02 3.15921295e+01] [-1.43203283e-01 9.89687845e-01 -3.28470770e-03 -2.91483809e+00] [-2.30217801e-02 -1.30923739e-05 9.99734964e-01 -5.67483557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474012738999996 meters 0.0250216684565357 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.91, Z:-0.57 [[ 9.89179649e-01 1.45088267e-01 2.17489303e-02 3.16223806e+01] [-1.45054400e-01 9.89418714e-01 -3.13515593e-03 -2.91474381e+00] [-2.19736730e-02 -5.35455861e-05 9.99758548e-01 -5.70452626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters 0.025096827386468075 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.92, Z:-0.57 [[ 9.89010250e-01 1.46131946e-01 2.24539277e-02 3.16517868e+01] [-1.46096123e-01 9.89265105e-01 -3.23648967e-03 -2.91636655e+00] [-2.26858416e-02 -7.95103202e-05 9.99742640e-01 -5.69862488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534012739 meters 0.02534727109998893 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.92, Z:-0.57 [[ 9.88737773e-01 1.47760254e-01 2.37597000e-02 3.16813108e+01] [-1.47720627e-01 9.89023201e-01 -3.42411014e-03 -2.91675735e+00] [-2.40048419e-02 -1.24250747e-04 9.99711835e-01 -5.67750460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters 0.025578708545740913 Centerline is valid? [True, True] Translation: X:31.71, Y:-2.92, Z:-0.57 [[ 9.88673052e-01 1.48132190e-01 2.41339918e-02 3.17095116e+01] [-1.48091429e-01 9.88967561e-01 -3.47746170e-03 -2.91947438e+00] [-2.43828590e-02 -1.35964664e-04 9.99702685e-01 -5.67545558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59401273899999 meters 0.025521364357758935 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.92, Z:-0.57 [[ 9.88677018e-01 1.48128291e-01 2.39950534e-02 3.17388626e+01] [-1.48088012e-01 9.88968145e-01 -3.45683082e-03 -2.92380350e+00] [-2.42423978e-02 -1.35690565e-04 9.99706101e-01 -5.69390278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters 0.025010911922825913 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.93, Z:-0.57 [[ 9.88987115e-01 1.46145871e-01 2.33638596e-02 3.17686891e+01] [-1.46107141e-01 9.89263047e-01 -3.36547087e-03 -2.93366460e+00] [-2.36048527e-02 -8.52194033e-05 9.99721363e-01 -5.72947604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654012738999995 meters 0.024875210308013894 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.94, Z:-0.57 [[ 9.89226580e-01 1.44439877e-01 2.38305545e-02 3.17979628e+01] [-1.44399083e-01 9.89513577e-01 -3.43294201e-03 -2.94225118e+00] [-2.40765109e-02 -4.51527134e-05 9.99710118e-01 -5.72936162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters 0.024936775148413255 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.96, Z:-0.57 [[ 9.89731669e-01 1.40650324e-01 2.54697725e-02 3.18277565e+01] [-1.40602447e-01 9.90059333e-01 -3.66991160e-03 -2.95638727e+00] [-2.57327602e-02 5.11153994e-05 9.99668856e-01 -5.69025327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714012739 meters 0.025131232316906994 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.97, Z:-0.57 [[ 9.89931852e-01 1.39190200e-01 2.57102314e-02 3.18602286e+01] [-1.39140812e-01 9.90265661e-01 -3.70877044e-03 -2.96531783e+00] [-2.59761838e-02 9.40875254e-05 9.99662558e-01 -5.70408382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters 0.025449671338000378 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.97, Z:-0.57 [[ 9.90054106e-01 1.38365624e-01 2.54523162e-02 3.18913231e+01] [-1.38316828e-01 9.90381209e-01 -3.67634006e-03 -2.97474411e+00] [-2.57161748e-02 1.19291946e-04 9.99669277e-01 -5.72036308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77401273899999 meters 0.025505621476328618 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.99, Z:-0.58 [[ 9.90084483e-01 1.38662186e-01 2.24836518e-02 3.19219845e+01] [-1.38624106e-01 9.90339733e-01 -3.25111498e-03 -2.98589503e+00] [-2.27172604e-02 1.02102377e-04 9.99741925e-01 -5.79346249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters 0.025423385321435007 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.99, Z:-0.58 [[ 9.90021989e-01 1.39334997e-01 2.10290413e-02 3.19543210e+01] [-1.39301768e-01 9.90245299e-01 -3.04403376e-03 -2.99262113e+00] [-2.12480498e-02 8.42777312e-05 9.99774231e-01 -5.83083070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834012738999995 meters 0.025349494948634962 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.00, Z:-0.59 [[ 9.89831550e-01 1.40879339e-01 1.96599750e-02 3.19854198e+01] [-1.40850530e-01 9.90026772e-01 -2.84937601e-03 -3.00030991e+00] [-1.98653198e-02 5.12843814e-05 9.99802664e-01 -5.86068576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters 0.02511916347596344 Centerline is valid? [True, True] Translation: X:32.02, Y:-3.01, Z:-0.59 [[ 9.89708202e-01 1.41698412e-01 1.99808646e-02 3.20164415e+01] [-1.41668748e-01 9.89909874e-01 -2.89953282e-03 -3.00616570e+00] [-2.01901143e-02 3.90273401e-05 9.99796158e-01 -5.86409890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894012739 meters 0.025051243897819497 Centerline is valid? [True, True] Translation: X:32.05, Y:-3.01, Z:-0.59 [[ 9.89592016e-01 1.42475042e-01 2.02115045e-02 3.20467723e+01] [-1.42444836e-01 9.89798395e-01 -2.93373237e-03 -3.01229304e+00] [-2.04232984e-02 2.41736800e-05 9.99791422e-01 -5.85858423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters 0.025007459613745744 Centerline is valid? [True, True] Translation: X:32.08, Y:-3.02, Z:-0.59 [[ 9.89242760e-01 1.44898423e-01 2.00800744e-02 3.20781060e+01] [-1.44869046e-01 9.89446535e-01 -2.91768952e-03 -3.01613972e+00] [-2.02909287e-02 -2.26780036e-05 9.99794118e-01 -5.87488230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95401273899999 meters 0.025316246325229438 Centerline is valid? [True, True] Translation: X:32.11, Y:-3.02, Z:-0.59 [[ 9.88980533e-01 1.46703494e-01 1.98894471e-02 3.21080485e+01] [-1.46675023e-01 9.89180510e-01 -2.89067317e-03 -3.01842970e+00] [-2.00983253e-02 -5.84656275e-05 9.99798007e-01 -5.88327990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters 0.02570445851936839 Centerline is valid? [True, True] Translation: X:32.14, Y:-3.02, Z:-0.59 [[ 9.88681250e-01 1.48718076e-01 1.98070843e-02 3.21379423e+01] [-1.48690241e-01 9.88879631e-01 -2.87893571e-03 -3.02135741e+00] [-2.00149720e-02 -9.87703786e-05 9.99799676e-01 -5.88811642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014012738999995 meters 0.02570445851936839 Centerline is valid? [True, True] Translation: X:32.17, Y:-3.03, Z:-0.59 [[ 9.88681250e-01 1.48718071e-01 1.98071170e-02 3.21676246e+01] [-1.48690240e-01 9.88879631e-01 -2.87871111e-03 -3.02567152e+00] [-2.00149709e-02 -9.89972851e-05 9.99799676e-01 -5.89420870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters 0.025971240911208796 Centerline is valid? [True, True] Translation: X:32.20, Y:-3.03, Z:-0.59 [[ 9.88529793e-01 1.49718741e-01 1.98279396e-02 3.21981438e+01] [-1.49691052e-01 9.88728620e-01 -2.88173741e-03 -3.02967319e+00] [-2.00359014e-02 -1.19381855e-04 9.99799254e-01 -5.89979648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074012739 meters 0.026417358522663303 Centerline is valid? [True, True] Translation: X:32.23, Y:-3.03, Z:-0.59 [[ 9.88370047e-01 1.50757867e-01 1.99177076e-02 3.22279421e+01] [-1.50730138e-01 9.88570709e-01 -2.89478404e-03 -3.03406732e+00] [-2.01264737e-02 -1.41080969e-04 9.99797432e-01 -5.89809515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters 0.027012720076769293 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.04, Z:-0.59 [[ 9.88085669e-01 1.52509372e-01 2.06785416e-02 3.22579755e+01] [-1.52479867e-01 9.88302007e-01 -3.00536153e-03 -3.03785341e+00] [-2.08949900e-02 -1.83506616e-04 9.99781659e-01 -5.89354901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13401273899999 meters 0.027687210715504198 Centerline is valid? [True, True] Translation: X:32.29, Y:-3.04, Z:-0.59 [[ 9.87830518e-01 1.53848699e-01 2.28351797e-02 3.22874303e+01] [-1.53813077e-01 9.88094390e-01 -3.31876982e-03 -3.03984068e+00] [-2.30739014e-02 -2.33967156e-04 9.99733735e-01 -5.86456406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters 0.0278555549570074 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.04, Z:-0.59 [[ 9.87801317e-01 1.53901511e-01 2.37251475e-02 3.23163311e+01] [-1.53863078e-01 9.88086163e-01 -3.44791216e-03 -3.04395252e+00] [-2.39731289e-02 -2.44572044e-04 9.99712573e-01 -5.85482637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194012738999994 meters 0.028231945264981417 Centerline is valid? [True, True] Translation: X:32.35, Y:-3.05, Z:-0.58 [[ 9.87701388e-01 1.54402223e-01 2.46154876e-02 3.23465543e+01] [-1.54361001e-01 9.88008038e-01 -3.57752185e-03 -3.04830639e+00] [-2.48726769e-02 -2.66147999e-04 9.99690592e-01 -5.84972094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters 0.0295224608652788 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.05, Z:-0.59 [[ 9.87474591e-01 1.56094411e-01 2.29883965e-02 3.23754525e+01] [-1.56058919e-01 9.87742098e-01 -3.34098179e-03 -3.05089664e+00] [-2.32281156e-02 -2.88409683e-04 9.99730149e-01 -5.88444866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254012739 meters 0.030106973793562294 Centerline is valid? [True, True] Translation: X:32.41, Y:-3.05, Z:-0.59 [[ 9.87405313e-01 1.56758685e-01 2.13883818e-02 3.24060778e+01] [-1.56728127e-01 9.87636894e-01 -3.10802734e-03 -3.05432260e+00] [-2.16111653e-02 -2.83278313e-04 9.99766411e-01 -5.93213166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters 0.030272415056515106 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.06, Z:-0.60 [[ 9.87465930e-01 1.56724484e-01 1.86674593e-02 3.24348914e+01] [-1.56701200e-01 9.87642332e-01 -2.71267163e-03 -3.05827989e+00] [-1.88619151e-02 -2.46542450e-04 9.99822068e-01 -5.99838996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31401273899999 meters 0.030033592743334846 Centerline is valid? [True, True] Translation: X:32.46, Y:-3.06, Z:-0.60 [[ 9.87594201e-01 1.55980598e-01 1.81037930e-02 3.24629400e+01] [-1.55958581e-01 9.87760093e-01 -2.63039323e-03 -3.06348791e+00] [-1.82924946e-02 -2.25680769e-04 9.99832653e-01 -6.00937596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters 0.028842320769951857 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.07, Z:-0.60 [[ 9.87882886e-01 1.54278695e-01 1.68963830e-02 3.24920336e+01] [-1.54259278e-01 9.88027353e-01 -2.45437128e-03 -3.07282999e+00] [-1.70727458e-02 -1.81792462e-04 9.99854234e-01 -6.03438835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374012738999994 meters 0.02883798523163889 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.08, Z:-0.61 [[ 9.87928326e-01 1.54043190e-01 1.63804272e-02 3.25217647e+01] [-1.54024910e-01 9.88064100e-01 -2.37928957e-03 -3.07720907e+00] [-1.65514254e-02 -1.72426264e-04 9.99863001e-01 -6.05013300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters 0.028881913655195657 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.08, Z:-0.61 [[ 9.87969639e-01 1.53851164e-01 1.56783573e-02 3.25501248e+01] [-1.53834397e-01 9.88094020e-01 -2.27708207e-03 -3.07987887e+00] [-1.58420229e-02 -1.62182695e-04 9.99874494e-01 -6.07058559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434012738999996 meters 0.029206711287095923 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.08, Z:-0.61 [[ 9.87898741e-01 1.54290525e-01 1.58275812e-02 3.25788420e+01] [-1.54273505e-01 9.88025508e-01 -2.29804771e-03 -3.08061009e+00] [-1.59926209e-02 -1.71537985e-04 9.99872095e-01 -6.07911720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters 0.035201789706040355 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.09, Z:-0.59 [[ 9.87715217e-01 1.55447617e-01 1.59589669e-02 3.26080864e+01] [-1.55430478e-01 9.87844118e-01 -2.31633597e-03 -3.08566928e+00] [-1.61250405e-02 -1.92629567e-04 9.99869965e-01 -5.88359737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494012739 meters 0.028660955077534522 Centerline is valid? [True, True] Translation: X:32.64, Y:-3.09, Z:-0.60 [[ 9.87799718e-01 1.54797011e-01 1.70176949e-02 3.26358329e+01] [-1.54777432e-01 9.87946278e-01 -2.46959682e-03 -3.08931518e+00] [-1.71948546e-02 -1.94488075e-04 9.99852139e-01 -6.03847942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters 0.028349274618312534 Centerline is valid? [True, True] Translation: X:32.67, Y:-3.09, Z:-0.60 [[ 9.87815590e-01 1.54673500e-01 1.72182668e-02 3.26657136e+01] [-1.54653450e-01 9.87965622e-01 -2.49803945e-03 -3.09329027e+00] [-1.73974362e-02 -1.95262050e-04 9.99848634e-01 -6.03925068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554012738999994 meters 0.028493412542171234 Centerline is valid? [True, True] Translation: X:32.70, Y:-3.09, Z:-0.61 [[ 9.87768260e-01 1.54974021e-01 1.72312663e-02 3.26955854e+01] [-1.54953993e-01 9.87918525e-01 -2.49952062e-03 -3.09436781e+00] [-1.74104480e-02 -2.01106385e-04 9.99848406e-01 -6.05479537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters 0.028462609214175705 Centerline is valid? [True, True] Translation: X:32.72, Y:-3.10, Z:-0.61 [[ 9.87762016e-01 1.54979682e-01 1.75356456e-02 3.27246285e+01] [-1.54958949e-01 9.87917636e-01 -2.54324828e-03 -3.09811928e+00] [-1.77179254e-02 -2.05181161e-04 9.99843004e-01 -6.06366128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614012738999996 meters 0.027079063562916113 Centerline is valid? [True, True] Translation: X:32.75, Y:-3.11, Z:-0.61 [[ 9.88115580e-01 1.52730784e-01 1.73467163e-02 3.27534199e+01] [-1.52710155e-01 9.88267818e-01 -2.51544194e-03 -3.10561401e+00] [-1.75273869e-02 -1.63472360e-04 9.99846370e-01 -6.06638348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters 0.026277406716937207 Centerline is valid? [True, True] Translation: X:32.78, Y:-3.11, Z:-0.61 [[ 9.88375996e-01 1.50975559e-01 1.78681424e-02 3.27829197e+01] [-1.50953394e-01 9.88537486e-01 -2.59057331e-03 -3.11061141e+00] [-1.80544419e-02 -1.36796261e-04 9.99836996e-01 -6.06718671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674012739 meters 0.025877193784899014 Centerline is valid? [True, True] Translation: X:32.81, Y:-3.12, Z:-0.61 [[ 9.88567573e-01 1.49651415e-01 1.84013078e-02 3.28119350e+01] [-1.49627681e-01 9.88738813e-01 -2.66764130e-03 -3.11520435e+00] [-1.85933035e-02 -1.16201331e-04 9.99827123e-01 -6.06059787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters 0.02578175463156629 Centerline is valid? [True, True] Translation: X:32.84, Y:-3.12, Z:-0.61 [[ 9.88635097e-01 1.49055596e-01 1.95722838e-02 3.28407071e+01] [-1.49028634e-01 9.88828811e-01 -2.83714559e-03 -3.12173535e+00] [-1.97765305e-02 -1.11929010e-04 9.99804419e-01 -6.05148400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73401273899999 meters 0.02587518279154582 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.13, Z:-0.61 [[ 9.88590739e-01 1.49415726e-01 1.90602375e-02 3.28703626e+01] [-1.49390228e-01 9.88774457e-01 -2.76268902e-03 -3.12874528e+00] [-1.92590651e-02 -1.16244438e-04 9.99814520e-01 -6.06049272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters 0.025831958029504287 Centerline is valid? [True, True] Translation: X:32.90, Y:-3.13, Z:-0.61 [[ 9.88616294e-01 1.49304336e-01 1.86021245e-02 3.29005578e+01] [-1.49280030e-01 9.88791284e-01 -2.69628777e-03 -3.13315348e+00] [-1.87961861e-02 -1.11331675e-04 9.99823330e-01 -6.07005818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794012738999996 meters 0.025673459412960238 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.14, Z:-0.61 [[ 9.88630147e-01 1.49285041e-01 1.80113764e-02 3.29307895e+01] [-1.49262251e-01 9.88794197e-01 -2.61066170e-03 -3.13784375e+00] [-1.81992772e-02 -1.07439732e-04 9.99834374e-01 -6.08725270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters 0.025707226837895194 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.15, Z:-0.61 [[ 9.88877006e-01 1.47786587e-01 1.67747158e-02 3.29597756e+01] [-1.47766604e-01 9.89019271e-01 -2.43137423e-03 -3.14724569e+00] [-1.69498417e-02 -7.44127231e-05 9.99856338e-01 -6.12829653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854012739 meters 0.025382044889594443 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.16, Z:-0.61 [[ 9.89119285e-01 1.46220894e-01 1.62015807e-02 3.29902433e+01] [-1.46202040e-01 9.89251964e-01 -2.34844145e-03 -3.15691892e+00] [-1.63708367e-02 -4.58154288e-05 9.99865988e-01 -6.14698091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters 0.025220880692564264 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.17, Z:-0.62 [[ 9.89359213e-01 1.44641449e-01 1.57225523e-02 3.30192450e+01] [-1.44623488e-01 9.89484134e-01 -2.27941391e-03 -3.16548739e+00] [-1.58869138e-02 -1.86911997e-05 9.99873795e-01 -6.16650964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91401273899999 meters 0.02506697927275044 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.18, Z:-0.61 [[ 9.89754861e-01 1.41769774e-01 1.69306049e-02 3.30485555e+01] [-1.41748524e-01 9.89899657e-01 -2.45473367e-03 -3.17884195e+00] [-1.71076070e-02 2.96963287e-05 9.99853654e-01 -6.13632238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters 0.024949259493598795 Centerline is valid? [True, True] Translation: X:33.08, Y:-3.19, Z:-0.61 [[ 9.89800852e-01 1.41219320e-01 1.87450814e-02 3.30803224e+01] [-1.41193167e-01 9.89978334e-01 -2.71806536e-03 -3.18761084e+00] [-1.89410678e-02 4.36660061e-05 9.99820601e-01 -6.10596745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974012738999996 meters 0.0249672366393748 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.20, Z:-0.61 [[ 9.89776168e-01 1.41281075e-01 1.95651621e-02 3.31110432e+01] [-1.41252516e-01 9.89969523e-01 -2.84097507e-03 -3.19777502e+00] [-1.97702901e-02 4.83010526e-05 9.99804548e-01 -6.09845555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters 0.024939749779138105 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.20, Z:-0.61 [[ 9.89666358e-01 1.42116376e-01 1.90639684e-02 3.31430095e+01] [-1.42089351e-01 9.89849956e-01 -2.77157208e-03 -3.20444453e+00] [-1.92643541e-02 3.41447422e-05 9.99814425e-01 -6.12290872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034012739 meters 0.02491752180359524 Centerline is valid? [True, True] Translation: X:33.17, Y:-3.21, Z:-0.61 [[ 9.89210994e-01 1.45302959e-01 1.86724247e-02 3.31739860e+01] [-1.45277537e-01 9.89387209e-01 -2.71800618e-03 -3.21076460e+00] [-1.88691925e-02 -2.40022789e-05 9.99821961e-01 -6.14116983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters 0.025161983086337717 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.21, Z:-0.61 [[ 9.88851186e-01 1.47702330e-01 1.89037858e-02 3.32066787e+01] [-1.47676650e-01 9.89031859e-01 -2.75494774e-03 -3.21442781e+00] [-1.91033586e-02 -6.74144223e-05 9.99817512e-01 -6.13351670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09401273899999 meters 0.025897842967299006 Centerline is valid? [True, True] Translation: X:33.24, Y:-3.22, Z:-0.61 [[ 9.88413511e-01 1.50556147e-01 1.92763575e-02 3.32376042e+01] [-1.50529914e-01 9.88601453e-01 -2.81298990e-03 -3.21539116e+00] [-1.94801480e-02 -1.21271226e-04 9.99810237e-01 -6.12144693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters 0.029126363570517136 Centerline is valid? [True, True] Translation: X:33.27, Y:-3.21, Z:-0.61 [[ 9.87368138e-01 1.57355968e-01 1.85272692e-02 3.32695263e+01] [-1.57332902e-01 9.87541918e-01 -2.70520681e-03 -3.21284947e+00] [-1.87221354e-02 -2.43914023e-04 9.99824696e-01 -6.13830786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154012738999995 meters 0.03257376938571611 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.21, Z:-0.62 [[ 9.86772278e-01 1.61203332e-01 1.71451859e-02 3.32993586e+01] [-1.61184151e-01 9.86921172e-01 -2.50384421e-03 -3.21107938e+00] [-1.73245750e-02 -2.92808184e-04 9.99849875e-01 -6.18005240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters 0.03789304439181717 Centerline is valid? [True, True] Translation: X:33.33, Y:-3.21, Z:-0.62 [[ 9.85649526e-01 1.68176659e-01 1.45472567e-02 3.33305512e+01] [-1.68163609e-01 9.85756809e-01 -2.12450410e-03 -3.20513620e+00] [-1.46973494e-02 -3.52302726e-04 9.99891926e-01 -6.24685998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214012739 meters 0.040737462769621265 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.20, Z:-0.62 [[ 9.85104245e-01 1.71336160e-01 1.46132751e-02 3.33603496e+01] [-1.71323338e-01 9.85212545e-01 -2.13413235e-03 -3.20346662e+00] [-1.47628360e-02 -4.01252234e-04 9.99890943e-01 -6.24946619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters 0.04679731138024693 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.20, Z:-0.62 [[ 9.84011493e-01 1.77326282e-01 1.66364705e-02 3.33910042e+01] [-1.77310531e-01 9.84151958e-01 -2.42884769e-03 -3.19550900e+00] [-1.68035136e-02 -5.59807378e-04 9.99858654e-01 -6.20295874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27401273899999 meters 0.04797903187523978 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.20, Z:-0.62 [[ 9.83665130e-01 1.79179830e-01 1.72482010e-02 3.34203380e+01] [-1.79163187e-01 9.83816148e-01 -2.51797278e-03 -3.19568775e+00] [-1.74202286e-02 -6.13400643e-04 9.99848068e-01 -6.19136250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters 0.047019678769654155 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.20, Z:-0.62 [[ 9.83541832e-01 1.79879348e-01 1.69965996e-02 3.34485058e+01] [-1.79863299e-01 9.83688487e-01 -2.48075950e-03 -3.19837010e+00] [-1.71655968e-02 -6.17133741e-04 9.99852470e-01 -6.19913279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334012738999995 meters 0.04754865692882091 Centerline is valid? [True, True] Translation: X:33.48, Y:-3.20, Z:-0.62 [[ 9.83826289e-01 1.78502993e-01 1.49169383e-02 3.34771947e+01] [-1.78490487e-01 9.83939231e-01 -2.17632349e-03 -3.19563568e+00] [-1.50658411e-02 -5.21407323e-04 9.99886368e-01 -6.24795503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters 0.04616055461561454 Centerline is valid? [True, True] Translation: X:33.51, Y:-3.20, Z:-0.63 [[ 9.84033347e-01 1.77457445e-01 1.36831148e-02 3.35056289e+01] [-1.77446832e-01 9.84128365e-01 -1.99552011e-03 -3.19864734e+00] [-1.38200613e-02 -4.64367048e-04 9.99904391e-01 -6.28440169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394012739 meters 0.046907233424345725 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.20, Z:-0.63 [[ 9.84226033e-01 1.76393715e-01 1.35783951e-02 3.35342111e+01] [-1.76383171e-01 9.84319591e-01 -1.97968993e-03 -3.19571332e+00] [-1.37146851e-02 -4.46538017e-04 9.99905850e-01 -6.29447917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters 0.0443324534124596 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.20, Z:-0.63 [[ 9.84238173e-01 1.76263980e-01 1.43606742e-02 3.35625142e+01] [-1.76252186e-01 9.84342820e-01 -2.09276825e-03 -3.20061721e+00] [-1.45047062e-02 -4.71317819e-04 9.99894690e-01 -6.27557678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45401273899999 meters 0.04554437464222187 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.20, Z:-0.63 [[ 9.84325978e-01 1.75730904e-01 1.48666894e-02 3.35915473e+01] [-1.75718214e-01 9.84438123e-01 -2.16582695e-03 -3.19588299e+00] [-1.50159385e-02 -4.80468375e-04 9.99887139e-01 -6.27949895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters 0.04437694540099786 Centerline is valid? [True, True] Translation: X:33.62, Y:-3.20, Z:-0.63 [[ 9.84360646e-01 1.75557975e-01 1.46121757e-02 3.36193816e+01] [-1.75545708e-01 9.84468982e-01 -2.12796329e-03 -3.19863784e+00] [-1.47588147e-02 -4.70421409e-04 9.99890972e-01 -6.29952094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514012738999995 meters 0.042975581418046256 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.20, Z:-0.63 [[ 9.84611576e-01 1.74158615e-01 1.44506321e-02 3.36486544e+01] [-1.74146484e-01 9.84717512e-01 -2.10329711e-03 -3.19875687e+00] [-1.45960978e-02 -4.45596097e-04 9.99893372e-01 -6.31251956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters 0.04296802028041277 Centerline is valid? [True, True] Translation: X:33.68, Y:-3.20, Z:-0.63 [[ 9.84713940e-01 1.73589222e-01 1.43261309e-02 3.36762907e+01] [-1.73577247e-01 9.84818051e-01 -2.08457154e-03 -3.19938379e+00] [-1.44704915e-02 -4.33983711e-04 9.99895203e-01 -6.31688598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574012739 meters 0.044819709706427846 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.20, Z:-0.63 [[ 9.84802643e-01 1.73157370e-01 1.34268381e-02 3.37040510e+01] [-1.73146816e-01 9.84894088e-01 -1.95340095e-03 -3.19744151e+00] [-1.35622592e-02 -4.01099841e-04 9.99907948e-01 -6.33828031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters 0.03994119234666386 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.20, Z:-0.63 [[ 9.85062207e-01 1.71745638e-01 1.24853515e-02 3.37319606e+01] [-1.71736423e-01 9.85141263e-01 -1.81456462e-03 -3.20312897e+00] [-1.26114785e-02 -3.56730579e-04 9.99920409e-01 -6.34639142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63401273899999 meters 0.04143018477596521 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.20, Z:-0.64 [[ 9.85367165e-01 1.69949985e-01 1.29827651e-02 3.37604536e+01] [-1.69939872e-01 9.85452628e-01 -1.88626843e-03 -3.20234582e+00] [-1.31144713e-02 -3.47622471e-04 9.99913941e-01 -6.36434761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters 0.033999317811357385 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.21, Z:-0.63 [[ 9.86212519e-01 1.64886757e-01 1.40436933e-02 3.37893791e+01] [-1.64874428e-01 9.86312458e-01 -2.03916987e-03 -3.21383516e+00] [-1.41877018e-02 -3.04391047e-04 9.99899303e-01 -6.33795743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694012738999994 meters 0.033496180072975064 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.22, Z:-0.63 [[ 9.86726674e-01 1.61733752e-01 1.45830122e-02 3.38171722e+01] [-1.61720112e-01 9.86834394e-01 -2.11756266e-03 -3.21703100e+00] [-1.47334993e-02 -2.68910805e-04 9.99891420e-01 -6.33990749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters 0.030507357929569195 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.23, Z:-0.63 [[ 9.87423659e-01 1.57425126e-01 1.45549853e-02 3.38442657e+01] [-1.57411084e-01 9.87530905e-01 -2.11257093e-03 -3.22517550e+00] [-1.47060695e-02 -2.05113496e-04 9.99891839e-01 -6.33718349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754012739 meters 0.029530592413230985 Centerline is valid? [True, True] Translation: X:33.87, Y:-3.23, Z:-0.63 [[ 9.87619570e-01 1.56190643e-01 1.45625462e-02 3.38729674e+01] [-1.56176466e-01 9.87726910e-01 -2.11275047e-03 -3.23089288e+00] [-1.47138106e-02 -1.87733292e-04 9.99891728e-01 -6.34000604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters 0.029374663100587086 Centerline is valid? [True, True] Translation: X:33.90, Y:-3.23, Z:-0.64 [[ 9.87766095e-01 1.55299596e-01 1.41484000e-02 3.39001445e+01] [-1.55286130e-01 9.87867403e-01 -2.05209266e-03 -3.23396143e+00] [-1.42954323e-02 -1.70062733e-04 9.99897801e-01 -6.35117598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81401273899999 meters 0.028395849300140358 Centerline is valid? [True, True] Translation: X:33.93, Y:-3.24, Z:-0.63 [[ 9.87832813e-01 1.54884083e-01 1.40447608e-02 3.39288240e+01] [-1.54870785e-01 9.87932636e-01 -2.03618309e-03 -3.23850864e+00] [-1.41906500e-02 -1.63714669e-04 9.99899294e-01 -6.34003773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters 0.028108383070875837 Centerline is valid? [True, True] Translation: X:33.96, Y:-3.24, Z:-0.63 [[ 9.87815884e-01 1.54757851e-01 1.64252126e-02 3.39571256e+01] [-1.54739661e-01 9.87952414e-01 -2.38032569e-03 -3.24129337e+00] [-1.65957025e-02 -1.90308309e-04 9.99862264e-01 -6.30290516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874012738999994 meters 0.02919728521822186 Centerline is valid? [True, True] Translation: X:33.99, Y:-3.24, Z:-0.63 [[ 9.87720448e-01 1.55225900e-01 1.76985158e-02 3.39855464e+01] [-1.55204872e-01 9.87878977e-01 -2.56394293e-03 -3.24188279e+00] [-1.78819820e-02 -2.14437016e-04 9.99840082e-01 -6.29176709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters 0.02807756919438382 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.25, Z:-0.63 [[ 9.87562571e-01 1.56113654e-01 1.86733980e-02 3.40140768e+01] [-1.56090426e-01 9.87739068e-01 -2.70397406e-03 -3.24741661e+00] [-1.88665720e-02 -2.44395076e-04 9.99821981e-01 -6.28163817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934012738999996 meters 0.02807756919438382 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.25, Z:-0.63 [[ 9.87570249e-01 1.56065060e-01 1.86735311e-02 3.40421199e+01] [-1.56041841e-01 9.87746748e-01 -2.70305446e-03 -3.25139023e+00] [-1.88665720e-02 -2.44396014e-04 9.99821981e-01 -6.28739158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters 0.029786264118878764 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.25, Z:-0.63 [[ 9.87387225e-01 1.57284737e-01 1.81101855e-02 3.40701946e+01] [-1.57263119e-01 9.87553261e-01 -2.62065347e-03 -3.25169517e+00] [-1.82969615e-02 -2.60464488e-04 9.99832563e-01 -6.30642672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994012739 meters 0.030493378422649216 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.26, Z:-0.64 [[ 9.87418986e-01 1.57344399e-01 1.56999096e-02 3.40977835e+01] [-1.57328173e-01 9.87543765e-01 -2.27104571e-03 -3.25502389e+00] [-1.58616842e-02 -2.27564440e-04 9.99874170e-01 -6.35788512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters 0.030400335877275548 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.26, Z:-0.65 [[ 9.87519895e-01 1.57184485e-01 9.87395015e-03 3.41260629e+01] [-1.57178062e-01 9.87569247e-01 -1.42805073e-03 -3.26191652e+00] [-9.97567693e-03 -1.41739844e-04 9.99950232e-01 -6.46895448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054012738999994 meters 0.031290078189948646 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.27, Z:-0.65 [[ 9.87602582e-01 1.56745859e-01 8.47799047e-03 3.41533065e+01] [-1.56741109e-01 9.87638963e-01 -1.22602012e-03 -3.26539852e+00] [-8.56536729e-03 -1.18028993e-04 9.99963310e-01 -6.51745966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters 0.02933361614338928 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.28, Z:-0.65 [[ 9.87974515e-01 1.54327287e-01 9.45756182e-03 3.41805518e+01] [-1.54321273e-01 9.88019775e-01 -1.36681638e-03 -3.27766208e+00] [-9.55519517e-03 -1.09123234e-04 9.99954342e-01 -6.50344290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114012738999996 meters 0.02847797806073036 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.28, Z:-0.65 [[ 9.88180855e-01 1.52855396e-01 1.15682717e-02 3.42074298e+01] [-1.52846305e-01 9.88248559e-01 -1.67118126e-03 -3.28463938e+00] [-1.16877769e-02 -1.16738254e-04 9.99931689e-01 -6.47347102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters 0.027081506743464868 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.29, Z:-0.64 [[ 9.88381066e-01 1.51443274e-01 1.29538566e-02 3.42356541e+01] [-1.51431766e-01 9.88465944e-01 -1.87035732e-03 -3.29332509e+00] [-1.30876992e-02 -1.12999634e-04 9.99914346e-01 -6.43274017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174012739 meters 0.026716072414972522 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.30, Z:-0.64 [[ 9.88639840e-01 1.49713858e-01 1.33051465e-02 3.42623796e+01] [-1.49701569e-01 9.88729362e-01 -1.92047085e-03 -3.30003734e+00] [-1.34427102e-02 -9.31473192e-05 9.99909638e-01 -6.44372640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters 0.026856327675166273 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.31, Z:-0.65 [[ 9.88716880e-01 1.49304186e-01 1.21322546e-02 3.42907378e+01] [-1.49293947e-01 9.88791309e-01 -1.75041727e-03 -3.30563277e+00] [-1.22576125e-02 -8.06050730e-05 9.99924869e-01 -6.46947492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23401273899999 meters 0.027285474179997677 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.31, Z:-0.65 [[ 9.88796443e-01 1.48932538e-01 1.00345800e-02 3.43175139e+01] [-1.48925516e-01 9.88847357e-01 -1.44757470e-03 -3.31217304e+00] [-1.01382589e-02 -6.30482831e-05 9.99948605e-01 -6.52347754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters 0.027306715844247778 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.32, Z:-0.65 [[ 9.88722592e-01 1.49454673e-01 9.53604897e-03 3.43457068e+01] [-1.49448362e-01 9.88768576e-01 -1.37505357e-03 -3.31679091e+00] [-9.63445374e-03 -6.56003643e-05 9.99953585e-01 -6.52687453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294012738999996 meters 0.028021954822601534 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.32, Z:-0.65 [[ 9.88488955e-01 1.51004775e-01 9.33512172e-03 3.43734396e+01] [-1.50998798e-01 9.88533030e-01 -1.34586026e-03 -3.31687360e+00] [-9.43130748e-03 -7.92241556e-05 9.99955521e-01 -6.53387728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters 0.02836254586759636 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.32, Z:-0.65 [[ 9.88396127e-01 1.51594730e-01 9.59865576e-03 3.44014345e+01] [-1.51588447e-01 9.88442730e-01 -1.38306916e-03 -3.31889544e+00] [-9.69738750e-03 -8.80251103e-05 9.99952975e-01 -6.53516782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354012739 meters 0.028348156747267865 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.32, Z:-0.65 [[ 9.88365680e-01 1.51640732e-01 1.17631508e-02 3.44297675e+01] [-1.51631310e-01 9.88435671e-01 -1.69387910e-03 -3.32098668e+00] [-1.18839789e-02 -1.09489996e-04 9.99929377e-01 -6.50621840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters 0.02780225993690562 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.33, Z:-0.65 [[ 9.88317014e-01 1.51900153e-01 1.24828968e-02 3.44581197e+01] [-1.51889572e-01 9.88395836e-01 -1.79688350e-03 -3.32558821e+00] [-1.26109901e-02 -1.20131321e-04 9.99920471e-01 -6.48665179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41401273899999 meters 0.028168255854543883 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.33, Z:-0.65 [[ 9.88259052e-01 1.52262540e-01 1.26555965e-02 3.44862297e+01] [-1.52251701e-01 9.88340074e-01 -1.82120998e-03 -3.32827117e+00] [-1.27853352e-02 -1.27008849e-04 9.99918256e-01 -6.49897191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters 0.028722602371034547 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.33, Z:-0.65 [[ 9.88091247e-01 1.53370147e-01 1.23808408e-02 3.45154250e+01] [-1.53359870e-01 9.88168801e-01 -1.78086385e-03 -3.32951537e+00] [-1.25074919e-02 -1.39068150e-04 9.99921769e-01 -6.50639804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474012738999996 meters 0.029249929476051605 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.33, Z:-0.65 [[ 9.87984049e-01 1.54072759e-01 1.22107688e-02 3.45447854e+01] [-1.54062825e-01 9.88059494e-01 -1.75573887e-03 -3.33129283e+00] [-1.23354775e-02 -1.46583529e-04 9.99923904e-01 -6.50399594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters 0.02952805727357955 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.33, Z:-0.65 [[ 9.87946724e-01 1.54264278e-01 1.27985756e-02 3.45723377e+01] [-1.54253382e-01 9.88029609e-01 -1.84011537e-03 -3.33091331e+00] [-1.29292357e-02 -1.56287627e-04 9.99916402e-01 -6.49510149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534012739 meters 0.02907141953272851 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.33, Z:-0.65 [[ 9.87991814e-01 1.53993032e-01 1.25825852e-02 3.45999603e+01] [-1.53982493e-01 9.88071922e-01 -1.80796637e-03 -3.33392076e+00] [-1.27109134e-02 -1.51241861e-04 9.99919202e-01 -6.50382785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters 0.029501027104193698 Centerline is valid? [True, True] Translation: X:34.63, Y:-3.34, Z:-0.65 [[ 9.88015479e-01 1.53876733e-01 1.21393695e-02 3.46272565e+01] [-1.53866926e-01 9.88090041e-01 -1.74337671e-03 -3.33591780e+00] [-1.22630552e-02 -1.45364293e-04 9.99924795e-01 -6.52192931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59401273899999 meters 0.0288042381320133 Centerline is valid? [True, True] Translation: X:34.66, Y:-3.34, Z:-0.65 [[ 9.88119222e-01 1.53249652e-01 1.16167212e-02 3.46551261e+01] [-1.53240634e-01 9.88187496e-01 -1.66779285e-03 -3.33805204e+00] [-1.17350873e-02 -1.32175537e-04 9.99931133e-01 -6.52533412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters 0.02920436916559416 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.34, Z:-0.65 [[ 9.88129538e-01 1.53230512e-01 1.09739012e-02 3.46828355e+01] [-1.53222470e-01 9.88190465e-01 -1.57482155e-03 -3.33920713e+00] [-1.10856153e-02 -1.25320562e-04 9.99938545e-01 -6.53949751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654012738999995 meters 0.03601241019440863 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.34, Z:-0.64 [[ 9.88108918e-01 1.53450714e-01 9.67701785e-03 3.47115605e+01] [-1.53444478e-01 9.88156296e-01 -1.38799492e-03 -3.33883041e+00] [-9.77539492e-03 -1.13394800e-04 9.99952213e-01 -6.40568769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters 0.028215989369190578 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.34, Z:-0.65 [[ 9.88227228e-01 1.52598682e-01 1.09812157e-02 3.47401748e+01] [-1.52590610e-01 9.88288231e-01 -1.57419172e-03 -3.34328308e+00] [-1.10928258e-02 -1.19971274e-04 9.99938466e-01 -6.54460672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714012739 meters 0.028480557054989475 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.34, Z:-0.66 [[ 9.88298415e-01 1.52099153e-01 1.14930435e-02 3.47678983e+01] [-1.52090282e-01 9.88365233e-01 -1.64705221e-03 -3.34327126e+00] [-1.16098398e-02 -1.20201141e-04 9.99932596e-01 -6.55198188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters 0.027058749848327436 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.35, Z:-0.65 [[ 9.88539571e-01 1.50392379e-01 1.31014426e-02 3.47963774e+01] [-1.50380716e-01 9.88626380e-01 -1.87648544e-03 -3.34784959e+00] [-1.32346409e-02 -1.15224217e-04 9.99912412e-01 -6.52429804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77401273899999 meters 0.025920115883422738 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.36, Z:-0.65 [[ 9.89137672e-01 1.46348401e-01 1.37408428e-02 3.48231247e+01] [-1.46335190e-01 9.89233108e-01 -1.96742443e-03 -3.35739650e+00] [-1.38808261e-02 -6.47152264e-05 9.99903655e-01 -6.53005726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters 0.025431280736786507 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.37, Z:-0.65 [[ 9.89406588e-01 1.44529643e-01 1.36303242e-02 3.48512518e+01] [-1.44516484e-01 9.89500470e-01 -1.95068302e-03 -3.36534078e+00] [-1.37691438e-02 -3.97878975e-05 9.99905200e-01 -6.53274394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834012738999995 meters 0.02526004031044494 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.37, Z:-0.65 [[ 9.89644832e-01 1.42897069e-01 1.35475025e-02 3.48790753e+01] [-1.42883925e-01 9.89737555e-01 -1.93822222e-03 -3.37282461e+00] [-1.36854383e-02 -1.75687264e-05 9.99906350e-01 -6.53740778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters 0.02515696863768364 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.38, Z:-0.65 [[ 9.89896005e-01 1.41163673e-01 1.33684958e-02 3.49062665e+01] [-1.41150723e-01 9.89986271e-01 -1.91207297e-03 -3.38144927e+00] [-1.35045426e-02 5.78054313e-06 9.99908809e-01 -6.54824183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894012739 meters 0.025231572034689734 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.39, Z:-0.66 [[ 9.89867117e-01 1.41368882e-01 1.33390662e-02 3.49333840e+01] [-1.41356018e-01 9.89956989e-01 -1.90708496e-03 -3.38593442e+00] [-1.34747043e-02 2.20340919e-06 9.99909212e-01 -6.55727318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters 0.025446746418629214 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.39, Z:-0.66 [[ 9.89440722e-01 1.44339496e-01 1.31592889e-02 3.49624951e+01] [-1.44327250e-01 9.89528225e-01 -1.88056994e-03 -3.38668192e+00] [-1.32929284e-02 -3.85315017e-05 9.99911644e-01 -6.55115760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95401273899999 meters 0.026112561287006994 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.39, Z:-0.66 [[ 9.89068620e-01 1.46889946e-01 1.29076711e-02 3.49919090e+01] [-1.46878389e-01 9.89152839e-01 -1.84401494e-03 -3.38737059e+00] [-1.30385267e-02 -7.20006249e-05 9.99914992e-01 -6.56904797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters 0.026907280490278955 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.39, Z:-0.66 [[ 9.88718718e-01 1.49289525e-01 1.21628078e-02 3.50210359e+01] [-1.49279451e-01 9.88793521e-01 -1.73708394e-03 -3.38911405e+00] [-1.22858340e-02 -9.81698660e-05 9.99924521e-01 -6.58609032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014012738999995 meters 0.029379816093251118 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.39, Z:-0.66 [[ 9.88140701e-01 1.53205148e-01 1.03023183e-02 3.50497642e+01] [-1.53198136e-01 9.88194397e-01 -1.47101476e-03 -3.38685061e+00] [-1.04060602e-02 -1.24726401e-04 9.99945848e-01 -6.63145511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters 0.031284681488248096 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.39, Z:-0.67 [[ 9.87831891e-01 1.55209920e-01 9.90128486e-03 3.50774304e+01] [-1.55203547e-01 9.87881501e-01 -1.41353696e-03 -3.38600054e+00] [-1.00006911e-02 -1.40377636e-04 9.99949982e-01 -6.67629113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074012739 meters 0.03115235106580462 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.39, Z:-0.67 [[ 9.87885021e-01 1.54882429e-01 9.72716804e-03 3.51052544e+01] [-1.54876268e-01 9.87932900e-01 -1.38801459e-03 -3.39104793e+00] [-9.82476841e-03 -1.35308662e-04 9.99951727e-01 -6.68937078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters 0.030545602341110988 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.40, Z:-0.67 [[ 9.88062119e-01 1.53767033e-01 9.43120926e-03 3.51339332e+01] [-1.53761194e-01 9.88107122e-01 -1.34537199e-03 -3.39761932e+00] [-9.52591890e-03 -1.20842905e-04 9.99954620e-01 -6.69633516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13401273899999 meters 0.029588935546250274 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.41, Z:-0.67 [[ 9.88447323e-01 1.51362957e-01 7.81950397e-03 3.51608912e+01] [-1.51358874e-01 9.88478249e-01 -1.11467721e-03 -3.40599004e+00] [-7.89813043e-03 -8.17516178e-05 9.99968806e-01 -6.71485838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters 0.029668665888279662 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.41, Z:-0.67 [[ 9.88513277e-01 1.50921723e-01 8.00837860e-03 3.51884245e+01] [-1.50917430e-01 9.88545713e-01 -1.14109946e-03 -3.40994352e+00] [-8.08886503e-03 -8.06119554e-05 9.99967281e-01 -6.71974815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194012738999994 meters 0.028238895550909297 Centerline is valid? [True, True] Translation: X:35.22, Y:-3.42, Z:-0.67 [[ 9.88666753e-01 1.49837406e-01 9.31686422e-03 3.52170497e+01] [-1.49831557e-01 9.88710648e-01 -1.32657983e-03 -3.41763274e+00] [-9.41045414e-03 -8.44148977e-05 9.99955717e-01 -6.69716055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters 0.02737874184816078 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.42, Z:-0.67 [[ 9.88837888e-01 1.48650018e-01 1.01391770e-02 3.52455803e+01] [-1.48643032e-01 9.88889865e-01 -1.44336969e-03 -3.42406751e+00] [-1.02410863e-02 -7.98593678e-05 9.99947556e-01 -6.68553818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254012739 meters 0.02594157863570641 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.43, Z:-0.66 [[ 9.89347545e-01 1.45062127e-01 1.21825704e-02 3.52733180e+01] [-1.45051778e-01 9.89422547e-01 -1.73347521e-03 -3.43372281e+00] [-1.23051715e-02 -5.20940653e-05 9.99924287e-01 -6.64907822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters 0.025391769333824397 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.44, Z:-0.66 [[ 9.89623329e-01 1.43057849e-01 1.34208582e-02 3.53008683e+01] [-1.43045114e-01 9.89714328e-01 -1.90900951e-03 -3.44034396e+00] [-1.35559144e-02 -3.05878408e-05 9.99908114e-01 -6.63233066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31401273899999 meters 0.025102337807357305 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.45, Z:-0.66 [[ 9.89849187e-01 1.41402401e-01 1.42810521e-02 3.53293083e+01] [-1.41387824e-01 9.89952201e-01 -2.03037011e-03 -3.44727478e+00] [-1.44246582e-02 -9.40668312e-06 9.99895959e-01 -6.60385976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters 0.02508045685860669 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.46, Z:-0.66 [[ 9.90172565e-01 1.39148345e-01 1.40010425e-02 3.53573131e+01] [-1.39134118e-01 9.90271547e-01 -1.98992122e-03 -3.45663316e+00] [-1.41417282e-02 2.23427111e-05 9.99900001e-01 -6.61576959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374012738999994 meters 0.02528439109968543 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.46, Z:-0.66 [[ 9.90258947e-01 1.38585487e-01 1.34640528e-02 3.53847945e+01] [-1.38572285e-01 9.90350474e-01 -1.91306482e-03 -3.46275780e+00] [-1.35992540e-02 2.86850024e-05 9.99907525e-01 -6.64000513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters 0.025232628516930672 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.47, Z:-0.66 [[ 9.90292287e-01 1.38359993e-01 1.33303648e-02 3.54134072e+01] [-1.38347043e-01 9.90382003e-01 -1.89320001e-03 -3.46874008e+00] [-1.34640966e-02 3.06048094e-05 9.99909354e-01 -6.64832436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434012738999996 meters 0.02522573944659586 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.47, Z:-0.66 [[ 9.90298049e-01 1.38287808e-01 1.36475775e-02 3.54409104e+01] [-1.38274236e-01 9.90392085e-01 -1.93765318e-03 -3.47361660e+00] [-1.37844065e-02 3.17458171e-05 9.99904990e-01 -6.64665660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters 0.025089691581219476 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.48, Z:-0.66 [[ 9.90272362e-01 1.38433723e-01 1.40269014e-02 3.54681018e+01] [-1.38419413e-01 9.90371700e-01 -1.99064075e-03 -3.47840332e+00] [-1.41674180e-02 2.96810616e-05 9.99899637e-01 -6.63815684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494012739 meters 0.0248750592128726 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.48, Z:-0.66 [[ 9.89815231e-01 1.41592591e-01 1.47426746e-02 3.54975301e+01] [-1.41577148e-01 9.89925016e-01 -2.09124829e-03 -3.47975770e+00] [-1.48902477e-02 -1.72764140e-05 9.99889134e-01 -6.61058658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters 0.025636090910984285 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.48, Z:-0.66 [[ 9.89375252e-01 1.44730737e-01 1.37704300e-02 3.55267883e+01] [-1.44717577e-01 9.89471076e-01 -1.95264350e-03 -3.47808003e+00] [-1.39080497e-02 -6.09261034e-05 9.99903277e-01 -6.64407061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554012738999994 meters 0.028193948793874577 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.47, Z:-0.67 [[ 9.88307981e-01 1.51946892e-01 1.26284058e-02 3.55575820e+01] [-1.51936418e-01 9.88388648e-01 -1.79030151e-03 -3.46938238e+00] [-1.27538037e-02 -1.49345474e-04 9.99918656e-01 -6.65805500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters 0.03053463297887772 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.47, Z:-0.67 [[ 9.87836863e-01 1.55000893e-01 1.23715465e-02 3.55864209e+01] [-1.54991082e-01 9.87914313e-01 -1.75370426e-03 -3.46602813e+00] [-1.24938535e-02 -1.85105658e-04 9.99921932e-01 -6.67209157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614012738999996 meters 0.03456495378984419 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.46, Z:-0.67 [[ 9.87043438e-01 1.59840265e-01 1.40121853e-02 3.56159826e+01] [-1.59828184e-01 9.87142853e-01 -1.98498680e-03 -3.45747223e+00] [-1.41493094e-02 -2.80273945e-04 9.99899854e-01 -6.65126258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters 0.03480442125458694 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.46, Z:-0.66 [[ 9.86747080e-01 1.61634872e-01 1.42957688e-02 3.56445951e+01] [-1.61622497e-01 9.86850581e-01 -2.02444763e-03 -3.45797468e+00] [-1.44350091e-02 -3.12900058e-04 9.99895761e-01 -6.64633275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674012739 meters 0.03764743474632847 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.45, Z:-0.67 [[ 9.86326558e-01 1.64261043e-01 1.33503232e-02 3.56740773e+01] [-1.64250502e-01 9.86416850e-01 -1.88974438e-03 -3.45069542e+00] [-1.34793951e-02 -3.28892212e-04 9.99909095e-01 -6.67176040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters 0.034999571417421556 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.46, Z:-0.67 [[ 9.86258611e-01 1.64683206e-01 1.31679105e-02 3.57019885e+01] [-1.64672995e-01 9.86346457e-01 -1.86341533e-03 -3.45568857e+00] [-1.32949951e-02 -3.30589839e-04 9.99911563e-01 -6.66723067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73401273899999 meters 0.03837192200218376 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.45, Z:-0.67 [[ 9.86332459e-01 1.64269812e-01 1.27948739e-02 3.57303177e+01] [-1.64260144e-01 9.86415394e-01 -1.81002150e-03 -3.45169616e+00] [-1.29183925e-02 -3.16404876e-04 9.99916504e-01 -6.69280958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters 0.03675324349307339 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.45, Z:-0.67 [[ 9.86879100e-01 1.60935881e-01 1.30108950e-02 3.57592800e+01] [-1.60925617e-01 9.86964824e-01 -1.83889946e-03 -3.45447722e+00] [-1.31372406e-02 -2.79014857e-04 9.99913664e-01 -6.70654206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794012738999996 meters 0.032942609171717666 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.46, Z:-0.67 [[ 9.87425128e-01 1.57572073e-01 1.27537970e-02 3.57871374e+01] [-1.57561931e-01 9.87507463e-01 -1.80244596e-03 -3.46388428e+00] [-1.28784849e-02 -2.29732452e-04 9.99917042e-01 -6.71078236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters 0.032942609171717666 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.47, Z:-0.67 [[ 9.87436151e-01 1.57502972e-01 1.27538566e-02 3.58143737e+01] [-1.57492830e-01 9.87518487e-01 -1.80202408e-03 -3.46759487e+00] [-1.28784933e-02 -2.29257249e-04 9.99917042e-01 -6.71636632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854012739 meters 0.027997186961844518 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.48, Z:-0.68 [[ 9.88864394e-01 1.48353648e-01 1.17646084e-02 3.58409052e+01] [-1.48344382e-01 9.88934368e-01 -1.66122307e-03 -3.48299287e+00] [-1.18808741e-02 -1.02489222e-04 9.99929415e-01 -6.75848278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters 0.025828276622507716 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.50, Z:-0.67 [[ 9.89565895e-01 1.43590448e-01 1.18795365e-02 3.58677610e+01] [-1.43580660e-01 9.89637197e-01 -1.67711633e-03 -3.49675501e+00] [-1.19972490e-02 -4.60545677e-05 9.99928029e-01 -6.74939435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91401273899999 meters 0.025195810823897557 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.51, Z:-0.67 [[ 9.90171522e-01 1.39294724e-01 1.25434079e-02 3.58952118e+01] [-1.39283475e-01 9.90250968e-01 -1.77021327e-03 -3.50857752e+00] [-1.26677032e-02 5.72532679e-06 9.99919761e-01 -6.73274745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters 0.025736544924927055 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.52, Z:-0.67 [[ 9.90822030e-01 1.34596162e-01 1.24731183e-02 3.59209180e+01] [-1.34584675e-01 9.90900534e-01 -1.75964376e-03 -3.52179916e+00] [-1.25964609e-02 6.48032347e-05 9.99920659e-01 -6.73406858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974012738999996 meters 0.02583087005083448 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.53, Z:-0.67 [[ 9.90848811e-01 1.34397024e-01 1.24929178e-02 3.59481319e+01] [-1.34385489e-01 9.90927563e-01 -1.76203101e-03 -3.52746659e+00] [-1.26163883e-02 6.70394589e-05 9.99920408e-01 -6.74260184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters 0.02587418579131079 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.53, Z:-0.68 [[ 9.90728898e-01 1.35321753e-01 1.20113722e-02 3.59754178e+01] [-1.35311167e-01 9.90801706e-01 -1.69343743e-03 -3.53444004e+00] [-1.21300469e-02 5.24646212e-05 9.99926427e-01 -6.76564251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034012739 meters 0.025893013679485512 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.54, Z:-0.68 [[ 9.90712983e-01 1.35471957e-01 1.16246871e-02 3.60028239e+01] [-1.35462059e-01 9.90781180e-01 -1.63829631e-03 -3.54065090e+00] [-1.17394644e-02 4.83773681e-05 9.99931089e-01 -6.78155013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters 0.025547252320177755 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.55, Z:-0.68 [[ 9.90574066e-01 1.36510661e-01 1.13074831e-02 3.60316176e+01] [-1.36501373e-01 9.90638601e-01 -1.59280670e-03 -3.54524405e+00] [-1.14190644e-02 3.43060406e-05 9.99934800e-01 -6.77011102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09401273899999 meters 0.02540190518068305 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.55, Z:-0.68 [[ 9.90449289e-01 1.37418355e-01 1.12428109e-02 3.60605455e+01] [-1.37409237e-01 9.90513097e-01 -1.58316404e-03 -3.54839703e+00] [-1.13537073e-02 2.31776319e-05 9.99935544e-01 -6.77701583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters 0.025505625462247807 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.55, Z:-0.68 [[ 9.90337937e-01 1.38254596e-01 1.07906149e-02 3.60890558e+01] [-1.38246251e-01 9.90396722e-01 -1.51900677e-03 -3.55213056e+00] [-1.08969993e-02 1.25679799e-05 9.99940626e-01 -6.79342231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154012738999995 meters 0.025345245010096162 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.56, Z:-0.68 [[ 9.90325957e-01 1.38337645e-01 1.08256777e-02 3.61160199e+01] [-1.38329256e-01 9.90385125e-01 -1.52352987e-03 -3.56059474e+00] [-1.09323517e-02 1.12832393e-05 9.99940240e-01 -6.79800766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters 0.025231263474032803 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.57, Z:-0.68 [[ 9.90467468e-01 1.37166365e-01 1.26326174e-02 3.61433486e+01] [-1.37154858e-01 9.90548024e-01 -1.77686192e-03 -3.56926872e+00] [-1.27569399e-02 2.72990701e-05 9.99918627e-01 -6.77743558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214012739 meters 0.02519130372016841 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.57, Z:-0.68 [[ 9.90507815e-01 1.36874668e-01 1.26330401e-02 3.61718028e+01] [-1.36863148e-01 9.90588373e-01 -1.77608584e-03 -3.57385401e+00] [-1.27572438e-02 3.02292710e-05 9.99918623e-01 -6.77650650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters 0.025294884755946937 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.58, Z:-0.68 [[ 9.90549948e-01 1.36593321e-01 1.23719691e-02 3.61990369e+01] [-1.36582256e-01 9.90627207e-01 -1.73890786e-03 -3.57882852e+00] [-1.24935324e-02 3.26836358e-05 9.99921952e-01 -6.79053919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27401273899999 meters 0.0251215301241027 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.59, Z:-0.68 [[ 9.90524657e-01 1.36707038e-01 1.31183253e-02 3.62282351e+01] [-1.36694621e-01 9.90611521e-01 -1.84272088e-03 -3.58613821e+00] [-1.32470771e-02 3.20559550e-05 9.99912253e-01 -6.77806070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters 0.024674004075442225 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.59, Z:-0.67 [[ 9.90391519e-01 1.37440181e-01 1.53243701e-02 3.62578130e+01] [-1.37423332e-01 9.90510069e-01 -2.15216655e-03 -3.58991668e+00] [-1.54747370e-02 2.55614966e-05 9.99880259e-01 -6.73253824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334012738999995 meters 0.024597990047806922 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.59, Z:-0.67 [[ 9.90195512e-01 1.38734400e-01 1.62976595e-02 3.62873032e+01] [-1.38715525e-01 9.90329625e-01 -2.28845083e-03 -3.59100137e+00] [-1.64575419e-02 5.27535586e-06 9.99864565e-01 -6.71542034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters 0.024588137282346618 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.59, Z:-0.67 [[ 9.89855811e-01 1.41051360e-01 1.70290219e-02 3.63158539e+01] [-1.41031101e-01 9.90002279e-01 -2.39075032e-03 -3.59087061e+00] [-1.71959891e-02 -3.51236152e-05 9.99852137e-01 -6.71383199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394012739 meters 0.026386424474023777 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.58, Z:-0.67 [[ 9.89139254e-01 1.46061231e-01 1.64211223e-02 3.63443955e+01] [-1.46043091e-01 9.89275544e-01 -2.30492368e-03 -3.58488766e+00] [-1.65816747e-02 -1.18300981e-04 9.99862508e-01 -6.74174318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters 0.026825949041689758 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.59, Z:-0.68 [[ 9.88801263e-01 1.48456485e-01 1.52556130e-02 3.63731566e+01] [-1.48441127e-01 9.88918930e-01 -2.14048124e-03 -3.58596285e+00] [-1.54043329e-02 -1.48049831e-04 9.99881335e-01 -6.75422536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45401273899999 meters 0.030378127986556515 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.58, Z:-0.68 [[ 9.88117892e-01 1.52985115e-01 1.47846283e-02 3.64030145e+01] [-1.52971207e-01 9.88228470e-01 -2.07369661e-03 -3.57583162e+00] [-1.49278353e-02 -2.12565717e-04 9.99888551e-01 -6.77336568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters 0.02958519268094551 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.58, Z:-0.68 [[ 9.87975626e-01 1.53813350e-01 1.56721565e-02 3.64314603e+01] [-1.53797840e-01 9.88099892e-01 -2.19735746e-03 -3.57865726e+00] [-1.58236391e-02 -2.39408215e-04 9.99874770e-01 -6.75456471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514012738999995 meters 0.031115703412852466 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.57, Z:-0.67 [[ 9.87922221e-01 1.53950903e-01 1.75728238e-02 3.64606458e+01] [-1.53931442e-01 9.88078461e-01 -2.46287949e-03 -3.57470087e+00] [-1.77424913e-02 -2.71876729e-04 9.99842553e-01 -6.72891370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters 0.029994322264002102 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.58, Z:-0.67 [[ 9.87958142e-01 1.53772064e-01 1.71131973e-02 3.64890066e+01] [-1.53753599e-01 9.88106312e-01 -2.39739774e-03 -3.57816604e+00] [-1.72783110e-02 -2.62687047e-04 9.99850684e-01 -6.73621539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574012739 meters 0.03087746195916266 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.58, Z:-0.68 [[ 9.88038628e-01 1.53437404e-01 1.53828685e-02 3.65175466e+01] [-1.53422452e-01 9.88158342e-01 -2.15443937e-03 -3.57658120e+00] [-1.55312815e-02 -2.31408095e-04 9.99879356e-01 -6.77096234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters 0.03064650903173617 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.57, Z:-0.68 [[ 9.88043194e-01 1.53570203e-01 1.36689516e-02 3.65465846e+01] [-1.53558423e-01 9.88137718e-01 -1.91346937e-03 -3.57323164e+00] [-1.38006586e-02 -2.08392271e-04 9.99904745e-01 -6.81607795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63401273899999 meters 0.029523709748645637 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.57, Z:-0.68 [[ 9.88093616e-01 1.52943757e-01 1.67096661e-02 3.65756672e+01] [-1.52926080e-01 9.88234864e-01 -2.33811526e-03 -3.57204633e+00] [-1.68706747e-02 -2.45066966e-04 9.99857650e-01 -6.76303196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters 0.030746160597528664 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.57, Z:-0.67 [[ 9.88177653e-01 1.52232329e-01 1.81726426e-02 3.66042683e+01] [-1.52211318e-01 9.88344704e-01 -2.54187109e-03 -3.57029859e+00] [-1.83477901e-02 -2.54261681e-04 9.99831633e-01 -6.74742876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694012738999994 meters 0.028187420002201827 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.58, Z:-0.67 [[ 9.88357241e-01 1.51014624e-01 1.85619934e-02 3.66325865e+01] [-1.50992510e-01 9.88531500e-01 -2.59516205e-03 -3.57751128e+00] [-1.87410226e-02 -2.37774772e-04 9.99824343e-01 -6.73669303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters 0.02699121852335071 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.58, Z:-0.68 [[ 9.88895217e-01 1.47727560e-01 1.62116698e-02 3.66602488e+01] [-1.47710260e-01 9.89028081e-01 -2.26595861e-03 -3.58059093e+00] [-1.63685413e-02 -1.53834340e-04 9.99866015e-01 -6.79458594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754012739 meters 0.02638783825322066 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.59, Z:-0.68 [[ 9.89221014e-01 1.45710409e-01 1.45004537e-02 3.66886330e+01] [-1.45696365e-01 9.89327279e-01 -2.02588129e-03 -3.58635799e+00] [-1.46408864e-02 -1.08619054e-04 9.99892811e-01 -6.84118286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters 0.025680242469120054 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.59, Z:-0.69 [[ 9.89663851e-01 1.42790163e-01 1.32827374e-02 3.67165957e+01] [-1.42778124e-01 9.89752982e-01 -1.85519898e-03 -3.59404098e+00] [-1.34115332e-02 -6.04609616e-05 9.99910060e-01 -6.86904165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81401273899999 meters 0.02550798590628171 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.60, Z:-0.69 [[ 9.89812407e-01 1.41718966e-01 1.36796480e-02 3.67441407e+01] [-1.41706103e-01 9.89906931e-01 -1.91001030e-03 -3.59768915e+00] [-1.38122631e-02 -4.79377154e-05 9.99904605e-01 -6.86768564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters 0.02504910058481632 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.60, Z:-0.68 [[ 9.90044774e-01 1.39980751e-01 1.47218987e-02 3.67728523e+01] [-1.39965676e-01 9.90154225e-01 -2.05448538e-03 -3.60164061e+00] [-1.48645386e-02 -2.65279746e-05 9.99889516e-01 -6.84136037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874012738999994 meters 0.025108232359897266 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.60, Z:-0.69 [[ 9.90058300e-01 1.39901817e-01 1.45617549e-02 3.68003357e+01] [-1.39887069e-01 9.90165381e-01 -2.03149228e-03 -3.60479180e+00] [-1.47027550e-02 -2.57054233e-05 9.99891908e-01 -6.85289985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters 0.025293978439304046 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.61, Z:-0.69 [[ 9.90037943e-01 1.40087156e-01 1.41583851e-02 3.68290017e+01] [-1.40073245e-01 9.90139176e-01 -1.97430558e-03 -3.60796963e+00] [-1.42953466e-02 -2.85735222e-05 9.99897816e-01 -6.86952852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934012738999996 meters 0.025149436728859102 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.61, Z:-0.69 [[ 9.90132292e-01 1.39405020e-01 1.42927997e-02 3.68582191e+01] [-1.39390784e-01 9.90235447e-01 -1.99236071e-03 -3.61058053e+00] [-1.44309819e-02 -1.95838629e-05 9.99895868e-01 -6.86493406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters 0.02482089734320057 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.62, Z:-0.68 [[ 9.90340186e-01 1.37718199e-01 1.61249416e-02 3.68862536e+01] [-1.37699870e-01 9.90471452e-01 -2.24685948e-03 -3.61611241e+00] [-1.62807278e-02 4.75287496e-06 9.99867460e-01 -6.83877682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994012739 meters 0.025475039120547438 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.63, Z:-0.68 [[ 9.91080222e-01 1.31919547e-01 1.89004440e-02 3.69130364e+01] [-1.31893329e-01 9.91260420e-01 -2.63253842e-03 -3.63070126e+00] [-1.90825453e-02 1.16214280e-04 9.99817905e-01 -6.80885270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters 0.027153551871885215 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.64, Z:-0.68 [[ 9.91617247e-01 1.27914660e-01 1.82503640e-02 3.69406312e+01] [-1.27889552e-01 9.91785161e-01 -2.54112637e-03 -3.64321983e+00] [-1.84254875e-02 1.85793862e-04 9.99830219e-01 -6.82399251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054012738999994 meters 0.03206144801179688 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.66, Z:-0.69 [[ 9.92638006e-01 1.19970461e-01 1.66396651e-02 3.69689840e+01] [-1.19948484e-01 9.92777415e-01 -2.31616175e-03 -3.66306451e+00] [-1.67973547e-02 3.03207579e-04 9.99858869e-01 -6.85106764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters 0.0346031486083669 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.67, Z:-0.69 [[ 9.93079035e-01 1.16308724e-01 1.63190561e-02 3.69991205e+01] [-1.16287090e-01 9.93213045e-01 -2.27167633e-03 -3.67470404e+00] [-1.64725151e-02 3.58258600e-04 9.99864255e-01 -6.86180043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114012738999996 meters 0.03693750318555853 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.69, Z:-0.69 [[ 9.93430394e-01 1.13241614e-01 1.65042326e-02 3.70295046e+01] [-1.13219059e-01 9.93567394e-01 -2.29763885e-03 -3.68630162e+00] [-1.66582557e-02 4.13950577e-04 9.99861156e-01 -6.86418742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters 0.040420346838111125 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.70, Z:-0.68 [[ 9.93892513e-01 1.08791391e-01 1.84960904e-02 3.70583381e+01] [-1.08762259e-01 9.94064450e-01 -2.57672825e-03 -3.70335283e+00] [-1.86666318e-02 5.49314338e-04 9.99825612e-01 -6.82224507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174012739 meters 0.04357701015649225 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.72, Z:-0.68 [[ 9.94163273e-01 1.06097567e-01 1.95625486e-02 3.70867820e+01] [-1.06064452e-01 9.94355522e-01 -2.72554217e-03 -3.71953319e+00] [-1.97413016e-02 6.34742929e-04 9.99804920e-01 -6.81741275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters 0.043895718749801874 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.73, Z:-0.68 [[ 9.94200033e-01 1.05799745e-01 1.93056416e-02 3.71173026e+01] [-1.05767436e-01 9.94387256e-01 -2.68985001e-03 -3.73052139e+00] [-1.94818694e-02 6.32340747e-04 9.99810010e-01 -6.83180088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23401273899999 meters 0.04464190814699689 Centerline is valid? [True, True] Translation: X:37.15, Y:-3.74, Z:-0.69 [[ 9.94231052e-01 1.05473140e-01 1.94944134e-02 3.71476397e+01] [-1.05440071e-01 9.94421941e-01 -2.71933675e-03 -3.74312526e+00] [-1.96724894e-02 6.48156703e-04 9.99806268e-01 -6.85201531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters 0.04440513493686783 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.76, Z:-0.69 [[ 9.94158303e-01 1.06396769e-01 1.81382335e-02 3.71773532e+01] [-1.06368245e-01 9.94323580e-01 -2.53286893e-03 -3.75938397e+00] [-1.83047624e-02 5.88740610e-04 9.99832280e-01 -6.87642472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294012738999996 meters 0.04580504603236223 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.76, Z:-0.68 [[ 9.93989835e-01 1.08297421e-01 1.59961499e-02 3.72098173e+01] [-1.08275441e-01 9.94118417e-01 -2.23635785e-03 -3.76394835e+00] [-1.61442590e-02 4.90926788e-04 9.99869552e-01 -6.76508098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters 0.03868812394055902 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.77, Z:-0.69 [[ 9.93484967e-01 1.13063236e-01 1.42942083e-02 3.72388008e+01] [-1.13046162e-01 9.93587725e-01 -1.99947857e-03 -3.77068205e+00] [-1.44286174e-02 3.70546510e-04 9.99895833e-01 -6.94939406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354012739 meters 0.0375586867100531 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.78, Z:-0.70 [[ 9.93115562e-01 1.16299638e-01 1.39955331e-02 3.72691434e+01] [-1.16283593e-01 9.93214123e-01 -1.95755817e-03 -3.77735050e+00] [-1.41282244e-02 3.16630608e-04 9.99900142e-01 -6.96620619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters 0.03350688209763627 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.78, Z:-0.70 [[ 9.92660344e-01 1.20008578e-01 1.49460172e-02 3.73009176e+01] [-1.19990694e-01 9.92772815e-01 -2.09088095e-03 -3.77812236e+00] [-1.50889232e-02 2.82151628e-04 9.99886116e-01 -6.95084340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41401273899999 meters 0.027826749322030418 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.77, Z:-0.69 [[ 9.91735274e-01 1.27037987e-01 1.79581812e-02 3.73331429e+01] [-1.27013308e-01 9.91897830e-01 -2.51279999e-03 -3.77375917e+00] [-1.81319020e-02 2.11104382e-04 9.99835581e-01 -6.90064815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters 0.02689231726124666 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.78, Z:-0.69 [[ 9.91378050e-01 1.29756541e-01 1.82428860e-02 3.73634032e+01] [-1.29731534e-01 9.91545870e-01 -2.55259313e-03 -3.78283521e+00] [-1.84198740e-02 1.63907207e-04 9.99830326e-01 -6.90976871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474012738999996 meters 0.027175317805048612 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.79, Z:-0.69 [[ 9.91440072e-01 1.29462645e-01 1.69117560e-02 3.73938404e+01] [-1.29441072e-01 9.91584287e-01 -2.36873141e-03 -3.79268569e+00] [-1.70760938e-02 1.59379418e-04 9.99854180e-01 -6.93766863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters 0.029632196826802376 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.81, Z:-0.70 [[ 9.91954414e-01 1.25779400e-01 1.43520942e-02 3.74230958e+01] [-1.25763452e-01 9.92058217e-01 -2.01192660e-03 -3.81058787e+00] [-1.44911719e-02 1.90770559e-04 9.99894979e-01 -6.99152566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534012739 meters 0.03077185380386991 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.82, Z:-0.70 [[ 9.92240345e-01 1.23443293e-01 1.48610395e-02 3.74540155e+01] [-1.23425898e-01 9.92351600e-01 -2.08555409e-03 -3.82219415e+00] [-1.50048239e-02 2.35133763e-04 9.99887394e-01 -6.99482964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters 0.03364901297882751 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.84, Z:-0.69 [[ 9.92587116e-01 1.20157568e-01 1.82476108e-02 3.74826735e+01] [-1.20130716e-01 9.92754770e-01 -2.56461590e-03 -3.84292741e+00] [-1.84235607e-02 3.53506157e-04 9.99830209e-01 -6.93156828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59401273899999 meters 0.03367166480585515 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.85, Z:-0.69 [[ 9.92632264e-01 1.19579717e-01 1.95417405e-02 3.75141236e+01] [-1.19548746e-01 9.92824525e-01 -2.74968966e-03 -3.85147257e+00] [-1.97303263e-02 3.93240102e-04 9.99805261e-01 -6.91296488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters 0.03339433005287907 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.86, Z:-0.69 [[ 9.92523724e-01 1.20471853e-01 1.95752175e-02 3.75447338e+01] [-1.20440885e-01 9.92716671e-01 -2.75763508e-03 -3.85857988e+00] [-1.97648622e-02 3.79361720e-04 9.99804584e-01 -6.91680461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654012738999995 meters 0.03129943988812859 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.87, Z:-0.69 [[ 9.92168949e-01 1.23417937e-01 1.92038725e-02 3.75762630e+01] [-1.23388627e-01 9.92354731e-01 -2.70827017e-03 -3.86695160e+00] [-1.93913028e-02 3.17522111e-04 9.99811921e-01 -6.93511734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters 0.03027948910249844 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.87, Z:-0.69 [[ 9.91930620e-01 1.25352289e-01 1.89855066e-02 3.76072581e+01] [-1.25323978e-01 9.92112255e-01 -2.67844597e-03 -3.87398302e+00] [-1.91715031e-02 2.77493364e-04 9.99816171e-01 -6.93982397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714012739 meters 0.02724315415415452 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.88, Z:-0.70 [[ 9.91319818e-01 1.30190552e-01 1.83149829e-02 3.76394709e+01] [-1.30164977e-01 9.91488975e-01 -2.58670743e-03 -3.87786324e+00] [-1.84958685e-02 1.80285018e-04 9.99828921e-01 -6.95658395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters 0.02724315415415452 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.88, Z:-0.70 [[ 9.91295539e-01 1.30375343e-01 1.83145700e-02 3.76716252e+01] [-1.30349746e-01 9.91464693e-01 -2.58962744e-03 -3.88260014e+00] [-1.84958731e-02 1.79786589e-04 9.99828921e-01 -6.96318750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77401273899999 meters 0.02627429632829092 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.89, Z:-0.70 [[ 9.90910049e-01 1.33287188e-01 1.82153943e-02 3.77023862e+01] [-1.33262294e-01 9.91077449e-01 -2.57911599e-03 -3.88653615e+00] [-1.83966296e-02 1.28246712e-04 9.99830759e-01 -6.97627731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters 0.02491388919175793 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.89, Z:-0.70 [[ 9.90168603e-01 1.38584172e-01 1.89885343e-02 3.77332233e+01] [-1.38558035e-01 9.90350658e-01 -2.69162523e-03 -3.88862407e+00] [-1.91783241e-02 3.41487975e-05 9.99816078e-01 -6.96050112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834012738999995 meters 0.024658379156894224 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.89, Z:-0.69 [[ 9.89866579e-01 1.40648940e-01 1.95456382e-02 3.77663537e+01] [-1.40621586e-01 9.90059531e-01 -2.77378359e-03 -3.89277341e+00] [-1.97414751e-02 -2.86297371e-06 9.99805118e-01 -6.94919450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters 0.024888089442058742 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.90, Z:-0.70 [[ 9.89506184e-01 1.43201378e-01 1.92581573e-02 3.77974913e+01] [-1.43175233e-01 9.89693570e-01 -2.73677513e-03 -3.89846632e+00] [-1.94515844e-02 -4.92352430e-05 9.99810799e-01 -6.97254970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894012739 meters 0.02513287276048999 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.90, Z:-0.70 [[ 9.89341650e-01 1.44370362e-01 1.89815107e-02 3.78291238e+01] [-1.44345111e-01 9.89523721e-01 -2.70094203e-03 -3.90428991e+00] [-1.91725910e-02 -6.77338101e-05 9.99816187e-01 -6.99106173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters 0.025529260925942307 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.91, Z:-0.70 [[ 9.89057949e-01 1.46341611e-01 1.86683429e-02 3.78618601e+01] [-1.46317478e-01 9.89234109e-01 -2.65951396e-03 -3.91152777e+00] [-1.88565591e-02 -1.01091435e-04 9.99822194e-01 -7.00186547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95401273899999 meters 0.026209440095803633 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.91, Z:-0.70 [[ 9.88877745e-01 1.47601162e-01 1.82948966e-02 3.78940325e+01] [-1.47578135e-01 9.89046957e-01 -2.60981075e-03 -3.91402291e+00] [-1.84797229e-02 -1.19142963e-04 9.99829228e-01 -7.02040997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters 0.02737423225072831 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.92, Z:-0.70 [[ 9.88508410e-01 1.50095353e-01 1.79585222e-02 3.79260310e+01] [-1.50073519e-01 9.88671512e-01 -2.56505592e-03 -3.91569490e+00] [-1.81400823e-02 -1.59519271e-04 9.99835442e-01 -7.03594575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014012738999995 meters 0.028260070772916108 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.92, Z:-0.70 [[ 9.88276890e-01 1.51622080e-01 1.78755018e-02 3.79580333e+01] [-1.51600647e-01 9.88438522e-01 -2.55595759e-03 -3.91826697e+00] [-1.80563742e-02 -1.83943829e-04 9.99836953e-01 -7.04378831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters 0.02969184774661829 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.92, Z:-0.71 [[ 9.88002932e-01 1.53436557e-01 1.75336334e-02 3.79890032e+01] [-1.53416168e-01 9.88158479e-01 -2.51006910e-03 -3.91826317e+00] [-1.77111449e-02 -2.09987225e-04 9.99843123e-01 -7.06008997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074012739 meters 0.028162206586531426 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.93, Z:-0.71 [[ 9.87993183e-01 1.53531153e-01 1.72527184e-02 3.80210711e+01] [-1.53511428e-01 9.88143786e-01 -2.46973907e-03 -3.92592043e+00] [-1.74273483e-02 -2.08404075e-04 9.99848111e-01 -7.06658212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters 0.02806287288555583 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.93, Z:-0.71 [[ 9.88164973e-01 1.52422561e-01 1.72437959e-02 3.80518997e+01] [-1.52402628e-01 9.88315399e-01 -2.47189369e-03 -3.93089154e+00] [-1.74190814e-02 -1.85361063e-04 9.99848259e-01 -7.07413342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13401273899999 meters 0.02701070298857585 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.94, Z:-0.71 [[ 9.88297965e-01 1.51448186e-01 1.81818138e-02 3.80830943e+01] [-1.51425806e-01 9.88465182e-01 -2.60935106e-03 -3.93895749e+00] [-1.83672713e-02 -1.74379464e-04 9.99831292e-01 -7.05563869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters 0.02650763282350026 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.94, Z:-0.70 [[ 9.88629382e-01 1.49001014e-01 2.02643497e-02 3.81136818e+01] [-1.48972621e-01 9.88837033e-01 -2.91201708e-03 -3.94396379e+00] [-2.04720330e-02 -1.39927650e-04 9.99790416e-01 -7.02448752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194012738999994 meters 0.025135021909585737 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.95, Z:-0.70 [[ 9.89000420e-01 1.46507676e-01 2.03389040e-02 3.81445740e+01] [-1.46478481e-01 9.89209530e-01 -2.92591329e-03 -3.95308388e+00] [-2.05481064e-02 -8.54822976e-05 9.99788862e-01 -7.03578129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters 0.02513232471465994 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.96, Z:-0.71 [[ 9.89172734e-01 1.45548850e-01 1.87838786e-02 3.81764010e+01] [-1.45523719e-01 9.89351065e-01 -2.70518155e-03 -3.95951101e+00] [-1.89775864e-02 -5.76080521e-05 9.99819908e-01 -7.06913300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254012739 meters 0.025039135417450474 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.97, Z:-0.71 [[ 9.89400918e-01 1.44245471e-01 1.67052916e-02 3.82078239e+01] [-1.44225384e-01 9.89541936e-01 -2.40733159e-03 -3.97003848e+00] [-1.68778333e-02 -2.75110135e-05 9.99857559e-01 -7.11082003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters 0.02497863708873327 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.98, Z:-0.71 [[ 9.89374896e-01 1.44427324e-01 1.66752397e-02 3.82400817e+01] [-1.44407282e-01 9.89515410e-01 -2.40618768e-03 -3.97612444e+00] [-1.68479259e-02 -2.74043543e-05 9.99858063e-01 -7.12078755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31401273899999 meters 0.025102790565533592 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.98, Z:-0.71 [[ 9.89356966e-01 1.44536924e-01 1.67890129e-02 3.82715738e+01] [-1.44516567e-01 9.89499407e-01 -2.42590580e-03 -3.98212757e+00] [-1.69633513e-02 -2.62036960e-05 9.99856112e-01 -7.13036607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters 0.024994398899023735 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.99, Z:-0.71 [[ 9.89424012e-01 1.44054953e-01 1.69792564e-02 3.83039610e+01] [-1.44034009e-01 9.89569689e-01 -2.45645329e-03 -3.99170271e+00] [-1.71560217e-02 -1.51164872e-05 9.99852825e-01 -7.12296238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374012738999994 meters 0.024982598152215655 Centerline is valid? [True, True] Translation: X:38.34, Y:-4.00, Z:-0.71 [[ 9.89484420e-01 1.43649289e-01 1.68956812e-02 3.83356821e+01] [-1.43628431e-01 9.89628659e-01 -2.44783465e-03 -3.99804084e+00] [-1.70720800e-02 -4.60593426e-06 9.99854261e-01 -7.13342285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters 0.030448811138665734 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.01, Z:-0.70 [[ 9.89345466e-01 1.44493745e-01 1.78074683e-02 3.83682366e+01] [-1.44470675e-01 9.89505714e-01 -2.58202796e-03 -4.00670483e+00] [-1.79936786e-02 -1.81393099e-05 9.99838100e-01 -7.00160146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434012738999996 meters 0.0248387620509317 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.01, Z:-0.71 [[ 9.89327979e-01 1.44443471e-01 1.91372272e-02 3.84007017e+01] [-1.44416740e-01 9.89513054e-01 -2.77877693e-03 -4.01210374e+00] [-1.93379123e-02 -1.46142148e-05 9.99813005e-01 -7.10950069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters 0.02492186435722428 Centerline is valid? [True, True] Translation: X:38.43, Y:-4.02, Z:-0.71 [[ 9.89094316e-01 1.46084872e-01 1.87522019e-02 3.84321239e+01] [-1.46059433e-01 9.89272060e-01 -2.72644118e-03 -4.01699991e+00] [-1.89493213e-02 -4.22285221e-05 9.99820445e-01 -7.11270608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494012739 meters 0.02527426238650389 Centerline is valid? [True, True] Translation: X:38.47, Y:-4.02, Z:-0.71 [[ 9.88824648e-01 1.47883592e-01 1.88748356e-02 3.84651512e+01] [-1.47858106e-01 9.89004771e-01 -2.74643522e-03 -4.01978318e+00] [-1.90734551e-02 -7.50546049e-05 9.99818082e-01 -7.12601435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters 0.025723253111866098 Centerline is valid? [True, True] Translation: X:38.50, Y:-4.02, Z:-0.71 [[ 9.88569119e-01 1.49571106e-01 1.89626449e-02 3.84979505e+01] [-1.49545625e-01 9.88750966e-01 -2.76276585e-03 -4.02252816e+00] [-1.91625634e-02 -1.04595579e-04 9.99816376e-01 -7.13973933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554012738999994 meters 0.02680958535747601 Centerline is valid? [True, True] Translation: X:38.53, Y:-4.02, Z:-0.72 [[ 9.88137048e-01 1.52431767e-01 1.87010726e-02 3.85301213e+01] [-1.52407430e-01 9.88313985e-01 -2.72811493e-03 -4.02384463e+00] [-1.88983830e-02 -1.54430983e-04 9.99821398e-01 -7.16172359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters 0.02780823923302252 Centerline is valid? [True, True] Translation: X:38.56, Y:-4.02, Z:-0.71 [[ 9.87777461e-01 1.54665237e-01 1.93481709e-02 3.85618473e+01] [-1.54639551e-01 9.87966914e-01 -2.82578454e-03 -4.02421470e+00] [-1.95524033e-02 -2.00746190e-04 9.99808813e-01 -7.13722163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614012738999996 meters 0.02846714916012179 Centerline is valid? [True, True] Translation: X:38.59, Y:-4.03, Z:-0.71 [[ 9.87535037e-01 1.56218183e-01 1.92465380e-02 3.85943607e+01] [-1.56193005e-01 9.87722546e-01 -2.81380284e-03 -4.02726263e+00] [-1.94498067e-02 -2.27445720e-04 9.99810809e-01 -7.13787954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters 0.028657565096227904 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.03, Z:-0.71 [[ 9.87305687e-01 1.57685769e-01 1.90441404e-02 3.86265850e+01] [-1.57661333e-01 9.87489309e-01 -2.78726013e-03 -4.03230926e+00] [-1.92453963e-02 -2.50646783e-04 9.99814759e-01 -7.14508415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674012739 meters 0.030867303263497917 Centerline is valid? [True, True] Translation: X:38.66, Y:-4.04, Z:-0.72 [[ 9.86879746e-01 1.60301153e-01 1.92848826e-02 3.86573513e+01] [-1.60276528e-01 9.87068108e-01 -2.82584307e-03 -4.03512231e+00] [-1.94884785e-02 -3.02146740e-04 9.99810036e-01 -7.16097012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters 0.031802175953006946 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.04, Z:-0.71 [[ 9.86583438e-01 1.61914090e-01 2.09032759e-02 3.86888704e+01] [-1.61885477e-01 9.86804792e-01 -3.06504175e-03 -4.03986119e+00] [-2.11237262e-02 -3.60017364e-04 9.99776804e-01 -7.14563413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73401273899999 meters 0.03263626477438307 Centerline is valid? [True, True] Translation: X:38.72, Y:-4.04, Z:-0.72 [[ 9.86447106e-01 1.62757366e-01 2.07881385e-02 3.87197045e+01] [-1.62729184e-01 9.86666053e-01 -3.05152654e-03 -4.04386200e+00] [-2.10076090e-02 -3.72667277e-04 9.99779246e-01 -7.15465231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters 0.03364261021080969 Centerline is valid? [True, True] Translation: X:38.75, Y:-4.05, Z:-0.72 [[ 9.86287136e-01 1.63885502e-01 1.94737586e-02 3.87513030e+01] [-1.63860937e-01 9.86479298e-01 -2.86132600e-03 -4.04733904e+00] [-1.96793896e-02 -3.68899306e-04 9.99806274e-01 -7.18746531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794012738999996 meters 0.036601998781004855 Centerline is valid? [True, True] Translation: X:38.78, Y:-4.05, Z:-0.72 [[ 9.85735061e-01 1.67457046e-01 1.68679450e-02 3.87828820e+01] [-1.67439092e-01 9.85879300e-01 -2.48118262e-03 -4.04762957e+00] [-1.70452494e-02 -3.78564696e-04 9.99854648e-01 -7.24280583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters 0.039192676976860484 Centerline is valid? [True, True] Translation: X:38.81, Y:-4.05, Z:-0.73 [[ 9.85299343e-01 1.70015410e-01 1.67321441e-02 3.88142142e+01] [-1.69998113e-01 9.85441314e-01 -2.46116777e-03 -4.04876203e+00] [-1.69069825e-02 -4.19445940e-04 9.99856979e-01 -7.25334270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854012739 meters 0.04317989422124186 Centerline is valid? [True, True] Translation: X:38.85, Y:-4.05, Z:-0.72 [[ 9.84229359e-01 1.76001307e-01 1.77794750e-02 3.88453370e+01] [-1.75982694e-01 9.84389778e-01 -2.61838538e-03 -4.04655283e+00] [-1.79627727e-02 -5.51788141e-04 9.99838504e-01 -7.24108724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters 0.04807516415618906 Centerline is valid? [True, True] Translation: X:38.88, Y:-4.04, Z:-0.72 [[ 9.83759277e-01 1.78542697e-01 1.84442653e-02 3.88765520e+01] [-1.78523112e-01 9.83931969e-01 -2.71628419e-03 -4.04263799e+00] [-1.86328750e-02 -6.20557866e-04 9.99826200e-01 -7.23482492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91401273899999 meters 0.05056529232466331 Centerline is valid? [True, True] Translation: X:38.91, Y:-4.04, Z:-0.72 [[ 9.82766210e-01 1.83825223e-01 1.94644316e-02 3.89072331e+01] [-1.83804431e-01 9.82958651e-01 -2.86723353e-03 -4.04129585e+00] [-1.96598013e-02 -7.59828545e-04 9.99806439e-01 -7.22228150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters 0.05175609183941633 Centerline is valid? [True, True] Translation: X:38.94, Y:-4.04, Z:-0.72 [[ 9.82315669e-01 1.86262019e-01 1.90364367e-02 3.89379871e+01] [-1.86242592e-01 9.82499789e-01 -2.80398646e-03 -4.04312846e+00] [-1.92255712e-02 -7.90995469e-04 9.99814859e-01 -7.23908421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974012738999996 meters 0.0588178449798092 Centerline is valid? [True, True] Translation: X:38.97, Y:-4.04, Z:-0.73 [[ 9.81842250e-01 1.88828277e-01 1.81570273e-02 3.89687034e+01] [-1.88811037e-01 9.82009795e-01 -2.67465683e-03 -4.03527478e+00] [-1.83354295e-02 -8.02156085e-04 9.99831570e-01 -7.26983288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters 0.05484989543624732 Centerline is valid? [True, True] Translation: X:39.00, Y:-4.04, Z:-0.73 [[ 9.81751082e-01 1.89299445e-01 1.81805594e-02 3.89985457e+01] [-1.89282237e-01 9.81919071e-01 -2.67834880e-03 -4.04353256e+00] [-1.83588479e-02 -8.11785116e-04 9.99831133e-01 -7.26173376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034012739 meters 0.057185772063147594 Centerline is valid? [True, True] Translation: X:39.03, Y:-4.04, Z:-0.73 [[ 9.81684113e-01 1.89588681e-01 1.87732548e-02 3.90279884e+01] [-1.89570384e-01 9.81863239e-01 -2.76571049e-03 -4.04259880e+00] [-1.89571161e-02 -8.43799076e-04 9.99819942e-01 -7.25586002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters 0.05641393871813311 Centerline is valid? [True, True] Translation: X:39.06, Y:-4.04, Z:-0.72 [[ 9.81567665e-01 1.90038981e-01 2.02510177e-02 3.90581515e+01] [-1.90017803e-01 9.81776114e-01 -2.98265383e-03 -4.04182400e+00] [-2.04487860e-02 -9.20377327e-04 9.99790478e-01 -7.22999865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09401273899999 meters 0.05624234286850049 Centerline is valid? [True, True] Translation: X:39.09, Y:-4.04, Z:-0.72 [[ 9.81605568e-01 1.89581948e-01 2.25653224e-02 3.90883485e+01] [-1.89555545e-01 9.81864376e-01 -3.32293738e-03 -4.04020707e+00] [-2.27860551e-02 -1.01556814e-03 9.99739848e-01 -7.19417010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters 0.05346835002706485 Centerline is valid? [True, True] Translation: X:39.12, Y:-4.05, Z:-0.72 [[ 9.81779285e-01 1.88626594e-01 2.30096201e-02 3.91178935e+01] [-1.88598890e-01 9.82048360e-01 -3.38789084e-03 -4.04643471e+00] [-2.32356060e-02 -1.01342776e-03 9.99729503e-01 -7.19530030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154012738999995 meters 0.05453602295789181 Centerline is valid? [True, True] Translation: X:39.15, Y:-4.05, Z:-0.72 [[ 9.82087199e-01 1.87095542e-01 2.23604718e-02 3.91477503e+01] [-1.87068983e-01 9.82341263e-01 -3.29231153e-03 -4.04817705e+00] [-2.25815909e-02 -9.49613707e-04 9.99744552e-01 -7.20560601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters 0.05137654361849384 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.05, Z:-0.73 [[ 9.82852309e-01 1.83267620e-01 2.03548169e-02 3.91765542e+01] [-1.83244792e-01 9.83062747e-01 -2.99700113e-03 -4.05456478e+00] [-2.05593155e-02 -7.84304709e-04 9.99788327e-01 -7.25254710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214012739 meters 0.046645456965906835 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.06, Z:-0.72 [[ 9.83695383e-01 1.78595101e-01 2.11467146e-02 3.92061839e+01] [-1.78569385e-01 9.83922396e-01 -3.11346250e-03 -4.06327060e+00] [-2.13627753e-02 -7.13457153e-04 9.99771535e-01 -7.23967898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters 0.04436048874982632 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.07, Z:-0.72 [[ 9.84117684e-01 1.76142700e-01 2.20484337e-02 3.92367089e+01] [-1.76114127e-01 9.84364402e-01 -3.24631439e-03 -4.07056946e+00] [-2.22755078e-02 -6.88285259e-04 9.99751633e-01 -7.22608534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27401273899999 meters 0.039817162996997627 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.08, Z:-0.72 [[ 9.85057712e-01 1.70750008e-01 2.24886446e-02 3.92654949e+01] [-1.70718867e-01 9.85314215e-01 -3.31158964e-03 -4.08231203e+00] [-2.27238351e-02 -5.77129011e-04 9.99741614e-01 -7.22706855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters 0.03568205567405652 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.09, Z:-0.72 [[ 9.85550988e-01 1.67917956e-01 2.21993176e-02 3.92957548e+01] [-1.67886894e-01 9.85800844e-01 -3.26896868e-03 -4.09344836e+00] [-2.24330246e-02 -5.05239173e-04 9.99748220e-01 -7.24053501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334012738999995 meters 0.03423343530876333 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.10, Z:-0.73 [[ 9.85887386e-01 1.65964459e-01 2.19513347e-02 3.93264021e+01] [-1.65933586e-01 9.86131630e-01 -3.23320339e-03 -4.10039196e+00] [-2.21835023e-02 -4.54889234e-04 9.99753812e-01 -7.25359628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters 0.03225118855876929 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.11, Z:-0.73 [[ 9.86237974e-01 1.64112613e-01 2.00426829e-02 3.93579734e+01] [-1.64086437e-01 9.86441539e-01 -2.95486816e-03 -4.10904679e+00] [-2.02558661e-02 -3.74529236e-04 9.99794759e-01 -7.28833966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394012739 meters 0.03318680423578569 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.11, Z:-0.73 [[ 9.86274390e-01 1.64057707e-01 1.86519821e-02 3.93896062e+01] [-1.64035010e-01 9.86450682e-01 -2.75077888e-03 -4.11239717e+00] [-1.88505470e-02 -3.46555314e-04 9.99822253e-01 -7.32295671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters 0.03350346699227958 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.12, Z:-0.74 [[ 9.86299950e-01 1.64166207e-01 1.61822403e-02 3.94212591e+01] [-1.64149115e-01 9.86432646e-01 -2.38793534e-03 -4.11713484e+00] [-1.63547084e-02 -3.01079908e-04 9.99866207e-01 -7.38623216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45401273899999 meters 0.03336840916087645 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.12, Z:-0.74 [[ 9.86497414e-01 1.62916769e-01 1.67623979e-02 3.94518725e+01] [-1.62898196e-01 9.86639774e-01 -2.47665068e-03 -4.12217845e+00] [-1.69419364e-02 -2.87354889e-04 9.99856434e-01 -7.38974910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters 0.03216800054098251 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.13, Z:-0.74 [[ 9.86702884e-01 1.61605699e-01 1.73498516e-02 3.94828558e+01] [-1.61585552e-01 9.86855372e-01 -2.56611031e-03 -4.12984331e+00] [-1.75364923e-02 -2.71496915e-04 9.99846187e-01 -7.37711360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514012738999995 meters 0.030582258530491097 Centerline is valid? [True, True] Translation: X:39.51, Y:-4.14, Z:-0.74 [[ 9.87006153e-01 1.59667266e-01 1.80338272e-02 3.95145027e+01] [-1.59645123e-01 9.87170859e-01 -2.67018829e-03 -4.13823569e+00] [-1.82288104e-02 -2.43520296e-04 9.99833812e-01 -7.36786873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters 0.026844655085358802 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.15, Z:-0.74 [[ 9.87697680e-01 1.55320974e-01 1.81297583e-02 3.95453153e+01] [-1.55297807e-01 9.87864044e-01 -2.68739064e-03 -4.15265218e+00] [-1.83271445e-02 -1.61182203e-04 9.99832031e-01 -7.35765321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574012739 meters 0.026557541781566982 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.16, Z:-0.74 [[ 9.87949830e-01 1.53678753e-01 1.83840637e-02 3.95762619e+01] [-1.53654630e-01 9.88120855e-01 -2.72604677e-03 -4.15780061e+00] [-1.85846122e-02 -1.31599055e-04 9.99827283e-01 -7.36827833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters 0.024993348584462085 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.17, Z:-0.74 [[ 9.88548519e-01 1.49674698e-01 1.92174449e-02 3.96072849e+01] [-1.49647519e-01 9.88735294e-01 -2.85275476e-03 -4.16924486e+00] [-1.94279512e-02 -5.57564673e-05 9.99811258e-01 -7.35718016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63401273899999 meters 0.024993348584462085 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.17, Z:-0.74 [[ 9.88522782e-01 1.49844638e-01 1.92170181e-02 3.96394021e+01] [-1.49817436e-01 9.88709554e-01 -2.85562681e-03 -4.17422620e+00] [-1.94279498e-02 -5.61922244e-05 9.99811258e-01 -7.36378342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters 0.024607310505736783 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.18, Z:-0.73 [[ 9.88785956e-01 1.47995865e-01 1.99889364e-02 3.96717205e+01] [-1.47965981e-01 9.88987980e-01 -2.97398514e-03 -4.18201052e+00] [-2.02089553e-02 -1.70478502e-05 9.99795778e-01 -7.34925951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694012738999994 meters 0.024905647923041247 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.19, Z:-0.74 [[ 9.89381245e-01 1.43925515e-01 2.02533436e-02 3.97036601e+01] [-1.43893903e-01 9.89588521e-01 -3.01724755e-03 -4.19309306e+00] [-2.04767352e-02 7.08754901e-05 9.99790327e-01 -7.35793536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters 0.02544676845276008 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.20, Z:-0.74 [[ 9.89619573e-01 1.42324393e-01 1.99215377e-02 3.97340925e+01] [-1.42293407e-01 9.89820062e-01 -2.97158188e-03 -4.20156582e+00] [-2.01416663e-02 1.06032120e-04 9.99797130e-01 -7.36918533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754012739 meters 0.026637076744476143 Centerline is valid? [True, True] Translation: X:39.77, Y:-4.21, Z:-0.74 [[ 9.90091015e-01 1.39112460e-01 1.91704173e-02 3.97653074e+01] [-1.39083110e-01 9.90276575e-01 -2.86239318e-03 -4.21194075e+00] [-1.93822098e-02 1.67748506e-04 9.99812133e-01 -7.38646112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters 0.027261701616434483 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.22, Z:-0.74 [[ 9.90297218e-01 1.37646468e-01 1.91015630e-02 3.97965062e+01] [-1.37616994e-01 9.90481403e-01 -2.85529364e-03 -4.21854112e+00] [-1.93127640e-02 1.98889667e-04 9.99813471e-01 -7.39176837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81401273899999 meters 0.028969490412092874 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.23, Z:-0.74 [[ 9.90653542e-01 1.35000875e-01 1.95019008e-02 3.98267936e+01] [-1.34969574e-01 9.90845445e-01 -2.91847773e-03 -4.22880576e+00] [-1.97173667e-02 2.59037049e-04 9.99805560e-01 -7.39749752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters 0.028921571657369943 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.24, Z:-0.74 [[ 9.90764260e-01 1.34155537e-01 1.97097334e-02 3.98583917e+01] [-1.34123336e-01 9.90960248e-01 -2.95265987e-03 -4.23593105e+00] [-1.99276780e-02 2.81854660e-04 9.99801384e-01 -7.40561085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874012738999994 meters 0.03131359576679608 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.25, Z:-0.74 [[ 9.91190755e-01 1.30887450e-01 2.02327192e-02 3.98878916e+01] [-1.30852764e-01 9.91397168e-01 -3.03457538e-03 -4.24881021e+00] [-2.04558483e-02 3.60335847e-04 9.99790692e-01 -7.39655741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters 0.03279949204108306 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.26, Z:-0.74 [[ 9.91430116e-01 1.28979820e-01 2.07492283e-02 3.99176433e+01] [-1.28942853e-01 9.91647133e-01 -3.11532548e-03 -4.25775087e+00] [-2.09777269e-02 4.13162810e-04 9.99779858e-01 -7.39976810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934012738999996 meters 0.0330412210113586 Centerline is valid? [True, True] Translation: X:39.95, Y:-4.27, Z:-0.74 [[ 9.91558233e-01 1.28208702e-01 1.93597144e-02 3.99488827e+01] [-1.28176368e-01 9.91747129e-01 -2.90703301e-03 -4.26802787e+00] [-1.95726481e-02 4.01034649e-04 9.99808357e-01 -7.42179690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters 0.03343488293426344 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.28, Z:-0.75 [[ 9.91388935e-01 1.29671132e-01 1.82586012e-02 3.99795233e+01] [-1.29642565e-01 9.91556994e-01 -2.74464477e-03 -4.27583951e+00] [-1.84603449e-02 3.53918565e-04 9.99829531e-01 -7.45311774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99401273899999 meters 0.03270786491643267 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.28, Z:-0.75 [[ 9.91154597e-01 1.31599400e-01 1.71511674e-02 4.00100983e+01] [-1.31574438e-01 9.91302934e-01 -2.58071068e-03 -4.28007301e+00] [-1.73416226e-02 3.01228046e-04 9.99849577e-01 -7.47841499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters 0.02974653307818368 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.28, Z:-0.75 [[ 9.90655221e-01 1.35216606e-01 1.78522476e-02 4.00425224e+01] [-1.35190097e-01 9.90816031e-01 -2.68902332e-03 -4.27965855e+00] [-1.80518937e-02 2.50447906e-04 9.99837020e-01 -7.47912717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054012738999994 meters 0.028643472993125745 Centerline is valid? [True, True] Translation: X:40.07, Y:-4.28, Z:-0.75 [[ 9.90390702e-01 1.36972434e-01 1.90999702e-02 4.00744269e+01] [-1.36942351e-01 9.90574831e-01 -2.88034066e-03 -4.28294282e+00] [-1.93144770e-02 2.37067794e-04 9.99813430e-01 -7.46150304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters 0.026953526376558977 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.28, Z:-0.74 [[ 9.90020007e-01 1.39364428e-01 2.09270851e-02 4.01064979e+01] [-1.39328767e-01 9.90241138e-01 -3.15966454e-03 -4.28493858e+00] [-2.11632054e-02 2.12386141e-04 9.99776012e-01 -7.43495361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114012738999996 meters 0.02741984281996148 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.29, Z:-0.74 [[ 9.89915142e-01 1.40084687e-01 2.10782155e-02 4.01380499e+01] [-1.40048594e-01 9.90139505e-01 -3.18619764e-03 -4.29270342e+00] [-2.13167114e-02 2.02090853e-04 9.99772753e-01 -7.44336363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters 0.029677107206783696 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.30, Z:-0.74 [[ 9.89858285e-01 1.40676176e-01 1.97683894e-02 4.01702564e+01] [-1.40644479e-01 9.90055645e-01 -2.99165071e-03 -4.30014263e+00] [-1.99926595e-02 1.80995423e-04 9.99800110e-01 -7.40229900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174012739 meters 0.026820629196421704 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.30, Z:-0.75 [[ 9.89784088e-01 1.41098155e-01 2.04638402e-02 4.02035890e+01] [-1.41064196e-01 9.89995595e-01 -3.10088783e-03 -4.30254249e+00] [-2.06966412e-02 1.82494278e-04 9.99785785e-01 -7.46797318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters 0.02635782473225043 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.30, Z:-0.75 [[ 9.89564866e-01 1.42506649e-01 2.12892367e-02 4.02352916e+01] [-1.42470129e-01 9.89793831e-01 -3.23015547e-03 -4.30205352e+00] [-2.15322738e-02 1.63368058e-04 9.99768140e-01 -7.45733958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23401273899999 meters 0.026304961249276084 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.31, Z:-0.75 [[ 9.89391919e-01 1.43712385e-01 2.12221839e-02 4.02662139e+01] [-1.43676302e-01 9.89619488e-01 -3.22326459e-03 -4.30571774e+00] [-2.14651098e-02 1.39947041e-04 9.99769588e-01 -7.47111338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters 0.025860174289990434 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.31, Z:-0.75 [[ 9.89249308e-01 1.44742849e-01 2.08642002e-02 4.02981093e+01] [-1.44708136e-01 9.89469299e-01 -3.17205003e-03 -4.30786926e+00] [-2.11036171e-02 1.18728775e-04 9.99777287e-01 -7.47961549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294012738999996 meters 0.025997551266695455 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.31, Z:-0.75 [[ 9.89348160e-01 1.44067797e-01 2.08491958e-02 4.03307437e+01] [-1.44032912e-01 9.89567810e-01 -3.17316120e-03 -4.31151037e+00] [-2.10888434e-02 1.36390810e-04 9.99777596e-01 -7.48140359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters 0.026398410643506023 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.32, Z:-0.75 [[ 9.89492004e-01 1.43106909e-01 2.06394507e-02 4.03627801e+01] [-1.43072432e-01 9.89707223e-01 -3.14513852e-03 -4.31596214e+00] [-2.08771045e-02 1.59153009e-04 9.99782037e-01 -7.49027240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354012739 meters 0.027667990670397085 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.32, Z:-0.75 [[ 9.89899898e-01 1.40232061e-01 2.08125255e-02 4.03943686e+01] [-1.40196294e-01 9.90118639e-01 -3.17503348e-03 -4.32427999e+00] [-2.10521109e-02 2.25126388e-04 9.99778354e-01 -7.48583166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters 0.02859718872428072 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.33, Z:-0.75 [[ 9.90100499e-01 1.38799976e-01 2.08702882e-02 4.04255808e+01] [-1.38763617e-01 9.90320402e-01 -3.18737444e-03 -4.33218999e+00] [-2.11106797e-02 2.59784339e-04 9.99777111e-01 -7.48704986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41401273899999 meters 0.030378669632036812 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.34, Z:-0.75 [[ 9.90483269e-01 1.36141135e-01 2.02109943e-02 4.04561919e+01] [-1.36106417e-01 9.90689404e-01 -3.08996790e-03 -4.34008511e+00] [-2.04434896e-02 3.09715496e-04 9.99790962e-01 -7.50540239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters 0.0313115464585551 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.35, Z:-0.75 [[ 9.90633919e-01 1.35151907e-01 1.94525219e-02 4.04862959e+01] [-1.35119498e-01 9.90824838e-01 -2.97690599e-03 -4.34634136e+00] [-1.96763764e-02 3.20609058e-04 9.99806350e-01 -7.52193030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474012738999996 meters 0.03167642277577601 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.35, Z:-0.75 [[ 9.90759765e-01 1.34261138e-01 1.92102835e-02 4.05181335e+01] [-1.34229307e-01 9.90945929e-01 -2.94273412e-03 -4.35364149e+00] [-1.94314471e-02 3.36959510e-04 9.99811135e-01 -7.53410797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters 0.030738337520651384 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.36, Z:-0.75 [[ 9.90441325e-01 1.36522696e-01 1.96859090e-02 4.05495933e+01] [-1.36489649e-01 9.90636897e-01 -3.01898294e-03 -4.35735831e+00] [-1.99137475e-02 3.03202655e-04 9.99801656e-01 -7.52844363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534012739 meters 0.029848367451328184 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.36, Z:-0.75 [[ 9.90199695e-01 1.38299055e-01 1.94405709e-02 4.05803829e+01] [-1.38267105e-01 9.90390478e-01 -2.98458319e-03 -4.35957364e+00] [-1.96665214e-02 2.67341896e-04 9.99806560e-01 -7.54820559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters 0.02905064623782978 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.36, Z:-0.76 [[ 9.89969618e-01 1.40048641e-01 1.86154045e-02 4.06109761e+01] [-1.40019605e-01 9.90144599e-01 -2.86060864e-03 -4.36256705e+00] [-1.88325665e-02 2.25394072e-04 9.99822626e-01 -7.57378040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59401273899999 meters 0.027795153829744127 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.36, Z:-0.76 [[ 9.89522491e-01 1.43342883e-01 1.72643310e-02 4.06427096e+01] [-1.43318369e-01 9.89673074e-01 -2.65536184e-03 -4.36426493e+00] [-1.74666707e-02 1.53244512e-04 9.99847434e-01 -7.60492402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters 0.026570300640614646 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.36, Z:-0.76 [[ 9.89188981e-01 1.45610069e-01 1.74030868e-02 4.06753616e+01] [-1.45585460e-01 9.89342051e-01 -2.67953638e-03 -4.36435979e+00] [-1.76077731e-02 1.16931472e-04 9.99844964e-01 -7.59946809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654012738999995 meters 0.025226260118390378 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.36, Z:-0.76 [[ 9.88403831e-01 1.50604227e-01 1.93967379e-02 4.07081082e+01] [-1.50574547e-01 9.88594136e-01 -2.99001624e-03 -4.36099908e+00] [-1.96258104e-02 3.46884920e-05 9.99807395e-01 -7.57539771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters 0.025140361733505104 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.37, Z:-0.76 [[ 9.88005510e-01 1.53028370e-01 2.06743687e-02 4.07397518e+01] [-1.52995102e-01 9.88221796e-01 -3.19077621e-03 -4.36735432e+00] [-2.09191410e-02 -1.05726580e-05 9.99781171e-01 -7.56459741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714012739 meters 0.025137527460453113 Centerline is valid? [True, True] Translation: X:40.77, Y:-4.37, Z:-0.76 [[ 9.87937516e-01 1.53487612e-01 2.05187219e-02 4.07723945e+01] [-1.53454864e-01 9.88150572e-01 -3.17051603e-03 -4.37465675e+00] [-2.07622217e-02 -1.64259459e-05 9.99784442e-01 -7.57387783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters 0.02544250821207795 Centerline is valid? [True, True] Translation: X:40.80, Y:-4.38, Z:-0.76 [[ 9.87675700e-01 1.55289054e-01 1.95453789e-02 4.08038661e+01] [-1.55259621e-01 9.87869074e-01 -3.02369919e-03 -4.37855244e+00] [-1.97778227e-02 -4.81738944e-05 9.99804399e-01 -7.59502708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77401273899999 meters 0.02603511506507393 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.38, Z:-0.76 [[ 9.87334467e-01 1.57512534e-01 1.89855488e-02 4.08348518e+01] [-1.57485132e-01 9.87516984e-01 -2.93924635e-03 -4.37952253e+00] [-1.92115200e-02 -8.79224342e-05 9.99815438e-01 -7.61182173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters 0.02921082795145528 Centerline is valid? [True, True] Translation: X:40.87, Y:-4.37, Z:-0.76 [[ 9.86344476e-01 1.63635736e-01 1.86526081e-02 4.08675132e+01] [-1.63610329e-01 9.86520808e-01 -2.89046891e-03 -4.37317272e+00] [-1.88741701e-02 -2.00761306e-04 9.99821847e-01 -7.62902531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834012738999995 meters 0.03145395461757908 Centerline is valid? [True, True] Translation: X:40.90, Y:-4.37, Z:-0.76 [[ 9.85654955e-01 1.67669513e-01 1.92677249e-02 4.09003178e+01] [-1.67643112e-01 9.85843220e-01 -2.98886377e-03 -4.37195172e+00] [-1.94960973e-02 -2.84112975e-04 9.99809893e-01 -7.62165871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters 0.040726602896283305 Centerline is valid? [True, True] Translation: X:40.93, Y:-4.35, Z:-0.76 [[ 9.84035130e-01 1.76821227e-01 2.02266236e-02 4.09333880e+01] [-1.76794042e-01 9.84242864e-01 -3.13856823e-03 -4.35450843e+00] [-2.04628755e-02 -4.87485159e-04 9.99790495e-01 -7.61379745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894012739 meters 0.043107689847395846 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.35, Z:-0.76 [[ 9.83180453e-01 1.81509616e-01 2.02597304e-02 4.09654137e+01] [-1.81483339e-01 9.83388995e-01 -3.14352543e-03 -4.35235325e+00] [-2.04937760e-02 -5.86150772e-04 9.99789809e-01 -7.63032538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters 0.047515804711545484 Centerline is valid? [True, True] Translation: X:41.00, Y:-4.34, Z:-0.77 [[ 9.82078276e-01 1.87452710e-01 1.95893148e-02 4.09974201e+01] [-1.87429315e-01 9.82273389e-01 -3.03994650e-03 -4.34437773e+00] [-1.98119089e-02 -6.86146440e-04 9.99803489e-01 -7.65786187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95401273899999 meters 0.047415058291081426 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.35, Z:-0.77 [[ 9.81900390e-01 1.88456156e-01 1.88653697e-02 4.10268488e+01] [-1.88434642e-01 9.82081369e-01 -2.92762224e-03 -4.34579007e+00] [-1.90790565e-02 -6.80255767e-04 9.99817747e-01 -7.67093968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters 0.04907103663624613 Centerline is valid? [True, True] Translation: X:41.06, Y:-4.34, Z:-0.77 [[ 9.81854530e-01 1.88733504e-01 1.84755420e-02 4.10556310e+01] [-1.88712927e-01 9.82028112e-01 -2.86673802e-03 -4.34375114e+00] [-1.86845511e-02 -6.71853895e-04 9.99825203e-01 -7.68466574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014012738999995 meters 0.047063434880071225 Centerline is valid? [True, True] Translation: X:41.08, Y:-4.34, Z:-0.77 [[ 9.82075616e-01 1.87596380e-01 1.83052393e-02 4.10848475e+01] [-1.87575999e-01 9.82245989e-01 -2.83946435e-03 -4.34177915e+00] [-1.85129211e-02 -6.45054837e-04 9.99828413e-01 -7.69918019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters 0.04587829868575753 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.34, Z:-0.77 [[ 9.82422420e-01 1.85647312e-01 1.95260011e-02 4.11146989e+01] [-1.85623757e-01 9.82616229e-01 -3.02783819e-03 -4.33877968e+00] [-1.97486756e-02 -6.49873565e-04 9.99804765e-01 -7.67358865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074012739 meters 0.04383727834696882 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.34, Z:-0.77 [[ 9.82695842e-01 1.84131247e-01 2.01138045e-02 4.11443047e+01] [-1.84105950e-01 9.82901458e-01 -3.11825896e-03 -4.34150289e+00] [-2.03440567e-02 -6.38770976e-04 9.99792834e-01 -7.67255625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters 0.04126666505812451 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.35, Z:-0.77 [[ 9.83204350e-01 1.81323368e-01 2.07615461e-02 4.11736915e+01] [-1.81295800e-01 9.83423345e-01 -3.21816875e-03 -4.34511206e+00] [-2.10009183e-02 -5.99863588e-04 9.99779276e-01 -7.66920048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13401273899999 meters 0.034771695066104086 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.35, Z:-0.77 [[ 9.84703083e-01 1.72911626e-01 2.14804028e-02 4.12028971e+01] [-1.72880123e-01 9.84937247e-01 -3.32910206e-03 -4.35207327e+00] [-2.17324892e-02 -4.35357616e-04 9.99763727e-01 -7.67144745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters 0.028341201420106828 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.37, Z:-0.77 [[ 9.86311466e-01 1.63610670e-01 2.05241558e-02 4.12322125e+01] [-1.63579893e-01 9.86524962e-01 -3.18093450e-03 -4.36512724e+00] [-2.07680268e-02 -2.19947023e-04 9.99784297e-01 -7.69784072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194012738999994 meters 0.026508051124033497 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.38, Z:-0.77 [[ 9.87109299e-01 1.58856095e-01 1.94928803e-02 4.12621574e+01] [-1.58827403e-01 9.87301741e-01 -3.02124234e-03 -4.37546645e+00] [-1.97252974e-02 -1.13707149e-04 9.99805431e-01 -7.71688176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters 0.025638775228911444 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.39, Z:-0.77 [[ 9.87889017e-01 1.54036961e-01 1.86522253e-02 4.12924147e+01] [-1.54009779e-01 9.88065086e-01 -2.89372066e-03 -4.38723585e+00] [-1.88753525e-02 -1.39502371e-05 9.99821845e-01 -7.73002563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254012739 meters 0.027178365696702955 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.40, Z:-0.77 [[ 9.89272806e-01 1.44885862e-01 1.86387432e-02 4.13218419e+01] [-1.44857033e-01 9.89448362e-01 -2.89480775e-03 -4.40441134e+00] [-1.88614906e-02 1.63801550e-04 9.99822093e-01 -7.73527459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters 0.03025646282540896 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.42, Z:-0.77 [[ 9.90119333e-01 1.38976205e-01 1.86901394e-02 4.13503953e+01] [-1.38946105e-01 9.90295681e-01 -2.90587535e-03 -4.41983962e+00] [-1.89126119e-02 2.80241291e-04 9.99821101e-01 -7.73337648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31401273899999 meters 0.03282095967179914 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.43, Z:-0.77 [[ 9.90335336e-01 1.37393477e-01 1.89460803e-02 4.13802935e+01] [-1.37362227e-01 9.90516498e-01 -2.94722191e-03 -4.43126693e+00] [-1.91713341e-02 3.16262221e-04 9.99816163e-01 -7.74671317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters 0.03774354873123742 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.44, Z:-0.76 [[ 9.90464830e-01 1.36644173e-01 1.75439677e-02 4.14122033e+01] [-1.36617217e-01 9.90620147e-01 -2.73151921e-03 -4.43684745e+00] [-1.77526541e-02 3.08665660e-04 9.99842362e-01 -7.62144199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374012738999994 meters 0.031217530156218993 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.44, Z:-0.78 [[ 9.90281201e-01 1.38154270e-01 1.60168753e-02 4.14428440e+01] [-1.38131960e-01 9.90410688e-01 -2.49624643e-03 -4.44198464e+00] [-1.62081516e-02 2.59543524e-04 9.99868606e-01 -7.80976084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters 0.02978740621103706 Centerline is valid? [True, True] Translation: X:41.47, Y:-4.45, Z:-0.78 [[ 9.89886977e-01 1.40937359e-01 1.61379802e-02 4.14741688e+01] [-1.40915039e-01 9.90018491e-01 -2.51765466e-03 -4.44662918e+00] [-1.63317304e-02 2.18109443e-04 9.99866605e-01 -7.80815384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434012738999996 meters 0.02622769048744789 Centerline is valid? [True, True] Translation: X:41.51, Y:-4.44, Z:-0.78 [[ 9.88746385e-01 1.48646728e-01 1.68741394e-02 4.15067651e+01] [-1.48623388e-01 9.88890358e-01 -2.63591418e-03 -4.44247743e+00] [-1.70784938e-02 9.83588402e-05 9.99854147e-01 -7.78778914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters 0.025699188173825948 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.44, Z:-0.78 [[ 9.88093869e-01 1.52899850e-01 1.70921869e-02 4.15384371e+01] [-1.52876538e-01 9.88241689e-01 -2.67000440e-03 -4.44255346e+00] [-1.72994550e-02 2.52206120e-05 9.99850353e-01 -7.79771784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49401273899999 meters 0.026081019446220023 Centerline is valid? [True, True] Translation: X:41.57, Y:-4.44, Z:-0.78 [[ 9.87241149e-01 1.58226250e-01 1.78708375e-02 4.15704930e+01] [-1.58201583e-01 9.87402881e-01 -2.79466725e-03 -4.44190162e+00] [-1.80879062e-02 -6.81842751e-05 9.99836398e-01 -7.80496695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters 0.026473349527937697 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.45, Z:-0.78 [[ 9.86991722e-01 1.59781772e-01 1.78080110e-02 4.16019414e+01] [-1.59757481e-01 9.87152357e-01 -2.78756089e-03 -4.44595665e+00] [-1.80246215e-02 -9.36634559e-05 9.99837539e-01 -7.81149228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554012738999994 meters 0.026473349527937697 Centerline is valid? [True, True] Translation: X:41.63, Y:-4.45, Z:-0.78 [[ 9.86988047e-01 1.59804527e-01 1.78075140e-02 4.16323920e+01] [-1.59780183e-01 9.87148674e-01 -2.79073239e-03 -4.45077227e+00] [-1.80246355e-02 -9.08683388e-05 9.99837539e-01 -7.81775497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters 0.026897432016691935 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.45, Z:-0.78 [[ 9.86783896e-01 1.61106146e-01 1.73882556e-02 4.16633464e+01] [-1.61083130e-01 9.86937079e-01 -2.72542598e-03 -4.45434814e+00] [-1.76001971e-02 -1.11548172e-04 9.99845098e-01 -7.82555909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614012738999996 meters 0.028644939855567073 Centerline is valid? [True, True] Translation: X:41.69, Y:-4.45, Z:-0.78 [[ 9.86181477e-01 1.64730667e-01 1.76040154e-02 4.16946102e+01] [-1.64707645e-01 9.86338571e-01 -2.75972425e-03 -4.45289218e+00] [-1.78181306e-02 -1.77926982e-04 9.99841229e-01 -7.82647971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters 0.02887468360035862 Centerline is valid? [True, True] Translation: X:41.73, Y:-4.46, Z:-0.78 [[ 9.85847629e-01 1.66689482e-01 1.78625076e-02 4.17253094e+01] [-1.66666101e-01 9.86009417e-01 -2.80021965e-03 -4.45607930e+00] [-1.80793679e-02 -2.16484586e-04 9.99836531e-01 -7.82007388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674012739 meters 0.030584008729642023 Centerline is valid? [True, True] Translation: X:41.76, Y:-4.45, Z:-0.78 [[ 9.85362906e-01 1.69594651e-01 1.72510077e-02 4.17564407e+01] [-1.69573284e-01 9.85513869e-01 -2.70460060e-03 -4.45263374e+00] [-1.74597931e-02 -2.60296919e-04 9.99847532e-01 -7.83574496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters 0.03187167099899035 Centerline is valid? [True, True] Translation: X:41.79, Y:-4.45, Z:-0.79 [[ 9.85243329e-01 1.70288026e-01 1.72502526e-02 4.17863491e+01] [-1.70266767e-01 9.85394294e-01 -2.70445401e-03 -4.45180516e+00] [-1.74588367e-02 -2.72599474e-04 9.99847546e-01 -7.85410142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73401273899999 meters 0.029430552282075736 Centerline is valid? [True, True] Translation: X:41.82, Y:-4.46, Z:-0.78 [[ 9.85770115e-01 1.66887623e-01 2.01445054e-02 4.18159486e+01] [-1.66857917e-01 9.85975892e-01 -3.15844225e-03 -4.45773283e+00] [-2.03891016e-02 -2.47772229e-04 9.99792090e-01 -7.82179527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters 0.02742482275657183 Centerline is valid? [True, True] Translation: X:41.85, Y:-4.47, Z:-0.78 [[ 9.86307932e-01 1.63503461e-01 2.15239702e-02 4.18461647e+01] [-1.63468745e-01 9.86542742e-01 -3.37450659e-03 -4.46760455e+00] [-2.17860601e-02 -1.90193787e-04 9.99762638e-01 -7.80367665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794012738999996 meters 0.025371503138637733 Centerline is valid? [True, True] Translation: X:41.88, Y:-4.49, Z:-0.78 [[ 9.87672118e-01 1.55102658e-01 2.11412613e-02 4.18756379e+01] [-1.55067224e-01 9.87898358e-01 -3.31517446e-03 -4.48784360e+00] [-2.13996097e-02 -4.01132741e-06 9.99771002e-01 -7.81065303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters 0.025861695474322405 Centerline is valid? [True, True] Translation: X:41.91, Y:-4.50, Z:-0.78 [[ 9.88290347e-01 1.51337386e-01 1.94726958e-02 4.19055604e+01] [-1.51306533e-01 9.88482165e-01 -3.05663794e-03 -4.50109817e+00] [-1.97109961e-02 7.44996819e-05 9.99805717e-01 -7.84756545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854012739 meters 0.0279183752206805 Centerline is valid? [True, True] Translation: X:41.94, Y:-4.52, Z:-0.79 [[ 9.89245448e-01 1.45035143e-01 1.89274992e-02 4.19353526e+01] [-1.45004773e-01 9.89426484e-01 -2.97449825e-03 -4.51828493e+00] [-1.91587758e-02 1.97931132e-04 9.99816434e-01 -7.86417547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters 0.028745813343559648 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.53, Z:-0.79 [[ 9.89512973e-01 1.43073806e-01 1.98484756e-02 4.19659220e+01] [-1.43039945e-01 9.89711990e-01 -3.12265842e-03 -4.52820802e+00] [-2.00910449e-02 2.50786151e-04 9.99798123e-01 -7.85549525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91401273899999 meters 0.029534303969110647 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.54, Z:-0.79 [[ 9.89692747e-01 1.41920875e-01 1.91502172e-02 4.19961011e+01] [-1.41889083e-01 9.89877969e-01 -3.01569377e-03 -4.54141300e+00] [-1.93843680e-02 2.67403482e-04 9.99812070e-01 -7.87583728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters 0.0288995738806768 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.55, Z:-0.79 [[ 9.89423455e-01 1.44055437e-01 1.70075611e-02 4.20261478e+01] [-1.44030633e-01 9.89569598e-01 -2.68081011e-03 -4.54939118e+00] [-1.72163507e-02 2.02846600e-04 9.99851767e-01 -7.92297787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974012738999996 meters 0.028329459549478644 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.56, Z:-0.79 [[ 9.89144108e-01 1.45971433e-01 1.69196195e-02 4.20566744e+01] [-1.45947121e-01 9.89288791e-01 -2.66953643e-03 -4.55544286e+00] [-1.71280659e-02 1.71186479e-04 9.99853289e-01 -7.92299868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters 0.026204276417631577 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.56, Z:-0.79 [[ 9.88387889e-01 1.50795760e-01 1.87087973e-02 4.20895072e+01] [-1.50766830e-01 9.88564934e-01 -2.95538943e-03 -4.55774450e+00] [-1.89405212e-02 1.00405054e-04 9.99820607e-01 -7.89182457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034012739 meters 0.02581221547426886 Centerline is valid? [True, True] Translation: X:42.12, Y:-4.56, Z:-0.79 [[ 9.88079953e-01 1.52828975e-01 1.84745918e-02 4.21207388e+01] [-1.52801091e-01 9.88252650e-01 -2.91995676e-03 -4.56062317e+00] [-1.87038183e-02 6.22129691e-05 9.99825066e-01 -7.90535046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters 0.025792138434918142 Centerline is valid? [True, True] Translation: X:42.15, Y:-4.56, Z:-0.79 [[ 9.87449944e-01 1.56944341e-01 1.76375214e-02 4.21535870e+01] [-1.56919538e-01 9.87607449e-01 -2.79015537e-03 -4.56102095e+00] [-1.78568466e-02 -1.25329531e-05 9.99840554e-01 -7.93503238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09401273899999 meters 0.025894491294339853 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.57, Z:-0.79 [[ 9.87238661e-01 1.58286403e-01 1.74711542e-02 4.21863118e+01] [-1.58262216e-01 9.87393242e-01 -2.76719909e-03 -4.56615741e+00] [-1.76889096e-02 -3.31376658e-05 9.99843538e-01 -7.94559099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters 0.026241833337848852 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.57, Z:-0.80 [[ 9.87064800e-01 1.59485199e-01 1.63569913e-02 4.22171089e+01] [-1.59464108e-01 9.87200319e-01 -2.59406306e-03 -4.57110016e+00] [-1.65613417e-02 -4.78446889e-05 9.99862850e-01 -7.96590399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154012738999995 meters 0.02706224392862715 Centerline is valid? [True, True] Translation: X:42.25, Y:-4.57, Z:-0.80 [[ 9.86564337e-01 1.62629977e-01 1.55659758e-02 4.22497345e+01] [-1.62611252e-01 9.86687124e-01 -2.46965857e-03 -4.57135604e+00] [-1.57603884e-02 -9.47257397e-05 9.99875793e-01 -7.98088501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters 0.02961124727962897 Centerline is valid? [True, True] Translation: X:42.28, Y:-4.56, Z:-0.80 [[ 9.85621168e-01 1.68111041e-01 1.70174022e-02 4.22812236e+01] [-1.68089413e-01 9.85768046e-01 -2.70363518e-03 -4.56429159e+00] [-1.72297222e-02 -1.95685077e-04 9.99851538e-01 -7.97310033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214012739 meters 0.03172342320597824 Centerline is valid? [True, True] Translation: X:42.31, Y:-4.56, Z:-0.80 [[ 9.84972868e-01 1.71860046e-01 1.71048215e-02 4.23125157e+01] [-1.71838760e-01 9.85121341e-01 -2.71748904e-03 -4.56329797e+00] [-1.73173525e-02 -2.62618349e-04 9.99850009e-01 -7.96676454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters 0.03804148945604168 Centerline is valid? [True, True] Translation: X:42.34, Y:-4.55, Z:-0.80 [[ 9.83527546e-01 1.79932575e-01 1.72578671e-02 4.23449448e+01] [-1.79912142e-01 9.83678861e-01 -2.74206983e-03 -4.55298980e+00] [-1.74695868e-02 -4.07998637e-04 9.99847312e-01 -7.96090787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27401273899999 meters 0.04356181764950778 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.54, Z:-0.80 [[ 9.82747335e-01 1.84116710e-01 1.75702018e-02 4.23756692e+01] [-1.84096202e-01 9.82904266e-01 -2.79150902e-03 -4.54489498e+00] [-1.77837897e-02 -4.91259375e-04 9.99841735e-01 -7.95602851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters 0.046711487920236536 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.54, Z:-0.80 [[ 9.81359294e-01 1.91337007e-01 1.80023676e-02 4.24076596e+01] [-1.91316692e-01 9.81524194e-01 -2.86008834e-03 -4.53690917e+00] [-1.82170000e-02 -6.37379128e-04 9.99833854e-01 -7.95929346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334012738999995 meters 0.048820522761584995 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.53, Z:-0.80 [[ 9.80928081e-01 1.93488143e-01 1.85050803e-02 4.24374661e+01] [-1.93467057e-01 9.81102367e-01 -2.94001940e-03 -4.53446730e+00] [-1.87242370e-02 -6.96175841e-04 9.99824444e-01 -7.95722162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters 0.053236500695839004 Centerline is valid? [True, True] Translation: X:42.47, Y:-4.53, Z:-0.79 [[ 9.80729187e-01 1.94421644e-01 1.92480274e-02 4.24666859e+01] [-1.94399024e-01 9.80917770e-01 -3.05735806e-03 -4.52875231e+00] [-1.94751487e-02 -7.43357451e-04 9.99810065e-01 -7.94928151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394012739 meters 0.04819341783214158 Centerline is valid? [True, True] Translation: X:42.50, Y:-4.53, Z:-0.79 [[ 9.81069809e-01 1.92584816e-01 2.03253023e-02 4.24951267e+01] [-1.92559227e-01 9.81280046e-01 -3.22720428e-03 -4.53264007e+00] [-2.05663241e-02 -7.47711808e-04 9.99788211e-01 -7.93468717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters 0.04363897033619279 Centerline is valid? [True, True] Translation: X:42.52, Y:-4.54, Z:-0.79 [[ 9.81940585e-01 1.88100065e-01 2.02744519e-02 4.25248172e+01] [-1.88073667e-01 9.82149652e-01 -3.21818431e-03 -4.53770991e+00] [-2.05178866e-02 -6.53024738e-04 9.99789273e-01 -7.94609010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45401273899999 meters 0.04044483312238175 Centerline is valid? [True, True] Translation: X:42.55, Y:-4.54, Z:-0.80 [[ 9.82481027e-01 1.85288143e-01 1.99833674e-02 4.25537420e+01] [-1.85261912e-01 9.82684060e-01 -3.17214999e-03 -4.54497394e+00] [-2.02250984e-02 -5.85579679e-04 9.99795280e-01 -7.96058207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters 0.04028884478321193 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.55, Z:-0.80 [[ 9.83018986e-01 1.82459097e-01 1.95538035e-02 4.25821660e+01] [-1.82433432e-01 9.83213309e-01 -3.10350673e-03 -4.54754784e+00] [-1.97918229e-02 -5.16461443e-04 9.99803989e-01 -7.97286357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514012738999995 meters 0.03670579768402904 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.55, Z:-0.80 [[ 9.83837120e-01 1.77907857e-01 2.03301800e-02 4.26104938e+01] [-1.77879162e-01 9.84047051e-01 -3.22572511e-03 -4.55258833e+00] [-2.05797355e-02 -4.42727282e-04 9.99788117e-01 -7.95667544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters 0.03276488942434525 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.56, Z:-0.79 [[ 9.84440526e-01 1.74308960e-01 2.22089638e-02 4.26386920e+01] [-1.74273814e-01 9.84690929e-01 -3.52318926e-03 -4.56151199e+00] [-2.24830886e-02 -4.02070530e-04 9.99747143e-01 -7.93535143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574012739 meters 0.031603563701046736 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.57, Z:-0.79 [[ 9.84762187e-01 1.72411882e-01 2.27503359e-02 4.26665705e+01] [-1.72374526e-01 9.85024876e-01 -3.60774148e-03 -4.56776410e+00] [-2.30316643e-02 -3.68810979e-04 9.99734668e-01 -7.93161039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters 0.0286847509397564 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.58, Z:-0.80 [[ 9.85517681e-01 1.68176165e-01 2.17181281e-02 4.26953796e+01] [-1.68141109e-01 9.85756923e-01 -3.44335010e-03 -4.57806832e+00] [-2.19878845e-02 -2.58227726e-04 9.99758204e-01 -7.96381210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63401273899999 meters 0.02853550729735714 Centerline is valid? [True, True] Translation: X:42.72, Y:-4.58, Z:-0.80 [[ 9.85762311e-01 1.66875005e-01 2.06251999e-02 4.27243855e+01] [-1.66843109e-01 9.85978035e-01 -3.26983348e-03 -4.58400159e+00] [-2.08816475e-02 -2.17893851e-04 9.99781931e-01 -7.98822044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters 0.03133046919199617 Centerline is valid? [True, True] Translation: X:42.75, Y:-4.59, Z:-0.79 [[ 9.85942268e-01 1.65951952e-01 1.94369196e-02 4.27537149e+01] [-1.65923450e-01 9.86133822e-01 -3.08123658e-03 -4.59235868e+00] [-1.96787411e-02 -1.87119391e-04 9.99806337e-01 -7.89950977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694012738999994 meters 0.028587383293762487 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.59, Z:-0.80 [[ 9.85706223e-01 1.67306911e-01 1.97899006e-02 4.27828457e+01] [-1.67277647e-01 9.85904838e-01 -3.13670866e-03 -4.59332501e+00] [-2.00357518e-02 -2.18534768e-04 9.99799240e-01 -8.02688695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters 0.029550397680873162 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.60, Z:-0.80 [[ 9.85680686e-01 1.67445707e-01 1.98877008e-02 4.28118862e+01] [-1.67416193e-01 9.85881273e-01 -3.15167386e-03 -4.59527031e+00] [-2.01346460e-02 -2.22979092e-04 9.99797253e-01 -8.03450463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754012739 meters 0.02845882462683469 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.60, Z:-0.81 [[ 9.85857045e-01 1.66498079e-01 1.90860337e-02 4.28406499e+01] [-1.66470731e-01 9.86041759e-01 -3.02396361e-03 -4.60388486e+00] [-1.93231104e-02 -1.96070164e-04 9.99813272e-01 -8.06426602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters 0.028083776980857546 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.61, Z:-0.81 [[ 9.86097617e-01 1.65175161e-01 1.81288471e-02 4.28689151e+01] [-1.65150271e-01 9.86264234e-01 -2.87192503e-03 -4.60984761e+00] [-1.83542042e-02 -1.61985589e-04 9.99831534e-01 -8.08491158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81401273899999 meters 0.026591823625636776 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.62, Z:-0.81 [[ 9.86819007e-01 1.61033039e-01 1.60189662e-02 4.28980432e+01] [-1.61013070e-01 9.86949013e-01 -2.53705730e-03 -4.62159880e+00] [-1.62184529e-02 -7.56465466e-05 9.99868469e-01 -8.12942324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters 0.026162960742952438 Centerline is valid? [True, True] Translation: X:42.93, Y:-4.63, Z:-0.81 [[ 9.87159871e-01 1.58944276e-01 1.58778720e-02 4.29261347e+01] [-1.58924386e-01 9.87287555e-01 -2.51476176e-03 -4.63021185e+00] [-1.60757324e-02 -4.09091615e-05 9.99870776e-01 -8.14059571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874012738999994 meters 0.025617419245922445 Centerline is valid? [True, True] Translation: X:42.95, Y:-4.64, Z:-0.81 [[ 9.87662443e-01 1.55466861e-01 1.87870808e-02 4.29539717e+01] [-1.55438390e-01 9.87841108e-01 -2.97525371e-03 -4.64478491e+00] [-1.90212041e-02 1.83127425e-05 9.99819080e-01 -8.09192702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters 0.025514703344053362 Centerline is valid? [True, True] Translation: X:42.98, Y:-4.65, Z:-0.81 [[ 9.87870057e-01 1.54043733e-01 1.95775350e-02 4.29842615e+01] [-1.54012542e-01 9.88064029e-01 -3.10011534e-03 -4.65384213e+00] [-1.98214115e-02 4.73251812e-05 9.99803535e-01 -8.08165609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934012738999996 meters 0.026072176232605555 Centerline is valid? [True, True] Translation: X:43.01, Y:-4.66, Z:-0.81 [[ 9.88208883e-01 1.51953088e-01 1.88005871e-02 4.30143661e+01] [-1.51923893e-01 9.88387703e-01 -2.97983238e-03 -4.66327311e+00] [-1.90350638e-02 8.84384413e-05 9.99818813e-01 -8.10819378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters 0.026397987102138948 Centerline is valid? [True, True] Translation: X:43.05, Y:-4.67, Z:-0.81 [[ 9.88279797e-01 1.51626298e-01 1.76779104e-02 4.30459465e+01] [-1.51600390e-01 9.88437887e-01 -2.80433917e-03 -4.67010572e+00] [-1.78987279e-02 9.14936372e-05 9.99839801e-01 -8.14047200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99401273899999 meters 0.026437145320789345 Centerline is valid? [True, True] Translation: X:43.08, Y:-4.67, Z:-0.82 [[ 9.88118336e-01 1.52936823e-01 1.52473559e-02 4.30764300e+01] [-1.52917665e-01 9.88235966e-01 -2.42142511e-03 -4.67466380e+00] [-1.54383105e-02 6.10644906e-05 9.99880820e-01 -8.18693301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters 0.02617306350634404 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.68, Z:-0.82 [[ 9.87840319e-01 1.54758911e-01 1.48722380e-02 4.31072309e+01] [-1.54740883e-01 9.87952265e-01 -2.36229958e-03 -4.67640942e+00] [-1.50586481e-02 3.22315208e-05 9.99886612e-01 -8.19287059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054012738999994 meters 0.026280397263210922 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.67, Z:-0.82 [[ 9.87020730e-01 1.59750226e-01 1.64299406e-02 4.31389235e+01] [-1.59728915e-01 9.87157466e-01 -2.60972435e-03 -4.67213660e+00] [-1.66358426e-02 -4.84845506e-05 9.99861614e-01 -8.15852220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters 0.026666675274830586 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.67, Z:-0.81 [[ 9.86558984e-01 1.62440367e-01 1.77340879e-02 4.31694596e+01] [-1.62415972e-01 9.86718357e-01 -2.81693112e-03 -4.67192483e+00] [-1.79561334e-02 -1.01230416e-04 9.99838771e-01 -8.14289052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114012738999996 meters 0.029089801535698036 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.66, Z:-0.82 [[ 9.85805127e-01 1.66954448e-01 1.77331324e-02 4.31993822e+01] [-1.66930793e-01 9.85964593e-01 -2.81636425e-03 -4.66477578e+00] [-1.79544452e-02 -1.83819522e-04 9.99838789e-01 -8.15277641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters 0.03031635585664166 Centerline is valid? [True, True] Translation: X:43.23, Y:-4.66, Z:-0.82 [[ 9.85636937e-01 1.67993173e-01 1.72662007e-02 4.32277805e+01] [-1.67970914e-01 9.85788139e-01 -2.74174597e-03 -4.66369804e+00] [-1.74814105e-02 -1.97853409e-04 9.99847169e-01 -8.17791398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174012739 meters 0.029171511071656022 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.67, Z:-0.82 [[ 9.85705705e-01 1.67622585e-01 1.69390597e-02 4.32568035e+01] [-1.67601124e-01 9.85851223e-01 -2.68881765e-03 -4.66762492e+00] [-1.71500993e-02 -1.88622550e-04 9.99852908e-01 -8.19113455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters 0.029231367187426836 Centerline is valid? [True, True] Translation: X:43.28, Y:-4.67, Z:-0.82 [[ 9.85913222e-01 1.66269495e-01 1.81541396e-02 4.32848295e+01] [-1.66244632e-01 9.86080333e-01 -2.88077605e-03 -4.67088001e+00] [-1.83804252e-02 -1.77833050e-04 9.99831050e-01 -8.18144364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23401273899999 meters 0.026442451954651513 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.68, Z:-0.82 [[ 9.86639769e-01 1.61734577e-01 1.95931845e-02 4.33126333e+01] [-1.61704747e-01 9.86834290e-01 -3.10785267e-03 -4.68425857e+00] [-1.98378735e-02 -1.01979886e-04 9.99803205e-01 -8.15284158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters 0.02586235946893055 Centerline is valid? [True, True] Translation: X:43.34, Y:-4.69, Z:-0.82 [[ 9.87035937e-01 1.59358656e-01 1.91017977e-02 4.33421976e+01] [-1.59329867e-01 9.87220753e-01 -3.02944656e-03 -4.69259571e+00] [-1.93404596e-02 -5.33142674e-05 9.99812954e-01 -8.16759917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294012738999996 meters 0.02582092006982875 Centerline is valid? [True, True] Translation: X:43.37, Y:-4.70, Z:-0.82 [[ 9.87556516e-01 1.56260947e-01 1.77382076e-02 4.33725908e+01] [-1.56235623e-01 9.87715807e-01 -2.81313373e-03 -4.70257387e+00] [-1.79598910e-02 6.78862960e-06 9.99838708e-01 -8.19887580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters 0.025634339174526545 Centerline is valid? [True, True] Translation: X:43.40, Y:-4.71, Z:-0.82 [[ 9.87553831e-01 1.56229915e-01 1.81561377e-02 4.34011481e+01] [-1.56203369e-01 9.87720716e-01 -2.87991861e-03 -4.70924229e+00] [-1.83831228e-02 8.02477026e-06 9.99831016e-01 -8.18624567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354012739 meters 0.025600125819624 Centerline is valid? [True, True] Translation: X:43.43, Y:-4.71, Z:-0.82 [[ 9.87408283e-01 1.57003958e-01 1.93555957e-02 4.34308445e+01] [-1.56973942e-01 9.87597973e-01 -3.06992615e-03 -4.71381896e+00] [-1.95975377e-02 -7.05366246e-06 9.99807950e-01 -8.17912025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters 0.025824826276663906 Centerline is valid? [True, True] Translation: X:43.46, Y:-4.72, Z:-0.82 [[ 9.86940098e-01 1.59787681e-01 2.04239844e-02 4.34603368e+01] [-1.59754856e-01 9.87151403e-01 -3.23937543e-03 -4.71504373e+00] [-2.06791772e-02 -6.57611784e-05 9.99786161e-01 -8.15497030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41401273899999 meters 0.026294385119347702 Centerline is valid? [True, True] Translation: X:43.49, Y:-4.72, Z:-0.82 [[ 9.86615584e-01 1.61745790e-01 2.06878877e-02 4.34910406e+01] [-1.61712546e-01 9.86832452e-01 -3.28099633e-03 -4.71799892e+00] [-2.09461663e-02 -1.08408874e-04 9.99780599e-01 -8.15533209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters 0.026294385119347702 Centerline is valid? [True, True] Translation: X:43.52, Y:-4.72, Z:-0.82 [[ 9.86615584e-01 1.61745790e-01 2.06878877e-02 4.35206646e+01] [-1.61712546e-01 9.86832452e-01 -3.28099633e-03 -4.72269714e+00] [-2.09461663e-02 -1.08408874e-04 9.99780599e-01 -8.16142434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474012738999996 meters 0.026991613901673966 Centerline is valid? [True, True] Translation: X:43.55, Y:-4.73, Z:-0.82 [[ 9.86336244e-01 1.63419787e-01 2.08515534e-02 4.35511922e+01] [-1.63386389e-01 9.86556614e-01 -3.30695290e-03 -4.72587413e+00] [-2.11116594e-02 -1.45092512e-04 9.99777114e-01 -8.17086539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters 0.028938410725009005 Centerline is valid? [True, True] Translation: X:43.58, Y:-4.73, Z:-0.82 [[ 9.85829981e-01 1.66638523e-01 1.92575174e-02 4.35811405e+01] [-1.66610650e-01 9.86018034e-01 -3.05415583e-03 -4.72569550e+00] [-1.94971995e-02 -1.97629107e-04 9.99809892e-01 -8.21671330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534012739 meters 0.03169130167846253 Centerline is valid? [True, True] Translation: X:43.61, Y:-4.72, Z:-0.83 [[ 9.85287671e-01 1.70042160e-01 1.71426362e-02 4.36100444e+01] [-1.70020589e-01 9.85436760e-01 -2.71867445e-03 -4.72363222e+00] [-1.73552731e-02 -2.35924684e-04 9.99849358e-01 -8.26524483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters 0.03316173492220698 Centerline is valid? [True, True] Translation: X:43.64, Y:-4.73, Z:-0.83 [[ 9.85002618e-01 1.71726079e-01 1.67331038e-02 4.36388635e+01] [-1.71705782e-01 9.85144703e-01 -2.65298073e-03 -4.72558821e+00] [-1.69401145e-02 -2.59977698e-04 9.99856472e-01 -8.28539879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59401273899999 meters 0.034212961181585275 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.73, Z:-0.83 [[ 9.84772981e-01 1.72969216e-01 1.74306030e-02 4.36677867e+01] [-1.72947401e-01 9.84927187e-01 -2.76274378e-03 -4.72898133e+00] [-1.76457444e-02 -2.93902054e-04 9.99844259e-01 -8.28116936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters 0.0342615915634667 Centerline is valid? [True, True] Translation: X:43.69, Y:-4.73, Z:-0.83 [[ 9.84813496e-01 1.72690035e-01 1.79033669e-02 4.36949103e+01] [-1.72666988e-01 9.84976174e-01 -2.83686999e-03 -4.73324100e+00] [-1.81242890e-02 -2.97532596e-04 9.99835697e-01 -8.27452373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654012738999995 meters 0.03273363807179768 Centerline is valid? [True, True] Translation: X:43.72, Y:-4.74, Z:-0.83 [[ 9.85118044e-01 1.70883967e-01 1.84691549e-02 4.37231969e+01] [-1.70859144e-01 9.85291122e-01 -2.92543673e-03 -4.74138957e+00] [-1.86974046e-02 -2.73723491e-04 9.99825151e-01 -8.26863499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters 0.030225922956560625 Centerline is valid? [True, True] Translation: X:43.75, Y:-4.75, Z:-0.83 [[ 9.85331530e-01 1.69655090e-01 1.84099335e-02 4.37512755e+01] [-1.69630226e-01 9.85503469e-01 -2.91520974e-03 -4.75284770e+00] [-1.86376335e-02 -2.50433116e-04 9.99826273e-01 -8.27646421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714012739 meters 0.02941182332990469 Centerline is valid? [True, True] Translation: X:43.78, Y:-4.76, Z:-0.83 [[ 9.85936613e-01 1.66149315e-01 1.79833566e-02 4.37793586e+01] [-1.66125017e-01 9.86100589e-01 -2.84714144e-03 -4.76231860e+00] [-1.82064491e-02 -1.80384424e-04 9.99834233e-01 -8.29735884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters 0.028561129438046933 Centerline is valid? [True, True] Translation: X:43.81, Y:-4.77, Z:-0.83 [[ 9.86215836e-01 1.64533051e-01 1.75270995e-02 4.38078483e+01] [-1.64509705e-01 9.86371560e-01 -2.77545005e-03 -4.76934893e+00] [-1.77448857e-02 -1.46185172e-04 9.99842536e-01 -8.31801868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77401273899999 meters 0.027576501706741675 Centerline is valid? [True, True] Translation: X:43.84, Y:-4.78, Z:-0.83 [[ 9.86646239e-01 1.61996987e-01 1.69166842e-02 4.38352638e+01] [-1.61974879e-01 9.86791248e-01 -2.67804582e-03 -4.77943581e+00] [-1.71270713e-02 -9.77940488e-05 9.99853316e-01 -8.33922551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters 0.026959920680202743 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.79, Z:-0.83 [[ 9.86682126e-01 1.61753770e-01 1.71493589e-02 4.38646022e+01] [-1.61731025e-01 9.86831145e-01 -2.71421406e-03 -4.78771857e+00] [-1.73625558e-02 -9.55168883e-05 9.99849255e-01 -8.32508116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834012738999995 meters 0.02763847856588468 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.79, Z:-0.83 [[ 9.86369482e-01 1.63590042e-01 1.77071702e-02 4.38938848e+01] [-1.63566088e-01 9.86528398e-01 -2.80252595e-03 -4.78907494e+00] [-1.79270916e-02 -1.31966493e-04 9.99839288e-01 -8.30359152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters 0.02896303111316687 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.79, Z:-0.83 [[ 9.86151189e-01 1.64903921e-01 1.76785193e-02 4.39230797e+01] [-1.64880258e-01 9.86309623e-01 -2.79783971e-03 -4.78702668e+00] [-1.78978685e-02 -1.55745880e-04 9.99839808e-01 -8.31799183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894012739 meters 0.030107039472129258 Centerline is valid? [True, True] Translation: X:43.95, Y:-4.79, Z:-0.83 [[ 9.85927328e-01 1.66249298e-01 1.75634571e-02 4.39515014e+01] [-1.66226165e-01 9.86083738e-01 -2.77906623e-03 -4.78594939e+00] [-1.77810573e-02 -1.79548778e-04 9.99841888e-01 -8.32815014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters 0.030221435199765084 Centerline is valid? [True, True] Translation: X:43.98, Y:-4.79, Z:-0.83 [[ 9.85588782e-01 1.68076880e-01 1.91027759e-02 4.39801417e+01] [-1.68049880e-01 9.85773863e-01 -3.02149733e-03 -4.78683011e+00] [-1.93388611e-02 -2.32265327e-04 9.99812960e-01 -8.31396524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95401273899999 meters 0.031265203876413704 Centerline is valid? [True, True] Translation: X:44.01, Y:-4.79, Z:-0.83 [[ 9.85629383e-01 1.67717940e-01 2.01348345e-02 4.40087788e+01] [-1.67687888e-01 9.85834994e-01 -3.18375240e-03 -4.78835604e+00] [-2.03835968e-02 -2.38367957e-04 9.99792204e-01 -8.30795922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters 0.028201017022946227 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.80, Z:-0.83 [[ 9.86140785e-01 1.64644191e-01 2.04607460e-02 4.40373264e+01] [-1.64612512e-01 9.86353009e-01 -3.23457227e-03 -4.79967691e+00] [-2.07140720e-02 -1.78351161e-04 9.99785425e-01 -8.30938632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014012738999995 meters 0.026978877922875236 Centerline is valid? [True, True] Translation: X:44.07, Y:-4.81, Z:-0.83 [[ 9.86575332e-01 1.62073204e-01 2.00347639e-02 4.40666973e+01] [-1.62042309e-01 9.86778730e-01 -3.16677694e-03 -4.80817471e+00] [-2.02831285e-02 -1.22215381e-04 9.99794269e-01 -8.31275715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters 0.025796243429366126 Centerline is valid? [True, True] Translation: X:44.10, Y:-4.82, Z:-0.83 [[ 9.87536950e-01 1.56102798e-01 2.00671053e-02 4.40960698e+01] [-1.56070569e-01 9.87740814e-01 -3.17188980e-03 -4.81923588e+00] [-2.03162398e-02 4.73833921e-07 9.99793604e-01 -8.32479704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074012739 meters 0.02775577613722795 Centerline is valid? [True, True] Translation: X:44.13, Y:-4.83, Z:-0.83 [[ 9.88410013e-01 1.50560203e-01 1.94234739e-02 4.41256122e+01] [-1.50528903e-01 9.88600836e-01 -3.07192604e-03 -4.83288760e+00] [-1.96645724e-02 1.12528222e-04 9.99806627e-01 -8.31813254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters 0.027807910059692482 Centerline is valid? [True, True] Translation: X:44.16, Y:-4.84, Z:-0.84 [[ 9.88816459e-01 1.48034047e-01 1.81088720e-02 4.41561833e+01] [-1.48006391e-01 9.88982253e-01 -2.86543945e-03 -4.84282924e+00] [-1.83335357e-02 1.53164893e-04 9.99831915e-01 -8.39019756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13401273899999 meters 0.02929200098962954 Centerline is valid? [True, True] Translation: X:44.19, Y:-4.85, Z:-0.84 [[ 9.89208636e-01 1.45550897e-01 1.67693448e-02 4.41872297e+01] [-1.45526783e-01 9.89350747e-01 -2.65592559e-03 -4.85406930e+00] [-1.69773361e-02 1.86875734e-04 9.99855857e-01 -8.42284537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters 0.03172426106848508 Centerline is valid? [True, True] Translation: X:44.22, Y:-4.87, Z:-0.84 [[ 9.89749662e-01 1.41876473e-01 1.63301423e-02 4.42179942e+01] [-1.41853057e-01 9.89884340e-01 -2.58930121e-03 -4.86680911e+00] [-1.65323130e-02 2.46279401e-04 9.99863302e-01 -8.41524727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194012738999994 meters 0.03179597615209497 Centerline is valid? [True, True] Translation: X:44.25, Y:-4.87, Z:-0.84 [[ 9.89739395e-01 1.41779474e-01 1.77344410e-02 4.42500235e+01] [-1.41751831e-01 9.89898231e-01 -2.81253098e-03 -4.87300077e+00] [-1.79540510e-02 2.69783226e-04 9.99838777e-01 -8.39504320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters 0.03190764422671269 Centerline is valid? [True, True] Translation: X:44.28, Y:-4.88, Z:-0.84 [[ 9.89321628e-01 1.44406880e-01 1.97324329e-02 4.42800023e+01] [-1.44373100e-01 9.89518363e-01 -3.13338400e-03 -4.88156620e+00] [-1.99780869e-02 2.51092063e-04 9.99800387e-01 -8.37157113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254012739 meters 0.027702364772348845 Centerline is valid? [True, True] Translation: X:44.31, Y:-4.88, Z:-0.84 [[ 9.88656122e-01 1.48921019e-01 1.95346612e-02 4.43139834e+01] [-1.48888737e-01 9.88849081e-01 -3.10483962e-03 -4.87643635e+00] [-1.97792077e-02 1.61127673e-04 9.99804359e-01 -8.38321598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters 0.026774482235796374 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.88, Z:-0.84 [[ 9.88275229e-01 1.51537451e-01 1.86674245e-02 4.43460943e+01] [-1.51508418e-01 9.88451511e-01 -2.96806730e-03 -4.87703862e+00] [-1.89016173e-02 1.04995439e-04 9.99821343e-01 -8.40672421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31401273899999 meters 0.02628123667268879 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.88, Z:-0.84 [[ 9.87960915e-01 1.53681080e-01 1.77582768e-02 4.43773056e+01] [-1.53655100e-01 9.88120500e-01 -2.82644584e-03 -4.87817075e+00] [-1.79816886e-02 6.37682366e-05 9.99838314e-01 -8.42998514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters 0.02616981203047682 Centerline is valid? [True, True] Translation: X:44.41, Y:-4.88, Z:-0.84 [[ 9.87659845e-01 1.55599653e-01 1.77982727e-02 4.44063723e+01] [-1.55573858e-01 9.87820200e-01 -2.83328519e-03 -4.88098655e+00] [-1.80223515e-02 2.93760475e-05 9.99837584e-01 -8.43824418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374012738999994 meters 0.026098993407244836 Centerline is valid? [True, True] Translation: X:44.44, Y:-4.89, Z:-0.84 [[ 9.87717235e-01 1.55145456e-01 1.85620761e-02 4.44357337e+01] [-1.55117323e-01 9.87891637e-01 -2.95465802e-03 -4.88675320e+00] [-1.87957215e-02 3.90670929e-05 9.99823344e-01 -8.43003878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters 0.026412420983551014 Centerline is valid? [True, True] Translation: X:44.47, Y:-4.90, Z:-0.84 [[ 9.88018921e-01 1.53023080e-01 2.00636074e-02 4.44658254e+01] [-1.52989779e-01 9.88222611e-01 -3.19342841e-03 -4.89523980e+00] [-2.03159788e-02 8.56408265e-05 9.99793606e-01 -8.40368893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434012738999996 meters 0.027352066248374354 Centerline is valid? [True, True] Translation: X:44.50, Y:-4.91, Z:-0.84 [[ 9.88429303e-01 1.50160065e-01 2.14351965e-02 4.44950533e+01] [-1.50121337e-01 9.88661687e-01 -3.41374902e-03 -4.90755516e+00] [-2.17047663e-02 1.56369209e-04 9.99764412e-01 -8.38085832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters 0.03476782785574751 Centerline is valid? [True, True] Translation: X:44.53, Y:-4.92, Z:-0.82 [[ 9.88580468e-01 1.49106506e-01 2.18153379e-02 4.45265427e+01] [-1.49066067e-01 9.88821124e-01 -3.47743816e-03 -4.91840438e+00] [-2.20899756e-02 1.85800838e-04 9.99755969e-01 -8.23035955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49401273899999 meters 0.02853121730908304 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.92, Z:-0.84 [[ 9.89037655e-01 1.46116508e-01 2.13186232e-02 4.45582291e+01] [-1.46077126e-01 9.89267357e-01 -3.40145605e-03 -4.92172842e+00] [-2.15868269e-02 2.50004908e-04 9.99766946e-01 -8.40504225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters 0.030585478047023922 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.93, Z:-0.85 [[ 9.89147686e-01 1.45620534e-01 1.95324023e-02 4.45882385e+01] [-1.45587318e-01 9.89340488e-01 -3.11950407e-03 -4.93141352e+00] [-1.97784603e-02 2.41980165e-04 9.99804358e-01 -8.45246202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554012738999994 meters 0.030905656179532164 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.94, Z:-0.85 [[ 9.89157209e-01 1.45704876e-01 1.83876565e-02 4.46206460e+01] [-1.45675428e-01 9.89328074e-01 -2.93810747e-03 -4.93700953e+00] [-1.86195213e-02 2.27620465e-04 9.99826616e-01 -8.48823327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters 0.029095390566215216 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.94, Z:-0.85 [[ 9.89034221e-01 1.46594335e-01 1.79279331e-02 4.46525508e+01] [-1.46566433e-01 9.89196673e-01 -2.86764986e-03 -4.93953187e+00] [-1.81546330e-02 2.08570644e-04 9.99835169e-01 -8.47745801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614012738999996 meters 0.031111133566912717 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.95, Z:-0.85 [[ 9.89101356e-01 1.46215684e-01 1.73055026e-02 4.46820574e+01] [-1.46189576e-01 9.89252712e-01 -2.77104566e-03 -4.95057488e+00] [-1.75246857e-02 2.10960939e-04 9.99846409e-01 -8.50150440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters 0.02956077966259244 Centerline is valid? [True, True] Translation: X:44.71, Y:-4.95, Z:-0.85 [[ 9.89191209e-01 1.45564365e-01 1.76569488e-02 4.47141527e+01] [-1.45537055e-01 9.89348757e-01 -2.82878066e-03 -4.95391619e+00] [-1.78806500e-02 2.28464636e-04 9.99840102e-01 -8.49829553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674012739 meters 0.03207172246032204 Centerline is valid? [True, True] Translation: X:44.74, Y:-4.97, Z:-0.85 [[ 9.89562500e-01 1.43048383e-01 1.74131774e-02 4.47431389e+01] [-1.43021375e-01 9.89715659e-01 -2.79297224e-03 -4.96711051e+00] [-1.76336245e-02 2.73364001e-04 9.99844478e-01 -8.52602298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters 0.03542223808950681 Centerline is valid? [True, True] Translation: X:44.77, Y:-4.98, Z:-0.85 [[ 9.89764900e-01 1.41588227e-01 1.78386280e-02 4.47721413e+01] [-1.41559641e-01 9.89925593e-01 -2.86152634e-03 -4.97967163e+00] [-1.80640729e-02 3.07008555e-04 9.99836784e-01 -8.53496836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73401273899999 meters 0.03426499743399093 Centerline is valid? [True, True] Translation: X:44.80, Y:-4.99, Z:-0.85 [[ 9.90057682e-01 1.39519882e-01 1.78882581e-02 4.48035129e+01] [-1.39490776e-01 9.90219209e-01 -2.87073359e-03 -4.98671812e+00] [-1.81138212e-02 3.46944838e-04 9.99835871e-01 -8.52124339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters 0.03393161434582105 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.99, Z:-0.85 [[ 9.90180490e-01 1.38638308e-01 1.79448390e-02 4.48351307e+01] [-1.38608820e-01 9.90343014e-01 -2.88271862e-03 -4.99337882e+00] [-1.81712012e-02 3.67098774e-04 9.99834823e-01 -8.52235940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794012738999996 meters 0.03616251508567204 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.00, Z:-0.85 [[ 9.90367840e-01 1.37327434e-01 1.76838008e-02 4.48647861e+01] [-1.37298537e-01 9.90525631e-01 -2.84373576e-03 -5.00460018e+00] [-1.79067808e-02 3.88384474e-04 9.99839585e-01 -8.52916617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters 0.04158713132343963 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.02, Z:-0.85 [[ 9.90948727e-01 1.33206854e-01 1.66299279e-02 4.48935686e+01] [-1.33180671e-01 9.91088161e-01 -2.67707736e-03 -5.02076995e+00] [-1.68383297e-02 4.38061443e-04 9.99858129e-01 -8.47193496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854012739 meters 0.04340087667375979 Centerline is valid? [True, True] Translation: X:44.92, Y:-5.04, Z:-0.86 [[ 9.91645979e-01 1.27958227e-01 1.62771255e-02 4.49213599e+01] [-1.27932426e-01 9.91779424e-01 -2.62086618e-03 -5.03714487e+00] [-1.64786796e-02 5.16599241e-04 9.99864084e-01 -8.57560805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters 0.04550903355531562 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.05, Z:-0.86 [[ 9.91874698e-01 1.26026131e-01 1.73780966e-02 4.49515510e+01] [-1.25996431e-01 9.92026749e-01 -2.79785454e-03 -5.04821287e+00] [-1.75921395e-02 5.85542968e-04 9.99845075e-01 -8.56495779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91401273899999 meters 0.047434668215824954 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.06, Z:-0.86 [[ 9.92014197e-01 1.24879595e-01 1.76895451e-02 4.49812891e+01] [-1.24848589e-01 9.92171710e-01 -2.85075006e-03 -5.05917041e+00] [-1.79070668e-02 6.19469776e-04 9.99839464e-01 -8.55938990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters 0.045202804730171596 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.07, Z:-0.86 [[ 9.92080382e-01 1.24403737e-01 1.73270082e-02 4.50123508e+01] [-1.24373867e-01 9.92231489e-01 -2.79514752e-03 -5.06872088e+00] [-1.75401299e-02 6.17984008e-04 9.99845969e-01 -8.58599610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974012738999996 meters 0.04770151244310879 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.08, Z:-0.86 [[ 9.92036086e-01 1.24852274e-01 1.66226710e-02 4.50415444e+01] [-1.24824836e-01 9.92175169e-01 -2.68215576e-03 -5.08182080e+00] [-1.68274747e-02 5.85873125e-04 9.99858236e-01 -8.61576557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters 0.044300657235163514 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.09, Z:-0.86 [[ 9.91539225e-01 1.28690641e-01 1.69907241e-02 4.50705698e+01] [-1.28662484e-01 9.91684644e-01 -2.74464426e-03 -5.08791029e+00] [-1.72026502e-02 5.35353685e-04 9.99851880e-01 -8.58759923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034012739 meters 0.041970221207487265 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.09, Z:-0.86 [[ 9.91099671e-01 1.31931369e-01 1.77639155e-02 4.51004956e+01] [-1.31901093e-01 9.91258726e-01 -2.87049358e-03 -5.09192766e+00] [-1.79873444e-02 5.01865369e-04 9.99838089e-01 -8.57992204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters 0.03603000318462171 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.09, Z:-0.86 [[ 9.90115227e-01 1.39250723e-01 1.67652447e-02 4.51308387e+01] [-1.39224799e-01 9.90257095e-01 -2.70933253e-03 -5.09209401e+00] [-1.69791790e-02 3.48413564e-04 9.99855783e-01 -8.60028242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09401273899999 meters 0.03166750477280481 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.09, Z:-0.86 [[ 9.89556258e-01 1.43256354e-01 1.60009123e-02 4.51634983e+01] [-1.43233265e-01 9.89685579e-01 -2.58569670e-03 -5.09000241e+00] [-1.62062897e-02 2.66829442e-04 9.99868634e-01 -8.61709413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters 0.028734854411016343 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.09, Z:-0.86 [[ 9.88461994e-01 1.50557801e-01 1.65902253e-02 4.51946884e+01] [-1.50533996e-01 9.88601196e-01 -2.68160453e-03 -5.08715579e+00] [-1.68048530e-02 1.53271254e-04 9.99858777e-01 -8.62854104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154012738999995 meters 0.027433889159815865 Centerline is valid? [True, True] Translation: X:45.23, Y:-5.09, Z:-0.86 [[ 9.88002131e-01 1.53467556e-01 1.73060348e-02 4.52274317e+01] [-1.53442097e-01 9.88153681e-01 -2.79737730e-03 -5.08882656e+00] [-1.75303286e-02 1.08340461e-04 9.99846326e-01 -8.61391664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters 0.026467537142275063 Centerline is valid? [True, True] Translation: X:45.26, Y:-5.09, Z:-0.86 [[ 9.87274768e-01 1.57981058e-01 1.81801443e-02 4.52596058e+01] [-1.57953670e-01 9.87442142e-01 -2.94174369e-03 -5.09047115e+00] [-1.84165804e-02 3.26888117e-05 9.99830400e-01 -8.60601604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214012739 meters 0.026424481682820706 Centerline is valid? [True, True] Translation: X:45.29, Y:-5.09, Z:-0.86 [[ 9.86973293e-01 1.59855684e-01 1.81625969e-02 4.52923460e+01] [-1.59828615e-01 9.87140395e-01 -2.94172872e-03 -5.09323172e+00] [-1.83992852e-02 5.04975640e-07 9.99830719e-01 -8.61541664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters 0.026857262343610827 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.09, Z:-0.86 [[ 9.86425406e-01 1.63207908e-01 1.81134617e-02 4.53249911e+01] [-1.63181485e-01 9.86591696e-01 -2.93730431e-03 -5.09158315e+00] [-1.83499822e-02 -5.83499798e-05 9.99831623e-01 -8.62692075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27401273899999 meters 0.02701129809855818 Centerline is valid? [True, True] Translation: X:45.36, Y:-5.10, Z:-0.86 [[ 9.86158184e-01 1.64755097e-01 1.86492191e-02 4.53577709e+01] [-1.64727299e-01 9.86334502e-01 -3.02764274e-03 -5.09580143e+00] [-1.88931878e-02 -8.63008177e-05 9.99821504e-01 -8.62518945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters 0.027378868431317933 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.10, Z:-0.86 [[ 9.85958801e-01 1.65875332e-01 1.92514085e-02 4.53900839e+01] [-1.65845847e-01 9.86146725e-01 -3.12926109e-03 -5.09969274e+00] [-1.95037807e-02 -1.07443641e-04 9.99809777e-01 -8.61658051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334012738999995 meters 0.02808738270082385 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.10, Z:-0.86 [[ 9.85576882e-01 1.67982375e-01 2.04971074e-02 4.54228291e+01] [-1.67949325e-01 9.85789987e-01 -3.33561990e-03 -5.10050894e+00] [-2.07661686e-02 -1.54965495e-04 9.99784348e-01 -8.59658329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters 0.02808738270082385 Centerline is valid? [True, True] Translation: X:45.45, Y:-5.11, Z:-0.86 [[ 9.85546424e-01 1.68161004e-01 2.04969101e-02 4.54548745e+01] [-1.68127968e-01 9.85759530e-01 -3.33683190e-03 -5.10592789e+00] [-2.07661494e-02 -1.57501095e-04 9.99784348e-01 -8.60318523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394012739 meters 0.02929544859661136 Centerline is valid? [True, True] Translation: X:45.49, Y:-5.10, Z:-0.86 [[ 9.85086611e-01 1.70733050e-01 2.13212169e-02 4.54876699e+01] [-1.70697817e-01 9.85317299e-01 -3.47511384e-03 -5.10429363e+00] [-2.16014806e-02 -2.16197055e-04 9.99766637e-01 -8.59710016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters 0.029514624268612018 Centerline is valid? [True, True] Translation: X:45.52, Y:-5.11, Z:-0.86 [[ 9.84878717e-01 1.71855049e-01 2.19033015e-02 4.55199428e+01] [-1.71818062e-01 9.85122217e-01 -3.57364668e-03 -5.10827229e+00] [-2.21915782e-02 -2.43774258e-04 9.99753707e-01 -8.60201422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45401273899999 meters 0.029824242445486777 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.11, Z:-0.86 [[ 9.84804844e-01 1.72341582e-01 2.13962351e-02 4.55524167e+01] [-1.72306330e-01 9.85037217e-01 -3.49428605e-03 -5.11197970e+00] [-2.16782986e-02 -2.45516911e-04 9.99764968e-01 -8.61649801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters 0.03034485089289601 Centerline is valid? [True, True] Translation: X:45.58, Y:-5.11, Z:-0.87 [[ 9.84917870e-01 1.71983411e-01 1.89340036e-02 4.55836389e+01] [-1.71955715e-01 9.85099824e-01 -3.09347567e-03 -5.11480689e+00] [-1.91839101e-02 -2.08990653e-04 9.99815950e-01 -8.68029420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514012738999995 meters 0.029894991486499288 Centerline is valid? [True, True] Translation: X:45.62, Y:-5.12, Z:-0.87 [[ 9.84954812e-01 1.72040743e-01 1.63095315e-02 4.56151524e+01] [-1.72020161e-01 9.85089819e-01 -2.66711827e-03 -5.12156415e+00] [-1.65252064e-02 -1.78577251e-04 9.99863434e-01 -8.72269420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters 0.030820927688282197 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.12, Z:-0.87 [[ 9.84760197e-01 1.73119977e-01 1.66381644e-02 4.56462897e+01] [-1.73098699e-01 9.84900723e-01 -2.72155894e-03 -5.12346201e+00] [-1.68580964e-02 -1.99961701e-04 9.99857872e-01 -8.72427785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574012739 meters 0.03361249154199372 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.12, Z:-0.87 [[ 9.83961341e-01 1.77469626e-01 1.80169460e-02 4.56793202e+01] [-1.77445342e-01 9.84126234e-01 -2.95043974e-03 -5.11795898e+00] [-1.82545626e-02 -2.93904499e-04 9.99833328e-01 -8.68375659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters 0.03612122700364392 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.11, Z:-0.87 [[ 9.83387838e-01 1.80567165e-01 1.85434426e-02 4.57107438e+01] [-1.80541982e-01 9.83562590e-01 -3.03713794e-03 -5.11460387e+00] [-1.87870438e-02 -3.61185365e-04 9.99823443e-01 -8.68415239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63401273899999 meters 0.039483251891415876 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.11, Z:-0.87 [[ 9.82706936e-01 1.84243552e-01 1.84767727e-02 4.57419269e+01] [-1.84219198e-01 9.82880526e-01 -3.02623640e-03 -5.10969874e+00] [-1.87180246e-02 -4.29872746e-04 9.99824710e-01 -8.69476404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters 0.050187058572682644 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.09, Z:-0.87 [[ 9.81188956e-01 1.92196226e-01 1.81340362e-02 4.57751692e+01] [-1.92174127e-01 9.81356349e-01 -2.96988043e-03 -5.09044389e+00] [-1.83667513e-02 -5.70878695e-04 9.99831154e-01 -8.70584081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694012738999994 meters 0.051049902438473606 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.09, Z:-0.87 [[ 9.80600784e-01 1.95222029e-01 1.76199371e-02 4.58057561e+01] [-1.95201653e-01 9.80758884e-01 -2.88565245e-03 -5.08957887e+00] [-1.78442528e-02 -6.09767802e-04 9.99840593e-01 -8.72363869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters 0.052249893624410765 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.08, Z:-0.88 [[ 9.79949505e-01 1.98600771e-01 1.60219081e-02 4.58375412e+01] [-1.98584377e-01 9.80080283e-01 -2.62378082e-03 -5.08311839e+00] [-1.62238411e-02 -6.10527921e-04 9.99868198e-01 -8.75761688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754012739 meters 0.0523366153119127 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.08, Z:-0.88 [[ 9.80125803e-01 1.97825864e-01 1.47762767e-02 4.58658104e+01] [-1.97811831e-01 9.80237024e-01 -2.41988357e-03 -5.08056432e+00] [-1.49629690e-02 -5.51132016e-04 9.99887897e-01 -8.78587349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters 0.0503002425426729 Centerline is valid? [True, True] Translation: X:45.89, Y:-5.09, Z:-0.88 [[ 9.80443575e-01 1.96217722e-01 1.51328426e-02 4.58947069e+01] [-1.96202827e-01 9.80560204e-01 -2.47725789e-03 -5.08529373e+00] [-1.53247452e-02 -5.40294925e-04 9.99882423e-01 -8.78569289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81401273899999 meters 0.04468994779804241 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.09, Z:-0.87 [[ 9.81096869e-01 1.92704107e-01 1.77217501e-02 4.59246190e+01] [-1.92683122e-01 9.81256747e-01 -2.90024427e-03 -5.09071567e+00] [-1.79484759e-02 -5.69261571e-04 9.99838751e-01 -8.74290007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters 0.046254846438772174 Centerline is valid? [True, True] Translation: X:45.95, Y:-5.09, Z:-0.87 [[ 9.81372127e-01 1.91253850e-01 1.81854964e-02 4.59531561e+01] [-1.91231501e-01 9.81540450e-01 -2.97625032e-03 -5.08898109e+00] [-1.84190196e-02 -5.56830666e-04 9.99830200e-01 -8.73482704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874012738999994 meters 0.04352034132046529 Centerline is valid? [True, True] Translation: X:45.98, Y:-5.09, Z:-0.88 [[ 9.81752284e-01 1.89346240e-01 1.76197033e-02 4.59817080e+01] [-1.89324972e-01 9.81910253e-01 -2.88259494e-03 -5.09254255e+00] [-1.78467759e-02 -5.05855670e-04 9.99840606e-01 -8.75715489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters 0.042580710955179256 Centerline is valid? [True, True] Translation: X:46.01, Y:-5.10, Z:-0.88 [[ 9.81925128e-01 1.88539955e-01 1.66050716e-02 4.60097858e+01] [-1.88520963e-01 9.82065411e-01 -2.71587552e-03 -5.09665041e+00] [-1.68193175e-02 -4.63617672e-04 9.99858438e-01 -8.77934464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934012738999996 meters 0.0423840108811105 Centerline is valid? [True, True] Translation: X:46.04, Y:-5.10, Z:-0.88 [[ 9.82035523e-01 1.88017010e-01 1.59948612e-02 4.60386217e+01] [-1.87999331e-01 9.82165674e-01 -2.61534906e-03 -5.09916168e+00] [-1.62013338e-02 -4.38657535e-04 9.99868654e-01 -8.79381851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters 0.04070415945598929 Centerline is valid? [True, True] Translation: X:46.07, Y:-5.10, Z:-0.88 [[ 9.82315444e-01 1.86411004e-01 1.75301478e-02 4.60674321e+01] [-1.86389528e-01 9.82471747e-01 -2.86546877e-03 -5.10025155e+00] [-1.77570298e-02 -4.52641749e-04 9.99842229e-01 -8.78117894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99401273899999 meters 0.03865112745274047 Centerline is valid? [True, True] Translation: X:46.10, Y:-5.10, Z:-0.88 [[ 9.82810715e-01 1.83655305e-01 1.88102915e-02 4.60956350e+01] [-1.83630092e-01 9.82990611e-01 -3.07375451e-03 -5.10403466e+00] [-1.90548513e-02 -4.33216693e-04 9.99818346e-01 -8.75414652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters 0.03735610702653441 Centerline is valid? [True, True] Translation: X:46.12, Y:-5.11, Z:-0.88 [[ 9.83090643e-01 1.82221765e-01 1.81112181e-02 4.61238290e+01] [-1.82198164e-01 9.83257380e-01 -2.95869532e-03 -5.10995368e+00] [-1.83471275e-02 -3.91164990e-04 9.99831601e-01 -8.77020449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054012738999994 meters 0.036006908837403234 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.12, Z:-0.88 [[ 9.83490884e-01 1.80167459e-01 1.68928045e-02 4.61507610e+01] [-1.80146636e-01 9.83635897e-01 -2.75895256e-03 -5.11568673e+00] [-1.71134424e-02 -3.29777210e-04 9.99853500e-01 -8.78985733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters 0.03530930047409794 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.12, Z:-0.88 [[ 9.83661851e-01 1.79156695e-01 1.76703621e-02 4.61794293e+01] [-1.79133767e-01 9.83820497e-01 -2.88482675e-03 -5.12115188e+00] [-1.79013005e-02 -3.27664515e-04 9.99839705e-01 -8.78223216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114012738999996 meters 0.03456356636110903 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.12, Z:-0.88 [[ 9.83902371e-01 1.77813907e-01 1.78420795e-02 4.62067737e+01] [-1.77790325e-01 9.84064083e-01 -2.91204053e-03 -5.12442846e+00] [-1.80755509e-02 -3.06985534e-04 9.99836577e-01 -8.77787847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters 0.033925116768057255 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.13, Z:-0.88 [[ 9.83819900e-01 1.78359115e-01 1.69242531e-02 4.62350273e+01] [-1.78337994e-01 9.83965414e-01 -2.76128196e-03 -5.12933508e+00] [-1.71453795e-02 -3.01633207e-04 9.99852962e-01 -8.79626614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174012739 meters 0.03801867710922183 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.12, Z:-0.88 [[ 9.83304220e-01 1.81251438e-01 1.61470235e-02 4.62651088e+01] [-1.81232615e-01 9.83436730e-01 -2.63372657e-03 -5.12451667e+00] [-1.63569428e-02 -3.36612844e-04 9.99866160e-01 -8.80978709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters 0.03920022686681035 Centerline is valid? [True, True] Translation: X:46.29, Y:-5.12, Z:-0.88 [[ 9.83030570e-01 1.82690367e-01 1.65870158e-02 4.62944408e+01] [-1.82670723e-01 9.83170429e-01 -2.70464998e-03 -5.12476845e+00] [-1.68019769e-02 -3.71208549e-04 9.99858768e-01 -8.80438528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23401273899999 meters 0.039103831858551555 Centerline is valid? [True, True] Translation: X:46.32, Y:-5.12, Z:-0.88 [[ 9.82779630e-01 1.83769978e-01 1.93078579e-02 4.63238568e+01] [-1.83743588e-01 9.82969170e-01 -3.14726747e-03 -5.12398170e+00] [-1.95574024e-02 -4.54624738e-04 9.99808632e-01 -8.76496410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters 0.035572907499093205 Centerline is valid? [True, True] Translation: X:46.35, Y:-5.13, Z:-0.88 [[ 9.83037437e-01 1.82372059e-01 1.94378160e-02 4.63511631e+01] [-1.82345058e-01 9.83229498e-01 -3.16753544e-03 -5.13347342e+00] [-1.96895041e-02 -4.30583769e-04 9.99806050e-01 -8.77524677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294012738999996 meters 0.033882375568406314 Centerline is valid? [True, True] Translation: X:46.38, Y:-5.14, Z:-0.88 [[ 9.84295581e-01 1.75745975e-01 1.66000247e-02 4.63790143e+01] [-1.75725352e-01 9.84435517e-01 -2.70433721e-03 -5.14245397e+00] [-1.68169303e-02 -2.55178024e-04 9.99858553e-01 -8.84265798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters 0.03054036208770565 Centerline is valid? [True, True] Translation: X:46.41, Y:-5.15, Z:-0.89 [[ 9.84954601e-01 1.72096365e-01 1.57249641e-02 4.64059479e+01] [-1.72077399e-01 9.85080102e-01 -2.56143435e-03 -5.15420072e+00] [-1.59311628e-02 -1.83014381e-04 9.99873074e-01 -8.85263520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354012739 meters 0.027803199374013595 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.16, Z:-0.88 [[ 9.85801063e-01 1.67049100e-01 1.70546855e-02 4.64335629e+01] [-1.67026050e-01 9.85948572e-01 -2.77714229e-03 -5.16466775e+00] [-1.72789619e-02 -1.10866934e-04 9.99850701e-01 -8.82003384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters 0.027225604043985763 Centerline is valid? [True, True] Translation: X:46.46, Y:-5.17, Z:-0.88 [[ 9.85949150e-01 1.66022817e-01 1.84580265e-02 4.64610096e+01] [-1.65995656e-01 9.86121906e-01 -3.00471428e-03 -5.17130859e+00] [-1.87007154e-02 -1.01456731e-04 9.99825121e-01 -8.80055880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41401273899999 meters 0.027175034919134925 Centerline is valid? [True, True] Translation: X:46.49, Y:-5.18, Z:-0.88 [[ 9.85946959e-01 1.65895494e-01 1.96793956e-02 4.64890230e+01] [-1.65864619e-01 9.86143333e-01 -3.20228225e-03 -5.17696236e+00] [-1.99379489e-02 -1.06835005e-04 9.99801214e-01 -8.78152528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters 0.027311443824291706 Centerline is valid? [True, True] Translation: X:46.52, Y:-5.18, Z:-0.88 [[ 9.85673403e-01 1.67514751e-01 1.96659788e-02 4.65186619e+01] [-1.67484258e-01 9.85869560e-01 -3.19916400e-03 -5.17860525e+00] [-1.99239970e-02 -1.40411000e-04 9.99801488e-01 -8.77754120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474012738999996 meters 0.029655848718410316 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.17, Z:-0.88 [[ 9.85348736e-01 1.69629146e-01 1.77150189e-02 4.65476919e+01] [-1.69604751e-01 9.85507953e-01 -2.88149711e-03 -5.17222744e+00] [-1.79470779e-02 -1.65271832e-04 9.99838925e-01 -8.82709144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters 0.029539881992738423 Centerline is valid? [True, True] Translation: X:46.58, Y:-5.18, Z:-0.88 [[ 9.85115406e-01 1.70953696e-01 1.79574459e-02 4.65758109e+01] [-1.70928872e-01 9.85279045e-01 -2.91960847e-03 -5.17562568e+00] [-1.81922130e-02 -1.93294692e-04 9.99834489e-01 -8.82852075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534012739 meters 0.030578443230626574 Centerline is valid? [True, True] Translation: X:46.60, Y:-5.18, Z:-0.88 [[ 9.84935719e-01 1.71965508e-01 1.81519351e-02 4.66034576e+01] [-1.71940335e-01 9.85102948e-01 -2.95014822e-03 -5.17605137e+00] [-1.83888485e-02 -2.15343443e-04 9.99830888e-01 -8.82665439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters 0.030793346429327042 Centerline is valid? [True, True] Translation: X:46.63, Y:-5.17, Z:-0.88 [[ 9.84734519e-01 1.73065172e-01 1.86111327e-02 4.66333912e+01] [-1.73038932e-01 9.84910345e-01 -3.02337073e-03 -5.17404984e+00] [-1.88535373e-02 -2.43233005e-04 9.99822227e-01 -8.81689001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59401273899999 meters 0.031033063334558193 Centerline is valid? [True, True] Translation: X:46.66, Y:-5.17, Z:-0.88 [[ 9.84642062e-01 1.73594424e-01 1.85737654e-02 4.66623745e+01] [-1.73568401e-01 9.84817197e-01 -3.01642156e-03 -5.17483301e+00] [-1.88153975e-02 -2.53723200e-04 9.99822943e-01 -8.82036161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters 0.030641710648990895 Centerline is valid? [True, True] Translation: X:46.69, Y:-5.18, Z:-0.88 [[ 9.84511018e-01 1.74225839e-01 1.95809396e-02 4.66919248e+01] [-1.74197061e-01 9.84705681e-01 -3.17900169e-03 -5.17556449e+00] [-1.98353267e-02 -2.81179943e-04 9.99803221e-01 -8.81101771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654012738999995 meters 0.030238767907374807 Centerline is valid? [True, True] Translation: X:46.72, Y:-5.18, Z:-0.88 [[ 9.84817561e-01 1.72578378e-01 1.87370068e-02 4.67198414e+01] [-1.72551746e-01 9.84995760e-01 -3.04111337e-03 -5.17627606e+00] [-1.89807027e-02 -2.38161393e-04 9.99819822e-01 -8.83097474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters 0.029625016889650985 Centerline is valid? [True, True] Translation: X:46.75, Y:-5.18, Z:-0.89 [[ 9.85057201e-01 1.71306794e-01 1.77846354e-02 4.67483189e+01] [-1.71282612e-01 9.85217712e-01 -2.88546769e-03 -5.18079118e+00] [-1.80160380e-02 -2.03848083e-04 9.99837677e-01 -8.85902355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714012739 meters 0.029308627155644546 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.19, Z:-0.89 [[ 9.85341386e-01 1.69794514e-01 1.64977853e-02 4.67754369e+01] [-1.69773505e-01 9.85479475e-01 -2.67599940e-03 -5.18598590e+00] [-1.67125988e-02 -1.64113887e-04 9.99860321e-01 -8.89418680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters 0.02800807566242553 Centerline is valid? [True, True] Translation: X:46.80, Y:-5.19, Z:-0.89 [[ 9.85999225e-01 1.66096665e-01 1.47453910e-02 4.68016960e+01] [-1.66079480e-01 9.86109471e-01 -2.39099009e-03 -5.19493316e+00] [-1.49377052e-02 -9.13924904e-05 9.99888422e-01 -8.93643725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77401273899999 meters 0.027281837887297267 Centerline is valid? [True, True] Translation: X:46.83, Y:-5.20, Z:-0.89 [[ 9.86331815e-01 1.64131820e-01 1.45015751e-02 4.68296651e+01] [-1.64114999e-01 9.86438413e-01 -2.35056513e-03 -5.20186281e+00] [-1.46907133e-02 -6.14888210e-05 9.99892084e-01 -8.93747748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters 0.026721402336151792 Centerline is valid? [True, True] Translation: X:46.86, Y:-5.21, Z:-0.89 [[ 9.86819467e-01 1.61155810e-01 1.47018266e-02 4.68562897e+01] [-1.61138201e-01 9.86928976e-01 -2.38235694e-03 -5.20984706e+00] [-1.48935893e-02 -1.80696809e-05 9.99889084e-01 -8.94290829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834012738999995 meters 0.026644284153116427 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.22, Z:-0.89 [[ 9.86928861e-01 1.60464346e-01 1.49203236e-02 4.68840289e+01] [-1.60446145e-01 9.87041637e-01 -2.41677809e-03 -5.21620441e+00] [-1.51147873e-02 -8.72036239e-06 9.99885765e-01 -8.94518069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters 0.026463213143410148 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.22, Z:-0.89 [[ 9.86771988e-01 1.61312392e-01 1.61045560e-02 4.69117645e+01] [-1.61291314e-01 9.86903395e-01 -2.60779522e-03 -5.21886369e+00] [-1.63143107e-02 -2.42257213e-05 9.99866912e-01 -8.91823269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894012739 meters 0.02675880855140003 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.22, Z:-0.89 [[ 9.86563212e-01 1.62615463e-01 1.57873287e-02 4.69406754e+01] [-1.62595389e-01 9.86689520e-01 -2.55545939e-03 -5.22077343e+00] [-1.59927490e-02 -4.58246367e-05 9.99872107e-01 -8.92552875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters 0.027685803629331165 Centerline is valid? [True, True] Translation: X:46.97, Y:-5.22, Z:-0.90 [[ 9.86136229e-01 1.65348625e-01 1.39703398e-02 4.69696888e+01] [-1.65333188e-01 9.86235178e-01 -2.26079936e-03 -5.22069203e+00] [-1.41518606e-02 -8.03046703e-05 9.99899854e-01 -8.97655360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95401273899999 meters 0.028508462574188285 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.22, Z:-0.90 [[ 9.85944568e-01 1.66581407e-01 1.28040759e-02 4.69978911e+01] [-1.66568550e-01 9.86027701e-01 -2.07161554e-03 -5.22198805e+00] [-1.29702661e-02 -9.02582646e-05 9.99915878e-01 -9.00273578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters 0.028981177372614658 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.22, Z:-0.90 [[ 9.85601044e-01 1.68591870e-01 1.29368867e-02 4.70270675e+01] [-1.68578929e-01 9.85685937e-01 -2.09224796e-03 -5.22218660e+00] [-1.31044433e-02 -1.18764717e-04 9.99914126e-01 -8.99532161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014012738999995 meters 0.02920741073687849 Centerline is valid? [True, True] Translation: X:47.05, Y:-5.23, Z:-0.90 [[ 9.85566818e-01 1.68693637e-01 1.41599280e-02 4.70545397e+01] [-1.68678154e-01 9.85668524e-01 -2.28931737e-03 -5.22516265e+00] [-1.43431886e-02 -1.32195276e-04 9.99897122e-01 -8.98610713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters 0.028088684686143266 Centerline is valid? [True, True] Translation: X:47.08, Y:-5.23, Z:-0.90 [[ 9.85737364e-01 1.67516833e-01 1.61232613e-02 4.70829709e+01] [-1.67496621e-01 9.85869207e-01 -2.60550697e-03 -5.23243083e+00] [-1.63318931e-02 -1.32246211e-04 9.99866617e-01 -8.95419277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074012739 meters 0.027941492946306327 Centerline is valid? [True, True] Translation: X:47.11, Y:-5.24, Z:-0.89 [[ 9.85855452e-01 1.66786232e-01 1.64736042e-02 4.71115247e+01] [-1.66765044e-01 9.85993072e-01 -2.66131398e-03 -5.23672815e+00] [-1.66867301e-02 -1.23550437e-04 9.99860759e-01 -8.94937653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters 0.027873995277198877 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.24, Z:-0.89 [[ 9.85761173e-01 1.67234368e-01 1.75378689e-02 4.71397072e+01] [-1.67210440e-01 9.85917160e-01 -2.83240854e-03 -5.23629773e+00] [-1.77645619e-02 -1.40436402e-04 9.99842188e-01 -8.92139021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13401273899999 meters 0.02823531886070517 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.24, Z:-0.89 [[ 9.85636156e-01 1.67926599e-01 1.79450766e-02 4.71678747e+01] [-1.67901686e-01 9.85799489e-01 -2.89681219e-03 -5.23839919e+00] [-1.81766991e-02 -1.57805779e-04 9.99834778e-01 -8.91941208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters 0.028808715454630124 Centerline is valid? [True, True] Translation: X:47.20, Y:-5.24, Z:-0.89 [[ 9.85422443e-01 1.69183876e-01 1.78724511e-02 4.71968509e+01] [-1.69159390e-01 9.85584488e-01 -2.88399477e-03 -5.23901100e+00] [-1.81027360e-02 -1.81339755e-04 9.99836116e-01 -8.92516216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194012738999994 meters 0.029810540208678807 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.24, Z:-0.89 [[ 9.85074964e-01 1.71288940e-01 1.69533005e-02 4.72268438e+01] [-1.71267233e-01 9.85220815e-01 -2.73491322e-03 -5.23562846e+00] [-1.71712049e-02 -2.09450320e-04 9.99852542e-01 -8.94402701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters 0.030421694490699182 Centerline is valid? [True, True] Translation: X:47.26, Y:-5.24, Z:-0.89 [[ 9.84889802e-01 1.72313546e-01 1.73239864e-02 4.72552509e+01] [-1.72291052e-01 9.85042125e-01 -2.79387346e-03 -5.23675350e+00] [-1.75462786e-02 -2.33110351e-04 9.99846025e-01 -8.94698487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254012739 meters 0.030421694490699182 Centerline is valid? [True, True] Translation: X:47.28, Y:-5.24, Z:-0.90 [[ 9.84902083e-01 1.72243318e-01 1.73241479e-02 4.72824062e+01] [-1.72220831e-01 9.85054407e-01 -2.79287139e-03 -5.24099927e+00] [-1.75462817e-02 -2.32874296e-04 9.99846025e-01 -8.95256849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters 0.031062765172247018 Centerline is valid? [True, True] Translation: X:47.31, Y:-5.24, Z:-0.89 [[ 9.84675067e-01 1.73277909e-01 1.97427989e-02 4.73108163e+01] [-1.73248945e-01 9.84872927e-01 -3.18113574e-03 -5.23985948e+00] [-1.99953687e-02 -2.88034042e-04 9.99800031e-01 -8.92371380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31401273899999 meters 0.030569058122545147 Centerline is valid? [True, True] Translation: X:47.34, Y:-5.24, Z:-0.89 [[ 9.84746786e-01 1.72792746e-01 2.04067146e-02 4.73393865e+01] [-1.72761724e-01 9.84958163e-01 -3.28683750e-03 -5.24407516e+00] [-2.06677018e-02 -2.88796532e-04 9.99786359e-01 -8.91946824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters 0.03003111097400137 Centerline is valid? [True, True] Translation: X:47.37, Y:-5.25, Z:-0.89 [[ 9.84960499e-01 1.71626355e-01 1.99301283e-02 4.73667459e+01] [-1.71596545e-01 9.85162082e-01 -3.20912407e-03 -5.24899511e+00] [-2.01851769e-02 -2.59080718e-04 9.99796225e-01 -8.93539509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374012738999994 meters 0.029368670020069015 Centerline is valid? [True, True] Translation: X:47.39, Y:-5.26, Z:-0.90 [[ 9.85402647e-01 1.69504381e-01 1.58078405e-02 4.73943360e+01] [-1.69485367e-01 9.85529419e-01 -2.54459561e-03 -5.25711631e+00] [-1.60104120e-02 -1.71746400e-04 9.99871810e-01 -9.00736641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters 0.02989445178773136 Centerline is valid? [True, True] Translation: X:47.42, Y:-5.26, Z:-0.90 [[ 9.85373970e-01 1.69655232e-01 1.59762738e-02 4.74221087e+01] [-1.69635838e-01 9.85503461e-01 -2.57126691e-03 -5.25728568e+00] [-1.61809020e-02 -1.76489115e-04 9.99869065e-01 -9.00541838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434012738999996 meters 0.029959636171503434 Centerline is valid? [True, True] Translation: X:47.45, Y:-5.26, Z:-0.90 [[ 9.85186712e-01 1.70630282e-01 1.71011464e-02 4.74508513e+01] [-1.70608253e-01 9.85335102e-01 -2.74965220e-03 -5.25848518e+00] [-1.73195337e-02 -2.08675890e-04 9.99849984e-01 -8.98855158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters 0.031070885513599534 Centerline is valid? [True, True] Translation: X:47.48, Y:-5.26, Z:-0.90 [[ 9.84906703e-01 1.72157069e-01 1.79089545e-02 4.74785805e+01] [-1.72133178e-01 9.85069481e-01 -2.87865936e-03 -5.25877670e+00] [-1.81371461e-02 -2.47514357e-04 9.99835478e-01 -8.98625427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49401273899999 meters 0.031968330698186095 Centerline is valid? [True, True] Translation: X:47.51, Y:-5.26, Z:-0.90 [[ 9.84656767e-01 1.73687672e-01 1.68417183e-02 4.75074379e+01] [-1.73666784e-01 9.84800754e-01 -2.70614195e-03 -5.25901152e+00] [-1.70557604e-02 -2.60226076e-04 9.99854506e-01 -9.01214172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters 0.0322978759358718 Centerline is valid? [True, True] Translation: X:47.53, Y:-5.26, Z:-0.90 [[ 9.84765192e-01 1.73166898e-01 1.58348635e-02 4.75341197e+01] [-1.73148374e-01 9.84892466e-01 -2.54380889e-03 -5.26063896e+00] [-1.60361412e-02 -2.36726422e-04 9.99871385e-01 -9.03005589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554012738999994 meters 0.03078547375685746 Centerline is valid? [True, True] Translation: X:47.56, Y:-5.27, Z:-0.90 [[ 9.85158208e-01 1.70907793e-01 1.59320681e-02 4.75610299e+01] [-1.70888768e-01 9.85287006e-01 -2.55810268e-03 -5.26636771e+00] [-1.61348594e-02 -2.02475640e-04 9.99869804e-01 -9.03654207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters 0.02928441795448277 Centerline is valid? [True, True] Translation: X:47.59, Y:-5.28, Z:-0.90 [[ 9.85433573e-01 1.69275966e-01 1.63193491e-02 4.75883751e+01] [-1.69255807e-01 9.85568676e-01 -2.61870071e-03 -5.27594605e+00] [-1.65271224e-02 -1.81589011e-04 9.99863401e-01 -9.04087798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614012738999996 meters 0.02741013726592443 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.29, Z:-0.91 [[ 9.86237902e-01 1.64567906e-01 1.58809379e-02 4.76142923e+01] [-1.64548216e-01 9.86365751e-01 -2.54765737e-03 -5.28796777e+00] [-1.60836759e-02 -1.00583730e-04 9.99870644e-01 -9.06066563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters 0.02635311717597827 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.30, Z:-0.91 [[ 9.86946962e-01 1.60247075e-01 1.60177578e-02 4.76405243e+01] [-1.60226490e-01 9.87076934e-01 -2.56862603e-03 -5.29836601e+00] [-1.62223741e-02 -3.13714479e-05 9.99868408e-01 -9.05398779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67401273899999 meters 0.026015196902186153 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.31, Z:-0.90 [[ 9.87307055e-01 1.57974763e-01 1.63937129e-02 4.76686092e+01] [-1.57952904e-01 9.87443150e-01 -2.62790486e-03 -5.30806785e+00] [-1.66030021e-02 5.11444754e-06 9.99862161e-01 -9.04491906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters 0.02601303139309824 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.32, Z:-0.90 [[ 9.87685717e-01 1.55563300e-01 1.66428435e-02 4.76966324e+01] [-1.55540442e-01 9.87825925e-01 -2.66707128e-03 -5.31831401e+00] [-1.68551306e-02 4.55929793e-05 9.99857941e-01 -9.04002950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73401273899999 meters 0.027209229819105715 Centerline is valid? [True, True] Translation: X:47.72, Y:-5.33, Z:-0.91 [[ 9.88371343e-01 1.51229053e-01 1.58701509e-02 4.77228497e+01] [-1.51207719e-01 9.88498741e-01 -2.54258561e-03 -5.33271305e+00] [-1.60721370e-02 1.13329427e-04 9.99870828e-01 -9.06463099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters 0.027727830538124425 Centerline is valid? [True, True] Translation: X:47.75, Y:-5.34, Z:-0.91 [[ 9.88634662e-01 1.49558148e-01 1.52926629e-02 4.77506454e+01] [-1.49538154e-01 9.88752923e-01 -2.44915042e-03 -5.34025840e+00] [-1.54869555e-02 1.34478428e-04 9.99880061e-01 -9.08289652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794012738999996 meters 0.029041800883992056 Centerline is valid? [True, True] Translation: X:47.78, Y:-5.35, Z:-0.91 [[ 9.89029551e-01 1.47027620e-01 1.42627803e-02 4.77767639e+01] [-1.47009972e-01 9.89132374e-01 -2.28372666e-03 -5.35362653e+00] [-1.44435486e-02 1.61902220e-04 9.99895673e-01 -9.09996388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters 0.029473885431259082 Centerline is valid? [True, True] Translation: X:47.80, Y:-5.36, Z:-0.91 [[ 9.89175442e-01 1.45988678e-01 1.48071121e-02 4.78047536e+01] [-1.45969558e-01 9.89286244e-01 -2.36972550e-03 -5.36290434e+00] [-1.49944254e-02 1.82686661e-04 9.99887561e-01 -9.09736509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854012739 meters 0.02930430409733282 Centerline is valid? [True, True] Translation: X:47.83, Y:-5.37, Z:-0.91 [[ 9.89407591e-01 1.44262052e-01 1.61579758e-02 4.78321214e+01] [-1.44239067e-01 9.89539493e-01 -2.58509975e-03 -5.37242725e+00] [-1.63618870e-02 2.27105962e-04 9.99866110e-01 -9.06636560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters 0.030739705485845016 Centerline is valid? [True, True] Translation: X:47.86, Y:-5.38, Z:-0.91 [[ 9.89380627e-01 1.44348499e-01 1.70142522e-02 4.78588861e+01] [-1.44323041e-01 9.89526884e-01 -2.72124507e-03 -5.38259916e+00] [-1.72288676e-02 2.36798543e-04 9.99851544e-01 -9.05982617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91401273899999 meters 0.0291648201075973 Centerline is valid? [True, True] Translation: X:47.89, Y:-5.39, Z:-0.90 [[ 9.88996318e-01 1.46870536e-01 1.77574742e-02 4.78869046e+01] [-1.46843232e-01 9.89155703e-01 -2.83894199e-03 -5.38665833e+00] [-1.79818639e-02 2.00138266e-04 9.99838293e-01 -9.03798675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters 0.027759458835885226 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.39, Z:-0.90 [[ 9.88668770e-01 1.49042527e-01 1.78993845e-02 4.79162512e+01] [-1.49015156e-01 9.88830774e-01 -2.86080701e-03 -5.38855271e+00] [-1.81258441e-02 1.61110980e-04 9.99835700e-01 -9.03835532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974012738999996 meters 0.026090927109323373 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.39, Z:-0.90 [[ 9.88006023e-01 1.53375530e-01 1.78898232e-02 4.79455373e+01] [-1.53348908e-01 9.88167972e-01 -2.85871043e-03 -5.38903768e+00] [-1.81166065e-02 8.10382716e-05 9.99835878e-01 -9.04003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters 0.02563166019782906 Centerline is valid? [True, True] Translation: X:47.97, Y:-5.39, Z:-0.90 [[ 9.87737027e-01 1.55060287e-01 1.82173612e-02 4.79733896e+01] [-1.55032983e-01 9.87905008e-01 -2.91023348e-03 -5.39212070e+00] [-1.84482840e-02 5.02535271e-05 9.99829815e-01 -9.04032258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034012739 meters 0.025307493561626374 Centerline is valid? [True, True] Translation: X:48.00, Y:-5.39, Z:-0.90 [[ 9.87347785e-01 1.57313093e-01 1.99234289e-02 4.80025205e+01] [-1.57280917e-01 9.87548779e-01 -3.18155523e-03 -5.39229038e+00] [-2.01758581e-02 7.72634771e-06 9.99796447e-01 -9.00429036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters 0.025327344035815498 Centerline is valid? [True, True] Translation: X:48.03, Y:-5.40, Z:-0.90 [[ 9.87344422e-01 1.57194928e-01 2.09939525e-02 4.80296478e+01] [-1.57159198e-01 9.87567595e-01 -3.35141878e-03 -5.39629321e+00] [-2.12597733e-02 9.61188606e-06 9.99773985e-01 -8.99323109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09401273899999 meters 0.025196426176948516 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.40, Z:-0.90 [[ 9.87427753e-01 1.56671735e-01 2.09856986e-02 4.80574589e+01] [-1.56635942e-01 9.87650731e-01 -3.34882559e-03 -5.40137480e+00] [-2.12512069e-02 1.96086530e-05 9.99774167e-01 -8.99814440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters 0.025444425094868592 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.41, Z:-0.90 [[ 9.87611741e-01 1.55709152e-01 1.94347553e-02 4.80857884e+01] [-1.55678290e-01 9.87802945e-01 -3.10023775e-03 -5.40760081e+00] [-1.96804439e-02 3.62617338e-05 9.99806321e-01 -9.02828577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154012738999995 meters 0.02581566530794793 Centerline is valid? [True, True] Translation: X:48.11, Y:-5.41, Z:-0.91 [[ 9.87880226e-01 1.54214747e-01 1.76202054e-02 4.81136672e+01] [-1.54189154e-01 9.88037352e-01 -2.81002305e-03 -5.41272273e+00] [-1.78427680e-02 5.91216371e-05 9.99840803e-01 -9.06268285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters 0.025821412400016234 Centerline is valid? [True, True] Translation: X:48.14, Y:-5.42, Z:-0.91 [[ 9.87974129e-01 1.53623393e-01 1.75206331e-02 4.81419146e+01] [-1.53598011e-01 9.88129469e-01 -2.79331119e-03 -5.41737116e+00] [-1.77417719e-02 6.85847910e-05 9.99842600e-01 -9.06974723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214012739 meters 0.026052830740723603 Centerline is valid? [True, True] Translation: X:48.17, Y:-5.43, Z:-0.91 [[ 9.88240075e-01 1.51780968e-01 1.85497068e-02 4.81693634e+01] [-1.51752209e-01 9.88414147e-01 -2.95644817e-03 -5.42524519e+00] [-1.87835252e-02 1.06721569e-04 9.99823568e-01 -9.06098561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters 0.026521666071318912 Centerline is valid? [True, True] Translation: X:48.20, Y:-5.43, Z:-0.91 [[ 9.88467247e-01 1.50184011e-01 1.94232805e-02 4.81971071e+01] [-1.50152198e-01 9.88658051e-01 -3.09431970e-03 -5.43291603e+00] [-1.96677000e-02 1.42185411e-04 9.99806562e-01 -9.05063043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27401273899999 meters 0.027186518672570707 Centerline is valid? [True, True] Translation: X:48.23, Y:-5.44, Z:-0.91 [[ 9.88752278e-01 1.48270159e-01 1.96186818e-02 4.82257064e+01] [-1.48237340e-01 9.88946878e-01 -3.12473373e-03 -5.44148769e+00] [-1.98651388e-02 1.81366403e-04 9.99802652e-01 -9.05829652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters 0.02850244617077289 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.45, Z:-0.91 [[ 9.89177079e-01 1.45645212e-01 1.77813848e-02 4.82529506e+01] [-1.45617838e-01 9.89336862e-01 -2.83158517e-03 -5.45472414e+00] [-1.80041863e-02 2.11652328e-04 9.99837889e-01 -9.09948433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334012738999995 meters 0.028132258267903373 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.46, Z:-0.91 [[ 9.89073579e-01 1.46607499e-01 1.54821515e-02 4.82833297e+01] [-1.46586855e-01 9.89194729e-01 -2.46606790e-03 -5.46038151e+00] [-1.56764067e-02 1.69642709e-04 9.99877103e-01 -9.13596668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters 0.027587999304754147 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.46, Z:-0.92 [[ 9.88845946e-01 1.48149598e-01 1.53424837e-02 4.83120989e+01] [-1.48129509e-01 9.88964952e-01 -2.44392962e-03 -5.46327731e+00] [-1.55352458e-02 1.43995316e-04 9.99879310e-01 -9.15211851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394012739 meters 0.02681394181259731 Centerline is valid? [True, True] Translation: X:48.34, Y:-5.47, Z:-0.91 [[ 9.88547235e-01 1.50089367e-01 1.57335708e-02 4.83409183e+01] [-1.50068490e-01 9.88672427e-01 -2.50595951e-03 -5.46647060e+00] [-1.59314655e-02 1.16146126e-04 9.99873079e-01 -9.14868391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters 0.02586239239079467 Centerline is valid? [True, True] Translation: X:48.37, Y:-5.47, Z:-0.91 [[ 9.87998239e-01 1.53513113e-01 1.71231771e-02 4.83697318e+01] [-1.53488915e-01 9.88146609e-01 -2.72638479e-03 -5.46969858e+00] [-1.73387452e-02 6.54455098e-05 9.99849671e-01 -9.13001068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45401273899999 meters 0.02562621303886571 Centerline is valid? [True, True] Translation: X:48.40, Y:-5.47, Z:-0.91 [[ 9.87694819e-01 1.55615476e-01 1.55810042e-02 4.83974223e+01] [-1.55595711e-01 9.87817707e-01 -2.48024101e-03 -5.47202297e+00] [-1.57771558e-02 2.53837548e-05 9.99875533e-01 -9.14921773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters 0.02582718416711965 Centerline is valid? [True, True] Translation: X:48.43, Y:-5.47, Z:-0.92 [[ 9.87490378e-01 1.56967601e-01 1.49641296e-02 4.84250706e+01] [-1.56949539e-01 9.87603753e-01 -2.38111347e-03 -5.47481148e+00] [-1.51523882e-02 2.71338948e-06 9.99885196e-01 -9.17250209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514012738999995 meters 0.02592304772567636 Centerline is valid? [True, True] Translation: X:48.45, Y:-5.48, Z:-0.92 [[ 9.87061024e-01 1.59574106e-01 1.57047562e-02 4.84538307e+01] [-1.59554561e-01 9.87185952e-01 -2.49781238e-03 -5.47689429e+00] [-1.59021008e-02 -4.02722190e-05 9.99873553e-01 -9.15197572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters 0.02592585634610617 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.48, Z:-0.91 [[ 9.86905927e-01 1.60425208e-01 1.67464730e-02 4.84829722e+01] [-1.60403121e-01 9.87047997e-01 -2.66262784e-03 -5.47972178e+00] [-1.69567252e-02 -5.84233407e-05 9.99856223e-01 -9.13319121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574012739 meters 0.026234267417991203 Centerline is valid? [True, True] Translation: X:48.51, Y:-5.48, Z:-0.91 [[ 9.86648643e-01 1.61918801e-01 1.75144543e-02 4.85115432e+01] [-1.61894892e-01 9.86804081e-01 -2.78387553e-03 -5.47928634e+00] [-1.77340968e-02 -8.87936805e-05 9.99842735e-01 -9.13801987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters 0.026461735027011844 Centerline is valid? [True, True] Translation: X:48.54, Y:-5.48, Z:-0.91 [[ 9.86504606e-01 1.62846501e-01 1.70199732e-02 4.85399234e+01] [-1.62824081e-01 9.86651411e-01 -2.70413550e-03 -5.48145939e+00] [-1.72331396e-02 -1.03619379e-04 9.99851493e-01 -9.14840014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63401273899999 meters 0.02682464451251394 Centerline is valid? [True, True] Translation: X:48.57, Y:-5.48, Z:-0.92 [[ 9.86378215e-01 1.63574812e-01 1.73579190e-02 4.85686590e+01] [-1.63551621e-01 9.86530925e-01 -2.75696690e-03 -5.48390059e+00] [-1.75750942e-02 -1.19503688e-04 9.99845539e-01 -9.15009554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters 0.026793365156354963 Centerline is valid? [True, True] Translation: X:48.60, Y:-5.49, Z:-0.91 [[ 9.86333976e-01 1.63769703e-01 1.80214236e-02 4.85966136e+01] [-1.63744753e-01 9.86498590e-01 -2.86148169e-03 -5.48584477e+00] [-1.82467330e-02 -1.28536939e-04 9.99833506e-01 -9.13001860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694012738999994 meters 0.02654700784660528 Centerline is valid? [True, True] Translation: X:48.62, Y:-5.49, Z:-0.91 [[ 9.86400020e-01 1.63303046e-01 1.86310417e-02 4.86249304e+01] [-1.63276320e-01 9.86575947e-01 -2.95699864e-03 -5.48982974e+00] [-1.88638245e-02 -1.25224406e-04 9.99822054e-01 -9.12665181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters 0.02585631985075038 Centerline is valid? [True, True] Translation: X:48.65, Y:-5.50, Z:-0.91 [[ 9.86827433e-01 1.60686490e-01 1.87475084e-02 4.86527712e+01] [-1.60658974e-01 9.87005494e-01 -2.97457510e-03 -5.49657714e+00] [-1.89818678e-02 -7.65631493e-05 9.99819825e-01 -9.12497287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754012739 meters 0.0255063153276192 Centerline is valid? [True, True] Translation: X:48.68, Y:-5.50, Z:-0.91 [[ 9.87197436e-01 1.58387886e-01 1.88281865e-02 4.86796398e+01] [-1.58359732e-01 9.87376968e-01 -2.98647194e-03 -5.50349606e+00] [-1.90635386e-02 -3.33891215e-05 9.99818274e-01 -9.13555895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters 0.025431738874001415 Centerline is valid? [True, True] Translation: X:48.71, Y:-5.51, Z:-0.91 [[ 9.87831781e-01 1.54276861e-01 1.96728873e-02 4.87067847e+01] [-1.54245333e-01 9.88027655e-01 -3.11920697e-03 -5.51425200e+00] [-1.99185781e-02 4.68007333e-05 9.99801604e-01 -9.12318633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81401273899999 meters 0.02569766920453152 Centerline is valid? [True, True] Translation: X:48.74, Y:-5.52, Z:-0.91 [[ 9.88096457e-01 1.52491664e-01 2.02899904e-02 4.87357244e+01] [-1.52457770e-01 9.88304753e-01 -3.21608162e-03 -5.52190301e+00] [-2.05431196e-02 8.44321579e-05 9.99788964e-01 -9.11296016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters 0.026048793756617904 Centerline is valid? [True, True] Translation: X:48.76, Y:-5.53, Z:-0.91 [[ 9.88395796e-01 1.50469784e-01 2.07988917e-02 4.87645659e+01] [-1.50433731e-01 9.88614600e-01 -3.29623208e-03 -5.52971596e+00] [-2.10580713e-02 1.29127042e-04 9.99778246e-01 -9.10525354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874012738999994 meters 0.026032845092763084 Centerline is valid? [True, True] Translation: X:48.79, Y:-5.54, Z:-0.91 [[ 9.88390364e-01 1.50564762e-01 2.03651656e-02 4.87937878e+01] [-1.50530228e-01 9.88600140e-01 -3.22701326e-03 -5.53525576e+00] [-2.06188801e-02 1.23975791e-04 9.99787401e-01 -9.11521397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters 0.02548051130361011 Centerline is valid? [True, True] Translation: X:48.82, Y:-5.54, Z:-0.91 [[ 9.88085188e-01 1.52622237e-01 1.98523249e-02 4.88231031e+01] [-1.52589840e-01 9.88284598e-01 -3.14551839e-03 -5.53697284e+00] [-2.00998230e-02 7.87770461e-05 9.99797975e-01 -9.12556522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934012738999996 meters 0.025178791963061387 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.54, Z:-0.91 [[ 9.87819058e-01 1.54354520e-01 1.97025818e-02 4.88524155e+01] [-1.54322963e-01 9.88015526e-01 -3.12131823e-03 -5.53927968e+00] [-1.99482463e-02 4.27368313e-05 9.99801013e-01 -9.12811039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters 0.0251818350524211 Centerline is valid? [True, True] Translation: X:48.88, Y:-5.54, Z:-0.91 [[ 9.87419376e-01 1.56869189e-01 1.98754246e-02 4.88810232e+01] [-1.56837595e-01 9.87619389e-01 -3.14821993e-03 -5.53950198e+00] [-2.01232134e-02 -8.60044442e-06 9.99797508e-01 -9.13526001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99401273899999 meters 0.025249404885696738 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.54, Z:-0.92 [[ 9.87299100e-01 1.57710419e-01 1.91809895e-02 4.89099409e+01] [-1.57681177e-01 9.87485404e-01 -3.03700876e-03 -5.54129589e+00] [-1.94199151e-02 -2.60449813e-05 9.99811415e-01 -9.15227204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters 0.025532312607961995 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.54, Z:-0.92 [[ 9.86978691e-01 1.59832331e-01 1.80745631e-02 4.89380357e+01] [-1.59806736e-01 9.87144175e-01 -2.86101975e-03 -5.53940553e+00] [-1.82994831e-02 -6.46714077e-05 9.99832548e-01 -9.18065971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054012738999994 meters 0.02583954464862488 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.54, Z:-0.92 [[ 9.86847276e-01 1.60626613e-01 1.82083507e-02 4.89659222e+01] [-1.60600794e-01 9.87015240e-01 -2.88107339e-03 -5.54132145e+00] [-1.84346967e-02 -8.10961517e-05 9.99830063e-01 -9.18577516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters 0.02633242498042466 Centerline is valid? [True, True] Translation: X:49.00, Y:-5.54, Z:-0.92 [[ 9.86486204e-01 1.62852287e-01 1.80028506e-02 4.89956373e+01] [-1.62827436e-01 9.86650454e-01 -2.84748317e-03 -5.53910453e+00] [-1.82262399e-02 -1.22355150e-04 9.99833881e-01 -9.18416332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114012738999996 meters 0.026910165348799808 Centerline is valid? [True, True] Translation: X:49.02, Y:-5.54, Z:-0.92 [[ 9.86292021e-01 1.64072729e-01 1.75553239e-02 4.90244183e+01] [-1.64049306e-01 9.86448235e-01 -2.77591729e-03 -5.53770971e+00] [-1.77728706e-02 -1.42073636e-04 9.99842040e-01 -9.19849664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters 0.026975886639840428 Centerline is valid? [True, True] Translation: X:49.05, Y:-5.54, Z:-0.92 [[ 9.86112225e-01 1.65151066e-01 1.75443565e-02 4.90534467e+01] [-1.65127862e-01 9.86268269e-01 -2.77312296e-03 -5.53874248e+00] [-1.77614263e-02 -1.62451618e-04 9.99842240e-01 -9.20574235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17401273899999 meters 0.026975886639840428 Centerline is valid? [True, True] Translation: X:49.08, Y:-5.54, Z:-0.92 [[ 9.86124284e-01 1.65079036e-01 1.75444819e-02 4.90806147e+01] [-1.65055834e-01 9.86280328e-01 -2.77232958e-03 -5.54290645e+00] [-1.77614308e-02 -1.61957566e-04 9.99842240e-01 -9.21132560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters 0.02838079273825976 Centerline is valid? [True, True] Translation: X:49.11, Y:-5.54, Z:-0.92 [[ 9.85865690e-01 1.66616621e-01 1.75425962e-02 4.91093339e+01] [-1.66593692e-01 9.86021737e-01 -2.77068624e-03 -5.53795770e+00] [-1.77590236e-02 -1.90961362e-04 9.99842278e-01 -9.22266547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23401273899999 meters 0.02886623459266206 Centerline is valid? [True, True] Translation: X:49.14, Y:-5.53, Z:-0.92 [[ 9.85741989e-01 1.67200443e-01 1.88876358e-02 4.91379336e+01] [-1.67173993e-01 9.85922900e-01 -2.98188066e-03 -5.53478462e+00] [-1.91203244e-02 -2.18156517e-04 9.99817166e-01 -9.20886096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters 0.027528574920054318 Centerline is valid? [True, True] Translation: X:49.17, Y:-5.54, Z:-0.92 [[ 9.85861412e-01 1.66355845e-01 2.00751113e-02 4.91670660e+01] [-1.66325826e-01 9.86065762e-01 -3.16755981e-03 -5.53859947e+00] [-2.03223220e-02 -2.16234477e-04 9.99793457e-01 -9.19584681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294012738999996 meters 0.02773721978777387 Centerline is valid? [True, True] Translation: X:49.19, Y:-5.54, Z:-0.92 [[ 9.86095643e-01 1.64822187e-01 2.11903152e-02 4.91947753e+01] [-1.64788405e-01 9.86323278e-01 -3.34267269e-03 -5.53884752e+00] [-2.14514478e-02 -1.95723266e-04 9.99769872e-01 -9.17936600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters 0.025839705125918315 Centerline is valid? [True, True] Translation: X:49.22, Y:-5.54, Z:-0.92 [[ 9.86663957e-01 1.61414260e-01 2.09683843e-02 4.92229773e+01] [-1.61380438e-01 9.86886732e-01 -3.30640833e-03 -5.54351216e+00] [-2.12271217e-02 -1.21573102e-04 9.99774672e-01 -9.19297464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354012739 meters 0.02526209333566901 Centerline is valid? [True, True] Translation: X:49.25, Y:-5.55, Z:-0.92 [[ 9.86969732e-01 1.59585393e-01 2.05730708e-02 4.92510934e+01] [-1.59552456e-01 9.87184125e-01 -3.24313960e-03 -5.54939996e+00] [-2.08269666e-02 -8.16033556e-05 9.99783092e-01 -9.20968539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters 0.025034962290502987 Centerline is valid? [True, True] Translation: X:49.28, Y:-5.56, Z:-0.92 [[ 9.87571124e-01 1.56001677e-01 1.91507599e-02 4.92785910e+01] [-1.55972480e-01 9.87756790e-01 -3.01804088e-03 -5.55558924e+00] [-1.93871126e-02 -6.46149441e-06 9.99812052e-01 -9.24602010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41401273899999 meters 0.02515683155055894 Centerline is valid? [True, True] Translation: X:49.31, Y:-5.56, Z:-0.92 [[ 9.87960360e-01 1.53449779e-01 1.96848122e-02 4.93050934e+01] [-1.53418450e-01 9.88156447e-01 -3.10093489e-03 -5.56336659e+00] [-1.99275119e-02 4.35873770e-05 9.99801426e-01 -9.24636768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters 0.025971040262801556 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.58, Z:-0.92 [[ 9.88702824e-01 1.48249876e-01 2.21065532e-02 4.93322256e+01] [-1.48209098e-01 9.88949921e-01 -3.48084996e-03 -5.57580970e+00] [-2.23783096e-02 1.65133885e-04 9.99749561e-01 -9.19742621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474012738999996 meters 0.02700513336147751 Centerline is valid? [True, True] Translation: X:49.36, Y:-5.59, Z:-0.92 [[ 9.89036315e-01 1.45876141e-01 2.29634109e-02 4.93591983e+01] [-1.45831527e-01 9.89302835e-01 -3.61461781e-03 -5.58627416e+00] [-2.32450540e-02 2.26199005e-04 9.99729772e-01 -9.18728636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters 0.029577857676847084 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.61, Z:-0.92 [[ 9.89701947e-01 1.41205831e-01 2.34727439e-02 4.93864497e+01] [-1.41157921e-01 9.89980200e-01 -3.69398698e-03 -5.60511431e+00] [-2.37591642e-02 3.42582371e-04 9.99717653e-01 -9.19103364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534012739 meters 0.030103252739587593 Centerline is valid? [True, True] Translation: X:49.42, Y:-5.61, Z:-0.92 [[ 9.89911785e-01 1.39713602e-01 2.35534879e-02 4.94153842e+01] [-1.39664945e-01 9.90191883e-01 -3.70641385e-03 -5.61446204e+00] [-2.38403089e-02 3.79426159e-04 9.99715707e-01 -9.20236848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters 0.030277711548996587 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.63, Z:-0.92 [[ 9.89944301e-01 1.39638755e-01 2.26119170e-02 4.94446749e+01] [-1.39593896e-01 9.90202446e-01 -3.55807607e-03 -5.62703794e+00] [-2.28872208e-02 3.65811546e-04 9.99737986e-01 -9.22471962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59401273899999 meters 0.02941879699552758 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.63, Z:-0.93 [[ 9.89822417e-01 1.40700877e-01 2.13271042e-02 4.94748337e+01] [-1.40661207e-01 9.90052099e-01 -3.35639058e-03 -5.63430340e+00] [-2.15871914e-02 3.22334418e-04 9.99766917e-01 -9.25407714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters 0.028150065534547738 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.64, Z:-0.93 [[ 9.89481841e-01 1.43387034e-01 1.91270804e-02 4.95043292e+01] [-1.43355621e-01 9.89666662e-01 -3.01058159e-03 -5.64470682e+00] [-1.93611122e-02 2.36941308e-04 9.99812528e-01 -9.29114043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654012738999995 meters 0.02759309919476763 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.65, Z:-0.93 [[ 9.89280471e-01 1.44801904e-01 1.88827416e-02 4.95334373e+01] [-1.44771541e-01 9.89460644e-01 -2.97237627e-03 -5.65131919e+00] [-1.91141354e-02 2.06830198e-04 9.99817287e-01 -9.30017145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters 0.026753975043224413 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.66, Z:-0.93 [[ 9.88998014e-01 1.46693528e-01 1.90771249e-02 4.95638989e+01] [-1.46662893e-01 9.89181975e-01 -3.00272973e-03 -5.65610191e+00] [-1.93112291e-02 1.71787416e-04 9.99813506e-01 -9.29514030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714012739 meters 0.025128548782568774 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.66, Z:-0.93 [[ 9.88109629e-01 1.52527692e-01 1.93562699e-02 4.95933397e+01] [-1.52497272e-01 9.88299196e-01 -3.04668389e-03 -5.65657411e+00] [-1.95944896e-02 5.86793415e-05 9.99808008e-01 -9.29456709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters 0.02506993881692601 Centerline is valid? [True, True] Translation: X:49.62, Y:-5.66, Z:-0.93 [[ 9.87262252e-01 1.57910851e-01 1.94270381e-02 4.96222972e+01] [-1.57881258e-01 9.87453372e-01 -3.05736960e-03 -5.65692300e+00] [-1.96660861e-02 -4.87396104e-05 9.99806603e-01 -9.30561563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77401273899999 meters 0.025621439906206092 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.66, Z:-0.93 [[ 9.86913845e-01 1.60211837e-01 1.82545589e-02 4.96503476e+01] [-1.60186117e-01 9.87082651e-01 -2.87207107e-03 -5.65869071e+00] [-1.84788982e-02 -8.96402028e-05 9.99829247e-01 -9.33047903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters 0.02704079356759709 Centerline is valid? [True, True] Translation: X:49.68, Y:-5.66, Z:-0.94 [[ 9.86307286e-01 1.63957737e-01 1.77706829e-02 4.96798669e+01] [-1.63933989e-01 9.86467352e-01 -2.79491260e-03 -5.65849878e+00] [-1.79884461e-02 -1.56576267e-04 9.99838183e-01 -9.35302645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834012738999995 meters 0.027672849495212377 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.66, Z:-0.94 [[ 9.86102944e-01 1.65115359e-01 1.83820970e-02 4.97089071e+01] [-1.65090166e-01 9.86274244e-01 -2.89017164e-03 -5.66177222e+00] [-1.86070005e-02 -1.84696663e-04 9.99826858e-01 -9.35390355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters 0.027757405845844633 Centerline is valid? [True, True] Translation: X:49.74, Y:-5.67, Z:-0.93 [[ 9.86038065e-01 1.65446243e-01 1.88805625e-02 4.97361907e+01] [-1.65419742e-01 9.86218790e-01 -2.96764333e-03 -5.66617672e+00] [-1.91113510e-02 -1.97008496e-04 9.99817342e-01 -9.34885904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894012739 meters 0.027842119552693372 Centerline is valid? [True, True] Translation: X:49.76, Y:-5.67, Z:-0.94 [[ 9.86006942e-01 1.65567935e-01 1.94311409e-02 4.97646117e+01] [-1.65539915e-01 9.86198366e-01 -3.05289040e-03 -5.67097438e+00] [-1.96684201e-02 -2.06458283e-04 9.99806537e-01 -9.35031494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters 0.02761695574604197 Centerline is valid? [True, True] Translation: X:49.79, Y:-5.68, Z:-0.93 [[ 9.85946828e-01 1.65769295e-01 2.07218204e-02 4.97934629e+01] [-1.65737495e-01 9.86164535e-01 -3.25463057e-03 -5.67551660e+00] [-2.09746422e-02 -2.25489926e-04 9.99779983e-01 -9.32545451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95401273899999 meters 0.0284345630381347 Centerline is valid? [True, True] Translation: X:49.82, Y:-5.68, Z:-0.93 [[ 9.85636998e-01 1.67206286e-01 2.37016084e-02 4.98226009e+01] [-1.67165129e-01 9.85921889e-01 -3.72135867e-03 -5.67748780e+00] [-2.39901691e-02 -2.94173627e-04 9.99712151e-01 -9.26689371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters 0.029172441055034613 Centerline is valid? [True, True] Translation: X:49.85, Y:-5.68, Z:-0.93 [[ 9.85409984e-01 1.68366362e-01 2.48984345e-02 4.98504447e+01] [-1.68321345e-01 9.85724430e-01 -3.90796660e-03 -5.67848733e+00] [-2.52009653e-02 -3.39988685e-04 9.99682347e-01 -9.25285944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014012738999995 meters 0.02974437052432238 Centerline is valid? [True, True] Translation: X:49.88, Y:-5.68, Z:-0.93 [[ 9.85306121e-01 1.69092377e-01 2.40752107e-02 4.98792705e+01] [-1.69050537e-01 9.85600146e-01 -3.77740092e-03 -5.68106096e+00] [-2.43672608e-02 -3.48031059e-04 9.99703014e-01 -9.27793830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters 0.03192191245997325 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.68, Z:-0.93 [[ 9.84935622e-01 1.71627942e-01 2.11109138e-02 4.99075971e+01] [-1.71596373e-01 9.85161773e-01 -3.31140291e-03 -5.67953333e+00] [-2.13659946e-02 -3.61037565e-04 9.99771656e-01 -9.34324064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074012739 meters 0.03401691985906208 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.68, Z:-0.94 [[ 9.84733667e-01 1.72930185e-01 1.98684720e-02 4.99358479e+01] [-1.72902510e-01 9.84934016e-01 -3.11541071e-03 -5.67889784e+00] [-2.01078825e-02 -3.67458870e-04 9.99797749e-01 -9.37231469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters 0.03388750218318533 Centerline is valid? [True, True] Translation: X:49.96, Y:-5.68, Z:-0.94 [[ 9.84582031e-01 1.73882210e-01 1.90578449e-02 4.99647989e+01] [-1.73856947e-01 9.84766388e-01 -2.98722801e-03 -5.68220583e+00] [-1.92869509e-02 -3.72167718e-04 9.99813920e-01 -9.39413937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13401273899999 meters 0.03472364422244389 Centerline is valid? [True, True] Translation: X:49.99, Y:-5.68, Z:-0.94 [[ 9.84492426e-01 1.74416159e-01 1.88060084e-02 4.99927445e+01] [-1.74391672e-01 9.84671956e-01 -2.94692931e-03 -5.68174824e+00] [-1.90317411e-02 -3.78381662e-04 9.99818808e-01 -9.40264312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters 0.03428168088716761 Centerline is valid? [True, True] Translation: X:50.02, Y:-5.68, Z:-0.94 [[ 9.84577248e-01 1.73829666e-01 1.97709080e-02 5.00214039e+01] [-1.73802519e-01 9.84775658e-01 -3.09635916e-03 -5.68361090e+00] [-2.00081480e-02 -3.87628839e-04 9.99799742e-01 -9.39550525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194012738999994 meters 0.03433460533347474 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.69, Z:-0.94 [[ 9.84590319e-01 1.73677969e-01 2.04417819e-02 5.00485985e+01] [-1.73648936e-01 9.84802419e-01 -3.20043008e-03 -5.68504041e+00] [-2.06869604e-02 -3.98581202e-04 9.99785922e-01 -9.39225022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters 0.03447572237673833 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.68, Z:-0.94 [[ 9.84532820e-01 1.73779904e-01 2.22636689e-02 5.00781935e+01] [-1.73745533e-01 9.84784419e-01 -3.48379762e-03 -5.68432595e+00] [-2.25303283e-02 -4.38299923e-04 9.99746064e-01 -9.37064462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254012739 meters 0.03523050399051402 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.68, Z:-0.94 [[ 9.84499223e-01 1.73978516e-01 2.21980954e-02 5.01064225e+01] [-1.73944422e-01 9.84749349e-01 -3.47249351e-03 -5.68470067e+00] [-2.24636992e-02 -4.42567693e-04 9.99747561e-01 -9.37222058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters 0.0356733982739679 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.68, Z:-0.94 [[ 9.84409840e-01 1.74530055e-01 2.18294768e-02 5.01352632e+01] [-1.74497246e-01 9.84651745e-01 -3.41361891e-03 -5.68486215e+00] [-2.20902115e-02 -4.48783522e-04 9.99755881e-01 -9.37938693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31401273899999 meters 0.03797827920223884 Centerline is valid? [True, True] Translation: X:50.17, Y:-5.68, Z:-0.94 [[ 9.84062781e-01 1.76631684e-01 2.05351267e-02 5.01655036e+01] [-1.76603125e-01 9.84276907e-01 -3.21033277e-03 -5.67849422e+00] [-2.07792975e-02 -4.67398566e-04 9.99783978e-01 -9.41508179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters 0.04064320593400703 Centerline is valid? [True, True] Translation: X:50.20, Y:-5.67, Z:-0.94 [[ 9.83604204e-01 1.79083661e-01 2.12558568e-02 5.01960055e+01] [-1.79053656e-01 9.83833702e-01 -3.32204013e-03 -5.67436937e+00] [-2.15071514e-02 -5.38366237e-04 9.99768550e-01 -9.41834679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374012738999994 meters 0.04204665949770747 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.67, Z:-0.94 [[ 9.83390573e-01 1.80183345e-01 2.18390245e-02 5.02237871e+01] [-1.80151954e-01 9.83632872e-01 -3.41261699e-03 -5.67457444e+00] [-2.20964791e-02 -5.78407545e-04 9.99755676e-01 -9.41803662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters 0.04321396690294008 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.67, Z:-0.94 [[ 9.83228097e-01 1.80982014e-01 2.25392954e-02 5.02532352e+01] [-1.80948816e-01 9.83486213e-01 -3.52076928e-03 -5.67481044e+00] [-2.28042822e-02 -6.16739530e-04 9.99739758e-01 -9.40985118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434012738999996 meters 0.04290287429289418 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.67, Z:-0.94 [[ 9.83290112e-01 1.80793080e-01 2.13170761e-02 5.02832631e+01] [-1.80763359e-01 9.83520984e-01 -3.32894878e-03 -5.67068675e+00] [-2.15676426e-02 -5.80023874e-04 9.99767223e-01 -9.43348798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters 0.03876885418869591 Centerline is valid? [True, True] Translation: X:50.31, Y:-5.68, Z:-0.95 [[ 9.83412225e-01 1.80384237e-01 1.90242828e-02 5.03115585e+01] [-1.80360505e-01 9.83596089e-01 -2.97014673e-03 -5.67593766e+00] [-1.92479778e-02 -5.10350652e-04 9.99814610e-01 -9.47686224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49401273899999 meters 0.039008736657195994 Centerline is valid? [True, True] Translation: X:50.34, Y:-5.68, Z:-0.95 [[ 9.83484585e-01 1.80010549e-01 1.88221298e-02 5.03389009e+01] [-1.79987266e-01 9.83664554e-01 -2.93770050e-03 -5.67870434e+00] [-1.90434790e-02 -4.98560535e-04 9.99818532e-01 -9.48747336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters 0.037816275022788955 Centerline is valid? [True, True] Translation: X:50.37, Y:-5.68, Z:-0.95 [[ 9.83554525e-01 1.79565557e-01 1.94089430e-02 5.03677375e+01] [-1.79540737e-01 9.83745879e-01 -3.02807810e-03 -5.68342066e+00] [-1.96372062e-02 -5.06416017e-04 9.99807043e-01 -9.48143009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554012738999994 meters 0.04015895079683561 Centerline is valid? [True, True] Translation: X:50.40, Y:-5.68, Z:-0.95 [[ 9.84007272e-01 1.76985347e-01 2.01463693e-02 5.03963780e+01] [-1.76958085e-01 9.84213373e-01 -3.14210806e-03 -5.67938908e+00] [-2.03844331e-02 -4.73205761e-04 9.99792104e-01 -9.46703509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters 0.034526411882668195 Centerline is valid? [True, True] Translation: X:50.42, Y:-5.69, Z:-0.95 [[ 9.84315646e-01 1.75294055e-01 1.98671545e-02 5.04233886e+01] [-1.75267224e-01 9.84516027e-01 -3.09737427e-03 -5.69164962e+00] [-2.01024833e-02 -4.33267072e-04 9.99797831e-01 -9.48072562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614012738999996 meters 0.03143823051977498 Centerline is valid? [True, True] Translation: X:50.45, Y:-5.70, Z:-0.95 [[ 9.85048198e-01 1.71013722e-01 2.08411796e-02 5.04512622e+01] [-1.70983259e-01 9.85268580e-01 -3.24819419e-03 -5.70120859e+00] [-2.10896452e-02 -3.63864967e-04 9.99777522e-01 -9.47308454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters 0.029450779683797734 Centerline is valid? [True, True] Translation: X:50.48, Y:-5.71, Z:-0.95 [[ 9.85425721e-01 1.68629720e-01 2.23643765e-02 5.04788509e+01] [-1.68594040e-01 9.85679413e-01 -3.48496447e-03 -5.70971991e+00] [-2.26317741e-02 -3.36326971e-04 9.99743812e-01 -9.45427646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67401273899999 meters 0.027500864536960275 Centerline is valid? [True, True] Translation: X:50.51, Y:-5.72, Z:-0.94 [[ 9.86335408e-01 1.63132800e-01 2.30250271e-02 5.05061700e+01] [-1.63093509e-01 9.86604096e-01 -3.58678054e-03 -5.71937540e+00] [-2.33017076e-02 -2.17463816e-04 9.99728455e-01 -9.43159338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters 0.025159161628941065 Centerline is valid? [True, True] Translation: X:50.53, Y:-5.73, Z:-0.95 [[ 9.86835726e-01 1.60235632e-01 2.19041363e-02 5.05335915e+01] [-1.60199382e-01 9.87078782e-01 -3.41119680e-03 -5.73289928e+00] [-2.21677034e-02 -1.42738215e-04 9.99754256e-01 -9.46899581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73401273899999 meters 0.024151230656637275 Centerline is valid? [True, True] Translation: X:50.56, Y:-5.75, Z:-0.95 [[ 9.87729254e-01 1.54861171e-01 2.02222244e-02 5.05595654e+01] [-1.54829161e-01 9.87936241e-01 -3.14858404e-03 -5.74863294e+00] [-2.04658618e-02 -2.10414836e-05 9.99790552e-01 -9.49581528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters 0.024119850638533332 Centerline is valid? [True, True] Translation: X:50.59, Y:-5.76, Z:-0.95 [[ 9.88064655e-01 1.52638275e-01 2.07314686e-02 5.05863830e+01] [-1.52604171e-01 9.88282124e-01 -3.22655976e-03 -5.75823776e+00] [-2.09810363e-02 2.43410853e-05 9.99779874e-01 -9.49223511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794012738999996 meters 0.024742832071639582 Centerline is valid? [True, True] Translation: X:50.61, Y:-5.77, Z:-0.95 [[ 9.88641851e-01 1.48619827e-01 2.23480903e-02 5.06128376e+01] [-1.48579200e-01 9.88894400e-01 -3.47675548e-03 -5.77289175e+00] [-2.26166161e-02 1.16804593e-04 9.99744205e-01 -9.47502539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters 0.02519481558613499 Centerline is valid? [True, True] Translation: X:50.64, Y:-5.78, Z:-0.95 [[ 9.88787352e-01 1.47487331e-01 2.33893001e-02 5.06399773e+01] [-1.47442551e-01 9.89063934e-01 -3.63714427e-03 -5.78248693e+00] [-2.36699459e-02 1.47784184e-04 9.99719817e-01 -9.46465381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854012739 meters 0.025186196994929355 Centerline is valid? [True, True] Translation: X:50.67, Y:-5.79, Z:-0.95 [[ 9.88878847e-01 1.46814933e-01 2.37486964e-02 5.06685057e+01] [-1.46768604e-01 9.89163964e-01 -3.69174162e-03 -5.79247412e+00] [-2.40333575e-02 1.65122198e-04 9.99711144e-01 -9.46055854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters 0.024991480127053586 Centerline is valid? [True, True] Translation: X:50.70, Y:-5.80, Z:-0.95 [[ 9.88835440e-01 1.47199158e-01 2.31706654e-02 5.06979501e+01] [-1.47155175e-01 9.89106862e-01 -3.60135068e-03 -5.79776988e+00] [-2.34483800e-02 1.51459869e-04 9.99725037e-01 -9.47447555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91401273899999 meters 0.02498667179531314 Centerline is valid? [True, True] Translation: X:50.73, Y:-5.80, Z:-0.95 [[ 9.88778902e-01 1.47743425e-01 2.20943985e-02 5.07261304e+01] [-1.47703581e-01 9.89025714e-01 -3.43354514e-03 -5.80342911e+00] [-2.23592120e-02 1.31595231e-04 9.99749993e-01 -9.50047441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters 0.024985805688708212 Centerline is valid? [True, True] Translation: X:50.75, Y:-5.81, Z:-0.95 [[ 9.88856622e-01 1.47415146e-01 2.07691305e-02 5.07537336e+01] [-1.47379880e-01 9.89074698e-01 -3.22689485e-03 -5.81132480e+00] [-2.10179147e-02 1.29984365e-04 9.99779091e-01 -9.54387682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974012738999996 meters 0.02571890846705486 Centerline is valid? [True, True] Translation: X:50.78, Y:-5.83, Z:-0.96 [[ 9.89178781e-01 1.45271596e-01 2.05305148e-02 5.07819762e+01] [-1.45236695e-01 9.89391800e-01 -3.18887240e-03 -5.82527087e+00] [-2.07759756e-02 1.72580804e-04 9.99784141e-01 -9.55030007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters 0.02594545140712612 Centerline is valid? [True, True] Translation: X:50.81, Y:-5.83, Z:-0.95 [[ 9.89321008e-01 1.44321357e-01 2.03786261e-02 5.08111567e+01] [-1.44286778e-01 9.89530853e-01 -3.16480917e-03 -5.83383986e+00] [-2.06220288e-02 1.90645893e-04 9.99787325e-01 -9.54934463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034012739 meters 0.025821596226982633 Centerline is valid? [True, True] Translation: X:50.84, Y:-5.84, Z:-0.96 [[ 9.89320572e-01 1.44350597e-01 2.01918706e-02 5.08409240e+01] [-1.44316655e-01 9.89526589e-01 -3.13580595e-03 -5.84126750e+00] [-2.04330483e-02 1.88294113e-04 9.99791206e-01 -9.55614286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters 0.025821596226982633 Centerline is valid? [True, True] Translation: X:50.87, Y:-5.85, Z:-0.96 [[ 9.89320572e-01 1.44350597e-01 2.01918706e-02 5.08705638e+01] [-1.44316655e-01 9.89526589e-01 -3.13580595e-03 -5.84587057e+00] [-2.04330483e-02 1.88294113e-04 9.99791206e-01 -9.56223528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09401273899999 meters 0.025523683656291995 Centerline is valid? [True, True] Translation: X:50.90, Y:-5.85, Z:-0.96 [[ 9.89089644e-01 1.45977435e-01 1.98056606e-02 5.08994599e+01] [-1.45945105e-01 9.89287908e-01 -3.07582370e-03 -5.85459174e+00] [-2.00425014e-02 1.51726144e-04 9.99799117e-01 -9.58283318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters 0.024762071800492065 Centerline is valid? [True, True] Translation: X:50.93, Y:-5.86, Z:-0.96 [[ 9.88819615e-01 1.47729345e-01 2.02931102e-02 5.09291791e+01] [-1.47695767e-01 9.89027819e-01 -3.15181010e-03 -5.85894456e+00] [-2.05360654e-02 1.19365175e-04 9.99789106e-01 -9.58978025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154012738999995 meters 0.023809961998949726 Centerline is valid? [True, True] Translation: X:50.96, Y:-5.86, Z:-0.96 [[ 9.88260252e-01 1.51344854e-01 2.08903937e-02 5.09585265e+01] [-1.51310089e-01 9.88481023e-01 -3.24408496e-03 -5.86099843e+00] [-2.11407333e-02 4.50729033e-05 9.99776509e-01 -9.58048503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters 0.023703457301686208 Centerline is valid? [True, True] Translation: X:50.99, Y:-5.86, Z:-0.96 [[ 9.87942663e-01 1.53343150e-01 2.13348017e-02 5.09871777e+01] [-1.53307366e-01 9.88173000e-01 -3.31257120e-03 -5.86350278e+00] [-2.15904351e-02 1.84815779e-06 9.99766899e-01 -9.57548823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214012739 meters 0.024266632089185662 Centerline is valid? [True, True] Translation: X:51.02, Y:-5.86, Z:-0.96 [[ 9.87217699e-01 1.57760351e-01 2.26469843e-02 5.10166369e+01] [-1.57721211e-01 9.87477423e-01 -3.51544005e-03 -5.86427606e+00] [-2.29179827e-02 -1.01405143e-04 9.99737343e-01 -9.55612973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters 0.025421301658172957 Centerline is valid? [True, True] Translation: X:51.04, Y:-5.87, Z:-0.96 [[ 9.86747322e-01 1.60790898e-01 2.18176407e-02 5.10445955e+01] [-1.60755335e-01 9.86988480e-01 -3.38569348e-03 -5.86731582e+00] [-2.20781488e-02 -1.66478174e-04 9.99756234e-01 -9.57494648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27401273899999 meters 0.025948438610535307 Centerline is valid? [True, True] Translation: X:51.07, Y:-5.87, Z:-0.96 [[ 9.86577645e-01 1.61913165e-01 2.11820261e-02 5.10725669e+01] [-1.61879929e-01 9.86804992e-01 -3.28585250e-03 -5.87150624e+00] [-2.14345519e-02 -1.87196255e-04 9.99770236e-01 -9.59866268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters 0.026531818102166368 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.88, Z:-0.96 [[ 9.86381431e-01 1.63131397e-01 2.09718770e-02 5.11012534e+01] [-1.63099117e-01 9.86604329e-01 -3.25204946e-03 -5.87507084e+00] [-2.12214560e-02 -2.12733421e-04 9.99774777e-01 -9.60684302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334012738999995 meters 0.027787806191905205 Centerline is valid? [True, True] Translation: X:51.13, Y:-5.88, Z:-0.96 [[ 9.86001198e-01 1.65345106e-01 2.15089215e-02 5.11301639e+01] [-1.65311701e-01 9.86235735e-01 -3.33428815e-03 -5.87709536e+00] [-2.17641752e-02 -2.68064281e-04 9.99763096e-01 -9.59617787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters 0.02819170188225524 Centerline is valid? [True, True] Translation: X:51.16, Y:-5.88, Z:-0.96 [[ 9.85870180e-01 1.66052906e-01 2.20549533e-02 5.11587898e+01] [-1.66017984e-01 9.86116802e-01 -3.41786793e-03 -5.88144635e+00] [-2.23163069e-02 -2.91944810e-04 9.99750918e-01 -9.59533408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394012739 meters 0.029191353306242517 Centerline is valid? [True, True] Translation: X:51.19, Y:-5.88, Z:-0.96 [[ 9.85644378e-01 1.67372591e-01 2.21715294e-02 5.11861080e+01] [-1.67337656e-01 9.85893661e-01 -3.43485290e-03 -5.88433770e+00] [-2.24336705e-02 -3.24588314e-04 9.99748281e-01 -9.58912887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters 0.03077302281751668 Centerline is valid? [True, True] Translation: X:51.21, Y:-5.88, Z:-0.96 [[ 9.85434758e-01 1.68479772e-01 2.30847272e-02 5.12140664e+01] [-1.68442237e-01 9.85705043e-01 -3.57493181e-03 -5.88285052e+00] [-2.33570357e-02 -3.65581019e-04 9.99727120e-01 -9.58078112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45401273899999 meters 0.030750838267845776 Centerline is valid? [True, True] Translation: X:51.24, Y:-5.89, Z:-0.96 [[ 9.85311226e-01 1.69108323e-01 2.37521254e-02 5.12427462e+01] [-1.69068798e-01 9.85597393e-01 -3.67702581e-03 -5.88683795e+00] [-2.40318485e-02 -3.92728487e-04 9.99711116e-01 -9.57963417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters 0.03033224596270996 Centerline is valid? [True, True] Translation: X:51.27, Y:-5.89, Z:-0.96 [[ 9.85287943e-01 1.69377868e-01 2.27773508e-02 5.12715515e+01] [-1.69341617e-01 9.85551110e-01 -3.52508852e-03 -5.89190973e+00] [-2.30453154e-02 -3.83926209e-04 9.99734348e-01 -9.59861462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514012738999995 meters 0.0300628031815653 Centerline is valid? [True, True] Translation: X:51.30, Y:-5.90, Z:-0.96 [[ 9.85328531e-01 1.69395929e-01 2.08015695e-02 5.13004201e+01] [-1.69365718e-01 9.85548018e-01 -3.21838800e-03 -5.89571218e+00] [-2.10461274e-02 -3.51903241e-04 9.99778444e-01 -9.63975619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters 0.030614133906175952 Centerline is valid? [True, True] Translation: X:51.33, Y:-5.90, Z:-0.97 [[ 9.85351777e-01 1.69517305e-01 1.85945958e-02 5.13284811e+01] [-1.69493201e-01 9.85527160e-01 -2.87613622e-03 -5.89737589e+00] [-1.88130341e-02 -3.17651636e-04 9.99822969e-01 -9.67787660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574012739 meters 0.032105207137979014 Centerline is valid? [True, True] Translation: X:51.36, Y:-5.90, Z:-0.97 [[ 9.85219133e-01 1.70399164e-01 1.75323855e-02 5.13570879e+01] [-1.70377893e-01 9.85375068e-01 -2.71083039e-03 -5.89584106e+00] [-1.77378988e-02 -3.16368941e-04 9.99842621e-01 -9.70996536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters 0.03351060838836074 Centerline is valid? [True, True] Translation: X:51.38, Y:-5.90, Z:-0.97 [[ 9.85147130e-01 1.70788335e-01 1.77897912e-02 5.13848367e+01] [-1.70766518e-01 9.85307686e-01 -2.74954059e-03 -5.89603869e+00] [-1.79980075e-02 -3.29198681e-04 9.99837969e-01 -9.70472891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63401273899999 meters 0.03381018154391795 Centerline is valid? [True, True] Translation: X:51.41, Y:-5.89, Z:-0.97 [[ 9.85058750e-01 1.71170865e-01 1.89682553e-02 5.14137116e+01] [-1.71146156e-01 9.85241293e-01 -2.93048066e-03 -5.89469834e+00] [-1.91899213e-02 -3.59648367e-04 9.99815792e-01 -9.69691984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters 0.03168608029582147 Centerline is valid? [True, True] Translation: X:51.44, Y:-5.90, Z:-0.97 [[ 9.85063470e-01 1.71129509e-01 1.90958343e-02 5.14414249e+01] [-1.71104479e-01 9.85248476e-01 -2.94911117e-03 -5.89919952e+00] [-1.93188216e-02 -3.62321104e-04 9.99813309e-01 -9.70279732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694012738999994 meters 0.03281119212046215 Centerline is valid? [True, True] Translation: X:51.47, Y:-5.90, Z:-0.97 [[ 9.85082991e-01 1.71040666e-01 1.88836252e-02 5.14687297e+01] [-1.71016199e-01 9.85263905e-01 -2.91500561e-03 -5.89812264e+00] [-1.91039388e-02 -3.57883353e-04 9.99817439e-01 -9.71711862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters 0.03387413597078735 Centerline is valid? [True, True] Translation: X:51.50, Y:-5.90, Z:-0.97 [[ 9.85040422e-01 1.71347227e-01 1.83165175e-02 5.14972362e+01] [-1.71324298e-01 9.85210638e-01 -2.82542546e-03 -5.89573620e+00] [-1.85297567e-02 -3.54906216e-04 9.99828246e-01 -9.72718050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754012739 meters 0.033063418980670806 Centerline is valid? [True, True] Translation: X:51.52, Y:-5.90, Z:-0.97 [[ 9.85223563e-01 1.70178816e-01 1.93313801e-02 5.15248813e+01] [-1.70153075e-01 9.85413135e-01 -2.98077119e-03 -5.89760172e+00] [-1.95566600e-02 -3.52567749e-04 9.99808688e-01 -9.71506071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters 0.032063641438592756 Centerline is valid? [True, True] Translation: X:51.55, Y:-5.90, Z:-0.97 [[ 9.85356792e-01 1.69371731e-01 1.96267246e-02 5.15529475e+01] [-1.69345060e-01 9.85552180e-01 -3.02515725e-03 -5.90207627e+00] [-1.98555373e-02 -3.42829618e-04 9.99802801e-01 -9.71134980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81401273899999 meters 0.031902316515963966 Centerline is valid? [True, True] Translation: X:51.58, Y:-5.90, Z:-0.97 [[ 9.85433108e-01 1.68898579e-01 1.98710994e-02 5.15805112e+01] [-1.68871162e-01 9.85633378e-01 -3.06189435e-03 -5.90416291e+00] [-2.01027685e-02 -3.38363576e-04 9.99797862e-01 -9.70608208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters 0.030440732611983514 Centerline is valid? [True, True] Translation: X:51.61, Y:-5.91, Z:-0.97 [[ 9.85667509e-01 1.67607714e-01 1.91628650e-02 5.16089052e+01] [-1.67582003e-01 9.85853723e-01 -2.95118910e-03 -5.90675038e+00] [-1.93864238e-02 -3.02460089e-04 9.99812020e-01 -9.72353394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874012738999994 meters 0.029630918602768647 Centerline is valid? [True, True] Translation: X:51.64, Y:-5.91, Z:-0.97 [[ 9.85899040e-01 1.66259657e-01 1.89949858e-02 5.16376317e+01] [-1.66234162e-01 9.86081970e-01 -2.92445178e-03 -5.91164343e+00] [-1.92168314e-02 -2.74401339e-04 9.99815302e-01 -9.72963395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters 0.026790189307468126 Centerline is valid? [True, True] Translation: X:51.67, Y:-5.92, Z:-0.97 [[ 9.86505861e-01 1.62500180e-01 1.99969569e-02 5.16660571e+01] [-1.62471171e-01 9.86708491e-01 -3.07772876e-03 -5.92053799e+00] [-2.02312986e-02 -2.12731537e-04 9.99795304e-01 -9.71472457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934012738999996 meters 0.02578803246632124 Centerline is valid? [True, True] Translation: X:51.69, Y:-5.93, Z:-0.97 [[ 9.87000097e-01 1.59445867e-01 2.01946537e-02 5.16931694e+01] [-1.59415657e-01 9.87206661e-01 -3.10742207e-03 -5.92690472e+00] [-2.04317623e-02 -1.52318104e-04 9.99791238e-01 -9.72575858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters 0.02383663397790664 Centerline is valid? [True, True] Translation: X:51.72, Y:-5.94, Z:-0.97 [[ 9.88224131e-01 1.51717395e-01 1.98720823e-02 5.17192816e+01] [-1.51686601e-01 9.88423913e-01 -3.05663008e-03 -5.94416106e+00] [-2.01057853e-02 6.30697501e-06 9.99797858e-01 -9.74218458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99401273899999 meters 0.024552588884274192 Centerline is valid? [True, True] Translation: X:51.75, Y:-5.96, Z:-0.98 [[ 9.88925202e-01 1.47153876e-01 1.93049835e-02 5.17466415e+01] [-1.47123962e-01 9.89113607e-01 -2.96854212e-03 -5.95673446e+00] [-1.95316543e-02 9.54404662e-05 9.99809234e-01 -9.75591607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters 0.02598425636985939 Centerline is valid? [True, True] Translation: X:51.77, Y:-5.97, Z:-0.98 [[ 9.89620829e-01 1.42469216e-01 1.87919253e-02 5.17746551e+01] [-1.42440042e-01 9.89799217e-01 -2.88876051e-03 -5.96919878e+00] [-1.90117924e-02 1.82054943e-04 9.99819243e-01 -9.76827631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054012738999994 meters 0.03044059404607612 Centerline is valid? [True, True] Translation: X:51.80, Y:-5.99, Z:-0.98 [[ 9.90822866e-01 1.33853566e-01 1.87955086e-02 5.18030871e+01] [-1.33822840e-01 9.91001061e-01 -2.88880701e-03 -5.98902186e+00] [-1.90130461e-02 3.47027709e-04 9.99819175e-01 -9.78128217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters 0.03649994338243799 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.01, Z:-0.98 [[ 9.91464282e-01 1.29285877e-01 1.68445962e-02 5.18305550e+01] [-1.29260536e-01 9.91607286e-01 -2.58913994e-03 -6.01052455e+00] [-1.70379635e-02 3.89698238e-04 9.99854767e-01 -9.83098939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114012738999996 meters 0.034518566216333965 Centerline is valid? [True, True] Translation: X:51.86, Y:-6.02, Z:-0.99 [[ 9.91498758e-01 1.29220547e-01 1.52401647e-02 5.18616700e+01] [-1.29199794e-01 9.91615815e-01 -2.34263239e-03 -6.01538749e+00] [-1.54151045e-02 3.53690969e-04 9.99881118e-01 -9.85522732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters 0.033976635071117055 Centerline is valid? [True, True] Translation: X:51.89, Y:-6.02, Z:-0.99 [[ 9.91401067e-01 1.30013604e-01 1.48454448e-02 5.18918648e+01] [-1.29993995e-01 9.91512154e-01 -2.28242529e-03 -6.02236683e+00] [-1.50161853e-02 3.32980208e-04 9.99887195e-01 -9.86929263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17401273899999 meters 0.031373275222065046 Centerline is valid? [True, True] Translation: X:51.92, Y:-6.03, Z:-0.98 [[ 9.91102973e-01 1.32076159e-01 1.64555225e-02 5.19224540e+01] [-1.32052350e-01 9.91239515e-01 -2.52992347e-03 -6.02760147e+00] [-1.66455067e-02 3.34424262e-04 9.99861398e-01 -9.83825781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters 0.03282892554390014 Centerline is valid? [True, True] Translation: X:51.95, Y:-6.04, Z:-0.99 [[ 9.90832601e-01 1.34026260e-01 1.69622813e-02 5.19517543e+01] [-1.34001252e-01 9.90977732e-01 -2.60759428e-03 -6.04084708e+00] [-1.71587292e-02 3.10722490e-04 9.99852730e-01 -9.85432493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23401273899999 meters 0.032344358634938175 Centerline is valid? [True, True] Translation: X:51.98, Y:-6.05, Z:-0.99 [[ 9.90756784e-01 1.34650220e-01 1.64412037e-02 5.19819812e+01] [-1.34626760e-01 9.90893149e-01 -2.53050467e-03 -6.04827359e+00] [-1.66322092e-02 2.93688683e-04 9.99861632e-01 -9.87387090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters 0.030835973008844813 Centerline is valid? [True, True] Translation: X:52.01, Y:-6.05, Z:-0.99 [[ 9.90674902e-01 1.35343721e-01 1.56625777e-02 5.20131164e+01] [-1.35322512e-01 9.90798670e-01 -2.41099234e-03 -6.05355099e+00] [-1.58447738e-02 2.69010228e-04 9.99874428e-01 -9.89168913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294012738999996 meters 0.02998737605275347 Centerline is valid? [True, True] Translation: X:52.04, Y:-6.06, Z:-0.99 [[ 9.90286910e-01 1.38110345e-01 1.60427022e-02 5.20428407e+01] [-1.38088450e-01 9.90416821e-01 -2.46994295e-03 -6.06140526e+00] [-1.62300868e-02 2.30640288e-04 9.99868257e-01 -9.89512133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters 0.027647165543552468 Centerline is valid? [True, True] Translation: X:52.07, Y:-6.06, Z:-0.99 [[ 9.90069459e-01 1.39616159e-01 1.64254406e-02 5.20741555e+01] [-1.39593411e-01 9.90205677e-01 -2.52906578e-03 -6.06217147e+00] [-1.66176630e-02 2.11067515e-04 9.99861895e-01 -9.88152776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354012739 meters 0.026086003001145105 Centerline is valid? [True, True] Translation: X:52.10, Y:-6.06, Z:-0.99 [[ 9.89597647e-01 1.42840454e-01 1.71202452e-02 5.21046984e+01] [-1.42816217e-01 9.89745714e-01 -2.63629975e-03 -6.06479317e+00] [-1.73212596e-02 1.63827362e-04 9.99849962e-01 -9.87692025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters 0.02596275655547361 Centerline is valid? [True, True] Translation: X:52.13, Y:-6.07, Z:-0.99 [[ 9.89433014e-01 1.44017092e-01 1.67746399e-02 5.21342238e+01] [-1.43993995e-01 9.89575190e-01 -2.58304135e-03 -6.07104683e+00] [-1.69717695e-02 1.40298983e-04 9.99855959e-01 -9.89335101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41401273899999 meters 0.02503714501885253 Centerline is valid? [True, True] Translation: X:52.16, Y:-6.08, Z:-0.99 [[ 9.89191039e-01 1.45805350e-01 1.55527794e-02 5.21644358e+01] [-1.45785712e-01 9.89313292e-01 -2.39511673e-03 -6.07595996e+00] [-1.57357923e-02 1.01854974e-04 9.99876180e-01 -9.91651032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters 0.024873224589367936 Centerline is valid? [True, True] Translation: X:52.19, Y:-6.08, Z:-0.99 [[ 9.88979899e-01 1.47253387e-01 1.53362336e-02 5.21932653e+01] [-1.47234465e-01 9.89098799e-01 -2.36182651e-03 -6.08014727e+00] [-1.55168372e-02 7.77767823e-05 9.99879604e-01 -9.93253400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474012738999996 meters 0.024307771481701382 Centerline is valid? [True, True] Translation: X:52.22, Y:-6.08, Z:-0.99 [[ 9.88670323e-01 1.49253184e-01 1.59524226e-02 5.22236516e+01] [-1.49232976e-01 9.88799011e-01 -2.45646712e-03 -6.08462263e+00] [-1.61403752e-02 4.80086500e-05 9.99869735e-01 -9.93349329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters 0.024470659238612646 Centerline is valid? [True, True] Translation: X:52.25, Y:-6.09, Z:-0.99 [[ 9.88729682e-01 1.48809642e-01 1.64105428e-02 5.22527117e+01] [-1.48788195e-01 9.88865859e-01 -2.52705579e-03 -6.09243185e+00] [-1.66038758e-02 5.68800340e-05 9.99862145e-01 -9.93391794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534012739 meters 0.024777998616398515 Centerline is valid? [True, True] Translation: X:52.28, Y:-6.10, Z:-0.99 [[ 9.89018485e-01 1.46930972e-01 1.59287956e-02 5.22815659e+01] [-1.46910525e-01 9.89146745e-01 -2.45263708e-03 -6.10254411e+00] [-1.61162847e-02 8.55956859e-05 9.99870121e-01 -9.93755953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters 0.025029314604346313 Centerline is valid? [True, True] Translation: X:52.31, Y:-6.11, Z:-1.00 [[ 9.89100323e-01 1.46432633e-01 1.54283869e-02 5.23105879e+01] [-1.46413391e-01 9.89220641e-01 -2.37553216e-03 -6.11040914e+00] [-1.56099342e-02 9.07171794e-05 9.99878153e-01 -9.95317198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59401273899999 meters 0.02490976621540601 Centerline is valid? [True, True] Translation: X:52.34, Y:-6.12, Z:-0.99 [[ 9.89101749e-01 1.46423878e-01 1.54200515e-02 5.23408250e+01] [-1.46404652e-01 9.89221937e-01 -2.37448412e-03 -6.11717583e+00] [-1.56015344e-02 9.10391179e-05 9.99878285e-01 -9.94772778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters 0.02432901501895772 Centerline is valid? [True, True] Translation: X:52.37, Y:-6.12, Z:-0.99 [[ 9.88863015e-01 1.47907173e-01 1.65349686e-02 5.23697084e+01] [-1.47885274e-01 9.89001245e-01 -2.54611617e-03 -6.12382777e+00] [-1.67296933e-02 7.24817552e-05 9.99860046e-01 -9.92044583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654012738999995 meters 0.023841243979026382 Centerline is valid? [True, True] Translation: X:52.40, Y:-6.12, Z:-0.99 [[ 9.88360528e-01 1.51166516e-01 1.70924202e-02 5.23994632e+01] [-1.51143597e-01 9.88508313e-01 -2.63228590e-03 -6.12398304e+00] [-1.72939130e-02 1.82375982e-05 9.99850449e-01 -9.91570851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters 0.023920382181235468 Centerline is valid? [True, True] Translation: X:52.43, Y:-6.13, Z:-0.99 [[ 9.88004096e-01 1.53515592e-01 1.67591621e-02 5.24287265e+01] [-1.53493899e-01 9.88146225e-01 -2.58076899e-03 -6.12519061e+00] [-1.69566911e-02 -2.26188135e-05 9.99856225e-01 -9.93217634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714012739 meters 0.02530311149039354 Centerline is valid? [True, True] Translation: X:52.46, Y:-6.12, Z:-1.00 [[ 9.87199250e-01 1.58715218e-01 1.57200387e-02 5.24589600e+01] [-1.58696792e-01 9.87324399e-01 -2.42068152e-03 -6.11983886e+00] [-1.59049768e-02 -1.05024741e-04 9.99873502e-01 -9.95958475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters 0.02650504599763298 Centerline is valid? [True, True] Translation: X:52.49, Y:-6.12, Z:-1.00 [[ 9.86787210e-01 1.61287834e-01 1.54024929e-02 5.24884299e+01] [-1.61270465e-01 9.86907399e-01 -2.37132348e-03 -6.11789865e+00] [-1.55832998e-02 -1.43975517e-04 9.99878563e-01 -9.96615640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77401273899999 meters 0.028922647991532026 Centerline is valid? [True, True] Translation: X:52.52, Y:-6.11, Z:-1.00 [[ 9.86271324e-01 1.64430376e-01 1.52160025e-02 5.25175626e+01] [-1.64413808e-01 9.86388673e-01 -2.34201306e-03 -6.11151019e+00] [-1.53939906e-02 -1.91860597e-04 9.99881487e-01 -9.98593710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters 0.028809499615748975 Centerline is valid? [True, True] Translation: X:52.55, Y:-6.11, Z:-1.00 [[ 9.86257222e-01 1.64510689e-01 1.52618726e-02 5.25463480e+01] [-1.64494048e-01 9.86375281e-01 -2.34793699e-03 -6.11471621e+00] [-1.54401946e-02 -1.94817386e-04 9.99880774e-01 -9.99210605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834012738999995 meters 0.027742051456489145 Centerline is valid? [True, True] Translation: X:52.58, Y:-6.12, Z:-1.00 [[ 9.86572222e-01 1.62643298e-01 1.49133507e-02 5.25750097e+01] [-1.62627205e-01 9.86684920e-01 -2.29364967e-03 -6.11858574e+00] [-1.50878250e-02 -1.62465500e-04 9.99886159e-01 -1.00015909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters 0.027016616330600943 Centerline is valid? [True, True] Translation: X:52.60, Y:-6.12, Z:-1.00 [[ 9.86741720e-01 1.61614430e-01 1.48847074e-02 5.26033649e+01] [-1.61598293e-01 9.86853968e-01 -2.28856148e-03 -6.12193091e+00] [-1.50588971e-02 -1.47124210e-04 9.99886598e-01 -1.00114136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894012739 meters 0.02675281727119097 Centerline is valid? [True, True] Translation: X:52.63, Y:-6.12, Z:-1.00 [[ 9.86869385e-01 1.60764948e-01 1.56028470e-02 5.26320505e+01] [-1.60747120e-01 9.86992711e-01 -2.39826986e-03 -6.12092257e+00] [-1.57854540e-02 -1.41333624e-04 9.99875392e-01 -1.00060057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters 0.02648662830638826 Centerline is valid? [True, True] Translation: X:52.66, Y:-6.12, Z:-1.00 [[ 9.86942184e-01 1.60246706e-01 1.63131406e-02 5.26606725e+01] [-1.60227166e-01 9.87076985e-01 -2.50634096e-03 -6.12418674e+00] [-1.65039585e-02 -1.40194672e-04 9.99863791e-01 -9.99949264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95401273899999 meters 0.025236837838243084 Centerline is valid? [True, True] Translation: X:52.69, Y:-6.13, Z:-1.00 [[ 9.87352047e-01 1.57649468e-01 1.68101210e-02 5.26885221e+01] [-1.57628356e-01 9.87495132e-01 -2.58190191e-03 -6.13157882e+00] [-1.70069481e-02 -1.00505600e-04 9.99855366e-01 -9.99573688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters 0.025236837838243084 Centerline is valid? [True, True] Translation: X:52.72, Y:-6.14, Z:-1.00 [[ 9.87359051e-01 1.57605583e-01 1.68102365e-02 5.27165304e+01] [-1.57584477e-01 9.87502137e-01 -2.58114958e-03 -6.13578738e+00] [-1.70069480e-02 -1.00510934e-04 9.99855366e-01 -1.00014899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014012738999995 meters 0.024578476890491686 Centerline is valid? [True, True] Translation: X:52.74, Y:-6.14, Z:-1.00 [[ 9.87626697e-01 1.55875131e-01 1.72177433e-02 5.27449958e+01] [-1.55852741e-01 9.87776765e-01 -2.64291537e-03 -6.14168873e+00] [-1.74192516e-02 -7.32186967e-05 9.99848271e-01 -9.99922038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters 0.024097575721564603 Centerline is valid? [True, True] Translation: X:52.77, Y:-6.15, Z:-1.00 [[ 9.88034874e-01 1.53273547e-01 1.71553855e-02 5.27733360e+01] [-1.53250940e-01 9.88183798e-01 -2.63256630e-03 -6.14656080e+00] [-1.73561768e-02 -2.80116559e-05 9.99849370e-01 -9.99315971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074012739 meters 0.024015692206262994 Centerline is valid? [True, True] Translation: X:52.80, Y:-6.15, Z:-1.00 [[ 9.88157163e-01 1.52445067e-01 1.74906690e-02 5.28004486e+01] [-1.52421452e-01 9.88311945e-01 -2.68324545e-03 -6.15148852e+00] [-1.76952847e-02 -1.44849590e-05 9.99843426e-01 -9.99675298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters 0.023882916080230084 Centerline is valid? [True, True] Translation: X:52.83, Y:-6.16, Z:-1.00 [[ 9.88315449e-01 1.51356320e-01 1.79955125e-02 5.28283624e+01] [-1.51331162e-01 9.88479269e-01 -2.75953716e-03 -6.15838895e+00] [-1.82058644e-02 4.01139688e-06 9.99834260e-01 -9.99203880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13401273899999 meters 0.023966112033687325 Centerline is valid? [True, True] Translation: X:52.86, Y:-6.17, Z:-1.00 [[ 9.88627941e-01 1.49156351e-01 1.91618585e-02 5.28561943e+01] [-1.49127430e-01 9.88813623e-01 -2.93746444e-03 -6.16872304e+00] [-1.93856482e-02 4.65006948e-05 9.99812080e-01 -9.96151173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters 0.024376423518307575 Centerline is valid? [True, True] Translation: X:52.89, Y:-6.18, Z:-1.00 [[ 9.88913844e-01 1.47324304e-01 1.85730741e-02 5.28860178e+01] [-1.47296823e-01 9.89088238e-01 -2.84655392e-03 -6.17781518e+00] [-1.87897757e-02 7.92417791e-05 9.99823453e-01 -9.97932250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194012738999994 meters 0.024749918122788008 Centerline is valid? [True, True] Translation: X:52.91, Y:-6.19, Z:-1.00 [[ 9.89042158e-01 1.46516127e-01 1.81282767e-02 5.29145271e+01] [-1.46489810e-01 9.89208277e-01 -2.77840462e-03 -6.18542937e+00] [-1.83397225e-02 9.23514849e-05 9.99831809e-01 -9.99673767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters 0.024858999958809185 Centerline is valid? [True, True] Translation: X:52.94, Y:-6.19, Z:-1.00 [[ 9.89109797e-01 1.46148765e-01 1.73881655e-02 5.29447179e+01] [-1.46124500e-01 9.89262619e-01 -2.66476049e-03 -6.19216374e+00] [-1.75909136e-02 9.49037165e-05 9.99845263e-01 -1.00158559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254012739 meters 0.02457267707986311 Centerline is valid? [True, True] Translation: X:52.97, Y:-6.20, Z:-1.00 [[ 9.88972032e-01 1.47254470e-01 1.58253147e-02 5.29732311e+01] [-1.47234510e-01 9.89098638e-01 -2.42539024e-03 -6.19678175e+00] [-1.60099467e-02 6.86106583e-05 9.99871830e-01 -1.00450673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters 0.024170638228865227 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.20, Z:-1.00 [[ 9.88741836e-01 1.48821142e-01 1.55515008e-02 5.30033288e+01] [-1.48802070e-01 9.88864129e-01 -2.38288611e-03 -6.19837633e+00] [-1.57329452e-02 4.19636759e-05 9.99876229e-01 -1.00471404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31401273899999 meters 0.023837722934019406 Centerline is valid? [True, True] Translation: X:53.03, Y:-6.20, Z:-1.00 [[ 9.88195735e-01 1.52302646e-01 1.65255335e-02 5.30318436e+01] [-1.52281600e-01 9.88333903e-01 -2.53184219e-03 -6.19641784e+00] [-1.67183513e-02 -1.45790437e-05 9.99860238e-01 -1.00397144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters 0.024135971875665758 Centerline is valid? [True, True] Translation: X:53.06, Y:-6.20, Z:-1.00 [[ 9.87924279e-01 1.54018055e-01 1.68540214e-02 5.30609493e+01] [-1.53996432e-01 9.88068032e-01 -2.58111897e-03 -6.19667362e+00] [-1.70504587e-02 -4.55090682e-05 9.99854629e-01 -1.00417131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374012738999994 meters 0.02559640318566327 Centerline is valid? [True, True] Translation: X:53.09, Y:-6.19, Z:-1.01 [[ 9.87356761e-01 1.57697211e-01 1.60691095e-02 5.30897568e+01] [-1.57678052e-01 9.87487508e-01 -2.46030387e-03 -6.19237249e+00] [-1.62560280e-02 -1.04548222e-04 9.99867857e-01 -1.00773956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters 0.026664089543191036 Centerline is valid? [True, True] Translation: X:53.12, Y:-6.19, Z:-1.01 [[ 9.87153552e-01 1.59080135e-01 1.48787034e-02 5.31175992e+01] [-1.59063878e-01 9.87265667e-01 -2.27732263e-03 -6.19251292e+00] [-1.50515099e-02 -1.18597140e-04 9.99886713e-01 -1.01092365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434012738999996 meters 0.027760836601806872 Centerline is valid? [True, True] Translation: X:53.15, Y:-6.19, Z:-1.01 [[ 9.86900206e-01 1.60690032e-01 1.43769681e-02 5.31470698e+01] [-1.60675035e-01 9.87004911e-01 -2.19973711e-03 -6.19236385e+00] [-1.45436139e-02 -1.39098843e-04 9.99894226e-01 -1.01268054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters 0.03089453135246777 Centerline is valid? [True, True] Translation: X:53.18, Y:-6.19, Z:-1.01 [[ 9.86306971e-01 1.64284691e-01 1.44602509e-02 5.31768094e+01] [-1.64269912e-01 9.86412947e-01 -2.21205605e-03 -6.18519867e+00] [-1.46271857e-02 -1.93617851e-04 9.99892998e-01 -1.01225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49401273899999 meters 0.031657791306547355 Centerline is valid? [True, True] Translation: X:53.21, Y:-6.18, Z:-1.01 [[ 9.86148666e-01 1.65144629e-01 1.54292180e-02 5.32056678e+01] [-1.65127931e-01 9.86269336e-01 -2.35881076e-03 -6.18472720e+00] [-1.56069096e-02 -2.21656771e-04 9.99878180e-01 -1.01111636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters 0.030532560929531757 Centerline is valid? [True, True] Translation: X:53.23, Y:-6.19, Z:-1.01 [[ 9.86334055e-01 1.63966336e-01 1.61298823e-02 5.32338610e+01] [-1.63947942e-01 9.86465912e-01 -2.46520096e-03 -6.18891626e+00] [-1.63157890e-02 -2.12949342e-04 9.99866866e-01 -1.01079403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554012738999994 meters 0.027789549634201275 Centerline is valid? [True, True] Translation: X:53.26, Y:-6.20, Z:-1.01 [[ 9.86584209e-01 1.62360010e-01 1.70535997e-02 5.32621568e+01] [-1.62339222e-01 9.86731568e-01 -2.60561041e-03 -6.19723110e+00] [-1.72503721e-02 -1.97814007e-04 9.99851182e-01 -1.00902107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters 0.025312022349874216 Centerline is valid? [True, True] Translation: X:53.29, Y:-6.21, Z:-1.01 [[ 9.87182652e-01 1.58472096e-01 1.88946054e-02 5.32898961e+01] [-1.58445882e-01 9.87363446e-01 -2.88593344e-03 -6.20544549e+00] [-1.91131826e-02 -1.44828987e-04 9.99817316e-01 -1.00571268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614012738999996 meters 0.024504252605399866 Centerline is valid? [True, True] Translation: X:53.32, Y:-6.21, Z:-1.00 [[ 9.87461393e-01 1.56645404e-01 1.95503133e-02 5.33187140e+01] [-1.56616999e-01 9.87654901e-01 -2.98514460e-03 -6.21124984e+00] [-1.97765720e-02 -1.14196366e-04 9.99804418e-01 -1.00479271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters 0.023743800954954045 Centerline is valid? [True, True] Translation: X:53.35, Y:-6.22, Z:-1.01 [[ 9.88000954e-01 1.53322124e-01 1.86129185e-02 5.33472362e+01] [-1.53295800e-01 9.88176262e-01 -2.84141519e-03 -6.21602051e+00] [-1.88284960e-02 -4.59613088e-05 9.99822727e-01 -1.00633131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67401273899999 meters 0.023605909302964412 Centerline is valid? [True, True] Translation: X:53.37, Y:-6.22, Z:-1.01 [[ 9.88520246e-01 1.50121264e-01 1.70683695e-02 5.33737478e+01] [-1.50098662e-01 9.88667591e-01 -2.60495154e-03 -6.22311522e+00] [-1.72660024e-02 1.31079251e-05 9.99850931e-01 -1.01047970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters 0.023622979312740034 Centerline is valid? [True, True] Translation: X:53.40, Y:-6.23, Z:-1.01 [[ 9.88702587e-01 1.48963126e-01 1.66487866e-02 5.34017084e+01] [-1.48941474e-01 9.88842751e-01 -2.53995101e-03 -6.22930517e+00] [-1.68413910e-02 3.15613106e-05 9.99858173e-01 -1.01105744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73401273899999 meters 0.023785864095671686 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.23, Z:-1.01 [[ 9.88796573e-01 1.48349731e-01 1.65437377e-02 5.34300297e+01] [-1.48328277e-01 9.88934960e-01 -2.52318131e-03 -6.23386910e+00] [-1.67349938e-02 4.10089203e-05 9.99859959e-01 -1.01077632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters 0.02357942411587154 Centerline is valid? [True, True] Translation: X:53.46, Y:-6.24, Z:-1.01 [[ 9.88811288e-01 1.48050743e-01 1.82541490e-02 5.34589083e+01] [-1.48024590e-01 9.88979765e-01 -2.78313135e-03 -6.23719623e+00] [-1.84650287e-02 4.99287646e-05 9.99829506e-01 -1.00783070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794012738999996 meters 0.0235386768509547 Centerline is valid? [True, True] Translation: X:53.49, Y:-6.24, Z:-1.01 [[ 9.88704597e-01 1.48643388e-01 1.91927832e-02 5.34871437e+01] [-1.48614605e-01 9.88890864e-01 -2.92529854e-03 -6.24068629e+00] [-1.94143942e-02 3.99282123e-05 9.99811522e-01 -1.00636629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters 0.023287127848616567 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.24, Z:-1.00 [[ 9.88503419e-01 1.49827137e-01 2.03179556e-02 5.35145533e+01] [-1.49795151e-01 9.88712207e-01 -3.09576944e-03 -6.24454293e+00] [-2.05524410e-02 1.66474389e-05 9.99788776e-01 -1.00487695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854012739 meters 0.023311401838927874 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.25, Z:-1.01 [[ 9.88411960e-01 1.50490092e-01 1.98627429e-02 5.35430336e+01] [-1.50459681e-01 9.88611517e-01 -3.02526433e-03 -6.24789057e+00] [-2.00918087e-02 1.66547739e-06 9.99798139e-01 -1.00656479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters 0.023283217253839084 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.25, Z:-1.01 [[ 9.88381655e-01 1.50924076e-01 1.79896568e-02 5.35717417e+01] [-1.50899215e-01 9.88545357e-01 -2.73925286e-03 -6.25196422e+00] [-1.81970109e-02 -7.19782189e-06 9.99834421e-01 -1.01056764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91401273899999 meters 0.023369280264100577 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.26, Z:-1.01 [[ 9.88448066e-01 1.50518234e-01 1.77392831e-02 5.35985670e+01] [-1.50494009e-01 9.88607233e-01 -2.70035200e-03 -6.25744010e+00] [-1.79436358e-02 -4.98119813e-07 9.99839000e-01 -1.01200104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters 0.02334189507938007 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.26, Z:-1.01 [[ 9.88580595e-01 1.49571348e-01 1.83526240e-02 5.36260525e+01] [-1.49545279e-01 9.88750935e-01 -2.79250964e-03 -6.26427433e+00] [-1.85638536e-02 1.60725717e-05 9.99827677e-01 -1.01158531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974012738999996 meters 0.023328668908141212 Centerline is valid? [True, True] Translation: X:53.65, Y:-6.27, Z:-1.01 [[ 9.88585617e-01 1.49563890e-01 1.81416706e-02 5.36548759e+01] [-1.49538434e-01 9.88752063e-01 -2.75938875e-03 -6.26897951e+00] [-1.83503191e-02 1.50150304e-05 9.99831619e-01 -1.01160981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters 0.023326672578481707 Centerline is valid? [True, True] Translation: X:53.68, Y:-6.27, Z:-1.01 [[ 9.88439253e-01 1.50611836e-01 1.74332241e-02 5.36834861e+01] [-1.50588506e-01 9.88592977e-01 -2.65084902e-03 -6.27304521e+00] [-1.76336122e-02 -5.03994560e-06 9.99844516e-01 -1.01352121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034012739 meters 0.023334310078062248 Centerline is valid? [True, True] Translation: X:53.71, Y:-6.28, Z:-1.02 [[ 9.88330442e-01 1.51399961e-01 1.67627170e-02 5.37119517e+01] [-1.51378518e-01 9.88472585e-01 -2.54810769e-03 -6.27570291e+00] [-1.69552696e-02 -1.91428617e-05 9.99856249e-01 -1.01520773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters 0.023920718009310657 Centerline is valid? [True, True] Translation: X:53.74, Y:-6.27, Z:-1.02 [[ 9.87985001e-01 1.53666985e-01 1.64953064e-02 5.37407846e+01] [-1.53646549e-01 9.88122692e-01 -2.50670725e-03 -6.27162394e+00] [-1.66845847e-02 -5.78577477e-05 9.99860801e-01 -1.01704654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09401273899999 meters 0.023924890992636963 Centerline is valid? [True, True] Translation: X:53.77, Y:-6.27, Z:-1.02 [[ 9.87831931e-01 1.54590815e-01 1.70222411e-02 5.37695599e+01] [-1.54569210e-01 9.87978580e-01 -2.58562684e-03 -6.27424805e+00] [-1.72173237e-02 -7.69495998e-05 9.99851768e-01 -1.01565316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters 0.024447413161677957 Centerline is valid? [True, True] Translation: X:53.80, Y:-6.27, Z:-1.02 [[ 9.87532249e-01 1.56384698e-01 1.79967913e-02 5.37976143e+01] [-1.56360857e-01 9.87696215e-01 -2.73301878e-03 -6.27463673e+00] [-1.82027649e-02 -1.15049519e-04 9.99834309e-01 -1.01508056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154012738999995 meters 0.024634417133718042 Centerline is valid? [True, True] Translation: X:53.83, Y:-6.28, Z:-1.01 [[ 9.87414158e-01 1.57011820e-01 1.89886317e-02 5.38264525e+01] [-1.56985418e-01 9.87596714e-01 -2.88242160e-03 -6.27767084e+00] [-1.92056845e-02 -1.34794381e-04 9.99815545e-01 -1.01393002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters 0.0250996530888462 Centerline is valid? [True, True] Translation: X:53.86, Y:-6.28, Z:-1.01 [[ 9.87180015e-01 1.58475585e-01 1.90028375e-02 5.38550108e+01] [-1.58449431e-01 9.87362883e-01 -2.88368350e-03 -6.27849280e+00] [-1.92196898e-02 -1.64274066e-04 9.99815271e-01 -1.01370617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214012739 meters 0.025525690544900944 Centerline is valid? [True, True] Translation: X:53.88, Y:-6.28, Z:-1.02 [[ 9.87104566e-01 1.59045052e-01 1.81451809e-02 5.38826689e+01] [-1.59021322e-01 9.87271312e-01 -2.75249521e-03 -6.28033031e+00] [-1.83519873e-02 -1.68470057e-04 9.99831574e-01 -1.01536065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters 0.025436401608865775 Centerline is valid? [True, True] Translation: X:53.91, Y:-6.28, Z:-1.02 [[ 9.87249137e-01 1.58293590e-01 1.68012077e-02 5.39106089e+01] [-1.58273153e-01 9.87392080e-01 -2.54758613e-03 -6.28355328e+00] [-1.69926460e-02 -1.44077915e-04 9.99855604e-01 -1.01829321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27401273899999 meters 0.02491150692453936 Centerline is valid? [True, True] Translation: X:53.94, Y:-6.29, Z:-1.02 [[ 9.87475270e-01 1.56823619e-01 1.72900103e-02 5.39383829e+01] [-1.56801770e-01 9.87626618e-01 -2.62063184e-03 -6.28907194e+00] [-1.74870514e-02 -1.23295084e-04 9.99847082e-01 -1.01825651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters 0.024505849062712574 Centerline is valid? [True, True] Translation: X:53.97, Y:-6.29, Z:-1.02 [[ 9.87680777e-01 1.55458220e-01 1.78724643e-02 5.39662448e+01] [-1.55434670e-01 9.87842463e-01 -2.70782347e-03 -6.29343692e+00] [-1.80761326e-02 -1.03535399e-04 9.99836608e-01 -1.01796281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334012738999995 meters 0.02360282706739718 Centerline is valid? [True, True] Translation: X:53.99, Y:-6.30, Z:-1.02 [[ 9.88010244e-01 1.53224586e-01 1.89204515e-02 5.39941010e+01] [-1.53197806e-01 9.88191389e-01 -2.86542198e-03 -6.30188448e+00] [-1.91360804e-02 -6.75053918e-05 9.99816886e-01 -1.01617224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters 0.023414453289839782 Centerline is valid? [True, True] Translation: X:54.02, Y:-6.31, Z:-1.02 [[ 9.88153655e-01 1.52241792e-01 1.93595324e-02 5.40224282e+01] [-1.52213585e-01 9.88343277e-01 -2.93096418e-03 -6.30790385e+00] [-1.95800790e-02 -5.05408601e-05 9.99808291e-01 -1.01562805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394012739 meters 0.023192670534768582 Centerline is valid? [True, True] Translation: X:54.05, Y:-6.31, Z:-1.01 [[ 9.88344426e-01 1.50916798e-01 1.99853889e-02 5.40498283e+01] [-1.50886486e-01 9.88546468e-01 -3.02472644e-03 -6.31346887e+00] [-2.02129676e-02 -2.60535747e-05 9.99795697e-01 -1.01437824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters 0.02307924856106745 Centerline is valid? [True, True] Translation: X:54.08, Y:-6.32, Z:-1.01 [[ 9.88449406e-01 1.50153607e-01 2.05345149e-02 5.40787055e+01] [-1.50121467e-01 9.88662680e-01 -3.10658123e-03 -6.31818051e+00] [-2.07681729e-02 -1.19731388e-05 9.99784318e-01 -1.01413137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45401273899999 meters 0.023272578697468797 Centerline is valid? [True, True] Translation: X:54.11, Y:-6.33, Z:-1.02 [[ 9.88896622e-01 1.47361862e-01 1.91821166e-02 5.41067398e+01] [-1.47333308e-01 9.89082646e-01 -2.90113867e-03 -6.32637071e+00] [-1.94002159e-02 4.27615308e-05 9.99811797e-01 -1.01714127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters 0.023691183274081363 Centerline is valid? [True, True] Translation: X:54.13, Y:-6.33, Z:-1.02 [[ 9.89188220e-01 1.45500232e-01 1.83397782e-02 5.41343220e+01] [-1.45473827e-01 9.89358215e-01 -2.77285986e-03 -6.33415469e+00] [-1.85480619e-02 7.49225916e-05 9.99827967e-01 -1.02056391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514012738999995 meters 0.024136610445105178 Centerline is valid? [True, True] Translation: X:54.16, Y:-6.34, Z:-1.02 [[ 9.89467546e-01 1.43664149e-01 1.77366332e-02 5.41634884e+01] [-1.43639166e-01 9.89626496e-01 -2.68120157e-03 -6.34107056e+00] [-1.79378347e-02 1.05286733e-04 9.99839099e-01 -1.02195657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters 0.024880452996156904 Centerline is valid? [True, True] Translation: X:54.19, Y:-6.35, Z:-1.02 [[ 9.89680988e-01 1.42259966e-01 1.71360477e-02 5.41911247e+01] [-1.42236442e-01 9.89829322e-01 -2.59005415e-03 -6.34806676e+00] [-1.73302235e-02 1.25956893e-04 9.99849812e-01 -1.02299412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574012739 meters 0.02510872702930246 Centerline is valid? [True, True] Translation: X:54.22, Y:-6.35, Z:-1.02 [[ 9.89735816e-01 1.41722201e-01 1.83802088e-02 5.42180476e+01] [-1.41695056e-01 9.89906459e-01 -2.77743548e-03 -6.35421201e+00] [-1.85883117e-02 1.44542651e-04 9.99827212e-01 -1.02178443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters 0.024895039330058415 Centerline is valid? [True, True] Translation: X:54.25, Y:-6.36, Z:-1.02 [[ 9.89803106e-01 1.41177366e-01 1.89410357e-02 5.42479490e+01] [-1.41148462e-01 9.89984306e-01 -2.86101739e-03 -6.35797522e+00] [-1.91552390e-02 1.58345840e-04 9.99816509e-01 -1.02054170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63401273899999 meters 0.02554391388803821 Centerline is valid? [True, True] Translation: X:54.28, Y:-6.36, Z:-1.02 [[ 9.89898328e-01 1.40529841e-01 1.87793390e-02 5.42766745e+01] [-1.40501321e-01 9.90076429e-01 -2.83612881e-03 -6.36436782e+00] [-1.89915416e-02 1.68957229e-04 9.99819630e-01 -1.02190457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters 0.02646951723550905 Centerline is valid? [True, True] Translation: X:54.31, Y:-6.37, Z:-1.03 [[ 9.90167685e-01 1.38858196e-01 1.69220963e-02 5.43064032e+01] [-1.38834798e-01 9.90312258e-01 -2.55542371e-03 -6.37197448e+00] [-1.71130009e-02 1.80922153e-04 9.99853546e-01 -1.02550141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694012738999994 meters 0.028026102591497203 Centerline is valid? [True, True] Translation: X:54.34, Y:-6.38, Z:-1.03 [[ 9.90568926e-01 1.35881108e-01 1.75934008e-02 5.43352751e+01] [-1.35855347e-01 9.90725121e-01 -2.65679811e-03 -6.38285474e+00] [-1.77912328e-02 2.41584078e-04 9.99841694e-01 -1.02535841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters 0.028325662775482117 Centerline is valid? [True, True] Translation: X:54.37, Y:-6.39, Z:-1.02 [[ 9.90807104e-01 1.34052191e-01 1.82014282e-02 5.43655278e+01] [-1.34024310e-01 9.90974232e-01 -2.74861697e-03 -6.38956154e+00] [-1.84056044e-02 2.83915368e-04 9.99830562e-01 -1.02473815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754012739 meters 0.02957399522211411 Centerline is valid? [True, True] Translation: X:54.40, Y:-6.40, Z:-1.03 [[ 9.90998954e-01 1.32626756e-01 1.81993823e-02 5.43956612e+01] [-1.32598646e-01 9.91166004e-01 -2.74801122e-03 -6.39909749e+00] [-1.84030689e-02 3.10062792e-04 9.99830601e-01 -1.02554815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters 0.03106877879554787 Centerline is valid? [True, True] Translation: X:54.43, Y:-6.41, Z:-1.03 [[ 9.91177981e-01 1.31378271e-01 1.74917144e-02 5.44251794e+01] [-1.31352064e-01 9.91332258e-01 -2.64379959e-03 -6.41306301e+00] [-1.76874385e-02 3.22903164e-04 9.99843513e-01 -1.02777512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81401273899999 meters 0.030932672935257713 Centerline is valid? [True, True] Translation: X:54.46, Y:-6.42, Z:-1.03 [[ 9.91075098e-01 1.32219519e-01 1.69749294e-02 5.44557380e+01] [-1.32194916e-01 9.91220413e-01 -2.56825606e-03 -6.42018197e+00] [-1.71654702e-02 3.01335247e-04 9.99852617e-01 -1.02904524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters 0.028476896853053345 Centerline is valid? [True, True] Translation: X:54.49, Y:-6.42, Z:-1.03 [[ 9.90358515e-01 1.37504828e-01 1.68057650e-02 5.44862260e+01] [-1.37481423e-01 9.90501074e-01 -2.54567755e-03 -6.42181670e+00] [-1.69961712e-02 2.10652951e-04 9.99855532e-01 -1.03074816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874012738999994 meters 0.028476896853053345 Centerline is valid? [True, True] Translation: X:54.52, Y:-6.43, Z:-1.03 [[ 9.90358515e-01 1.37504833e-01 1.68057302e-02 5.45158839e+01] [-1.37481424e-01 9.90501073e-01 -2.54590701e-03 -6.42630942e+00] [-1.69961683e-02 2.10884963e-04 9.99855532e-01 -1.03135742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters 0.02540085903344684 Centerline is valid? [True, True] Translation: X:54.55, Y:-6.42, Z:-1.03 [[ 9.89832564e-01 1.41274752e-01 1.65208816e-02 5.45470905e+01] [-1.41252655e-01 9.89970416e-01 -2.50275517e-03 -6.42439271e+00] [-1.67087601e-02 1.43690180e-04 9.99860389e-01 -1.03164645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934012738999996 meters 0.023363018595922994 Centerline is valid? [True, True] Translation: X:54.58, Y:-6.42, Z:-1.03 [[ 9.88712858e-01 1.48936954e-01 1.62686038e-02 5.45774624e+01] [-1.48916561e-01 9.88846694e-01 -2.46462760e-03 -6.42054965e+00] [-1.64542292e-02 1.41444679e-05 9.99864620e-01 -1.03252756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters 0.023398042600200935 Centerline is valid? [True, True] Translation: X:54.61, Y:-6.42, Z:-1.03 [[ 9.88283054e-01 1.51760886e-01 1.62861251e-02 5.46065423e+01] [-1.51740837e-01 9.88417236e-01 -2.46698701e-03 -6.42052035e+00] [-1.64718789e-02 -3.31887901e-05 9.99864329e-01 -1.03289244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99401273899999 meters 0.02364769909602496 Centerline is valid? [True, True] Translation: X:54.63, Y:-6.42, Z:-1.03 [[ 9.87985602e-01 1.53584186e-01 1.72147374e-02 5.46348137e+01] [-1.53562076e-01 9.88135564e-01 -2.60681112e-03 -6.42010726e+00] [-1.74108593e-02 -6.80389662e-05 9.99848417e-01 -1.03217654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters 0.02408627231070962 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.42, Z:-1.03 [[ 9.87667239e-01 1.55372539e-01 1.93079941e-02 5.46639755e+01] [-1.55345092e-01 9.87855942e-01 -2.92248528e-03 -6.42196035e+00] [-1.95275907e-02 -1.12959161e-04 9.99809312e-01 -1.03003551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054012738999994 meters 0.02400269850889546 Centerline is valid? [True, True] Translation: X:54.69, Y:-6.43, Z:-1.03 [[ 9.87687432e-01 1.55208174e-01 1.95948623e-02 5.46922318e+01] [-1.55179888e-01 9.87881779e-01 -2.96520396e-03 -6.42910506e+00] [-1.98176313e-02 -1.12033835e-04 9.99803605e-01 -1.03022011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters 0.023984883078421573 Centerline is valid? [True, True] Translation: X:54.72, Y:-6.43, Z:-1.03 [[ 9.87705931e-01 1.55142826e-01 1.91754265e-02 5.47203626e+01] [-1.55115744e-01 9.87892045e-01 -2.90077547e-03 -6.43377975e+00] [-1.93932858e-02 -1.09297407e-04 9.99811927e-01 -1.02988472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114012738999996 meters 0.024089474474186048 Centerline is valid? [True, True] Translation: X:54.75, Y:-6.44, Z:-1.03 [[ 9.87649535e-01 1.55395284e-01 2.00175150e-02 5.47495701e+01] [-1.55365838e-01 9.87852363e-01 -3.02738000e-03 -6.43629752e+00] [-2.02447900e-02 -1.20047530e-04 9.99795046e-01 -1.02910447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters 0.02445949010346258 Centerline is valid? [True, True] Translation: X:54.78, Y:-6.44, Z:-1.03 [[ 9.87432409e-01 1.56597956e-01 2.13147272e-02 5.47774745e+01] [-1.56564874e-01 9.87662420e-01 -3.22245208e-03 -6.43706329e+00] [-2.15563844e-02 -1.55183951e-04 9.99767622e-01 -1.02767653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17401273899999 meters 0.024785148028558246 Centerline is valid? [True, True] Translation: X:54.81, Y:-6.44, Z:-1.03 [[ 9.87371328e-01 1.57049547e-01 2.08158691e-02 5.48055360e+01] [-1.57018121e-01 9.87590711e-01 -3.14580766e-03 -6.44089985e+00] [-2.10516066e-02 -1.62388376e-04 9.99778377e-01 -1.03002122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters 0.025427040520272667 Centerline is valid? [True, True] Translation: X:54.83, Y:-6.44, Z:-1.04 [[ 9.87345035e-01 1.57688949e-01 1.68516448e-02 5.48334885e+01] [-1.57668457e-01 9.87488823e-01 -2.54612554e-03 -6.44383578e+00] [-1.70423067e-02 -1.43068423e-04 9.99854759e-01 -1.03787674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23401273899999 meters 0.02534617655099832 Centerline is valid? [True, True] Translation: X:54.86, Y:-6.45, Z:-1.04 [[ 9.87429587e-01 1.57334263e-01 1.51241757e-02 5.48618448e+01] [-1.57317729e-01 9.87545399e-01 -2.28427802e-03 -6.44808868e+00] [-1.52952053e-02 -1.23737277e-04 9.99883014e-01 -1.04152938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters 0.025083687491047824 Centerline is valid? [True, True] Translation: X:54.89, Y:-6.45, Z:-1.04 [[ 9.87485931e-01 1.56972286e-01 1.52065113e-02 5.48905772e+01] [-1.56955539e-01 9.87603001e-01 -2.29599419e-03 -6.45263859e+00] [-1.53784037e-02 -1.19484225e-04 9.99881738e-01 -1.04160818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294012738999996 meters 0.025803732515825264 Centerline is valid? [True, True] Translation: X:54.92, Y:-6.45, Z:-1.04 [[ 9.87262894e-01 1.58074522e-01 1.80117705e-02 5.49187100e+01] [-1.58051228e-01 9.87427171e-01 -2.71852703e-03 -6.45097634e+00] [-1.82150415e-02 -1.62881590e-04 9.99834079e-01 -1.03710989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters 0.026033165807950207 Centerline is valid? [True, True] Translation: X:54.95, Y:-6.45, Z:-1.04 [[ 9.87048182e-01 1.59348163e-01 1.85485521e-02 5.49471816e+01] [-1.59323706e-01 9.87222430e-01 -2.79837599e-03 -6.45354261e+00] [-1.87574627e-02 -1.93092135e-04 9.99824045e-01 -1.03654506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35401273899999 meters 0.028601202212633996 Centerline is valid? [True, True] Translation: X:54.98, Y:-6.45, Z:-1.04 [[ 9.86562393e-01 1.62424764e-01 1.76873054e-02 5.49754642e+01] [-1.62403034e-01 9.86720902e-01 -2.66766048e-03 -6.44961274e+00] [-1.78857281e-02 -2.40658552e-04 9.99840009e-01 -1.03879544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters 0.029130543950755625 Centerline is valid? [True, True] Translation: X:55.00, Y:-6.45, Z:-1.04 [[ 9.86444255e-01 1.63228569e-01 1.68572211e-02 5.50045792e+01] [-1.63208965e-01 9.86588250e-01 -2.54148424e-03 -6.45137228e+00] [-1.70459791e-02 -2.44217075e-04 9.99854677e-01 -1.04062175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41401273899999 meters 0.027865196039936882 Centerline is valid? [True, True] Translation: X:55.03, Y:-6.46, Z:-1.04 [[ 9.86713518e-01 1.61504968e-01 1.76799093e-02 5.50331860e+01] [-1.61483143e-01 9.86871873e-01 -2.66463883e-03 -6.45714060e+00] [-1.78781576e-02 -2.25772169e-04 9.99840147e-01 -1.04004811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters 0.026250710783798575 Centerline is valid? [True, True] Translation: X:55.06, Y:-6.47, Z:-1.04 [[ 9.87074528e-01 1.59271803e-01 1.77867592e-02 5.50605236e+01] [-1.59249366e-01 9.87234753e-01 -2.67990547e-03 -6.46667596e+00] [-1.79865402e-02 -1.87263685e-04 9.99838212e-01 -1.03989795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474012738999996 meters 0.023976007749457382 Centerline is valid? [True, True] Translation: X:55.09, Y:-6.48, Z:-1.04 [[ 9.87949210e-01 1.53756860e-01 1.77534668e-02 5.50876892e+01] [-1.53733630e-01 9.88108709e-01 -2.67404392e-03 -6.48196280e+00] [-1.79535077e-02 -8.74853161e-05 9.99838819e-01 -1.04024083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters 0.023465272682537577 Centerline is valid? [True, True] Translation: X:55.12, Y:-6.49, Z:-1.04 [[ 9.88249862e-01 1.51808433e-01 1.77879019e-02 5.51161757e+01] [-1.51784813e-01 9.88409934e-01 -2.67837899e-03 -6.48958089e+00] [-1.79883394e-02 -5.30256947e-05 9.99838195e-01 -1.04008480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534012739 meters 0.02343175011548056 Centerline is valid? [True, True] Translation: X:55.14, Y:-6.50, Z:-1.04 [[ 9.88326570e-01 1.51233696e-01 1.84108895e-02 5.51440005e+01] [-1.51208309e-01 9.88498036e-01 -2.77127302e-03 -6.49601156e+00] [-1.86182380e-02 -4.49567166e-05 9.99826665e-01 -1.04002180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters 0.023477622017916536 Centerline is valid? [True, True] Translation: X:55.17, Y:-6.50, Z:-1.04 [[ 9.88208318e-01 1.51937378e-01 1.89566035e-02 5.51722560e+01] [-1.51910611e-01 9.88390120e-01 -2.85248305e-03 -6.49995118e+00] [-1.91699184e-02 -6.08617527e-05 9.99816238e-01 -1.03892535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59401273899999 meters 0.023623489007527608 Centerline is valid? [True, True] Translation: X:55.20, Y:-6.50, Z:-1.04 [[ 9.87998572e-01 1.53304753e-01 1.88805027e-02 5.52006673e+01] [-1.53278468e-01 9.88178954e-01 -2.84014614e-03 -6.50329108e+00] [-1.90927233e-02 -8.79141934e-05 9.99817713e-01 -1.03950374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters 0.025164301052217883 Centerline is valid? [True, True] Translation: X:55.23, Y:-6.50, Z:-1.04 [[ 9.87482496e-01 1.56683638e-01 1.81261697e-02 5.52291773e+01] [-1.56659996e-01 9.87648832e-01 -2.72583772e-03 -6.50083996e+00] [-1.83293845e-02 -1.47928632e-04 9.99831992e-01 -1.04195656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654012738999995 meters 0.025887257008094796 Centerline is valid? [True, True] Translation: X:55.26, Y:-6.50, Z:-1.04 [[ 9.87311913e-01 1.57789952e-01 1.78190491e-02 5.52581302e+01] [-1.57767304e-01 9.87472685e-01 -2.67853713e-03 -6.50323929e+00] [-1.80184705e-02 -1.66711707e-04 9.99837640e-01 -1.04379780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters 0.02604909795537049 Centerline is valid? [True, True] Translation: X:55.29, Y:-6.51, Z:-1.05 [[ 9.87344749e-01 1.57711198e-01 1.66590869e-02 5.52861028e+01] [-1.57691403e-01 9.87485268e-01 -2.50348960e-03 -6.50644084e+00] [-1.68454312e-02 -1.55187481e-04 9.99858094e-01 -1.04694342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714012739 meters 0.025672138809187985 Centerline is valid? [True, True] Translation: X:55.31, Y:-6.51, Z:-1.05 [[ 9.87509314e-01 1.56725962e-01 1.61965550e-02 5.53135190e+01] [-1.56707133e-01 9.87642119e-01 -2.43307330e-03 -6.51153984e+00] [-1.63777256e-02 -1.35433157e-04 9.99865867e-01 -1.04811090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters 0.024190684963263154 Centerline is valid? [True, True] Translation: X:55.34, Y:-6.52, Z:-1.05 [[ 9.88051251e-01 1.53181165e-01 1.70369117e-02 5.53417959e+01] [-1.53159825e-01 9.88198120e-01 -2.55811480e-03 -6.52064214e+00] [-1.72276992e-02 -8.18218983e-05 9.99851589e-01 -1.04696739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77401273899999 meters 0.0236428381892601 Centerline is valid? [True, True] Translation: X:55.37, Y:-6.53, Z:-1.05 [[ 9.88349934e-01 1.51165866e-01 1.76999572e-02 5.53696722e+01] [-1.51142521e-01 9.88508411e-01 -2.65705386e-03 -6.52794635e+00] [-1.78982124e-02 -4.91171315e-05 9.99839813e-01 -1.04627816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters 0.02338222970276907 Centerline is valid? [True, True] Translation: X:55.40, Y:-6.54, Z:-1.05 [[ 9.88659907e-01 1.49032422e-01 1.84641552e-02 5.53984629e+01] [-1.49006662e-01 9.88832310e-01 -2.77084242e-03 -6.53587845e+00] [-1.86708986e-02 -1.18613317e-05 9.99825684e-01 -1.04600895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834012738999995 meters 0.02357999799680122 Centerline is valid? [True, True] Translation: X:55.43, Y:-6.55, Z:-1.05 [[ 9.89290039e-01 1.44762624e-01 1.86815757e-02 5.54271317e+01] [-1.44735501e-01 9.89466411e-01 -2.80298247e-03 -6.54807391e+00] [-1.88905587e-02 6.90754207e-05 9.99821555e-01 -1.04619730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters 0.024278715743683708 Centerline is valid? [True, True] Translation: X:55.46, Y:-6.56, Z:-1.05 [[ 9.89569117e-01 1.42910379e-01 1.81545107e-02 5.54554622e+01] [-1.42884453e-01 9.89735628e-01 -2.72392494e-03 -6.55796704e+00] [-1.83574432e-02 1.01514671e-04 9.99831483e-01 -1.04818010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894012739 meters 0.02599778941661925 Centerline is valid? [True, True] Translation: X:55.48, Y:-6.57, Z:-1.05 [[ 9.90047806e-01 1.39779052e-01 1.63449849e-02 5.54834950e+01] [-1.39757614e-01 9.90182708e-01 -2.45216037e-03 -6.57256796e+00] [-1.65272820e-02 1.43419902e-04 9.99863405e-01 -1.05305442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters 0.02589350547662082 Centerline is valid? [True, True] Translation: X:55.51, Y:-6.58, Z:-1.05 [[ 9.90176318e-01 1.38913959e-01 1.59302287e-02 5.55137971e+01] [-1.38893480e-01 9.90304442e-01 -2.39016095e-03 -6.57820667e+00] [-1.61078029e-02 1.54075876e-04 9.99870249e-01 -1.05360491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95401273899999 meters 0.02636657647970937 Centerline is valid? [True, True] Translation: X:55.54, Y:-6.59, Z:-1.05 [[ 9.90226619e-01 1.38605942e-01 1.54801534e-02 5.55435110e+01] [-1.38586567e-01 9.90347600e-01 -2.32257669e-03 -6.58524221e+00] [-1.56526557e-02 1.54535953e-04 9.99877478e-01 -1.05461549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters 0.025468360214818003 Centerline is valid? [True, True] Translation: X:55.57, Y:-6.59, Z:-1.06 [[ 9.90088447e-01 1.39680171e-01 1.46395585e-02 5.55747314e+01] [-1.39662960e-01 9.90196664e-01 -2.19655060e-03 -6.59077563e+00] [-1.48028566e-02 1.30175304e-04 9.99890423e-01 -1.05667478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014012738999995 meters 0.025681155381768142 Centerline is valid? [True, True] Translation: X:55.60, Y:-6.60, Z:-1.06 [[ 9.90129337e-01 1.39288778e-01 1.55734346e-02 5.56037551e+01] [-1.39269244e-01 9.90251794e-01 -2.33714502e-03 -6.59945936e+00] [-1.57471596e-02 1.45175380e-04 9.99875995e-01 -1.05566711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters 0.02593867921214127 Centerline is valid? [True, True] Translation: X:55.63, Y:-6.61, Z:-1.06 [[ 9.90167438e-01 1.38980655e-01 1.59003901e-02 5.56342301e+01] [-1.38960250e-01 9.90295084e-01 -2.38636588e-03 -6.60560460e+00] [-1.60777369e-02 1.53379600e-04 9.99870733e-01 -1.05532497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074012739 meters 0.02660859674118923 Centerline is valid? [True, True] Translation: X:55.66, Y:-6.61, Z:-1.06 [[ 9.90285404e-01 1.38151528e-01 1.57789119e-02 5.56649213e+01] [-1.38131332e-01 9.90411090e-01 -2.36794749e-03 -6.61338430e+00] [-1.59547449e-02 1.65381710e-04 9.99872701e-01 -1.05614799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters 0.02791243256747641 Centerline is valid? [True, True] Translation: X:55.70, Y:-6.63, Z:-1.06 [[ 9.90645022e-01 1.35682138e-01 1.45875712e-02 5.56953232e+01] [-1.35664580e-01 9.90752401e-01 -2.19108727e-03 -6.62667332e+00] [-1.47499626e-02 1.91572983e-04 9.99891195e-01 -1.05888716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13401273899999 meters 0.029091046752491963 Centerline is valid? [True, True] Translation: X:55.73, Y:-6.64, Z:-1.06 [[ 9.90867567e-01 1.34084940e-01 1.42370588e-02 5.57266048e+01] [-1.34068018e-01 9.90969820e-01 -2.14073889e-03 -6.63698923e+00] [-1.43955365e-02 2.12454485e-04 9.99896356e-01 -1.06105020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters 0.03260180100415467 Centerline is valid? [True, True] Translation: X:55.75, Y:-6.65, Z:-1.06 [[ 9.91204803e-01 1.31604656e-01 1.39015524e-02 5.57549086e+01] [-1.31588235e-01 9.91302252e-01 -2.09342198e-03 -6.65406487e+00] [-1.40561443e-02 2.45729184e-04 9.99901177e-01 -1.06325125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194012738999994 meters 0.03162609180248506 Centerline is valid? [True, True] Translation: X:55.79, Y:-6.66, Z:-1.06 [[ 9.91304436e-01 1.30871859e-01 1.37138995e-02 5.57862483e+01] [-1.30855816e-01 9.91399260e-01 -2.06457543e-03 -6.65990057e+00] [-1.38661446e-02 2.52079277e-04 9.99903829e-01 -1.06312938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters 0.03158712384607198 Centerline is valid? [True, True] Translation: X:55.82, Y:-6.67, Z:-1.06 [[ 9.91399917e-01 1.30150327e-01 1.36783362e-02 5.58173228e+01] [-1.30134268e-01 9.91494237e-01 -2.06147193e-03 -6.66728955e+00] [-1.38302927e-02 2.63722843e-04 9.99904322e-01 -1.06288773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254012739 meters 0.03244585496945036 Centerline is valid? [True, True] Translation: X:55.85, Y:-6.68, Z:-1.06 [[ 9.91463076e-01 1.29608778e-01 1.42314647e-02 5.58474280e+01] [-1.29591300e-01 9.91565169e-01 -2.14740234e-03 -6.67867902e+00] [-1.43897469e-02 2.84796118e-04 9.99896422e-01 -1.06214233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters 0.03242272493230909 Centerline is valid? [True, True] Translation: X:55.88, Y:-6.69, Z:-1.06 [[ 9.91346229e-01 1.30255775e-01 1.63121575e-02 5.58775862e+01] [-1.30232846e-01 9.91480374e-01 -2.46463899e-03 -6.68821975e+00] [-1.64942175e-02 3.18931868e-04 9.99863910e-01 -1.05883944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31401273899999 meters 0.03057634536824052 Centerline is valid? [True, True] Translation: X:55.91, Y:-6.69, Z:-1.06 [[ 9.91173308e-01 1.31454450e-01 1.71814477e-02 5.59093664e+01] [-1.31429143e-01 9.91322161e-01 -2.59878180e-03 -6.69058532e+00] [-1.73739713e-02 3.17700208e-04 9.99849011e-01 -1.05710067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters 0.030036039745836726 Centerline is valid? [True, True] Translation: X:55.94, Y:-6.69, Z:-1.06 [[ 9.90936310e-01 1.33146616e-01 1.78103306e-02 5.59406853e+01] [-1.33119636e-01 9.91096306e-01 -2.69725274e-03 -6.69463996e+00] [-1.80108829e-02 3.01900967e-04 9.99837745e-01 -1.05616145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374012738999994 meters 0.027824812673599795 Centerline is valid? [True, True] Translation: X:55.97, Y:-6.70, Z:-1.06 [[ 9.90443899e-01 1.36768149e-01 1.77582523e-02 5.59733496e+01] [-1.36741880e-01 9.90603057e-01 -2.69093738e-03 -6.69545942e+00] [-1.79594135e-02 2.36925717e-04 9.99838689e-01 -1.05769171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters 0.027264839228255316 Centerline is valid? [True, True] Translation: X:56.00, Y:-6.70, Z:-1.06 [[ 9.90277979e-01 1.37979762e-01 1.76383222e-02 5.60037547e+01] [-1.37953983e-01 9.90435025e-01 -2.67584928e-03 -6.70018457e+00] [-1.78388252e-02 2.16557811e-04 9.99840852e-01 -1.05958423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434012738999996 meters 0.027282709566336296 Centerline is valid? [True, True] Translation: X:56.04, Y:-6.71, Z:-1.06 [[ 9.90281450e-01 1.37920367e-01 1.79059269e-02 5.60366300e+01] [-1.37893763e-01 9.90443296e-01 -2.71796362e-03 -6.70584936e+00] [-1.81096678e-02 2.22433312e-04 9.99835982e-01 -1.05937103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters 0.028020799073077172 Centerline is valid? [True, True] Translation: X:56.07, Y:-6.71, Z:-1.06 [[ 9.90423349e-01 1.36857678e-01 1.82089262e-02 5.60679239e+01] [-1.36829919e-01 9.90590689e-01 -2.76756294e-03 -6.71222186e+00] [-1.84163550e-02 2.49533049e-04 9.99830373e-01 -1.05931898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49401273899999 meters 0.030416886525712103 Centerline is valid? [True, True] Translation: X:56.10, Y:-6.72, Z:-1.06 [[ 9.90841546e-01 1.33832590e-01 1.79406824e-02 5.60979601e+01] [-1.33805094e-01 9.91003908e-01 -2.72976514e-03 -6.72441816e+00] [-1.81446179e-02 3.04210016e-04 9.99835327e-01 -1.06099447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters 0.03136991819472423 Centerline is valid? [True, True] Translation: X:56.13, Y:-6.73, Z:-1.06 [[ 9.91005143e-01 1.32674784e-01 1.74988295e-02 5.61294954e+01] [-1.32648400e-01 9.91159573e-01 -2.66512502e-03 -6.73346205e+00] [-1.76977273e-02 3.19960877e-04 9.99843332e-01 -1.06230735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554012738999994 meters 0.032192765842509415 Centerline is valid? [True, True] Translation: X:56.16, Y:-6.74, Z:-1.06 [[ 9.91053060e-01 1.32317511e-01 1.74902261e-02 5.61596890e+01] [-1.32291041e-01 9.91207328e-01 -2.66689766e-03 -6.74117146e+00] [-1.76893175e-02 3.29236861e-04 9.99843478e-01 -1.06244542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters 0.029717793661993404 Centerline is valid? [True, True] Translation: X:56.19, Y:-6.74, Z:-1.06 [[ 9.90716382e-01 1.34736170e-01 1.80890719e-02 5.61925657e+01] [-1.34708227e-01 9.90881464e-01 -2.75998033e-03 -6.74246925e+00] [-1.82959953e-02 2.97610913e-04 9.99832570e-01 -1.06153030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614012738999996 meters 0.028485655392725504 Centerline is valid? [True, True] Translation: X:56.22, Y:-6.74, Z:-1.06 [[ 9.90401020e-01 1.37114443e-01 1.74770942e-02 5.62234820e+01] [-1.37088716e-01 9.90555182e-01 -2.66736176e-03 -6.74470721e+00] [-1.76777600e-02 2.45845405e-04 9.99843706e-01 -1.06345941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters 0.026061881083942962 Centerline is valid? [True, True] Translation: X:56.26, Y:-6.75, Z:-1.07 [[ 9.89830747e-01 1.41434400e-01 1.52119303e-02 5.62558653e+01] [-1.41415383e-01 9.89947619e-01 -2.32404788e-03 -6.74520753e+00] [-1.53877145e-02 1.49213110e-04 9.99881591e-01 -1.06808142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67401273899999 meters 0.02560258640433267 Centerline is valid? [True, True] Translation: X:56.29, Y:-6.75, Z:-1.07 [[ 9.89529128e-01 1.43460887e-01 1.58454733e-02 5.62869486e+01] [-1.43440503e-01 9.89655980e-01 -2.42143393e-03 -6.74895940e+00] [-1.60289484e-02 1.23196749e-04 9.99871521e-01 -1.06826559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters 0.023878525438901975 Centerline is valid? [True, True] Translation: X:56.32, Y:-6.75, Z:-1.06 [[ 9.88845042e-01 1.47812300e-01 1.83577705e-02 5.63197337e+01] [-1.47785627e-01 9.89015429e-01 -2.80868668e-03 -6.74761703e+00] [-1.85712767e-02 6.43412764e-05 9.99827537e-01 -1.06447359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73401273899999 meters 0.023424329741945766 Centerline is valid? [True, True] Translation: X:56.35, Y:-6.75, Z:-1.06 [[ 9.88459330e-01 1.50353027e-01 1.84965042e-02 5.63524981e+01] [-1.50326335e-01 9.88632372e-01 -2.83299518e-03 -6.74940033e+00] [-1.87121922e-02 1.97888248e-05 9.99824911e-01 -1.06471115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters 0.023975808285106894 Centerline is valid? [True, True] Translation: X:56.38, Y:-6.75, Z:-1.07 [[ 9.87807341e-01 1.54853724e-01 1.60306462e-02 5.63838117e+01] [-1.54834230e-01 9.87937408e-01 -2.45759355e-03 -6.74784443e+00] [-1.62178425e-02 -5.44638081e-05 9.99868481e-01 -1.07023649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794012738999996 meters 0.023975808285106894 Centerline is valid? [True, True] Translation: X:56.41, Y:-6.75, Z:-1.07 [[ 9.87803768e-01 1.54876558e-01 1.60301953e-02 5.64142771e+01] [-1.54857020e-01 9.87933828e-01 -2.46053084e-03 -6.75256417e+00] [-1.62178507e-02 -5.18666362e-05 9.99868481e-01 -1.07086275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters 0.024415271008380066 Centerline is valid? [True, True] Translation: X:56.45, Y:-6.76, Z:-1.07 [[ 9.87633962e-01 1.56056850e-01 1.50138719e-02 5.64458634e+01] [-1.56039842e-01 9.87748073e-01 -2.30485639e-03 -6.75511099e+00] [-1.51896116e-02 -6.64077509e-05 9.99884629e-01 -1.07372818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85401273899999 meters 0.024661861813260667 Centerline is valid? [True, True] Translation: X:56.47, Y:-6.76, Z:-1.07 [[ 9.87500594e-01 1.56916174e-01 1.48287369e-02 5.64749867e+01] [-1.56899672e-01 9.87611922e-01 -2.27696395e-03 -6.75802411e+00] [-1.50023298e-02 -7.81206992e-05 9.99887456e-01 -1.07423609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters 0.025293716441068103 Centerline is valid? [True, True] Translation: X:56.51, Y:-6.76, Z:-1.07 [[ 9.87160203e-01 1.58840070e-01 1.68691037e-02 5.65056558e+01] [-1.58819000e-01 9.87304318e-01 -2.58999569e-03 -6.76076758e+00] [-1.70663340e-02 -1.22393503e-04 9.99854352e-01 -1.07124098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91401273899999 meters 0.02566320986176552 Centerline is valid? [True, True] Translation: X:56.53, Y:-6.76, Z:-1.07 [[ 9.87024647e-01 1.59634381e-01 1.72977071e-02 5.65349472e+01] [-1.59612348e-01 9.87176198e-01 -2.65583365e-03 -6.76461032e+00] [-1.74998471e-02 -1.39554365e-04 9.99846856e-01 -1.07110611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters 0.02621514197546374 Centerline is valid? [True, True] Translation: X:56.56, Y:-6.77, Z:-1.07 [[ 9.86903323e-01 1.60549953e-01 1.56698400e-02 5.65649370e+01] [-1.60531990e-01 9.87027706e-01 -2.40568393e-03 -6.76904716e+00] [-1.58527986e-02 -1.41333134e-04 9.99874327e-01 -1.07404325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974012738999996 meters 0.026356966551836912 Centerline is valid? [True, True] Translation: X:56.59, Y:-6.77, Z:-1.08 [[ 9.86949787e-01 1.60370445e-01 1.45408920e-02 5.65941443e+01] [-1.60354959e-01 9.87056890e-01 -2.23236423e-03 -6.77419816e+00] [-1.47106929e-02 -1.28472734e-04 9.99891784e-01 -1.07724577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters 0.02610234359258968 Centerline is valid? [True, True] Translation: X:56.62, Y:-6.78, Z:-1.08 [[ 9.86989743e-01 1.60143800e-01 1.43251341e-02 5.66233765e+01] [-1.60128746e-01 9.87093688e-01 -2.19924039e-03 -6.78226953e+00] [-1.44924441e-02 -1.23238055e-04 9.99894971e-01 -1.07749178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034012739 meters 0.026520399867590156 Centerline is valid? [True, True] Translation: X:56.65, Y:-6.79, Z:-1.08 [[ 9.86921475e-01 1.60528627e-01 1.47160446e-02 5.66528607e+01] [-1.60512782e-01 9.87031176e-01 -2.25931706e-03 -6.78600618e+00] [-1.48878799e-02 -1.32344733e-04 9.99889161e-01 -1.07782693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters 0.026038473229106542 Centerline is valid? [True, True] Translation: X:56.68, Y:-6.79, Z:-1.08 [[ 9.86863026e-01 1.60840456e-01 1.52221972e-02 5.66824110e+01] [-1.60823543e-01 9.86980409e-01 -2.33678176e-03 -6.79165165e+00] [-1.53998594e-02 -1.42004155e-04 9.99881405e-01 -1.07567761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09401273899999 meters 0.026872540656885702 Centerline is valid? [True, True] Translation: X:56.71, Y:-6.79, Z:-1.08 [[ 9.86686404e-01 1.61899758e-01 1.54405018e-02 5.67124389e+01] [-1.61882486e-01 9.86807196e-01 -2.37024821e-03 -6.79316928e+00] [-1.56205409e-02 -1.60855142e-04 9.99877979e-01 -1.07646476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters 0.027403070525822887 Centerline is valid? [True, True] Translation: X:56.74, Y:-6.80, Z:-1.08 [[ 9.86602821e-01 1.62450581e-01 1.49893905e-02 5.67427627e+01] [-1.62434365e-01 9.86716667e-01 -2.30119157e-03 -6.79663598e+00] [-1.51641114e-02 -1.64430035e-04 9.99885005e-01 -1.07788908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154012738999995 meters 0.028654979973357947 Centerline is valid? [True, True] Translation: X:56.77, Y:-6.80, Z:-1.08 [[ 9.86269569e-01 1.64418399e-01 1.54572590e-02 5.67721431e+01] [-1.64401393e-01 9.86390668e-01 -2.37318016e-03 -6.79606359e+00] [-1.56370905e-02 -2.00599544e-04 9.99877713e-01 -1.07820071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters 0.029704055324275072 Centerline is valid? [True, True] Translation: X:56.80, Y:-6.80, Z:-1.08 [[ 9.86054968e-01 1.65632034e-01 1.61749860e-02 5.68011783e+01] [-1.65613585e-01 9.86187597e-01 -2.48277648e-03 -6.79592086e+00] [-1.63627979e-02 -2.30643333e-04 9.99866094e-01 -1.07699975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214012739 meters 0.030742078045943266 Centerline is valid? [True, True] Translation: X:56.83, Y:-6.80, Z:-1.08 [[ 9.85795966e-01 1.67070492e-01 1.71395620e-02 5.68313783e+01] [-1.67050006e-01 9.85944916e-01 -2.63016834e-03 -6.79625306e+00] [-1.73380875e-02 -2.70354588e-04 9.99849648e-01 -1.07526852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters 0.03316755330699567 Centerline is valid? [True, True] Translation: X:56.86, Y:-6.79, Z:-1.08 [[ 9.85344352e-01 1.69745652e-01 1.68202579e-02 5.68605578e+01] [-1.69726318e-01 9.85487857e-01 -2.58081729e-03 -6.79348725e+00] [-1.70142425e-02 -3.11846699e-04 9.99855199e-01 -1.07641282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27401273899999 meters 0.034820267885348456 Centerline is valid? [True, True] Translation: X:56.89, Y:-6.79, Z:-1.08 [[ 9.85309472e-01 1.69993725e-01 1.63516755e-02 5.68887466e+01] [-1.69975494e-01 9.85445097e-01 -2.50852256e-03 -6.79371704e+00] [-1.65401115e-02 -3.07713086e-04 9.99863156e-01 -1.07815458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters 0.03309736989867878 Centerline is valid? [True, True] Translation: X:56.92, Y:-6.80, Z:-1.08 [[ 9.85562522e-01 1.68500169e-01 1.65592264e-02 5.69172702e+01] [-1.68481278e-01 9.85701583e-01 -2.53937056e-03 -6.79727077e+00] [-1.67503400e-02 -2.87211173e-04 9.99859662e-01 -1.07849953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334012738999995 meters 0.030915109618459665 Centerline is valid? [True, True] Translation: X:56.95, Y:-6.80, Z:-1.08 [[ 9.85819790e-01 1.66874371e-01 1.76715875e-02 5.69453007e+01] [-1.66852611e-01 9.85978127e-01 -2.70911549e-03 -6.80386798e+00] [-1.78758807e-02 -2.77850856e-04 9.99840175e-01 -1.07712993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters 0.028318495249894424 Centerline is valid? [True, True] Translation: X:56.97, Y:-6.81, Z:-1.07 [[ 9.86082926e-01 1.65119444e-01 1.93915625e-02 5.69736456e+01] [-1.65092921e-01 9.86273540e-01 -2.97180889e-03 -6.81270062e+00] [-1.96160884e-02 -2.70959695e-04 9.99807549e-01 -1.07351806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394012739 meters 0.02894573601710844 Centerline is valid? [True, True] Translation: X:57.00, Y:-6.81, Z:-1.08 [[ 9.86215050e-01 1.64404058e-01 1.87398475e-02 5.70029587e+01] [-1.64379167e-01 9.86393047e-01 -2.87147808e-03 -6.81413858e+00] [-1.89569379e-02 -2.48545628e-04 9.99820270e-01 -1.07515339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters 0.027769651400161997 Centerline is valid? [True, True] Translation: X:57.03, Y:-6.82, Z:-1.08 [[ 9.86314691e-01 1.63985957e-01 1.70861277e-02 5.70324933e+01] [-1.63965206e-01 9.86462649e-01 -2.61793269e-03 -6.81933350e+00] [-1.72841310e-02 -2.19424975e-04 9.99850594e-01 -1.07861343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45401273899999 meters 0.028126119051791718 Centerline is valid? [True, True] Translation: X:57.06, Y:-6.82, Z:-1.08 [[ 9.86376849e-01 1.63839649e-01 1.47404472e-02 5.70612857e+01] [-1.63824191e-01 9.86486966e-01 -2.25830204e-03 -6.82149823e+00] [-1.49112585e-02 -1.87304994e-04 9.99888803e-01 -1.08451923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters 0.028517518788288527 Centerline is valid? [True, True] Translation: X:57.09, Y:-6.82, Z:-1.09 [[ 9.86497413e-01 1.63098967e-01 1.48856160e-02 5.70889072e+01] [-1.63083126e-01 9.86609697e-01 -2.28013755e-03 -6.82476095e+00] [-1.50581811e-02 -1.78242986e-04 9.99886603e-01 -1.08529928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514012738999995 meters 0.02671258317568648 Centerline is valid? [True, True] Translation: X:57.12, Y:-6.83, Z:-1.08 [[ 9.86797325e-01 1.61076412e-01 1.68946248e-02 5.71173136e+01] [-1.61055731e-01 9.86941924e-01 -2.58657506e-03 -6.83172342e+00] [-1.70906497e-02 -1.68550796e-04 9.99853930e-01 -1.07948915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters 0.025932854810170797 Centerline is valid? [True, True] Translation: X:57.15, Y:-6.84, Z:-1.08 [[ 9.86963810e-01 1.59964465e-01 1.77146343e-02 5.71463119e+01] [-1.59941565e-01 9.87122761e-01 -2.71120057e-03 -6.83866769e+00] [-1.79202144e-02 -1.57449479e-04 9.99839408e-01 -1.07851096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574012739 meters 0.02519201213799708 Centerline is valid? [True, True] Translation: X:57.18, Y:-6.85, Z:-1.08 [[ 9.87178157e-01 1.58675483e-01 1.73602341e-02 5.71760667e+01] [-1.58653299e-01 9.87330782e-01 -2.65649311e-03 -6.84704652e+00] [-1.75618138e-02 -1.31826443e-04 9.99845771e-01 -1.07982606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters 0.02472904619689128 Centerline is valid? [True, True] Translation: X:57.20, Y:-6.86, Z:-1.08 [[ 9.87553645e-01 1.56473809e-01 1.59294164e-02 5.72046191e+01] [-1.56454846e-01 9.87682105e-01 -2.43749686e-03 -6.85733107e+00] [-1.61146040e-02 -8.50754833e-05 9.99870148e-01 -1.08404293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63401273899999 meters 0.024451985197636934 Centerline is valid? [True, True] Translation: X:57.23, Y:-6.86, Z:-1.08 [[ 9.87618614e-01 1.56042257e-01 1.61333985e-02 5.72342583e+01] [-1.56022743e-01 9.87750377e-01 -2.46895547e-03 -6.86271535e+00] [-1.63210318e-02 -7.87906971e-05 9.99866800e-01 -1.08393878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters 0.024733321481312104 Centerline is valid? [True, True] Translation: X:57.26, Y:-6.86, Z:-1.08 [[ 9.87441714e-01 1.57116071e-01 1.65348830e-02 5.72639832e+01] [-1.57095725e-01 9.87580139e-01 -2.53035764e-03 -6.86417380e+00] [-1.67270819e-02 -9.89787500e-05 9.99860088e-01 -1.08279094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694012738999994 meters 0.025023466350796306 Centerline is valid? [True, True] Translation: X:57.29, Y:-6.87, Z:-1.08 [[ 9.87337743e-01 1.57688840e-01 1.72745921e-02 5.72927985e+01] [-1.57666716e-01 9.87488844e-01 -2.64381725e-03 -6.86861284e+00] [-1.74753675e-02 -1.13287655e-04 9.99847288e-01 -1.08158332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters 0.02470260170123373 Centerline is valid? [True, True] Translation: X:57.32, Y:-6.88, Z:-1.08 [[ 9.87357816e-01 1.57519734e-01 1.76656773e-02 5.73223942e+01] [-1.57496574e-01 9.87515833e-01 -2.70343387e-03 -6.87689051e+00] [-1.78709803e-02 -1.13027102e-04 9.99840295e-01 -1.07959523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754012739 meters 0.024900273706513987 Centerline is valid? [True, True] Translation: X:57.35, Y:-6.88, Z:-1.08 [[ 9.87407426e-01 1.57290689e-01 1.69178838e-02 5.73522276e+01] [-1.57269415e-01 9.87552342e-01 -2.58895885e-03 -6.88140938e+00] [-1.71145149e-02 -1.04308497e-04 9.99853531e-01 -1.08239651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters 0.024548169250847525 Centerline is valid? [True, True] Translation: X:57.38, Y:-6.89, Z:-1.09 [[ 9.87474408e-01 1.56933994e-01 1.63099534e-02 5.73824085e+01] [-1.56914171e-01 9.87609089e-01 -2.49606642e-03 -6.88903323e+00] [-1.64995759e-02 -9.44611113e-05 9.99863868e-01 -1.08518395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81401273899999 meters 0.02504319391549733 Centerline is valid? [True, True] Translation: X:57.41, Y:-6.89, Z:-1.09 [[ 9.87386581e-01 1.57476284e-01 1.64000087e-02 5.74127490e+01] [-1.57456312e-01 9.87522764e-01 -2.51013565e-03 -6.89299843e+00] [-1.65906687e-02 -1.03810620e-04 9.99862360e-01 -1.08595594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters 0.025219911822746025 Centerline is valid? [True, True] Translation: X:57.44, Y:-6.90, Z:-1.09 [[ 9.87340242e-01 1.57764838e-01 1.64165455e-02 5.74430918e+01] [-1.57744846e-01 9.87476706e-01 -2.51380411e-03 -6.89782936e+00] [-1.66075462e-02 -1.07645488e-04 9.99862079e-01 -1.08598952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874012738999994 meters 0.02522320001421918 Centerline is valid? [True, True] Translation: X:57.47, Y:-6.90, Z:-1.09 [[ 9.87373140e-01 1.57645496e-01 1.55621417e-02 5.74717244e+01] [-1.57627516e-01 9.87495766e-01 -2.38302350e-03 -6.90234944e+00] [-1.57432220e-02 -1.00088345e-04 9.99876063e-01 -1.08851264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters 0.02484431257578679 Centerline is valid? [True, True] Translation: X:57.50, Y:-6.91, Z:-1.09 [[ 9.87462123e-01 1.57124559e-01 1.51798958e-02 5.75014028e+01] [-1.57107393e-01 9.87578789e-01 -2.32426880e-03 -6.91034307e+00] [-1.53565428e-02 -8.97464481e-05 9.99882077e-01 -1.08931870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934012738999996 meters 0.024282589931724007 Centerline is valid? [True, True] Translation: X:57.53, Y:-6.92, Z:-1.09 [[ 9.87826374e-01 1.54835053e-01 1.50053682e-02 5.75300634e+01] [-1.54818020e-01 9.87940334e-01 -2.29722853e-03 -6.92204677e+00] [-1.51801000e-02 -5.38384660e-05 9.99884774e-01 -1.09018276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters 0.023989732148840585 Centerline is valid? [True, True] Translation: X:57.56, Y:-6.93, Z:-1.09 [[ 9.88055023e-01 1.53312602e-01 1.55730067e-02 5.75603404e+01] [-1.53294047e-01 9.88177740e-01 -2.38532948e-03 -6.93030849e+00] [-1.57545996e-02 -3.04124543e-05 9.99875888e-01 -1.08968585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99401273899999 meters 0.023772512481181212 Centerline is valid? [True, True] Translation: X:57.59, Y:-6.94, Z:-1.09 [[ 9.88406007e-01 1.50885080e-01 1.69487010e-02 5.75909630e+01] [-1.50862745e-01 9.88551310e-01 -2.59604669e-03 -6.94374647e+00] [-1.71463653e-02 9.02057725e-06 9.99852990e-01 -1.08756048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters 0.0238909566518128 Centerline is valid? [True, True] Translation: X:57.62, Y:-6.95, Z:-1.09 [[ 9.88502615e-01 1.50283706e-01 1.66549772e-02 5.76227540e+01] [-1.50262009e-01 9.88642912e-01 -2.55365966e-03 -6.95275866e+00] [-1.68495986e-02 2.16889011e-05 9.99858035e-01 -1.08869893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054012738999994 meters 0.02384668362861944 Centerline is valid? [True, True] Translation: X:57.65, Y:-6.96, Z:-1.09 [[ 9.88466558e-01 1.50566219e-01 1.62381178e-02 5.76544919e+01] [-1.50545584e-01 9.88599926e-01 -2.49275907e-03 -6.95906229e+00] [-1.64283274e-02 1.94320506e-05 9.99865046e-01 -1.08978176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters 0.02386250244402397 Centerline is valid? [True, True] Translation: X:57.69, Y:-6.96, Z:-1.09 [[ 9.88174833e-01 1.52556839e-01 1.53918785e-02 5.76862145e+01] [-1.52538501e-01 9.88294698e-01 -2.36537397e-03 -6.96203094e+00] [-1.55725659e-02 -1.04510406e-05 9.99878740e-01 -1.09233807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114012738999996 meters 0.02410863534155068 Centerline is valid? [True, True] Translation: X:57.72, Y:-6.96, Z:-1.09 [[ 9.87791493e-01 1.54984692e-01 1.57388832e-02 5.77168986e+01] [-1.54965774e-01 9.87916871e-01 -2.42188975e-03 -6.96457969e+00] [-1.59240641e-02 -4.66661300e-05 9.99873203e-01 -1.09250639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters 0.026208898191198305 Centerline is valid? [True, True] Translation: X:57.75, Y:-6.96, Z:-1.09 [[ 9.86833284e-01 1.60854415e-01 1.69093928e-02 5.77480264e+01] [-1.60833407e-01 9.86978133e-01 -2.60395131e-03 -6.96152291e+00] [-1.71080580e-02 -1.49929442e-04 9.99853635e-01 -1.08977875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17401273899999 meters 0.02802771022069554 Centerline is valid? [True, True] Translation: X:57.78, Y:-6.96, Z:-1.09 [[ 9.86369436e-01 1.63712288e-01 1.65415404e-02 5.77788369e+01] [-1.63692586e-01 9.86508109e-01 -2.54730411e-03 -6.96081426e+00] [-1.67353887e-02 -1.95144608e-04 9.99859935e-01 -1.09044865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters 0.03283377760376165 Centerline is valid? [True, True] Translation: X:57.81, Y:-6.95, Z:-1.10 [[ 9.85421449e-01 1.69533547e-01 1.42458277e-02 5.78093558e+01] [-1.69519540e-01 9.85524385e-01 -2.19390961e-03 -6.95346915e+00] [-1.44115519e-02 -2.53020567e-04 9.99896116e-01 -1.09521507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23401273899999 meters 0.034691542420673335 Centerline is valid? [True, True] Translation: X:57.84, Y:-6.95, Z:-1.10 [[ 9.85116525e-01 1.71335174e-01 1.37728355e-02 5.78386906e+01] [-1.71322259e-01 9.85212761e-01 -2.12090980e-03 -6.95448182e+00] [-1.39325597e-02 -2.70249994e-04 9.99902901e-01 -1.09727002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters 0.03562442466177726 Centerline is valid? [True, True] Translation: X:57.87, Y:-6.96, Z:-1.10 [[ 9.84964525e-01 1.72204664e-01 1.37999642e-02 5.78673394e+01] [-1.72191792e-01 9.85061152e-01 -2.12446343e-03 -6.95724328e+00] [-1.39596511e-02 -2.83719459e-04 9.99902519e-01 -1.09765679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294012738999996 meters 0.03626422790072184 Centerline is valid? [True, True] Translation: X:57.90, Y:-6.96, Z:-1.10 [[ 9.84915496e-01 1.72471763e-01 1.39626877e-02 5.78953703e+01] [-1.72458621e-01 9.85014419e-01 -2.14894351e-03 -6.95791008e+00] [-1.41240808e-02 -2.91458105e-04 9.99900208e-01 -1.09822158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters 0.03604226020976786 Centerline is valid? [True, True] Translation: X:57.92, Y:-6.96, Z:-1.10 [[ 9.84948136e-01 1.72270647e-01 1.41418938e-02 5.79239078e+01] [-1.72257157e-01 9.85049612e-01 -2.17565107e-03 -6.96104943e+00] [-1.43052678e-02 -2.93138948e-04 9.99897631e-01 -1.09773884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35401273899999 meters 0.03568476672689535 Centerline is valid? [True, True] Translation: X:57.95, Y:-6.96, Z:-1.09 [[ 9.84993249e-01 1.71846548e-01 1.60332003e-02 5.79525197e+01] [-1.71829167e-01 9.85123676e-01 -2.46578651e-03 -6.96460467e+00] [-1.62184221e-02 -3.26188377e-04 9.99868420e-01 -1.09476428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters 0.03521708486478473 Centerline is valid? [True, True] Translation: X:57.98, Y:-6.97, Z:-1.09 [[ 9.85078433e-01 1.71284364e-01 1.67972717e-02 5.79811376e+01] [-1.71265217e-01 9.85221577e-01 -2.58251195e-03 -6.96813156e+00] [-1.69913784e-02 -3.32811563e-04 9.99855581e-01 -1.09334050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41401273899999 meters 0.03385826490469181 Centerline is valid? [True, True] Translation: X:58.01, Y:-6.97, Z:-1.09 [[ 9.85349413e-01 1.69604171e-01 1.79153667e-02 5.80088088e+01] [-1.69582128e-01 9.85512212e-01 -2.75359158e-03 -6.97115312e+00] [-1.81228333e-02 -3.24876172e-04 9.99835715e-01 -1.09163376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters 0.031060966084453204 Centerline is valid? [True, True] Translation: X:58.04, Y:-6.98, Z:-1.09 [[ 9.85461394e-01 1.68898667e-01 1.84141686e-02 5.80378600e+01] [-1.68875277e-01 9.85633368e-01 -2.82916869e-03 -6.97946138e+00] [-1.86274619e-02 -3.21661301e-04 9.99826442e-01 -1.09063686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474012738999996 meters 0.032732573108043034 Centerline is valid? [True, True] Translation: X:58.07, Y:-6.98, Z:-1.09 [[ 9.85577096e-01 1.68180322e-01 1.87927225e-02 5.80672182e+01] [-1.68155837e-01 9.85756197e-01 -2.88689231e-03 -6.97963542e+00] [-1.90105611e-02 -3.14851037e-04 9.99819233e-01 -1.09101810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters 0.03182658781445294 Centerline is valid? [True, True] Translation: X:58.10, Y:-6.98, Z:-1.09 [[ 9.85790716e-01 1.66940248e-01 1.86445077e-02 5.80952934e+01] [-1.66915938e-01 9.85966972e-01 -2.86350103e-03 -6.98257630e+00] [-1.88609024e-02 -2.89252767e-04 9.99822076e-01 -1.09237794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534012739 meters 0.028447762826325378 Centerline is valid? [True, True] Translation: X:58.12, Y:-6.99, Z:-1.09 [[ 9.85881878e-01 1.66438814e-01 1.83042157e-02 5.81246904e+01] [-1.66415317e-01 9.86051746e-01 -2.81017628e-03 -6.99306339e+00] [-1.85166263e-02 -2.75599984e-04 9.99828515e-01 -1.09361918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters 0.02894665846806135 Centerline is valid? [True, True] Translation: X:58.15, Y:-7.00, Z:-1.09 [[ 9.86102120e-01 1.65115402e-01 1.84258892e-02 5.81541237e+01] [-1.65091360e-01 9.86274222e-01 -2.82887644e-03 -6.99529826e+00] [-1.86400706e-02 -2.52394069e-04 9.99826227e-01 -1.09364342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59401273899999 meters 0.029718190030609975 Centerline is valid? [True, True] Translation: X:58.18, Y:-7.00, Z:-1.09 [[ 9.86198387e-01 1.64521486e-01 1.85855508e-02 5.81824663e+01] [-1.64496924e-01 9.86373470e-01 -2.85317355e-03 -6.99688426e+00] [-1.88017026e-02 -2.43470774e-04 9.99823203e-01 -1.09356884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters 0.027826981559285823 Centerline is valid? [True, True] Translation: X:58.21, Y:-7.00, Z:-1.10 [[ 9.86233347e-01 1.64422841e-01 1.75759593e-02 5.82124518e+01] [-1.64400867e-01 9.86389921e-01 -2.69778048e-03 -7.00321958e+00] [-1.77803259e-02 -2.28861872e-04 9.99841891e-01 -1.09613640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654012738999995 meters 0.030569033434641284 Centerline is valid? [True, True] Translation: X:58.24, Y:-7.00, Z:-1.10 [[ 9.86145575e-01 1.65027439e-01 1.68181295e-02 5.82416302e+01] [-1.65007405e-01 9.86288950e-01 -2.58157408e-03 -7.00142404e+00] [-1.70135658e-02 -2.29308040e-04 9.99855233e-01 -1.09935894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters 0.030569033434641284 Centerline is valid? [True, True] Translation: X:58.27, Y:-7.01, Z:-1.10 [[ 9.86152442e-01 1.64986387e-01 1.68182149e-02 5.82696430e+01] [-1.64966356e-01 9.86295818e-01 -2.58101703e-03 -7.00562543e+00] [-1.70135677e-02 -2.29163392e-04 9.99855233e-01 -1.09993428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714012739 meters 0.02996408734236348 Centerline is valid? [True, True] Translation: X:58.30, Y:-7.01, Z:-1.10 [[ 9.86034608e-01 1.65690402e-01 1.68060202e-02 5.82982240e+01] [-1.65670515e-01 9.86177789e-01 -2.57843765e-03 -7.00996212e+00] [-1.70009462e-02 -2.41833261e-04 9.99855444e-01 -1.10022240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters 0.028647651858726673 Centerline is valid? [True, True] Translation: X:58.33, Y:-7.01, Z:-1.10 [[ 9.85920479e-01 1.66243723e-01 1.79953619e-02 5.83278175e+01] [-1.66221030e-01 9.86084657e-01 -2.75999567e-03 -7.01441636e+00] [-1.82037823e-02 -2.70071333e-04 9.99834261e-01 -1.09869696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77401273899999 meters 0.02834287116475712 Centerline is valid? [True, True] Translation: X:58.36, Y:-7.02, Z:-1.10 [[ 9.86019663e-01 1.65626519e-01 1.82504771e-02 5.83573399e+01] [-1.65603081e-01 9.86188515e-01 -2.79867611e-03 -7.02021637e+00] [-1.84619459e-02 -2.62785555e-04 9.99829529e-01 -1.09928019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters 0.027228193963181786 Centerline is valid? [True, True] Translation: X:58.39, Y:-7.03, Z:-1.10 [[ 9.86429720e-01 1.63239241e-01 1.75885636e-02 5.83853886e+01] [-1.63217100e-01 9.86586492e-01 -2.69673537e-03 -7.03092717e+00] [-1.77928523e-02 -2.10614429e-04 9.99841672e-01 -1.10119440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834012738999995 meters 0.026323131302370732 Centerline is valid? [True, True] Translation: X:58.42, Y:-7.04, Z:-1.10 [[ 9.86683345e-01 1.61781646e-01 1.68129523e-02 5.84154407e+01] [-1.61761207e-01 9.86826564e-01 -2.57758440e-03 -7.03890082e+00] [-1.70084738e-02 -1.76423868e-04 9.99855330e-01 -1.10317412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters 0.02637758668690926 Centerline is valid? [True, True] Translation: X:58.44, Y:-7.04, Z:-1.11 [[ 9.86930318e-01 1.60323554e-01 1.62759466e-02 5.84444963e+01] [-1.60304201e-01 9.87064505e-01 -2.49530159e-03 -7.04336320e+00] [-1.64654648e-02 -1.46413818e-04 9.99864424e-01 -1.10639416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894012739 meters 0.024790645544399106 Centerline is valid? [True, True] Translation: X:58.47, Y:-7.05, Z:-1.11 [[ 9.87274010e-01 1.58226789e-01 1.59471481e-02 5.84736983e+01] [-1.58207941e-01 9.87402791e-01 -2.44465839e-03 -7.05408292e+00] [-1.61330689e-02 -1.09417765e-04 9.99869848e-01 -1.10763893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters 0.02453509962429045 Centerline is valid? [True, True] Translation: X:58.50, Y:-7.06, Z:-1.11 [[ 9.87448605e-01 1.57089593e-01 1.63741547e-02 5.85029777e+01] [-1.57069565e-01 9.87584351e-01 -2.51011745e-03 -7.06100020e+00] [-1.65651722e-02 -9.32693818e-05 9.99862784e-01 -1.10738544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95401273899999 meters 0.0246536337163097 Centerline is valid? [True, True] Translation: X:58.53, Y:-7.07, Z:-1.11 [[ 9.87571955e-01 1.56277440e-01 1.67031358e-02 5.85322217e+01] [-1.56256482e-01 9.87713195e-01 -2.56058877e-03 -7.06509187e+00] [-1.68980699e-02 -8.12075863e-05 9.99857214e-01 -1.10946559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters 0.02369995405550545 Centerline is valid? [True, True] Translation: X:58.56, Y:-7.08, Z:-1.11 [[ 9.87786535e-01 1.54901805e-01 1.68283028e-02 5.85626848e+01] [-1.54880337e-01 9.87929870e-01 -2.57946233e-03 -7.07513625e+00] [-1.70247464e-02 -5.84150660e-05 9.99855067e-01 -1.10836868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014012738999995 meters 0.023528331589693176 Centerline is valid? [True, True] Translation: X:58.59, Y:-7.09, Z:-1.11 [[ 9.88304891e-01 1.51592616e-01 1.65263586e-02 5.85921283e+01] [-1.51571452e-01 9.88443058e-01 -2.53301541e-03 -7.09173302e+00] [-1.67193508e-02 -1.53264544e-06 9.99860222e-01 -1.11025989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters 0.02351353218089961 Centerline is valid? [True, True] Translation: X:58.62, Y:-7.10, Z:-1.11 [[ 9.88541588e-01 1.50031184e-01 1.66184476e-02 5.86243278e+01] [-1.50009512e-01 9.88681265e-01 -2.55011364e-03 -7.10271923e+00] [-1.68129443e-02 2.79681675e-05 9.99858652e-01 -1.11075192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074012739 meters 0.023823677648459243 Centerline is valid? [True, True] Translation: X:58.66, Y:-7.11, Z:-1.11 [[ 9.88815952e-01 1.48146208e-01 1.71963588e-02 5.86555635e+01] [-1.48122658e-01 9.88965468e-01 -2.64224684e-03 -7.11456702e+00] [-1.73980439e-02 6.55254558e-05 9.99848640e-01 -1.11023563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters 0.023741994326499524 Centerline is valid? [True, True] Translation: X:58.69, Y:-7.12, Z:-1.11 [[ 9.88790775e-01 1.48285526e-01 1.74414861e-02 5.86878779e+01] [-1.48261260e-01 9.88944588e-01 -2.68337952e-03 -7.12238859e+00] [-1.76465696e-02 6.74042146e-05 9.99844285e-01 -1.11064726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13401273899999 meters 0.023638118589786664 Centerline is valid? [True, True] Translation: X:58.72, Y:-7.13, Z:-1.11 [[ 9.88625708e-01 1.49266032e-01 1.84082026e-02 5.87187113e+01] [-1.49239100e-01 9.88797071e-01 -2.83594142e-03 -7.13437324e+00] [-1.86252866e-02 5.64610053e-05 9.99826533e-01 -1.10854229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters 0.02328886385024846 Centerline is valid? [True, True] Translation: X:58.75, Y:-7.14, Z:-1.11 [[ 9.88337970e-01 1.51098926e-01 1.88990088e-02 5.87512486e+01] [-1.51070806e-01 9.88518646e-01 -2.91508889e-03 -7.13974455e+00] [-1.91224893e-02 2.60045578e-05 9.99817148e-01 -1.10792364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194012738999994 meters 0.02328946190751076 Centerline is valid? [True, True] Translation: X:58.78, Y:-7.14, Z:-1.11 [[ 9.87877585e-01 1.54020529e-01 1.93792077e-02 5.87839245e+01] [-1.53991449e-01 9.88067647e-01 -2.99295346e-03 -7.14315302e+00] [-1.96089444e-02 -2.75606302e-05 9.99807726e-01 -1.10828604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters 0.024483223433033757 Centerline is valid? [True, True] Translation: X:58.82, Y:-7.14, Z:-1.11 [[ 9.87023906e-01 1.59362780e-01 1.96802719e-02 5.88150454e+01] [-1.59333773e-01 9.87220080e-01 -3.04331069e-03 -7.14429830e+00] [-1.99137501e-02 -1.31911578e-04 9.99801693e-01 -1.10815313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254012739 meters 0.025496622076248802 Centerline is valid? [True, True] Translation: X:58.85, Y:-7.15, Z:-1.11 [[ 9.86712949e-01 1.61242806e-01 1.99578059e-02 5.88464057e+01] [-1.61213322e-01 9.86914752e-01 -3.08806720e-03 -7.14804380e+00] [-2.01945817e-02 -1.70428298e-04 9.99796054e-01 -1.10869196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters 0.026638212416699353 Centerline is valid? [True, True] Translation: X:58.88, Y:-7.15, Z:-1.11 [[ 9.86220397e-01 1.64223516e-01 1.99991217e-02 5.88783252e+01] [-1.64194461e-01 9.86423126e-01 -3.09752090e-03 -7.15158405e+00] [-2.02362819e-02 -2.28906715e-04 9.99795199e-01 -1.10872966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31401273899999 meters 0.027277454322572517 Centerline is valid? [True, True] Translation: X:58.91, Y:-7.15, Z:-1.11 [[ 9.85979470e-01 1.65693313e-01 1.97537578e-02 5.89103167e+01] [-1.65665197e-01 9.86177298e-01 -3.06274471e-03 -7.15464397e+00] [-1.99881838e-02 -2.52706764e-04 9.99800184e-01 -1.11021896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters 0.029332268700438063 Centerline is valid? [True, True] Translation: X:58.94, Y:-7.16, Z:-1.11 [[ 9.85413433e-01 1.69119839e-01 1.89432315e-02 5.89422299e+01] [-1.69094556e-01 9.85595448e-01 -2.94019337e-03 -7.15514135e+00] [-1.91676077e-02 -3.05891273e-04 9.99816238e-01 -1.11262088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374012738999994 meters 0.03219244152340914 Centerline is valid? [True, True] Translation: X:58.97, Y:-7.15, Z:-1.11 [[ 9.85055433e-01 1.71262347e-01 1.83030444e-02 5.89736544e+01] [-1.71239087e-01 9.85225404e-01 -2.84225365e-03 -7.15493911e+00] [-1.85193954e-02 -3.34419223e-04 9.99828445e-01 -1.11426068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters 0.033961337451191696 Centerline is valid? [True, True] Translation: X:59.01, Y:-7.15, Z:-1.12 [[ 9.84573344e-01 1.74033447e-01 1.81022266e-02 5.90055633e+01] [-1.74011107e-01 9.84739669e-01 -2.81410807e-03 -7.15466511e+00] [-1.83157296e-02 -3.79292702e-04 9.99832181e-01 -1.11526792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434012738999996 meters 0.03527703411616534 Centerline is valid? [True, True] Translation: X:59.03, Y:-7.16, Z:-1.12 [[ 9.84313924e-01 1.75449003e-01 1.85403911e-02 5.90349328e+01] [-1.75425811e-01 9.84488433e-01 -2.88264861e-03 -7.15504579e+00] [-1.87585584e-02 -4.15031970e-04 9.99823957e-01 -1.11515326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters 0.03758927283969492 Centerline is valid? [True, True] Translation: X:59.07, Y:-7.15, Z:-1.11 [[ 9.83662390e-01 1.78884568e-01 2.02141928e-02 5.90655074e+01] [-1.78857709e-01 9.83869929e-01 -3.14364566e-03 -7.15282729e+00] [-2.04504861e-02 -5.23178206e-04 9.99790730e-01 -1.11287974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49401273899999 meters 0.04068495161307114 Centerline is valid? [True, True] Translation: X:59.09, Y:-7.15, Z:-1.11 [[ 9.83281430e-01 1.80924230e-01 2.05925296e-02 5.90944466e+01] [-1.80896808e-01 9.83496869e-01 -3.20222036e-03 -7.15123123e+00] [-2.08320477e-02 -5.76439077e-04 9.99782823e-01 -1.11212640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters 0.04193303818942231 Centerline is valid? [True, True] Translation: X:59.12, Y:-7.15, Z:-1.11 [[ 9.82872081e-01 1.83093846e-01 2.09550828e-02 5.91241044e+01] [-1.83065962e-01 9.83095235e-01 -3.25762217e-03 -7.15143646e+00] [-2.11972926e-02 -6.34336515e-04 9.99775111e-01 -1.11226676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554012738999994 meters 0.04771838961403864 Centerline is valid? [True, True] Translation: X:59.16, Y:-7.14, Z:-1.11 [[ 9.81900714e-01 1.88280115e-01 2.05325716e-02 5.91551568e+01] [-1.88254490e-01 9.82115096e-01 -3.19128575e-03 -7.14069226e+00] [-2.07662042e-02 -7.31823044e-04 9.99784091e-01 -1.11304668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters 0.05138301606960234 Centerline is valid? [True, True] Translation: X:59.19, Y:-7.13, Z:-1.12 [[ 9.80925316e-01 1.93429242e-01 1.92523674e-02 5.91873292e+01] [-1.93407701e-01 9.81113911e-01 -2.99233131e-03 -7.13269067e+00] [-1.94675699e-02 -7.88302590e-04 9.99810178e-01 -1.11563823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614012738999996 meters 0.055708129469656885 Centerline is valid? [True, True] Translation: X:59.22, Y:-7.13, Z:-1.12 [[ 9.80541204e-01 1.95372970e-01 1.91924461e-02 5.92165899e+01] [-1.95351935e-01 9.80728669e-01 -2.98305582e-03 -7.12662768e+00] [-1.94053906e-02 -8.24272319e-04 9.99811358e-01 -1.11656572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters 0.05465970881762443 Centerline is valid? [True, True] Translation: X:59.25, Y:-7.13, Z:-1.12 [[ 9.80273165e-01 1.96673416e-01 1.95982128e-02 5.92463353e+01] [-1.96651760e-01 9.80468670e-01 -3.04517989e-03 -7.12793377e+00] [-1.98143396e-02 -8.68914911e-04 9.99803299e-01 -1.11648057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67401273899999 meters 0.056876341282217885 Centerline is valid? [True, True] Translation: X:59.28, Y:-7.12, Z:-1.12 [[ 9.80290403e-01 1.96528336e-01 2.01826586e-02 5.92754473e+01] [-1.96505347e-01 9.80497739e-01 -3.13549894e-03 -7.12049311e+00] [-2.04052655e-02 -8.92300814e-04 9.99791393e-01 -1.11636003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters 0.05147798010285009 Centerline is valid? [True, True] Translation: X:59.30, Y:-7.13, Z:-1.12 [[ 9.80429459e-01 1.95795555e-01 2.05469197e-02 5.93034078e+01] [-1.95771594e-01 9.80644330e-01 -3.19087163e-03 -7.12870989e+00] [-2.07739788e-02 -8.94078668e-04 9.99783798e-01 -1.11586728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73401273899999 meters 0.04892315912252695 Centerline is valid? [True, True] Translation: X:59.33, Y:-7.13, Z:-1.12 [[ 9.81152614e-01 1.91986136e-01 2.19287595e-02 5.93327811e+01] [-1.91957917e-01 9.81397253e-01 -3.40440240e-03 -7.12923911e+00] [-2.21744224e-02 -8.69160696e-04 9.99753739e-01 -1.11506596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters 0.04977502967033216 Centerline is valid? [True, True] Translation: X:59.36, Y:-7.13, Z:-1.12 [[ 9.81650200e-01 1.89476753e-01 2.14812863e-02 5.93624805e+01] [-1.89449081e-01 9.81884884e-01 -3.33457970e-03 -7.12881943e+00] [-2.17239756e-02 -7.96219115e-04 9.99763690e-01 -1.11666460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794012738999996 meters 0.04229885063247964 Centerline is valid? [True, True] Translation: X:59.39, Y:-7.14, Z:-1.12 [[ 9.82776170e-01 1.83817552e-01 1.90291383e-02 5.93918094e+01] [-1.83794785e-01 9.82960200e-01 -2.95350713e-03 -7.13771250e+00] [-1.92477920e-02 -5.94819950e-04 9.99814567e-01 -1.12248537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters 0.03886309790185839 Centerline is valid? [True, True] Translation: X:59.42, Y:-7.15, Z:-1.12 [[ 9.83361509e-01 1.80727124e-01 1.83806738e-02 5.94211008e+01] [-1.80705343e-01 9.83533141e-01 -2.85284104e-03 -7.14539454e+00] [-1.85935876e-02 -5.16111892e-04 9.99826991e-01 -1.12440601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85401273899999 meters 0.03802815013859555 Centerline is valid? [True, True] Translation: X:59.45, Y:-7.15, Z:-1.12 [[ 9.84274383e-01 1.75587015e-01 1.93167852e-02 5.94494118e+01] [-1.75561974e-01 9.84463816e-01 -2.99790689e-03 -7.14990948e+00] [-1.95430696e-02 -4.40529977e-04 9.99808919e-01 -1.12333452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters 0.03327381429952823 Centerline is valid? [True, True] Translation: X:59.48, Y:-7.16, Z:-1.12 [[ 9.84656889e-01 1.73258512e-01 2.07917812e-02 5.94771792e+01] [-1.73228998e-01 9.84876290e-01 -3.22601868e-03 -7.16270231e+00] [-2.10362676e-02 -4.25217910e-04 9.99778623e-01 -1.12123387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91401273899999 meters 0.031857289521068755 Centerline is valid? [True, True] Translation: X:59.51, Y:-7.17, Z:-1.12 [[ 9.84946837e-01 1.71526208e-01 2.14123598e-02 5.95052115e+01] [-1.71494513e-01 9.85179476e-01 -3.32151048e-03 -7.16944796e+00] [-2.16647435e-02 -4.00590971e-04 9.99765212e-01 -1.12009000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters 0.03216353492097252 Centerline is valid? [True, True] Translation: X:59.53, Y:-7.17, Z:-1.12 [[ 9.85273695e-01 1.69569755e-01 2.19509384e-02 5.95333514e+01] [-1.69535983e-01 9.85518119e-01 -3.40399665e-03 -7.17277298e+00] [-2.22102624e-02 -3.67605560e-04 9.99753254e-01 -1.12077868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974012738999996 meters 0.03217134979192433 Centerline is valid? [True, True] Translation: X:59.56, Y:-7.18, Z:-1.12 [[ 9.85463894e-01 1.68516079e-01 2.15231310e-02 5.95612431e+01] [-1.68483381e-01 9.85698847e-01 -3.33666959e-03 -7.17729447e+00] [-2.17776079e-02 -3.38122475e-04 9.99762783e-01 -1.12183920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters 0.029922967846753683 Centerline is valid? [True, True] Translation: X:59.59, Y:-7.19, Z:-1.13 [[ 9.85834632e-01 1.66506214e-01 2.01434511e-02 5.95891976e+01] [-1.66477172e-01 9.86040367e-01 -3.12195949e-03 -7.18709724e+00] [-2.03820815e-02 -2.75688982e-04 9.99792226e-01 -1.12544716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034012739 meters 0.02740631984427348 Centerline is valid? [True, True] Translation: X:59.62, Y:-7.20, Z:-1.13 [[ 9.86015829e-01 1.65511975e-01 1.94568973e-02 5.96170273e+01] [-1.65484701e-01 9.86207749e-01 -3.01474538e-03 -7.19748318e+00] [-1.96875193e-02 -2.47232160e-04 9.99806151e-01 -1.12758033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters 0.026625059747306418 Centerline is valid? [True, True] Translation: X:59.65, Y:-7.21, Z:-1.13 [[ 9.86211135e-01 1.64358022e-01 1.93400536e-02 5.96454453e+01] [-1.64330871e-01 9.86400725e-01 -2.99569794e-03 -7.20568037e+00] [-1.95694099e-02 -2.23777187e-04 9.99808476e-01 -1.12946438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09401273899999 meters 0.02653034253950429 Centerline is valid? [True, True] Translation: X:59.67, Y:-7.21, Z:-1.13 [[ 9.86208111e-01 1.64278048e-01 2.01564887e-02 5.96748214e+01] [-1.64248550e-01 9.86414046e-01 -3.12165412e-03 -7.21189334e+00] [-2.03954628e-02 -2.32073416e-04 9.99791964e-01 -1.12851840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters 0.027181773872563847 Centerline is valid? [True, True] Translation: X:59.70, Y:-7.22, Z:-1.13 [[ 9.86142760e-01 1.64596962e-01 2.07436050e-02 5.97036106e+01] [-1.64565802e-01 9.86360877e-01 -3.21205641e-03 -7.21639289e+00] [-2.09893752e-02 -2.46141824e-04 9.99779668e-01 -1.12737989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154012738999995 meters 0.02918727844495892 Centerline is valid? [True, True] Translation: X:59.73, Y:-7.22, Z:-1.13 [[ 9.85854486e-01 1.66532824e-01 1.89143013e-02 5.97324496e+01] [-1.66507286e-01 9.86035876e-01 -2.92816469e-03 -7.21669318e+00] [-1.91378152e-02 -2.62624678e-04 9.99816821e-01 -1.13008433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters 0.02963969122177902 Centerline is valid? [True, True] Translation: X:59.76, Y:-7.22, Z:-1.13 [[ 9.85510370e-01 1.68665250e-01 1.79260791e-02 5.97619493e+01] [-1.68642672e-01 9.85673349e-01 -2.77469897e-03 -7.21976553e+00] [-1.81372537e-02 -2.88607282e-04 9.99835465e-01 -1.13295627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214012739 meters 0.0335834567416394 Centerline is valid? [True, True] Translation: X:59.79, Y:-7.22, Z:-1.14 [[ 9.84789081e-01 1.72801022e-01 1.81733991e-02 5.97914061e+01] [-1.72778528e-01 9.84956684e-01 -2.81255766e-03 -7.21708270e+00] [-1.83860238e-02 -3.70197071e-04 9.99830894e-01 -1.13527320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters 0.03383014822973026 Centerline is valid? [True, True] Translation: X:59.82, Y:-7.22, Z:-1.13 [[ 9.84589134e-01 1.73768278e-01 1.97186023e-02 5.98203329e+01] [-1.73742005e-01 9.84786478e-01 -3.05093201e-03 -7.22136045e+00] [-1.99487681e-02 -4.22034983e-04 9.99800914e-01 -1.13298744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27401273899999 meters 0.03599554784800455 Centerline is valid? [True, True] Translation: X:59.85, Y:-7.22, Z:-1.13 [[ 9.84526559e-01 1.74025773e-01 2.05544521e-02 5.98479910e+01] [-1.73997303e-01 9.84740997e-01 -3.17923096e-03 -7.22215654e+00] [-2.07940797e-02 -4.46381907e-04 9.99783680e-01 -1.13122275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters 0.03321565561559361 Centerline is valid? [True, True] Translation: X:59.88, Y:-7.23, Z:-1.13 [[ 9.84764882e-01 1.72717797e-01 2.01665551e-02 5.98752276e+01] [-1.72690141e-01 9.84971265e-01 -3.11805902e-03 -7.23193495e+00] [-2.04020215e-02 -4.12010215e-04 9.99791772e-01 -1.13359162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334012738999995 meters 0.03194089804360815 Centerline is valid? [True, True] Translation: X:59.90, Y:-7.24, Z:-1.14 [[ 9.84877931e-01 1.72278692e-01 1.83170377e-02 5.99024569e+01] [-1.72255815e-01 9.85048181e-01 -2.83131483e-03 -7.24217237e+00] [-1.85309399e-02 -3.66716764e-04 9.99828220e-01 -1.13794390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters 0.03328150512355893 Centerline is valid? [True, True] Translation: X:59.93, Y:-7.25, Z:-1.14 [[ 9.84812443e-01 1.72644561e-01 1.83931616e-02 5.99300502e+01] [-1.72621574e-01 9.84984119e-01 -2.84218904e-03 -7.24529562e+00] [-1.86076605e-02 -3.76033372e-04 9.99826792e-01 -1.13826822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394012739 meters 0.03340502179163564 Centerline is valid? [True, True] Translation: X:59.96, Y:-7.25, Z:-1.14 [[ 9.84686040e-01 1.73309478e-01 1.89004509e-02 5.99587904e+01] [-1.73285351e-01 9.84867333e-01 -2.91936611e-03 -7.24900272e+00] [-1.91203905e-02 -4.00512224e-04 9.99817108e-01 -1.13692819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters 0.03586553507623612 Centerline is valid? [True, True] Translation: X:59.99, Y:-7.24, Z:-1.14 [[ 9.84146035e-01 1.76292019e-01 1.94346557e-02 5.99897113e+01] [-1.76267109e-01 9.84337798e-01 -3.00090334e-03 -7.24432721e+00] [-1.96593015e-02 -4.72363447e-04 9.99806626e-01 -1.13653749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45401273899999 meters 0.0385072480705661 Centerline is valid? [True, True] Translation: X:60.02, Y:-7.24, Z:-1.14 [[ 9.83697112e-01 1.78801601e-01 1.92348511e-02 6.00186942e+01] [-1.78777688e-01 9.83885013e-01 -2.96960974e-03 -7.24175771e+00] [-1.94558527e-02 -5.17565691e-04 9.99810583e-01 -1.13800910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters 0.04754370581023628 Centerline is valid? [True, True] Translation: X:60.05, Y:-7.23, Z:-1.14 [[ 9.82553442e-01 1.84972107e-01 1.93404383e-02 6.00506079e+01] [-1.84949139e-01 9.82743560e-01 -2.98509084e-03 -7.22957267e+00] [-1.95588497e-02 -6.43986133e-04 9.99808500e-01 -1.13864561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514012738999995 meters 0.05191609581708217 Centerline is valid? [True, True] Translation: X:60.08, Y:-7.23, Z:-1.14 [[ 9.81934970e-01 1.88237317e-01 1.92464615e-02 6.00806027e+01] [-1.88215204e-01 9.82123319e-01 -2.97032798e-03 -7.22509795e+00] [-1.94615252e-02 -7.05807752e-04 9.99810357e-01 -1.13960957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters 0.05344784014208209 Centerline is valid? [True, True] Translation: X:60.11, Y:-7.22, Z:-1.14 [[ 9.80723195e-01 1.94440002e-01 1.93675055e-02 6.01117766e+01] [-1.94418818e-01 9.80914058e-01 -2.98888949e-03 -7.21952327e+00] [-1.95790181e-02 -8.34134286e-04 9.99807965e-01 -1.13994770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574012739 meters 0.05520607448919225 Centerline is valid? [True, True] Translation: X:60.14, Y:-7.22, Z:-1.14 [[ 9.80503095e-01 1.95497615e-01 1.98585832e-02 6.01403315e+01] [-1.95475564e-01 9.80703785e-01 -3.06445655e-03 -7.21685762e+00] [-2.00744816e-02 -8.77158618e-04 9.99798103e-01 -1.14006202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters 0.05520607448919225 Centerline is valid? [True, True] Translation: X:60.17, Y:-7.22, Z:-1.14 [[ 9.80516549e-01 1.95430106e-01 1.98587599e-02 6.01675391e+01] [-1.95408064e-01 9.80717240e-01 -3.06331092e-03 -7.22092214e+00] [-2.00744914e-02 -8.76934770e-04 9.99798103e-01 -1.14062086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63401273899999 meters 0.05550833793138744 Centerline is valid? [True, True] Translation: X:60.20, Y:-7.22, Z:-1.14 [[ 9.80508329e-01 1.95467105e-01 1.99004635e-02 6.01962987e+01] [-1.95445006e-01 9.80709863e-01 -3.06833436e-03 -7.22108407e+00] [-2.01163392e-02 -8.80918815e-04 9.99797258e-01 -1.14054331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters 0.05520355548729624 Centerline is valid? [True, True] Translation: X:60.22, Y:-7.22, Z:-1.14 [[ 9.80784801e-01 1.94198116e-01 1.86618659e-02 6.02244924e+01] [-1.94178469e-01 9.80962001e-01 -2.87656314e-03 -7.22018080e+00] [-1.88652045e-02 -8.02443140e-04 9.99821714e-01 -1.14347653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694012738999994 meters 0.05345191965126278 Centerline is valid? [True, True] Translation: X:60.25, Y:-7.22, Z:-1.15 [[ 9.81234286e-01 1.92056696e-01 1.71318949e-02 6.02543823e+01] [-1.92039829e-01 9.81383582e-01 -2.63972771e-03 -7.22159331e+00] [-1.73199378e-02 -6.99814836e-04 9.99849754e-01 -1.14716670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters 0.05213432815047089 Centerline is valid? [True, True] Translation: X:60.28, Y:-7.22, Z:-1.15 [[ 9.81530410e-01 1.90534091e-01 1.71701458e-02 6.02829590e+01] [-1.90516922e-01 9.81680348e-01 -2.64529034e-03 -7.22454325e+00] [-1.73596127e-02 -6.74770418e-04 9.99849083e-01 -1.14783582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754012739 meters 0.04803071104129491 Centerline is valid? [True, True] Translation: X:60.31, Y:-7.23, Z:-1.15 [[ 9.81924613e-01 1.88422589e-01 1.79159588e-02 6.03115437e+01] [-1.88403557e-01 9.82087819e-01 -2.75955626e-03 -7.23146951e+00] [-1.81150076e-02 -6.65754139e-04 9.99835688e-01 -1.14779156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters 0.04468985564175723 Centerline is valid? [True, True] Translation: X:60.34, Y:-7.24, Z:-1.15 [[ 9.82740002e-01 1.84010750e-01 1.90297799e-02 6.03407131e+01] [-1.83988514e-01 9.82924033e-01 -2.92783917e-03 -7.23608868e+00] [-1.92435819e-02 -6.23956246e-04 9.99814630e-01 -1.14620340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81401273899999 meters 0.04253597630975367 Centerline is valid? [True, True] Translation: X:60.37, Y:-7.24, Z:-1.15 [[ 9.83205293e-01 1.81497005e-01 1.91360702e-02 6.03696832e+01] [-1.81474050e-01 9.83391327e-01 -2.94387055e-03 -7.24105759e+00] [-1.93525492e-02 -5.78271063e-04 9.99812555e-01 -1.14609157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters 0.04049655226413114 Centerline is valid? [True, True] Translation: X:60.40, Y:-7.24, Z:-1.15 [[ 9.83906967e-01 1.77704725e-01 1.86577382e-02 6.03982847e+01] [-1.77682230e-01 9.84083731e-01 -2.86986019e-03 -7.24449476e+00] [-1.88707644e-02 -4.91473100e-04 9.99821810e-01 -1.14716477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874012738999994 meters 0.03722372123340013 Centerline is valid? [True, True] Translation: X:60.43, Y:-7.25, Z:-1.15 [[ 9.84175094e-01 1.76150608e-01 1.92444322e-02 6.04257142e+01] [-1.76126387e-01 9.84363112e-01 -2.95966032e-03 -7.25321822e+00] [-1.94648551e-02 -4.76628346e-04 9.99810428e-01 -1.14714793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters 0.03643067393018325 Centerline is valid? [True, True] Translation: X:60.45, Y:-7.26, Z:-1.15 [[ 9.84382394e-01 1.74896718e-01 2.00609351e-02 6.04532907e+01] [-1.74870158e-01 9.84586672e-01 -3.08424449e-03 -7.25775623e+00] [-2.02911536e-02 -4.71982911e-04 9.99794002e-01 -1.14609749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934012738999996 meters 0.03471373693751209 Centerline is valid? [True, True] Translation: X:60.48, Y:-7.26, Z:-1.14 [[ 9.84745610e-01 1.72708804e-01 2.11601814e-02 6.04821458e+01] [-1.72678776e-01 9.84972825e-01 -3.25194755e-03 -7.26139575e+00] [-2.14038437e-02 -4.51573162e-04 9.99770810e-01 -1.14472561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters 0.03381667544567207 Centerline is valid? [True, True] Translation: X:60.51, Y:-7.27, Z:-1.15 [[ 9.84924705e-01 1.71664993e-01 2.13179774e-02 6.05108378e+01] [-1.71634292e-01 9.85155289e-01 -3.27520021e-03 -7.26587146e+00] [-2.15637554e-02 -4.33070374e-04 9.99767381e-01 -1.14569190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99401273899999 meters 0.03136898720719151 Centerline is valid? [True, True] Translation: X:60.54, Y:-7.27, Z:-1.15 [[ 9.85316290e-01 1.69531484e-01 2.02702921e-02 6.05390828e+01] [-1.69503294e-01 9.85524703e-01 -3.11333976e-03 -7.27225283e+00] [-2.05046828e-02 -3.68256914e-04 9.99789689e-01 -1.14828155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters 0.03122107640361213 Centerline is valid? [True, True] Translation: X:60.57, Y:-7.28, Z:-1.15 [[ 9.85590767e-01 1.68074580e-01 1.90204144e-02 6.05665389e+01] [-1.68049505e-01 9.85774231e-01 -2.92053486e-03 -7.27568888e+00] [-1.92407020e-02 -3.17919023e-04 9.99814830e-01 -1.15104858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054012739 meters 0.029232574611968865 Centerline is valid? [True, True] Translation: X:60.59, Y:-7.28, Z:-1.15 [[ 9.86075120e-01 1.65361963e-01 1.76430891e-02 6.05948110e+01] [-1.65339972e-01 9.86232914e-01 -2.70806044e-03 -7.28354576e+00] [-1.78480054e-02 -2.46756829e-04 9.99840681e-01 -1.15405895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters 0.027687302842246863 Centerline is valid? [True, True] Translation: X:60.62, Y:-7.29, Z:-1.15 [[ 9.86319112e-01 1.63818604e-01 1.83868122e-02 6.06233133e+01] [-1.63794467e-01 9.86490452e-01 -2.82133588e-03 -7.29028148e+00] [-1.86006020e-02 -2.28920606e-04 9.99826968e-01 -1.15317115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114012739 meters 0.02678338156614315 Centerline is valid? [True, True] Translation: X:60.65, Y:-7.30, Z:-1.15 [[ 9.86506214e-01 1.62494658e-01 2.00243806e-02 6.06506213e+01] [-1.62465778e-01 9.86709398e-01 -3.07158895e-03 -7.29535206e+00] [-2.02573613e-02 -2.23134989e-04 9.99794774e-01 -1.15009370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters 0.025916862500656668 Centerline is valid? [True, True] Translation: X:60.68, Y:-7.30, Z:-1.15 [[ 9.86815154e-01 1.60290179e-01 2.24256429e-02 6.06784748e+01] [-1.60253419e-01 9.87069916e-01 -3.43850950e-03 -7.30113538e+00] [-2.26868368e-02 -2.00612687e-04 9.99742600e-01 -1.14692777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174012739 meters 0.024946742277303095 Centerline is valid? [True, True] Translation: X:60.71, Y:-7.31, Z:-1.15 [[ 9.87071663e-01 1.58769303e-01 2.19508741e-02 6.07067510e+01] [-1.58733729e-01 9.87315695e-01 -3.36472379e-03 -7.30880822e+00] [-2.22066573e-02 -1.63120590e-04 9.99753388e-01 -1.14837195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters 0.02353407919831148 Centerline is valid? [True, True] Translation: X:60.73, Y:-7.32, Z:-1.15 [[ 9.87754054e-01 1.54693151e-01 2.02967567e-02 6.07330350e+01] [-1.54661893e-01 9.87962562e-01 -3.11032537e-03 -7.32057688e+00] [-2.05335818e-02 -6.68983275e-05 9.99789162e-01 -1.15263719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23401273900001 meters 0.02321121592780025 Centerline is valid? [True, True] Translation: X:60.76, Y:-7.33, Z:-1.15 [[ 9.88172883e-01 1.52092297e-01 1.95521666e-02 6.07607495e+01] [-1.52062803e-01 9.88366295e-01 -2.99516210e-03 -7.33010731e+00] [-1.97802435e-02 -1.34192910e-05 9.99804352e-01 -1.15457229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters 0.023335160759234218 Centerline is valid? [True, True] Translation: X:60.79, Y:-7.34, Z:-1.16 [[ 9.88579991e-01 1.49476184e-01 1.91434301e-02 6.07882403e+01] [-1.49447436e-01 9.88765326e-01 -2.93169923e-03 -7.34090337e+00] [-1.93665791e-02 3.72826531e-05 9.99812450e-01 -1.15611270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294012739 meters 0.025026821344496176 Centerline is valid? [True, True] Translation: X:60.82, Y:-7.36, Z:-1.16 [[ 9.89404819e-01 1.44102752e-01 1.76777106e-02 6.08154715e+01] [-1.44077394e-01 9.89562721e-01 -2.70644827e-03 -7.35920025e+00] [-1.78832101e-02 1.30814490e-04 9.99840074e-01 -1.15908069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters 0.026407120592376338 Centerline is valid? [True, True] Translation: X:60.84, Y:-7.37, Z:-1.16 [[ 9.89757551e-01 1.41690572e-01 1.74290429e-02 6.08431105e+01] [-1.41665554e-01 9.89910982e-01 -2.66801852e-03 -7.36997568e+00] [-1.76312340e-02 1.71596463e-04 9.99844543e-01 -1.15982297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354012739 meters 0.026636489292490472 Centerline is valid? [True, True] Translation: X:60.87, Y:-7.38, Z:-1.15 [[ 9.90108449e-01 1.38866035e-01 2.00370688e-02 6.08725980e+01] [-1.38832407e-01 9.90311143e-01 -3.06647211e-03 -7.38207358e+00] [-2.02687613e-02 2.54345457e-04 9.99794535e-01 -1.15444451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters 0.028240622089431733 Centerline is valid? [True, True] Translation: X:60.90, Y:-7.39, Z:-1.15 [[ 9.90083316e-01 1.38777736e-01 2.18120859e-02 6.09027599e+01] [-1.38737857e-01 9.90323514e-01 -3.33839339e-03 -7.39335367e+00] [-2.20643163e-02 2.79125537e-04 9.99756514e-01 -1.15160868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414012739 meters 0.02706473024115884 Centerline is valid? [True, True] Translation: X:60.93, Y:-7.40, Z:-1.15 [[ 9.89936516e-01 1.39779904e-01 2.20742404e-02 6.09341567e+01] [-1.39739237e-01 9.90182564e-01 -3.38174911e-03 -7.39837231e+00] [-2.23302285e-02 2.63079417e-04 9.99750615e-01 -1.15150221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters 0.02617537038895588 Centerline is valid? [True, True] Translation: X:60.96, Y:-7.40, Z:-1.16 [[ 9.89637288e-01 1.42146218e-01 2.03098802e-02 6.09636340e+01] [-1.42112283e-01 9.89845652e-01 -3.11187790e-03 -7.40356967e+00] [-2.05459883e-02 1.93346958e-04 9.99788890e-01 -1.15550607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474012739 meters 0.025782937707960658 Centerline is valid? [True, True] Translation: X:60.99, Y:-7.41, Z:-1.16 [[ 9.89537377e-01 1.42972509e-01 1.93556528e-02 6.09922774e+01] [-1.42941837e-01 9.89726646e-01 -2.96611416e-03 -7.40928124e+00] [-1.95808782e-02 1.68348254e-04 9.99808262e-01 -1.15853926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters 0.02563671853754458 Centerline is valid? [True, True] Translation: X:61.02, Y:-7.42, Z:-1.16 [[ 9.89479517e-01 1.43283244e-01 2.00049536e-02 6.10209664e+01] [-1.43250548e-01 9.89681708e-01 -3.06538827e-03 -7.42011406e+00] [-2.02377554e-02 1.67418348e-04 9.99795182e-01 -1.15733941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534012739 meters 0.02592488999465933 Centerline is valid? [True, True] Translation: X:61.05, Y:-7.43, Z:-1.15 [[ 9.89534023e-01 1.42663100e-01 2.16715578e-02 6.10508984e+01] [-1.42624585e-01 9.89771288e-01 -3.32052933e-03 -7.42842350e+00] [-2.19236027e-02 1.94879807e-04 9.99759630e-01 -1.15393321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters 0.026199596616494795 Centerline is valid? [True, True] Translation: X:61.08, Y:-7.44, Z:-1.15 [[ 9.89783046e-01 1.40701162e-01 2.30803876e-02 6.10815525e+01] [-1.40656930e-01 9.90052079e-01 -3.53688465e-03 -7.44095442e+00] [-2.33484295e-02 2.54331989e-04 9.99727356e-01 -1.15255225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59401273900001 meters 0.02600492869656876 Centerline is valid? [True, True] Translation: X:61.11, Y:-7.45, Z:-1.16 [[ 9.89895444e-01 1.40089435e-01 2.19536063e-02 6.11135783e+01] [-1.40049189e-01 9.90138820e-01 -3.36771658e-03 -7.45030030e+00] [-2.22088994e-02 2.59102527e-04 9.99753318e-01 -1.15600394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters 0.02897181415541698 Centerline is valid? [True, True] Translation: X:61.14, Y:-7.47, Z:-1.16 [[ 9.90083951e-01 1.39058266e-01 1.99140401e-02 6.11417647e+01] [-1.39024871e-01 9.90284167e-01 -3.05838927e-03 -7.46919201e+00] [-2.01458529e-02 2.59515265e-04 9.99797018e-01 -1.16000265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654012739 meters 0.02681454583404785 Centerline is valid? [True, True] Translation: X:61.18, Y:-7.47, Z:-1.16 [[ 9.90051020e-01 1.39307410e-01 1.98096738e-02 6.11750970e+01] [-1.39274352e-01 9.90249150e-01 -3.04545845e-03 -7.47220242e+00] [-2.00407675e-02 2.56179757e-04 9.99799131e-01 -1.16087628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters 0.026550818407718516 Centerline is valid? [True, True] Translation: X:61.21, Y:-7.48, Z:-1.16 [[ 9.89905983e-01 1.40306059e-01 2.00088856e-02 6.12059059e+01] [-1.40272457e-01 9.90108151e-01 -3.08006047e-03 -7.47949283e+00] [-2.02431119e-02 2.42274740e-04 9.99795058e-01 -1.16105411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714012739 meters 0.02486638978902146 Centerline is valid? [True, True] Translation: X:61.24, Y:-7.48, Z:-1.16 [[ 9.89392566e-01 1.44025439e-01 1.89479338e-02 6.12375977e+01] [-1.43995931e-01 9.89573973e-01 -2.91966353e-03 -7.48463492e+00] [-1.91708880e-02 1.60268010e-04 9.99816209e-01 -1.16342030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters 0.024099174911494364 Centerline is valid? [True, True] Translation: X:61.27, Y:-7.49, Z:-1.16 [[ 9.88995266e-01 1.46800700e-01 1.83825505e-02 6.12683114e+01] [-1.46773377e-01 9.89166085e-01 -2.83415061e-03 -7.48766487e+00] [-1.85994508e-02 1.04892526e-04 9.99827010e-01 -1.16473448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774012739 meters 0.023118326535066215 Centerline is valid? [True, True] Translation: X:61.30, Y:-7.48, Z:-1.17 [[ 9.87988058e-01 1.53409816e-01 1.85748848e-02 6.13003783e+01] [-1.53383048e-01 9.88162653e-01 -2.86572576e-03 -7.48444180e+00] [-1.87946379e-02 -1.77696242e-05 9.99823365e-01 -1.16527621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters 0.023635544669660606 Centerline is valid? [True, True] Translation: X:61.33, Y:-7.48, Z:-1.17 [[ 9.87475756e-01 1.56643042e-01 1.88305391e-02 6.13317240e+01] [-1.56616111e-01 9.87655279e-01 -2.90565539e-03 -7.48452115e+00] [-1.90532320e-02 -7.99015497e-05 9.99818468e-01 -1.16509003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834012739 meters 0.024461201947089523 Centerline is valid? [True, True] Translation: X:61.36, Y:-7.48, Z:-1.17 [[ 9.87030347e-01 1.59387340e-01 1.91512131e-02 6.13624538e+01] [-1.59360000e-01 9.87216115e-01 -2.95513714e-03 -7.48410374e+00] [-1.93773976e-02 -1.35127272e-04 9.99812231e-01 -1.16592949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters 0.026252342367644146 Centerline is valid? [True, True] Translation: X:61.39, Y:-7.48, Z:-1.17 [[ 9.86460118e-01 1.62860257e-01 1.93124858e-02 6.13923713e+01] [-1.62833119e-01 9.86649124e-01 -2.98004952e-03 -7.47869732e+00] [-1.95399789e-02 -2.05012298e-04 9.99809055e-01 -1.16673735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894012739 meters 0.025810523757469957 Centerline is valid? [True, True] Translation: X:61.42, Y:-7.48, Z:-1.17 [[ 9.86485493e-01 1.62654313e-01 1.97470609e-02 6.14221298e+01] [-1.62625913e-01 9.86683096e-01 -3.04638082e-03 -7.48046737e+00] [-1.99795981e-02 -2.06173312e-04 9.99800367e-01 -1.16609989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters 0.025025150137255186 Centerline is valid? [True, True] Translation: X:61.45, Y:-7.49, Z:-1.17 [[ 9.86753452e-01 1.61032270e-01 1.96527892e-02 6.14517876e+01] [-1.61003829e-01 9.86949126e-01 -3.03135338e-03 -7.48601722e+00] [-1.98844488e-02 -1.72975889e-04 9.99802270e-01 -1.16655359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954012739 meters 0.02428019781987702 Centerline is valid? [True, True] Translation: X:61.48, Y:-7.49, Z:-1.17 [[ 9.87092436e-01 1.58963616e-01 1.94702892e-02 6.14805432e+01] [-1.58935302e-01 9.87284433e-01 -3.00297472e-03 -7.49154428e+00] [-1.97000772e-02 -1.30302684e-04 9.99805926e-01 -1.16712141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters 0.0233347214728361 Centerline is valid? [True, True] Translation: X:61.51, Y:-7.50, Z:-1.17 [[ 9.87636982e-01 1.55558727e-01 1.93564792e-02 6.15107193e+01] [-1.55530099e-01 9.87826644e-01 -2.98493578e-03 -7.49758726e+00] [-1.95851787e-02 -6.24821492e-05 9.99808190e-01 -1.16773341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014012739 meters 0.023081493438538023 Centerline is valid? [True, True] Translation: X:61.54, Y:-7.51, Z:-1.17 [[ 9.88358370e-01 1.50738926e-01 2.06278546e-02 6.15393623e+01] [-1.50705362e-01 9.88573606e-01 -3.18102733e-03 -7.50921912e+00] [-2.08716572e-02 3.52667036e-05 9.99782163e-01 -1.16584652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters 0.023631737398295626 Centerline is valid? [True, True] Translation: X:61.57, Y:-7.52, Z:-1.17 [[ 9.88806358e-01 1.47693856e-01 2.11780896e-02 6.15703212e+01] [-1.47657747e-01 9.89033121e-01 -3.26734234e-03 -7.51898772e+00] [-2.14283984e-02 1.03659882e-04 9.99770380e-01 -1.16641641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074012739 meters 0.024447512139642254 Centerline is valid? [True, True] Translation: X:61.60, Y:-7.53, Z:-1.17 [[ 9.89262452e-01 1.44640258e-01 2.09522691e-02 6.16016453e+01] [-1.44604155e-01 9.89484293e-01 -3.23603408e-03 -7.52828665e+00] [-2.12000020e-02 1.71501838e-04 9.99775240e-01 -1.16779138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters 0.026807233091892087 Centerline is valid? [True, True] Translation: X:61.63, Y:-7.54, Z:-1.17 [[ 9.89853512e-01 1.40734762e-01 1.95895840e-02 6.16307837e+01] [-1.40702375e-01 9.90047306e-01 -3.02877637e-03 -7.54232169e+00] [-1.98208690e-02 2.41743939e-04 9.99803518e-01 -1.17125673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134012739 meters 0.028179304300922817 Centerline is valid? [True, True] Translation: X:61.66, Y:-7.55, Z:-1.17 [[ 9.90046740e-01 1.39393033e-01 1.94173944e-02 6.16607145e+01] [-1.39360893e-01 9.90237098e-01 -3.00525988e-03 -7.55351613e+00] [-1.96467366e-02 2.69322317e-04 9.99806948e-01 -1.17208394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters 0.031174423325265144 Centerline is valid? [True, True] Translation: X:61.69, Y:-7.57, Z:-1.17 [[ 9.90541897e-01 1.35712051e-01 2.02234985e-02 6.16899055e+01] [-1.35676353e-01 9.90748257e-01 -3.13331018e-03 -7.57067191e+00] [-2.04616239e-02 3.59824489e-04 9.99790574e-01 -1.17067773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194012739 meters 0.031175518951630503 Centerline is valid? [True, True] Translation: X:61.72, Y:-7.58, Z:-1.17 [[ 9.90772285e-01 1.34046518e-01 2.00451842e-02 6.17210310e+01] [-1.34011045e-01 9.90974962e-01 -3.10868422e-03 -7.57867262e+00] [-2.02809840e-02 3.93722083e-04 9.99794242e-01 -1.17075697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters 0.033526871220127756 Centerline is valid? [True, True] Translation: X:61.75, Y:-7.59, Z:-1.17 [[ 9.90956151e-01 1.32767157e-01 1.94625157e-02 6.17501663e+01] [-1.32733405e-01 9.91147170e-01 -3.02161534e-03 -7.59087652e+00] [-1.96913886e-02 4.10962327e-04 9.99806021e-01 -1.17242797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254012739 meters 0.03517472473704239 Centerline is valid? [True, True] Translation: X:61.78, Y:-7.61, Z:-1.18 [[ 9.91070565e-01 1.32111275e-01 1.80484276e-02 6.17794924e+01] [-1.32082136e-01 9.91234814e-01 -2.80234630e-03 -7.60570312e+00] [-1.82604513e-02 3.93448064e-04 9.99833187e-01 -1.17558773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters 0.03286691464210066 Centerline is valid? [True, True] Translation: X:61.81, Y:-7.61, Z:-1.18 [[ 9.90992592e-01 1.32703122e-01 1.79878881e-02 6.18116612e+01] [-1.32674250e-01 9.91155757e-01 -2.79437230e-03 -7.60979390e+00] [-1.81996208e-02 3.82672694e-04 9.99834300e-01 -1.17556809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314012739 meters 0.03180675100769647 Centerline is valid? [True, True] Translation: X:61.84, Y:-7.62, Z:-1.18 [[ 9.90599238e-01 1.35588013e-01 1.81394698e-02 6.18416964e+01] [-1.35559078e-01 9.90765249e-01 -2.82101716e-03 -7.61738077e+00] [-1.83544524e-02 3.35527638e-04 9.99831487e-01 -1.17558889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters 0.03079356047290931 Centerline is valid? [True, True] Translation: X:61.87, Y:-7.62, Z:-1.18 [[ 9.90334606e-01 1.37532369e-01 1.79503587e-02 6.18722051e+01] [-1.37504301e-01 9.90497228e-01 -2.79449028e-03 -7.62209407e+00] [-1.81641134e-02 2.99228898e-04 9.99834974e-01 -1.17640587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37401273900001 meters 0.027817722747655788 Centerline is valid? [True, True] Translation: X:61.90, Y:-7.63, Z:-1.18 [[ 9.89942879e-01 1.40369850e-01 1.75897851e-02 6.19044446e+01] [-1.40343322e-01 9.90099109e-01 -2.73975616e-03 -7.62503263e+00] [-1.78002097e-02 2.43593244e-04 9.99841534e-01 -1.17736030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters 0.027370809222538834 Centerline is valid? [True, True] Translation: X:61.94, Y:-7.63, Z:-1.18 [[ 9.89819511e-01 1.41255634e-01 1.74408264e-02 6.19365958e+01] [-1.41229639e-01 9.89973128e-01 -2.71946666e-03 -7.62969542e+00] [-1.76500894e-02 2.28619554e-04 9.99844199e-01 -1.17767967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434012739 meters 0.027140485639321695 Centerline is valid? [True, True] Translation: X:61.97, Y:-7.63, Z:-1.18 [[ 9.89731090e-01 1.41852895e-01 1.76104060e-02 6.19684525e+01] [-1.41826433e-01 9.89887724e-01 -2.74892002e-03 -7.63400413e+00] [-1.78222670e-02 2.23070540e-04 9.99841146e-01 -1.17763244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters 0.027137409800598155 Centerline is valid? [True, True] Translation: X:62.00, Y:-7.64, Z:-1.17 [[ 9.89491561e-01 1.43149222e-01 2.03654315e-02 6.19988702e+01] [-1.43114025e-01 9.89701089e-01 -3.18290157e-03 -7.63992549e+00] [-2.06113196e-02 2.34875375e-04 9.99787537e-01 -1.17254488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494012739 meters 0.027137409800598155 Centerline is valid? [True, True] Translation: X:62.03, Y:-7.65, Z:-1.17 [[ 9.89466197e-01 1.43324482e-01 2.03651305e-02 6.20309531e+01] [-1.43289282e-01 9.89675724e-01 -3.18482649e-03 -7.64514457e+00] [-2.06113389e-02 2.33173232e-04 9.99787537e-01 -1.17320518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters 0.025834435981902264 Centerline is valid? [True, True] Translation: X:62.06, Y:-7.65, Z:-1.17 [[ 9.89225782e-01 1.44832046e-01 2.13548512e-02 6.20634019e+01] [-1.44793606e-01 9.89456230e-01 -3.34363621e-03 -7.64779420e+00] [-2.16139562e-02 2.15565245e-04 9.99766368e-01 -1.17183027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554012739 meters 0.024286048688493444 Centerline is valid? [True, True] Translation: X:62.10, Y:-7.65, Z:-1.18 [[ 9.88735781e-01 1.48331078e-01 1.99861371e-02 6.20965518e+01] [-1.48298059e-01 9.88937750e-01 -3.13242470e-03 -7.64678359e+00] [-2.02296814e-02 1.33235038e-04 9.99795350e-01 -1.17509150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters 0.024028467743627553 Centerline is valid? [True, True] Translation: X:62.13, Y:-7.65, Z:-1.18 [[ 9.88520336e-01 1.50005843e-01 1.80497342e-02 6.21273270e+01] [-1.49979168e-01 9.88685106e-01 -2.83024284e-03 -7.64862821e+00] [-1.82700563e-02 9.06684959e-05 9.99833084e-01 -1.18039532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614012739 meters 0.0237675036413311 Centerline is valid? [True, True] Translation: X:62.16, Y:-7.65, Z:-1.18 [[ 9.88321786e-01 1.51514212e-01 1.62324058e-02 6.21600526e+01] [-1.51492802e-01 9.88455077e-01 -2.54771762e-03 -7.65132847e+00] [-1.64310194e-02 5.88721781e-05 9.99865000e-01 -1.18497923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters 0.023583132069053266 Centerline is valid? [True, True] Translation: X:62.19, Y:-7.65, Z:-1.19 [[ 9.87681924e-01 1.55781015e-01 1.47204876e-02 6.21918040e+01] [-1.55763871e-01 9.87791615e-01 -2.31110543e-03 -7.65093620e+00] [-1.49008006e-02 -1.02830784e-05 9.99888977e-01 -1.18789361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674012739 meters 0.02464127683332337 Centerline is valid? [True, True] Translation: X:62.22, Y:-7.64, Z:-1.18 [[ 9.86761320e-01 1.61304336e-01 1.68228530e-02 6.22225403e+01] [-1.61282685e-01 9.86904707e-01 -2.64480351e-03 -7.64168992e+00] [-1.70291711e-02 -1.03445108e-04 9.99854988e-01 -1.18406275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters 0.02553264744012522 Centerline is valid? [True, True] Translation: X:62.25, Y:-7.64, Z:-1.18 [[ 9.86330364e-01 1.63783084e-01 1.80973463e-02 6.22532154e+01] [-1.63758459e-01 9.86496364e-01 -2.84446149e-03 -7.63964618e+00] [-1.83188410e-02 -1.58014795e-04 9.99832183e-01 -1.18173850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73401273900001 meters 0.02644803392934076 Centerline is valid? [True, True] Translation: X:62.28, Y:-7.64, Z:-1.18 [[ 9.86000566e-01 1.65641761e-01 1.91230616e-02 6.22837283e+01] [-1.65614623e-01 9.86185969e-01 -3.00520887e-03 -7.63960600e+00] [-1.93566831e-02 -2.03920998e-04 9.99812621e-01 -1.18040515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters 0.028288140039945262 Centerline is valid? [True, True] Translation: X:62.31, Y:-7.64, Z:-1.18 [[ 9.85662915e-01 1.67812427e-01 1.75387498e-02 6.23125084e+01] [-1.67789949e-01 9.85818918e-01 -2.75589116e-03 -7.63817688e+00] [-1.77525041e-02 -2.26446205e-04 9.99842386e-01 -1.18328936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794012739 meters 0.029112074291896158 Centerline is valid? [True, True] Translation: X:62.34, Y:-7.64, Z:-1.19 [[ 9.85525335e-01 1.68731247e-01 1.64189227e-02 6.23412171e+01] [-1.68711683e-01 9.85662069e-01 -2.57944687e-03 -7.63911030e+00] [-1.66187427e-02 -2.27953852e-04 9.99861873e-01 -1.18646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters 0.030552608821237535 Centerline is valid? [True, True] Translation: X:62.37, Y:-7.63, Z:-1.19 [[ 9.85217581e-01 1.70458609e-01 1.70346836e-02 6.23706153e+01] [-1.70437822e-01 9.85364801e-01 -2.67540053e-03 -7.63406738e+00] [-1.72414226e-02 -2.67502731e-04 9.99851320e-01 -1.18623823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854012739 meters 0.03109407147709144 Centerline is valid? [True, True] Translation: X:62.40, Y:-7.63, Z:-1.19 [[ 9.85135824e-01 1.70882390e-01 1.75105121e-02 6.23988410e+01] [-1.70860510e-01 9.85291393e-01 -2.74909727e-03 -7.63442633e+00] [-1.77227291e-02 -2.83620821e-04 9.99842900e-01 -1.18617135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters 0.028850234317641967 Centerline is valid? [True, True] Translation: X:62.43, Y:-7.64, Z:-1.19 [[ 9.85138170e-01 1.70906750e-01 1.71367464e-02 6.24266543e+01] [-1.70885815e-01 9.85287169e-01 -2.68945389e-03 -7.64173220e+00] [-1.73442622e-02 -2.78943185e-04 9.99849538e-01 -1.18653506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914012739 meters 0.02951071653783246 Centerline is valid? [True, True] Translation: X:62.46, Y:-7.64, Z:-1.19 [[ 9.85272558e-01 1.70287736e-01 1.54943292e-02 6.24552558e+01] [-1.70270556e-01 9.85394351e-01 -2.43101262e-03 -7.64187760e+00] [-1.56819961e-02 -2.43018028e-04 9.99877000e-01 -1.18937824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters 0.02730448948579114 Centerline is valid? [True, True] Translation: X:62.48, Y:-7.65, Z:-1.19 [[ 9.85646168e-01 1.68155490e-01 1.50121011e-02 6.24837627e+01] [-1.68139126e-01 9.85760463e-01 -2.35464339e-03 -7.64678822e+00] [-1.51942820e-02 -2.03276331e-04 9.99884540e-01 -1.19119409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974012739 meters 0.02689906116415518 Centerline is valid? [True, True] Translation: X:62.51, Y:-7.65, Z:-1.19 [[ 9.85933374e-01 1.66449988e-01 1.51586014e-02 6.25116668e+01] [-1.66433113e-01 9.86049882e-01 -2.37691415e-03 -7.65096890e+00] [-1.53427744e-02 -1.79414223e-04 9.99882277e-01 -1.19261675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters 0.02605598281610375 Centerline is valid? [True, True] Translation: X:62.54, Y:-7.66, Z:-1.19 [[ 9.86233283e-01 1.64599705e-01 1.58382066e-02 6.25388459e+01] [-1.64581061e-01 9.86360437e-01 -2.48236903e-03 -7.65621374e+00] [-1.60307776e-02 -1.58473895e-04 9.99871486e-01 -1.19221890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034012739 meters 0.024537338927167477 Centerline is valid? [True, True] Translation: X:62.57, Y:-7.66, Z:-1.19 [[ 9.86667191e-01 1.61720788e-01 1.82822791e-02 6.25660861e+01] [-1.61695476e-01 9.86836547e-01 -2.86412738e-03 -7.66167589e+00] [-1.85048101e-02 -1.30221320e-04 9.99828763e-01 -1.18777268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters 0.024286467958690796 Centerline is valid? [True, True] Translation: X:62.60, Y:-7.67, Z:-1.19 [[ 9.86715600e-01 1.61335054e-01 1.90610755e-02 6.25952438e+01] [-1.61307491e-01 9.86899683e-01 -2.98491802e-03 -7.66599117e+00] [-1.92929413e-02 -1.29429086e-04 9.99813866e-01 -1.18664680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09401273900001 meters 0.02464934922680043 Centerline is valid? [True, True] Translation: X:62.62, Y:-7.67, Z:-1.19 [[ 9.86755053e-01 1.61113700e-01 1.88902628e-02 6.26237231e+01] [-1.61086597e-01 9.86935844e-01 -2.95771478e-03 -7.66790013e+00] [-1.91200058e-02 -1.24428147e-04 9.99817188e-01 -1.18811702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters 0.024256121515243093 Centerline is valid? [True, True] Translation: X:62.65, Y:-7.67, Z:-1.19 [[ 9.86867610e-01 1.60628960e-01 1.70486606e-02 6.26524450e+01] [-1.60606818e-01 9.87014856e-01 -2.66900539e-03 -7.67471623e+00] [-1.72560008e-02 -1.04176162e-04 9.99851099e-01 -1.19149049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154012739 meters 0.023795020350664078 Centerline is valid? [True, True] Translation: X:62.68, Y:-7.68, Z:-1.19 [[ 9.87149298e-01 1.58958882e-01 1.63809902e-02 6.26819939e+01] [-1.58938217e-01 9.87285201e-01 -2.56410407e-03 -7.68042535e+00] [-1.65802964e-02 -7.24118425e-05 9.99862535e-01 -1.19307092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters 0.02337268427281933 Centerline is valid? [True, True] Translation: X:62.71, Y:-7.69, Z:-1.19 [[ 9.87347599e-01 1.57620325e-01 1.73364250e-02 6.27098438e+01] [-1.57596980e-01 9.87499787e-01 -2.71324498e-03 -7.68715974e+00] [-1.75473786e-02 -5.32523067e-05 9.99846031e-01 -1.19191256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214012739 meters 0.02300726503092004 Centerline is valid? [True, True] Translation: X:62.74, Y:-7.70, Z:-1.19 [[ 9.87590178e-01 1.55919706e-01 1.88330821e-02 6.27397898e+01] [-1.55891861e-01 9.87769733e-01 -2.94669886e-03 -7.69631978e+00] [-1.90621969e-02 -2.57933634e-05 9.99818299e-01 -1.18933068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters 0.023282628577316077 Centerline is valid? [True, True] Translation: X:62.77, Y:-7.71, Z:-1.19 [[ 9.88339950e-01 1.50986912e-01 1.96747619e-02 6.27702578e+01] [-1.50955545e-01 9.88535759e-01 -3.07832384e-03 -7.71203822e+00] [-1.99139923e-02 7.24160193e-05 9.99801694e-01 -1.18772774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274012739 meters 0.024198424558700766 Centerline is valid? [True, True] Translation: X:62.80, Y:-7.72, Z:-1.19 [[ 9.88814953e-01 1.47843117e-01 1.96825241e-02 6.28001887e+01] [-1.47811034e-01 9.89010816e-01 -3.08299520e-03 -7.72394589e+00] [-1.99220289e-02 1.39217505e-04 9.99801527e-01 -1.18891294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters 0.027109393338356238 Centerline is valid? [True, True] Translation: X:62.83, Y:-7.74, Z:-1.19 [[ 9.89675013e-01 1.41868334e-01 2.04142979e-02 6.28300501e+01] [-1.41832508e-01 9.89885500e-01 -3.19961836e-03 -7.74260134e+00] [-2.06617420e-02 2.71171279e-04 9.99786487e-01 -1.18962012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334012739 meters 0.028628381028558428 Centerline is valid? [True, True] Translation: X:62.86, Y:-7.75, Z:-1.19 [[ 9.90071326e-01 1.39099046e-01 2.02540277e-02 6.28607692e+01] [-1.39063180e-01 9.90278420e-01 -3.17549057e-03 -7.75451126e+00] [-2.04988342e-02 3.27372663e-04 9.99789823e-01 -1.19035590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters 0.03329368297098519 Centerline is valid? [True, True] Translation: X:62.89, Y:-7.77, Z:-1.19 [[ 9.90807485e-01 1.34143349e-01 1.74954198e-02 6.28887240e+01] [-1.34115763e-01 9.90961867e-01 -2.74590569e-03 -7.77289213e+00] [-1.77056388e-02 3.74252329e-04 9.99843173e-01 -1.19437523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394012739 meters 0.033856775743307345 Centerline is valid? [True, True] Translation: X:62.92, Y:-7.78, Z:-1.20 [[ 9.91115321e-01 1.32049099e-01 1.59203028e-02 6.29197669e+01] [-1.32025988e-01 9.91243106e-01 -2.49870916e-03 -7.78235862e+00] [-1.61108427e-02 3.74615232e-04 9.99870142e-01 -1.19781320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters 0.03739015919169258 Centerline is valid? [True, True] Translation: X:62.95, Y:-7.80, Z:-1.20 [[ 9.91565364e-01 1.28602443e-01 1.61102400e-02 6.29472555e+01] [-1.28578307e-01 9.91696133e-01 -2.52946218e-03 -7.80301833e+00] [-1.63017578e-02 4.36699705e-04 9.99867022e-01 -1.19778532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454012739 meters 0.03790129604579682 Centerline is valid? [True, True] Translation: X:62.98, Y:-7.81, Z:-1.20 [[ 9.91691458e-01 1.27586135e-01 1.64265093e-02 6.29785088e+01] [-1.27560908e-01 9.91827387e-01 -2.57875093e-03 -7.81418329e+00] [-1.66212747e-02 4.61944831e-04 9.99861750e-01 -1.19739738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters 0.03968020261333178 Centerline is valid? [True, True] Translation: X:63.01, Y:-7.83, Z:-1.20 [[ 9.91734627e-01 1.27455120e-01 1.47520307e-02 6.30074019e+01] [-1.27434728e-01 9.91844250e-01 -2.31803818e-03 -7.83224887e+00] [-1.49271626e-02 4.18957707e-04 9.99888496e-01 -1.20211235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514012739 meters 0.03951597961245648 Centerline is valid? [True, True] Translation: X:63.04, Y:-7.84, Z:-1.20 [[ 9.91638247e-01 1.28289814e-01 1.39753887e-02 6.30369318e+01] [-1.28271563e-01 9.91736645e-01 -2.19826958e-03 -7.84317014e+00] [-1.41419207e-02 3.87243242e-04 9.99899923e-01 -1.20412680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters 0.03793877823198707 Centerline is valid? [True, True] Translation: X:63.07, Y:-7.85, Z:-1.20 [[ 9.91423796e-01 1.29819166e-01 1.50280097e-02 6.30678627e+01] [-1.29798199e-01 9.91537608e-01 -2.36634240e-03 -7.85227225e+00] [-1.52080334e-02 3.95439567e-04 9.99884273e-01 -1.20280508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574012739 meters 0.033435941114186025 Centerline is valid? [True, True] Translation: X:63.10, Y:-7.86, Z:-1.20 [[ 9.90839016e-01 1.33921978e-01 1.74054308e-02 6.30980096e+01] [-1.33894418e-01 9.90991802e-01 -2.74450430e-03 -7.85923890e+00] [-1.76161887e-02 3.88871901e-04 9.99844747e-01 -1.19755782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters 0.03155575735690082 Centerline is valid? [True, True] Translation: X:63.13, Y:-7.86, Z:-1.20 [[ 9.90474650e-01 1.36548913e-01 1.77302439e-02 6.31294060e+01] [-1.36520733e-01 9.90633269e-01 -2.79582675e-03 -7.86492847e+00] [-1.79459366e-02 3.48649622e-04 9.99838898e-01 -1.19772284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634012739 meters 0.02839628509322014 Centerline is valid? [True, True] Translation: X:63.16, Y:-7.87, Z:-1.20 [[ 9.89672443e-01 1.42273336e-01 1.75143532e-02 6.31591683e+01] [-1.42246713e-01 9.89827378e-01 -2.76291674e-03 -7.87368327e+00] [-1.77292757e-02 2.43023380e-04 9.99842795e-01 -1.19925937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters 0.0263710898751343 Centerline is valid? [True, True] Translation: X:63.19, Y:-7.88, Z:-1.20 [[ 9.89262944e-01 1.45136640e-01 1.71517429e-02 6.31912077e+01] [-1.45111539e-01 9.89411603e-01 -2.70570254e-03 -7.87923345e+00] [-1.73628300e-02 1.87735452e-04 9.99849237e-01 -1.20008443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694012739 meters 0.02419927012652712 Centerline is valid? [True, True] Translation: X:63.22, Y:-7.88, Z:-1.20 [[ 9.88501446e-01 1.50260353e-01 1.69327110e-02 6.32225218e+01] [-1.50236591e-01 9.88646457e-01 -2.67395997e-03 -7.88407956e+00] [-1.71422549e-02 9.93005194e-05 9.99853056e-01 -1.20136499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters 0.0233743732651038 Centerline is valid? [True, True] Translation: X:63.25, Y:-7.89, Z:-1.20 [[ 9.88101555e-01 1.52789725e-01 1.76243425e-02 6.32542103e+01] [-1.52764329e-01 9.88258719e-01 -2.78628353e-03 -7.88852770e+00] [-1.78431256e-02 6.07602260e-05 9.99840797e-01 -1.20064641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754012739 meters 0.02293763780611584 Centerline is valid? [True, True] Translation: X:63.29, Y:-7.89, Z:-1.20 [[ 9.87305850e-01 1.57738537e-01 1.85933164e-02 6.32866233e+01] [-1.57711084e-01 9.87480913e-01 -2.94293502e-03 -7.89299885e+00] [-1.88247594e-02 -2.67951300e-05 9.99822798e-01 -1.19855171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters 0.023296078450348895 Centerline is valid? [True, True] Translation: X:63.32, Y:-7.90, Z:-1.20 [[ 9.86906959e-01 1.60249565e-01 1.82956832e-02 6.33187910e+01] [-1.60223387e-01 9.87076528e-01 -2.89733703e-03 -7.89687366e+00] [-1.85235365e-02 -7.19942463e-05 9.99828422e-01 -1.20030741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814012739 meters 0.024003419677888698 Centerline is valid? [True, True] Translation: X:63.35, Y:-7.90, Z:-1.20 [[ 9.86539758e-01 1.62621157e-01 1.71366772e-02 6.33509413e+01] [-1.62598498e-01 9.86688577e-01 -2.71672948e-03 -7.90039908e+00] [-1.73503613e-02 -1.06236317e-04 9.99849466e-01 -1.20273670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters 0.025471800747189622 Centerline is valid? [True, True] Translation: X:63.38, Y:-7.90, Z:-1.21 [[ 9.85945813e-01 1.66302345e-01 1.59494107e-02 6.33829591e+01] [-1.66283158e-01 9.86074797e-01 -2.53097524e-03 -7.90273707e+00] [-1.61482190e-02 -1.56713933e-04 9.99869597e-01 -1.20607594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87401273900001 meters 0.02637077548607854 Centerline is valid? [True, True] Translation: X:63.42, Y:-7.91, Z:-1.21 [[ 9.85577631e-01 1.68430799e-01 1.63645675e-02 6.34150709e+01] [-1.68410845e-01 9.85713462e-01 -2.59974138e-03 -7.90581548e+00] [-1.65686510e-02 -1.93723692e-04 9.99862712e-01 -1.20557258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters 0.02961929841118249 Centerline is valid? [True, True] Translation: X:63.45, Y:-7.90, Z:-1.20 [[ 9.84761124e-01 1.73018922e-01 1.76062610e-02 6.34470671e+01] [-1.72996496e-01 9.84918458e-01 -2.80047211e-03 -7.90131457e+00] [-1.78252661e-02 -2.88025414e-04 9.99841076e-01 -1.20330659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934012739 meters 0.03180751792250498 Centerline is valid? [True, True] Translation: X:63.48, Y:-7.90, Z:-1.20 [[ 9.84218444e-01 1.76082994e-01 1.75736442e-02 6.34793911e+01] [-1.76061116e-01 9.84375265e-01 -2.79659628e-03 -7.90057536e+00] [-1.77914937e-02 -3.41573769e-04 9.99841661e-01 -1.20423484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters 0.03538905155550738 Centerline is valid? [True, True] Translation: X:63.51, Y:-7.90, Z:-1.21 [[ 9.83322650e-01 1.81185707e-01 1.57577335e-02 6.35112723e+01] [-1.81168728e-01 9.83448824e-01 -2.51032948e-03 -7.89697707e+00] [-1.59517603e-02 -3.86344701e-04 9.99872688e-01 -1.20835910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994012739 meters 0.036971126367486375 Centerline is valid? [True, True] Translation: X:63.54, Y:-7.90, Z:-1.21 [[ 9.83039405e-01 1.82782821e-01 1.49655807e-02 6.35439768e+01] [-1.82767700e-01 9.83153237e-01 -2.38351698e-03 -7.89781207e+00] [-1.51491251e-02 -3.92133648e-04 9.99885169e-01 -1.21033977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters 0.03847027711741275 Centerline is valid? [True, True] Translation: X:63.58, Y:-7.90, Z:-1.21 [[ 9.82712334e-01 1.84520811e-01 1.51175029e-02 6.35763395e+01] [-1.84505548e-01 9.82828517e-01 -2.41025586e-03 -7.89720644e+00] [-1.53026554e-02 -4.20675005e-04 9.99882819e-01 -1.21094574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054012739 meters 0.04083331717525014 Centerline is valid? [True, True] Translation: X:63.61, Y:-7.89, Z:-1.21 [[ 9.82396339e-01 1.85874816e-01 1.86543761e-02 6.36074808e+01] [-1.85851742e-01 9.82573285e-01 -2.97827751e-03 -7.89137183e+00] [-1.88828784e-02 -5.41099386e-04 9.99821556e-01 -1.20570550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters 0.038297763951866445 Centerline is valid? [True, True] Translation: X:63.64, Y:-7.90, Z:-1.20 [[ 9.82357028e-01 1.85929589e-01 2.01210745e-02 6.36389585e+01] [-1.85902760e-01 9.82562897e-01 -3.21220101e-03 -7.89889733e+00] [-2.03674645e-02 -5.85035049e-04 9.99792391e-01 -1.20355803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114012739 meters 0.03815493068018811 Centerline is valid? [True, True] Translation: X:63.67, Y:-7.90, Z:-1.21 [[ 9.82487674e-01 1.85428088e-01 1.82864834e-02 6.36698226e+01] [-1.85405790e-01 9.82657699e-01 -2.92212562e-03 -7.90087742e+00] [-1.85111978e-02 -5.19467489e-04 9.99828518e-01 -1.20678494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters 0.04138277533664646 Centerline is valid? [True, True] Translation: X:63.70, Y:-7.90, Z:-1.21 [[ 9.82534665e-01 1.85346739e-01 1.64990724e-02 6.37012290e+01] [-1.85328529e-01 9.82673074e-01 -2.63928088e-03 -7.89683880e+00] [-1.67023763e-02 -4.64563861e-04 9.99860398e-01 -1.21109353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174012739 meters 0.0400956129839664 Centerline is valid? [True, True] Translation: X:63.73, Y:-7.90, Z:-1.21 [[ 9.82484419e-01 1.85705680e-01 1.54196723e-02 6.37314067e+01] [-1.85689816e-01 9.82605316e-01 -2.46683643e-03 -7.89894882e+00] [-1.56095575e-02 -4.39647741e-04 9.99878067e-01 -1.21378924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters 0.040387711863677574 Centerline is valid? [True, True] Translation: X:63.76, Y:-7.90, Z:-1.21 [[ 9.82482007e-01 1.85669505e-01 1.59981477e-02 6.37605540e+01] [-1.85652421e-01 9.82612145e-01 -2.55952154e-03 -7.89647065e+00] [-1.61951993e-02 -4.55410982e-04 9.99868745e-01 -1.21339715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23401273900001 meters 0.0374783551389784 Centerline is valid? [True, True] Translation: X:63.79, Y:-7.90, Z:-1.21 [[ 9.82776650e-01 1.84011548e-01 1.70236724e-02 6.37902994e+01] [-1.83991967e-01 9.82923976e-01 -2.72292525e-03 -7.90014613e+00] [-1.72340254e-02 -4.56191608e-04 9.99851379e-01 -1.21049332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters 0.03685424584910809 Centerline is valid? [True, True] Translation: X:63.82, Y:-7.90, Z:-1.21 [[ 9.83036827e-01 1.82610422e-01 1.70889223e-02 6.38197740e+01] [-1.82590486e-01 9.83185255e-01 -2.73291800e-03 -7.90162812e+00] [-1.73006357e-02 -4.33715593e-04 9.99850239e-01 -1.21111040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294012739 meters 0.032888292931031314 Centerline is valid? [True, True] Translation: X:63.85, Y:-7.91, Z:-1.21 [[ 9.83404896e-01 1.80616221e-01 1.71053161e-02 6.38501874e+01] [-1.80595950e-01 9.83553568e-01 -2.73522755e-03 -7.90908456e+00] [-1.73180211e-02 -3.99314646e-04 9.99849952e-01 -1.21210362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters 0.03328735281088724 Centerline is valid? [True, True] Translation: X:63.88, Y:-7.91, Z:-1.21 [[ 9.83873528e-01 1.78084276e-01 1.66994254e-02 6.38798915e+01] [-1.78064582e-01 9.84015178e-01 -2.67085557e-03 -7.90829893e+00] [-1.69081254e-02 -3.45792098e-04 9.99856988e-01 -1.21452183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354012739 meters 0.034369811930884245 Centerline is valid? [True, True] Translation: X:63.91, Y:-7.91, Z:-1.21 [[ 9.83929393e-01 1.77709369e-01 1.73876092e-02 6.39089742e+01] [-1.77687963e-01 9.84082951e-01 -2.78075493e-03 -7.90843053e+00] [-1.76050160e-02 -3.53502347e-04 9.99844957e-01 -1.21348463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters 0.03373434257226595 Centerline is valid? [True, True] Translation: X:63.94, Y:-7.91, Z:-1.21 [[ 9.83744139e-01 1.78678672e-01 1.79276708e-02 6.39391262e+01] [-1.78656089e-01 9.83907407e-01 -2.86642268e-03 -7.90603859e+00] [-1.81513366e-02 -3.83061033e-04 9.99835178e-01 -1.21182886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414012739 meters 0.03373434257226595 Centerline is valid? [True, True] Translation: X:63.97, Y:-7.91, Z:-1.21 [[ 9.83748263e-01 1.78655961e-01 1.79276997e-02 6.39679329e+01] [-1.78633377e-01 9.83911531e-01 -2.86624151e-03 -7.91059901e+00] [-1.81513416e-02 -3.82825437e-04 9.99835178e-01 -1.21242125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters 0.03509013548320091 Centerline is valid? [True, True] Translation: X:64.00, Y:-7.91, Z:-1.22 [[ 9.83671826e-01 1.79155272e-01 1.71209826e-02 6.39967112e+01] [-1.79134756e-01 9.83820740e-01 -2.73698459e-03 -7.90829675e+00] [-1.73343230e-02 -3.74668429e-04 9.99849679e-01 -1.21561892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474012739 meters 0.034363702244242754 Centerline is valid? [True, True] Translation: X:64.03, Y:-7.91, Z:-1.22 [[ 9.83690787e-01 1.79169605e-01 1.58331676e-02 6.40255062e+01] [-1.79152075e-01 9.83818140e-01 -2.53022063e-03 -7.91126625e+00] [-1.60302961e-02 -3.47590124e-04 9.99871446e-01 -1.21887876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters 0.03418682035748057 Centerline is valid? [True, True] Translation: X:64.05, Y:-7.91, Z:-1.22 [[ 9.83951007e-01 1.77830236e-01 1.47249267e-02 6.40539326e+01] [-1.77814933e-01 9.84061134e-01 -2.35255398e-03 -7.91084880e+00] [-1.49085833e-02 -3.03514003e-04 9.99888815e-01 -1.22184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534012739 meters 0.03276335331301866 Centerline is valid? [True, True] Translation: X:64.08, Y:-7.91, Z:-1.22 [[ 9.84109890e-01 1.76925332e-01 1.50050200e-02 6.40830821e+01] [-1.76909351e-01 9.84224232e-01 -2.39631102e-03 -7.91387111e+00] [-1.51922725e-02 -2.96294982e-04 9.99884547e-01 -1.22112008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters 0.03130876936170156 Centerline is valid? [True, True] Translation: X:64.11, Y:-7.91, Z:-1.22 [[ 9.84448587e-01 1.74910211e-01 1.63523174e-02 6.41114853e+01] [-1.74890967e-01 9.84584346e-01 -2.61065998e-03 -7.91408263e+00] [-1.65568668e-02 -2.89812076e-04 9.99862884e-01 -1.21991024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59401273900001 meters 0.030384498943080773 Centerline is valid? [True, True] Translation: X:64.14, Y:-7.92, Z:-1.22 [[ 9.84668039e-01 1.73689292e-01 1.61518651e-02 6.41401497e+01] [-1.73670368e-01 9.84800466e-01 -2.57767068e-03 -7.91847264e+00] [-1.63540781e-02 -2.66950433e-04 9.99866227e-01 -1.22139948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters 0.02884959463173034 Centerline is valid? [True, True] Translation: X:64.17, Y:-7.92, Z:-1.22 [[ 9.84999281e-01 1.71843892e-01 1.56873715e-02 6.41689738e+01] [-1.71825819e-01 9.85124167e-01 -2.50283525e-03 -7.92138541e+00] [-1.58841057e-02 -2.30204535e-04 9.99873813e-01 -1.22293447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654012739 meters 0.02788376950382643 Centerline is valid? [True, True] Translation: X:64.20, Y:-7.93, Z:-1.22 [[ 9.85184533e-01 1.70780797e-01 1.56638210e-02 6.41973171e+01] [-1.70762656e-01 9.85309025e-01 -2.49833632e-03 -7.92566939e+00] [-1.58603721e-02 -2.13473377e-04 9.99874194e-01 -1.22373904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters 0.02712296625712225 Centerline is valid? [True, True] Translation: X:64.22, Y:-7.93, Z:-1.22 [[ 9.85471404e-01 1.69151715e-01 1.52908298e-02 6.42245218e+01] [-1.69134241e-01 9.85590008e-01 -2.43818772e-03 -7.92949549e+00] [-1.54829127e-02 -1.83438610e-04 9.99880116e-01 -1.22498827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714012739 meters 0.024783755992272574 Centerline is valid? [True, True] Translation: X:64.25, Y:-7.94, Z:-1.23 [[ 9.86310456e-01 1.64199361e-01 1.51741306e-02 6.42529882e+01] [-1.64181584e-01 9.86427168e-01 -2.41844441e-03 -7.93934337e+00] [-1.53652817e-02 -1.05975781e-04 9.99881941e-01 -1.22544135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters 0.023509063705593188 Centerline is valid? [True, True] Translation: X:64.28, Y:-7.95, Z:-1.23 [[ 9.87164802e-01 1.58959258e-01 1.54145585e-02 6.42804113e+01] [-1.58940279e-01 9.87285143e-01 -2.45638520e-03 -7.95212570e+00] [-1.56090297e-02 -2.51372248e-05 9.99878171e-01 -1.22581260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774012739 meters 0.023405683812798627 Centerline is valid? [True, True] Translation: X:64.31, Y:-7.96, Z:-1.23 [[ 9.87519200e-01 1.56693920e-01 1.59010806e-02 6.43096081e+01] [-1.56673439e-01 9.87647212e-01 -2.53341871e-03 -7.96070440e+00] [-1.61016293e-02 1.05226337e-05 9.99870360e-01 -1.22562404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters 0.023559446030184727 Centerline is valid? [True, True] Translation: X:64.34, Y:-7.97, Z:-1.22 [[ 9.87833936e-01 1.54632595e-01 1.65189330e-02 6.43385796e+01] [-1.54610204e-01 9.87972043e-01 -2.63181346e-03 -7.96868734e+00] [-1.67272082e-02 4.57990400e-05 9.99860089e-01 -1.22491904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834012739 meters 0.02363653504890551 Centerline is valid? [True, True] Translation: X:64.37, Y:-7.97, Z:-1.22 [[ 9.87953792e-01 1.53718155e-01 1.78334825e-02 6.43685533e+01] [-1.53691904e-01 9.88114732e-01 -2.84149007e-03 -7.97499501e+00] [-1.80583154e-02 6.63990029e-05 9.99836933e-01 -1.22207977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters 0.0231009130388861 Centerline is valid? [True, True] Translation: X:64.40, Y:-7.97, Z:-1.22 [[ 9.87239334e-01 1.58293612e-01 1.73675064e-02 6.44002746e+01] [-1.58269419e-01 9.87392086e-01 -2.76748004e-03 -7.97134775e+00] [-1.75866128e-02 -1.65799904e-05 9.99845343e-01 -1.22263889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894012739 meters 0.023621978226235508 Centerline is valid? [True, True] Translation: X:64.43, Y:-7.97, Z:-1.22 [[ 9.86850153e-01 1.60745702e-01 1.69586066e-02 6.44304432e+01] [-1.60722996e-01 9.86995854e-01 -2.70239860e-03 -7.97181980e+00] [-1.71724734e-02 -5.87755806e-05 9.99852540e-01 -1.22460606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters 0.02396307872519992 Centerline is valid? [True, True] Translation: X:64.46, Y:-7.97, Z:-1.23 [[ 9.86598803e-01 1.62321843e-01 1.65656470e-02 6.44592627e+01] [-1.62300404e-01 9.86737864e-01 -2.63942656e-03 -7.97356237e+00] [-1.67743877e-02 -8.45561219e-05 9.99859296e-01 -1.22615540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954012739 meters 0.024470664582637774 Centerline is valid? [True, True] Translation: X:64.49, Y:-7.98, Z:-1.23 [[ 9.86375525e-01 1.63709341e-01 1.62042003e-02 6.44884557e+01] [-1.63689026e-01 9.86508611e-01 -2.58121314e-03 -7.97724251e+00] [-1.64081518e-02 -1.06404291e-04 9.99865372e-01 -1.22688738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters 0.02451082193707592 Centerline is valid? [True, True] Translation: X:64.52, Y:-7.98, Z:-1.23 [[ 9.86336194e-01 1.63855012e-01 1.71010965e-02 6.45165809e+01] [-1.63832414e-01 9.86484425e-01 -2.72366533e-03 -7.98166640e+00] [-1.73162516e-02 -1.15264231e-04 9.99850056e-01 -1.22612419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014012739 meters 0.024484591464577914 Centerline is valid? [True, True] Translation: X:64.55, Y:-7.99, Z:-1.22 [[ 9.86305243e-01 1.63926340e-01 1.81693018e-02 6.45452138e+01] [-1.63900856e-01 9.86472574e-01 -2.89304856e-03 -7.98601712e+00] [-1.83977648e-02 -1.24535163e-04 9.99830739e-01 -1.22458874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters 0.024156851538533836 Centerline is valid? [True, True] Translation: X:64.57, Y:-7.99, Z:-1.22 [[ 9.86380979e-01 1.63348940e-01 1.92272596e-02 6.45741070e+01] [-1.63320302e-01 9.86568350e-01 -3.06102009e-03 -7.99188874e+00] [-1.94690202e-02 -1.20869848e-04 9.99810453e-01 -1.22346423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074012739 meters 0.023962588080810338 Centerline is valid? [True, True] Translation: X:64.60, Y:-8.00, Z:-1.23 [[ 9.86637757e-01 1.61999762e-01 1.73785593e-02 6.46020176e+01] [-1.61976165e-01 9.86790793e-01 -2.76623458e-03 -8.00102123e+00] [-1.75971317e-02 -8.56409174e-05 9.99845155e-01 -1.22750210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters 0.023942923204934703 Centerline is valid? [True, True] Translation: X:64.63, Y:-8.01, Z:-1.23 [[ 9.86807015e-01 1.61144292e-01 1.56343237e-02 6.46318748e+01] [-1.61125084e-01 9.86930855e-01 -2.48882638e-03 -8.00826422e+00] [-1.58310566e-02 -6.30903802e-05 9.99874679e-01 -1.23150766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134012739 meters 0.0239418968274796 Centerline is valid? [True, True] Translation: X:64.66, Y:-8.01, Z:-1.23 [[ 9.86880815e-01 1.60778783e-01 1.47118939e-02 6.46608521e+01] [-1.60761732e-01 9.86990466e-01 -2.34211068e-03 -8.01389560e+00] [-1.48970607e-02 -5.37254498e-05 9.99889031e-01 -1.23362927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters 0.024185692195001586 Centerline is valid? [True, True] Translation: X:64.69, Y:-8.02, Z:-1.23 [[ 9.86787008e-01 1.61359195e-01 1.46496153e-02 6.46905860e+01] [-1.61342357e-01 9.86895742e-01 -2.33185265e-03 -8.01841198e+00] [-1.48339089e-02 -6.25615702e-05 9.99889970e-01 -1.23465958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194012739 meters 0.024468459550525963 Centerline is valid? [True, True] Translation: X:64.72, Y:-8.02, Z:-1.24 [[ 9.86660999e-01 1.62131492e-01 1.46099919e-02 6.47188621e+01] [-1.62114833e-01 9.86769159e-01 -2.32526606e-03 -8.02357242e+00] [-1.47936883e-02 -7.42470606e-05 9.99890565e-01 -1.23542373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters 0.02441071701430621 Centerline is valid? [True, True] Translation: X:64.75, Y:-8.03, Z:-1.24 [[ 9.86612183e-01 1.62420266e-01 1.46989147e-02 6.47475987e+01] [-1.62403445e-01 9.86721668e-01 -2.33884576e-03 -8.03222751e+00] [-1.48836136e-02 -7.96206771e-05 9.99889230e-01 -1.23583531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254012739 meters 0.02480057908278854 Centerline is valid? [True, True] Translation: X:64.78, Y:-8.04, Z:-1.24 [[ 9.86567857e-01 1.62701976e-01 1.45578555e-02 6.47763027e+01] [-1.62685511e-01 9.86675256e-01 -2.31611561e-03 -8.03587097e+00] [-1.47407124e-02 -8.33469582e-05 9.99891346e-01 -1.23768524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters 0.02512036127536368 Centerline is valid? [True, True] Translation: X:64.81, Y:-8.04, Z:-1.24 [[ 9.86466838e-01 1.63315536e-01 1.45331860e-02 6.48052073e+01] [-1.63299203e-01 9.86573883e-01 -2.31158861e-03 -8.04023195e+00] [-1.47155801e-02 -9.29521774e-05 9.99891716e-01 -1.23854161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314012739 meters 0.025079715441444713 Centerline is valid? [True, True] Translation: X:64.83, Y:-8.05, Z:-1.24 [[ 9.86521324e-01 1.62957487e-01 1.48504247e-02 6.48328045e+01] [-1.62940396e-01 9.86633088e-01 -2.36175417e-03 -8.04769420e+00] [-1.50367859e-02 -8.98132350e-05 9.99886937e-01 -1.23915911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters 0.024284476684167867 Centerline is valid? [True, True] Translation: X:64.86, Y:-8.06, Z:-1.24 [[ 9.86771527e-01 1.61346563e-01 1.57873590e-02 6.48609666e+01] [-1.61327052e-01 9.86897807e-01 -2.51012112e-03 -8.05657010e+00] [-1.59855093e-02 -7.00120239e-05 9.99872221e-01 -1.23722644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37401273900001 meters 0.02398533082498896 Centerline is valid? [True, True] Translation: X:64.89, Y:-8.06, Z:-1.24 [[ 9.86957869e-01 1.60185753e-01 1.59589864e-02 6.48897837e+01] [-1.60165670e-01 9.87086887e-01 -2.53703907e-03 -8.06436498e+00] [-1.61593037e-02 -5.21310747e-05 9.99869429e-01 -1.23806326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters 0.02372835558505633 Centerline is valid? [True, True] Translation: X:64.92, Y:-8.07, Z:-1.24 [[ 9.87173967e-01 1.58896226e-01 1.54773183e-02 6.49189630e+01] [-1.58877185e-01 9.87295289e-01 -2.46002701e-03 -8.07395038e+00] [-1.56715725e-02 -3.05181316e-05 9.99877193e-01 -1.23976699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434012739 meters 0.023616786464505747 Centerline is valid? [True, True] Translation: X:64.95, Y:-8.09, Z:-1.24 [[ 9.87406182e-01 1.57393488e-01 1.60100424e-02 6.49471464e+01] [-1.57372916e-01 9.87535969e-01 -2.54470032e-03 -8.08881766e+00] [-1.62110120e-02 -6.89423606e-06 9.99868593e-01 -1.23875483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters 0.02349755486377797 Centerline is valid? [True, True] Translation: X:64.98, Y:-8.10, Z:-1.24 [[ 9.87317921e-01 1.57895596e-01 1.65016000e-02 6.49771023e+01] [-1.57873811e-01 9.87455812e-01 -2.62283046e-03 -8.09530202e+00] [-1.67087342e-02 -1.56029731e-05 9.99860399e-01 -1.23764707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494012739 meters 0.024428141540656523 Centerline is valid? [True, True] Translation: X:65.01, Y:-8.09, Z:-1.24 [[ 9.86646137e-01 1.62003189e-01 1.68632112e-02 6.50068863e+01] [-1.61981037e-01 9.86790231e-01 -2.68034189e-03 -8.09337479e+00] [-1.70746760e-02 -8.69714751e-05 9.99854213e-01 -1.23741302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters 0.026105860401748875 Centerline is valid? [True, True] Translation: X:65.04, Y:-8.09, Z:-1.24 [[ 9.86116501e-01 1.65229864e-01 1.65329555e-02 6.50368913e+01] [-1.65209028e-01 9.86255075e-01 -2.62770807e-03 -8.09167532e+00] [-1.67398871e-02 -1.40167211e-04 9.99859868e-01 -1.23848278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554012739 meters 0.02859884802542562 Centerline is valid? [True, True] Translation: X:65.07, Y:-8.09, Z:-1.24 [[ 9.85541064e-01 1.68650049e-01 1.63086337e-02 6.50667896e+01] [-1.68630248e-01 9.85675972e-01 -2.59170077e-03 -8.09061125e+00] [-1.65121188e-02 -1.95901399e-04 9.99863646e-01 -1.23951251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters 0.034159013557477 Centerline is valid? [True, True] Translation: X:65.10, Y:-8.09, Z:-1.24 [[ 9.84479784e-01 1.74725888e-01 1.64444286e-02 6.50963212e+01] [-1.74706607e-01 9.84617070e-01 -2.61299310e-03 -8.08529022e+00] [-1.66480227e-02 -3.00511444e-04 9.99861367e-01 -1.23961037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614012739 meters 0.03267799735029213 Centerline is valid? [True, True] Translation: X:65.13, Y:-8.09, Z:-1.24 [[ 9.84034423e-01 1.77176564e-01 1.68736542e-02 6.51251403e+01] [-1.77156637e-01 9.84179019e-01 -2.68037375e-03 -8.09201822e+00] [-1.70815959e-02 -3.51699797e-04 9.99854037e-01 -1.23857406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters 0.03576245091255891 Centerline is valid? [True, True] Translation: X:65.15, Y:-8.09, Z:-1.24 [[ 9.83453171e-01 1.80360059e-01 1.70326144e-02 6.51544135e+01] [-1.80340238e-01 9.83600569e-01 -2.70524157e-03 -8.08917629e+00] [-1.72412067e-02 -4.11187331e-04 9.99851275e-01 -1.23967071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674012739 meters 0.04183174859471321 Centerline is valid? [True, True] Translation: X:65.18, Y:-8.08, Z:-1.24 [[ 9.83325096e-01 1.81103539e-01 1.65306593e-02 6.51833212e+01] [-1.81084983e-01 9.83463949e-01 -2.62502534e-03 -8.08265236e+00] [-1.67327089e-02 -4.12200869e-04 9.99859913e-01 -1.24240430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters 0.038091722982391406 Centerline is valid? [True, True] Translation: X:65.21, Y:-8.09, Z:-1.24 [[ 9.83065108e-01 1.82516141e-01 1.64575644e-02 6.52114559e+01] [-1.82497963e-01 9.83202761e-01 -2.61239649e-03 -8.09072331e+00] [-1.66579272e-02 -4.35316138e-04 9.99861152e-01 -1.24128314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73401273900001 meters 0.038804609468907146 Centerline is valid? [True, True] Translation: X:65.24, Y:-8.09, Z:-1.24 [[ 9.82776786e-01 1.84036507e-01 1.67437743e-02 6.52402661e+01] [-1.84017925e-01 9.82919296e-01 -2.65701872e-03 -8.09174281e+00] [-1.69467673e-02 -4.69898303e-04 9.99856283e-01 -1.24061380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters 0.041121872332860576 Centerline is valid? [True, True] Translation: X:65.27, Y:-8.09, Z:-1.24 [[ 9.82387493e-01 1.86056667e-01 1.72548823e-02 6.52694004e+01] [-1.86037261e-01 9.82538877e-01 -2.73722965e-03 -8.08937653e+00] [-1.74628725e-02 -5.21030860e-04 9.99847377e-01 -1.24051116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794012739 meters 0.04490682259849376 Centerline is valid? [True, True] Translation: X:65.30, Y:-8.08, Z:-1.24 [[ 9.81325319e-01 1.91507572e-01 1.80407441e-02 6.53013151e+01] [-1.91487290e-01 9.81490923e-01 -2.86114223e-03 -8.08047842e+00] [-1.82547570e-02 -6.46861888e-04 9.99833159e-01 -1.24040013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters 0.054404705027585785 Centerline is valid? [True, True] Translation: X:65.33, Y:-8.07, Z:-1.24 [[ 9.80428656e-01 1.96151571e-01 1.68585733e-02 6.53335351e+01] [-1.96134547e-01 9.80573348e-01 -2.67359922e-03 -8.06584095e+00] [-1.70554984e-02 -6.85275344e-04 9.99854310e-01 -1.24317892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854012739 meters 0.052488989330575296 Centerline is valid? [True, True] Translation: X:65.36, Y:-8.07, Z:-1.24 [[ 9.80214802e-01 1.97240911e-01 1.65820495e-02 6.53621212e+01] [-1.97224592e-01 9.80354805e-01 -2.62994776e-03 -8.06926293e+00] [-1.67750252e-02 -6.92474226e-04 9.99859050e-01 -1.24351885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters 0.05506015847464192 Centerline is valid? [True, True] Translation: X:65.39, Y:-8.07, Z:-1.24 [[ 9.80025635e-01 1.98165971e-01 1.67332807e-02 6.53904377e+01] [-1.98149498e-01 9.80168218e-01 -2.65331931e-03 -8.06545950e+00] [-1.69272276e-02 -7.15370248e-04 9.99856468e-01 -1.24366586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914012739 meters 0.05516674587321199 Centerline is valid? [True, True] Translation: X:65.42, Y:-8.06, Z:-1.24 [[ 9.79668182e-01 1.99847726e-01 1.76391725e-02 6.54211721e+01] [-1.99829731e-01 9.79826652e-01 -2.79482728e-03 -8.06046420e+00] [-1.78418712e-02 -7.86827740e-04 9.99840512e-01 -1.24300037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters 0.05648067003686436 Centerline is valid? [True, True] Translation: X:65.45, Y:-8.06, Z:-1.24 [[ 9.79368436e-01 2.01305315e-01 1.77097977e-02 6.54515491e+01] [-2.01287421e-01 9.79528204e-01 -2.80559864e-03 -8.05929982e+00] [-1.79120282e-02 -8.17044758e-04 9.99839233e-01 -1.24336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974012739 meters 0.0782495824431874 Centerline is valid? [True, True] Translation: X:65.49, Y:-8.02, Z:-1.25 [[ 9.78473841e-01 2.05703157e-01 1.65877797e-02 6.54862786e+01] [-2.05688098e-01 9.78614073e-01 -2.62732928e-03 -8.02482683e+00] [-1.67734846e-02 -8.41135884e-04 9.99858961e-01 -1.24609469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters 0.06496798175966398 Centerline is valid? [True, True] Translation: X:65.51, Y:-8.04, Z:-1.25 [[ 9.78003059e-01 2.07939315e-01 1.64699124e-02 6.55146258e+01] [-2.07924777e-01 9.78141339e-01 -2.60913178e-03 -8.04013858e+00] [-1.66524433e-02 -8.72764011e-04 9.99860958e-01 -1.24564843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034012739 meters 0.06709826434421828 Centerline is valid? [True, True] Translation: X:65.55, Y:-8.03, Z:-1.25 [[ 9.77289496e-01 2.11244791e-01 1.67594671e-02 6.55473942e+01] [-2.11230226e-01 9.77432731e-01 -2.65474247e-03 -8.02956212e+00] [-1.69420522e-02 -9.45654089e-04 9.99856026e-01 -1.24552471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters 0.06611728448324691 Centerline is valid? [True, True] Translation: X:65.58, Y:-8.03, Z:-1.25 [[ 9.77107665e-01 2.12089258e-01 1.66960200e-02 6.55761492e+01] [-2.12074924e-01 9.77249831e-01 -2.64480914e-03 -8.02961897e+00] [-1.68771184e-02 -9.56543901e-04 9.99857114e-01 -1.24591275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09401273900001 meters 0.06996587478866376 Centerline is valid? [True, True] Translation: X:65.61, Y:-8.02, Z:-1.25 [[ 9.76986163e-01 2.12675656e-01 1.63432680e-02 6.56053165e+01] [-2.12662017e-01 9.77122392e-01 -2.58809086e-03 -8.02338157e+00] [-1.65197970e-02 -9.47063373e-04 9.99863090e-01 -1.24677370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters 0.07001475828308981 Centerline is valid? [True, True] Translation: X:65.64, Y:-8.01, Z:-1.25 [[ 9.77257568e-01 2.11403790e-01 1.66157412e-02 6.56351214e+01] [-2.11389535e-01 9.77398358e-01 -2.62970323e-03 -8.01448330e+00] [-1.67961274e-02 -9.42496423e-04 9.99858491e-01 -1.24722376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154012739 meters 0.06682424452516961 Centerline is valid? [True, True] Translation: X:65.67, Y:-8.01, Z:-1.25 [[ 9.78032635e-01 2.07740207e-01 1.72096294e-02 6.56652921e+01] [-2.07724378e-01 9.78183609e-01 -2.72204410e-03 -8.01240940e+00] [-1.73996554e-02 -9.12611603e-04 9.99848198e-01 -1.24772470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters 0.05771880032879607 Centerline is valid? [True, True] Translation: X:65.69, Y:-8.02, Z:-1.25 [[ 9.78727976e-01 2.04444613e-01 1.71449301e-02 6.56944703e+01] [-2.04428402e-01 9.78877763e-01 -2.71158950e-03 -8.02458950e+00] [-1.73371607e-02 -8.51002140e-04 9.99849338e-01 -1.24794252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214012739 meters 0.05618082174895784 Centerline is valid? [True, True] Translation: X:65.72, Y:-8.03, Z:-1.25 [[ 9.79560104e-01 2.00441034e-01 1.68936225e-02 6.57239313e+01] [-2.00424701e-01 9.79705466e-01 -2.67177938e-03 -8.02695023e+00] [-1.70863085e-02 -7.68730746e-04 9.99853723e-01 -1.25032344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters 0.048563563997860555 Centerline is valid? [True, True] Translation: X:65.75, Y:-8.03, Z:-1.25 [[ 9.81284351e-01 1.91840187e-01 1.66842933e-02 6.57519591e+01] [-1.91823017e-01 9.81425988e-01 -2.63838650e-03 -8.03422811e+00] [-1.68805476e-02 -6.11424087e-04 9.99857326e-01 -1.25191420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274012739 meters 0.04470473057945886 Centerline is valid? [True, True] Translation: X:65.78, Y:-8.04, Z:-1.25 [[ 9.81947825e-01 1.88470312e-01 1.60440400e-02 6.57807379e+01] [-1.88453989e-01 9.82078743e-01 -2.53691295e-03 -8.04189682e+00] [-1.62346434e-02 -5.32447193e-04 9.99868068e-01 -1.25294304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters 0.04470473057945886 Centerline is valid? [True, True] Translation: X:65.81, Y:-8.05, Z:-1.25 [[ 9.81983082e-01 1.88286528e-01 1.60439951e-02 6.58078971e+01] [-1.88270176e-01 9.82113997e-01 -2.53719771e-03 -8.04599695e+00] [-1.62347523e-02 -5.29120545e-04 9.99868068e-01 -1.25350099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334012739 meters 0.039450241017758514 Centerline is valid? [True, True] Translation: X:65.84, Y:-8.05, Z:-1.26 [[ 9.83189369e-01 1.81996010e-01 1.47009326e-02 6.58364526e+01] [-1.81981629e-01 9.83299190e-01 -2.32136540e-03 -8.05311354e+00] [-1.48778944e-02 -3.92957889e-04 9.99889241e-01 -1.25588529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters 0.036747652794627 Centerline is valid? [True, True] Translation: X:65.86, Y:-8.06, Z:-1.26 [[ 9.83660030e-01 1.79458436e-01 1.44088743e-02 6.58647092e+01] [-1.79444349e-01 9.83765495e-01 -2.27520223e-03 -8.05939574e+00] [-1.45832576e-02 -3.47565578e-04 9.99893598e-01 -1.25741713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394012739 meters 0.03450058647319898 Centerline is valid? [True, True] Translation: X:65.89, Y:-8.07, Z:-1.26 [[ 9.84264243e-01 1.76033360e-01 1.53673758e-02 6.58927925e+01] [-1.76016933e-01 9.84384150e-01 -2.42569530e-03 -8.06509648e+00] [-1.55544045e-02 -3.17393217e-04 9.99878973e-01 -1.25735449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters 0.03037283754471519 Centerline is valid? [True, True] Translation: X:65.92, Y:-8.08, Z:-1.25 [[ 9.84638990e-01 1.73786341e-01 1.68631841e-02 6.59203079e+01] [-1.73766241e-01 9.84783332e-01 -2.66118266e-03 -8.07674683e+00] [-1.70690599e-02 -3.09947911e-04 9.99854265e-01 -1.25384250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454012739 meters 0.028877036841150477 Centerline is valid? [True, True] Translation: X:65.95, Y:-8.08, Z:-1.25 [[ 9.85050424e-01 1.71278704e-01 1.84192185e-02 6.59477421e+01] [-1.71254303e-01 9.85222574e-01 -2.90571860e-03 -8.08440746e+00] [-1.86447175e-02 -2.92091087e-04 9.99826129e-01 -1.25114731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters 0.025159789780336474 Centerline is valid? [True, True] Translation: X:65.97, Y:-8.10, Z:-1.25 [[ 9.86283304e-01 1.63971255e-01 1.89386115e-02 6.59744931e+01] [-1.63944130e-01 9.86465104e-01 -2.98665268e-03 -8.10043428e+00] [-1.91720045e-02 -1.59188497e-04 9.99816188e-01 -1.25100202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514012739 meters 0.023661866818843837 Centerline is valid? [True, True] Translation: X:66.00, Y:-8.12, Z:-1.26 [[ 9.87581605e-01 1.56324825e-01 1.56563621e-02 6.59988635e+01] [-1.56305328e-01 9.87705700e-01 -2.46889446e-03 -8.12272507e+00] [-1.58498276e-02 -8.93806353e-06 9.99874384e-01 -1.25897273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters 0.024016422413935194 Centerline is valid? [True, True] Translation: X:66.03, Y:-8.14, Z:-1.26 [[ 9.88117174e-01 1.53043046e-01 1.42223979e-02 6.60263618e+01] [-1.53026629e-01 9.88219522e-01 -2.24194564e-03 -8.13561528e+00] [-1.43979654e-02 3.88993849e-05 9.99896343e-01 -1.26144111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574012739 meters 0.024681183470510026 Centerline is valid? [True, True] Translation: X:66.05, Y:-8.15, Z:-1.26 [[ 9.88500199e-01 1.50602127e-01 1.36512212e-02 6.60526367e+01] [-1.50586775e-01 9.88594454e-01 -2.15146187e-03 -8.14711849e+00] [-1.38195363e-02 7.10271169e-05 9.99904503e-01 -1.26314762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters 0.025454173735952965 Centerline is valid? [True, True] Translation: X:66.08, Y:-8.16, Z:-1.26 [[ 9.88904283e-01 1.47712953e-01 1.57861665e-02 6.60789993e+01] [-1.47692080e-01 9.89030266e-01 -2.48637591e-03 -8.16290700e+00] [-1.59802664e-02 1.27296021e-04 9.99872299e-01 -1.25759918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634012739 meters 0.025340358827006193 Centerline is valid? [True, True] Translation: X:66.11, Y:-8.17, Z:-1.25 [[ 9.88913048e-01 1.47428881e-01 1.77682057e-02 6.61067891e+01] [-1.47402408e-01 9.89072648e-01 -2.79763102e-03 -8.17300284e+00] [-1.79864979e-02 1.47537494e-04 9.99838219e-01 -1.25340723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters 0.024721280715240223 Centerline is valid? [True, True] Translation: X:66.13, Y:-8.19, Z:-1.25 [[ 9.88703176e-01 1.48450015e-01 2.07031912e-02 6.61331152e+01] [-1.48414320e-01 9.88919901e-01 -3.25863027e-03 -8.18553397e+00] [-2.09575415e-02 1.49168044e-04 9.99780355e-01 -1.24797758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694012739 meters 0.024093866824940895 Centerline is valid? [True, True] Translation: X:66.16, Y:-8.19, Z:-1.25 [[ 9.88612608e-01 1.49015069e-01 2.09671454e-02 6.61616092e+01] [-1.48978612e-01 9.88834916e-01 -3.29890088e-03 -8.19061062e+00] [-2.12246314e-02 1.37678778e-04 9.99774723e-01 -1.24784518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters 0.02392953429601919 Centerline is valid? [True, True] Translation: X:66.19, Y:-8.20, Z:-1.25 [[ 9.88531916e-01 1.49573697e-01 2.07932594e-02 6.61902825e+01] [-1.49537987e-01 9.88750572e-01 -3.27057117e-03 -8.19684655e+00] [-2.10485386e-02 1.23681836e-04 9.99778447e-01 -1.24928874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754012739 meters 0.02360656953049528 Centerline is valid? [True, True] Translation: X:66.22, Y:-8.21, Z:-1.25 [[ 9.88320955e-01 1.51116091e-01 1.96371134e-02 6.62184148e+01] [-1.51084555e-01 9.88516019e-01 -3.08827966e-03 -8.20628248e+00] [-1.98782899e-02 8.53469686e-05 9.99802404e-01 -1.25314468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters 0.023807059684081137 Centerline is valid? [True, True] Translation: X:66.25, Y:-8.22, Z:-1.26 [[ 9.88401321e-01 1.50925483e-01 1.68619761e-02 6.62453606e+01] [-1.50902213e-01 9.88545139e-01 -2.65132807e-03 -8.21816514e+00] [-1.70689774e-02 7.60666674e-05 9.99854311e-01 -1.25821676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814012739 meters 0.023868304335533663 Centerline is valid? [True, True] Translation: X:66.27, Y:-8.23, Z:-1.26 [[ 9.88523187e-01 1.50218418e-01 1.60104965e-02 6.62734107e+01] [-1.50197353e-01 9.88652831e-01 -2.51694606e-03 -8.22549816e+00] [-1.62069144e-02 8.33253403e-05 9.99868656e-01 -1.25928890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters 0.024053841923044474 Centerline is valid? [True, True] Translation: X:66.30, Y:-8.23, Z:-1.26 [[ 9.88623924e-01 1.49538302e-01 1.61565103e-02 6.63012725e+01] [-1.49516774e-01 9.88755929e-01 -2.53910640e-03 -8.23251808e+00] [-1.63545390e-02 9.45520303e-05 9.99866251e-01 -1.25911932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874012739 meters 0.024490790355862865 Centerline is valid? [True, True] Translation: X:66.33, Y:-8.25, Z:-1.26 [[ 9.88855354e-01 1.47900072e-01 1.70486592e-02 6.63294430e+01] [-1.47875873e-01 9.89002302e-01 -2.67835568e-03 -8.24531447e+00] [-1.72572922e-02 1.27420984e-04 9.99851074e-01 -1.25907423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters 0.025101189431867618 Centerline is valid? [True, True] Translation: X:66.36, Y:-8.26, Z:-1.26 [[ 9.89019223e-01 1.46720199e-01 1.77245474e-02 6.63574400e+01] [-1.46693863e-01 9.89178022e-01 -2.78405702e-03 -8.25713303e+00] [-1.79412102e-02 1.53403580e-04 9.99839032e-01 -1.25968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934012739 meters 0.02598923290352958 Centerline is valid? [True, True] Translation: X:66.39, Y:-8.27, Z:-1.26 [[ 9.89274031e-01 1.44953690e-01 1.80365903e-02 6.63861677e+01] [-1.44926129e-01 9.89438423e-01 -2.83279827e-03 -8.26936970e+00] [-1.82567200e-02 1.88440555e-04 9.99833314e-01 -1.25951004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters 0.02795236012246713 Centerline is valid? [True, True] Translation: X:66.42, Y:-8.29, Z:-1.26 [[ 9.89759913e-01 1.41630106e-01 1.77827642e-02 6.64164777e+01] [-1.41602782e-01 9.89919619e-01 -2.79278899e-03 -8.28634853e+00] [-1.79990502e-02 2.46101700e-04 9.99837974e-01 -1.25992387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994012739 meters 0.02874461631543416 Centerline is valid? [True, True] Translation: X:66.45, Y:-8.30, Z:-1.26 [[ 9.89906685e-01 1.40599928e-01 1.77880743e-02 6.64473345e+01] [-1.40572368e-01 9.90066457e-01 -2.79657067e-03 -8.29659900e+00] [-1.80045733e-02 2.67832268e-04 9.99837869e-01 -1.26009646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters 0.029299308086708817 Centerline is valid? [True, True] Translation: X:66.48, Y:-8.31, Z:-1.26 [[ 9.90005849e-01 1.39875906e-01 1.79763550e-02 6.64774148e+01] [-1.39847586e-01 9.90169000e-01 -2.82918347e-03 -8.31240344e+00] [-1.81953641e-02 2.86958332e-04 9.99834409e-01 -1.25991227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054012739 meters 0.02922098391154872 Centerline is valid? [True, True] Translation: X:66.51, Y:-8.32, Z:-1.26 [[ 9.89948218e-01 1.40328975e-01 1.76154334e-02 6.65087784e+01] [-1.40301802e-01 9.90104895e-01 -2.77518145e-03 -8.32246131e+00] [-1.78305652e-02 2.75808876e-04 9.99840985e-01 -1.26149449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters 0.02870341663397524 Centerline is valid? [True, True] Translation: X:66.54, Y:-8.33, Z:-1.26 [[ 9.89834828e-01 1.41173452e-01 1.72357104e-02 6.65405292e+01] [-1.41147506e-01 9.89984843e-01 -2.71881215e-03 -8.33088381e+00] [-1.74469162e-02 2.58397422e-04 9.99847758e-01 -1.26270410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114012739 meters 0.02822803223519729 Centerline is valid? [True, True] Translation: X:66.57, Y:-8.34, Z:-1.26 [[ 9.89700951e-01 1.42235700e-01 1.61565285e-02 6.65699107e+01] [-1.42213025e-01 9.89832791e-01 -2.54967534e-03 -8.34425194e+00] [-1.63549165e-02 2.25747322e-04 9.99866224e-01 -1.26459287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters 0.028759692391420115 Centerline is valid? [True, True] Translation: X:66.60, Y:-8.36, Z:-1.27 [[ 9.89771477e-01 1.41820713e-01 1.54696074e-02 6.65996591e+01] [-1.41799840e-01 9.89892335e-01 -2.44345807e-03 -8.36281093e+00] [-1.56597787e-02 2.24877249e-04 9.99877353e-01 -1.26664184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174012739 meters 0.029119392730084386 Centerline is valid? [True, True] Translation: X:66.63, Y:-8.38, Z:-1.27 [[ 9.89879483e-01 1.41091665e-01 1.52233965e-02 6.66304767e+01] [-1.41071319e-01 9.89996508e-01 -2.40751980e-03 -8.37585733e+00] [-1.54107903e-02 2.35569830e-04 9.99881219e-01 -1.26799790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters 0.029997509025364584 Centerline is valid? [True, True] Translation: X:66.66, Y:-8.39, Z:-1.27 [[ 9.89943151e-01 1.40679244e-01 1.48966031e-02 6.66597749e+01] [-1.40659710e-01 9.90055198e-01 -2.35621048e-03 -8.38965652e+00] [-1.50799292e-02 2.37162552e-04 9.99886263e-01 -1.26974942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23401273900001 meters 0.029313908896859652 Centerline is valid? [True, True] Translation: X:66.69, Y:-8.41, Z:-1.27 [[ 9.89726720e-01 1.42326547e-01 1.35710851e-02 6.66884022e+01] [-1.42310465e-01 9.89819739e-01 -2.14840466e-03 -8.40614570e+00] [-1.37387029e-02 1.95026065e-04 9.99905601e-01 -1.27220245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters 0.02608878735193545 Centerline is valid? [True, True] Translation: X:66.72, Y:-8.41, Z:-1.27 [[ 9.88963836e-01 1.47525601e-01 1.36648759e-02 6.67183012e+01] [-1.47509751e-01 9.89058229e-01 -2.16617026e-03 -8.41479715e+00] [-1.38349235e-02 1.26561610e-04 9.99904285e-01 -1.27134016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294012739 meters 0.024199500255676378 Centerline is valid? [True, True] Translation: X:66.75, Y:-8.42, Z:-1.27 [[ 9.88434669e-01 1.50927494e-01 1.47579318e-02 6.67508278e+01] [-1.50909383e-01 9.88544832e-01 -2.33963576e-03 -8.41883180e+00] [-1.49419926e-02 8.54667225e-05 9.99888359e-01 -1.26926178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters 0.023186759968996527 Centerline is valid? [True, True] Translation: X:66.78, Y:-8.42, Z:-1.27 [[ 9.87819071e-01 1.54747573e-01 1.63300885e-02 6.67827425e+01] [-1.54725908e-01 9.87954041e-01 -2.58953329e-03 -8.42207641e+00] [-1.65341010e-02 3.13025918e-05 9.99863302e-01 -1.26637139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354012739 meters 0.02309714701815236 Centerline is valid? [True, True] Translation: X:66.82, Y:-8.43, Z:-1.26 [[ 9.86790597e-01 1.60902286e-01 1.88353744e-02 6.68157999e+01] [-1.60874513e-01 9.86970338e-01 -2.99050870e-03 -8.42666514e+00] [-1.90711355e-02 -7.91258092e-05 9.99818126e-01 -1.26074751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters 0.02370817637032284 Centerline is valid? [True, True] Translation: X:66.85, Y:-8.43, Z:-1.26 [[ 9.86393022e-01 1.63307791e-01 1.89571168e-02 6.68465812e+01] [-1.63280026e-01 9.86575162e-01 -3.01375761e-03 -8.43064031e+00] [-1.91947906e-02 -1.22569049e-04 9.99815756e-01 -1.26131197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414012739 meters 0.02426398603646905 Centerline is valid? [True, True] Translation: X:66.88, Y:-8.44, Z:-1.26 [[ 9.86035099e-01 1.65450148e-01 1.90008507e-02 6.68785439e+01] [-1.65422619e-01 9.86218141e-01 -3.02243580e-03 -8.43666067e+00] [-1.92390461e-02 -1.62942705e-04 9.99814899e-01 -1.26203300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters 0.024404072956085918 Centerline is valid? [True, True] Translation: X:66.91, Y:-8.44, Z:-1.26 [[ 9.86091982e-01 1.65096343e-01 1.91259284e-02 6.69102478e+01] [-1.65068319e-01 9.86277433e-01 -3.04566933e-03 -8.44310079e+00] [-1.93663004e-02 -1.53774756e-04 9.99812444e-01 -1.26309301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474012739 meters 0.023516990961903433 Centerline is valid? [True, True] Translation: X:66.94, Y:-8.45, Z:-1.26 [[ 9.86373194e-01 1.63279572e-01 2.01916809e-02 6.69410868e+01] [-1.63247877e-01 9.86579833e-01 -3.21932586e-03 -8.45391425e+00] [-2.04463553e-02 -1.20792295e-04 9.99790944e-01 -1.26107176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters 0.023141393284768486 Centerline is valid? [True, True] Translation: X:66.97, Y:-8.46, Z:-1.26 [[ 9.86474986e-01 1.62521517e-01 2.13039785e-02 6.69723926e+01] [-1.62486023e-01 9.86704994e-01 -3.39816687e-03 -8.46076786e+00] [-2.15730172e-02 -1.09392132e-04 9.99767269e-01 -1.25863732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534012739 meters 0.022986436381534362 Centerline is valid? [True, True] Translation: X:67.00, Y:-8.47, Z:-1.26 [[ 9.86526105e-01 1.62088310e-01 2.22176698e-02 6.70046326e+01] [-1.62049502e-01 9.86776251e-01 -3.54810875e-03 -8.46695330e+00] [-2.24989758e-02 -1.00060424e-04 9.99746861e-01 -1.25718962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters 0.022960292814185993 Centerline is valid? [True, True] Translation: X:67.04, Y:-8.47, Z:-1.26 [[ 9.86492286e-01 1.62427866e-01 2.12169456e-02 6.70375833e+01] [-1.62392468e-01 9.86720416e-01 -3.39230220e-03 -8.47045950e+00] [-2.14861978e-02 -9.89922231e-05 9.99769140e-01 -1.26133075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59401273900001 meters 0.023359839081963582 Centerline is valid? [True, True] Translation: X:67.07, Y:-8.47, Z:-1.27 [[ 9.86371857e-01 1.63356227e-01 1.96291354e-02 6.70698573e+01] [-1.63326041e-01 9.86567145e-01 -3.14208529e-03 -8.47319600e+00] [-1.98787393e-02 -1.06684464e-04 9.99802393e-01 -1.26551862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters 0.023993382113203725 Centerline is valid? [True, True] Translation: X:67.10, Y:-8.47, Z:-1.27 [[ 9.86165826e-01 1.64955500e-01 1.63293162e-02 6.71014105e+01] [-1.64934787e-01 9.86301004e-01 -2.61641597e-03 -8.47352238e+00] [-1.65372132e-02 -1.13052281e-04 9.99863245e-01 -1.27279226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654012739 meters 0.02434896843200022 Centerline is valid? [True, True] Translation: X:67.13, Y:-8.48, Z:-1.27 [[ 9.86045695e-01 1.65777298e-01 1.52241568e-02 6.71332699e+01] [-1.65759359e-01 9.86163209e-01 -2.44147083e-03 -8.47675934e+00] [-1.54182438e-02 -1.16144676e-04 9.99881125e-01 -1.27457111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters 0.025293404587535522 Centerline is valid? [True, True] Translation: X:67.17, Y:-8.48, Z:-1.28 [[ 9.85681225e-01 1.67971738e-01 1.47654457e-02 6.71656238e+01] [-1.67955075e-01 9.85791801e-01 -2.37029456e-03 -8.47793522e+00] [-1.49537978e-02 -1.43576683e-04 9.99888175e-01 -1.27502202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714012739 meters 0.025362465053802217 Centerline is valid? [True, True] Translation: X:67.20, Y:-8.48, Z:-1.27 [[ 9.85565302e-01 1.68623083e-01 1.50761758e-02 6.71979127e+01] [-1.68605748e-01 9.85680593e-01 -2.42273900e-03 -8.48202205e+00] [-1.52688236e-02 -1.54162387e-04 9.99883413e-01 -1.27440518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters 0.025191847543955426 Centerline is valid? [True, True] Translation: X:67.23, Y:-8.48, Z:-1.28 [[ 9.85614244e-01 1.68338444e-01 1.50575902e-02 6.72307978e+01] [-1.68321078e-01 9.85729246e-01 -2.42243814e-03 -8.48478471e+00] [-1.52504965e-02 -1.46920274e-04 9.99883694e-01 -1.27704262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774012739 meters 0.025470169850062348 Centerline is valid? [True, True] Translation: X:67.26, Y:-8.49, Z:-1.28 [[ 9.85665291e-01 1.68066332e-01 1.47527106e-02 6.72625643e+01] [-1.68049588e-01 9.85775679e-01 -2.37627696e-03 -8.48943934e+00] [-1.49422355e-02 -1.36973222e-04 9.99888349e-01 -1.27992124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters 0.024971295450230937 Centerline is valid? [True, True] Translation: X:67.29, Y:-8.50, Z:-1.28 [[ 9.85791178e-01 1.67389961e-01 1.40126396e-02 6.72948061e+01] [-1.67374753e-01 9.85890758e-01 -2.25940566e-03 -8.49771904e+00] [-1.41931337e-02 -1.18059916e-04 9.99899265e-01 -1.28113858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834012739 meters 0.024424275931896857 Centerline is valid? [True, True] Translation: X:67.33, Y:-8.51, Z:-1.28 [[ 9.86058016e-01 1.65887064e-01 1.30794470e-02 6.73263500e+01] [-1.65873651e-01 9.86144753e-01 -2.11132793e-03 -8.50708137e+00] [-1.32484700e-02 -8.76438009e-05 9.99912231e-01 -1.28229585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters 0.02427691434612435 Centerline is valid? [True, True] Translation: X:67.36, Y:-8.51, Z:-1.28 [[ 9.86073987e-01 1.65738370e-01 1.37435314e-02 6.73571248e+01] [-1.65723504e-01 9.86169755e-01 -2.22154130e-03 -8.51214617e+00] [-1.39216496e-02 -8.70220795e-05 9.99903085e-01 -1.28184688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894012739 meters 0.024297128056324103 Centerline is valid? [True, True] Translation: X:67.39, Y:-8.52, Z:-1.28 [[ 9.85871258e-01 1.66678375e-01 1.66187164e-02 6.73887549e+01] [-1.66656741e-01 9.86011311e-01 -2.68806468e-03 -8.51595965e+00] [-1.68342846e-02 -1.19535410e-04 9.99858286e-01 -1.27697900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters 0.025172259067091834 Centerline is valid? [True, True] Translation: X:67.42, Y:-8.52, Z:-1.28 [[ 9.85639345e-01 1.67956999e-01 1.74793446e-02 6.74207961e+01] [-1.67933212e-01 9.85794312e-01 -2.83037555e-03 -8.51775640e+00] [-1.77064199e-02 -1.45632982e-04 9.99843218e-01 -1.27653224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954012739 meters 0.0255298395745478 Centerline is valid? [True, True] Translation: X:67.45, Y:-8.52, Z:-1.28 [[ 9.85329769e-01 1.69780844e-01 1.73121621e-02 6.74532289e+01] [-1.69757736e-01 9.85481829e-01 -2.80641813e-03 -8.52067506e+00] [-1.75372972e-02 -1.73626120e-04 9.99846195e-01 -1.27756344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters 0.025704168538475475 Centerline is valid? [True, True] Translation: X:67.48, Y:-8.53, Z:-1.28 [[ 9.85338096e-01 1.69782510e-01 1.68147410e-02 6.74844291e+01] [-1.69760666e-01 9.85481543e-01 -2.72848593e-03 -8.52508971e+00] [-1.70338661e-02 -1.66000499e-04 9.99854899e-01 -1.27949428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014012739 meters 0.025716600811107167 Centerline is valid? [True, True] Translation: X:67.52, Y:-8.53, Z:-1.28 [[ 9.85336046e-01 1.69812389e-01 1.66321524e-02 6.75175021e+01] [-1.69790972e-01 9.85476396e-01 -2.70177508e-03 -8.53020638e+00] [-1.68493885e-02 -1.61832955e-04 9.99858026e-01 -1.28056382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters 0.026204854204166524 Centerline is valid? [True, True] Translation: X:67.55, Y:-8.53, Z:-1.28 [[ 9.84999047e-01 1.71603577e-01 1.81408104e-02 6.75499004e+01] [-1.71578332e-01 9.85166062e-01 -2.95061379e-03 -8.53220155e+00] [-1.83780466e-02 -2.06218221e-04 9.99831088e-01 -1.27689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074012739 meters 0.030635545888628067 Centerline is valid? [True, True] Translation: X:67.58, Y:-8.52, Z:-1.27 [[ 9.84176086e-01 1.76037273e-01 2.02066757e-02 6.75826637e+01] [-1.76006806e-01 9.84383450e-01 -3.29039545e-03 -8.52308532e+00] [-2.04703494e-02 -3.18183946e-04 9.99790410e-01 -1.27248059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters 0.030684240030196857 Centerline is valid? [True, True] Translation: X:67.62, Y:-8.52, Z:-1.27 [[ 9.83673729e-01 1.78822635e-01 2.02103801e-02 6.76152880e+01] [-1.78792735e-01 9.83881255e-01 -3.29150919e-03 -8.52473140e+00] [-2.04732105e-02 -3.75698009e-04 9.99790331e-01 -1.27323253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134012739 meters 0.033764565789157534 Centerline is valid? [True, True] Translation: X:67.65, Y:-8.52, Z:-1.28 [[ 9.83166846e-01 1.81631936e-01 1.98190078e-02 6.76470145e+01] [-1.81603686e-01 9.83366494e-01 -3.23107419e-03 -8.51993791e+00] [-2.00762144e-02 -4.22519842e-04 9.99798363e-01 -1.27556212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters 0.036092645879636266 Centerline is valid? [True, True] Translation: X:67.68, Y:-8.52, Z:-1.28 [[ 9.82809533e-01 1.83673243e-01 1.86965622e-02 6.76768665e+01] [-1.83648466e-01 9.82987257e-01 -3.04833978e-03 -8.51695768e+00] [-1.89383809e-02 -4.37657585e-04 9.99820557e-01 -1.27884061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194012739 meters 0.03749086982604779 Centerline is valid? [True, True] Translation: X:67.71, Y:-8.51, Z:-1.28 [[ 9.82409190e-01 1.86058148e-01 1.59545824e-02 6.77068697e+01] [-1.86040425e-01 9.82538648e-01 -2.60102190e-03 -8.51255504e+00] [-1.61599351e-02 -4.12929466e-04 9.99869334e-01 -1.28441058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters 0.03749086982604779 Centerline is valid? [True, True] Translation: X:67.73, Y:-8.52, Z:-1.28 [[ 9.82417702e-01 1.86013191e-01 1.59546599e-02 6.77348484e+01] [-1.85995470e-01 9.82547160e-01 -2.60054655e-03 -8.51702665e+00] [-1.61599417e-02 -4.12671491e-04 9.99869334e-01 -1.28498606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254012739 meters 0.03768950471883084 Centerline is valid? [True, True] Translation: X:67.76, Y:-8.52, Z:-1.29 [[ 9.82337017e-01 1.86446548e-01 1.58641040e-02 6.77640459e+01] [-1.86429095e-01 9.82465017e-01 -2.58504832e-03 -8.51847054e+00] [-1.60679005e-02 -4.18141898e-04 9.99870816e-01 -1.28669621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters 0.035711285758278914 Centerline is valid? [True, True] Translation: X:67.79, Y:-8.52, Z:-1.28 [[ 9.82658129e-01 1.84644323e-01 1.70139747e-02 6.77935930e+01] [-1.84623993e-01 9.82805321e-01 -2.77159206e-03 -8.51992362e+00] [-1.72331836e-02 -4.17660472e-04 9.99851410e-01 -1.28466405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314012739 meters 0.03529903374598538 Centerline is valid? [True, True] Translation: X:67.82, Y:-8.52, Z:-1.29 [[ 9.82852809e-01 1.83610996e-01 1.69516292e-02 6.78217700e+01] [-1.83590679e-01 9.82998903e-01 -2.76035597e-03 -8.52174761e+00] [-1.71702646e-02 -3.99137487e-04 9.99852500e-01 -1.28522807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters 0.0352877371541694 Centerline is valid? [True, True] Translation: X:67.85, Y:-8.52, Z:-1.29 [[ 9.83090777e-01 1.82435389e-01 1.58067553e-02 6.78503078e+01] [-1.82417586e-01 9.83217780e-01 -2.57303902e-03 -8.51853215e+00] [-1.60108962e-02 -3.53899216e-04 9.99871755e-01 -1.28759757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374012739 meters 0.034710913380321784 Centerline is valid? [True, True] Translation: X:67.88, Y:-8.52, Z:-1.29 [[ 9.83127450e-01 1.82297499e-01 1.51009321e-02 6.78793386e+01] [-1.82281249e-01 9.83243362e-01 -2.45724529e-03 -8.52037582e+00] [-1.52958409e-02 -3.36831467e-04 9.99882955e-01 -1.28973368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters 0.0350042494504624 Centerline is valid? [True, True] Translation: X:67.91, Y:-8.52, Z:-1.29 [[ 9.83098960e-01 1.82518923e-01 1.42575589e-02 6.79084975e+01] [-1.82504469e-01 9.83202288e-01 -2.31938559e-03 -8.52106710e+00] [-1.44413963e-02 -3.21882661e-04 9.99895666e-01 -1.29248033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434012739 meters 0.034163564995240356 Centerline is valid? [True, True] Translation: X:67.94, Y:-8.52, Z:-1.29 [[ 9.83177326e-01 1.82042291e-01 1.49314839e-02 6.79376882e+01] [-1.82026395e-01 9.83290646e-01 -2.42826923e-03 -8.52181829e+00] [-1.51240362e-02 -3.30504942e-04 9.99885571e-01 -1.29179472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters 0.033600079659579604 Centerline is valid? [True, True] Translation: X:67.97, Y:-8.52, Z:-1.29 [[ 9.83280628e-01 1.81410926e-01 1.57886545e-02 6.79665582e+01] [-1.81393084e-01 9.83407322e-01 -2.56685600e-03 -8.52497359e+00] [-1.59923341e-02 -3.40012950e-04 9.99872057e-01 -1.29103738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494012739 meters 0.03189632023995197 Centerline is valid? [True, True] Translation: X:67.99, Y:-8.53, Z:-1.29 [[ 9.83712503e-01 1.78964198e-01 1.67787520e-02 6.79940718e+01] [-1.78943706e-01 9.83855535e-01 -2.72698455e-03 -8.52786824e+00] [-1.69959007e-02 -3.19883271e-04 9.99855508e-01 -1.28933123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters 0.031180499233730317 Centerline is valid? [True, True] Translation: X:68.02, Y:-8.53, Z:-1.29 [[ 9.83938527e-01 1.77705973e-01 1.68986084e-02 6.80216346e+01] [-1.77685018e-01 9.84083582e-01 -2.74552147e-03 -8.53136338e+00] [-1.71175387e-02 -3.01205198e-04 9.99853439e-01 -1.28869395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554012739 meters 0.029769077994752317 Centerline is valid? [True, True] Translation: X:68.05, Y:-8.54, Z:-1.29 [[ 9.84101642e-01 1.76759994e-01 1.73165309e-02 6.80500780e+01] [-1.76737862e-01 9.84253940e-01 -2.81234005e-03 -8.53572460e+00] [-1.75409730e-02 -2.92858186e-04 9.99846102e-01 -1.28769095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters 0.030208034450230185 Centerline is valid? [True, True] Translation: X:68.08, Y:-8.53, Z:-1.29 [[ 9.84187708e-01 1.76203537e-01 1.80795237e-02 6.80793671e+01] [-1.76179334e-01 9.84353710e-01 -2.93536007e-03 -8.53107638e+00] [-1.83138670e-02 -2.96293146e-04 9.99832243e-01 -1.28751508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614012739 meters 0.03023638987326951 Centerline is valid? [True, True] Translation: X:68.11, Y:-8.53, Z:-1.29 [[ 9.84178694e-01 1.76196526e-01 1.86301544e-02 6.81084444e+01] [-1.76170847e-01 9.84354962e-01 -3.02358013e-03 -8.53103701e+00] [-1.88714292e-02 -3.06346946e-04 9.99821872e-01 -1.28751824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters 0.030321934388803838 Centerline is valid? [True, True] Translation: X:68.14, Y:-8.53, Z:-1.29 [[ 9.84219520e-01 1.75930768e-01 1.89816284e-02 6.81368255e+01] [-1.75904079e-01 9.84402494e-01 -3.07973238e-03 -8.52953200e+00] [-1.92273820e-02 -3.07813135e-04 9.99815089e-01 -1.28835682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674012739 meters 0.029779453792706797 Centerline is valid? [True, True] Translation: X:68.17, Y:-8.53, Z:-1.29 [[ 9.84381664e-01 1.75068282e-01 1.85428394e-02 6.81660454e+01] [-1.75042683e-01 9.84556253e-01 -3.00736306e-03 -8.53243825e+00] [-1.87829624e-02 -2.85395301e-04 9.99823544e-01 -1.28994666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters 0.028512422869333323 Centerline is valid? [True, True] Translation: X:68.20, Y:-8.53, Z:-1.29 [[ 9.84699355e-01 1.73436432e-01 1.69406271e-02 6.81956924e+01] [-1.73414832e-01 9.84845039e-01 -2.74698181e-03 -8.53225518e+00] [-1.71603192e-02 -2.32804787e-04 9.99852724e-01 -1.29297645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73401273900001 meters 0.02844111743359041 Centerline is valid? [True, True] Translation: X:68.22, Y:-8.53, Z:-1.30 [[ 9.84839597e-01 1.72748577e-01 1.57764642e-02 6.82233822e+01] [-1.72729762e-01 9.84965932e-01 -2.55784721e-03 -8.53414041e+00] [-1.59811443e-02 -2.05995708e-04 9.99872272e-01 -1.29569950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters 0.02745331515557433 Centerline is valid? [True, True] Translation: X:68.25, Y:-8.54, Z:-1.30 [[ 9.85063851e-01 1.71474770e-01 1.56720198e-02 6.82526835e+01] [-1.71456061e-01 9.85188494e-01 -2.53970482e-03 -8.53676988e+00] [-1.58753889e-02 -1.85291373e-04 9.99873961e-01 -1.29612913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794012739 meters 0.02644123286647093 Centerline is valid? [True, True] Translation: X:68.28, Y:-8.54, Z:-1.29 [[ 9.85193317e-01 1.70637335e-01 1.66441581e-02 6.82816966e+01] [-1.70616123e-01 9.85333886e-01 -2.69666691e-03 -8.54067758e+00] [-1.68602051e-02 -1.83023508e-04 9.99857840e-01 -1.29484682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters 0.026521784053508576 Centerline is valid? [True, True] Translation: X:68.31, Y:-8.54, Z:-1.29 [[ 9.85280207e-01 1.70077625e-01 1.72196391e-02 6.83100696e+01] [-1.70054851e-01 9.85430651e-01 -2.78907607e-03 -8.54170026e+00] [-1.74431196e-02 -1.80261708e-04 9.99847841e-01 -1.29467345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854012739 meters 0.026273045239644553 Centerline is valid? [True, True] Translation: X:68.34, Y:-8.54, Z:-1.30 [[ 9.85341248e-01 1.69656470e-01 1.78691519e-02 6.83394867e+01] [-1.69631894e-01 9.85503247e-01 -2.89323165e-03 -8.54350227e+00] [-1.81009627e-02 -1.80357587e-04 9.99836148e-01 -1.29500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters 0.02633138252814497 Centerline is valid? [True, True] Translation: X:68.37, Y:-8.55, Z:-1.30 [[ 9.85307705e-01 1.69859569e-01 1.77891234e-02 6.83682703e+01] [-1.69835276e-01 9.85468261e-01 -2.87858635e-03 -8.54730087e+00] [-1.80195719e-02 -1.84927380e-04 9.99837617e-01 -1.29585122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914012739 meters 0.027347865880514376 Centerline is valid? [True, True] Translation: X:68.40, Y:-8.55, Z:-1.30 [[ 9.85207547e-01 1.70620645e-01 1.59588468e-02 6.83969266e+01] [-1.70601204e-01 9.85336777e-01 -2.58180926e-03 -8.54593825e+00] [-1.61653486e-02 -1.78980515e-04 9.99869316e-01 -1.29976164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters 0.02790970024377968 Centerline is valid? [True, True] Translation: X:68.43, Y:-8.55, Z:-1.30 [[ 9.85103702e-01 1.71290528e-01 1.51740596e-02 6.84263480e+01] [-1.71273045e-01 9.85220545e-01 -2.45395553e-03 -8.54695110e+00] [-1.53701346e-02 -1.81506722e-04 9.99881856e-01 -1.30179248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974012739 meters 0.029781013244042753 Centerline is valid? [True, True] Translation: X:68.45, Y:-8.55, Z:-1.30 [[ 9.84870572e-01 1.72629605e-01 1.51319289e-02 6.84544654e+01] [-1.72612387e-01 9.84986791e-01 -2.44650687e-03 -8.54510495e+00] [-1.53270897e-02 -2.02465757e-04 9.99882513e-01 -1.30339664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters 0.031125405735141012 Centerline is valid? [True, True] Translation: X:68.48, Y:-8.55, Z:-1.29 [[ 9.84851084e-01 1.72771983e-01 1.47710384e-02 6.84828012e+01] [-1.72755606e-01 9.84961827e-01 -2.38729058e-03 -8.55161967e+00] [-1.49613659e-02 -2.00653965e-04 9.99888052e-01 -1.29402801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034012739 meters 0.029057624697512673 Centerline is valid? [True, True] Translation: X:68.51, Y:-8.55, Z:-1.30 [[ 9.84693921e-01 1.73660975e-01 1.48238622e-02 6.85117588e+01] [-1.73644591e-01 9.84805473e-01 -2.39511755e-03 -8.55299454e+00] [-1.50145591e-02 -2.15625808e-04 9.99887252e-01 -1.30336436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters 0.031929293510349704 Centerline is valid? [True, True] Translation: X:68.54, Y:-8.55, Z:-1.31 [[ 9.84389999e-01 1.75360983e-01 1.49952069e-02 6.85412385e+01] [-1.75344424e-01 9.84504172e-01 -2.42227987e-03 -8.54689177e+00] [-1.51876171e-02 -2.44857837e-04 9.99884632e-01 -1.30514969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09401273900001 meters 0.03270130594949943 Centerline is valid? [True, True] Translation: X:68.57, Y:-8.55, Z:-1.30 [[ 9.84284271e-01 1.75922368e-01 1.53556007e-02 6.85693288e+01] [-1.75905095e-01 9.84404009e-01 -2.47893760e-03 -8.54846372e+00] [-1.55522154e-02 -2.61149106e-04 9.99879023e-01 -1.30469765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters 0.030825656070199457 Centerline is valid? [True, True] Translation: X:68.60, Y:-8.55, Z:-1.30 [[ 9.84193609e-01 1.76273339e-01 1.70484681e-02 6.85964739e+01] [-1.76252118e-01 9.84341212e-01 -2.75120178e-03 -8.55353282e+00] [-1.72664732e-02 -2.97113389e-04 9.99850879e-01 -1.30020749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154012739 meters 0.0310027980065324 Centerline is valid? [True, True] Translation: X:68.62, Y:-8.56, Z:-1.30 [[ 9.84310177e-01 1.75642121e-01 1.68321385e-02 6.86242792e+01] [-1.75621364e-01 9.84454044e-01 -2.71505818e-03 -8.55596690e+00] [-1.70473454e-02 -2.83623735e-04 9.99854643e-01 -1.30093992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters 0.028101985853317583 Centerline is valid? [True, True] Translation: X:68.65, Y:-8.56, Z:-1.30 [[ 9.84912952e-01 1.72248462e-01 1.66416611e-02 6.86524195e+01] [-1.72227705e-01 9.85053510e-01 -2.68331292e-03 -8.56253208e+00] [-1.68551232e-02 -2.23325459e-04 9.99857917e-01 -1.30245309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214012739 meters 0.02635367354833523 Centerline is valid? [True, True] Translation: X:68.68, Y:-8.57, Z:-1.30 [[ 9.85252838e-01 1.70154515e-01 1.80079484e-02 6.86804768e+01] [-1.70129876e-01 9.85417373e-01 -2.90268567e-03 -8.56949595e+00] [-1.82392503e-02 -2.03810741e-04 9.99833630e-01 -1.30047975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters 0.0252970024580802 Centerline is valid? [True, True] Translation: X:68.71, Y:-8.58, Z:-1.30 [[ 9.85554603e-01 1.68202631e-01 1.97484261e-02 6.87088426e+01] [-1.68172628e-01 9.85752424e-01 -3.18217571e-03 -8.57618629e+00] [-2.00023093e-02 -1.84936810e-04 9.99799917e-01 -1.29845267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274012739 meters 0.024059076837848647 Centerline is valid? [True, True] Translation: X:68.74, Y:-8.59, Z:-1.30 [[ 9.86123847e-01 1.64776393e-01 2.02113564e-02 6.87367149e+01] [-1.64744268e-01 9.86330942e-01 -3.25575361e-03 -8.58683533e+00] [-2.04715575e-02 -1.19128846e-04 9.99790429e-01 -1.29866250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters 0.023655856294321636 Centerline is valid? [True, True] Translation: X:68.76, Y:-8.59, Z:-1.30 [[ 9.86445452e-01 1.62910551e-01 1.96347164e-02 6.87634293e+01] [-1.62879883e-01 9.86640839e-01 -3.16190736e-03 -8.59312068e+00] [-1.98875212e-02 -7.90511739e-05 9.99802221e-01 -1.29962748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334012739 meters 0.023275012985473253 Centerline is valid? [True, True] Translation: X:68.79, Y:-8.60, Z:-1.30 [[ 9.87004800e-01 1.59519576e-01 1.93656715e-02 6.87908958e+01] [-1.59489113e-01 9.87194765e-01 -3.11737443e-03 -8.60499509e+00] [-1.96149718e-02 -1.17502444e-05 9.99807608e-01 -1.30020366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters 0.02319534066907052 Centerline is valid? [True, True] Translation: X:68.82, Y:-8.61, Z:-1.30 [[ 9.87184728e-01 1.58412505e-01 1.92819023e-02 6.88181556e+01] [-1.58382113e-01 9.87373019e-01 -3.10295059e-03 -8.61153893e+00] [-1.95299763e-02 9.27700359e-06 9.99809272e-01 -1.30156440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394012739 meters 0.023250979421274475 Centerline is valid? [True, True] Translation: X:68.84, Y:-8.62, Z:-1.30 [[ 9.87392205e-01 1.57080984e-01 1.95498984e-02 6.88444099e+01] [-1.57049504e-01 9.87585724e-01 -3.14486078e-03 -8.62134349e+00] [-1.98011984e-02 3.49091785e-05 9.99803936e-01 -1.30184739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters 0.02337122847214814 Centerline is valid? [True, True] Translation: X:68.87, Y:-8.63, Z:-1.30 [[ 9.87492397e-01 1.56398971e-01 1.99531627e-02 6.88718093e+01] [-1.56366063e-01 9.87693960e-01 -3.20853317e-03 -8.62944002e+00] [-2.02094295e-02 4.84046109e-05 9.99795767e-01 -1.30241265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454012739 meters 0.023415869663982167 Centerline is valid? [True, True] Translation: X:68.90, Y:-8.64, Z:-1.30 [[ 9.87599611e-01 1.55681662e-01 2.02541020e-02 6.88996080e+01] [-1.55647623e-01 9.87807277e-01 -3.25596461e-03 -8.63665767e+00] [-2.05140433e-02 6.30865393e-05 9.99789563e-01 -1.30262384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters 0.02382996506356593 Centerline is valid? [True, True] Translation: X:68.93, Y:-8.65, Z:-1.31 [[ 9.87844266e-01 1.54207387e-01 1.95904826e-02 6.89267624e+01] [-1.54175271e-01 9.88038498e-01 -3.14836009e-03 -8.64559335e+00] [-1.98416513e-02 8.97215131e-05 9.99803131e-01 -1.30501423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514012739 meters 0.023935753789118754 Centerline is valid? [True, True] Translation: X:68.96, Y:-8.65, Z:-1.31 [[ 9.87950665e-01 1.53566561e-01 1.92560312e-02 6.89554704e+01] [-1.53535424e-01 9.88138301e-01 -3.09393740e-03 -8.65146412e+00] [-1.95027472e-02 1.00174606e-04 9.99809798e-01 -1.30659394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters 0.024264979606984878 Centerline is valid? [True, True] Translation: X:68.98, Y:-8.66, Z:-1.31 [[ 9.88072395e-01 1.52966424e-01 1.77261251e-02 6.89824597e+01] [-1.52939956e-01 9.88231381e-01 -2.84729542e-03 -8.66093661e+00] [-1.79530537e-02 1.02301216e-04 9.99838826e-01 -1.30951146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574012739 meters 0.024442763330376458 Centerline is valid? [True, True] Translation: X:69.01, Y:-8.67, Z:-1.31 [[ 9.88105951e-01 1.52849154e-01 1.68453388e-02 6.90097987e+01] [-1.52825243e-01 9.88249526e-01 -2.70531953e-03 -8.66743772e+00] [-1.70609039e-02 9.87493370e-05 9.99854447e-01 -1.31187600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters 0.024566413855565013 Centerline is valid? [True, True] Translation: X:69.04, Y:-8.67, Z:-1.31 [[ 9.88183758e-01 1.52467861e-01 1.56974764e-02 6.90383029e+01] [-1.52447066e-01 9.88308424e-01 -2.51998466e-03 -8.67378250e+00] [-1.58981648e-02 9.71736967e-05 9.99873611e-01 -1.31439123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634012739 meters 0.024722036684350412 Centerline is valid? [True, True] Translation: X:69.07, Y:-8.68, Z:-1.31 [[ 9.88305168e-01 1.51705893e-01 1.54342680e-02 6.90667705e+01] [-1.51685707e-01 9.88425673e-01 -2.47703534e-03 -8.68032415e+00] [-1.56314076e-02 1.06908980e-04 9.99877816e-01 -1.31480061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters 0.025204026059049443 Centerline is valid? [True, True] Translation: X:69.09, Y:-8.69, Z:-1.31 [[ 9.88515434e-01 1.50162623e-01 1.69830309e-02 6.90942750e+01] [-1.50137970e-01 9.88661300e-01 -2.72468161e-03 -8.69054920e+00] [-1.71996107e-02 1.43592041e-04 9.99852065e-01 -1.31182033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694012739 meters 0.02512471746072462 Centerline is valid? [True, True] Translation: X:69.12, Y:-8.70, Z:-1.31 [[ 9.88535039e-01 1.49843012e-01 1.85889509e-02 6.91231564e+01] [-1.49813438e-01 9.88709788e-01 -2.98130970e-03 -8.70033072e+00] [-1.88258061e-02 1.62254449e-04 9.99822766e-01 -1.30982215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters 0.025016923654190806 Centerline is valid? [True, True] Translation: X:69.15, Y:-8.71, Z:-1.31 [[ 9.88432424e-01 1.50465553e-01 1.90121257e-02 6.91519984e+01] [-1.50434741e-01 9.88615241e-01 -3.04870175e-03 -8.70673632e+00] [-1.92544018e-02 1.53351444e-04 9.99814605e-01 -1.30999808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754012739 meters 0.024646679773644344 Centerline is valid? [True, True] Translation: X:69.18, Y:-8.71, Z:-1.31 [[ 9.88300488e-01 1.51358904e-01 1.87784091e-02 6.91808121e+01] [-1.51329011e-01 9.88478864e-01 -3.01100387e-03 -8.71267424e+00] [-1.90178027e-02 1.34058524e-04 9.99819136e-01 -1.31079365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters 0.023619725553874184 Centerline is valid? [True, True] Translation: X:69.21, Y:-8.71, Z:-1.31 [[ 9.87749758e-01 1.54992246e-01 1.81057963e-02 6.92103164e+01] [-1.54965070e-01 9.87915685e-01 -2.90295063e-03 -8.71446473e+00] [-1.83369350e-02 6.16227800e-05 9.99831862e-01 -1.31344753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814012739 meters 0.023371686708327514 Centerline is valid? [True, True] Translation: X:69.24, Y:-8.72, Z:-1.31 [[ 9.87405466e-01 1.57136778e-01 1.83978101e-02 6.92398026e+01] [-1.57109095e-01 9.87576849e-01 -2.94957440e-03 -8.71705151e+00] [-1.86327379e-02 2.19625950e-05 9.99826395e-01 -1.31347865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters 0.023335790552999884 Centerline is valid? [True, True] Translation: X:69.27, Y:-8.72, Z:-1.31 [[ 9.86906811e-01 1.60139484e-01 1.92429975e-02 6.92666587e+01] [-1.60109777e-01 9.87094395e-01 -3.08462218e-03 -8.72241691e+00] [-1.94886248e-02 -3.67574131e-05 9.99810078e-01 -1.31203596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874012739 meters 0.023287059226793867 Centerline is valid? [True, True] Translation: X:69.29, Y:-8.73, Z:-1.31 [[ 9.86807044e-01 1.60742881e-01 1.93283131e-02 6.92943868e+01] [-1.60713049e-01 9.86996314e-01 -3.09712318e-03 -8.72781111e+00] [-1.95748143e-02 -5.00491570e-05 9.99808394e-01 -1.31249455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters 0.023534201218594373 Centerline is valid? [True, True] Translation: X:69.32, Y:-8.73, Z:-1.31 [[ 9.86699047e-01 1.61382529e-01 1.95107487e-02 6.93227662e+01] [-1.61352269e-01 9.86891927e-01 -3.12568491e-03 -8.73204838e+00] [-1.97594314e-02 -6.39932567e-05 9.99804761e-01 -1.31255152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934012739 meters 0.024021873022222077 Centerline is valid? [True, True] Translation: X:69.35, Y:-8.74, Z:-1.31 [[ 9.86375071e-01 1.63301140e-01 1.99237667e-02 6.93514162e+01] [-1.63269996e-01 9.86576265e-01 -3.19090600e-03 -8.73568622e+00] [-2.01773939e-02 -1.05523172e-04 9.99796410e-01 -1.31285064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters 0.024449570478991715 Centerline is valid? [True, True] Translation: X:69.38, Y:-8.74, Z:-1.31 [[ 9.86140163e-01 1.64681350e-01 2.01899091e-02 6.93804032e+01] [-1.64649678e-01 9.86346812e-01 -3.23254227e-03 -8.73976196e+00] [-2.04465919e-02 -1.36522272e-04 9.99790937e-01 -1.31316634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994012739 meters 0.027282261359165394 Centerline is valid? [True, True] Translation: X:69.41, Y:-8.74, Z:-1.31 [[ 9.85343718e-01 1.69292154e-01 2.09266168e-02 6.94085768e+01] [-1.69259189e-01 9.85565882e-01 -3.34943978e-03 -8.73630319e+00] [-2.11915934e-02 -2.41672743e-04 9.99775404e-01 -1.31118396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters 0.028566036345663053 Centerline is valid? [True, True] Translation: X:69.44, Y:-8.74, Z:-1.31 [[ 9.84817314e-01 1.72320751e-01 2.09861242e-02 6.94380390e+01] [-1.72288312e-01 9.85040844e-01 -3.35771216e-03 -8.73701808e+00] [-2.12507930e-02 -3.08930840e-04 9.99774129e-01 -1.31209562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054012739 meters 0.03400711893474606 Centerline is valid? [True, True] Translation: X:69.47, Y:-8.73, Z:-1.32 [[ 9.83672109e-01 1.79032300e-01 1.83471195e-02 6.94688120e+01] [-1.79008688e-01 9.83843116e-01 -2.93467507e-03 -8.72912056e+00] [-1.85760888e-02 -3.97535762e-04 9.99827371e-01 -1.31811311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters 0.0372473012677589 Centerline is valid? [True, True] Translation: X:69.50, Y:-8.73, Z:-1.32 [[ 9.83091206e-01 1.82287863e-01 1.74015787e-02 6.94990183e+01] [-1.82267138e-01 9.83245109e-01 -2.78304144e-03 -8.72770406e+00] [-1.76173318e-02 -4.35752377e-04 9.99844708e-01 -1.32036234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114012739 meters 0.040009795661893555 Centerline is valid? [True, True] Translation: X:69.53, Y:-8.73, Z:-1.32 [[ 9.82562068e-01 1.85118039e-01 1.74096021e-02 6.95290780e+01] [-1.85097745e-01 9.82716172e-01 -2.78391163e-03 -8.72677980e+00] [-1.76240498e-02 -4.87112124e-04 9.99844566e-01 -1.32115311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters 0.040009795661893555 Centerline is valid? [True, True] Translation: X:69.56, Y:-8.73, Z:-1.32 [[ 9.82574893e-01 1.85049950e-01 1.74096470e-02 6.95562496e+01] [-1.85029651e-01 9.82728996e-01 -2.78363063e-03 -8.73098822e+00] [-1.76240757e-02 -4.86175351e-04 9.99844566e-01 -1.32171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174012739 meters 0.044290851383267195 Centerline is valid? [True, True] Translation: X:69.59, Y:-8.72, Z:-1.32 [[ 9.81746279e-01 1.89250853e-01 1.89303518e-02 6.95867149e+01] [-1.89227662e-01 9.81928582e-01 -3.02523714e-03 -8.72424430e+00] [-1.91607822e-02 -6.12130915e-04 9.99816228e-01 -1.31911980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters 0.045709402025163215 Centerline is valid? [True, True] Translation: X:69.62, Y:-8.72, Z:-1.32 [[ 9.81493544e-01 1.90519722e-01 1.93043451e-02 6.96153364e+01] [-1.90495854e-01 9.81683153e-01 -3.08485600e-03 -8.72397852e+00] [-1.95384763e-02 -6.49631449e-04 9.99808895e-01 -1.31948363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23401273900001 meters 0.046467336591596214 Centerline is valid? [True, True] Translation: X:69.64, Y:-8.72, Z:-1.33 [[ 9.81489694e-01 1.90805519e-01 1.64692128e-02 6.96438918e+01] [-1.90788200e-01 9.81627700e-01 -2.63100661e-03 -8.72387874e+00] [-1.66686460e-02 -5.59825590e-04 9.99860912e-01 -1.32543627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters 0.04701287354118827 Centerline is valid? [True, True] Translation: X:69.67, Y:-8.73, Z:-1.33 [[ 9.81695503e-01 1.89873074e-01 1.49048981e-02 6.96718017e+01] [-1.89858793e-01 9.81808521e-01 -2.38034269e-03 -8.72571839e+00] [-1.50857189e-02 -4.93054246e-04 9.99886083e-01 -1.32951669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294012739 meters 0.04570544299427147 Centerline is valid? [True, True] Translation: X:69.70, Y:-8.73, Z:-1.33 [[ 9.81879639e-01 1.88938226e-01 1.46533575e-02 6.97001803e+01] [-1.88924332e-01 9.81988862e-01 -2.33927571e-03 -8.73007051e+00] [-1.48314125e-02 -4.71488592e-04 9.99889897e-01 -1.33077060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters 0.04162491712388377 Centerline is valid? [True, True] Translation: X:69.73, Y:-8.74, Z:-1.33 [[ 9.82363264e-01 1.86167047e-01 1.74427248e-02 6.97298517e+01] [-1.86146943e-01 9.82517973e-01 -2.78349868e-03 -8.73704458e+00] [-1.76559864e-02 -5.12503049e-04 9.99843990e-01 -1.32649957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354012739 meters 0.03949708000610907 Centerline is valid? [True, True] Translation: X:69.76, Y:-8.74, Z:-1.33 [[ 9.82755068e-01 1.83996165e-01 1.83817251e-02 6.97586501e+01] [-1.83973460e-01 9.82926835e-01 -2.93322647e-03 -8.74328946e+00] [-1.86075933e-02 -4.99106397e-04 9.99826739e-01 -1.32560637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters 0.03595372710453382 Centerline is valid? [True, True] Translation: X:69.79, Y:-8.75, Z:-1.33 [[ 9.83594456e-01 1.79589135e-01 1.70202500e-02 6.97859370e+01] [-1.79569033e-01 9.83741629e-01 -2.71461610e-03 -8.75281981e+00] [-1.72310440e-02 -3.86228482e-04 9.99851460e-01 -1.32985393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414012739 meters 0.034653853456383193 Centerline is valid? [True, True] Translation: X:69.81, Y:-8.76, Z:-1.33 [[ 9.83975841e-01 1.77599814e-01 1.58066380e-02 6.98131045e+01] [-1.77582226e-01 9.84102738e-01 -2.52064505e-03 -8.75941412e+00] [-1.60030219e-02 -3.26724133e-04 9.99871890e-01 -1.33302649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters 0.0331164676436349 Centerline is valid? [True, True] Translation: X:69.84, Y:-8.77, Z:-1.33 [[ 9.84264957e-01 1.76010333e-01 1.55838459e-02 6.98413979e+01] [-1.75993053e-01 9.84388274e-01 -2.48417044e-03 -8.76641644e+00] [-1.57777948e-02 -2.97566697e-04 9.99875479e-01 -1.33392834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474012739 meters 0.03131586992457775 Centerline is valid? [True, True] Translation: X:69.87, Y:-8.77, Z:-1.33 [[ 9.84680715e-01 1.73540282e-01 1.69605593e-02 6.98686625e+01] [-1.73519461e-01 9.84826732e-01 -2.70285344e-03 -8.77241261e+00] [-1.71722661e-02 -2.81539451e-04 9.99852506e-01 -1.33163908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters 0.029855791366656212 Centerline is valid? [True, True] Translation: X:69.90, Y:-8.78, Z:-1.33 [[ 9.85090062e-01 1.71294899e-01 1.59883219e-02 6.98961387e+01] [-1.71276123e-01 9.85219775e-01 -2.54658680e-03 -8.77987580e+00] [-1.61882283e-02 -2.29800436e-04 9.99868936e-01 -1.33421207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534012739 meters 0.028944173778528256 Centerline is valid? [True, True] Translation: X:69.92, Y:-8.79, Z:-1.34 [[ 9.85309030e-01 1.70019267e-01 1.61109699e-02 6.99247234e+01] [-1.70000043e-01 9.85440716e-01 -2.56536620e-03 -8.78609409e+00] [-1.63125674e-02 -2.11187095e-04 9.99866919e-01 -1.33508692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters 0.02764366491247406 Centerline is valid? [True, True] Translation: X:69.95, Y:-8.79, Z:-1.33 [[ 9.85602328e-01 1.68272766e-01 1.65023131e-02 6.99524884e+01] [-1.68252365e-01 9.85740453e-01 -2.62689995e-03 -8.79273740e+00] [-1.67090333e-02 -1.87474510e-04 9.99860377e-01 -1.33428599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59401273900001 meters 0.02493129048836589 Centerline is valid? [True, True] Translation: X:69.98, Y:-8.81, Z:-1.33 [[ 9.86252360e-01 1.64185416e-01 1.86930948e-02 6.99800426e+01] [-1.64158522e-01 9.86429486e-01 -2.97466464e-03 -8.80544620e+00] [-1.89278164e-02 -1.34860786e-04 9.99820844e-01 -1.32935473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters 0.024225331214693134 Centerline is valid? [True, True] Translation: X:70.01, Y:-8.81, Z:-1.33 [[ 9.86523056e-01 1.62393531e-01 2.00150410e-02 7.00070741e+01] [-1.62362351e-01 9.86726066e-01 -3.18398703e-03 -8.81263235e+00] [-2.02664216e-02 -1.08612498e-04 9.99794609e-01 -1.32710816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654012739 meters 0.024012913349212493 Centerline is valid? [True, True] Translation: X:70.03, Y:-8.82, Z:-1.32 [[ 9.86697730e-01 1.61103900e-01 2.17514057e-02 7.00344512e+01] [-1.61066792e-01 9.86937447e-01 -3.45879017e-03 -8.81968128e+00] [-2.20245014e-02 -9.06487418e-05 9.99757427e-01 -1.32447081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters 0.023967825575904142 Centerline is valid? [True, True] Translation: X:70.06, Y:-8.83, Z:-1.33 [[ 9.86749760e-01 1.60843859e-01 2.13111518e-02 7.00628941e+01] [-1.60808204e-01 9.86979861e-01 -3.38755885e-03 -8.82513368e+00] [-2.15785457e-02 -8.43351677e-05 9.99767153e-01 -1.32680596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714012739 meters 0.02409048215447715 Centerline is valid? [True, True] Translation: X:70.09, Y:-8.83, Z:-1.33 [[ 9.86845405e-01 1.60405980e-01 2.01511264e-02 7.00902070e+01] [-1.60374028e-01 9.87051122e-01 -3.20229042e-03 -8.83029761e+00] [-2.04038584e-02 -7.15517167e-05 9.99791817e-01 -1.32991189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters 0.02386566454369583 Centerline is valid? [True, True] Translation: X:70.12, Y:-8.84, Z:-1.33 [[ 9.87050938e-01 1.59411722e-01 1.78423085e-02 7.01180096e+01] [-1.59386527e-01 9.87212186e-01 -2.83447812e-03 -8.83902703e+00] [-1.80659934e-02 -4.60492865e-05 9.99836796e-01 -1.33401052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774012739 meters 0.024041706911833816 Centerline is valid? [True, True] Translation: X:70.15, Y:-8.84, Z:-1.34 [[ 9.87075352e-01 1.59343883e-01 1.70814843e-02 7.01457187e+01] [-1.59320794e-01 9.87223138e-01 -2.71287738e-03 -8.84328282e+00] [-1.72955169e-02 -4.36212348e-05 9.99850420e-01 -1.33533353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters 0.02443982752873637 Centerline is valid? [True, True] Translation: X:70.17, Y:-8.84, Z:-1.33 [[ 9.86718770e-01 1.61439556e-01 1.79816106e-02 7.01744925e+01] [-1.61414337e-01 9.86882598e-01 -2.85469411e-03 -8.84432725e+00] [-1.82065991e-02 -8.57094906e-05 9.99834242e-01 -1.33328479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834012739 meters 0.0248503461173621 Centerline is valid? [True, True] Translation: X:70.20, Y:-8.85, Z:-1.33 [[ 9.86496415e-01 1.62782384e-01 1.80753495e-02 7.02034124e+01] [-1.62757143e-01 9.86661990e-01 -2.86873643e-03 -8.84805520e+00] [-1.83012401e-02 -1.11894035e-04 9.99832512e-01 -1.33370124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters 0.02559268757127824 Centerline is valid? [True, True] Translation: X:70.23, Y:-8.85, Z:-1.34 [[ 9.86312191e-01 1.63996263e-01 1.71315003e-02 7.02315448e+01] [-1.63973785e-01 9.86460952e-01 -2.71821315e-03 -8.85023421e+00] [-1.73453328e-02 -1.28110173e-04 9.99849550e-01 -1.33696019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894012739 meters 0.027324180551249695 Centerline is valid? [True, True] Translation: X:70.26, Y:-8.85, Z:-1.34 [[ 9.85906814e-01 1.66613168e-01 1.50932863e-02 7.02600597e+01] [-1.66596040e-01 9.86022327e-01 -2.39392909e-03 -8.84798525e+00] [-1.52811774e-02 -1.54290735e-04 9.99883224e-01 -1.34166547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters 0.027565333472323473 Centerline is valid? [True, True] Translation: X:70.29, Y:-8.85, Z:-1.34 [[ 9.85639004e-01 1.68160332e-01 1.54226253e-02 7.02888364e+01] [-1.68142653e-01 9.85759641e-01 -2.44520379e-03 -8.85006194e+00] [-1.56141879e-02 -1.83112916e-04 9.99878074e-01 -1.34095542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954012739 meters 0.029674165626853766 Centerline is valid? [True, True] Translation: X:70.32, Y:-8.85, Z:-1.34 [[ 9.85111218e-01 1.71031432e-01 1.74395126e-02 7.03178988e+01] [-1.71009293e-01 9.85265539e-01 -2.76402238e-03 -8.84637920e+00] [-1.76552855e-02 -2.59449262e-04 9.99844100e-01 -1.33706394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters 0.030112685670858223 Centerline is valid? [True, True] Translation: X:70.35, Y:-8.85, Z:-1.34 [[ 9.84840771e-01 1.72500085e-01 1.82312042e-02 7.03464526e+01] [-1.72476162e-01 9.85009457e-01 -2.88835982e-03 -8.84780152e+00] [-1.84561509e-02 -2.99873628e-04 9.99829626e-01 -1.33535816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014012739 meters 0.032506369076238155 Centerline is valid? [True, True] Translation: X:70.38, Y:-8.84, Z:-1.34 [[ 9.84469739e-01 1.74684511e-01 1.74543741e-02 7.03753552e+01] [-1.74662951e-01 9.84624403e-01 -2.76395820e-03 -8.84444742e+00] [-1.76688234e-02 -3.27599282e-04 9.99843840e-01 -1.33909709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters 0.032524442973520015 Centerline is valid? [True, True] Translation: X:70.40, Y:-8.85, Z:-1.34 [[ 9.84429980e-01 1.74982172e-01 1.66989196e-02 7.04042045e+01] [-1.74962497e-01 9.84571550e-01 -2.64333572e-03 -8.84739328e+00] [-1.69038178e-02 -3.19505738e-04 9.99857069e-01 -1.34195758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074012739 meters 0.03297156115387751 Centerline is valid? [True, True] Translation: X:70.43, Y:-8.85, Z:-1.34 [[ 9.84449830e-01 1.74879192e-01 1.66072642e-02 7.04318020e+01] [-1.74859729e-01 9.84589848e-01 -2.62815686e-03 -8.84853753e+00] [-1.68109537e-02 -3.16653146e-04 9.99858636e-01 -1.34245183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters 0.03208702400094746 Centerline is valid? [True, True] Translation: X:70.46, Y:-8.85, Z:-1.34 [[ 9.84482856e-01 1.74344165e-01 1.99403434e-02 7.04604196e+01] [-1.74316036e-01 9.84684708e-01 -3.15361036e-03 -8.85048338e+00] [-2.01847648e-02 -3.71246288e-04 9.99796198e-01 -1.33517726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134012739 meters 0.03129821304984233 Centerline is valid? [True, True] Translation: X:70.49, Y:-8.86, Z:-1.33 [[ 9.84583949e-01 1.73649853e-01 2.09803686e-02 7.04894063e+01] [-1.73618577e-01 9.84807386e-01 -3.31704964e-03 -8.85506281e+00] [-2.12376272e-02 -3.76667920e-04 9.99774385e-01 -1.33414258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters 0.029962360946513854 Centerline is valid? [True, True] Translation: X:70.52, Y:-8.86, Z:-1.34 [[ 9.85088810e-01 1.71033258e-01 1.86456553e-02 7.05168020e+01] [-1.71008098e-01 9.85265215e-01 -2.94736785e-03 -8.85913479e+00] [-1.88750135e-02 -2.85138958e-04 9.99821810e-01 -1.33913944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194012739 meters 0.029493376975696074 Centerline is valid? [True, True] Translation: X:70.54, Y:-8.86, Z:-1.34 [[ 9.85315038e-01 1.69906217e-01 1.69160578e-02 7.05438515e+01] [-1.69885358e-01 9.85460207e-01 -2.67306363e-03 -8.86415921e+00] [-1.71242720e-02 -2.39980742e-04 9.99853340e-01 -1.34422403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters 0.028514999907275018 Centerline is valid? [True, True] Translation: X:70.57, Y:-8.87, Z:-1.35 [[ 9.85588918e-01 1.68395833e-01 1.60414230e-02 7.05714216e+01] [-1.68376890e-01 9.85719434e-01 -2.53393140e-03 -8.87120770e+00] [-1.62390459e-02 -2.03590218e-04 9.99868117e-01 -1.34696402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254012739 meters 0.026716428705286226 Centerline is valid? [True, True] Translation: X:70.60, Y:-8.88, Z:-1.34 [[ 9.86047542e-01 1.65556283e-01 1.73597952e-02 7.05986939e+01] [-1.65533675e-01 9.86200328e-01 -2.74128889e-03 -8.88107194e+00] [-1.75740733e-02 -1.70589515e-04 9.99845549e-01 -1.34403913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters 0.02589434974058694 Centerline is valid? [True, True] Translation: X:70.63, Y:-8.89, Z:-1.34 [[ 9.86242202e-01 1.64248079e-01 1.86785123e-02 7.06272499e+01] [-1.64221688e-01 9.86419050e-01 -2.94858481e-03 -8.88690483e+00] [-1.89091398e-02 -1.59398054e-04 9.99821194e-01 -1.34265805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314012739 meters 0.025489094207007783 Centerline is valid? [True, True] Translation: X:70.66, Y:-8.89, Z:-1.34 [[ 9.86297594e-01 1.63778381e-01 1.98418287e-02 7.06556020e+01] [-1.63748524e-01 9.86497144e-01 -3.13125330e-03 -8.89040339e+00] [-2.00867389e-02 -1.60722565e-04 9.99798228e-01 -1.33970623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters 0.02594672959800214 Centerline is valid? [True, True] Translation: X:70.68, Y:-8.89, Z:-1.34 [[ 9.86246076e-01 1.64112377e-01 1.96419374e-02 7.06831427e+01] [-1.64083203e-01 9.86441635e-01 -3.09880905e-03 -8.89400441e+00] [-1.98841778e-02 -1.66723743e-04 9.99802276e-01 -1.34097542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374012739 meters 0.025960858025218532 Centerline is valid? [True, True] Translation: X:70.71, Y:-8.90, Z:-1.34 [[ 9.86236710e-01 1.64209515e-01 1.92973166e-02 7.07104333e+01] [-1.64181400e-01 9.86425470e-01 -3.04308635e-03 -8.89915442e+00] [-1.95350683e-02 -1.67056988e-04 9.99809158e-01 -1.34251121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters 0.02505869940723771 Centerline is valid? [True, True] Translation: X:70.74, Y:-8.91, Z:-1.34 [[ 9.86446096e-01 1.63023663e-01 1.86382557e-02 7.07382932e+01] [-1.62997248e-01 9.86622149e-01 -2.93788554e-03 -8.90970749e+00] [-1.88678607e-02 -1.39918666e-04 9.99821976e-01 -1.34372993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434012739 meters 0.025063770273303802 Centerline is valid? [True, True] Translation: X:70.77, Y:-8.91, Z:-1.34 [[ 9.86502043e-01 1.62630151e-01 1.91089884e-02 7.07657337e+01] [-1.62602330e-01 9.86687091e-01 -3.01113304e-03 -8.91457328e+00] [-1.93442932e-02 -1.36677142e-04 9.99812872e-01 -1.34231391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters 0.02515332708445506 Centerline is valid? [True, True] Translation: X:70.79, Y:-8.92, Z:-1.34 [[ 9.86344693e-01 1.63243126e-01 2.18135022e-02 7.07940665e+01] [-1.63207054e-01 9.86585857e-01 -3.43582417e-03 -8.91968088e+00] [-2.20817674e-02 -1.71210497e-04 9.99756153e-01 -1.33836301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494012739 meters 0.02549706340885871 Centerline is valid? [True, True] Translation: X:70.82, Y:-8.92, Z:-1.34 [[ 9.86205747e-01 1.64070172e-01 2.18907006e-02 7.08222438e+01] [-1.64034072e-01 9.86448651e-01 -3.44692162e-03 -8.92254546e+00] [-2.21595891e-02 -1.91446847e-04 9.99754428e-01 -1.33923452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters 0.026212024311605277 Centerline is valid? [True, True] Translation: X:70.85, Y:-8.92, Z:-1.34 [[ 9.86010838e-01 1.65379782e-01 2.07883593e-02 7.08514439e+01] [-1.65347541e-01 9.86229934e-01 -3.27219070e-03 -8.92378265e+00] [-2.10432564e-02 -2.10888607e-04 9.99778544e-01 -1.34215197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554012739 meters 0.029417527179870385 Centerline is valid? [True, True] Translation: X:70.88, Y:-8.92, Z:-1.35 [[ 9.85336940e-01 1.69794495e-01 1.67614187e-02 7.08820402e+01] [-1.69774186e-01 9.85479461e-01 -2.63764416e-03 -8.91875711e+00] [-1.69658913e-02 -2.46687984e-04 9.99856038e-01 -1.34981642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters 0.033043902154475786 Centerline is valid? [True, True] Translation: X:70.91, Y:-8.92, Z:-1.35 [[ 9.84967458e-01 1.72045881e-01 1.54700355e-02 7.09110888e+01] [-1.72028859e-01 9.85088902e-01 -2.43438803e-03 -8.91522879e+00] [-1.56581868e-02 -2.63499570e-04 9.99877368e-01 -1.35311894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614012739 meters 0.0345080347258311 Centerline is valid? [True, True] Translation: X:70.94, Y:-8.91, Z:-1.35 [[ 9.84421580e-01 1.75078770e-01 1.61733397e-02 7.09409380e+01] [-1.75060601e-01 9.84554375e-01 -2.54337163e-03 -8.91315813e+00] [-1.63688228e-02 -3.27564663e-04 9.99865968e-01 -1.35123137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters 0.034476927616900736 Centerline is valid? [True, True] Translation: X:70.97, Y:-8.91, Z:-1.35 [[ 9.84341096e-01 1.75342735e-01 1.80978397e-02 7.09696382e+01] [-1.75320042e-01 9.84507383e-01 -2.84536795e-03 -8.91409790e+00] [-1.83163714e-02 -3.72101394e-04 9.99832172e-01 -1.34852452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674012739 meters 0.032500930387770334 Centerline is valid? [True, True] Translation: X:71.00, Y:-8.92, Z:-1.35 [[ 9.84400204e-01 1.74765986e-01 2.03245560e-02 7.09986929e+01] [-1.74737274e-01 9.84609915e-01 -3.19386949e-03 -8.91599150e+00] [-2.05699391e-02 -4.07411731e-04 9.99788333e-01 -1.34585863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters 0.03557544971665904 Centerline is valid? [True, True] Translation: X:71.03, Y:-8.91, Z:-1.35 [[ 9.84527401e-01 1.74139640e-01 1.95238780e-02 7.10278145e+01] [-1.74113040e-01 9.84720895e-01 -3.06714386e-03 -8.91237406e+00] [-1.97596819e-02 -3.79674582e-04 9.99804686e-01 -1.34794038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73401273900001 meters 0.033112968391398954 Centerline is valid? [True, True] Translation: X:71.06, Y:-8.92, Z:-1.35 [[ 9.84647129e-01 1.73595908e-01 1.82891485e-02 7.10564163e+01] [-1.73572493e-01 9.84816907e-01 -2.87211754e-03 -8.91807970e+00] [-1.85100505e-02 -3.46470801e-04 9.99828614e-01 -1.35124437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters 0.03047381262371653 Centerline is valid? [True, True] Translation: X:71.09, Y:-8.92, Z:-1.35 [[ 9.85081589e-01 1.71115168e-01 1.82718727e-02 7.10859199e+01] [-1.71091386e-01 9.85250988e-01 -2.86853783e-03 -8.91927451e+00] [-1.84932309e-02 -3.00416215e-04 9.99828940e-01 -1.35117148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794012739 meters 0.028758340589497777 Centerline is valid? [True, True] Translation: X:71.11, Y:-8.92, Z:-1.35 [[ 9.85415604e-01 1.69093101e-01 1.90685837e-02 7.11148892e+01] [-1.69066835e-01 9.85600045e-01 -2.99290736e-03 -8.92407079e+00] [-1.93000769e-02 -2.74607476e-04 9.99813698e-01 -1.35009448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters 0.025255600231242546 Centerline is valid? [True, True] Translation: X:71.14, Y:-8.93, Z:-1.35 [[ 9.86409857e-01 1.63093277e-01 1.99042087e-02 7.11424493e+01] [-1.63063451e-01 9.86610640e-01 -3.12332092e-03 -8.93473117e+00] [-2.01470967e-02 -1.64774412e-04 9.99797013e-01 -1.35023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854012739 meters 0.024243437693063443 Centerline is valid? [True, True] Translation: X:71.17, Y:-8.94, Z:-1.35 [[ 9.86975403e-01 1.59669412e-01 1.96273289e-02 7.11694069e+01] [-1.59639752e-01 9.87170537e-01 -3.07892293e-03 -8.94151176e+00] [-1.98671306e-02 -9.44807067e-05 9.99802625e-01 -1.35149136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters 0.023865466280298727 Centerline is valid? [True, True] Translation: X:71.20, Y:-8.95, Z:-1.35 [[ 9.87425373e-01 1.56928977e-01 1.90899941e-02 7.11969195e+01] [-1.56900429e-01 9.87609890e-01 -2.99349523e-03 -8.94720495e+00] [-1.93232331e-02 -3.93751179e-05 9.99813288e-01 -1.35259950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914012739 meters 0.023823678558398457 Centerline is valid? [True, True] Translation: X:71.22, Y:-8.95, Z:-1.35 [[ 9.88155916e-01 1.52180338e-01 1.97238522e-02 7.12229537e+01] [-1.52148940e-01 9.88352742e-01 -3.09166787e-03 -8.95478557e+00] [-1.99646145e-02 5.40866898e-05 9.99800686e-01 -1.35183355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters 0.024274124800948583 Centerline is valid? [True, True] Translation: X:71.25, Y:-8.96, Z:-1.35 [[ 9.88448871e-01 1.50187863e-01 2.03085064e-02 7.12508421e+01] [-1.50154190e-01 9.88657472e-01 -3.18161076e-03 -8.96085416e+00] [-2.05559959e-02 9.54522375e-05 9.99788699e-01 -1.35037549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974012739 meters 0.02490678477469558 Centerline is valid? [True, True] Translation: X:71.28, Y:-8.97, Z:-1.35 [[ 9.88879459e-01 1.47302178e-01 2.04813222e-02 7.12790647e+01] [-1.47267329e-01 9.89091525e-01 -3.20773370e-03 -8.96549797e+00] [-2.07304084e-02 1.55832349e-04 9.99785090e-01 -1.35099249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters 0.025465498013331405 Centerline is valid? [True, True] Translation: X:71.31, Y:-8.97, Z:-1.35 [[ 9.89044904e-01 1.46276389e-01 1.98341973e-02 7.13061350e+01] [-1.46243520e-01 9.89243746e-01 -3.10546316e-03 -8.97022340e+00] [-2.00751116e-02 1.70819670e-04 9.99798460e-01 -1.35316691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034012739 meters 0.025812554271093968 Centerline is valid? [True, True] Translation: X:71.33, Y:-8.98, Z:-1.36 [[ 9.89190065e-01 1.45408863e-01 1.89546069e-02 7.13348598e+01] [-1.45378707e-01 9.89371634e-01 -2.96665439e-03 -8.97591972e+00] [-1.91845283e-02 1.78988813e-04 9.99815944e-01 -1.35537621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters 0.025812554271093968 Centerline is valid? [True, True] Translation: X:71.36, Y:-8.98, Z:-1.36 [[ 9.89196767e-01 1.45363245e-01 1.89547434e-02 7.13628533e+01] [-1.45333097e-01 9.89378338e-01 -2.96578205e-03 -8.98021250e+00] [-1.91845282e-02 1.78990459e-04 9.99815944e-01 -1.35595153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09401273900001 meters 0.02605926970021191 Centerline is valid? [True, True] Translation: X:71.39, Y:-8.99, Z:-1.36 [[ 9.89343073e-01 1.44370235e-01 1.89081674e-02 7.13916363e+01] [-1.44340071e-01 9.89523722e-01 -2.95760440e-03 -8.98570298e+00] [-1.91370702e-02 1.96879190e-04 9.99816850e-01 -1.35574837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters 0.026981436526119434 Centerline is valid? [True, True] Translation: X:71.42, Y:-8.99, Z:-1.36 [[ 9.89632167e-01 1.42398361e-01 1.87317932e-02 7.14196930e+01] [-1.42368421e-01 9.89809402e-01 -2.92912812e-03 -8.99268384e+00] [-1.89580081e-02 2.31943597e-04 9.99820254e-01 -1.35593399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154012739 meters 0.030636059810569383 Centerline is valid? [True, True] Translation: X:71.45, Y:-9.01, Z:-1.36 [[ 9.90336337e-01 1.37535573e-01 1.78299272e-02 7.14460859e+01] [-1.37507673e-01 9.90496780e-01 -2.78729348e-03 -9.00622620e+00] [-1.80438375e-02 3.08606218e-04 9.99837149e-01 -1.35923831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters 0.0312745398337856 Centerline is valid? [True, True] Translation: X:71.47, Y:-9.01, Z:-1.36 [[ 9.90558418e-01 1.35918624e-01 1.78926840e-02 7.14738731e+01] [-1.35890279e-01 9.90719947e-01 -2.79624772e-03 -9.01254161e+00] [-1.81067011e-02 3.38404893e-04 9.99836003e-01 -1.35988127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214012739 meters 0.03263171070822599 Centerline is valid? [True, True] Translation: X:71.50, Y:-9.02, Z:-1.36 [[ 9.90734557e-01 1.34306928e-01 2.01664883e-02 7.15008676e+01] [-1.34270608e-01 9.90939694e-01 -3.15051764e-03 -9.01968844e+00] [-2.04069101e-02 4.13560060e-04 9.99791672e-01 -1.35595119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters 0.03317014373203872 Centerline is valid? [True, True] Translation: X:71.53, Y:-9.02, Z:-1.35 [[ 9.90770032e-01 1.33904805e-01 2.10771480e-02 7.15283341e+01] [-1.33865067e-01 9.90994102e-01 -3.29149614e-03 -9.02443197e+00] [-2.13280765e-02 4.39621905e-04 9.99772434e-01 -1.35479184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274012739 meters 0.03268141611480731 Centerline is valid? [True, True] Translation: X:71.56, Y:-9.03, Z:-1.36 [[ 9.90848296e-01 1.33301216e-01 2.12235957e-02 7.15576587e+01] [-1.33260811e-01 9.91075466e-01 -3.31316619e-03 -9.02722541e+00] [-2.14758341e-02 4.54571494e-04 9.99769264e-01 -1.35508028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters 0.03383619761617845 Centerline is valid? [True, True] Translation: X:71.59, Y:-9.04, Z:-1.36 [[ 9.91055722e-01 1.31939772e-01 2.00112916e-02 7.15866231e+01] [-1.31903583e-01 9.91257630e-01 -3.12346611e-03 -9.03520006e+00] [-2.02484548e-02 4.55967904e-04 9.99794875e-01 -1.35855526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334012739 meters 0.0371034002547052 Centerline is valid? [True, True] Translation: X:71.62, Y:-9.05, Z:-1.36 [[ 9.91181333e-01 1.31088315e-01 1.93757204e-02 7.16151152e+01] [-1.31054230e-01 9.91370589e-01 -3.02404061e-03 -9.04658487e+00] [-1.96049357e-02 4.58102492e-04 9.99807700e-01 -1.36015801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters 0.03803588101447912 Centerline is valid? [True, True] Translation: X:71.64, Y:-9.05, Z:-1.36 [[ 9.91386878e-01 1.29625452e-01 1.86895952e-02 7.16436324e+01] [-1.29593483e-01 9.91562919e-01 -2.91675815e-03 -9.05493631e+00] [-1.89099957e-02 4.69586017e-04 9.99821080e-01 -1.36139222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394012739 meters 0.03553548431978193 Centerline is valid? [True, True] Translation: X:71.67, Y:-9.06, Z:-1.36 [[ 9.91446974e-01 1.29094060e-01 1.91734679e-02 7.16732626e+01] [-1.29060323e-01 9.91632231e-01 -2.99183157e-03 -9.05701419e+00] [-1.93992564e-02 4.91708399e-04 9.99811696e-01 -1.36093927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters 0.0392672538845794 Centerline is valid? [True, True] Translation: X:71.70, Y:-9.07, Z:-1.36 [[ 9.91491815e-01 1.28678927e-01 1.96395946e-02 7.17003169e+01] [-1.28643458e-01 9.91686176e-01 -3.06408701e-03 -9.06940559e+00] [-1.98705979e-02 5.11511826e-04 9.99802429e-01 -1.36096267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454012739 meters 0.035983551163077124 Centerline is valid? [True, True] Translation: X:71.73, Y:-9.07, Z:-1.36 [[ 9.91511166e-01 1.28387048e-01 2.05517162e-02 7.17299800e+01] [-1.28348161e-01 9.91723991e-01 -3.20562629e-03 -9.07276818e+00] [-2.07931909e-02 5.40639284e-04 9.99783652e-01 -1.35985749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters 0.03888499530433814 Centerline is valid? [True, True] Translation: X:71.76, Y:-9.08, Z:-1.36 [[ 9.91447816e-01 1.28987091e-01 1.98383318e-02 7.17593742e+01] [-1.28950986e-01 9.91646142e-01 -3.09388580e-03 -9.08330190e+00] [-2.00716765e-02 5.09253879e-04 9.99798414e-01 -1.36128208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514012739 meters 0.03594310255293859 Centerline is valid? [True, True] Translation: X:71.79, Y:-9.09, Z:-1.37 [[ 9.91256420e-01 1.30693604e-01 1.81629109e-02 7.17896048e+01] [-1.30663622e-01 9.91422712e-01 -2.83281478e-03 -9.08631972e+00] [-1.83773531e-02 4.34814107e-04 9.99831028e-01 -1.36540646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters 0.03541857174046386 Centerline is valid? [True, True] Translation: X:71.82, Y:-9.09, Z:-1.37 [[ 9.91165610e-01 1.31349422e-01 1.83864700e-02 7.18182938e+01] [-1.31318810e-01 9.91336041e-01 -2.86772129e-03 -9.09218386e+00] [-1.86038439e-02 4.27897359e-04 9.99826842e-01 -1.36575809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574012739 meters 0.033207791431857966 Centerline is valid? [True, True] Translation: X:71.85, Y:-9.09, Z:-1.37 [[ 9.91075773e-01 1.31963904e-01 1.88239525e-02 7.18483051e+01] [-1.31931937e-01 9.91254431e-01 -2.93551175e-03 -9.09483561e+00] [-1.90467079e-02 4.25834068e-04 9.99818504e-01 -1.36539975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters 0.03455703031478049 Centerline is valid? [True, True] Translation: X:71.88, Y:-9.10, Z:-1.37 [[ 9.90677264e-01 1.34869206e-01 1.92056150e-02 7.18765769e+01] [-1.34836485e-01 9.90863338e-01 -2.99450806e-03 -9.10382582e+00] [-1.94340067e-02 3.76973436e-04 9.99811071e-01 -1.36500172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634012739 meters 0.03257284516695523 Centerline is valid? [True, True] Translation: X:71.91, Y:-9.11, Z:-1.37 [[ 9.90373498e-01 1.37083201e-01 1.91971531e-02 7.19063093e+01] [-1.37050912e-01 9.90559480e-01 -2.99384373e-03 -9.10614564e+00] [-1.94263277e-02 3.34036150e-04 9.99811235e-01 -1.36579529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters 0.027428809137941254 Centerline is valid? [True, True] Translation: X:71.94, Y:-9.10, Z:-1.37 [[ 9.89820376e-01 1.40940359e-01 1.97847960e-02 7.19374451e+01] [-1.40906841e-01 9.90018053e-01 -3.08504367e-03 -9.10243960e+00] [-2.00221124e-02 2.65825974e-04 9.99799502e-01 -1.36507270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694012739 meters 0.02787737615053964 Centerline is valid? [True, True] Translation: X:71.97, Y:-9.11, Z:-1.36 [[ 9.89549752e-01 1.42729193e-01 2.04857373e-02 7.19658323e+01] [-1.42693647e-01 9.89761750e-01 -3.19407529e-03 -9.10782869e+00] [-2.07318870e-02 2.37511840e-04 9.99785043e-01 -1.36332794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters 0.025572995346602394 Centerline is valid? [True, True] Translation: X:72.00, Y:-9.11, Z:-1.36 [[ 9.89270218e-01 1.44501933e-01 2.15319810e-02 7.19950940e+01] [-1.44463101e-01 9.89504496e-01 -3.35637138e-03 -9.10500504e+00] [-2.17909941e-02 2.09781508e-04 9.99762526e-01 -1.36267593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754012739 meters 0.024509773264218337 Centerline is valid? [True, True] Translation: X:72.02, Y:-9.11, Z:-1.36 [[ 9.88850282e-01 1.47226134e-01 2.23513931e-02 7.20234008e+01] [-1.47185011e-01 9.89102847e-01 -3.48295971e-03 -9.10615331e+00] [-2.26206092e-02 1.54335654e-04 9.99744109e-01 -1.36275371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters 0.02484696920837963 Centerline is valid? [True, True] Translation: X:72.05, Y:-9.11, Z:-1.37 [[ 9.88959169e-01 1.46955202e-01 1.90769405e-02 7.20498958e+01] [-1.46925215e-01 9.89143139e-01 -2.97174336e-03 -9.11370257e+00] [-1.93065379e-02 1.36049268e-04 9.99813602e-01 -1.36996247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814012739 meters 0.02542759497948819 Centerline is valid? [True, True] Translation: X:72.08, Y:-9.12, Z:-1.37 [[ 9.89131093e-01 1.45925654e-01 1.80384188e-02 7.20773215e+01] [-1.45898690e-01 9.89295548e-01 -2.80895255e-03 -9.12067753e+00] [-1.82552257e-02 1.46640639e-04 9.99833349e-01 -1.37257163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters 0.025619353981045683 Centerline is valid? [True, True] Translation: X:72.11, Y:-9.13, Z:-1.37 [[ 9.89274111e-01 1.44920919e-01 1.82937344e-02 7.21053976e+01] [-1.44893034e-01 9.89443227e-01 -2.84761691e-03 -9.12641057e+00] [-1.85132909e-02 1.66438992e-04 9.99828600e-01 -1.37178430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874012739 meters 0.025953114491131503 Centerline is valid? [True, True] Translation: X:72.13, Y:-9.13, Z:-1.37 [[ 9.89400820e-01 1.43666377e-01 2.11184535e-02 7.21337495e+01] [-1.43628955e-01 9.89626154e-01 -3.28615916e-03 -9.13433633e+00] [-2.13714844e-02 2.18107179e-04 9.99771580e-01 -1.36683381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters 0.026157825726535987 Centerline is valid? [True, True] Translation: X:72.16, Y:-9.14, Z:-1.37 [[ 9.89356012e-01 1.44031784e-01 2.07250039e-02 7.21615877e+01] [-1.43995844e-01 9.89573041e-01 -3.22398251e-03 -9.14049165e+00] [-2.09732611e-02 2.05352066e-04 9.99780016e-01 -1.36799343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934012739 meters 0.025143576599634353 Centerline is valid? [True, True] Translation: X:72.19, Y:-9.15, Z:-1.38 [[ 9.89097096e-01 1.46194132e-01 1.77259552e-02 7.21903413e+01] [-1.46168195e-01 9.89255911e-01 -2.75708467e-03 -9.14540249e+00] [-1.79385755e-02 1.36053573e-04 9.99839082e-01 -1.37533882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters 0.02487709445397474 Centerline is valid? [True, True] Translation: X:72.22, Y:-9.15, Z:-1.38 [[ 9.88969138e-01 1.47250392e-01 1.60426339e-02 7.22187809e+01] [-1.47229291e-01 9.89099242e-01 -2.49502511e-03 -9.15087028e+00] [-1.62351504e-02 1.05557227e-04 9.99868196e-01 -1.37873672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994012739 meters 0.024683984171427056 Centerline is valid? [True, True] Translation: X:72.25, Y:-9.16, Z:-1.38 [[ 9.88827608e-01 1.48259888e-01 1.54585651e-02 7.22457113e+01] [-1.48240428e-01 9.88948431e-01 -2.40354331e-03 -9.15636445e+00] [-1.56440728e-02 8.51056744e-05 9.99877620e-01 -1.38105946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters 0.0238290675031628 Centerline is valid? [True, True] Translation: X:72.27, Y:-9.16, Z:-1.38 [[ 9.88331768e-01 1.51478311e-01 1.59573659e-02 7.22741397e+01] [-1.51458012e-01 9.88460581e-01 -2.48002520e-03 -9.15853323e+00] [-1.61488972e-02 3.42167680e-05 9.99869597e-01 -1.37953016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054012739 meters 0.023825208897389143 Centerline is valid? [True, True] Translation: X:72.30, Y:-9.16, Z:-1.38 [[ 9.88025165e-01 1.53464285e-01 1.59683288e-02 7.23022935e+01] [-1.53444225e-01 9.88154195e-01 -2.48122237e-03 -9.16211853e+00] [-1.61599501e-02 1.26230720e-06 9.99869419e-01 -1.38073323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters 0.024067765732638753 Centerline is valid? [True, True] Translation: X:72.33, Y:-9.17, Z:-1.38 [[ 9.87418765e-01 1.57171119e-01 1.73614953e-02 7.23309911e+01] [-1.57147994e-01 9.87571382e-01 -2.69680499e-03 -9.16555394e+00] [-1.75695758e-02 -6.54483147e-05 9.99845641e-01 -1.37764971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114012739 meters 0.024403586341453076 Centerline is valid? [True, True] Translation: X:72.36, Y:-9.17, Z:-1.38 [[ 9.87099054e-01 1.59049986e-01 1.83999666e-02 7.23593473e+01] [-1.59024356e-01 9.87270526e-01 -2.85720307e-03 -9.16824650e+00] [-1.86201828e-02 -1.05700387e-04 9.99826624e-01 -1.37572089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters 0.024967906369680923 Centerline is valid? [True, True] Translation: X:72.39, Y:-9.17, Z:-1.37 [[ 9.86833877e-01 1.60569033e-01 1.94032260e-02 7.23882923e+01] [-1.60540843e-01 9.87024602e-01 -3.01203401e-03 -9.17069232e+00] [-1.96351009e-02 -1.42633064e-04 9.99807203e-01 -1.37356761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174012739 meters 0.026149771869817984 Centerline is valid? [True, True] Translation: X:72.42, Y:-9.17, Z:-1.37 [[ 9.86464191e-01 1.62765098e-01 1.98978260e-02 7.24161888e+01] [-1.62735918e-01 9.86664830e-01 -3.08785816e-03 -9.17337439e+00] [-2.01350807e-02 -1.92029496e-04 9.99797250e-01 -1.37367504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters 0.025860247436292127 Centerline is valid? [True, True] Translation: X:72.44, Y:-9.18, Z:-1.38 [[ 9.86614480e-01 1.61904996e-01 1.94586693e-02 7.24429259e+01] [-1.61876945e-01 9.86806335e-01 -3.01859631e-03 -9.18113703e+00] [-1.96906639e-02 -1.71719103e-04 9.99806105e-01 -1.37621252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23401273900001 meters 0.02547603400474396 Centerline is valid? [True, True] Translation: X:72.47, Y:-9.19, Z:-1.38 [[ 9.86767316e-01 1.61040251e-01 1.88759540e-02 7.24716307e+01] [-1.61013717e-01 9.86947828e-01 -2.92713791e-03 -9.18693293e+00] [-1.91009689e-02 -1.50883497e-04 9.99817548e-01 -1.37806589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters 0.02499262342051315 Centerline is valid? [True, True] Translation: X:72.50, Y:-9.19, Z:-1.38 [[ 9.86899875e-01 1.60312006e-01 1.81300221e-02 7.24994474e+01] [-1.60287419e-01 9.87066382e-01 -2.81067929e-03 -9.19344686e+00] [-1.83461210e-02 -1.32155408e-04 9.99831687e-01 -1.38000268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294012739 meters 0.02436921325995518 Centerline is valid? [True, True] Translation: X:72.53, Y:-9.20, Z:-1.38 [[ 9.87139020e-01 1.58715095e-01 1.91330651e-02 7.25275980e+01] [-1.58687431e-01 9.87324418e-01 -2.96521762e-03 -9.20236925e+00] [-1.93611672e-02 -1.09094941e-04 9.99812549e-01 -1.37882604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters 0.032876080179468185 Centerline is valid? [True, True] Translation: X:72.56, Y:-9.21, Z:-1.36 [[ 9.87384123e-01 1.57139370e-01 1.94887592e-02 7.25564173e+01] [-1.57110379e-01 9.87576433e-01 -3.01940156e-03 -9.20965425e+00] [-1.97211062e-02 -8.05771965e-05 9.99805517e-01 -1.36270722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354012739 meters 0.023586787017386833 Centerline is valid? [True, True] Translation: X:72.58, Y:-9.22, Z:-1.38 [[ 9.87696712e-01 1.55027756e-01 2.05328985e-02 7.25832999e+01] [-1.54995141e-01 9.87910114e-01 -3.18012840e-03 -9.21869648e+00] [-2.07776662e-02 -4.14971164e-05 9.99784120e-01 -1.37637065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters 0.023541223240351336 Centerline is valid? [True, True] Translation: X:72.61, Y:-9.23, Z:-1.38 [[ 9.87887796e-01 1.53988005e-01 1.91153628e-02 7.26110328e+01] [-1.53959564e-01 9.88072717e-01 -2.95949947e-03 -9.22610495e+00] [-1.93430959e-02 -1.93395127e-05 9.99812905e-01 -1.38015194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414012739 meters 0.023719839428278315 Centerline is valid? [True, True] Translation: X:72.64, Y:-9.23, Z:-1.38 [[ 9.88048735e-01 1.53084468e-01 1.80233974e-02 7.26402372e+01] [-1.53059045e-01 9.88213107e-01 -2.78982177e-03 -9.23418730e+00] [-1.82380359e-02 -2.16412720e-06 9.99833673e-01 -1.38343098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters 0.023813216571492952 Centerline is valid? [True, True] Translation: X:72.67, Y:-9.24, Z:-1.39 [[ 9.88186416e-01 1.52287268e-01 1.72103147e-02 7.26688058e+01] [-1.52263974e-01 9.88336273e-01 -2.66355807e-03 -9.24163784e+00] [-1.74152043e-02 1.15809932e-05 9.99848344e-01 -1.38541913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474012739 meters 0.02371748483409177 Centerline is valid? [True, True] Translation: X:72.70, Y:-9.25, Z:-1.38 [[ 9.88327039e-01 1.51314217e-01 1.77107700e-02 7.26965838e+01] [-1.51289400e-01 9.88485714e-01 -2.74057679e-03 -9.24943981e+00] [-1.79215314e-02 2.91343778e-05 9.99839396e-01 -1.38464030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters 0.024173265569566574 Centerline is valid? [True, True] Translation: X:72.72, Y:-9.26, Z:-1.39 [[ 9.88672051e-01 1.49024804e-01 1.78657070e-02 7.27249873e+01] [-1.48999189e-01 9.88833456e-01 -2.76384004e-03 -9.25938390e+00] [-1.80780895e-02 7.05555432e-05 9.99836575e-01 -1.38503894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534012739 meters 0.024458790600677526 Centerline is valid? [True, True] Translation: X:72.75, Y:-9.27, Z:-1.39 [[ 9.88833474e-01 1.47998065e-01 1.74623588e-02 7.27540222e+01] [-1.47973442e-01 9.88987647e-01 -2.70095516e-03 -9.26744914e+00] [-1.76697933e-02 8.68295318e-05 9.99843873e-01 -1.38608161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters 0.024493530085196856 Centerline is valid? [True, True] Translation: X:72.78, Y:-9.27, Z:-1.39 [[ 9.88869320e-01 1.47761912e-01 1.74323105e-02 7.27828415e+01] [-1.47737333e-01 9.89022957e-01 -2.69657698e-03 -9.27305335e+00] [-1.76394067e-02 9.11591803e-05 9.99844409e-01 -1.38745747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59401273900001 meters 0.024484240439736533 Centerline is valid? [True, True] Translation: X:72.81, Y:-9.28, Z:-1.39 [[ 9.88816414e-01 1.48163054e-01 1.70237500e-02 7.28121169e+01] [-1.48139680e-01 9.88962943e-01 -2.63294994e-03 -9.27779088e+00] [-1.72259638e-02 8.16112479e-05 9.99851619e-01 -1.38844201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters 0.023946587389325643 Centerline is valid? [True, True] Translation: X:72.84, Y:-9.28, Z:-1.39 [[ 9.88549587e-01 1.49901458e-01 1.72993550e-02 7.28408681e+01] [-1.49877590e-01 9.88700941e-01 -2.67543015e-03 -9.27842520e+00] [-1.75049394e-02 5.20097368e-05 9.99846775e-01 -1.38924723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654012739 meters 0.023711332874327442 Centerline is valid? [True, True] Translation: X:72.87, Y:-9.28, Z:-1.39 [[ 9.88324035e-01 1.51325205e-01 1.77843694e-02 7.28685635e+01] [-1.51300220e-01 9.88484032e-01 -2.74987051e-03 -9.27879785e+00] [-1.79956899e-02 2.69841088e-05 9.99838064e-01 -1.38747998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters 0.02375950978622833 Centerline is valid? [True, True] Translation: X:72.90, Y:-9.28, Z:-1.39 [[ 9.88306086e-01 1.51456527e-01 1.76635635e-02 7.28968869e+01] [-1.51431920e-01 9.88463919e-01 -2.73018661e-03 -9.28136088e+00] [-1.78732998e-02 2.34327061e-05 9.99840260e-01 -1.38794736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714012739 meters 0.0237479697802045 Centerline is valid? [True, True] Translation: X:72.93, Y:-9.28, Z:-1.39 [[ 9.88320163e-01 1.51378052e-01 1.75482269e-02 7.29252153e+01] [-1.51353767e-01 9.88475940e-01 -2.71153637e-03 -9.28432405e+00] [-1.77564672e-02 2.38758069e-05 9.99842341e-01 -1.38909890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters 0.023850888918004385 Centerline is valid? [True, True] Translation: X:72.95, Y:-9.29, Z:-1.39 [[ 9.88419997e-01 1.50695222e-01 1.78005497e-02 7.29540072e+01] [-1.50670133e-01 9.88580269e-01 -2.74993481e-03 -9.28838973e+00] [-1.80116742e-02 3.60793737e-05 9.99837776e-01 -1.38957659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774012739 meters 0.024596365281341435 Centerline is valid? [True, True] Translation: X:72.98, Y:-9.30, Z:-1.39 [[ 9.88968464e-01 1.46781080e-01 1.99171125e-02 7.29814458e+01] [-1.46748896e-01 9.89168995e-01 -3.07590268e-03 -9.29886949e+00] [-2.01528744e-02 1.19156485e-04 9.99796903e-01 -1.38606105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters 0.028152162616504783 Centerline is valid? [True, True] Translation: X:73.01, Y:-9.32, Z:-1.39 [[ 9.89859864e-01 1.40585599e-01 2.03258361e-02 7.30107971e+01] [-1.40550787e-01 9.90068496e-01 -3.13836796e-03 -9.31574250e+00] [-2.05651793e-02 2.49732217e-04 9.99788483e-01 -1.38586492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834012739 meters 0.03025205671172311 Centerline is valid? [True, True] Translation: X:73.04, Y:-9.33, Z:-1.39 [[ 9.90246131e-01 1.38063520e-01 1.87366983e-02 7.30416264e+01] [-1.38033441e-01 9.90423336e-01 -2.89547343e-03 -9.32606521e+00] [-1.89570225e-02 2.80940423e-04 9.99820260e-01 -1.38966661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters 0.03127081200686683 Centerline is valid? [True, True] Translation: X:73.07, Y:-9.33, Z:-1.39 [[ 9.90503999e-01 1.36400757e-01 1.72238603e-02 7.30727940e+01] [-1.36375046e-01 9.90653698e-01 -2.66411277e-03 -9.33395996e+00] [-1.74262679e-02 2.89909609e-04 9.99848109e-01 -1.39323292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894012739 meters 0.032358053163872864 Centerline is valid? [True, True] Translation: X:73.10, Y:-9.34, Z:-1.39 [[ 9.90501650e-01 1.36418161e-01 1.72211266e-02 7.31027583e+01] [-1.36392412e-01 9.90651301e-01 -2.66646067e-03 -9.34372703e+00] [-1.74238852e-02 2.92302687e-04 9.99848150e-01 -1.39387407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters 0.032099819040244955 Centerline is valid? [True, True] Translation: X:73.13, Y:-9.35, Z:-1.39 [[ 9.90406092e-01 1.36988178e-01 1.81662080e-02 7.31327413e+01] [-1.36959564e-01 9.90572637e-01 -2.81588507e-03 -9.35006273e+00] [-1.83806915e-02 3.00833791e-04 9.99831016e-01 -1.39185037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954012739 meters 0.032099819040244955 Centerline is valid? [True, True] Translation: X:73.16, Y:-9.35, Z:-1.39 [[ 9.90403183e-01 1.37009214e-01 1.81661812e-02 7.31632034e+01] [-1.36980600e-01 9.90569727e-01 -2.81605801e-03 -9.35483131e+00] [-1.83806950e-02 3.00618410e-04 9.99831016e-01 -1.39247663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters 0.03117073483290727 Centerline is valid? [True, True] Translation: X:73.19, Y:-9.36, Z:-1.39 [[ 9.90199244e-01 1.38183839e-01 2.02653381e-02 7.31940622e+01] [-1.38148466e-01 9.90406548e-01 -3.14197676e-03 -9.36180823e+00] [-2.05050939e-02 3.11557653e-04 9.99789700e-01 -1.38828425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014012739 meters 0.028807944805621478 Centerline is valid? [True, True] Translation: X:73.23, Y:-9.36, Z:-1.39 [[ 9.90197895e-01 1.38150005e-01 2.05597630e-02 7.32268731e+01] [-1.38113527e-01 9.90411265e-01 -3.19058544e-03 -9.36362667e+00] [-2.08034003e-02 3.19729609e-04 9.99783535e-01 -1.38866517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters 0.03213022365826521 Centerline is valid? [True, True] Translation: X:73.26, Y:-9.38, Z:-1.39 [[ 9.90281726e-01 1.37565020e-01 2.04442990e-02 7.32563683e+01] [-1.37528745e-01 9.90492682e-01 -3.17656753e-03 -9.37707992e+00] [-2.06869131e-02 3.34018004e-04 9.99785947e-01 -1.38932175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074012739 meters 0.03129190619027053 Centerline is valid? [True, True] Translation: X:73.29, Y:-9.39, Z:-1.39 [[ 9.90686065e-01 1.34720041e-01 1.97896987e-02 7.32873428e+01] [-1.34685424e-01 9.90883628e-01 -3.07787098e-03 -9.38790978e+00] [-2.00239394e-02 3.83819927e-04 9.99799427e-01 -1.39183270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters 0.03441718717106876 Centerline is valid? [True, True] Translation: X:73.32, Y:-9.40, Z:-1.39 [[ 9.90962660e-01 1.32659118e-01 1.98636699e-02 7.33169226e+01] [-1.32623809e-01 9.91161629e-01 -3.09031894e-03 -9.40210186e+00] [-2.00980664e-02 4.27995133e-04 9.99797922e-01 -1.39202742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134012739 meters 0.039311029067773624 Centerline is valid? [True, True] Translation: X:73.35, Y:-9.41, Z:-1.38 [[ 9.91416065e-01 1.29227559e-01 1.98600942e-02 7.33472816e+01] [-1.29191511e-01 9.91614838e-01 -3.09290089e-03 -9.41193793e+00] [-2.00932521e-02 5.00596053e-04 9.99797985e-01 -1.37978718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters 0.03662903951294593 Centerline is valid? [True, True] Translation: X:73.38, Y:-9.42, Z:-1.39 [[ 9.91471981e-01 1.28850833e-01 1.95134356e-02 7.33767518e+01] [-1.28815951e-01 9.91663861e-01 -3.03935497e-03 -9.42433200e+00] [-1.97423923e-02 4.99793521e-04 9.99804975e-01 -1.39354937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194012739 meters 0.035705379985826693 Centerline is valid? [True, True] Translation: X:73.41, Y:-9.43, Z:-1.40 [[ 9.91429573e-01 1.29277279e-01 1.88358024e-02 7.34081812e+01] [-1.29244824e-01 9.91608370e-01 -2.93545166e-03 -9.43133012e+00] [-1.90572265e-02 4.75863617e-04 9.99818281e-01 -1.39531710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters 0.035388892046587885 Centerline is valid? [True, True] Translation: X:73.44, Y:-9.44, Z:-1.40 [[ 9.91105953e-01 1.31891864e-01 1.77066467e-02 7.34380317e+01] [-1.31863549e-01 9.91264028e-01 -2.76232129e-03 -9.43995789e+00] [-1.79162896e-02 4.02891799e-04 9.99839409e-01 -1.39801780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254012739 meters 0.030391968327924755 Centerline is valid? [True, True] Translation: X:73.47, Y:-9.44, Z:-1.40 [[ 9.90416748e-01 1.37133402e-01 1.64041152e-02 7.34704198e+01] [-1.37109772e-01 9.90552546e-01 -2.56189355e-03 -9.43938906e+00] [-1.66004593e-02 2.88177776e-04 9.99862161e-01 -1.40169230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters 0.028931474045693937 Centerline is valid? [True, True] Translation: X:73.50, Y:-9.44, Z:-1.40 [[ 9.90020911e-01 1.40006945e-01 1.60203452e-02 7.35008993e+01] [-1.39984779e-01 9.90150494e-01 -2.50228083e-03 -9.44373409e+00] [-1.62128894e-02 2.34705866e-04 9.99868535e-01 -1.40324109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314012739 meters 0.027653139948631295 Centerline is valid? [True, True] Translation: X:73.53, Y:-9.45, Z:-1.40 [[ 9.89658122e-01 1.42547599e-01 1.60307384e-02 7.35318116e+01] [-1.42525716e-01 9.89787929e-01 -2.50520930e-03 -9.44832926e+00] [-1.62241429e-02 1.94508273e-04 9.99868361e-01 -1.40349485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters 0.025465363941250437 Centerline is valid? [True, True] Translation: X:73.56, Y:-9.45, Z:-1.40 [[ 9.89061007e-01 1.46478098e-01 1.73922491e-02 7.35640468e+01] [-1.46452895e-01 9.89213903e-01 -2.72091094e-03 -9.45120070e+00] [-1.76032084e-02 1.44001682e-04 9.99845041e-01 -1.40187463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374012739 meters 0.025160297439337096 Centerline is valid? [True, True] Translation: X:73.59, Y:-9.46, Z:-1.40 [[ 9.88805596e-01 1.48116586e-01 1.80269161e-02 7.35948300e+01] [-1.48089721e-01 9.88969900e-01 -2.82353682e-03 -9.45690588e+00] [-1.82462901e-02 1.22328023e-04 9.99833515e-01 -1.40130826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters 0.024090347702289572 Centerline is valid? [True, True] Translation: X:73.63, Y:-9.46, Z:-1.40 [[ 9.88342724e-01 1.51081115e-01 1.87924404e-02 7.36264395e+01] [-1.51052422e-01 9.88521366e-01 -2.94525234e-03 -9.46235919e+00] [-1.90217009e-02 7.22750836e-05 9.99819068e-01 -1.40050357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434012739 meters 0.023883977052660772 Centerline is valid? [True, True] Translation: X:73.66, Y:-9.47, Z:-1.40 [[ 9.88148843e-01 1.52387350e-01 1.84380192e-02 7.36576728e+01] [-1.52359897e-01 9.88320845e-01 -2.89284848e-03 -9.46807167e+00] [-1.86635122e-02 4.93501600e-05 9.99825820e-01 -1.40119943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters 0.023794855521831467 Centerline is valid? [True, True] Translation: X:73.69, Y:-9.47, Z:-1.40 [[ 9.87872448e-01 1.54153533e-01 1.85664830e-02 7.36904268e+01] [-1.54125968e-01 9.88046906e-01 -2.91515665e-03 -9.47229248e+00] [-1.87939378e-02 1.82257730e-05 9.99823378e-01 -1.40120381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494012739 meters 0.023950294437509432 Centerline is valid? [True, True] Translation: X:73.72, Y:-9.47, Z:-1.40 [[ 9.87053003e-01 1.59213450e-01 1.94279825e-02 7.37242875e+01] [-1.59184170e-01 9.87244180e-01 -3.05430236e-03 -9.47048548e+00] [-1.96664487e-02 -7.78689535e-05 9.99806594e-01 -1.40071784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters 0.024848577541029246 Centerline is valid? [True, True] Translation: X:73.76, Y:-9.47, Z:-1.40 [[ 9.86557021e-01 1.62259738e-01 1.94170540e-02 7.37571215e+01] [-1.62231008e-01 9.86748073e-01 -3.05629369e-03 -9.47107579e+00] [-1.96556540e-02 -1.34840248e-04 9.99806800e-01 -1.40209860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554012739 meters 0.02830461319706468 Centerline is valid? [True, True] Translation: X:73.79, Y:-9.46, Z:-1.41 [[ 9.85565225e-01 1.68369137e-01 1.76923814e-02 7.37877940e+01] [-1.68346212e-01 9.85723988e-01 -2.78788870e-03 -9.46376024e+00] [-1.79091992e-02 -2.30799239e-04 9.99839591e-01 -1.40504441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters 0.030338271059137133 Centerline is valid? [True, True] Translation: X:73.82, Y:-9.46, Z:-1.41 [[ 9.85092684e-01 1.71181046e-01 1.70133207e-02 7.38167751e+01] [-1.71160266e-01 9.85239553e-01 -2.68090304e-03 -9.46101934e+00] [-1.72211163e-02 -2.71066532e-04 9.99851669e-01 -1.40621931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614012739 meters 0.03202845654890029 Centerline is valid? [True, True] Translation: X:73.85, Y:-9.46, Z:-1.41 [[ 9.84736084e-01 1.73212436e-01 1.70967025e-02 7.38475288e+01] [-1.73191759e-01 9.84884438e-01 -2.69396624e-03 -9.45908746e+00] [-1.73049047e-02 -3.08162220e-04 9.99850211e-01 -1.40612303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters 0.03269673552323422 Centerline is valid? [True, True] Translation: X:73.88, Y:-9.46, Z:-1.40 [[ 9.84375530e-01 1.75089091e-01 1.86715634e-02 7.38775840e+01] [-1.75064775e-01 9.84552523e-01 -2.94166086e-03 -9.45638164e+00] [-1.88981876e-02 -3.73034079e-04 9.99821344e-01 -1.40318911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674012739 meters 0.03257933990775837 Centerline is valid? [True, True] Translation: X:73.91, Y:-9.46, Z:-1.40 [[ 9.84445630e-01 1.74574262e-01 1.97643281e-02 7.39052639e+01] [-1.74546928e-01 9.84643935e-01 -3.11308247e-03 -9.45687775e+00] [-2.00042899e-02 -3.85142330e-04 9.99799820e-01 -1.40131548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters 0.0326625571542954 Centerline is valid? [True, True] Translation: X:73.93, Y:-9.46, Z:-1.40 [[ 9.84660872e-01 1.73396609e-01 1.94057463e-02 7.39329571e+01] [-1.73370051e-01 9.84852014e-01 -3.05547909e-03 -9.45800060e+00] [-1.96415980e-02 -3.55764530e-04 9.99807022e-01 -1.40242247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73401273900001 meters 0.031024657439215276 Centerline is valid? [True, True] Translation: X:73.96, Y:-9.46, Z:-1.40 [[ 9.84920473e-01 1.71968658e-01 1.89325743e-02 7.39615730e+01] [-1.71943137e-01 9.85102369e-01 -2.97988577e-03 -9.46231408e+00] [-1.91629707e-02 -3.20375704e-04 9.99816322e-01 -1.40359924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters 0.028709104247751138 Centerline is valid? [True, True] Translation: X:73.99, Y:-9.47, Z:-1.40 [[ 9.85453043e-01 1.68869784e-01 1.91127348e-02 7.39907868e+01] [-1.68843210e-01 9.85638335e-01 -3.00733087e-03 -9.46573772e+00] [-1.93460914e-02 -2.63472133e-04 9.99812812e-01 -1.40438506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794012739 meters 0.027935413255510032 Centerline is valid? [True, True] Translation: X:74.02, Y:-9.47, Z:-1.40 [[ 9.85617798e-01 1.67861609e-01 1.94945176e-02 7.40196408e+01] [-1.67833778e-01 9.85810539e-01 -3.06671323e-03 -9.46906062e+00] [-1.97326843e-02 -2.49231404e-04 9.99805261e-01 -1.40430458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters 0.028267248295501472 Centerline is valid? [True, True] Translation: X:74.05, Y:-9.47, Z:-1.41 [[ 9.85617894e-01 1.67891071e-01 1.92342273e-02 7.40476897e+01] [-1.67864001e-01 9.85805522e-01 -3.02488437e-03 -9.46713363e+00] [-1.94690585e-02 -2.47354196e-04 9.99810429e-01 -1.40603500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854012739 meters 0.028111572612266503 Centerline is valid? [True, True] Translation: X:74.08, Y:-9.47, Z:-1.41 [[ 9.85599869e-01 1.68088582e-01 1.84154051e-02 7.40765510e+01] [-1.68063822e-01 9.85771865e-01 -2.89506108e-03 -9.46885592e+00] [-1.86400149e-02 -2.41591549e-04 9.99826231e-01 -1.40816824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters 0.028385721838696264 Centerline is valid? [True, True] Translation: X:74.11, Y:-9.47, Z:-1.41 [[ 9.85570645e-01 1.68332562e-01 1.77384414e-02 7.41052815e+01] [-1.68309643e-01 9.85730233e-01 -2.78782639e-03 -9.46934559e+00] [-1.79545999e-02 -2.37950890e-04 9.99838775e-01 -1.41022235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914012739 meters 0.028909532336972084 Centerline is valid? [True, True] Translation: X:74.13, Y:-9.47, Z:-1.41 [[ 9.85468529e-01 1.69039438e-01 1.66567530e-02 7.41349857e+01] [-1.69019343e-01 9.85609260e-01 -2.61709131e-03 -9.46737711e+00] [-1.68594416e-02 -2.36252324e-04 9.99857842e-01 -1.41223236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters 0.028682535148034136 Centerline is valid? [True, True] Translation: X:74.16, Y:-9.47, Z:-1.41 [[ 9.85573948e-01 1.68463711e-01 1.62472129e-02 7.41637285e+01] [-1.68444526e-01 9.85707831e-01 -2.55198678e-03 -9.46947244e+00] [-1.64449221e-02 -2.21582391e-04 9.99864749e-01 -1.41322934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974012739 meters 0.02710014795277554 Centerline is valid? [True, True] Translation: X:74.19, Y:-9.47, Z:-1.41 [[ 9.85962213e-01 1.66126520e-01 1.67479459e-02 7.41930219e+01] [-1.66105810e-01 9.86104428e-01 -2.62989103e-03 -9.47257477e+00] [-1.69521183e-02 -1.88957941e-04 9.99856285e-01 -1.41161633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters 0.026764277858412313 Centerline is valid? [True, True] Translation: X:74.22, Y:-9.47, Z:-1.41 [[ 9.86136508e-01 1.64969563e-01 1.78838087e-02 7.42206330e+01] [-1.64945784e-01 9.86298641e-01 -2.80680917e-03 -9.47452172e+00] [-1.81018143e-02 -1.81961850e-04 9.99836132e-01 -1.41047260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034012739 meters 0.02574607567850857 Centerline is valid? [True, True] Translation: X:74.25, Y:-9.48, Z:-1.41 [[ 9.86287509e-01 1.63915572e-01 1.91998577e-02 7.42491342e+01] [-1.63887989e-01 9.86474356e-01 -3.01209953e-03 -9.47936027e+00] [-1.94338973e-02 -1.75829922e-04 9.99811129e-01 -1.40909487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters 0.025274339674438265 Centerline is valid? [True, True] Translation: X:74.28, Y:-9.48, Z:-1.41 [[ 9.86457492e-01 1.62822675e-01 1.97583443e-02 7.42785409e+01] [-1.62793265e-01 9.86655335e-01 -3.09872918e-03 -9.48077368e+00] [-1.99992192e-02 -1.59760759e-04 9.99799983e-01 -1.40869107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09401273900001 meters 0.02546258772342953 Centerline is valid? [True, True] Translation: X:74.31, Y:-9.48, Z:-1.41 [[ 9.86425560e-01 1.63028180e-01 1.96577663e-02 7.43067691e+01] [-1.62999127e-01 9.86621399e-01 -3.08201405e-03 -9.48176711e+00] [-1.98972280e-02 -1.64021307e-04 9.99802017e-01 -1.40938933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters 0.02630479856292188 Centerline is valid? [True, True] Translation: X:74.34, Y:-9.48, Z:-1.41 [[ 9.86305950e-01 1.63871805e-01 1.86173215e-02 7.43358937e+01] [-1.63845917e-01 9.86481628e-01 -2.91783702e-03 -9.47815478e+00] [-1.88437968e-02 -1.72492087e-04 9.99822425e-01 -1.41146232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154012739 meters 0.026233606204354408 Centerline is valid? [True, True] Translation: X:74.36, Y:-9.48, Z:-1.41 [[ 9.86251364e-01 1.64248762e-01 1.81821763e-02 7.43642926e+01] [-1.64224154e-01 9.86418934e-01 -2.84855757e-03 -9.48047925e+00] [-1.84031150e-02 -1.76558735e-04 9.99830633e-01 -1.41326372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters 0.02698949213801862 Centerline is valid? [True, True] Translation: X:74.39, Y:-9.48, Z:-1.42 [[ 9.86222652e-01 1.64490791e-01 1.75402457e-02 7.43925465e+01] [-1.64467942e-01 9.86378603e-01 -2.74721575e-03 -9.48037687e+00] [-1.77532147e-02 -1.75441707e-04 9.99842384e-01 -1.41557174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214012739 meters 0.025890366850626897 Centerline is valid? [True, True] Translation: X:74.42, Y:-9.48, Z:-1.42 [[ 9.86393112e-01 1.63459091e-01 1.75998287e-02 7.44215828e+01] [-1.63435941e-01 9.86550100e-01 -2.75546958e-03 -9.48355384e+00] [-1.78135194e-02 -1.58468366e-04 9.99841314e-01 -1.41633392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters 0.02564837249522428 Centerline is valid? [True, True] Translation: X:74.45, Y:-9.49, Z:-1.42 [[ 9.86533374e-01 1.62567655e-01 1.79905607e-02 7.44495782e+01] [-1.62543334e-01 9.86697388e-01 -2.81577475e-03 -9.48736468e+00] [-1.82089931e-02 -1.46389948e-04 9.99834192e-01 -1.41604074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274012739 meters 0.024864272671526372 Centerline is valid? [True, True] Translation: X:74.48, Y:-9.49, Z:-1.41 [[ 9.86887996e-01 1.60345549e-01 1.84766922e-02 7.44766268e+01] [-1.60319527e-01 9.87060937e-01 -2.89072630e-03 -9.49274851e+00] [-1.87011362e-02 -1.09351463e-04 9.99825112e-01 -1.41466405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters 0.024243475601326708 Centerline is valid? [True, True] Translation: X:74.50, Y:-9.50, Z:-1.41 [[ 9.87051734e-01 1.59259224e-01 1.91147706e-02 7.45047893e+01] [-1.59231194e-01 9.87236796e-01 -2.98932280e-03 -9.49741546e+00] [-1.93468821e-02 -9.30514891e-05 9.99812827e-01 -1.41348205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334012739 meters 0.02379984042635884 Centerline is valid? [True, True] Translation: X:74.53, Y:-9.50, Z:-1.41 [[ 9.87460023e-01 1.56651634e-01 1.95695799e-02 7.45333781e+01] [-1.56621761e-01 9.87653919e-01 -3.05944965e-03 -9.49787100e+00] [-1.98072401e-02 -4.39378466e-05 9.99803816e-01 -1.41378306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters 0.02370182664488724 Centerline is valid? [True, True] Translation: X:74.56, Y:-9.50, Z:-1.41 [[ 9.87699036e-01 1.55132281e-01 1.96109566e-02 7.45622486e+01] [-1.55102001e-01 9.87893706e-01 -3.06494509e-03 -9.50171612e+00] [-1.98490125e-02 -1.44552961e-05 9.99802989e-01 -1.41481430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394012739 meters 0.02378525546414889 Centerline is valid? [True, True] Translation: X:74.59, Y:-9.51, Z:-1.42 [[ 9.87928818e-01 1.53730459e-01 1.90681850e-02 7.45896390e+01] [-1.53701589e-01 9.88112820e-01 -2.97924035e-03 -9.50578376e+00] [-1.92995181e-02 1.24670658e-05 9.99813747e-01 -1.41640107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters 0.024032127822339457 Centerline is valid? [True, True] Translation: X:74.62, Y:-9.51, Z:-1.42 [[ 9.88367314e-01 1.50933903e-01 1.86818140e-02 7.46185666e+01] [-1.50905712e-01 9.88543855e-01 -2.91776720e-03 -9.50976997e+00] [-1.89081824e-02 6.46332995e-05 9.99821222e-01 -1.41762898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454012739 meters 0.02461790950302891 Centerline is valid? [True, True] Translation: X:74.65, Y:-9.51, Z:-1.42 [[ 9.88652242e-01 1.49133849e-01 1.80510229e-02 7.46465508e+01] [-1.49107244e-01 9.88817013e-01 -2.81845079e-03 -9.51192646e+00] [-1.82694850e-02 9.49294156e-05 9.99833095e-01 -1.41941769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters 0.024608796412076597 Centerline is valid? [True, True] Translation: X:74.68, Y:-9.51, Z:-1.42 [[ 9.88662584e-01 1.49191145e-01 1.69793227e-02 7.46755009e+01] [-1.49167633e-01 9.88808371e-01 -2.65002575e-03 -9.51488978e+00] [-1.71846568e-02 8.72159339e-05 9.99852329e-01 -1.42167668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514012739 meters 0.024641251521593514 Centerline is valid? [True, True] Translation: X:74.70, Y:-9.52, Z:-1.42 [[ 9.88647007e-01 1.49346580e-01 1.65134717e-02 7.47027713e+01] [-1.49324375e-01 9.88784907e-01 -2.57658929e-03 -9.51781274e+00] [-1.67130764e-02 8.14734570e-05 9.99860323e-01 -1.42331845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters 0.02454313398491014 Centerline is valid? [True, True] Translation: X:74.73, Y:-9.52, Z:-1.42 [[ 9.88692947e-01 1.48869498e-01 1.80035739e-02 7.47321692e+01] [-1.48843046e-01 9.88856847e-01 -2.80787821e-03 -9.51937655e+00] [-1.82209647e-02 9.64226080e-05 9.99833980e-01 -1.42066397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574012739 meters 0.02462395638154004 Centerline is valid? [True, True] Translation: X:74.76, Y:-9.52, Z:-1.42 [[ 9.88762765e-01 1.48282808e-01 1.89842721e-02 7.47592676e+01] [-1.48253307e-01 9.88944992e-01 -2.95987189e-03 -9.52355011e+00] [-1.92132990e-02 1.12130001e-04 9.99815401e-01 -1.41914987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters 0.024985419588703157 Centerline is valid? [True, True] Translation: X:74.79, Y:-9.53, Z:-1.42 [[ 9.88868330e-01 1.47380320e-01 2.04564577e-02 7.47880380e+01] [-1.47345899e-01 9.89079887e-01 -3.18809006e-03 -9.52825188e+00] [-2.07029326e-02 1.38426144e-04 9.99785662e-01 -1.41779767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634012739 meters 0.025076273789329733 Centerline is valid? [True, True] Translation: X:74.82, Y:-9.53, Z:-1.42 [[ 9.88896324e-01 1.47188339e-01 2.04854442e-02 7.48165960e+01] [-1.47153799e-01 9.89108474e-01 -3.19165229e-03 -9.53260940e+00] [-2.07321005e-02 1.41702272e-04 9.99785057e-01 -1.41842447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters 0.025170163633432396 Centerline is valid? [True, True] Translation: X:74.84, Y:-9.54, Z:-1.42 [[ 9.88964699e-01 1.46812356e-01 1.98735101e-02 7.48449000e+01] [-1.46779791e-01 9.89164350e-01 -3.09541916e-03 -9.53610085e+00] [-2.01126135e-02 1.44230625e-04 9.99797711e-01 -1.41968308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694012739 meters 0.025578631674827178 Centerline is valid? [True, True] Translation: X:74.87, Y:-9.54, Z:-1.42 [[ 9.89135289e-01 1.45985627e-01 1.73082907e-02 7.48731151e+01] [-1.45960812e-01 9.89286701e-01 -2.69518922e-03 -9.53988090e+00] [-1.75163207e-02 1.39574589e-04 9.99846568e-01 -1.42473435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters 0.02604063758516399 Centerline is valid? [True, True] Translation: X:74.90, Y:-9.55, Z:-1.43 [[ 9.89294438e-01 1.44941038e-01 1.69885505e-02 7.49014496e+01] [-1.44916991e-01 9.89440282e-01 -2.64462614e-03 -9.54579572e+00] [-1.71924711e-02 1.54384314e-04 9.99852187e-01 -1.42601253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754012739 meters 0.027666905863538857 Centerline is valid? [True, True] Translation: X:74.93, Y:-9.55, Z:-1.42 [[ 9.89724537e-01 1.41751946e-01 1.87543546e-02 7.49278425e+01] [-1.41722085e-01 9.89902183e-01 -2.91856490e-03 -9.55477019e+00] [-1.89786889e-02 2.30669049e-04 9.99819862e-01 -1.42367075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters 0.028460758309787372 Centerline is valid? [True, True] Translation: X:74.96, Y:-9.56, Z:-1.42 [[ 9.89911169e-01 1.40392279e-01 1.91281557e-02 7.49559468e+01] [-1.40360989e-01 9.90095925e-01 -2.97535416e-03 -9.55980121e+00] [-1.93564258e-02 2.60489449e-04 9.99812613e-01 -1.42364351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814012739 meters 0.030332706215809153 Centerline is valid? [True, True] Translation: X:74.98, Y:-9.57, Z:-1.43 [[ 9.90277960e-01 1.37975651e-01 1.76714930e-02 7.49838886e+01] [-1.37948574e-01 9.90435581e-01 -2.74798426e-03 -9.56570103e+00] [-1.78816304e-02 2.83510979e-04 9.99840071e-01 -1.42698130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters 0.031324835807226246 Centerline is valid? [True, True] Translation: X:75.01, Y:-9.57, Z:-1.43 [[ 9.90478606e-01 1.36721836e-01 1.61018728e-02 7.50120208e+01] [-1.36699197e-01 9.90609440e-01 -2.50352527e-03 -9.57069697e+00] [-1.62929537e-02 2.78575137e-04 9.99867222e-01 -1.43054084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874012739 meters 0.031324835807226246 Centerline is valid? [True, True] Translation: X:75.04, Y:-9.57, Z:-1.43 [[ 9.90484716e-01 1.36677550e-01 1.61019846e-02 7.50400231e+01] [-1.36654917e-01 9.90615551e-01 -2.50280600e-03 -9.57496081e+00] [-1.62929537e-02 2.78575729e-04 9.99867222e-01 -1.43111621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters 0.03251615363028431 Centerline is valid? [True, True] Translation: X:75.07, Y:-9.58, Z:-1.43 [[ 9.90642523e-01 1.35697043e-01 1.46186363e-02 7.50670312e+01] [-1.35678289e-01 9.90750343e-01 -2.27171848e-03 -9.58025533e+00] [-1.47916844e-02 2.67029372e-04 9.99890561e-01 -1.43442477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934012739 meters 0.03385313002116179 Centerline is valid? [True, True] Translation: X:75.10, Y:-9.58, Z:-1.43 [[ 9.90870690e-01 1.34015441e-01 1.46675880e-02 7.50954758e+01] [-1.33996390e-01 9.90979201e-01 -2.27842310e-03 -9.58469210e+00] [-1.48406185e-02 2.92218828e-04 9.99889829e-01 -1.43441683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters 0.0353013005474874 Centerline is valid? [True, True] Translation: X:75.12, Y:-9.59, Z:-1.43 [[ 9.91077792e-01 1.32113977e-01 1.76268692e-02 7.51231035e+01] [-1.32086179e-01 9.91234457e-01 -2.73715543e-03 -9.58773635e+00] [-1.78339766e-02 3.84468158e-04 9.99840888e-01 -1.42898961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994012739 meters 0.03678644583235322 Centerline is valid? [True, True] Translation: X:75.15, Y:-9.59, Z:-1.43 [[ 9.91283773e-01 1.30459038e-01 1.83553752e-02 7.51523135e+01] [-1.30428632e-01 9.91453607e-01 -2.84914513e-03 -9.59385677e+00] [-1.85701997e-02 4.30244849e-04 9.99827466e-01 -1.42788575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters 0.03533181030638963 Centerline is valid? [True, True] Translation: X:75.18, Y:-9.60, Z:-1.43 [[ 9.91615250e-01 1.27902970e-01 1.84397912e-02 7.51821580e+01] [-1.27871850e-01 9.91786570e-01 -2.86183795e-03 -9.59603437e+00] [-1.86543749e-02 4.79911942e-04 9.99825877e-01 -1.42790823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054012739 meters 0.038946121927340996 Centerline is valid? [True, True] Translation: X:75.21, Y:-9.61, Z:-1.43 [[ 9.92251110e-01 1.22823725e-01 1.87634753e-02 7.52112311e+01] [-1.22790604e-01 9.92428330e-01 -2.91156751e-03 -9.60739194e+00] [-1.89790140e-02 5.85027638e-04 9.99819711e-01 -1.42819691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters 0.04517677685334943 Centerline is valid? [True, True] Translation: X:75.24, Y:-9.62, Z:-1.43 [[ 9.92524375e-01 1.20544487e-01 1.90890295e-02 7.52402080e+01] [-1.20509784e-01 9.92707720e-01 -2.96214866e-03 -9.62218178e+00] [-1.93068977e-02 6.39589919e-04 9.99813400e-01 -1.42848926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114012739 meters 0.045837905539049956 Centerline is valid? [True, True] Translation: X:75.27, Y:-9.63, Z:-1.43 [[ 9.92996363e-01 1.16566121e-01 1.92499838e-02 7.52704403e+01] [-1.16530050e-01 9.93182669e-01 -2.98883214e-03 -9.63121705e+00] [-1.94671468e-02 7.24697862e-04 9.99810234e-01 -1.42815954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters 0.05169850248006584 Centerline is valid? [True, True] Translation: X:75.30, Y:-9.65, Z:-1.43 [[ 9.93126377e-01 1.15513623e-01 1.88839153e-02 7.52992047e+01] [-1.15478718e-01 9.93305627e-01 -2.93213026e-03 -9.64621961e+00] [-1.90962003e-02 7.31285562e-04 9.99817384e-01 -1.42940911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174012739 meters 0.05233632849945501 Centerline is valid? [True, True] Translation: X:75.33, Y:-9.65, Z:-1.43 [[ 9.93203094e-01 1.15005094e-01 1.79288326e-02 7.53301032e+01] [-1.14973526e-01 9.93364652e-01 -2.78509476e-03 -9.65401299e+00] [-1.81301686e-02 7.04823638e-04 9.99835387e-01 -1.43163396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters 0.04782713030300555 Centerline is valid? [True, True] Translation: X:75.36, Y:-9.66, Z:-1.43 [[ 9.93353356e-01 1.13760491e-01 1.75402669e-02 7.53615739e+01] [-1.13730040e-01 9.93507947e-01 -2.72717696e-03 -9.65857353e+00] [-1.77366396e-02 7.14195128e-04 9.99842438e-01 -1.43247208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23401273900001 meters 0.05699234609881256 Centerline is valid? [True, True] Translation: X:75.39, Y:-9.68, Z:-1.43 [[ 9.93392284e-01 1.13293600e-01 1.83393019e-02 7.53894560e+01] [-1.13260175e-01 9.93561264e-01 -2.85439735e-03 -9.68027320e+00] [-1.85446049e-02 7.58423757e-04 9.99827746e-01 -1.43210069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters 0.05165894841280639 Centerline is valid? [True, True] Translation: X:75.42, Y:-9.69, Z:-1.43 [[ 9.93376859e-01 1.13042095e-01 2.05888571e-02 7.54210096e+01] [-1.12999839e-01 9.93589827e-01 -3.20808078e-03 -9.68521558e+00] [-2.08195272e-02 8.60295675e-04 9.99782880e-01 -1.42817096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294012739 meters 0.050407384367085084 Centerline is valid? [True, True] Translation: X:75.45, Y:-9.69, Z:-1.43 [[ 9.93303224e-01 1.13541313e-01 2.13793332e-02 7.54524023e+01] [-1.13495788e-01 9.93532881e-01 -3.33482039e-03 -9.69129544e+00] [-2.16197104e-02 8.86023570e-04 9.99765874e-01 -1.42804773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters 0.049236462669081694 Centerline is valid? [True, True] Translation: X:75.48, Y:-9.70, Z:-1.43 [[ 9.93081672e-01 1.15614886e-01 2.05424160e-02 7.54815577e+01] [-1.15573233e-01 9.93293784e-01 -3.20742117e-03 -9.70054187e+00] [-2.07754798e-02 8.11077753e-04 9.99783837e-01 -1.43051992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354012739 meters 0.04783682692699176 Centerline is valid? [True, True] Translation: X:75.51, Y:-9.71, Z:-1.43 [[ 9.92866549e-01 1.17636122e-01 1.94359964e-02 7.55121557e+01] [-1.17599218e-01 9.93056501e-01 -3.03487571e-03 -9.70636549e+00] [-1.96580536e-02 7.27568603e-04 9.99806497e-01 -1.43305087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters 0.04822998009530126 Centerline is valid? [True, True] Translation: X:75.54, Y:-9.71, Z:-1.44 [[ 9.92266073e-01 1.22912330e-01 1.73378141e-02 7.55407122e+01] [-1.22883760e-01 9.92417377e-01 -2.70769374e-03 -9.71286966e+00] [-1.75391570e-02 5.56216839e-04 9.99846022e-01 -1.43765604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414012739 meters 0.04063866962451639 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.71, Z:-1.44 [[ 9.91975274e-01 1.25278972e-01 1.70362568e-02 7.55732675e+01] [-1.25251742e-01 9.92121426e-01 -2.66031993e-03 -9.70690947e+00] [-1.72353175e-02 5.05150759e-04 9.99851333e-01 -1.43876386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters 0.03915659281324926 Centerline is valid? [True, True] Translation: X:75.60, Y:-9.71, Z:-1.44 [[ 9.91753338e-01 1.27037211e-01 1.69370455e-02 7.56046322e+01] [-1.27010546e-01 9.91897839e-01 -2.64522132e-03 -9.71006130e+00] [-1.71358604e-02 4.72223668e-04 9.99853059e-01 -1.43991211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474012739 meters 0.03842032059390614 Centerline is valid? [True, True] Translation: X:75.63, Y:-9.72, Z:-1.44 [[ 9.91573329e-01 1.28359101e-01 1.75007070e-02 7.56343576e+01] [-1.28330829e-01 9.91727647e-01 -2.73370951e-03 -9.71737970e+00] [-1.77068315e-02 4.64793196e-04 9.99843114e-01 -1.43958005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters 0.03804941766382561 Centerline is valid? [True, True] Translation: X:75.67, Y:-9.72, Z:-1.44 [[ 9.91661585e-01 1.27670275e-01 1.75385951e-02 7.56657769e+01] [-1.27641776e-01 9.91816552e-01 -2.73944255e-03 -9.72405009e+00] [-1.77448143e-02 4.77942513e-04 9.99842434e-01 -1.43977490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534012739 meters 0.045068229515401605 Centerline is valid? [True, True] Translation: X:75.70, Y:-9.74, Z:-1.43 [[ 9.91870966e-01 1.26114437e-01 1.69450884e-02 7.56952700e+01] [-1.26087554e-01 9.92015578e-01 -2.64987648e-03 -9.73557444e+00] [-1.71439794e-02 4.91770804e-04 9.99852910e-01 -1.42893774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters 0.04561621848077861 Centerline is valid? [True, True] Translation: X:75.72, Y:-9.75, Z:-1.44 [[ 9.92340016e-01 1.22064673e-01 1.90133792e-02 7.57223456e+01] [-1.22030072e-01 9.92521948e-01 -2.97385033e-03 -9.75364722e+00] [-1.92341982e-02 6.30866650e-04 9.99814807e-01 -1.43971913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59401273900001 meters 0.04532599505321493 Centerline is valid? [True, True] Translation: X:75.75, Y:-9.76, Z:-1.44 [[ 9.92599408e-01 1.19835232e-01 1.96451633e-02 7.57532002e+01] [-1.19797858e-01 9.92793550e-01 -3.07260327e-03 -9.76114717e+00] [-1.98717975e-02 6.96415700e-04 9.99802294e-01 -1.43884846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters 0.04917073250500581 Centerline is valid? [True, True] Translation: X:75.78, Y:-9.78, Z:-1.44 [[ 9.92987058e-01 1.16717826e-01 1.88056057e-02 7.57806667e+01] [-1.16682965e-01 9.93164849e-01 -2.94420182e-03 -9.77839833e+00] [-1.90207073e-02 7.29260471e-04 9.99818824e-01 -1.44072319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654012739 meters 0.05275578305904215 Centerline is valid? [True, True] Translation: X:75.81, Y:-9.79, Z:-1.44 [[ 9.93087879e-01 1.15965040e-01 1.81266045e-02 7.58099558e+01] [-1.15932531e-01 9.93253037e-01 -2.83760693e-03 -9.79276333e+00] [-1.83333682e-02 7.16529898e-04 9.99831673e-01 -1.44244068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters 0.054372480944802064 Centerline is valid? [True, True] Translation: X:75.84, Y:-9.81, Z:-1.44 [[ 9.93091154e-01 1.15878694e-01 1.84956289e-02 7.58387511e+01] [-1.15844781e-01 9.93263101e-01 -2.89822236e-03 -9.81043892e+00] [-1.87068680e-02 7.35576910e-04 9.99824741e-01 -1.44254817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714012739 meters 0.048557011200858244 Centerline is valid? [True, True] Translation: X:75.87, Y:-9.81, Z:-1.44 [[ 9.92976602e-01 1.16773731e-01 1.90095580e-02 7.58710964e+01] [-1.16738016e-01 9.93158268e-01 -2.98155136e-03 -9.81302722e+00] [-1.92276666e-02 7.41472651e-04 9.99814856e-01 -1.44145165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters 0.04703099230378334 Centerline is valid? [True, True] Translation: X:75.90, Y:-9.83, Z:-1.44 [[ 9.92435659e-01 1.21198685e-01 1.95535314e-02 7.58995789e+01] [-1.21161687e-01 9.92628037e-01 -3.07026843e-03 -9.82574372e+00] [-1.97814960e-02 6.77905034e-04 9.99804097e-01 -1.44132911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774012739 meters 0.04384750906787633 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.82, Z:-1.43 [[ 9.92085110e-01 1.24065074e-01 1.93647209e-02 7.59326830e+01] [-1.24029335e-01 9.92273893e-01 -3.04044936e-03 -9.82313782e+00] [-1.95923205e-02 6.14591080e-04 9.99807863e-01 -1.42902213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters 0.038402818699459766 Centerline is valid? [True, True] Translation: X:75.96, Y:-9.83, Z:-1.44 [[ 9.91722503e-01 1.26780739e-01 2.03254084e-02 7.59619026e+01] [-1.26741912e-01 9.91930590e-01 -3.19241782e-03 -9.83044119e+00] [-2.05661314e-02 5.89911476e-04 9.99788321e-01 -1.44157779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834012739 meters 0.03754835619449236 Centerline is valid? [True, True] Translation: X:75.99, Y:-9.84, Z:-1.44 [[ 9.91219362e-01 1.30784709e-01 1.94817125e-02 7.59908464e+01] [-1.30749807e-01 9.91410674e-01 -3.06013966e-03 -9.83909815e+00] [-1.97145972e-02 4.86039527e-04 9.99805530e-01 -1.44348136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters 0.03317329748789077 Centerline is valid? [True, True] Translation: X:76.02, Y:-9.84, Z:-1.44 [[ 9.90736492e-01 1.34383526e-01 1.95517807e-02 7.60222847e+01] [-1.34349073e-01 9.90929309e-01 -3.07113359e-03 -9.84130331e+00] [-1.97871423e-02 4.15920523e-04 9.99804129e-01 -1.44460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894012739 meters 0.03088855189563949 Centerline is valid? [True, True] Translation: X:76.05, Y:-9.85, Z:-1.45 [[ 9.90571244e-01 1.35616928e-01 1.94077315e-02 7.60540919e+01] [-1.35583209e-01 9.90761272e-01 -3.04886859e-03 -9.84505528e+00] [-1.96419070e-02 3.88759027e-04 9.99807004e-01 -1.44612841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters 0.03511843012493875 Centerline is valid? [True, True] Translation: X:76.08, Y:-9.86, Z:-1.45 [[ 9.90505086e-01 1.36180735e-01 1.88276723e-02 7.60834585e+01] [-1.36149041e-01 9.90683941e-01 -2.96104688e-03 -9.86021998e+00] [-1.90555101e-02 3.69562475e-04 9.99818359e-01 -1.44782251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954012739 meters 0.03232980914026598 Centerline is valid? [True, True] Translation: X:76.12, Y:-9.86, Z:-1.45 [[ 9.90388426e-01 1.36946382e-01 1.94024207e-02 7.61159329e+01] [-1.36912831e-01 9.90578393e-01 -3.05344968e-03 -9.86421862e+00] [-1.96377776e-02 3.67660889e-04 9.99807093e-01 -1.44726002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters 0.032219685289402576 Centerline is valid? [True, True] Translation: X:76.15, Y:-9.87, Z:-1.45 [[ 9.90327059e-01 1.37383209e-01 1.94465726e-02 7.61488193e+01] [-1.37349568e-01 9.90517907e-01 -3.06145064e-03 -9.86995483e+00] [-1.96827703e-02 3.60859064e-04 9.99806210e-01 -1.44739833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014012739 meters 0.030745883679075353 Centerline is valid? [True, True] Translation: X:76.18, Y:-9.88, Z:-1.45 [[ 9.90133865e-01 1.38597881e-01 2.06290470e-02 7.61807825e+01] [-1.38560203e-01 9.90348674e-01 -3.25166026e-03 -9.87594004e+00] [-2.08806226e-02 3.61214005e-04 9.99781911e-01 -1.44682699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters 0.030252393309978212 Centerline is valid? [True, True] Translation: X:76.21, Y:-9.88, Z:-1.45 [[ 9.90014281e-01 1.39384769e-01 2.10620523e-02 7.62120075e+01] [-1.39345594e-01 9.90238234e-01 -3.32347191e-03 -9.88203120e+00] [-2.13196908e-02 3.55380469e-04 9.99772646e-01 -1.44661739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074012739 meters 0.028979351307326484 Centerline is valid? [True, True] Translation: X:76.24, Y:-9.89, Z:-1.45 [[ 9.89904713e-01 1.40294199e-01 2.01543057e-02 7.62431887e+01] [-1.40258452e-01 9.90109808e-01 -3.18342480e-03 -9.88778384e+00] [-2.04015918e-02 3.24475492e-04 9.99791813e-01 -1.44847886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters 0.028886445605818687 Centerline is valid? [True, True] Translation: X:76.27, Y:-9.89, Z:-1.45 [[ 9.89803298e-01 1.41106583e-01 1.94515565e-02 7.62737456e+01] [-1.41073379e-01 9.89994365e-01 -3.07563504e-03 -9.89383884e+00] [-1.96909237e-02 3.00176906e-04 9.99806070e-01 -1.45037518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134012739 meters 0.028185247737094788 Centerline is valid? [True, True] Translation: X:76.30, Y:-9.90, Z:-1.45 [[ 9.89596032e-01 1.42620619e-01 1.89486977e-02 7.63044631e+01] [-1.42589331e-01 9.89777393e-01 -2.99902991e-03 -9.89960967e+00] [-1.91827161e-02 2.65945957e-04 9.99815959e-01 -1.45176718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters 0.02659606496682652 Centerline is valid? [True, True] Translation: X:76.33, Y:-9.91, Z:-1.45 [[ 9.89131405e-01 1.45753147e-01 1.93670598e-02 7.63348488e+01] [-1.45721002e-01 9.89320966e-01 -3.06835237e-03 -9.90629200e+00] [-1.96074603e-02 2.12816326e-04 9.99807733e-01 -1.45191517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194012739 meters 0.024886001845109564 Centerline is valid? [True, True] Translation: X:76.37, Y:-9.91, Z:-1.45 [[ 9.88614037e-01 1.49115132e-01 2.01733345e-02 7.63668176e+01] [-1.49080882e-01 9.88819829e-01 -3.19959558e-03 -9.91094400e+00] [-2.04249013e-02 1.55706609e-04 9.99791378e-01 -1.44991667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters 0.024219365985188382 Centerline is valid? [True, True] Translation: X:76.40, Y:-9.92, Z:-1.45 [[ 9.88321572e-01 1.51040262e-01 2.01819006e-02 7.63981878e+01] [-1.51006315e-01 9.88527605e-01 -3.20434772e-03 -9.91520174e+00] [-2.04343514e-02 1.19331542e-04 9.99791190e-01 -1.45005413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254012739 meters 0.023943871127553907 Centerline is valid? [True, True] Translation: X:76.43, Y:-9.92, Z:-1.45 [[ 9.88111150e-01 1.52408936e-01 2.01958387e-02 7.64286660e+01] [-1.52375159e-01 9.88317513e-01 -3.20993715e-03 -9.92047668e+00] [-2.04491242e-02 9.44305449e-05 9.99790890e-01 -1.45017682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters 0.023186479332540613 Centerline is valid? [True, True] Translation: X:76.46, Y:-9.92, Z:-1.45 [[ 9.87606010e-01 1.55550970e-01 2.09347775e-02 7.64603799e+01] [-1.55515311e-01 9.87827867e-01 -3.33070880e-03 -9.92425534e+00] [-2.11980516e-02 3.37495913e-05 9.99775295e-01 -1.44884270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314012739 meters 0.02320915481995715 Centerline is valid? [True, True] Translation: X:76.49, Y:-9.93, Z:-1.45 [[ 9.87269400e-01 1.57660904e-01 2.10278656e-02 7.64927527e+01] [-1.57625330e-01 9.87493311e-01 -3.34899909e-03 -9.92778207e+00] [-2.12928828e-02 -8.15993418e-06 9.99773281e-01 -1.44983282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters 0.024076077981452972 Centerline is valid? [True, True] Translation: X:76.52, Y:-9.93, Z:-1.45 [[ 9.86494738e-01 1.62549801e-01 2.01418309e-02 7.65243366e+01] [-1.62518104e-01 9.86700335e-01 -3.21163731e-03 -9.92618838e+00] [-2.03960023e-02 -1.05148877e-04 9.99791974e-01 -1.45171930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374012739 meters 0.024491763952064437 Centerline is valid? [True, True] Translation: X:76.56, Y:-9.93, Z:-1.45 [[ 9.86089855e-01 1.64956495e-01 2.03997972e-02 7.65565969e+01] [-1.64924428e-01 9.86300832e-01 -3.25602842e-03 -9.93107013e+00] [-2.06574400e-02 -1.53688301e-04 9.99786601e-01 -1.45238874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters 0.026175152272812644 Centerline is valid? [True, True] Translation: X:76.59, Y:-9.93, Z:-1.45 [[ 9.85615803e-01 1.67754965e-01 2.04880483e-02 7.65879060e+01] [-1.67723150e-01 9.85828701e-01 -3.27372802e-03 -9.93136128e+00] [-2.07468901e-02 -2.09681912e-04 9.99784738e-01 -1.45261531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434012739 meters 0.028160528552008665 Centerline is valid? [True, True] Translation: X:76.62, Y:-9.93, Z:-1.45 [[ 9.84847333e-01 1.72078990e-01 2.15534572e-02 7.66202930e+01] [-1.72044738e-01 9.85083105e-01 -3.44746932e-03 -9.93195708e+00] [-2.18251836e-02 -3.12927933e-04 9.99761753e-01 -1.45155942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters 0.03067565667606929 Centerline is valid? [True, True] Translation: X:76.65, Y:-9.93, Z:-1.45 [[ 9.84441776e-01 1.74348240e-01 2.18421930e-02 7.66517812e+01] [-1.74313593e-01 9.84683988e-01 -3.49491726e-03 -9.93162228e+00] [-2.21169904e-02 -3.66848589e-04 9.99755322e-01 -1.45134778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494012739 meters 0.03207139853175952 Centerline is valid? [True, True] Translation: X:76.68, Y:-9.93, Z:-1.45 [[ 9.83710687e-01 1.78444322e-01 2.17003988e-02 7.66839722e+01] [-1.78411050e-01 9.83949907e-01 -3.47542219e-03 -9.93311810e+00] [-2.19722747e-02 -4.52780973e-04 9.99758478e-01 -1.45456482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters 0.03382423929411765 Centerline is valid? [True, True] Translation: X:76.72, Y:-9.93, Z:-1.46 [[ 9.83336884e-01 1.80581114e-01 2.09531405e-02 7.67155545e+01] [-1.80550556e-01 9.83559977e-01 -3.35677698e-03 -9.93449944e+00] [-2.12148409e-02 -4.82258541e-04 9.99774824e-01 -1.45681184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554012739 meters 0.040438098002867094 Centerline is valid? [True, True] Translation: X:76.75, Y:-9.93, Z:-1.46 [[ 9.82602833e-01 1.84645335e-01 1.99442513e-02 7.67467102e+01] [-1.84618451e-01 9.82805071e-01 -3.19685935e-03 -9.92580540e+00] [-2.01915965e-02 -5.40833733e-04 9.99795983e-01 -1.45816963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters 0.0390958133587943 Centerline is valid? [True, True] Translation: X:76.78, Y:-9.93, Z:-1.46 [[ 9.82252070e-01 1.86540987e-01 1.95788649e-02 7.67757608e+01] [-1.86515457e-01 9.82447014e-01 -3.13818818e-03 -9.93080852e+00] [-1.98205980e-02 -5.69269091e-04 9.99803391e-01 -1.45893496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614012739 meters 0.04219514932234914 Centerline is valid? [True, True] Translation: X:76.81, Y:-9.93, Z:-1.46 [[ 9.81944248e-01 1.88179909e-01 1.93343342e-02 7.68052650e+01] [-1.88155339e-01 9.82134394e-01 -3.09854310e-03 -9.92837450e+00] [-1.95719982e-02 -5.95261622e-04 9.99808273e-01 -1.46027235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters 0.045489512133326644 Centerline is valid? [True, True] Translation: X:76.83, Y:-9.92, Z:-1.46 [[ 9.81538690e-01 1.90311134e-01 1.90649299e-02 7.68344848e+01] [-1.90287658e-01 9.81723625e-01 -3.05470470e-03 -9.92380638e+00] [-1.92978364e-02 -6.29509993e-04 9.99813581e-01 -1.46188184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674012739 meters 0.043401650995458146 Centerline is valid? [True, True] Translation: X:76.86, Y:-9.93, Z:-1.46 [[ 9.81459282e-01 1.90714560e-01 1.91215513e-02 7.68630648e+01] [-1.90691038e-01 9.81645326e-01 -3.06288611e-03 -9.92856430e+00] [-1.93547185e-02 -6.40210470e-04 9.99812475e-01 -1.46228867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters 0.04586592513787862 Centerline is valid? [True, True] Translation: X:76.89, Y:-9.92, Z:-1.46 [[ 9.81203185e-01 1.92050974e-01 1.88873942e-02 7.68920683e+01] [-1.92028289e-01 9.81384730e-01 -3.02449776e-03 -9.92344084e+00] [-1.91166580e-02 -6.59267148e-04 9.99817043e-01 -1.46324772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73401273900001 meters 0.04465811088043199 Centerline is valid? [True, True] Translation: X:76.92, Y:-9.93, Z:-1.46 [[ 9.81088909e-01 1.92622089e-01 1.90074662e-02 7.69207069e+01] [-1.92599244e-01 9.81272783e-01 -3.04257253e-03 -9.92621151e+00] [-1.92375759e-02 -6.75789452e-04 9.99814712e-01 -1.46340244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters 0.04465811088043199 Centerline is valid? [True, True] Translation: X:76.95, Y:-9.93, Z:-1.46 [[ 9.81098060e-01 1.92575461e-01 1.90076103e-02 7.69487048e+01] [-1.92552625e-01 9.81281935e-01 -3.04167219e-03 -9.93060505e+00] [-1.92375760e-02 -6.75786565e-04 9.99814712e-01 -1.46397808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794012739 meters 0.045860148202732515 Centerline is valid? [True, True] Translation: X:76.98, Y:-9.93, Z:-1.46 [[ 9.81050353e-01 1.92792259e-01 1.92704319e-02 7.69770510e+01] [-1.92768847e-01 9.81239353e-01 -3.08278658e-03 -9.92976418e+00] [-1.95032435e-02 -6.90370062e-04 9.99809555e-01 -1.46348520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters 0.046325000888339365 Centerline is valid? [True, True] Translation: X:77.01, Y:-9.92, Z:-1.46 [[ 9.81187660e-01 1.92030343e-01 1.98777158e-02 7.70062310e+01] [-1.92005300e-01 9.81388741e-01 -3.17869354e-03 -9.92485659e+00] [-2.01181721e-02 -6.97731918e-04 9.99797366e-01 -1.46241083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854012739 meters 0.04358813354706481 Centerline is valid? [True, True] Translation: X:77.04, Y:-9.93, Z:-1.47 [[ 9.81497712e-01 1.90485180e-01 1.94329203e-02 7.70352764e+01] [-1.90460965e-01 9.81689855e-01 -3.10643536e-03 -9.92533985e+00] [-1.96688306e-02 -6.52253559e-04 9.99806337e-01 -1.46514740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters 0.04462249360546413 Centerline is valid? [True, True] Translation: X:77.06, Y:-9.92, Z:-1.47 [[ 9.81700246e-01 1.89452449e-01 1.92975779e-02 7.70634513e+01] [-1.89428389e-01 9.81889696e-01 -3.08389510e-03 -9.92479879e+00] [-1.95323444e-02 -6.28048510e-04 9.99809028e-01 -1.46633003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914012739 meters 0.0413843222834675 Centerline is valid? [True, True] Translation: X:77.09, Y:-9.93, Z:-1.47 [[ 9.82022718e-01 1.87771623e-01 1.93183382e-02 7.70920621e+01] [-1.87747209e-01 9.82212534e-01 -3.08604220e-03 -9.93059934e+00] [-1.95541851e-02 -5.96400534e-04 9.99808621e-01 -1.46673438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters 0.037302655733746325 Centerline is valid? [True, True] Translation: X:77.12, Y:-9.93, Z:-1.47 [[ 9.82908954e-01 1.83017339e-01 1.98655711e-02 7.71220216e+01] [-1.82990566e-01 9.83109550e-01 -3.17272646e-03 -9.93432590e+00] [-2.01106966e-02 -5.16710848e-04 9.99797626e-01 -1.46589323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974012739 meters 0.03659680062641543 Centerline is valid? [True, True] Translation: X:77.15, Y:-9.94, Z:-1.47 [[ 9.83394111e-01 1.80348454e-01 2.02597601e-02 7.71498074e+01] [-1.80320047e-01 9.83602670e-01 -3.23542958e-03 -9.93634628e+00] [-2.05110589e-02 -4.71538503e-04 9.99789515e-01 -1.46521252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters 0.03086306550679055 Centerline is valid? [True, True] Translation: X:77.18, Y:-9.95, Z:-1.47 [[ 9.84283026e-01 1.75331692e-01 2.11121317e-02 7.71788154e+01] [-1.75299711e-01 9.84509345e-01 -3.37054615e-03 -9.94684697e+00] [-2.13760545e-02 -3.83379218e-04 9.99771433e-01 -1.46537474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034012739 meters 0.02853382201402638 Centerline is valid? [True, True] Translation: X:77.21, Y:-9.95, Z:-1.47 [[ 9.84773679e-01 1.72570725e-01 2.09796616e-02 7.72066034e+01] [-1.72538524e-01 9.84997077e-01 -3.34911136e-03 -9.95450869e+00] [-2.12428640e-02 -3.21683132e-04 9.99774293e-01 -1.46600314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters 0.025981986195785633 Centerline is valid? [True, True] Translation: X:77.23, Y:-9.96, Z:-1.47 [[ 9.85574715e-01 1.67974071e-01 2.06686605e-02 7.72343154e+01] [-1.67941826e-01 9.85791389e-01 -3.29848751e-03 -9.96392666e+00] [-2.09290479e-02 -2.20226706e-04 9.99780939e-01 -1.46759490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09401273900001 meters 0.025043215210396517 Centerline is valid? [True, True] Translation: X:77.26, Y:-9.97, Z:-1.47 [[ 9.85871283e-01 1.66209571e-01 2.07892067e-02 7.72628868e+01] [-1.66176563e-01 9.86090434e-01 -3.31744429e-03 -9.97048873e+00] [-2.10514288e-02 -1.84105852e-04 9.99778377e-01 -1.46816552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters 0.024117345875638144 Centerline is valid? [True, True] Translation: X:77.29, Y:-9.98, Z:-1.47 [[ 9.86245258e-01 1.63959082e-01 2.09215171e-02 7.72924363e+01] [-1.63925167e-01 9.86467131e-01 -3.33755877e-03 -9.97665214e+00] [-2.11856120e-02 -1.37911675e-04 9.99775550e-01 -1.46769942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154012739 meters 0.023944190741883736 Centerline is valid? [True, True] Translation: X:77.32, Y:-9.98, Z:-1.47 [[ 9.86339577e-01 1.63417876e-01 2.07083841e-02 7.73213456e+01] [-1.63384535e-01 9.86556933e-01 -3.30329967e-03 -9.98183361e+00] [-2.09698181e-02 -1.25254496e-04 9.99780101e-01 -1.46907492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters 0.024140120961096495 Centerline is valid? [True, True] Translation: X:77.35, Y:-9.99, Z:-1.47 [[ 9.86372503e-01 1.63259591e-01 2.03860427e-02 7.73495713e+01] [-1.63227256e-01 9.86583140e-01 -3.25138159e-03 -9.98584832e+00] [-2.06433452e-02 -1.20484402e-04 9.99786896e-01 -1.47061229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214012739 meters 0.02405650280568875 Centerline is valid? [True, True] Translation: X:77.38, Y:-9.99, Z:-1.47 [[ 9.86284752e-01 1.63816797e-01 2.01604877e-02 7.73792057e+01] [-1.63785305e-01 9.86490770e-01 -3.21467028e-03 -9.99125032e+00] [-2.04147520e-02 -1.31411342e-04 9.99791589e-01 -1.47120230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters 0.02471055904727794 Centerline is valid? [True, True] Translation: X:77.41, Y:-9.99, Z:-1.47 [[ 9.86112662e-01 1.64950284e-01 1.93189651e-02 7.74081597e+01] [-1.64921593e-01 9.86301872e-01 -3.08002778e-03 -9.99260412e+00] [-1.95623829e-02 -1.48860104e-04 9.99808627e-01 -1.47217366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274012739 meters 0.02598124786712283 Centerline is valid? [True, True] Translation: X:77.44, Y:-9.99, Z:-1.47 [[ 9.85696435e-01 1.67522995e-01 1.84006381e-02 7.74373124e+01] [-1.67497427e-01 9.85868150e-01 -2.93297785e-03 -9.99158625e+00] [-1.86319443e-02 -1.91033716e-04 9.99826392e-01 -1.47451818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters 0.026406203902618535 Centerline is valid? [True, True] Translation: X:77.47, Y:-9.99, Z:-1.47 [[ 9.85579739e-01 1.68196855e-01 1.85039303e-02 7.74664792e+01] [-1.68171135e-01 9.85753405e-01 -2.94854000e-03 -9.99421554e+00] [-1.87362475e-02 -2.05805677e-04 9.99824440e-01 -1.47498321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334012739 meters 0.026447307144981617 Centerline is valid? [True, True] Translation: X:77.50, Y:-10.00, Z:-1.47 [[ 9.85486477e-01 1.68664936e-01 1.91974752e-02 7.74955221e+01] [-1.68637359e-01 9.85673419e-01 -3.05808754e-03 -9.99567146e+00] [-1.94382332e-02 -2.23707608e-04 9.99811035e-01 -1.47412844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters 0.02628327625866793 Centerline is valid? [True, True] Translation: X:77.52, Y:-10.00, Z:-1.47 [[ 9.85563358e-01 1.68197900e-01 1.93477286e-02 7.75235638e+01] [-1.68169818e-01 9.85753224e-01 -3.08107310e-03 -9.99996196e+00] [-1.95903158e-02 -2.17111248e-04 9.99808068e-01 -1.47486735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394012739 meters 0.025573710469209705 Centerline is valid? [True, True] Translation: X:77.55, Y:-10.01, Z:-1.47 [[ 9.85769081e-01 1.66894126e-01 2.01412612e-02 7.75512573e+01] [-1.66863441e-01 9.85974802e-01 -3.20642238e-03 -1.00077913e+01] [-2.03939091e-02 -2.00048119e-04 9.99792003e-01 -1.47484663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters 0.02554402852621908 Centerline is valid? [True, True] Translation: X:77.58, Y:-10.01, Z:-1.47 [[ 9.85780388e-01 1.66818127e-01 2.02172951e-02 7.75796401e+01] [-1.66787215e-01 9.85987663e-01 -3.21753656e-03 -1.00120962e+01] [-2.04707470e-02 -2.00201911e-04 9.99790432e-01 -1.47463820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454012739 meters 0.026136898387431436 Centerline is valid? [True, True] Translation: X:77.61, Y:-10.01, Z:-1.47 [[ 9.85675662e-01 1.67435558e-01 2.02194033e-02 7.76070919e+01] [-1.67404789e-01 9.85882999e-01 -3.21688995e-03 -1.00137257e+01] [-2.04725877e-02 -2.14014817e-04 9.99790392e-01 -1.47472524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters 0.028242646825564103 Centerline is valid? [True, True] Translation: X:77.64, Y:-10.01, Z:-1.48 [[ 9.85085974e-01 1.70999104e-01 1.91031381e-02 7.76361471e+01] [-1.70972330e-01 9.85271146e-01 -3.03820259e-03 -1.00108959e+01] [-1.93413007e-02 -2.73217265e-04 9.99812902e-01 -1.47599821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514012739 meters 0.029650515717442892 Centerline is valid? [True, True] Translation: X:77.66, Y:-10.01, Z:-1.48 [[ 9.84851199e-01 1.72423973e-01 1.83871880e-02 7.76640958e+01] [-1.72399436e-01 9.85022786e-01 -2.92326988e-03 -1.00106736e+01] [-1.86158409e-02 -2.90954985e-04 9.99826668e-01 -1.47796749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters 0.03187113555867725 Centerline is valid? [True, True] Translation: X:77.69, Y:-10.00, Z:-1.48 [[ 9.84299183e-01 1.75626902e-01 1.76155817e-02 7.76948442e+01] [-1.75604914e-01 9.84456742e-01 -2.79950079e-03 -1.00047707e+01] [-1.78334458e-02 -3.37836358e-04 9.99840914e-01 -1.48028959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574012739 meters 0.03320512226502748 Centerline is valid? [True, True] Translation: X:77.72, Y:-10.00, Z:-1.48 [[ 9.84029190e-01 1.77085894e-01 1.80870207e-02 7.77236696e+01] [-1.77062966e-01 9.84195329e-01 -2.87404737e-03 -1.00038432e+01] [-1.83101145e-02 -3.74395023e-04 9.99832286e-01 -1.48031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters 0.03439751221070122 Centerline is valid? [True, True] Translation: X:77.75, Y:-10.00, Z:-1.48 [[ 9.83827346e-01 1.78122803e-01 1.88684885e-02 7.77517595e+01] [-1.78098064e-01 9.84008180e-01 -2.99704348e-03 -1.00036621e+01] [-1.91005888e-02 -4.11867941e-04 9.99817482e-01 -1.47956404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634012739 meters 0.0329694173000576 Centerline is valid? [True, True] Translation: X:77.78, Y:-10.01, Z:-1.48 [[ 9.83881266e-01 1.77564445e-01 2.11783261e-02 7.77808239e+01] [-1.77533178e-01 9.84109071e-01 -3.36254023e-03 -1.00052928e+01] [-2.14388504e-02 -4.51515201e-04 9.99770059e-01 -1.47599111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters 0.033700732753161246 Centerline is valid? [True, True] Translation: X:77.81, Y:-10.00, Z:-1.48 [[ 9.84066131e-01 1.76505824e-01 2.14369830e-02 7.78094989e+01] [-1.76473560e-01 9.84299500e-01 -3.40257207e-03 -1.00049890e+01] [-2.17009854e-02 -4.34704768e-04 9.99764411e-01 -1.47591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694012739 meters 0.03096681289824401 Centerline is valid? [True, True] Translation: X:77.84, Y:-10.01, Z:-1.48 [[ 9.84474230e-01 1.74377181e-01 2.00770787e-02 7.78386909e+01] [-1.74348452e-01 9.84678865e-01 -3.18604170e-03 -1.00079502e+01] [-2.03250480e-02 -3.63831653e-04 9.99793359e-01 -1.47960878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters 0.0311472274036982 Centerline is valid? [True, True] Translation: X:77.87, Y:-10.01, Z:-1.48 [[ 9.84612409e-01 1.73721207e-01 1.89564402e-02 7.78664442e+01] [-1.73695503e-01 9.84794817e-01 -3.00671916e-03 -1.00082454e+01] [-1.91905350e-02 -3.32195428e-04 9.99815790e-01 -1.48202399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754012739 meters 0.030260224766534925 Centerline is valid? [True, True] Translation: X:77.89, Y:-10.01, Z:-1.48 [[ 9.84633665e-01 1.73665515e-01 1.83530375e-02 7.78944798e+01] [-1.73641441e-01 9.84804643e-01 -2.90945063e-03 -1.00102577e+01] [-1.85794278e-02 -3.22104833e-04 9.99827336e-01 -1.48236195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters 0.032181067549639716 Centerline is valid? [True, True] Translation: X:77.92, Y:-10.00, Z:-1.48 [[ 9.84358785e-01 1.75074370e-01 1.96658760e-02 7.79243984e+01] [-1.75047040e-01 9.84555140e-01 -3.11601728e-03 -1.00020105e+01] [-1.99076740e-02 -3.75174381e-04 9.99801752e-01 -1.47913858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814012739 meters 0.03184216181149865 Centerline is valid? [True, True] Translation: X:77.95, Y:-10.00, Z:-1.48 [[ 9.84275396e-01 1.75381316e-01 2.10556141e-02 7.79535124e+01] [-1.75350086e-01 9.84500496e-01 -3.33486318e-03 -1.00031878e+01] [-2.13141352e-02 -4.09679957e-04 9.99772744e-01 -1.47745444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters 0.0321085638759351 Centerline is valid? [True, True] Translation: X:77.98, Y:-10.00, Z:-1.48 [[ 9.84141887e-01 1.75965272e-01 2.23823289e-02 7.79827514e+01] [-1.75930158e-01 9.84396272e-01 -3.54385339e-03 -1.00008613e+01] [-2.26566763e-02 -4.50072103e-04 9.99743203e-01 -1.47556425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874012739 meters 0.03106383000132306 Centerline is valid? [True, True] Translation: X:78.01, Y:-10.00, Z:-1.48 [[ 9.84132833e-01 1.75968762e-01 2.27499934e-02 7.80111135e+01] [-1.75932512e-01 9.84395644e-01 -3.60094346e-03 -1.00039393e+01] [-2.30286480e-02 -4.58656810e-04 9.99734700e-01 -1.47580566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters 0.03193679907169075 Centerline is valid? [True, True] Translation: X:78.04, Y:-10.00, Z:-1.47 [[ 9.84250529e-01 1.75285885e-01 2.29293446e-02 7.80398212e+01] [-1.75248903e-01 9.84517475e-01 -3.62816906e-03 -1.00038614e+01] [-2.32103073e-02 -4.47315160e-04 9.99730504e-01 -1.47491024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934012739 meters 0.030148506629529306 Centerline is valid? [True, True] Translation: X:78.07, Y:-10.00, Z:-1.47 [[ 9.84649649e-01 1.73034338e-01 2.28951347e-02 7.80690051e+01] [-1.72996884e-01 9.84915713e-01 -3.62161303e-03 -1.00047688e+01] [-2.31764413e-02 -3.94766955e-04 9.99731312e-01 -1.47496105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters 0.030119909486433203 Centerline is valid? [True, True] Translation: X:78.10, Y:-10.01, Z:-1.48 [[ 9.84802818e-01 1.72243577e-01 2.22611945e-02 7.80970296e+01] [-1.72207991e-01 9.85054321e-01 -3.52025817e-03 -1.00053128e+01] [-2.25348277e-02 -3.66795414e-04 9.99745991e-01 -1.47732443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994012739 meters 0.028457901610316076 Centerline is valid? [True, True] Translation: X:78.13, Y:-10.01, Z:-1.48 [[ 9.85088307e-01 1.70902601e-01 1.98324933e-02 7.81262506e+01] [-1.70874107e-01 9.85287882e-01 -3.13512925e-03 -1.00071996e+01] [-2.00765171e-02 -3.00480412e-04 9.99798401e-01 -1.48296115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters 0.027667673436920476 Centerline is valid? [True, True] Translation: X:78.16, Y:-10.01, Z:-1.49 [[ 9.85384471e-01 1.69287758e-01 1.89499074e-02 7.81550935e+01] [-1.69261457e-01 9.85566634e-01 -2.99496525e-03 -1.00111347e+01] [-1.91834074e-02 -2.56296696e-04 9.99815949e-01 -1.48585693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054012739 meters 0.026195156093168026 Centerline is valid? [True, True] Translation: X:78.18, Y:-10.02, Z:-1.49 [[ 9.85713922e-01 1.67397201e-01 1.86075406e-02 7.81829981e+01] [-1.67371522e-01 9.85889512e-01 -2.93997649e-03 -1.00167484e+01] [-1.88371229e-02 -2.16396623e-04 9.99822542e-01 -1.48723450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters 0.02503825260003451 Centerline is valid? [True, True] Translation: X:78.21, Y:-10.02, Z:-1.48 [[ 9.86260878e-01 1.63968163e-01 2.00977945e-02 7.82107237e+01] [-1.63937515e-01 9.86465618e-01 -3.17436171e-03 -1.00190788e+01] [-2.03462775e-02 -1.64033710e-04 9.99792980e-01 -1.48381472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114012739 meters 0.024234834214287196 Centerline is valid? [True, True] Translation: X:78.24, Y:-10.02, Z:-1.48 [[ 9.86385212e-01 1.63079151e-01 2.11991409e-02 7.82396236e+01] [-1.63044875e-01 9.86612977e-01 -3.34696157e-03 -1.00233760e+01] [-2.14611671e-02 -1.55017881e-04 9.99769671e-01 -1.48232273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters 0.024540973794292816 Centerline is valid? [True, True] Translation: X:78.27, Y:-10.02, Z:-1.48 [[ 9.86453371e-01 1.62616352e-01 2.15793770e-02 7.82674093e+01] [-1.62580749e-01 9.86689364e-01 -3.40586922e-03 -1.00205634e+01] [-2.18459918e-02 -1.48660117e-04 9.99761337e-01 -1.48254724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174012739 meters 0.024167036912635474 Centerline is valid? [True, True] Translation: X:78.30, Y:-10.02, Z:-1.48 [[ 9.86461079e-01 1.62641366e-01 2.10315560e-02 7.82957104e+01] [-1.62607591e-01 9.86685241e-01 -3.31767953e-03 -1.00233947e+01] [-2.12911179e-02 -1.47128931e-04 9.99773308e-01 -1.48480095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters 0.02407552785368925 Centerline is valid? [True, True] Translation: X:78.32, Y:-10.03, Z:-1.49 [[ 9.86487097e-01 1.62531430e-01 2.06577237e-02 7.83234653e+01] [-1.62498852e-01 9.86703356e-01 -3.25724766e-03 -1.00251894e+01] [-2.09124504e-02 -1.43623591e-04 9.99781300e-01 -1.48707181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23401273900001 meters 0.024163464974426493 Centerline is valid? [True, True] Translation: X:78.35, Y:-10.03, Z:-1.49 [[ 9.86570946e-01 1.62077476e-01 2.02153304e-02 7.83500965e+01] [-1.62046212e-01 9.86778027e-01 -3.18605748e-03 -1.00268731e+01] [-2.04644320e-02 -1.32545976e-04 9.99790573e-01 -1.48762490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters 0.02326447551089925 Centerline is valid? [True, True] Translation: X:78.38, Y:-10.03, Z:-1.49 [[ 9.87055814e-01 1.59110535e-01 2.01161218e-02 7.83789714e+01] [-1.59078995e-01 9.87260772e-01 -3.16874159e-03 -1.00310139e+01] [-2.03640381e-02 -7.23276307e-05 9.99792629e-01 -1.48839866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294012739 meters 0.02299301971710021 Centerline is valid? [True, True] Translation: X:78.41, Y:-10.04, Z:-1.49 [[ 9.87445330e-01 1.56763628e-01 1.94135173e-02 7.84059971e+01] [-1.56733817e-01 9.87636150e-01 -3.05718210e-03 -1.00376387e+01] [-1.96527464e-02 -2.39544720e-05 9.99806866e-01 -1.49069339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters 0.02356167413546545 Centerline is valid? [True, True] Translation: X:78.43, Y:-10.05, Z:-1.49 [[ 9.88322759e-01 1.51308104e-01 1.79994930e-02 7.84337049e+01] [-1.51281591e-01 9.88486647e-01 -2.83350944e-03 -1.00492711e+01] [-1.82209914e-02 7.74299325e-05 9.99833981e-01 -1.49399486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354012739 meters 0.02424536920455061 Centerline is valid? [True, True] Translation: X:78.46, Y:-10.06, Z:-1.50 [[ 9.88640374e-01 1.49222042e-01 1.79719787e-02 7.84609431e+01] [-1.49195280e-01 9.88803706e-01 -2.82834019e-03 -1.00555624e+01] [-1.81928098e-02 1.14876908e-04 9.99834491e-01 -1.49516177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters 0.024836523826258297 Centerline is valid? [True, True] Translation: X:78.49, Y:-10.06, Z:-1.49 [[ 9.88857942e-01 1.47719706e-01 1.84081294e-02 7.84895914e+01] [-1.47691390e-01 9.89029255e-01 -2.89583213e-03 -1.00602165e+01] [-1.86339500e-02 1.44844385e-04 9.99826362e-01 -1.49487494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414012739 meters 0.025557092777480177 Centerline is valid? [True, True] Translation: X:78.52, Y:-10.06, Z:-1.49 [[ 9.89113895e-01 1.45769151e-01 2.01260389e-02 7.85187232e+01] [-1.45734919e-01 9.89318612e-01 -3.16506901e-03 -1.00636223e+01] [-2.03724343e-02 1.97547076e-04 9.99792441e-01 -1.49242928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters 0.02590917088750881 Centerline is valid? [True, True] Translation: X:78.55, Y:-10.07, Z:-1.49 [[ 9.89259962e-01 1.44740890e-01 2.03666831e-02 7.85472255e+01] [-1.44705636e-01 9.89469568e-01 -3.20195201e-03 -1.00675725e+01] [-2.06156665e-02 2.20389082e-04 9.99787450e-01 -1.49267389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474012739 meters 0.02725466566514567 Centerline is valid? [True, True] Translation: X:78.58, Y:-10.07, Z:-1.50 [[ 9.89650475e-01 1.42206009e-01 1.92194665e-02 7.85751280e+01] [-1.42174154e-01 9.89837050e-01 -3.02075214e-03 -1.00726592e+01] [-1.94537091e-02 2.56977397e-04 9.99810726e-01 -1.49548788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters 0.032795526979987236 Centerline is valid? [True, True] Translation: X:78.60, Y:-10.08, Z:-1.49 [[ 9.89827930e-01 1.41076365e-01 1.83882377e-02 7.86037539e+01] [-1.41047031e-01 9.89998681e-01 -2.88906231e-03 -1.00780324e+01] [-1.86119095e-02 2.66068240e-04 9.99826748e-01 -1.48736726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534012739 meters 0.030179698931808732 Centerline is valid? [True, True] Translation: X:78.63, Y:-10.09, Z:-1.50 [[ 9.90033828e-01 1.39518166e-01 1.91755406e-02 7.86300566e+01] [-1.39485991e-01 9.90219464e-01 -3.01183561e-03 -1.00888936e+01] [-1.94081993e-02 3.07099851e-04 9.99811596e-01 -1.49774273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters 0.03200848386153885 Centerline is valid? [True, True] Translation: X:78.66, Y:-10.10, Z:-1.50 [[ 9.90353242e-01 1.36988700e-01 2.08459257e-02 7.86578248e+01] [-1.36950142e-01 9.90572535e-01 -3.27289739e-03 -1.00986445e+01] [-2.10977515e-02 3.86472038e-04 9.99777343e-01 -1.49576453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59401273900001 meters 0.031044356612985703 Centerline is valid? [True, True] Translation: X:78.69, Y:-10.10, Z:-1.50 [[ 9.90475606e-01 1.36004966e-01 2.14644752e-02 7.86871300e+01] [-1.35963876e-01 9.90708067e-01 -3.36901927e-03 -1.01003944e+01] [-2.17232321e-02 4.18538158e-04 9.99763935e-01 -1.49536720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters 0.03198517003743475 Centerline is valid? [True, True] Translation: X:78.71, Y:-10.11, Z:-1.50 [[ 9.90619507e-01 1.35130540e-01 2.03157509e-02 7.87144563e+01] [-1.35093566e-01 9.90827718e-01 -3.18780534e-03 -1.01053759e+01] [-2.05601789e-02 4.13374927e-04 9.99788532e-01 -1.49845576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654012739 meters 0.03198517003743475 Centerline is valid? [True, True] Translation: X:78.74, Y:-10.11, Z:-1.50 [[ 9.90625652e-01 1.35085457e-01 2.03159335e-02 7.87424513e+01] [-1.35048498e-01 9.90833865e-01 -3.18664089e-03 -1.01096819e+01] [-2.05601838e-02 4.13131910e-04 9.99788532e-01 -1.49903119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters 0.03138658894945648 Centerline is valid? [True, True] Translation: X:78.77, Y:-10.11, Z:-1.50 [[ 9.90680835e-01 1.34805047e-01 1.94700363e-02 7.87712469e+01] [-1.34771064e-01 9.90872060e-01 -3.05309031e-03 -1.01143119e+01] [-1.97038870e-02 4.00640544e-04 9.99805779e-01 -1.50156742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714012739 meters 0.03870047928539375 Centerline is valid? [True, True] Translation: X:78.80, Y:-10.12, Z:-1.49 [[ 9.90717202e-01 1.34685218e-01 1.84206014e-02 7.87991328e+01] [-1.34654795e-01 9.90888363e-01 -2.88770311e-03 -1.01215855e+01] [-1.86416905e-02 3.80474838e-04 9.99826156e-01 -1.49032643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters 0.0345405759814301 Centerline is valid? [True, True] Translation: X:78.83, Y:-10.13, Z:-1.50 [[ 9.90726398e-01 1.34521621e-01 1.91086049e-02 7.88250930e+01] [-1.34488871e-01 9.90910579e-01 -2.99460704e-03 -1.01345817e+01] [-1.93377581e-02 3.96941553e-04 9.99812929e-01 -1.50367478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774012739 meters 0.032551871685915244 Centerline is valid? [True, True] Translation: X:78.85, Y:-10.14, Z:-1.50 [[ 9.90715249e-01 1.34655370e-01 1.87410505e-02 7.88540670e+01] [-1.34623913e-01 9.90892417e-01 -2.93587461e-03 -1.01366739e+01] [-1.89656961e-02 3.85622198e-04 9.99820061e-01 -1.50432514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters 0.03111647560556205 Centerline is valid? [True, True] Translation: X:78.88, Y:-10.14, Z:-1.51 [[ 9.90679341e-01 1.34956767e-01 1.84692919e-02 7.88829968e+01] [-1.34926283e-01 9.90851418e-01 -2.89246665e-03 -1.01397732e+01] [-1.86906820e-02 3.73514031e-04 9.99825244e-01 -1.50532823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834012739 meters 0.030613071307969905 Centerline is valid? [True, True] Translation: X:78.91, Y:-10.15, Z:-1.51 [[ 9.90574436e-01 1.35771252e-01 1.81233034e-02 7.89111182e+01] [-1.35742052e-01 9.90740150e-01 -2.83743075e-03 -1.01475879e+01] [-1.83407258e-02 3.50591979e-04 9.99831733e-01 -1.50728378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters 0.031075576277326093 Centerline is valid? [True, True] Translation: X:78.94, Y:-10.16, Z:-1.51 [[ 9.90560728e-01 1.35657322e-01 1.96604940e-02 7.89378495e+01] [-1.35622956e-01 9.90755745e-01 -3.07708061e-03 -1.01579130e+01] [-1.98961759e-02 3.81620899e-04 9.99801979e-01 -1.50532491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894012739 meters 0.03154151409979072 Centerline is valid? [True, True] Translation: X:78.96, Y:-10.17, Z:-1.50 [[ 9.90587729e-01 1.35369469e-01 2.02745419e-02 7.89645997e+01] [-1.35332888e-01 9.90795109e-01 -3.17194308e-03 -1.01655727e+01] [-2.05173012e-02 3.98275572e-04 9.99789419e-01 -1.50455640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters 0.03067669151734715 Centerline is valid? [True, True] Translation: X:78.99, Y:-10.17, Z:-1.50 [[ 9.90586268e-01 1.35343758e-01 2.05161373e-02 7.89926946e+01] [-1.35306320e-01 9.90798620e-01 -3.20853495e-03 -1.01706396e+01] [-2.07616157e-02 4.02367628e-04 9.99784373e-01 -1.50490657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954012739 meters 0.03870966187104414 Centerline is valid? [True, True] Translation: X:79.02, Y:-10.18, Z:-1.49 [[ 9.90459460e-01 1.36423368e-01 1.94607914e-02 7.90199582e+01] [-1.36389908e-01 9.90650562e-01 -3.04260416e-03 -1.01809659e+01] [-1.96939262e-02 3.59320536e-04 9.99805991e-01 -1.49479500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters 0.030571042052097225 Centerline is valid? [True, True] Translation: X:79.05, Y:-10.19, Z:-1.51 [[ 9.90355194e-01 1.37061343e-01 2.02676689e-02 7.90481851e+01] [-1.37025205e-01 9.90562496e-01 -3.16775317e-03 -1.01887731e+01] [-2.05105692e-02 3.60019324e-04 9.99789571e-01 -1.50806482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014012739 meters 0.027525267329834707 Centerline is valid? [True, True] Translation: X:79.08, Y:-10.19, Z:-1.51 [[ 9.89936865e-01 1.40151773e-01 1.95571761e-02 7.90764197e+01] [-1.40118740e-01 9.90129991e-01 -3.05606125e-03 -1.01926882e+01] [-1.97924590e-02 2.84980816e-04 9.99804069e-01 -1.50915491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters 0.0269571767353214 Centerline is valid? [True, True] Translation: X:79.10, Y:-10.20, Z:-1.51 [[ 9.89666692e-01 1.42102894e-01 1.91469775e-02 7.91038948e+01] [-1.42071615e-01 9.89851863e-01 -2.99106911e-03 -1.01984733e+01] [-1.93777109e-02 2.39919469e-04 9.99812206e-01 -1.51043451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074012739 meters 0.025970537473369814 Centerline is valid? [True, True] Translation: X:79.13, Y:-10.20, Z:-1.51 [[ 9.89403311e-01 1.43966090e-01 1.88375573e-02 7.91323135e+01] [-1.43936172e-01 9.89582602e-01 -2.94160407e-03 -1.02019539e+01] [-1.90648102e-02 1.99026907e-04 9.99818230e-01 -1.51177575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters 0.0240455057899872 Centerline is valid? [True, True] Translation: X:79.16, Y:-10.21, Z:-1.51 [[ 9.88907490e-01 1.47215701e-01 1.97360939e-02 7.91606177e+01] [-1.47183527e-01 9.89104402e-01 -3.08095925e-03 -1.02052586e+01] [-1.99746230e-02 1.41955774e-04 9.99800477e-01 -1.51150973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134012739 meters 0.02361238411682533 Centerline is valid? [True, True] Translation: X:79.19, Y:-10.21, Z:-1.51 [[ 9.88643660e-01 1.48881068e-01 2.04485197e-02 7.91874387e+01] [-1.48846905e-01 9.88855103e-01 -3.19116390e-03 -1.02144235e+01] [-2.06957269e-02 1.11225090e-04 9.99785814e-01 -1.51098676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters 0.023229443733127852 Centerline is valid? [True, True] Translation: X:79.22, Y:-10.22, Z:-1.51 [[ 9.88435617e-01 1.50261143e-01 2.04112889e-02 7.92155721e+01] [-1.50227426e-01 9.88646338e-01 -3.18407957e-03 -1.02200917e+01] [-2.06579894e-02 8.09222690e-05 9.99786598e-01 -1.51156998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194012739 meters 0.02298793887781871 Centerline is valid? [True, True] Translation: X:79.24, Y:-10.22, Z:-1.51 [[ 9.88113367e-01 1.52428860e-01 1.99353044e-02 7.92434108e+01] [-1.52397156e-01 9.88314445e-01 -3.10891286e-03 -1.02233892e+01] [-2.01762374e-02 3.38746465e-05 9.99796438e-01 -1.51250175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters 0.02367579228689812 Centerline is valid? [True, True] Translation: X:79.27, Y:-10.22, Z:-1.51 [[ 9.87101077e-01 1.58976009e-01 1.89233363e-02 7.92719228e+01] [-1.58948664e-01 9.87282442e-01 -2.95004819e-03 -1.02205557e+01] [-1.91516646e-02 -9.58432920e-05 9.99816585e-01 -1.51499576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254012739 meters 0.0253266291038826 Centerline is valid? [True, True] Translation: X:79.30, Y:-10.22, Z:-1.52 [[ 9.86482970e-01 1.62756664e-01 1.90162681e-02 7.93002500e+01] [-1.62729773e-01 9.86666225e-01 -2.96345112e-03 -1.02200796e+01] [-1.92450309e-02 -1.71118931e-04 9.99814783e-01 -1.51590268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters 0.032728886824997756 Centerline is valid? [True, True] Translation: X:79.33, Y:-10.21, Z:-1.52 [[ 9.85052533e-01 1.71154345e-01 1.94344504e-02 7.93313742e+01] [-1.71127922e-01 9.85244169e-01 -3.02696056e-03 -1.02129290e+01] [-1.96657564e-02 -3.44061939e-04 9.99806551e-01 -1.51537460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314012739 meters 0.0329416411476251 Centerline is valid? [True, True] Translation: X:79.36, Y:-10.22, Z:-1.52 [[ 9.84318603e-01 1.75279809e-01 1.98463067e-02 7.93600268e+01] [-1.75253092e-01 9.84518562e-01 -3.09111625e-03 -1.02186029e+01] [-2.00808676e-02 -4.35483390e-04 9.99798264e-01 -1.51543979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters 0.03901294775248724 Centerline is valid? [True, True] Translation: X:79.39, Y:-10.21, Z:-1.52 [[ 9.83640376e-01 1.79037380e-01 1.99305654e-02 7.93896071e+01] [-1.79011221e-01 9.83842137e-01 -3.10349790e-03 -1.02140187e+01] [-2.01641722e-02 -5.15069003e-04 9.99796550e-01 -1.51574792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374012739 meters 0.04308833479211314 Centerline is valid? [True, True] Translation: X:79.42, Y:-10.21, Z:-1.52 [[ 9.83015329e-01 1.82430609e-01 1.99984083e-02 7.94186368e+01] [-1.82404987e-01 9.83218556e-01 -3.11332387e-03 -1.02130093e+01] [-2.02307717e-02 -5.87364308e-04 9.99795164e-01 -1.51642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters 0.04691413145950017 Centerline is valid? [True, True] Translation: X:79.45, Y:-10.21, Z:-1.52 [[ 9.82174254e-01 1.86924383e-01 1.98244744e-02 7.94490322e+01] [-1.86900132e-01 9.82374073e-01 -3.08556366e-03 -1.02140167e+01] [-2.00518168e-02 -6.74635704e-04 9.99798714e-01 -1.51787610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434012739 meters 0.04827166952422913 Centerline is valid? [True, True] Translation: X:79.48, Y:-10.22, Z:-1.52 [[ 9.81924371e-01 1.88141029e-01 2.06756822e-02 7.94772652e+01] [-1.88114925e-01 9.82141752e-01 -3.21777121e-03 -1.02167043e+01] [-2.09118456e-02 -7.29796448e-04 9.99781057e-01 -1.51728872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters 0.05040209572639261 Centerline is valid? [True, True] Translation: X:79.51, Y:-10.22, Z:-1.52 [[ 9.81713196e-01 1.89205886e-01 2.09841258e-02 7.95055565e+01] [-1.89179267e-01 9.81937140e-01 -3.26454556e-03 -1.02165807e+01] [-2.12227637e-02 -7.64914070e-04 9.99774479e-01 -1.51755334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494012739 meters 0.05108542697628204 Centerline is valid? [True, True] Translation: X:79.53, Y:-10.22, Z:-1.52 [[ 9.81670394e-01 1.89510610e-01 2.02229080e-02 7.95342969e+01] [-1.89485975e-01 9.81878391e-01 -3.14498823e-03 -1.02193309e+01] [-2.04524450e-02 -7.44615619e-04 9.99790550e-01 -1.51919749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters 0.05180818104746995 Centerline is valid? [True, True] Translation: X:79.56, Y:-10.22, Z:-1.52 [[ 9.81582163e-01 1.89982125e-01 2.00810643e-02 7.95632190e+01] [-1.89957998e-01 9.81787261e-01 -3.11974747e-03 -1.02216259e+01] [-2.03080294e-02 -7.52270306e-04 9.99793488e-01 -1.52020014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554012739 meters 0.04855094570589611 Centerline is valid? [True, True] Translation: X:79.59, Y:-10.23, Z:-1.52 [[ 9.81460352e-01 1.90555705e-01 2.05936872e-02 7.95915844e+01] [-1.90530527e-01 9.81676069e-01 -3.19602112e-03 -1.02267114e+01] [-2.08253499e-02 -7.86958050e-04 9.99782819e-01 -1.51922319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters 0.05364696848386209 Centerline is valid? [True, True] Translation: X:79.62, Y:-10.22, Z:-1.52 [[ 9.81433726e-01 1.90692874e-01 2.05929469e-02 7.96206952e+01] [-1.90667798e-01 9.81649428e-01 -3.19249774e-03 -1.02210751e+01] [-2.08238411e-02 -7.93186902e-04 9.99782846e-01 -1.51982731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614012739 meters 0.05019712823611971 Centerline is valid? [True, True] Translation: X:79.65, Y:-10.22, Z:-1.52 [[ 9.81398168e-01 1.90898842e-01 2.03781500e-02 7.96495563e+01] [-1.90874368e-01 9.81609396e-01 -3.15737646e-03 -1.02244761e+01] [-2.06061231e-02 -7.91023042e-04 9.99787358e-01 -1.52222738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters 0.04960988432372501 Centerline is valid? [True, True] Translation: X:79.68, Y:-10.23, Z:-1.52 [[ 9.81465458e-01 1.90537129e-01 2.05220932e-02 7.96773092e+01] [-1.90512301e-01 9.81679670e-01 -3.17624296e-03 -1.02267684e+01] [-2.07513139e-02 -7.92338444e-04 9.99784354e-01 -1.52267985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674012739 meters 0.04799416607987444 Centerline is valid? [True, True] Translation: X:79.71, Y:-10.23, Z:-1.52 [[ 9.82047902e-01 1.87601502e-01 1.96874234e-02 7.97060665e+01] [-1.87578136e-01 9.82244970e-01 -3.04340690e-03 -1.02284597e+01] [-1.99088203e-02 -7.04158810e-04 9.99801552e-01 -1.52432495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters 0.04561236433789796 Centerline is valid? [True, True] Translation: X:79.74, Y:-10.23, Z:-1.53 [[ 9.82610906e-01 1.84702535e-01 1.89942507e-02 7.97352944e+01] [-1.84680257e-01 9.82794274e-01 -2.93559300e-03 -1.02333741e+01] [-1.92096523e-02 -6.23317401e-04 9.99815283e-01 -1.52616514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73401273900001 meters 0.0420887938499308 Centerline is valid? [True, True] Translation: X:79.76, Y:-10.24, Z:-1.53 [[ 9.83280161e-01 1.81159896e-01 1.84720395e-02 7.97648729e+01] [-1.81138209e-01 9.83453507e-01 -2.85444745e-03 -1.02402973e+01] [-1.86835034e-02 -5.39270592e-04 9.99825303e-01 -1.52707829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters 0.03458847501534568 Centerline is valid? [True, True] Translation: X:79.79, Y:-10.25, Z:-1.52 [[ 9.84632610e-01 1.73445623e-01 2.03773940e-02 7.97923545e+01] [-1.73417584e-01 9.84843352e-01 -3.14861460e-03 -1.02529288e+01] [-2.06146544e-02 -4.33569821e-04 9.99787401e-01 -1.52432139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794012739 meters 0.03175786711378608 Centerline is valid? [True, True] Translation: X:79.82, Y:-10.26, Z:-1.52 [[ 9.85207653e-01 1.69948043e-01 2.19896003e-02 7.98199747e+01] [-1.69914529e-01 9.85452947e-01 -3.39730205e-03 -1.02605583e+01] [-2.22470813e-02 -3.89304603e-04 9.99752427e-01 -1.52154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters 0.02765771196419611 Centerline is valid? [True, True] Translation: X:79.85, Y:-10.27, Z:-1.52 [[ 9.86088989e-01 1.64640148e-01 2.28500962e-02 7.98489742e+01] [-1.64602557e-01 9.86353660e-01 -3.52922162e-03 -1.02683460e+01] [-2.31193276e-02 -2.81057687e-04 9.99732673e-01 -1.52107573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854012739 meters 0.026489697491298134 Centerline is valid? [True, True] Translation: X:79.88, Y:-10.27, Z:-1.52 [[ 9.86417461e-01 1.62864020e-01 2.13518770e-02 7.98776103e+01] [-1.62830792e-01 9.86648499e-01 -3.29733359e-03 -1.02729824e+01] [-2.16038144e-02 -2.24195614e-04 9.99766585e-01 -1.52461668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters 0.025954278648730244 Centerline is valid? [True, True] Translation: X:79.90, Y:-10.28, Z:-1.53 [[ 9.86673099e-01 1.61500693e-01 1.98424175e-02 7.99048594e+01] [-1.61471739e-01 9.86872582e-01 -3.06339539e-03 -1.02773399e+01] [-2.00766783e-02 -1.81419830e-04 9.99798427e-01 -1.52832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914012739 meters 0.025374923015712748 Centerline is valid? [True, True] Translation: X:79.93, Y:-10.28, Z:-1.53 [[ 9.86867534e-01 1.60317484e-01 1.97680406e-02 7.99337260e+01] [-1.60288531e-01 9.87065489e-01 -3.05079489e-03 -1.02819291e+01] [-2.00014464e-02 -1.57859758e-04 9.99799939e-01 -1.52938761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters 0.02386857744453925 Centerline is valid? [True, True] Translation: X:79.96, Y:-10.29, Z:-1.53 [[ 9.87372484e-01 1.57070986e-01 2.05981253e-02 7.99619479e+01] [-1.57038864e-01 9.87587311e-01 -3.17793130e-03 -1.02884046e+01] [-2.08416080e-02 -9.69042826e-05 9.99782785e-01 -1.52755823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974012739 meters 0.0234266152938214 Centerline is valid? [True, True] Translation: X:79.99, Y:-10.29, Z:-1.53 [[ 9.87751728e-01 1.54699134e-01 2.03642354e-02 7.99902416e+01] [-1.54667252e-01 9.87961627e-01 -3.14092454e-03 -1.02949611e+01] [-2.06049814e-02 -4.72266830e-05 9.99787694e-01 -1.52781052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters 0.023560634535447284 Centerline is valid? [True, True] Translation: X:80.02, Y:-10.31, Z:-1.53 [[ 9.88606939e-01 1.49170142e-01 2.01143716e-02 8.00173002e+01] [-1.49137911e-01 9.88811541e-01 -3.10145701e-03 -1.03065865e+01] [-2.03519676e-02 6.63065466e-05 9.99792875e-01 -1.53040944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034012739 meters 0.024364241150655056 Centerline is valid? [True, True] Translation: X:80.04, Y:-10.32, Z:-1.53 [[ 9.89063214e-01 1.46043110e-01 2.06244473e-02 8.00449467e+01] [-1.46008565e-01 9.89278218e-01 -3.17909623e-03 -1.03164104e+01] [-2.08676016e-02 1.32981182e-04 9.99782239e-01 -1.53085371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters 0.026064227258317606 Centerline is valid? [True, True] Translation: X:80.07, Y:-10.33, Z:-1.53 [[ 9.89552174e-01 1.42481817e-01 2.20324055e-02 8.00716215e+01] [-1.42441536e-01 9.89797395e-01 -3.39498524e-03 -1.03285808e+01] [-2.22913413e-02 2.21185331e-04 9.99751493e-01 -1.52847498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09401273900001 meters 0.02947469930861877 Centerline is valid? [True, True] Translation: X:80.10, Y:-10.35, Z:-1.52 [[ 9.90442241e-01 1.35564597e-01 2.54245315e-02 8.00990412e+01] [-1.35508714e-01 9.90768415e-01 -3.91618106e-03 -1.03479141e+01] [-2.57207183e-02 4.33505585e-04 9.99669074e-01 -1.52243509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters 0.03069245127719516 Centerline is valid? [True, True] Translation: X:80.13, Y:-10.36, Z:-1.52 [[ 9.90892588e-01 1.32050314e-01 2.63551527e-02 8.01283698e+01] [-1.31989033e-01 9.91242866e-01 -4.05903446e-03 -1.03594681e+01] [-2.66603538e-02 5.43476033e-04 9.99644402e-01 -1.52260031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154012739 meters 0.036202580690152815 Centerline is valid? [True, True] Translation: X:80.15, Y:-10.38, Z:-1.53 [[ 9.91608933e-01 1.26932737e-01 2.44908824e-02 8.01549159e+01] [-1.26878255e-01 9.91911125e-01 -3.77216236e-03 -1.03836994e+01] [-2.47715896e-02 6.33149486e-04 9.99692937e-01 -1.52609022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters 0.03762170327536628 Centerline is valid? [True, True] Translation: X:80.19, Y:-10.40, Z:-1.53 [[ 9.91855665e-01 1.25232808e-01 2.32181951e-02 8.01856935e+01] [-1.25183339e-01 9.92127175e-01 -3.57773506e-03 -1.03956471e+01] [-2.34834521e-02 6.42065602e-04 9.99724020e-01 -1.52947528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214012739 meters 0.036447358812418264 Centerline is valid? [True, True] Translation: X:80.22, Y:-10.41, Z:-1.53 [[ 9.91902505e-01 1.24948729e-01 2.27427985e-02 8.02162788e+01] [-1.24901105e-01 9.92162994e-01 -3.50819427e-03 -1.04090458e+01] [-2.30029075e-02 6.39186021e-04 9.99735194e-01 -1.53041909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters 0.036021340943565766 Centerline is valid? [True, True] Translation: X:80.25, Y:-10.42, Z:-1.53 [[ 9.91713636e-01 1.26464992e-01 2.25980281e-02 8.02466359e+01] [-1.26418279e-01 9.91970887e-01 -3.48967572e-03 -1.04183267e+01] [-2.28579078e-02 6.03955179e-04 9.99738541e-01 -1.53024637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274012739 meters 0.03823616770774828 Centerline is valid? [True, True] Translation: X:80.28, Y:-10.43, Z:-1.52 [[ 9.91468025e-01 1.28507601e-01 2.18392385e-02 8.02767854e+01] [-1.28464394e-01 9.91708376e-01 -3.37584669e-03 -1.04269074e+01] [-2.20919777e-02 5.41479521e-04 9.99755796e-01 -1.52312831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters 0.035834639782916046 Centerline is valid? [True, True] Translation: X:80.31, Y:-10.43, Z:-1.52 [[ 9.90788416e-01 1.33821134e-01 2.07416958e-02 8.03076742e+01] [-1.33783260e-01 9.91005419e-01 -3.20918897e-03 -1.04279307e+01] [-2.09845903e-02 4.04735562e-04 9.99779717e-01 -1.52304052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334012739 meters 0.038694491751814275 Centerline is valid? [True, True] Translation: X:80.34, Y:-10.43, Z:-1.52 [[ 9.90345495e-01 1.37177647e-01 1.99522688e-02 8.03380742e+01] [-1.37143278e-01 9.90546410e-01 -3.08728185e-03 -1.04340522e+01] [-2.01871543e-02 3.21156113e-04 9.99796167e-01 -1.52266035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters 0.02619992702458991 Centerline is valid? [True, True] Translation: X:80.37, Y:-10.44, Z:-1.54 [[ 9.89593998e-01 1.42302417e-01 2.13012078e-02 8.03677024e+01] [-1.42264419e-01 9.89823201e-01 -3.29650567e-03 -1.04376683e+01] [-2.15535304e-02 2.31798289e-04 9.99767669e-01 -1.53737742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394012739 meters 0.02667774322718372 Centerline is valid? [True, True] Translation: X:80.40, Y:-10.44, Z:-1.53 [[ 9.89444449e-01 1.43305953e-01 2.15194553e-02 8.03981385e+01] [-1.43267419e-01 9.89678412e-01 -3.32978100e-03 -1.04423336e+01] [-2.17745178e-02 2.11596499e-04 9.99762885e-01 -1.53372950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters 0.02912859421171854 Centerline is valid? [True, True] Translation: X:80.43, Y:-10.45, Z:-1.53 [[ 9.89522765e-01 1.42841583e-01 2.09995224e-02 8.04279337e+01] [-1.42804785e-01 9.89745541e-01 -3.24932996e-03 -1.04509981e+01] [-2.12483231e-02 2.16453680e-04 9.99774205e-01 -1.53071282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454012739 meters 0.026173413407786873 Centerline is valid? [True, True] Translation: X:80.46, Y:-10.46, Z:-1.54 [[ 9.89588109e-01 1.42315350e-01 2.14875885e-02 8.04569878e+01] [-1.42276697e-01 9.89821341e-01 -3.32486741e-03 -1.04611423e+01] [-2.17420533e-02 2.33066132e-04 9.99763586e-01 -1.54101887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters 0.026424296302402395 Centerline is valid? [True, True] Translation: X:80.49, Y:-10.47, Z:-1.54 [[ 9.89619452e-01 1.42138393e-01 2.12136221e-02 8.04872279e+01] [-1.42100673e-01 9.89846767e-01 -3.28274357e-03 -1.04699097e+01] [-2.14648391e-02 2.34196926e-04 9.99769576e-01 -1.54243295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514012739 meters 0.03111690159645803 Centerline is valid? [True, True] Translation: X:80.52, Y:-10.48, Z:-1.53 [[ 9.89494558e-01 1.43247771e-01 1.95088379e-02 8.05180772e+01] [-1.43216078e-01 9.89686839e-01 -3.01935833e-03 -1.04753826e+01] [-1.97401564e-02 1.93659394e-04 9.99805125e-01 -1.53320459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters 0.03111690159645803 Centerline is valid? [True, True] Translation: X:80.55, Y:-10.48, Z:-1.53 [[ 9.89494559e-01 1.43247781e-01 1.95087650e-02 8.05477195e+01] [-1.43216078e-01 9.89686837e-01 -3.01982915e-03 -1.04799707e+01] [-1.97401517e-02 1.94135700e-04 9.99805125e-01 -1.53381383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574012739 meters 0.02526510387957826 Centerline is valid? [True, True] Translation: X:80.58, Y:-10.49, Z:-1.55 [[ 9.89264271e-01 1.44731538e-01 2.02233805e-02 8.05763374e+01] [-1.44697779e-01 9.89470946e-01 -3.13044921e-03 -1.04852006e+01] [-2.04635222e-02 1.70563302e-04 9.99790586e-01 -1.54591615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters 0.024712065639293755 Centerline is valid? [True, True] Translation: X:80.61, Y:-10.49, Z:-1.55 [[ 9.89083487e-01 1.46016424e-01 1.98257206e-02 8.06071601e+01] [-1.45984233e-01 9.89282156e-01 -3.06917668e-03 -1.04886242e+01] [-2.00613818e-02 1.41429368e-04 9.99798740e-01 -1.54780759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634012739 meters 0.024174605057688862 Centerline is valid? [True, True] Translation: X:80.64, Y:-10.49, Z:-1.55 [[ 9.88766132e-01 1.48305534e-01 1.86280746e-02 8.06360203e+01] [-1.48277516e-01 9.88941586e-01 -2.88401355e-03 -1.04917935e+01] [-1.88497928e-02 8.94902872e-05 9.99822323e-01 -1.55124500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters 0.023520524281548646 Centerline is valid? [True, True] Translation: X:80.67, Y:-10.49, Z:-1.55 [[ 9.88273365e-01 1.51485207e-01 1.91830023e-02 8.06662233e+01] [-1.51456099e-01 9.88459524e-01 -2.96970341e-03 -1.04921338e+01] [-1.94114875e-02 2.94960921e-05 9.99811579e-01 -1.55110846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694012739 meters 0.02336232581834256 Centerline is valid? [True, True] Translation: X:80.69, Y:-10.49, Z:-1.55 [[ 9.88064554e-01 1.52791116e-01 1.95783594e-02 8.06944581e+01] [-1.52761060e-01 9.88258506e-01 -3.03043938e-03 -1.04949241e+01] [-1.98115044e-02 3.45879205e-06 9.99803733e-01 -1.54983897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters 0.023412569842861625 Centerline is valid? [True, True] Translation: X:80.72, Y:-10.50, Z:-1.55 [[ 9.87969671e-01 1.53326633e-01 2.01710649e-02 8.07243195e+01] [-1.53294857e-01 9.88175563e-01 -3.12144381e-03 -1.04989705e+01] [-2.04111539e-02 -8.22869041e-06 9.99791671e-01 -1.54968125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754012739 meters 0.023449887774921366 Centerline is valid? [True, True] Translation: X:80.75, Y:-10.50, Z:-1.55 [[ 9.88048371e-01 1.52828918e-01 2.00932331e-02 8.07522057e+01] [-1.52797293e-01 9.88252661e-01 -3.10892917e-03 -1.05038501e+01] [-2.03323254e-02 1.58077861e-06 9.99793277e-01 -1.55068622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters 0.023559269167410794 Centerline is valid? [True, True] Translation: X:80.78, Y:-10.51, Z:-1.55 [[ 9.88402625e-01 1.50322552e-01 2.15263068e-02 8.07807577e+01] [-1.50285677e-01 9.88637005e-01 -3.32987299e-03 -1.05109899e+01] [-2.17822585e-02 5.61596101e-05 9.99762737e-01 -1.55049136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814012739 meters 0.024194434902661398 Centerline is valid? [True, True] Translation: X:80.81, Y:-10.52, Z:-1.55 [[ 9.88916830e-01 1.46777071e-01 2.23605790e-02 8.08105801e+01] [-1.46736385e-01 9.89169587e-01 -3.45849674e-03 -1.05209187e+01] [-2.26260327e-02 1.39055104e-04 9.99743989e-01 -1.54996739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters 0.02569179983907101 Centerline is valid? [True, True] Translation: X:80.84, Y:-10.53, Z:-1.55 [[ 9.89282856e-01 1.44393267e-01 2.16798355e-02 8.08401908e+01] [-1.44354432e-01 9.89520363e-01 -3.35393956e-03 -1.05322104e+01] [-2.19369250e-02 1.88414567e-04 9.99759339e-01 -1.55118069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874012739 meters 0.02724293339124942 Centerline is valid? [True, True] Translation: X:80.87, Y:-10.54, Z:-1.55 [[ 9.89659546e-01 1.41911257e-01 2.08609337e-02 8.08709174e+01] [-1.41874682e-01 9.89879356e-01 -3.23043163e-03 -1.05429650e+01] [-2.11082422e-02 2.37389155e-04 9.99777168e-01 -1.55338453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters 0.02888634777333465 Centerline is valid? [True, True] Translation: X:80.90, Y:-10.55, Z:-1.55 [[ 9.89992819e-01 1.39574378e-01 2.08137537e-02 8.09013337e+01] [-1.39537383e-01 9.90211548e-01 -3.22643212e-03 -1.05536375e+01] [-2.10603465e-02 2.89847912e-04 9.99778164e-01 -1.55489879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934012739 meters 0.03218598369282482 Centerline is valid? [True, True] Translation: X:80.93, Y:-10.57, Z:-1.56 [[ 9.90528109e-01 1.35787641e-01 2.03907327e-02 8.09306598e+01] [-1.35751271e-01 9.90737898e-01 -3.16379404e-03 -1.05693680e+01] [-2.06314758e-02 3.65759046e-04 9.99787082e-01 -1.55701935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters 0.03161701871314404 Centerline is valid? [True, True] Translation: X:80.96, Y:-10.58, Z:-1.56 [[ 9.90705998e-01 1.34564078e-01 1.98528388e-02 8.09617412e+01] [-1.34529325e-01 9.90904820e-01 -3.08190243e-03 -1.05755603e+01] [-2.00869870e-02 3.82470221e-04 9.99798163e-01 -1.55818993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994012739 meters 0.0349982704412326 Centerline is valid? [True, True] Translation: X:80.99, Y:-10.59, Z:-1.56 [[ 9.90880916e-01 1.33322416e-01 1.94972668e-02 8.09908085e+01] [-1.33288598e-01 9.91072636e-01 -3.02967206e-03 -1.05908081e+01] [-1.97271309e-02 4.03280858e-04 9.99805320e-01 -1.55907499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters 0.03332143991040238 Centerline is valid? [True, True] Translation: X:81.02, Y:-10.60, Z:-1.56 [[ 9.90892154e-01 1.33154689e-01 2.00640802e-02 8.10237902e+01] [-1.33118777e-01 9.91095178e-01 -3.12093040e-03 -1.05959519e+01] [-2.03009796e-02 4.21599636e-04 9.99793825e-01 -1.55939412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054012739 meters 0.033482268988735304 Centerline is valid? [True, True] Translation: X:81.06, Y:-10.61, Z:-1.56 [[ 9.90873056e-01 1.33216553e-01 2.05897453e-02 8.10553720e+01] [-1.33178664e-01 9.91086858e-01 -3.20667842e-03 -1.06050440e+01] [-2.08334087e-02 4.35296462e-04 9.99782866e-01 -1.55879483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters 0.03234120963542883 Centerline is valid? [True, True] Translation: X:81.09, Y:-10.62, Z:-1.56 [[ 9.90641351e-01 1.34793313e-01 2.14587368e-02 8.10858715e+01] [-1.34752438e-01 9.90873647e-01 -3.34617179e-03 -1.06160119e+01] [-2.17139384e-02 4.23239045e-04 9.99764135e-01 -1.55771750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114012739 meters 0.0340480632323173 Centerline is valid? [True, True] Translation: X:81.12, Y:-10.63, Z:-1.56 [[ 9.90511791e-01 1.35725811e-01 2.15614399e-02 8.11159424e+01] [-1.35684688e-01 9.90746354e-01 -3.36571981e-03 -1.06266194e+01] [-2.18187330e-02 4.08227918e-04 9.99761860e-01 -1.55774982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters 0.03328812070561034 Centerline is valid? [True, True] Translation: X:81.15, Y:-10.63, Z:-1.56 [[ 9.90392050e-01 1.36669999e-01 2.10926144e-02 8.11477647e+01] [-1.36630791e-01 9.90616558e-01 -3.29567129e-03 -1.06329128e+01] [-2.13451124e-02 3.82106055e-04 9.99772094e-01 -1.55896637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174012739 meters 0.030227677559794563 Centerline is valid? [True, True] Translation: X:81.18, Y:-10.64, Z:-1.56 [[ 9.90135987e-01 1.38459748e-01 2.14388763e-02 8.11795233e+01] [-1.38419589e-01 9.90367999e-01 -3.35312718e-03 -1.06387400e+01] [-2.16966502e-02 3.52491444e-04 9.99764538e-01 -1.55938623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters 0.031026641512619742 Centerline is valid? [True, True] Translation: X:81.21, Y:-10.65, Z:-1.56 [[ 9.90000193e-01 1.39402101e-01 2.16025801e-02 8.12094191e+01] [-1.39361475e-01 9.90235800e-01 -3.38216484e-03 -1.06483539e+01] [-2.18631291e-02 3.37776406e-04 9.99760916e-01 -1.55819822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234012739 meters 0.028867055546120658 Centerline is valid? [True, True] Translation: X:81.24, Y:-10.65, Z:-1.56 [[ 9.89786502e-01 1.40787650e-01 2.23946161e-02 8.12408665e+01] [-1.40744293e-01 9.90039764e-01 -3.50847102e-03 -1.06532217e+01] [-2.26655099e-02 3.20722854e-04 9.99743053e-01 -1.55705995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters 0.03359787267373714 Centerline is valid? [True, True] Translation: X:81.27, Y:-10.66, Z:-1.55 [[ 9.89702488e-01 1.41406854e-01 2.22055733e-02 8.12734216e+01] [-1.41364305e-01 9.89951518e-01 -3.48225199e-03 -1.06579236e+01] [-2.24748553e-02 3.07318030e-04 9.99747361e-01 -1.54585885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294012739 meters 0.027821216684725786 Centerline is valid? [True, True] Translation: X:81.30, Y:-10.67, Z:-1.55 [[ 9.89437129e-01 1.42917455e-01 2.42645407e-02 8.13031607e+01] [-1.42867039e-01 9.89734566e-01 -3.80769891e-03 -1.06672686e+01] [-2.45596413e-02 3.00875593e-04 9.99698321e-01 -1.55442875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters 0.027613494457470716 Centerline is valid? [True, True] Translation: X:81.33, Y:-10.67, Z:-1.55 [[ 9.89324487e-01 1.43580326e-01 2.49349093e-02 8.13346686e+01] [-1.43527198e-01 9.89638622e-01 -3.91679421e-03 -1.06738774e+01] [-2.52389239e-02 2.96142766e-04 9.99681404e-01 -1.55386554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354012739 meters 0.02639847112115623 Centerline is valid? [True, True] Translation: X:81.37, Y:-10.68, Z:-1.55 [[ 9.89072486e-01 1.45431573e-01 2.41924443e-02 8.13674008e+01] [-1.45382029e-01 9.89368282e-01 -3.80372595e-03 -1.06760193e+01] [-2.44884189e-02 2.45014056e-04 9.99700084e-01 -1.55498852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters 0.025452808008331433 Centerline is valid? [True, True] Translation: X:81.40, Y:-10.68, Z:-1.56 [[ 9.88850058e-01 1.47150065e-01 2.28565535e-02 8.13991261e+01] [-1.47106265e-01 9.89114160e-01 -3.59520399e-03 -1.06788227e+01] [-2.31367752e-02 1.92775449e-04 9.99732290e-01 -1.55855771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414012739 meters 0.024676765902613043 Centerline is valid? [True, True] Translation: X:81.43, Y:-10.68, Z:-1.56 [[ 9.88603400e-01 1.48999063e-01 2.15080663e-02 8.14313715e+01] [-1.48960648e-01 9.88837327e-01 -3.38630879e-03 -1.06828896e+01] [-2.17725356e-02 1.43860907e-04 9.99762940e-01 -1.56185724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters 0.023778957713062213 Centerline is valid? [True, True] Translation: X:81.46, Y:-10.69, Z:-1.56 [[ 9.88169200e-01 1.51786516e-01 2.19655635e-02 8.14620071e+01] [-1.51747059e-01 9.88413297e-01 -3.46184584e-03 -1.06881027e+01] [-2.22365166e-02 8.76797654e-05 9.99752734e-01 -1.56141088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474012739 meters 0.023356134876392272 Centerline is valid? [True, True] Translation: X:81.50, Y:-10.69, Z:-1.56 [[ 9.87921489e-01 1.53153124e-01 2.35637820e-02 8.14952338e+01] [-1.53108012e-01 9.88202467e-01 -3.71755023e-03 -1.06916776e+01] [-2.38551420e-02 6.48439376e-05 9.99715424e-01 -1.55960802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters 0.023157337184095038 Centerline is valid? [True, True] Translation: X:81.53, Y:-10.69, Z:-1.56 [[ 9.87455205e-01 1.56086576e-01 2.38578994e-02 8.15271713e+01] [-1.56041074e-01 9.87743378e-01 -3.76862194e-03 -1.06935788e+01] [-2.41537134e-02 -1.46689177e-06 9.99708257e-01 -1.55875183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534012739 meters 0.02329114253535698 Centerline is valid? [True, True] Translation: X:81.56, Y:-10.70, Z:-1.56 [[ 9.87171978e-01 1.58059002e-01 2.25574126e-02 8.15604431e+01] [-1.58018746e-01 9.87429668e-01 -3.56733340e-03 -1.06967404e+01] [-2.28377076e-02 -4.29224791e-05 9.99739185e-01 -1.56347645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters 0.023899434941561146 Centerline is valid? [True, True] Translation: X:81.59, Y:-10.70, Z:-1.57 [[ 9.86813728e-01 1.60460565e-01 2.12384845e-02 8.15928140e+01] [-1.60425353e-01 9.87042248e-01 -3.36260721e-03 -1.06978008e+01] [-2.15028473e-02 -8.89244172e-05 9.99768783e-01 -1.56691451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59401273900001 meters 0.02610457402021725 Centerline is valid? [True, True] Translation: X:81.62, Y:-10.69, Z:-1.57 [[ 9.86059639e-01 1.65142832e-01 2.03527453e-02 8.16244379e+01] [-1.65111421e-01 9.86269645e-01 -3.22582158e-03 -1.06922447e+01] [-2.06060162e-02 -1.79618236e-04 9.99787657e-01 -1.56937930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters 0.027510077949091032 Centerline is valid? [True, True] Translation: X:81.65, Y:-10.69, Z:-1.57 [[ 9.85719038e-01 1.67179169e-01 2.02263177e-02 8.16549348e+01] [-1.67148575e-01 9.85926507e-01 -3.20578458e-03 -1.06911051e+01] [-2.04776031e-02 -2.20797283e-04 9.99790288e-01 -1.56998706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654012739 meters 0.029817857483800374 Centerline is valid? [True, True] Translation: X:81.69, Y:-10.69, Z:-1.57 [[ 9.85293410e-01 1.69799392e-01 1.91066006e-02 8.16853034e+01] [-1.69772581e-01 9.85478614e-01 -3.02848237e-03 -1.06860889e+01] [-1.93433807e-02 -2.59833182e-04 9.99812866e-01 -1.57332843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters 0.030957373203068513 Centerline is valid? [True, True] Translation: X:81.71, Y:-10.69, Z:-1.58 [[ 9.85134246e-01 1.70798516e-01 1.83952069e-02 8.17134156e+01] [-1.70773848e-01 9.85305939e-01 -2.91519151e-03 -1.06855307e+01] [-1.86228170e-02 -2.69565277e-04 9.99826544e-01 -1.57599337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714012739 meters 0.03151035004356949 Centerline is valid? [True, True] Translation: X:81.74, Y:-10.69, Z:-1.58 [[ 9.85066901e-01 1.71174898e-01 1.85028439e-02 8.17428243e+01] [-1.71150029e-01 9.85240619e-01 -2.93109283e-03 -1.06858479e+01] [-1.87314829e-02 -2.79439729e-04 9.99824511e-01 -1.57691329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters 0.031685557549962384 Centerline is valid? [True, True] Translation: X:81.77, Y:-10.69, Z:-1.58 [[ 9.85028115e-01 1.71300176e-01 1.93871671e-02 8.17711032e+01] [-1.71272915e-01 9.85218840e-01 -3.07030841e-03 -1.06866890e+01] [-1.96265467e-02 -2.96156521e-04 9.99807337e-01 -1.57602900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774012739 meters 0.030111553247871934 Centerline is valid? [True, True] Translation: X:81.80, Y:-10.69, Z:-1.57 [[ 9.85294887e-01 1.69565968e-01 2.10087661e-02 8.17998798e+01] [-1.69533586e-01 9.85518798e-01 -3.32590270e-03 -1.06900394e+01] [-2.12684939e-02 -2.84696536e-04 9.99773759e-01 -1.57254812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters 0.02775834711725331 Centerline is valid? [True, True] Translation: X:81.83, Y:-10.69, Z:-1.57 [[ 9.85775017e-01 1.66596105e-01 2.22115509e-02 8.18274955e+01] [-1.66559179e-01 9.86025194e-01 -3.51528690e-03 -1.06945920e+01] [-2.24867819e-02 -2.34255668e-04 9.99747113e-01 -1.57055188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834012739 meters 0.026376878610905343 Centerline is valid? [True, True] Translation: X:81.86, Y:-10.70, Z:-1.57 [[ 9.86112646e-01 1.64626737e-01 2.19063093e-02 8.18561896e+01] [-1.64590358e-01 9.86355921e-01 -3.46583847e-03 -1.06993090e+01] [-2.21779875e-02 -1.87860125e-04 9.99754021e-01 -1.57150188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters 0.025078924761763512 Centerline is valid? [True, True] Translation: X:81.88, Y:-10.70, Z:-1.57 [[ 9.86497313e-01 1.62361485e-01 2.14895052e-02 8.18842351e+01] [-1.62325958e-01 9.86731336e-01 -3.39900549e-03 -1.07048803e+01] [-2.17562358e-02 -1.35194744e-04 9.99763296e-01 -1.57376793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894012739 meters 0.02423737575611378 Centerline is valid? [True, True] Translation: X:81.91, Y:-10.71, Z:-1.58 [[ 9.86849828e-01 1.60333111e-01 2.05112215e-02 8.19131910e+01] [-1.60300320e-01 9.87062960e-01 -3.24364663e-03 -1.07120050e+01] [-2.07659310e-02 -8.69632592e-05 9.99784361e-01 -1.57701258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters 0.023460860942862108 Centerline is valid? [True, True] Translation: X:81.94, Y:-10.72, Z:-1.58 [[ 9.87461811e-01 1.56532466e-01 2.04146968e-02 8.19433783e+01] [-1.56499178e-01 9.87672814e-01 -3.22801848e-03 -1.07249793e+01] [-2.06683307e-02 -7.33829092e-06 9.99786387e-01 -1.57887304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954012739 meters 0.02366762962261511 Centerline is valid? [True, True] Translation: X:81.97, Y:-10.73, Z:-1.58 [[ 9.87976866e-01 1.53299596e-01 2.00236455e-02 8.19742193e+01] [-1.53266838e-01 9.88179756e-01 -3.16960030e-03 -1.07344340e+01] [-2.02728596e-02 6.25309340e-05 9.99794483e-01 -1.57978167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters 0.024267878734014172 Centerline is valid? [True, True] Translation: X:82.00, Y:-10.74, Z:-1.58 [[ 9.88255444e-01 1.51599467e-01 1.92036222e-02 8.20046365e+01] [-1.51568950e-01 9.88442002e-01 -3.04323400e-03 -1.07430470e+01] [-1.94430194e-02 9.68197301e-05 9.99810962e-01 -1.58197165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014012739 meters 0.026026617748481553 Centerline is valid? [True, True] Translation: X:82.03, Y:-10.75, Z:-1.58 [[ 9.88580825e-01 1.49560893e-01 1.84252886e-02 8.20344651e+01] [-1.49532393e-01 9.88752508e-01 -2.92271470e-03 -1.07549363e+01] [-1.86551741e-02 1.34162211e-04 9.99825968e-01 -1.58489178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters 0.03100916211101146 Centerline is valid? [True, True] Translation: X:82.07, Y:-10.76, Z:-1.57 [[ 9.88837333e-01 1.48014415e-01 1.71015238e-02 8.20663866e+01] [-1.47989590e-01 9.88985192e-01 -2.71509735e-03 -1.07599068e+01] [-1.73150273e-02 1.53942125e-04 9.99850072e-01 -1.57482065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074012739 meters 0.026325795466911408 Centerline is valid? [True, True] Translation: X:82.10, Y:-10.77, Z:-1.58 [[ 9.89099826e-01 1.45986013e-01 1.92254351e-02 8.20974213e+01] [-1.45954188e-01 9.89286630e-01 -3.05581861e-03 -1.07692444e+01] [-1.94655727e-02 2.16476886e-04 9.99810504e-01 -1.58272152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters 0.02693860124240775 Centerline is valid? [True, True] Translation: X:82.13, Y:-10.78, Z:-1.58 [[ 9.89209010e-01 1.44954609e-01 2.13001324e-02 8.21284921e+01] [-1.44915219e-01 9.89438270e-01 -3.38952710e-03 -1.07773043e+01] [-2.15664938e-02 2.66237385e-04 9.99767381e-01 -1.57961608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134012739 meters 0.028617104326845527 Centerline is valid? [True, True] Translation: X:82.16, Y:-10.79, Z:-1.57 [[ 9.89460478e-01 1.42708725e-01 2.45393977e-02 8.21579914e+01] [-1.42655688e-01 9.89764662e-01 -3.90753005e-03 -1.07890763e+01] [-2.48458673e-02 3.65661897e-04 9.99691227e-01 -1.57429102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters 0.033466547268086004 Centerline is valid? [True, True] Translation: X:82.19, Y:-10.80, Z:-1.57 [[ 9.89519032e-01 1.42354638e-01 2.42330771e-02 8.21878100e+01] [-1.42302749e-01 9.89815649e-01 -3.86126943e-03 -1.08040604e+01] [-2.45359486e-02 3.72366104e-04 9.99698879e-01 -1.57275751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194012739 meters 0.028474029032648205 Centerline is valid? [True, True] Translation: X:82.22, Y:-10.80, Z:-1.58 [[ 9.89468579e-01 1.42855716e-01 2.33275757e-02 8.22212663e+01] [-1.42807678e-01 9.89743463e-01 -3.72095396e-03 -1.08007265e+01] [-2.36198751e-02 3.50410116e-04 9.99720950e-01 -1.57720687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters 0.026613996562049307 Centerline is valid? [True, True] Translation: X:82.25, Y:-10.80, Z:-1.58 [[ 9.89006974e-01 1.46397335e-01 2.08092624e-02 8.22536981e+01] [-1.46359829e-01 9.89225840e-01 -3.32230370e-03 -1.08011501e+01] [-2.10714365e-02 2.40141434e-04 9.99777944e-01 -1.58215506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254012739 meters 0.024967661770265034 Centerline is valid? [True, True] Translation: X:82.29, Y:-10.80, Z:-1.58 [[ 9.88597621e-01 1.49240310e-01 2.00517811e-02 8.22860129e+01] [-1.49206046e-01 9.88800940e-01 -3.20252387e-03 -1.08010221e+01] [-2.03051657e-02 1.74160500e-04 9.99793814e-01 -1.58386051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters 0.023442592203867622 Centerline is valid? [True, True] Translation: X:82.32, Y:-10.80, Z:-1.58 [[ 9.87719082e-01 1.54803316e-01 2.11411674e-02 8.23185200e+01] [-1.54766417e-01 9.87945307e-01 -3.38043988e-03 -1.07979324e+01] [-2.14096204e-02 6.69822536e-05 9.99770786e-01 -1.58206519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314012739 meters 0.02312973546482746 Centerline is valid? [True, True] Translation: X:82.35, Y:-10.80, Z:-1.58 [[ 9.87347551e-01 1.57013494e-01 2.21715161e-02 8.23502395e+01] [-1.56973380e-01 9.87596457e-01 -3.54903464e-03 -1.08003001e+01] [-2.24537571e-02 2.37928302e-05 9.99747882e-01 -1.58057799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters 0.02307355881744189 Centerline is valid? [True, True] Translation: X:82.38, Y:-10.80, Z:-1.58 [[ 9.87141182e-01 1.58296205e-01 2.22395589e-02 8.23817520e+01] [-1.58256085e-01 9.87391671e-01 -3.56373440e-03 -1.08035769e+01] [-2.25232808e-02 -1.63652296e-06 9.99746319e-01 -1.58072664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374012739 meters 0.02310974303995894 Centerline is valid? [True, True] Translation: X:82.41, Y:-10.81, Z:-1.58 [[ 9.86982232e-01 1.59271213e-01 2.23327878e-02 8.24132887e+01] [-1.59230994e-01 9.87234866e-01 -3.57919299e-03 -1.08070857e+01] [-2.26177692e-02 -2.34721084e-05 9.99744185e-01 -1.58078086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters 0.023092383956415583 Centerline is valid? [True, True] Translation: X:82.45, Y:-10.81, Z:-1.58 [[ 9.86951590e-01 1.59388406e-01 2.28450296e-02 8.24457002e+01] [-1.59346327e-01 9.87215952e-01 -3.66232616e-03 -1.08122612e+01] [-2.31367100e-02 -2.57329322e-05 9.99732310e-01 -1.58095806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434012739 meters 0.023187083043715685 Centerline is valid? [True, True] Translation: X:82.48, Y:-10.82, Z:-1.58 [[ 9.86804294e-01 1.60227001e-01 2.33365395e-02 8.24788588e+01] [-1.60183215e-01 9.87080192e-01 -3.74583707e-03 -1.08161521e+01] [-2.36352201e-02 -4.17138138e-05 9.99720648e-01 -1.58202457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters 0.023187083043715685 Centerline is valid? [True, True] Translation: X:82.51, Y:-10.82, Z:-1.58 [[ 9.86773330e-01 1.60417691e-01 2.33358150e-02 8.25109284e+01] [-1.60373852e-01 9.87049220e-01 -3.75034530e-03 -1.08214862e+01] [-2.36352197e-02 -4.17138132e-05 9.99720648e-01 -1.58268492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494012739 meters 0.023267763698769487 Centerline is valid? [True, True] Translation: X:82.54, Y:-10.83, Z:-1.58 [[ 9.86705860e-01 1.61001818e-01 2.21350680e-02 8.25422187e+01] [-1.60962431e-01 9.86954108e-01 -3.56139725e-03 -1.08262641e+01] [-2.24196877e-02 -4.88628259e-05 9.99748646e-01 -1.58422178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters 0.023694901007155093 Centerline is valid? [True, True] Translation: X:82.57, Y:-10.83, Z:-1.59 [[ 9.86437866e-01 1.63067096e-01 1.86937965e-02 8.25730882e+01] [-1.63039337e-01 9.86614979e-01 -3.00979022e-03 -1.08261813e+01] [-1.89343774e-02 -7.88531327e-05 9.99820725e-01 -1.58987001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554012739 meters 0.0241515550674996 Centerline is valid? [True, True] Translation: X:82.60, Y:-10.83, Z:-1.59 [[ 9.86318246e-01 1.63904899e-01 1.76494223e-02 8.26018373e+01] [-1.63880283e-01 9.86476141e-01 -2.84192962e-03 -1.08267634e+01] [-1.78765401e-02 -8.93452782e-05 9.99840198e-01 -1.59267419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters 0.02434211675586777 Centerline is valid? [True, True] Translation: X:82.63, Y:-10.83, Z:-1.59 [[ 9.86152000e-01 1.64858090e-01 1.80566339e-02 8.26314921e+01] [-1.64832494e-01 9.86317291e-01 -2.90703040e-03 -1.08288630e+01] [-1.82888177e-02 -1.09546158e-04 9.99832740e-01 -1.59283048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614012739 meters 0.024368445597527228 Centerline is valid? [True, True] Translation: X:82.66, Y:-10.83, Z:-1.59 [[ 9.86087271e-01 1.65159376e-01 1.88221696e-02 8.26609050e+01] [-1.65131627e-01 9.86266884e-01 -3.02980653e-03 -1.08325313e+01] [-1.90640835e-02 -1.20481834e-04 9.99818257e-01 -1.59274483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters 0.02441141145587907 Centerline is valid? [True, True] Translation: X:82.69, Y:-10.83, Z:-1.59 [[ 9.86051124e-01 1.65295246e-01 1.95105623e-02 8.26893984e+01] [-1.65265466e-01 9.86244121e-01 -3.14012234e-03 -1.08340684e+01] [-1.97612246e-02 -1.28100998e-04 9.99804720e-01 -1.59133636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674012739 meters 0.024218606297496312 Centerline is valid? [True, True] Translation: X:82.72, Y:-10.84, Z:-1.59 [[ 9.86173349e-01 1.64648373e-01 1.87893443e-02 8.27188926e+01] [-1.64620650e-01 9.86352321e-01 -3.02336145e-03 -1.08372286e+01] [-1.90307049e-02 -1.11555583e-04 9.99818894e-01 -1.59283824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters 0.023846107496771345 Centerline is valid? [True, True] Translation: X:82.75, Y:-10.84, Z:-1.60 [[ 9.86471826e-01 1.63000386e-01 1.74416552e-02 8.27483740e+01] [-1.62976247e-01 9.86626002e-01 -2.80612117e-03 -1.08404429e+01] [-1.76657894e-02 -7.44160282e-05 9.99843945e-01 -1.59645298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734012739 meters 0.023830184208020647 Centerline is valid? [True, True] Translation: X:82.78, Y:-10.85, Z:-1.60 [[ 9.86541205e-01 1.62589656e-01 1.73509061e-02 8.27778962e+01] [-1.62565711e-01 9.86693772e-01 -2.79110612e-03 -1.08451932e+01] [-1.75738360e-02 -6.71211916e-05 9.99845566e-01 -1.59723547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters 0.023817890425909125 Centerline is valid? [True, True] Translation: X:82.81, Y:-10.85, Z:-1.60 [[ 9.86607990e-01 1.62107071e-01 1.80546656e-02 8.28057761e+01] [-1.62081072e-01 9.86773172e-01 -2.90388593e-03 -1.08498770e+01] [-1.82866001e-02 -6.13224945e-05 9.99832784e-01 -1.59722576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794012739 meters 0.023233988484853366 Centerline is valid? [True, True] Translation: X:82.84, Y:-10.85, Z:-1.59 [[ 9.86883228e-01 1.60267396e-01 1.93870046e-02 8.28350135e+01] [-1.60237077e-01 9.87073635e-01 -3.11742351e-03 -1.08547687e+01] [-1.96360224e-02 -2.99839624e-05 9.99807194e-01 -1.59428465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters 0.023154238489182997 Centerline is valid? [True, True] Translation: X:82.86, Y:-10.86, Z:-1.59 [[ 9.87101857e-01 1.58862061e-01 1.98184214e-02 8.28644771e+01] [-1.58830103e-01 9.87300788e-01 -3.18631188e-03 -1.08615086e+01] [-2.00729271e-02 -2.54754412e-06 9.99798518e-01 -1.59404426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854012739 meters 0.023651387590438347 Centerline is valid? [True, True] Translation: X:82.89, Y:-10.88, Z:-1.59 [[ 9.87748251e-01 1.54760903e-01 2.00612732e-02 8.28937458e+01] [-1.54727321e-01 9.87951950e-01 -3.22487016e-03 -1.08761193e+01] [-2.03186578e-02 8.13327933e-05 9.99793551e-01 -1.59467781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters 0.024318026655452026 Centerline is valid? [True, True] Translation: X:82.92, Y:-10.89, Z:-1.60 [[ 9.88059131e-01 1.52720261e-01 2.03881130e-02 8.29238732e+01] [-1.52685130e-01 9.88269450e-01 -3.27794478e-03 -1.08866394e+01] [-2.06495578e-02 1.25841581e-04 9.99786767e-01 -1.59508313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914012739 meters 0.024874698971245057 Centerline is valid? [True, True] Translation: X:82.95, Y:-10.90, Z:-1.60 [[ 9.88282628e-01 1.51244661e-01 2.05547935e-02 8.29547748e+01] [-1.51208567e-01 9.88496346e-01 -3.30793532e-03 -1.08952331e+01] [-2.08186458e-02 1.61114136e-04 9.99783256e-01 -1.59522638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters 0.02582733202451734 Centerline is valid? [True, True] Translation: X:82.99, Y:-10.91, Z:-1.60 [[ 9.88613378e-01 1.49109586e-01 2.02465066e-02 8.29851684e+01] [-1.49074051e-01 9.88820656e-01 -3.26164289e-03 -1.09071654e+01] [-2.05065061e-02 2.06275034e-04 9.99789698e-01 -1.59533996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974012739 meters 0.026453744666656266 Centerline is valid? [True, True] Translation: X:83.02, Y:-10.92, Z:-1.60 [[ 9.88708594e-01 1.48540271e-01 1.97763344e-02 8.30150791e+01] [-1.48506189e-01 9.88906336e-01 -3.18915362e-03 -1.09171014e+01] [-2.00306601e-02 2.16235535e-04 9.99799343e-01 -1.59628862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters 0.026644717037683324 Centerline is valid? [True, True] Translation: X:83.05, Y:-10.93, Z:-1.60 [[ 9.88849567e-01 1.47471406e-01 2.07055119e-02 8.30458977e+01] [-1.47433768e-01 9.89066288e-01 -3.34103588e-03 -1.09281534e+01] [-2.09718310e-02 2.51090244e-04 9.99780035e-01 -1.59504163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034012739 meters 0.02626480154321012 Centerline is valid? [True, True] Translation: X:83.08, Y:-10.93, Z:-1.60 [[ 9.88829764e-01 1.47545747e-01 2.11175508e-02 8.30782630e+01] [-1.47506535e-01 9.89055199e-01 -3.41119124e-03 -1.09336383e+01] [-2.13897301e-02 2.58110683e-04 9.99771180e-01 -1.59549965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters 0.025955061065644335 Centerline is valid? [True, True] Translation: X:83.11, Y:-10.94, Z:-1.60 [[ 9.88600263e-01 1.49172505e-01 2.04226453e-02 8.31087177e+01] [-1.49136097e-01 9.88811163e-01 -3.30291332e-03 -1.09408444e+01] [-2.06868435e-02 2.19507377e-04 9.99785980e-01 -1.59728261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09401273900001 meters 0.025570502060399843 Centerline is valid? [True, True] Translation: X:83.14, Y:-10.95, Z:-1.60 [[ 9.88391345e-01 1.50658853e-01 1.96076498e-02 8.31391290e+01] [-1.50625524e-01 9.88585796e-01 -3.17417460e-03 -1.09466558e+01] [-1.98620616e-02 1.83914170e-04 9.99802713e-01 -1.59860709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters 0.024924419309354354 Centerline is valid? [True, True] Translation: X:83.17, Y:-10.95, Z:-1.60 [[ 9.88155460e-01 1.52221045e-01 1.94304010e-02 8.31708452e+01] [-1.52188554e-01 9.88346462e-01 -3.14870828e-03 -1.09517508e+01] [-1.96832677e-02 1.54328647e-04 9.99806254e-01 -1.59888189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154012739 meters 0.023666383941340286 Centerline is valid? [True, True] Translation: X:83.20, Y:-10.95, Z:-1.60 [[ 9.87602977e-01 1.55627352e-01 2.05057991e-02 8.32028573e+01] [-1.55591824e-01 9.87815832e-01 -3.32659029e-03 -1.09531549e+01] [-2.07736614e-02 9.48157940e-05 9.99784200e-01 -1.59785726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters 0.023322053511342103 Centerline is valid? [True, True] Translation: X:83.23, Y:-10.96, Z:-1.60 [[ 9.87291121e-01 1.57549239e-01 2.08441551e-02 8.32339867e+01] [-1.57512882e-01 9.87511131e-01 -3.38502359e-03 -1.09559940e+01] [-2.11171430e-02 5.87808072e-05 9.99777007e-01 -1.59789165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214012739 meters 0.023305456022414947 Centerline is valid? [True, True] Translation: X:83.27, Y:-10.96, Z:-1.60 [[ 9.86979793e-01 1.59700322e-01 1.91492984e-02 8.32654539e+01] [-1.59669989e-01 9.87165542e-01 -3.11249216e-03 -1.09591822e+01] [-1.94005936e-02 1.43985854e-05 9.99811791e-01 -1.60324513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters 0.023358582820365143 Centerline is valid? [True, True] Translation: X:83.30, Y:-10.96, Z:-1.61 [[ 9.86978135e-01 1.59902448e-01 1.74747723e-02 8.32961798e+01] [-1.59877168e-01 9.87132821e-01 -2.84327491e-03 -1.09635859e+01] [-1.77045679e-02 1.24330702e-05 9.99843262e-01 -1.60700025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274012739 meters 0.02340708225222383 Centerline is valid? [True, True] Translation: X:83.33, Y:-10.97, Z:-1.61 [[ 9.87022083e-01 1.59716911e-01 1.66708267e-02 8.33268656e+01] [-1.59693872e-01 9.87162858e-01 -2.71279230e-03 -1.09680248e+01] [-1.68900998e-02 1.53570362e-05 9.99857352e-01 -1.60896811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters 0.02348378643484195 Centerline is valid? [True, True] Translation: X:83.36, Y:-10.97, Z:-1.61 [[ 9.87249790e-01 1.58259732e-01 1.70794786e-02 8.33575961e+01] [-1.58235319e-01 9.87397516e-01 -2.77996691e-03 -1.09747508e+01] [-1.73041916e-02 4.19450026e-05 9.99850270e-01 -1.60801780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334012739 meters 0.023627361673166116 Centerline is valid? [True, True] Translation: X:83.39, Y:-10.98, Z:-1.61 [[ 9.87418007e-01 1.57112863e-01 1.79228057e-02 8.33893030e+01] [-1.57085788e-01 9.87580652e-01 -2.91738833e-03 -1.09825998e+01] [-1.81585754e-02 6.52637160e-05 9.99835117e-01 -1.60664419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters 0.024450108415590678 Centerline is valid? [True, True] Translation: X:83.42, Y:-10.99, Z:-1.61 [[ 9.87855001e-01 1.54279266e-01 1.84500578e-02 8.34195920e+01] [-1.54250019e-01 9.88027273e-01 -3.00644437e-03 -1.09936150e+01] [-1.86929924e-02 1.24009335e-04 9.99825263e-01 -1.60627360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394012739 meters 0.025605859195412178 Centerline is valid? [True, True] Translation: X:83.45, Y:-11.00, Z:-1.61 [[ 9.88010784e-01 1.53234790e-01 1.88093102e-02 8.34495362e+01] [-1.53204145e-01 9.88189798e-01 -3.06807688e-03 -1.10035967e+01] [-1.90573046e-02 1.49628756e-04 9.99818382e-01 -1.60706534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters 0.0251404414601146 Centerline is valid? [True, True] Translation: X:83.48, Y:-11.01, Z:-1.61 [[ 9.88116962e-01 1.52527592e-01 1.89790291e-02 8.34824679e+01] [-1.52496229e-01 9.88299199e-01 -3.09741283e-03 -1.10092946e+01] [-1.92294001e-02 1.66375789e-04 9.99815084e-01 -1.60667752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454012739 meters 0.02600532952206626 Centerline is valid? [True, True] Translation: X:83.51, Y:-11.02, Z:-1.61 [[ 9.88318727e-01 1.51105250e-01 1.98317196e-02 8.35124420e+01] [-1.51070639e-01 9.88517658e-01 -3.24062046e-03 -1.10187174e+01] [-2.00936798e-02 2.06775336e-04 9.99798080e-01 -1.60554303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters 0.025962654408611736 Centerline is valid? [True, True] Translation: X:83.54, Y:-11.03, Z:-1.61 [[ 9.88412785e-01 1.50498000e-01 1.97615613e-02 8.35444070e+01] [-1.50463475e-01 9.88610289e-01 -3.23099885e-03 -1.10250943e+01] [-2.00227417e-02 2.20167393e-04 9.99799501e-01 -1.60546618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514012739 meters 0.026824953077538374 Centerline is valid? [True, True] Translation: X:83.57, Y:-11.04, Z:-1.61 [[ 9.88593887e-01 1.49334880e-01 1.95248877e-02 8.35736842e+01] [-1.49300883e-01 9.88786647e-01 -3.19566779e-03 -1.10382259e+01] [-1.97831730e-02 2.44134664e-04 9.99804264e-01 -1.60650326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters 0.027348628710846153 Centerline is valid? [True, True] Translation: X:83.60, Y:-11.05, Z:-1.61 [[ 9.88725269e-01 1.48511971e-01 1.91451564e-02 8.36048512e+01] [-1.48479097e-01 9.88910576e-01 -3.13520199e-03 -1.10480501e+01] [-1.93984627e-02 2.57197892e-04 9.99811799e-01 -1.60777069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574012739 meters 0.02794163717320969 Centerline is valid? [True, True] Translation: X:83.64, Y:-11.06, Z:-1.61 [[ 9.88784703e-01 1.48154534e-01 1.88426516e-02 8.36358965e+01] [-1.48122566e-01 9.88964188e-01 -3.08881271e-03 -1.10577727e+01] [-1.90923293e-02 2.63148850e-04 9.99817690e-01 -1.60873976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters 0.028728874003107314 Centerline is valid? [True, True] Translation: X:83.67, Y:-11.07, Z:-1.61 [[ 9.88920485e-01 1.47383967e-01 1.77268205e-02 8.36659211e+01] [-1.47355494e-01 9.89079317e-01 -2.90897450e-03 -1.10703503e+01] [-1.79619678e-02 2.64600076e-04 9.99838636e-01 -1.61172513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634012739 meters 0.028826375627071764 Centerline is valid? [True, True] Translation: X:83.70, Y:-11.08, Z:-1.61 [[ 9.88902188e-01 1.47609632e-01 1.68481278e-02 8.36968956e+01] [-1.47583900e-01 9.89045668e-01 -2.76738839e-03 -1.10792447e+01] [-1.70720610e-02 2.50164035e-04 9.99854230e-01 -1.61389250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters 0.0270382782472558 Centerline is valid? [True, True] Translation: X:83.73, Y:-11.09, Z:-1.61 [[ 9.88435975e-01 1.50656103e-01 1.72354865e-02 8.37287185e+01] [-1.50629602e-01 9.88586211e-01 -2.83301156e-03 -1.10853593e+01] [-1.74655748e-02 2.04076064e-04 9.99847444e-01 -1.61218877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694012739 meters 0.025419802583497447 Centerline is valid? [True, True] Translation: X:83.76, Y:-11.09, Z:-1.61 [[ 9.88003222e-01 1.53379311e-01 1.80116463e-02 8.37614317e+01] [-1.53350760e-01 9.88167374e-01 -2.96398366e-03 -1.10873892e+01] [-1.82531350e-02 1.66325750e-04 9.99833384e-01 -1.61131994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters 0.023912749388943045 Centerline is valid? [True, True] Translation: X:83.79, Y:-11.09, Z:-1.61 [[ 9.87430885e-01 1.56975681e-01 1.84087777e-02 8.37943180e+01] [-1.56946464e-01 9.87602463e-01 -3.03028767e-03 -1.10878832e+01] [-1.86562357e-02 1.03007063e-04 9.99825952e-01 -1.61104876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754012739 meters 0.02323553395125147 Centerline is valid? [True, True] Translation: X:83.83, Y:-11.09, Z:-1.61 [[ 9.86260071e-01 1.64116758e-01 1.88881381e-02 8.38260354e+01] [-1.64087242e-01 9.86440920e-01 -3.11256096e-03 -1.10854646e+01] [-1.91428558e-02 -2.95078963e-05 9.99816758e-01 -1.61105098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters 0.023809977064267067 Centerline is valid? [True, True] Translation: X:83.86, Y:-11.09, Z:-1.61 [[ 9.85764590e-01 1.67112565e-01 1.84814661e-02 8.38581170e+01] [-1.67084779e-01 9.85937819e-01 -3.04841077e-03 -1.10877092e+01] [-1.87310041e-02 -8.29562902e-05 9.99824556e-01 -1.61230083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814012739 meters 0.024756975764810094 Centerline is valid? [True, True] Translation: X:83.89, Y:-11.09, Z:-1.61 [[ 9.85313758e-01 1.69797954e-01 1.80403115e-02 8.38891301e+01] [-1.69771875e-01 9.85478888e-01 -2.97859248e-03 -1.10891572e+01] [-1.82841051e-02 -1.27889361e-04 9.99832824e-01 -1.61407804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters 0.02601030029673597 Centerline is valid? [True, True] Translation: X:83.92, Y:-11.09, Z:-1.61 [[ 9.84559586e-01 1.74068024e-01 1.85133597e-02 8.39217085e+01] [-1.74041259e-01 9.84733608e-01 -3.05958803e-03 -1.10913467e+01] [-1.87633040e-02 -2.09741722e-04 9.99823932e-01 -1.61390348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874012739 meters 0.028506737230772614 Centerline is valid? [True, True] Translation: X:83.95, Y:-11.09, Z:-1.61 [[ 9.84168269e-01 1.76251219e-01 1.86634861e-02 8.39530710e+01] [-1.76224346e-01 9.84345186e-01 -3.08780299e-03 -1.10911204e+01] [-1.89155418e-02 -2.50042907e-04 9.99821054e-01 -1.61416217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters 0.03039409136430976 Centerline is valid? [True, True] Translation: X:83.98, Y:-11.09, Z:-1.62 [[ 9.83766775e-01 1.78655181e-01 1.68895971e-02 8.39842155e+01] [-1.78633499e-01 9.83911711e-01 -2.79600546e-03 -1.10894981e+01] [-1.71173933e-02 -2.66430553e-04 9.99853451e-01 -1.61780085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934012739 meters 0.031136364909234226 Centerline is valid? [True, True] Translation: X:84.01, Y:-11.09, Z:-1.62 [[ 9.83477137e-01 1.80317819e-01 1.60687462e-02 8.40143485e+01] [-1.80298413e-01 9.83608360e-01 -2.66021025e-03 -1.10914413e+01] [-1.62850364e-02 -2.80913491e-04 9.99867351e-01 -1.61968723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters 0.0319159571340116 Centerline is valid? [True, True] Translation: X:84.04, Y:-11.09, Z:-1.62 [[ 9.83131136e-01 1.82197011e-01 1.60442888e-02 8.40443898e+01] [-1.82177921e-01 9.83261996e-01 -2.65578638e-03 -1.10938730e+01] [-1.62596158e-02 -3.11928912e-04 9.99867755e-01 -1.62031881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994012739 meters 0.03435694949294973 Centerline is valid? [True, True] Translation: X:84.07, Y:-11.09, Z:-1.62 [[ 9.82539822e-01 1.85178788e-01 1.80087526e-02 8.40747067e+01] [-1.85155246e-01 9.82704763e-01 -2.98046783e-03 -1.10936224e+01] [-1.82492064e-02 -4.05986678e-04 9.99833387e-01 -1.61810502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters 0.034892706418049334 Centerline is valid? [True, True] Translation: X:84.10, Y:-11.10, Z:-1.62 [[ 9.82414585e-01 1.85825906e-01 1.81746059e-02 8.41046670e+01] [-1.85802047e-01 9.82582594e-01 -3.00747610e-03 -1.10963493e+01] [-1.84169184e-02 -4.22290596e-04 9.99830305e-01 -1.61745033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054012739 meters 0.036113936322113266 Centerline is valid? [True, True] Translation: X:84.13, Y:-11.10, Z:-1.62 [[ 9.82319107e-01 1.86359872e-01 1.78653158e-02 8.41338967e+01] [-1.86336913e-01 9.82481459e-01 -2.95590060e-03 -1.10972678e+01] [-1.81032028e-02 -4.25330154e-04 9.99836033e-01 -1.61997889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters 0.03617995091497427 Centerline is valid? [True, True] Translation: X:84.16, Y:-11.10, Z:-1.62 [[ 9.82335109e-01 1.86362967e-01 1.69286141e-02 8.41624811e+01] [-1.86342363e-01 9.82480881e-01 -2.80038593e-03 -1.11015637e+01] [-1.71539279e-02 -4.03600542e-04 9.99852779e-01 -1.62221054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114012739 meters 0.03647122679184221 Centerline is valid? [True, True] Translation: X:84.19, Y:-11.11, Z:-1.62 [[ 9.82280450e-01 1.86761435e-01 1.56615683e-02 8.41912160e+01] [-1.86743861e-01 9.82405223e-01 -2.59012010e-03 -1.11054743e+01] [-1.58697411e-02 -3.80477407e-04 9.99873995e-01 -1.62481350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters 0.038812166755407836 Centerline is valid? [True, True] Translation: X:84.22, Y:-11.10, Z:-1.63 [[ 9.82014654e-01 1.88264492e-01 1.42723417e-02 8.42196808e+01] [-1.88250064e-01 9.82118295e-01 -2.35984141e-03 -1.11044007e+01] [-1.44614022e-02 -3.69370384e-04 9.99895360e-01 -1.62823432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174012739 meters 0.039380821838710015 Centerline is valid? [True, True] Translation: X:84.25, Y:-11.11, Z:-1.63 [[ 9.81838902e-01 1.89160479e-01 1.45149188e-02 8.42486127e+01] [-1.89145668e-01 9.81946109e-01 -2.39900161e-03 -1.11084201e+01] [-1.47066643e-02 -3.90000897e-04 9.99891775e-01 -1.62857316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters 0.04083068936770216 Centerline is valid? [True, True] Translation: X:84.28, Y:-11.11, Z:-1.62 [[ 9.81635818e-01 1.89940403e-01 1.77133922e-02 8.42758229e+01] [-1.89918489e-01 9.81795499e-01 -2.92665652e-03 -1.11120630e+01] [-1.79468190e-02 -4.91189817e-04 9.99838822e-01 -1.62213314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234012739 meters 0.04054576363952325 Centerline is valid? [True, True] Translation: X:84.30, Y:-11.12, Z:-1.62 [[ 9.81641189e-01 1.89785663e-01 1.90257342e-02 8.43046396e+01] [-1.89760382e-01 9.81825405e-01 -3.14202566e-03 -1.11169699e+01] [-1.92762606e-02 -5.25988772e-04 9.99814057e-01 -1.61926192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters 0.04098090112069797 Centerline is valid? [True, True] Translation: X:84.33, Y:-11.12, Z:-1.62 [[ 9.81689290e-01 1.89599468e-01 1.83896765e-02 8.43319598e+01] [-1.89575831e-01 9.81861388e-01 -3.03617975e-03 -1.11204669e+01] [-1.86317714e-02 -5.05653050e-04 9.99826286e-01 -1.62124992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294012739 meters 0.04054390748551585 Centerline is valid? [True, True] Translation: X:84.36, Y:-11.13, Z:-1.63 [[ 9.81885083e-01 1.88858293e-01 1.53045276e-02 8.43604046e+01] [-1.88841843e-01 9.82004265e-01 -2.52607358e-03 -1.11270474e+01] [-1.55061813e-02 -4.09821226e-04 9.99879688e-01 -1.62840828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters 0.038385028190303795 Centerline is valid? [True, True] Translation: X:84.39, Y:-11.14, Z:-1.63 [[ 9.81914632e-01 1.88703745e-01 1.53151166e-02 8.43878886e+01] [-1.88687264e-01 9.82033976e-01 -2.52712929e-03 -1.11362155e+01] [-1.55168436e-02 -4.08342230e-04 9.99879523e-01 -1.62781602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354012739 meters 0.038385028190303795 Centerline is valid? [True, True] Translation: X:84.42, Y:-11.14, Z:-1.63 [[ 9.81923476e-01 1.88657707e-01 1.53152345e-02 8.44158593e+01] [-1.88641232e-01 9.82042821e-01 -2.52641467e-03 -1.11407411e+01] [-1.55168437e-02 -4.08338835e-04 9.99879523e-01 -1.62839151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters 0.040831815838847194 Centerline is valid? [True, True] Translation: X:84.44, Y:-11.14, Z:-1.62 [[ 9.81913727e-01 1.88515283e-01 1.75333928e-02 8.44441637e+01] [-1.88493685e-01 9.82070146e-01 -2.89136937e-03 -1.11410667e+01] [-1.77640890e-02 -4.65858537e-04 9.99842098e-01 -1.62328162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414012739 meters 0.04108739290890092 Centerline is valid? [True, True] Translation: X:84.47, Y:-11.14, Z:-1.62 [[ 9.81894074e-01 1.88553358e-01 1.82114799e-02 8.44726510e+01] [-1.88530084e-01 9.82062827e-01 -3.00202677e-03 -1.11438802e+01] [-1.84508596e-02 -4.85739532e-04 9.99829650e-01 -1.62149045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters 0.03955490803997232 Centerline is valid? [True, True] Translation: X:84.50, Y:-11.15, Z:-1.62 [[ 9.81868306e-01 1.88677236e-01 1.83174991e-02 8.45009710e+01] [-1.88653727e-01 9.82039031e-01 -3.01866876e-03 -1.11496867e+01] [-1.85580532e-02 -4.91729297e-04 9.99827664e-01 -1.62215395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474012739 meters 0.04105673046211467 Centerline is valid? [True, True] Translation: X:84.53, Y:-11.15, Z:-1.63 [[ 9.82065278e-01 1.87802316e-01 1.66757482e-02 8.45291236e+01] [-1.87782718e-01 9.82206751e-01 -2.74741488e-03 -1.11524256e+01] [-1.68950034e-02 -4.33276576e-04 9.99857175e-01 -1.62699088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters 0.03854784747424389 Centerline is valid? [True, True] Translation: X:84.56, Y:-11.16, Z:-1.63 [[ 9.82336806e-01 1.86447814e-01 1.58622955e-02 8.45571286e+01] [-1.86429916e-01 9.82464788e-01 -2.61270316e-03 -1.11602241e+01] [-1.60712796e-02 -3.90651943e-04 9.99870772e-01 -1.62870473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534012739 meters 0.03677994716058427 Centerline is valid? [True, True] Translation: X:84.59, Y:-11.17, Z:-1.63 [[ 9.83008287e-01 1.82884409e-01 1.57480231e-02 8.45851151e+01] [-1.82866323e-01 9.83134367e-01 -2.59311226e-03 -1.11653933e+01] [-1.59566626e-02 -3.30732248e-04 9.99872630e-01 -1.62906316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters 0.03484189076323534 Centerline is valid? [True, True] Translation: X:84.61, Y:-11.17, Z:-1.63 [[ 9.83403041e-01 1.80702217e-01 1.62839979e-02 8.46121501e+01] [-1.80682588e-01 9.83537806e-01 -2.68085983e-03 -1.11730908e+01] [-1.65003649e-02 -3.05869188e-04 9.99863813e-01 -1.62830123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59401273900001 meters 0.03333142279903292 Centerline is valid? [True, True] Translation: X:84.64, Y:-11.18, Z:-1.63 [[ 9.83741844e-01 1.78898663e-01 1.57242412e-02 8.46398832e+01] [-1.78880145e-01 9.83867469e-01 -2.58782435e-03 -1.11812751e+01] [-1.59335277e-02 -2.67003448e-04 9.99873018e-01 -1.62965044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters 0.03332685491228722 Centerline is valid? [True, True] Translation: X:84.67, Y:-11.19, Z:-1.64 [[ 9.83880257e-01 1.78372891e-01 1.27573880e-02 8.46682930e+01] [-1.78360663e-01 9.83962940e-01 -2.09915590e-03 -1.11851985e+01] [-1.29272295e-02 -2.10098141e-04 9.99916418e-01 -1.63605814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654012739 meters 0.033365759760347995 Centerline is valid? [True, True] Translation: X:84.70, Y:-11.19, Z:-1.64 [[ 9.83703617e-01 1.79361105e-01 1.25214768e-02 8.46973907e+01] [-1.79349411e-01 9.83783282e-01 -2.05981158e-03 -1.11874360e+01] [-1.26878696e-02 -2.19475394e-04 9.99919482e-01 -1.63684245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters 0.037704404171896876 Centerline is valid? [True, True] Translation: X:84.73, Y:-11.18, Z:-1.63 [[ 9.83077064e-01 1.82612499e-01 1.45657799e-02 8.47266020e+01] [-1.82597043e-01 9.83184918e-01 -2.39535431e-03 -1.11823666e+01] [-1.47582767e-02 -3.04850452e-04 9.99891044e-01 -1.63190530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714012739 meters 0.035242417166240866 Centerline is valid? [True, True] Translation: X:84.75, Y:-11.19, Z:-1.63 [[ 9.82798958e-01 1.83957955e-01 1.62996370e-02 8.47544641e+01] [-1.83938803e-01 9.82934045e-01 -2.67940999e-03 -1.11914235e+01] [-1.65143670e-02 -3.64814376e-04 9.99863562e-01 -1.62706592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters 0.03647261603662111 Centerline is valid? [True, True] Translation: X:84.78, Y:-11.19, Z:-1.62 [[ 9.82605508e-01 1.84883430e-01 1.74509045e-02 8.47823772e+01] [-1.84861637e-01 9.82760373e-01 -2.86778690e-03 -1.11935823e+01] [-1.76802637e-02 -4.08099578e-04 9.99843609e-01 -1.62493131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774012739 meters 0.03633897586648154 Centerline is valid? [True, True] Translation: X:84.81, Y:-11.20, Z:-1.63 [[ 9.82615514e-01 1.84862916e-01 1.71013148e-02 8.48104761e+01] [-1.84842002e-01 9.82764235e-01 -2.80934559e-03 -1.11971868e+01] [-1.73259044e-02 -4.00534705e-04 9.99849815e-01 -1.62624150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters 0.03573925831489675 Centerline is valid? [True, True] Translation: X:84.84, Y:-11.21, Z:-1.63 [[ 9.82750267e-01 1.84258596e-01 1.58329779e-02 8.48388320e+01] [-1.84240606e-01 9.82877733e-01 -2.60004100e-03 -1.12052969e+01] [-1.60409613e-02 -3.61886458e-04 9.99871270e-01 -1.62848690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834012739 meters 0.03558117013250209 Centerline is valid? [True, True] Translation: X:84.87, Y:-11.21, Z:-1.63 [[ 9.82769652e-01 1.84158445e-01 1.57948917e-02 8.48674865e+01] [-1.84140537e-01 9.82896504e-01 -2.59327874e-03 -1.12111397e+01] [-1.60023180e-02 -3.59884187e-04 9.99871890e-01 -1.62804335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters 0.0358889398307947 Centerline is valid? [True, True] Translation: X:84.90, Y:-11.21, Z:-1.63 [[ 9.82644967e-01 1.84778530e-01 1.63022899e-02 8.48964186e+01] [-1.84759551e-01 9.82780112e-01 -2.67577965e-03 -1.12146416e+01] [-1.65159929e-02 -3.82662359e-04 9.99863528e-01 -1.62724295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894012739 meters 0.03831592958391587 Centerline is valid? [True, True] Translation: X:84.93, Y:-11.21, Z:-1.63 [[ 9.82154834e-01 1.87327794e-01 1.67385753e-02 8.49258639e+01] [-1.87308171e-01 9.82297361e-01 -2.74651921e-03 -1.12126053e+01] [-1.69567577e-02 -4.37764793e-04 9.99856128e-01 -1.62698704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters 0.03951438845079989 Centerline is valid? [True, True] Translation: X:84.95, Y:-11.22, Z:-1.63 [[ 9.82017829e-01 1.88035985e-01 1.68360519e-02 8.49532215e+01] [-1.88016245e-01 9.82162035e-01 -2.76200086e-03 -1.12159908e+01] [-1.70550865e-02 -4.53117165e-04 9.99854449e-01 -1.62778760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954012739 meters 0.039482567014284056 Centerline is valid? [True, True] Translation: X:84.98, Y:-11.22, Z:-1.63 [[ 9.82045819e-01 1.87926221e-01 1.64238949e-02 8.49812517e+01] [-1.87907438e-01 9.82183049e-01 -2.69326537e-03 -1.12237321e+01] [-1.66374063e-02 -4.41262023e-04 9.99861491e-01 -1.62791814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters 0.038428579432801424 Centerline is valid? [True, True] Translation: X:85.01, Y:-11.23, Z:-1.63 [[ 9.82010171e-01 1.88152687e-01 1.59559037e-02 8.50094490e+01] [-1.88135002e-01 9.82139694e-01 -2.61580743e-03 -1.12311315e+01] [-1.61630975e-02 -4.33114469e-04 9.99869275e-01 -1.62812616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014012739 meters 0.04052053477100257 Centerline is valid? [True, True] Translation: X:85.04, Y:-11.23, Z:-1.63 [[ 9.81933157e-01 1.88560118e-01 1.58857843e-02 8.50372827e+01] [-1.88542652e-01 9.82061551e-01 -2.60359945e-03 -1.12329117e+01] [-1.60917530e-02 -4.38587280e-04 9.99870423e-01 -1.62932070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters 0.039743625838082094 Centerline is valid? [True, True] Translation: X:85.07, Y:-11.24, Z:-1.63 [[ 9.81656733e-01 1.89815575e-01 1.78915122e-02 8.50654058e+01] [-1.89793651e-01 9.81819626e-01 -2.93108056e-03 -1.12405301e+01] [-1.81226026e-02 -5.18380459e-04 9.99835638e-01 -1.62760366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074012739 meters 0.03999159691306486 Centerline is valid? [True, True] Translation: X:85.09, Y:-11.24, Z:-1.63 [[ 9.81617422e-01 1.89986907e-01 1.82266698e-02 8.50935719e+01] [-1.89964200e-01 9.81786480e-01 -2.98509349e-03 -1.12449897e+01] [-1.84618267e-02 -5.32194981e-04 9.99829424e-01 -1.62674511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters 0.04297507174621077 Centerline is valid? [True, True] Translation: X:85.12, Y:-11.24, Z:-1.63 [[ 9.81525251e-01 1.90590713e-01 1.68333224e-02 8.51216952e+01] [-1.90571446e-01 9.81669459e-01 -2.75619838e-03 -1.12437585e+01] [-1.70500643e-02 -5.02672280e-04 9.99854511e-01 -1.62941858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134012739 meters 0.04532828439356618 Centerline is valid? [True, True] Translation: X:85.15, Y:-11.24, Z:-1.63 [[ 9.81422964e-01 1.91197511e-01 1.58895386e-02 8.51491815e+01] [-1.91180438e-01 9.81551464e-01 -2.60075519e-03 -1.12444469e+01] [-1.60936578e-02 -4.85328087e-04 9.99870371e-01 -1.63231631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters 0.04331761148026502 Centerline is valid? [True, True] Translation: X:85.18, Y:-11.25, Z:-1.63 [[ 9.81301630e-01 1.91865102e-01 1.53262547e-02 8.51766777e+01] [-1.91849312e-01 9.81421190e-01 -2.50776230e-03 -1.12522867e+01] [-1.55226632e-02 -4.79460183e-04 9.99879401e-01 -1.63393098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194012739 meters 0.04786346797248948 Centerline is valid? [True, True] Translation: X:85.21, Y:-11.25, Z:-1.63 [[ 9.81023475e-01 1.93196317e-01 1.63745258e-02 8.52054988e+01] [-1.93178491e-01 9.81159975e-01 -2.67849592e-03 -1.12495811e+01] [-1.65835048e-02 -5.35538811e-04 9.99862341e-01 -1.63250102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters 0.04785451496085986 Centerline is valid? [True, True] Translation: X:85.23, Y:-11.25, Z:-1.63 [[ 9.80908177e-01 1.93724636e-01 1.70268703e-02 8.52345705e+01] [-1.93705460e-01 9.81055780e-01 -2.78412578e-03 -1.12533903e+01] [-1.72436633e-02 -5.67226000e-04 9.99851156e-01 -1.63092060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254012739 meters 0.04961502563742129 Centerline is valid? [True, True] Translation: X:85.26, Y:-11.25, Z:-1.63 [[ 9.80811060e-01 1.94214911e-01 1.70362099e-02 8.52629161e+01] [-1.94195799e-01 9.80958835e-01 -2.78495381e-03 -1.12529926e+01] [-1.72527002e-02 -5.76846902e-04 9.99850995e-01 -1.63099880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters 0.0459155601145439 Centerline is valid? [True, True] Translation: X:85.29, Y:-11.26, Z:-1.63 [[ 9.80757810e-01 1.94492023e-01 1.69401983e-02 8.52906862e+01] [-1.94473188e-01 9.80903928e-01 -2.76807098e-03 -1.12611573e+01] [-1.71550748e-02 -5.79607141e-04 9.99852673e-01 -1.63071347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314012739 meters 0.05031394945987713 Centerline is valid? [True, True] Translation: X:85.32, Y:-11.26, Z:-1.63 [[ 9.80725372e-01 1.94597543e-01 1.75937984e-02 8.53198646e+01] [-1.94577258e-01 9.80882985e-01 -2.87403745e-03 -1.12570342e+01] [-1.78167381e-02 -6.04711604e-04 9.99841086e-01 -1.63075345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters 0.047845129086255045 Centerline is valid? [True, True] Translation: X:85.35, Y:-11.26, Z:-1.63 [[ 9.80673292e-01 1.94838902e-01 1.78240698e-02 8.53481556e+01] [-1.94818142e-01 9.80835063e-01 -2.91057071e-03 -1.12619770e+01] [-1.80495650e-02 -6.18133202e-04 9.99836902e-01 -1.63136036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374012739 meters 0.05128966052420463 Centerline is valid? [True, True] Translation: X:85.38, Y:-11.26, Z:-1.63 [[ 9.80692769e-01 1.94836288e-01 1.67485683e-02 8.53767713e+01] [-1.94817969e-01 9.80835604e-01 -2.73427193e-03 -1.12605975e+01] [-1.69603275e-02 -5.81441343e-04 9.99855994e-01 -1.63414215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters 0.04781920227598064 Centerline is valid? [True, True] Translation: X:85.40, Y:-11.27, Z:-1.64 [[ 9.80824085e-01 1.94286403e-01 1.53918054e-02 8.54042193e+01] [-1.94270877e-01 9.80944706e-01 -2.51193654e-03 -1.12684593e+01] [-1.55865452e-02 -5.26411687e-04 9.99878384e-01 -1.63623552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434012739 meters 0.0493788850590683 Centerline is valid? [True, True] Translation: X:85.43, Y:-11.27, Z:-1.64 [[ 9.81198286e-01 1.92407109e-01 1.51468856e-02 8.54328050e+01] [-1.92391858e-01 9.81315069e-01 -2.47143151e-03 -1.12656942e+01] [-1.53393880e-02 -4.89173082e-04 9.99882225e-01 -1.63771896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters 0.038914972947778494 Centerline is valid? [True, True] Translation: X:85.46, Y:-11.28, Z:-1.63 [[ 9.81719349e-01 1.89564173e-01 1.71039087e-02 8.54600401e+01] [-1.89544323e-01 9.81868204e-01 -2.78914391e-03 -1.12826565e+01] [-1.73225059e-02 -5.03792250e-04 9.99849827e-01 -1.63353235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494012739 meters 0.03742973921079913 Centerline is valid? [True, True] Translation: X:85.49, Y:-11.29, Z:-1.63 [[ 9.82076305e-01 1.87630421e-01 1.79152628e-02 8.54885421e+01] [-1.87608328e-01 9.82239575e-01 -2.92101329e-03 -1.12893698e+01] [-1.81451511e-02 -4.92394578e-04 9.99835242e-01 -1.63228146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters 0.03636399416171582 Centerline is valid? [True, True] Translation: X:85.52, Y:-11.29, Z:-1.63 [[ 9.82475067e-01 1.85494031e-01 1.82949907e-02 8.55158828e+01] [-1.85470634e-01 9.82645282e-01 -2.98227868e-03 -1.12946529e+01] [-1.85306812e-02 -4.63169068e-04 9.99828185e-01 -1.63171881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554012739 meters 0.034131156349834116 Centerline is valid? [True, True] Translation: X:85.54, Y:-11.30, Z:-1.63 [[ 9.83116800e-01 1.82120717e-01 1.77031560e-02 8.55446775e+01] [-1.82098282e-01 9.83276103e-01 -2.88467269e-03 -1.12993118e+01] [-1.79324489e-02 -3.87744111e-04 9.99839126e-01 -1.63314895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters 0.03543125715517246 Centerline is valid? [True, True] Translation: X:85.57, Y:-11.30, Z:-1.64 [[ 9.83385791e-01 1.80731282e-01 1.69879499e-02 8.55729114e+01] [-1.80710421e-01 9.83532451e-01 -2.76785240e-03 -1.13003877e+01] [-1.72084376e-02 -3.48032864e-04 9.99851863e-01 -1.63591648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614012739 meters 0.029938024023800504 Centerline is valid? [True, True] Translation: X:85.60, Y:-11.31, Z:-1.64 [[ 9.84223435e-01 1.76177967e-01 1.62958437e-02 8.56006977e+01] [-1.76158165e-01 9.84358297e-01 -2.65402833e-03 -1.13140477e+01] [-1.65085303e-02 -2.58489042e-04 9.99863692e-01 -1.63820596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters 0.02784354681128596 Centerline is valid? [True, True] Translation: X:85.63, Y:-11.32, Z:-1.64 [[ 9.84772740e-01 1.73071128e-01 1.64023017e-02 8.56289384e+01] [-1.73050639e-01 9.84909306e-01 -2.67112078e-03 -1.13223486e+01] [-1.66170735e-02 -2.07981870e-04 9.99861905e-01 -1.63825968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674012739 meters 0.025980846076609613 Centerline is valid? [True, True] Translation: X:85.66, Y:-11.33, Z:-1.64 [[ 9.85262855e-01 1.70177509e-01 1.72256321e-02 8.56580957e+01] [-1.70154491e-01 9.85413409e-01 -2.80393781e-03 -1.13309296e+01] [-1.74515360e-02 -1.68402908e-04 9.99847696e-01 -1.63722808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters 0.02394821784682495 Centerline is valid? [True, True] Translation: X:85.69, Y:-11.34, Z:-1.64 [[ 9.86208490e-01 1.64636277e-01 1.69620147e-02 8.56870922e+01] [-1.64613149e-01 9.86354344e-01 -2.76035208e-03 -1.13449432e+01] [-1.71850110e-02 -6.98880016e-05 9.99852324e-01 -1.63766380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734012739 meters 0.023544941149464798 Centerline is valid? [True, True] Translation: X:85.72, Y:-11.36, Z:-1.64 [[ 9.86672844e-01 1.61834490e-01 1.69203295e-02 8.57168984e+01] [-1.61811066e-01 9.86817915e-01 -2.75349157e-03 -1.13553923e+01] [-1.71428942e-02 -2.11011890e-05 9.99853050e-01 -1.63835926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters 0.024210827684816562 Centerline is valid? [True, True] Translation: X:85.75, Y:-11.37, Z:-1.64 [[ 9.87682903e-01 1.55450422e-01 1.78227010e-02 8.57455869e+01] [-1.55423386e-01 9.87843691e-01 -2.90064795e-03 -1.13720801e+01] [-1.80569497e-02 9.48558536e-05 9.99836955e-01 -1.63785619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794012739 meters 0.025280286456965378 Centerline is valid? [True, True] Translation: X:85.78, Y:-11.38, Z:-1.64 [[ 9.88151593e-01 1.52370952e-01 1.84261434e-02 8.57761551e+01] [-1.52341488e-01 9.88323362e-01 -3.00052450e-03 -1.13836404e+01] [-1.86681807e-02 1.57906968e-04 9.99825722e-01 -1.63761230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters 0.02684284878374685 Centerline is valid? [True, True] Translation: X:85.81, Y:-11.40, Z:-1.64 [[ 9.88563633e-01 1.49614091e-01 1.89094579e-02 8.58055944e+01] [-1.49582491e-01 9.88744444e-01 -3.08261640e-03 -1.13965550e+01] [-1.91578243e-02 2.18838651e-04 9.99816448e-01 -1.63794901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854012739 meters 0.028969670487472347 Centerline is valid? [True, True] Translation: X:85.84, Y:-11.41, Z:-1.64 [[ 9.89235773e-01 1.45138785e-01 1.86365068e-02 8.58359702e+01] [-1.45107262e-01 9.89411260e-01 -3.03989743e-03 -1.14112227e+01] [-1.88803767e-02 3.02882803e-04 9.99821704e-01 -1.63784758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters 0.030687909806050684 Centerline is valid? [True, True] Translation: X:85.87, Y:-11.42, Z:-1.64 [[ 9.89401932e-01 1.44127885e-01 1.76343547e-02 8.58669523e+01] [-1.44099492e-01 9.89559023e-01 -2.87694467e-03 -1.14188091e+01] [-1.78648827e-02 3.05353063e-04 9.99840364e-01 -1.63650309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914012739 meters 0.02932536422060411 Centerline is valid? [True, True] Translation: X:85.90, Y:-11.43, Z:-1.64 [[ 9.89168640e-01 1.45913317e-01 1.59595190e-02 8.58974937e+01] [-1.45890254e-01 9.89297347e-01 -2.60616640e-03 -1.14256572e+01] [-1.61689842e-02 2.49599794e-04 9.99869242e-01 -1.64296674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters 0.02809375023793221 Centerline is valid? [True, True] Translation: X:85.93, Y:-11.43, Z:-1.64 [[ 9.88875244e-01 1.47870172e-01 1.61296243e-02 8.59292899e+01] [-1.47846834e-01 9.89006756e-01 -2.63649877e-03 -1.14298002e+01] [-1.63421670e-02 2.22454476e-04 9.99866433e-01 -1.64325001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974012739 meters 0.027115916149977416 Centerline is valid? [True, True] Translation: X:85.96, Y:-11.43, Z:-1.64 [[ 9.88566018e-01 1.49808513e-01 1.71649793e-02 8.59598873e+01] [-1.49782320e-01 9.88715008e-01 -2.80886607e-03 -1.14340748e+01] [-1.73920647e-02 2.05739129e-04 9.99848725e-01 -1.64204764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters 0.02553449517436309 Centerline is valid? [True, True] Translation: X:85.99, Y:-11.44, Z:-1.64 [[ 9.88105750e-01 1.52506339e-01 1.97191272e-02 8.59918767e+01] [-1.52472236e-01 9.88302475e-01 -3.23034698e-03 -1.14374810e+01] [-1.99811106e-02 1.85305009e-04 9.99800341e-01 -1.63828259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034012739 meters 0.02533566925716065 Centerline is valid? [True, True] Translation: X:86.02, Y:-11.44, Z:-1.64 [[ 9.87931832e-01 1.53575503e-01 2.01310802e-02 8.60230450e+01] [-1.53540112e-01 9.88136901e-01 -3.30123964e-03 -1.14431511e+01] [-2.03992528e-02 1.70471420e-04 9.99791899e-01 -1.63862962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters 0.024686522802104507 Centerline is valid? [True, True] Translation: X:86.05, Y:-11.45, Z:-1.64 [[ 9.87734259e-01 1.54939088e-01 1.93626457e-02 8.60547562e+01] [-1.54906549e-01 9.87924015e-01 -3.17831061e-03 -1.14484583e+01] [-1.96212673e-02 1.39925652e-04 9.99807475e-01 -1.64040001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09401273900001 meters 0.02427544637713988 Centerline is valid? [True, True] Translation: X:86.09, Y:-11.45, Z:-1.64 [[ 9.87642731e-01 1.55571806e-01 1.89538856e-02 8.60869638e+01] [-1.55540686e-01 9.87824578e-01 -3.11417423e-03 -1.14531667e+01] [-1.92075918e-02 1.27591171e-04 9.99815509e-01 -1.64124582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters 0.024133584674270254 Centerline is valid? [True, True] Translation: X:86.12, Y:-11.46, Z:-1.64 [[ 9.87578432e-01 1.56018004e-01 1.86339447e-02 8.61192868e+01] [-1.55987939e-01 9.87754204e-01 -3.06513450e-03 -1.14590047e+01] [-1.88839734e-02 1.20390103e-04 9.99821675e-01 -1.64242466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154012739 meters 0.02407377361093547 Centerline is valid? [True, True] Translation: X:86.15, Y:-11.47, Z:-1.64 [[ 9.87491170e-01 1.56607358e-01 1.83118700e-02 8.61512078e+01] [-1.56578359e-01 9.87660935e-01 -3.01567283e-03 -1.14652647e+01] [-1.85581952e-02 1.10707745e-04 9.99827776e-01 -1.64434357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters 0.02410562059106796 Centerline is valid? [True, True] Translation: X:86.18, Y:-11.47, Z:-1.65 [[ 9.87385063e-01 1.57321315e-01 1.79092217e-02 8.61842233e+01] [-1.57293633e-01 9.87547464e-01 -2.95278693e-03 -1.14704691e+01] [-1.81507428e-02 9.85311724e-05 9.99835257e-01 -1.64586094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214012739 meters 0.023926014752062585 Centerline is valid? [True, True] Translation: X:86.22, Y:-11.48, Z:-1.65 [[ 9.87362850e-01 1.57401728e-01 1.84200437e-02 8.62167028e+01] [-1.57372389e-01 9.87534650e-01 -3.04069846e-03 -1.14767122e+01] [-1.86690426e-02 1.03466405e-04 9.99825713e-01 -1.64624454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters 0.024104826012379562 Centerline is valid? [True, True] Translation: X:86.25, Y:-11.48, Z:-1.65 [[ 9.87397293e-01 1.57130850e-01 1.88807105e-02 8.62476339e+01] [-1.57099903e-01 9.87577786e-01 -3.12053008e-03 -1.14836911e+01] [-1.91365018e-02 1.15045160e-04 9.99816874e-01 -1.64511958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274012739 meters 0.024104826012379562 Centerline is valid? [True, True] Translation: X:86.28, Y:-11.49, Z:-1.65 [[ 9.87367894e-01 1.57315545e-01 1.88801625e-02 8.62796684e+01] [-1.57284569e-01 9.87548382e-01 -3.12384222e-03 -1.14891830e+01] [-1.91365028e-02 1.14823312e-04 9.99816874e-01 -1.64577993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters 0.0244209349086457 Centerline is valid? [True, True] Translation: X:86.31, Y:-11.50, Z:-1.65 [[ 9.87564779e-01 1.55944258e-01 1.99297819e-02 8.63108530e+01] [-1.55909380e-01 9.87765845e-01 -3.30155376e-03 -1.14983066e+01] [-2.02008163e-02 1.53258265e-04 9.99795931e-01 -1.64501353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334012739 meters 0.025640750480859283 Centerline is valid? [True, True] Translation: X:86.34, Y:-11.51, Z:-1.65 [[ 9.87728232e-01 1.54926886e-01 1.97636064e-02 8.63407381e+01] [-1.54892315e-01 9.87925923e-01 -3.27747985e-03 -1.15084177e+01] [-2.00327488e-02 1.76028637e-04 9.99799309e-01 -1.64660787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters 0.025898503407605307 Centerline is valid? [True, True] Translation: X:86.37, Y:-11.52, Z:-1.65 [[ 9.87894308e-01 1.54029020e-01 1.84363152e-02 8.63721335e+01] [-1.53998729e-01 9.88066307e-01 -3.06013386e-03 -1.15163222e+01] [-1.86876513e-02 1.83919716e-04 9.99825354e-01 -1.64934666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394012739 meters 0.025640981365740664 Centerline is valid? [True, True] Translation: X:86.40, Y:-11.52, Z:-1.65 [[ 9.87899608e-01 1.54129226e-01 1.72784737e-02 8.64049573e+01] [-1.54102590e-01 9.88050683e-01 -2.87056269e-03 -1.15220255e+01] [-1.75144453e-02 1.73170220e-04 9.99846595e-01 -1.65152432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters 0.025653263103629514 Centerline is valid? [True, True] Translation: X:86.44, Y:-11.53, Z:-1.65 [[ 9.87840133e-01 1.54538972e-01 1.70169580e-02 8.64363813e+01] [-1.54513140e-01 9.87986679e-01 -2.83045236e-03 -1.15273529e+01] [-1.72499430e-02 1.66690832e-04 9.99851195e-01 -1.65322570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454012739 meters 0.025373186581683124 Centerline is valid? [True, True] Translation: X:86.47, Y:-11.53, Z:-1.65 [[ 9.87645800e-01 1.55711439e-01 1.75989022e-02 8.64671214e+01] [-1.55683933e-01 9.87802573e-01 -2.93069179e-03 -1.15327538e+01] [-1.78405831e-02 1.54619120e-04 9.99840832e-01 -1.65318044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters 0.024773551335880575 Centerline is valid? [True, True] Translation: X:86.50, Y:-11.54, Z:-1.65 [[ 9.87551563e-01 1.56229692e-01 1.82809434e-02 8.64998370e+01] [-1.56200048e-01 9.87720740e-01 -3.04718984e-03 -1.15384951e+01] [-1.85325284e-02 1.53772855e-04 9.99828246e-01 -1.65223262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514012739 meters 0.02482414031830727 Centerline is valid? [True, True] Translation: X:86.53, Y:-11.55, Z:-1.65 [[ 9.87453867e-01 1.56771505e-01 1.89091319e-02 8.65304987e+01] [-1.56739814e-01 9.87634888e-01 -3.15576024e-03 -1.15491521e+01] [-1.91700516e-02 1.52353840e-04 9.99816226e-01 -1.65138724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters 0.024467969067425488 Centerline is valid? [True, True] Translation: X:86.56, Y:-11.56, Z:-1.65 [[ 9.87419848e-01 1.56938778e-01 1.92941253e-02 8.65628685e+01] [-1.56905745e-01 9.87608321e-01 -3.22360152e-03 -1.15558229e+01] [-1.95609468e-02 1.55689022e-04 9.99808654e-01 -1.65140515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574012739 meters 0.024486155888412454 Centerline is valid? [True, True] Translation: X:86.59, Y:-11.56, Z:-1.65 [[ 9.87352178e-01 1.57347226e-01 1.94300621e-02 8.65942740e+01] [-1.57313728e-01 9.87543329e-01 -3.25021503e-03 -1.15623020e+01] [-1.96994405e-02 1.52491386e-04 9.99805936e-01 -1.65230130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters 0.023414549316677472 Centerline is valid? [True, True] Translation: X:86.63, Y:-11.57, Z:-1.65 [[ 9.86787936e-01 1.60871137e-01 1.92366159e-02 8.66254738e+01] [-1.60838903e-01 9.86975415e-01 -3.22139849e-03 -1.15650367e+01] [-1.95042970e-02 8.48409697e-05 9.99809770e-01 -1.65287624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634012739 meters 0.02289234034721646 Centerline is valid? [True, True] Translation: X:86.66, Y:-11.56, Z:-1.65 [[ 9.85870903e-01 1.66413003e-01 1.91121846e-02 8.66582925e+01] [-1.66382166e-01 9.86056140e-01 -3.20355908e-03 -1.15632789e+01] [-1.93788009e-02 -2.16309891e-05 9.99812213e-01 -1.65401099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters 0.023308254191222063 Centerline is valid? [True, True] Translation: X:86.69, Y:-11.56, Z:-1.65 [[ 9.85340936e-01 1.69482869e-01 1.94627105e-02 8.66902781e+01] [-1.69451422e-01 9.85533130e-01 -3.26571244e-03 -1.15636980e+01] [-1.97346284e-02 -8.01438215e-05 9.99805250e-01 -1.65400705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694012739 meters 0.024127351427750188 Centerline is valid? [True, True] Translation: X:86.72, Y:-11.56, Z:-1.65 [[ 9.84755883e-01 1.72796329e-01 1.99318582e-02 8.67227529e+01] [-1.72763987e-01 9.84957566e-01 -3.34632304e-03 -1.15643145e+01] [-2.02102669e-02 -1.48195994e-04 9.99795741e-01 -1.65375294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters 0.027088358997908308 Centerline is valid? [True, True] Translation: X:86.75, Y:-11.56, Z:-1.65 [[ 9.83719664e-01 1.78621849e-01 1.97448315e-02 8.67547543e+01] [-1.78591215e-01 9.83917764e-01 -3.31830928e-03 -1.15587382e+01] [-2.00200130e-02 -2.61967361e-04 9.99799545e-01 -1.65482049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754012739 meters 0.029391398989517967 Centerline is valid? [True, True] Translation: X:86.79, Y:-11.56, Z:-1.66 [[ 9.83264808e-01 1.81166105e-01 1.92135319e-02 8.67855216e+01] [-1.81137551e-01 9.83452465e-01 -3.23067755e-03 -1.15566500e+01] [-1.94808846e-02 -3.03680586e-04 9.99810183e-01 -1.65578757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters 0.03132979429233654 Centerline is valid? [True, True] Translation: X:86.82, Y:-11.55, Z:-1.66 [[ 9.82621871e-01 1.84610776e-01 1.93163051e-02 8.68167979e+01] [-1.84582576e-01 9.82811641e-01 -3.24820979e-03 -1.15506542e+01] [-1.95839441e-02 -3.73691384e-04 9.99808146e-01 -1.65681887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814012739 meters 0.031906488787852565 Centerline is valid? [True, True] Translation: X:86.85, Y:-11.55, Z:-1.66 [[ 9.82437480e-01 1.85455748e-01 2.05612016e-02 8.68473785e+01] [-1.85423987e-01 9.82652529e-01 -3.45727893e-03 -1.15505545e+01] [-2.08456890e-02 -4.15979578e-04 9.99782618e-01 -1.65593513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters 0.0326765578734915 Centerline is valid? [True, True] Translation: X:86.88, Y:-11.55, Z:-1.65 [[ 9.82322676e-01 1.85907136e-01 2.19248112e-02 8.68761811e+01] [-1.85871147e-01 9.82567214e-01 -3.68599863e-03 -1.15500588e+01] [-2.22278541e-02 -4.54349755e-04 9.99752827e-01 -1.65389689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874012739 meters 0.03354426839629358 Centerline is valid? [True, True] Translation: X:86.91, Y:-11.54, Z:-1.65 [[ 9.82187878e-01 1.86638891e-01 2.17461955e-02 8.69069221e+01] [-1.86603677e-01 9.82428474e-01 -3.65541025e-03 -1.15445405e+01] [-2.20463234e-02 -4.67620425e-04 9.99756841e-01 -1.65492900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters 0.03384995833210012 Centerline is valid? [True, True] Translation: X:86.94, Y:-11.54, Z:-1.66 [[ 9.82205071e-01 1.86709362e-01 2.03178009e-02 8.69356841e+01] [-1.86678647e-01 9.82415096e-01 -3.41484389e-03 -1.15429535e+01] [-2.05980977e-02 -4.38822613e-04 9.99787740e-01 -1.65819895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934012739 meters 0.03402940735200648 Centerline is valid? [True, True] Translation: X:86.96, Y:-11.54, Z:-1.66 [[ 9.82296196e-01 1.86345035e-01 1.92278867e-02 8.69641705e+01] [-1.86317479e-01 9.82484280e-01 -3.23058549e-03 -1.15382135e+01] [-1.94931000e-02 -4.09099537e-04 9.99809908e-01 -1.66153817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters 0.03314027523505703 Centerline is valid? [True, True] Translation: X:86.99, Y:-11.54, Z:-1.66 [[ 9.82473016e-01 1.85371015e-01 1.96050694e-02 8.69929753e+01] [-1.85342197e-01 9.82668524e-01 -3.29277642e-03 -1.15410839e+01] [-1.98756699e-02 -3.98582649e-04 9.99802380e-01 -1.66163326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994012739 meters 0.030538487404605824 Centerline is valid? [True, True] Translation: X:87.02, Y:-11.54, Z:-1.66 [[ 9.83116025e-01 1.81857940e-01 2.02625566e-02 8.70207892e+01] [-1.81826429e-01 9.83324755e-01 -3.40222472e-03 -1.15434635e+01] [-2.05433951e-02 -3.39486669e-04 9.99788905e-01 -1.66153901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters 0.028582936028815686 Centerline is valid? [True, True] Translation: X:87.05, Y:-11.55, Z:-1.66 [[ 9.83588143e-01 1.79291510e-01 2.02217801e-02 8.70488749e+01] [-1.79259607e-01 9.83795951e-01 -3.39421176e-03 -1.15488860e+01] [-2.05026588e-02 -2.86441926e-04 9.99789757e-01 -1.66308481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054012739 meters 0.02652330922870162 Centerline is valid? [True, True] Translation: X:87.08, Y:-11.56, Z:-1.66 [[ 9.84138910e-01 1.76292306e-01 1.97895928e-02 8.70768194e+01] [-1.76261164e-01 9.84337836e-01 -3.32076790e-03 -1.15557240e+01] [-2.00650708e-02 -2.20039763e-04 9.99798652e-01 -1.66455918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters 0.02343190872676824 Centerline is valid? [True, True] Translation: X:87.10, Y:-11.57, Z:-1.66 [[ 9.85269802e-01 1.69833385e-01 2.00009466e-02 8.71042406e+01] [-1.69800262e-01 9.85472787e-01 -3.35529377e-03 -1.15669029e+01] [-2.02802295e-02 -9.02963348e-05 9.99794331e-01 -1.66494707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114012739 meters 0.022770975698925965 Centerline is valid? [True, True] Translation: X:87.13, Y:-11.57, Z:-1.67 [[ 9.85727343e-01 1.67141484e-01 2.01328153e-02 8.71330456e+01] [-1.67107375e-01 9.85932920e-01 -3.37671247e-03 -1.15737446e+01] [-2.04139941e-02 -3.58241080e-05 9.99791612e-01 -1.66517844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters 0.022847192431361754 Centerline is valid? [True, True] Translation: X:87.16, Y:-11.58, Z:-1.67 [[ 9.86295906e-01 1.63813272e-01 1.96366407e-02 8.71612470e+01] [-1.63780173e-01 9.86491364e-01 -3.29305311e-03 -1.15796399e+01] [-1.99108223e-02 3.18323941e-05 9.99801759e-01 -1.66704943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174012739 meters 0.022917236299307673 Centerline is valid? [True, True] Translation: X:87.19, Y:-11.59, Z:-1.67 [[ 9.86494658e-01 1.62688356e-01 1.89944310e-02 8.71897824e+01] [-1.62657190e-01 9.86677504e-01 -3.18470511e-03 -1.15856451e+01] [-1.92594922e-02 5.21138009e-05 9.99814517e-01 -1.66909756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters 0.023390452905973542 Centerline is valid? [True, True] Translation: X:87.22, Y:-11.59, Z:-1.67 [[ 9.86757233e-01 1.61114728e-01 1.87672113e-02 8.72184934e+01] [-1.61084027e-01 9.86935681e-01 -3.14618284e-03 -1.15924572e+01] [-1.90289268e-02 8.14207077e-05 9.99818930e-01 -1.67058591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234012739 meters 0.024868025435157294 Centerline is valid? [True, True] Translation: X:87.25, Y:-11.60, Z:-1.67 [[ 9.87336880e-01 1.57385504e-01 1.98919154e-02 8.72480283e+01] [-1.57350265e-01 9.87537228e-01 -3.33424242e-03 -1.16026495e+01] [-2.01687684e-02 1.62022349e-04 9.99796577e-01 -1.66923966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters 0.028156891280091436 Centerline is valid? [True, True] Translation: X:87.28, Y:-11.62, Z:-1.67 [[ 9.88118605e-01 1.52407682e-01 1.98373749e-02 8.72770540e+01] [-1.52371633e-01 9.88317676e-01 -3.32508505e-03 -1.16166498e+01] [-2.01123968e-02 2.62925191e-04 9.99797691e-01 -1.67038086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294012739 meters 0.030369940118205718 Centerline is valid? [True, True] Translation: X:87.31, Y:-11.63, Z:-1.67 [[ 9.88475133e-01 1.50120802e-01 1.95104228e-02 8.73071780e+01] [-1.50085456e-01 9.88667614e-01 -3.27180139e-03 -1.16268626e+01] [-1.97804886e-02 3.05863621e-04 9.99804300e-01 -1.67119552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters 0.03221648244393835 Centerline is valid? [True, True] Translation: X:87.34, Y:-11.64, Z:-1.67 [[ 9.88701603e-01 1.48618788e-01 1.95344990e-02 8.73374281e+01] [-1.48583005e-01 9.88894504e-01 -3.27868787e-03 -1.16361948e+01] [-1.98048333e-02 3.39149382e-04 9.99803808e-01 -1.67189860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354012739 meters 0.03255722690543951 Centerline is valid? [True, True] Translation: X:87.37, Y:-11.64, Z:-1.67 [[ 9.88802260e-01 1.47944010e-01 1.95617059e-02 8.73684469e+01] [-1.47907939e-01 9.88995674e-01 -3.28608657e-03 -1.16428182e+01] [-1.98325994e-02 3.55958222e-04 9.99803251e-01 -1.67201875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters 0.03204502641114702 Centerline is valid? [True, True] Translation: X:87.40, Y:-11.65, Z:-1.67 [[ 9.88669598e-01 1.48841663e-01 1.94572749e-02 8.73992910e+01] [-1.48806095e-01 9.88860983e-01 -3.27133959e-03 -1.16483306e+01] [-1.97274517e-02 3.38912905e-04 9.99805337e-01 -1.67235370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414012739 meters 0.02725760028442761 Centerline is valid? [True, True] Translation: X:87.43, Y:-11.65, Z:-1.67 [[ 9.88234207e-01 1.51753358e-01 1.90806377e-02 8.74328855e+01] [-1.51719642e-01 9.88418353e-01 -3.21077735e-03 -1.16452360e+01] [-1.93468987e-02 2.78092487e-04 9.99812793e-01 -1.67317984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters 0.02649529535943893 Centerline is valid? [True, True] Translation: X:87.46, Y:-11.65, Z:-1.67 [[ 9.87907154e-01 1.53779998e-01 1.97779609e-02 8.74638456e+01] [-1.53744153e-01 9.88105081e-01 -3.32936531e-03 -1.16487863e+01] [-2.00546934e-02 2.48357953e-04 9.99798854e-01 -1.67212626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474012739 meters 0.026848411822212224 Centerline is valid? [True, True] Translation: X:87.49, Y:-11.66, Z:-1.67 [[ 9.87574659e-01 1.55625239e-01 2.18421204e-02 8.74944588e+01] [-1.55581887e-01 9.87816141e-01 -3.68067890e-03 -1.16553420e+01] [-2.21488057e-02 2.36706886e-04 9.99754657e-01 -1.66854607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters 0.03255642683148466 Centerline is valid? [True, True] Translation: X:87.53, Y:-11.66, Z:-1.65 [[ 9.87238950e-01 1.57083098e-01 2.61563901e-02 8.75270389e+01] [-1.57021309e-01 9.87585357e-01 -4.41249956e-03 -1.16589490e+01] [-2.65247969e-02 2.49080816e-04 9.99648125e-01 -1.65017059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534012739 meters 0.02577057187708895 Centerline is valid? [True, True] Translation: X:87.56, Y:-11.67, Z:-1.66 [[ 9.87356407e-01 1.56059331e-01 2.77994853e-02 8.75564417e+01] [-1.55988993e-01 9.87747638e-01 -4.69447881e-03 -1.16686154e+01] [-2.81914931e-02 2.98710018e-04 9.99602496e-01 -1.65933940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters 0.02760203065767494 Centerline is valid? [True, True] Translation: X:87.59, Y:-11.69, Z:-1.66 [[ 9.87887960e-01 1.53071402e-01 2.54268397e-02 8.75863061e+01] [-1.53011473e-01 9.88215068e-01 -4.29757084e-03 -1.16855251e+01] [-2.57850213e-02 3.54920286e-04 9.99667448e-01 -1.66496606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59401273900001 meters 0.02853317804548314 Centerline is valid? [True, True] Translation: X:87.62, Y:-11.70, Z:-1.67 [[ 9.88115778e-01 1.51842034e-01 2.38999244e-02 8.76175938e+01] [-1.51788637e-01 9.88404705e-01 -4.04327713e-03 -1.16958481e+01] [-2.42367372e-02 3.67488975e-04 9.99706180e-01 -1.66854786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters 0.027801880854493408 Centerline is valid? [True, True] Translation: X:87.65, Y:-11.71, Z:-1.67 [[ 9.88132684e-01 1.51909837e-01 2.27420267e-02 8.76494520e+01] [-1.51861422e-01 9.88394293e-01 -3.85110321e-03 -1.17058361e+01] [-2.30631098e-02 3.51764451e-04 9.99733949e-01 -1.67013585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654012739 meters 0.027872679850929755 Centerline is valid? [True, True] Translation: X:87.68, Y:-11.71, Z:-1.67 [[ 9.87905915e-01 1.53426612e-01 2.24093201e-02 8.76797496e+01] [-1.53379895e-01 9.88159995e-01 -3.79905479e-03 -1.17143465e+01] [-2.27268697e-02 3.15969534e-04 9.99741661e-01 -1.67032642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters 0.026301468535861523 Centerline is valid? [True, True] Translation: X:87.71, Y:-11.72, Z:-1.67 [[ 9.87498737e-01 1.56045617e-01 2.22712924e-02 8.77116186e+01] [-1.56000059e-01 9.87749816e-01 -3.77920477e-03 -1.17192221e+01] [-2.25881933e-02 2.57637000e-04 9.99744821e-01 -1.67148744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714012739 meters 0.023309939644272266 Centerline is valid? [True, True] Translation: X:87.74, Y:-11.72, Z:-1.67 [[ 9.86546281e-01 1.62058243e-01 2.15304931e-02 8.77437528e+01] [-1.62017021e-01 9.86781187e-01 -3.65693422e-03 -1.17198251e+01] [-2.18385219e-02 1.19428494e-04 9.99761504e-01 -1.67465481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters 0.022826308744579284 Centerline is valid? [True, True] Translation: X:87.78, Y:-11.72, Z:-1.68 [[ 9.86134249e-01 1.64586535e-01 2.12253348e-02 8.77750130e+01] [-1.64546985e-01 9.86362645e-01 -3.60855338e-03 -1.17237224e+01] [-2.15297967e-02 6.59532293e-05 9.99768205e-01 -1.67590757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774012739 meters 0.02249490937090805 Centerline is valid? [True, True] Translation: X:87.81, Y:-11.73, Z:-1.68 [[ 9.85521377e-01 1.68264344e-01 2.08500811e-02 8.78074446e+01] [-1.68226959e-01 9.85741909e-01 -3.54681579e-03 -1.17278877e+01] [-2.11496014e-02 -1.20829492e-05 9.99776322e-01 -1.67723393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters 0.02245336163234021 Centerline is valid? [True, True] Translation: X:87.84, Y:-11.73, Z:-1.68 [[ 9.85422999e-01 1.68854346e-01 2.07297451e-02 8.78383893e+01] [-1.68817437e-01 9.85641014e-01 -3.53036569e-03 -1.17341367e+01] [-2.10282046e-02 -2.06389033e-05 9.99778883e-01 -1.67772512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834012739 meters 0.022423648383969586 Centerline is valid? [True, True] Translation: X:87.87, Y:-11.74, Z:-1.68 [[ 9.85426529e-01 1.68843336e-01 2.06514732e-02 8.78701877e+01] [-1.68806624e-01 9.85642901e-01 -3.52081483e-03 -1.17418616e+01] [-2.09494441e-02 -1.66011257e-05 9.99780536e-01 -1.67836155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters 0.022493375981062446 Centerline is valid? [True, True] Translation: X:87.90, Y:-11.75, Z:-1.68 [[ 9.85785675e-01 1.66813777e-01 1.99941700e-02 8.79016065e+01] [-1.66778869e-01 9.85988419e-01 -3.41258532e-03 -1.17547175e+01] [-2.02832864e-02 2.94726579e-05 9.99794273e-01 -1.68121414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894012739 meters 0.02273581405263443 Centerline is valid? [True, True] Translation: X:87.93, Y:-11.76, Z:-1.68 [[ 9.85928462e-01 1.66002770e-01 1.97014932e-02 8.79330150e+01] [-1.65968637e-01 9.86125285e-01 -3.36652598e-03 -1.17642215e+01] [-1.99869933e-02 4.93237963e-05 9.99800239e-01 -1.68221337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters 0.022994502618106864 Centerline is valid? [True, True] Translation: X:87.96, Y:-11.78, Z:-1.68 [[ 9.86088084e-01 1.64994927e-01 2.01733603e-02 8.79633058e+01] [-1.64958843e-01 9.86294413e-01 -3.45133027e-03 -1.17770756e+01] [-2.04663245e-02 7.55414670e-05 9.99790540e-01 -1.68265611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954012739 meters 0.023114612342313677 Centerline is valid? [True, True] Translation: X:88.00, Y:-11.79, Z:-1.68 [[ 9.86167116e-01 1.64541888e-01 2.00096818e-02 8.79951894e+01] [-1.64506218e-01 9.86370093e-01 -3.42707872e-03 -1.17856429e+01] [-2.03008497e-02 8.79552615e-05 9.99793913e-01 -1.68353148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters 0.02315915820542371 Centerline is valid? [True, True] Translation: X:88.03, Y:-11.79, Z:-1.68 [[ 9.86212397e-01 1.64283835e-01 1.98980052e-02 8.80273764e+01] [-1.64248434e-01 9.86413104e-01 -3.41168820e-03 -1.17939573e+01] [-2.01881383e-02 9.64330019e-05 9.99796194e-01 -1.68487304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014012739 meters 0.023311218110037925 Centerline is valid? [True, True] Translation: X:88.06, Y:-11.81, Z:-1.69 [[ 9.86256069e-01 1.64008739e-01 2.00024983e-02 8.80575845e+01] [-1.63972827e-01 9.86458880e-01 -3.43362689e-03 -1.18053595e+01] [-2.02947869e-02 1.06569165e-04 9.99794034e-01 -1.68538214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters 0.0228784695139903 Centerline is valid? [True, True] Translation: X:88.09, Y:-11.81, Z:-1.69 [[ 9.85941654e-01 1.65862312e-01 2.02175420e-02 8.80896044e+01] [-1.65825935e-01 9.86148918e-01 -3.47436290e-03 -1.18116751e+01] [-2.05137730e-02 7.29262925e-05 9.99789568e-01 -1.68552743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074012739 meters 0.022645186499949732 Centerline is valid? [True, True] Translation: X:88.12, Y:-11.82, Z:-1.69 [[ 9.85672439e-01 1.67422220e-01 2.04851890e-02 8.81217400e+01] [-1.67385136e-01 9.85885287e-01 -3.52390408e-03 -1.18169683e+01] [-2.07860263e-02 4.44989899e-05 9.99783946e-01 -1.68556700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters 0.022516374753218067 Centerline is valid? [True, True] Translation: X:88.15, Y:-11.82, Z:-1.69 [[ 9.85385116e-01 1.69028084e-01 2.11111394e-02 8.81537878e+01] [-1.68988976e-01 9.85611235e-01 -3.63586267e-03 -1.18226800e+01] [-2.14219390e-02 1.51751377e-05 9.99770524e-01 -1.68572247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134012739 meters 0.022417492268173213 Centerline is valid? [True, True] Translation: X:88.19, Y:-11.83, Z:-1.68 [[ 9.85175288e-01 1.70160314e-01 2.17972527e-02 8.81862029e+01] [-1.70118801e-01 9.85416393e-01 -3.75846840e-03 -1.18296883e+01] [-2.21189123e-02 -5.37230954e-06 9.99755347e-01 -1.68433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters 0.022417492268173213 Centerline is valid? [True, True] Translation: X:88.22, Y:-11.84, Z:-1.68 [[ 9.85142084e-01 1.70352535e-01 2.17965186e-02 8.82181963e+01] [-1.70310975e-01 9.85383181e-01 -3.76272090e-03 -1.18353944e+01] [-2.21189119e-02 -5.37163286e-06 9.99755347e-01 -1.68499803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194012739 meters 0.024069205714705305 Centerline is valid? [True, True] Translation: X:88.25, Y:-11.84, Z:-1.68 [[ 9.85225008e-01 1.69730875e-01 2.28716637e-02 8.82488630e+01] [-1.69684835e-01 9.85490451e-01 -3.95307704e-03 -1.18446021e+01] [-2.32107655e-02 1.36958611e-05 9.99730594e-01 -1.67988282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters 0.02277782928463728 Centerline is valid? [True, True] Translation: X:88.28, Y:-11.86, Z:-1.68 [[ 9.85577367e-01 1.67585531e-01 2.35019932e-02 8.82792223e+01] [-1.67536201e-01 9.85857538e-01 -4.06651930e-03 -1.18573243e+01] [-2.38511069e-02 7.04347404e-05 9.99715519e-01 -1.68430542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254012739 meters 0.02308083696215904 Centerline is valid? [True, True] Translation: X:88.31, Y:-11.87, Z:-1.69 [[ 9.85723482e-01 1.66877146e-01 2.23882906e-02 8.83103163e+01] [-1.66832108e-01 9.85977693e-01 -3.87776479e-03 -1.18675716e+01] [-2.27214654e-02 8.73180862e-05 9.99741830e-01 -1.68769679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters 0.023202730125096258 Centerline is valid? [True, True] Translation: X:88.34, Y:-11.88, Z:-1.69 [[ 9.85817775e-01 1.66490852e-01 2.10739464e-02 8.83414393e+01] [-1.66450783e-01 9.86042995e-01 -3.65369422e-03 -1.18768809e+01] [-2.13881239e-02 9.41018284e-05 9.99771243e-01 -1.69066764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314012739 meters 0.02287397835143856 Centerline is valid? [True, True] Translation: X:88.37, Y:-11.88, Z:-1.69 [[ 9.85542586e-01 1.68176316e-01 2.05557453e-02 8.83728799e+01] [-1.68138486e-01 9.85756929e-01 -3.56744190e-03 -1.18812736e+01] [-2.08629276e-02 5.96540186e-05 9.99782344e-01 -1.69254084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters 0.022449851873010067 Centerline is valid? [True, True] Translation: X:88.41, Y:-11.88, Z:-1.69 [[ 9.85164395e-01 1.70358996e-01 2.07105465e-02 8.84051340e+01] [-1.70321002e-01 9.85382064e-01 -3.59781373e-03 -1.18835698e+01] [-2.10207210e-02 1.69969544e-05 9.99779040e-01 -1.69226133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374012739 meters 0.022934067347925483 Centerline is valid? [True, True] Translation: X:88.44, Y:-11.88, Z:-1.69 [[ 9.84281712e-01 1.75409901e-01 2.05153319e-02 8.84393223e+01] [-1.75373639e-01 9.84495485e-01 -3.56754546e-03 -1.18819471e+01] [-2.08230344e-02 -8.63786593e-05 9.99783173e-01 -1.69344516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters 0.023419816618383896 Centerline is valid? [True, True] Translation: X:88.47, Y:-11.88, Z:-1.70 [[ 9.83932983e-01 1.77454135e-01 1.96447071e-02 8.84703685e+01] [-1.77421219e-01 9.84129064e-01 -3.41988221e-03 -1.18843373e+01] [-1.99397994e-02 -1.20452969e-04 9.99801175e-01 -1.69546470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434012739 meters 0.02365657160975464 Centerline is valid? [True, True] Translation: X:88.50, Y:-11.89, Z:-1.70 [[ 9.83788489e-01 1.78275803e-01 1.94408435e-02 8.85031387e+01] [-1.78243667e-01 9.83980549e-01 -3.38744183e-03 -1.18889629e+01] [-1.97333108e-02 -1.32680962e-04 9.99805270e-01 -1.69703956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters 0.023659124763385823 Centerline is valid? [True, True] Translation: X:88.54, Y:-11.90, Z:-1.70 [[ 9.83765459e-01 1.78297908e-01 2.03808169e-02 8.85357805e+01] [-1.78262509e-01 9.83976543e-01 -3.55532167e-03 -1.18953030e+01] [-2.06881521e-02 -1.35532888e-04 9.99785968e-01 -1.69670332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494012739 meters 0.023370978181094636 Centerline is valid? [True, True] Translation: X:88.57, Y:-11.90, Z:-1.70 [[ 9.83826679e-01 1.77890240e-01 2.09792519e-02 8.85681845e+01] [-1.77852551e-01 9.84050327e-01 -3.66383862e-03 -1.19027925e+01] [-2.12964008e-02 -1.26631288e-04 9.99773198e-01 -1.69662065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters 0.022952777180180205 Centerline is valid? [True, True] Translation: X:88.60, Y:-11.91, Z:-1.70 [[ 9.83939625e-01 1.77211834e-01 2.14191522e-02 8.86005892e+01] [-1.77172295e-01 9.84172726e-01 -3.74489202e-03 -1.19101803e+01] [-2.17437846e-02 -1.10132714e-04 9.99763570e-01 -1.69597883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554012739 meters 0.022914772025530536 Centerline is valid? [True, True] Translation: X:88.63, Y:-11.92, Z:-1.70 [[ 9.83949895e-01 1.77194921e-01 2.10846671e-02 8.86317657e+01] [-1.77156515e-01 9.84175771e-01 -3.69051206e-03 -1.19151255e+01] [-2.14049585e-02 -1.04007197e-04 9.99770882e-01 -1.69669070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters 0.02288353769565065 Centerline is valid? [True, True] Translation: X:88.66, Y:-11.92, Z:-1.70 [[ 9.83969628e-01 1.77104479e-01 2.09230455e-02 8.86641762e+01] [-1.77066558e-01 9.84192051e-01 -3.66605432e-03 -1.19216001e+01] [-2.12415697e-02 -9.74855611e-05 9.99774368e-01 -1.69767120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614012739 meters 0.022725484279162652 Centerline is valid? [True, True] Translation: X:88.70, Y:-11.93, Z:-1.70 [[ 9.84037478e-01 1.76723123e-01 2.09566254e-02 8.86955006e+01] [-1.76684907e-01 9.84260601e-01 -3.67600633e-03 -1.19291597e+01] [-2.12764161e-02 -8.53914250e-05 9.99773628e-01 -1.69828273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters 0.022711560967335804 Centerline is valid? [True, True] Translation: X:88.73, Y:-11.93, Z:-1.70 [[ 9.83990429e-01 1.76982473e-01 2.09771277e-02 8.87278512e+01] [-1.76944160e-01 9.84213999e-01 -3.68343083e-03 -1.19339543e+01] [-2.12978854e-02 -8.73195612e-05 9.99773170e-01 -1.69914209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674012739 meters 0.022780649146566547 Centerline is valid? [True, True] Translation: X:88.76, Y:-11.94, Z:-1.70 [[ 9.83852379e-01 1.77645681e-01 2.18290696e-02 8.87612194e+01] [-1.77604258e-01 9.84094509e-01 -3.83740010e-03 -1.19370567e+01] [-2.21635650e-02 -1.01500491e-04 9.99754353e-01 -1.69823920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters 0.023029518715447617 Centerline is valid? [True, True] Translation: X:88.79, Y:-11.94, Z:-1.70 [[ 9.83712915e-01 1.78301790e-01 2.27458246e-02 8.87931597e+01] [-1.78256885e-01 9.83975842e-01 -4.00309357e-03 -1.19415629e+01] [-2.30951006e-02 -1.16704998e-04 9.99733266e-01 -1.69713263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734012739 meters 0.02342610444032239 Centerline is valid? [True, True] Translation: X:88.83, Y:-11.95, Z:-1.70 [[ 9.83446088e-01 1.79639427e-01 2.37374841e-02 8.88255590e+01] [-1.79590806e-01 9.83732511e-01 -4.18199021e-03 -1.19450031e+01] [-2.41025851e-02 -1.50271979e-04 9.99709479e-01 -1.69514377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters 0.023584542938740453 Centerline is valid? [True, True] Translation: X:88.86, Y:-11.95, Z:-1.70 [[ 9.83359907e-01 1.80197077e-01 2.30717555e-02 8.88584620e+01] [-1.80151209e-01 9.83630515e-01 -4.06850962e-03 -1.19484023e+01] [-2.34272163e-02 -1.55595397e-04 9.99725533e-01 -1.69716312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794012739 meters 0.02365669931868547 Centerline is valid? [True, True] Translation: X:88.89, Y:-11.95, Z:-1.70 [[ 9.83370858e-01 1.80330330e-01 2.15111032e-02 8.88901834e+01] [-1.80290407e-01 9.83606096e-01 -3.79710869e-03 -1.19517152e+01] [-2.18431861e-02 -1.44279511e-04 9.99761399e-01 -1.70189846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters 0.02372128066686155 Centerline is valid? [True, True] Translation: X:88.92, Y:-11.96, Z:-1.71 [[ 9.83428713e-01 1.80318519e-01 1.87935492e-02 8.89219916e+01] [-1.80287989e-01 9.83608264e-01 -3.32029310e-03 -1.19550592e+01] [-1.90842006e-02 -1.22979609e-04 9.99817872e-01 -1.70960810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854012739 meters 0.023599557175990292 Centerline is valid? [True, True] Translation: X:88.95, Y:-11.96, Z:-1.71 [[ 9.83410412e-01 1.80331370e-01 1.96101589e-02 8.89544416e+01] [-1.80298060e-01 9.83605907e-01 -3.46817756e-03 -1.19583804e+01] [-1.99140894e-02 -1.25031687e-04 9.99801687e-01 -1.70763507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters 0.023334066418826006 Centerline is valid? [True, True] Translation: X:88.99, Y:-11.96, Z:-1.71 [[ 9.83323129e-01 1.80713847e-01 2.04481941e-02 8.89870648e+01] [-1.80677634e-01 9.83535707e-01 -3.62014735e-03 -1.19631194e+01] [-2.07657398e-02 -1.34756699e-04 9.99784360e-01 -1.70637437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914012739 meters 0.023690586813393342 Centerline is valid? [True, True] Translation: X:89.02, Y:-11.97, Z:-1.71 [[ 9.83253639e-01 1.80996370e-01 2.12742714e-02 8.90189209e+01] [-1.80957142e-01 9.83483754e-01 -3.77078808e-03 -1.19652760e+01] [-2.16053992e-02 -1.42090251e-04 9.99766566e-01 -1.70531665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters 0.02358271184601201 Centerline is valid? [True, True] Translation: X:89.05, Y:-11.97, Z:-1.71 [[ 9.83153612e-01 1.81474486e-01 2.18170990e-02 8.90517788e+01] [-1.81433255e-01 9.83395642e-01 -3.87118475e-03 -1.19672187e+01] [-2.21573613e-02 -1.52378015e-04 9.99754484e-01 -1.70575565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974012739 meters 0.023728081298057896 Centerline is valid? [True, True] Translation: X:89.08, Y:-11.97, Z:-1.71 [[ 9.83096823e-01 1.81773013e-01 2.18908281e-02 8.90842951e+01] [-1.81731484e-01 9.83340504e-01 -3.88845448e-03 -1.19710733e+01] [-2.22329540e-02 -1.55525422e-04 9.99752805e-01 -1.70670592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters 0.02455310450039509 Centerline is valid? [True, True] Translation: X:89.12, Y:-11.97, Z:-1.71 [[ 9.82894303e-01 1.82963058e-01 2.10548909e-02 8.91164747e+01] [-1.82924831e-01 9.83119774e-01 -3.74383050e-03 -1.19691556e+01] [-2.13844623e-02 -1.71672681e-04 9.99771312e-01 -1.70858307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034012739 meters 0.024376964009408027 Centerline is valid? [True, True] Translation: X:89.15, Y:-11.97, Z:-1.71 [[ 9.82703535e-01 1.84138950e-01 1.96623931e-02 8.91486834e+01] [-1.84105791e-01 9.82900206e-01 -3.49906859e-03 -1.19735795e+01] [-1.99704850e-02 -1.81413363e-04 9.99800554e-01 -1.71111037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters 0.025674130269252148 Centerline is valid? [True, True] Translation: X:89.18, Y:-11.97, Z:-1.72 [[ 9.82578523e-01 1.84987238e-01 1.78652627e-02 8.91800708e+01] [-1.84959947e-01 9.82740907e-01 -3.18239377e-03 -1.19717668e+01] [-1.81456267e-02 -1.77406265e-04 9.99835339e-01 -1.71532160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09401273900001 meters 0.024723217152797322 Centerline is valid? [True, True] Translation: X:89.21, Y:-11.98, Z:-1.72 [[ 9.82771673e-01 1.83957117e-01 1.78778424e-02 8.92090863e+01] [-1.83929612e-01 9.82934257e-01 -3.18493175e-03 -1.19777507e+01] [-1.81586346e-02 -1.58203908e-04 9.99835106e-01 -1.71573474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters 0.02293232824803167 Centerline is valid? [True, True] Translation: X:89.24, Y:-11.99, Z:-1.71 [[ 9.83497159e-01 1.79796370e-01 2.01644327e-02 8.92387942e+01] [-1.79760514e-01 9.83703846e-01 -3.59175632e-03 -1.19882566e+01] [-2.04816148e-02 -9.22866630e-05 9.99790225e-01 -1.71169048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154012739 meters 0.022433203880375382 Centerline is valid? [True, True] Translation: X:89.27, Y:-12.00, Z:-1.71 [[ 9.83919121e-01 1.77337210e-01 2.13231397e-02 8.92701980e+01] [-1.77296530e-01 9.84150147e-01 -3.79848238e-03 -1.19970829e+01] [-2.16587834e-02 -4.31192348e-05 9.99765420e-01 -1.70983670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters 0.02771347291287948 Centerline is valid? [True, True] Translation: X:89.30, Y:-12.01, Z:-1.70 [[ 9.84264654e-01 1.75372376e-01 2.16245183e-02 8.93025030e+01] [-1.75329982e-01 9.84502174e-01 -3.85588744e-03 -1.20050766e+01] [-2.19656014e-02 3.78732428e-06 9.99758727e-01 -1.70038060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214012739 meters 0.023006985109147168 Centerline is valid? [True, True] Translation: X:89.33, Y:-12.02, Z:-1.71 [[ 9.85048388e-01 1.70833950e-01 2.22583766e-02 8.93330144e+01] [-1.70787776e-01 9.85299827e-01 -3.97324932e-03 -1.20173209e+01] [-2.26099405e-02 1.12384211e-04 9.99744356e-01 -1.71050707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters 0.023782049449986263 Centerline is valid? [True, True] Translation: X:89.36, Y:-12.03, Z:-1.71 [[ 9.85354681e-01 1.69004073e-01 2.26666125e-02 8.93633411e+01] [-1.68955617e-01 9.85615339e-01 -4.04994582e-03 -1.20271506e+01] [-2.30250183e-02 1.60981582e-04 9.99734876e-01 -1.70986588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274012739 meters 0.02501538550344947 Centerline is valid? [True, True] Translation: X:89.39, Y:-12.04, Z:-1.71 [[ 9.85726220e-01 1.66856112e-01 2.24244721e-02 8.93932110e+01] [-1.66808052e-01 9.85981234e-01 -4.01011098e-03 -1.20375970e+01] [-2.27792202e-02 2.12289045e-04 9.99740497e-01 -1.70912665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters 0.02532120884439439 Centerline is valid? [True, True] Translation: X:89.42, Y:-12.04, Z:-1.71 [[ 9.85785734e-01 1.66644669e-01 2.13551296e-02 8.94242865e+01] [-1.66600966e-01 9.86016993e-01 -3.82204343e-03 -1.20432301e+01] [-2.16934438e-02 2.09930681e-04 9.99764648e-01 -1.71161625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334012739 meters 0.025566266755615182 Centerline is valid? [True, True] Translation: X:89.46, Y:-12.05, Z:-1.72 [[ 9.85783900e-01 1.66779256e-01 2.03661855e-02 8.94556340e+01] [-1.66739466e-01 9.85994239e-01 -3.64845047e-03 -1.20488024e+01] [-2.06894275e-02 2.00736845e-04 9.99785931e-01 -1.71519855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters 0.02584499170852753 Centerline is valid? [True, True] Translation: X:89.49, Y:-12.06, Z:-1.72 [[ 9.85864249e-01 1.66280255e-01 2.05562345e-02 8.94876708e+01] [-1.66239559e-01 9.86078511e-01 -3.68495037e-03 -1.20562620e+01] [-2.08827956e-02 2.15601481e-04 9.99781907e-01 -1.71694467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394012739 meters 0.02633863885217181 Centerline is valid? [True, True] Translation: X:89.52, Y:-12.07, Z:-1.72 [[ 9.85971180e-01 1.65559903e-01 2.12308872e-02 8.95188378e+01] [-1.65516238e-01 9.86199706e-01 -3.80992143e-03 -1.20650108e+01] [-2.15686649e-02 2.42416155e-04 9.99767340e-01 -1.71637802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters 0.027406223899673718 Centerline is valid? [True, True] Translation: X:89.55, Y:-12.07, Z:-1.71 [[ 9.86139505e-01 1.64444845e-01 2.20628586e-02 8.95488569e+01] [-1.64397328e-01 9.86386240e-01 -3.96289027e-03 -1.20744218e+01] [-2.24141770e-02 2.80887654e-04 9.99748731e-01 -1.71466379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454012739 meters 0.027374239762348554 Centerline is valid? [True, True] Translation: X:89.58, Y:-12.08, Z:-1.72 [[ 9.86108389e-01 1.64740414e-01 2.12330018e-02 8.95814258e+01] [-1.64696406e-01 9.86336923e-01 -3.81693574e-03 -1.20804515e+01] [-2.15716972e-02 2.66913268e-04 9.99767268e-01 -1.71638581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters 0.027088976486180912 Centerline is valid? [True, True] Translation: X:89.61, Y:-12.09, Z:-1.72 [[ 9.86014729e-01 1.65404319e-01 2.04050381e-02 8.96120736e+01] [-1.65363745e-01 9.86225811e-01 -3.67167443e-03 -1.20850622e+01] [-2.07312861e-02 2.46071549e-04 9.99785054e-01 -1.71907285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514012739 meters 0.026383135294623907 Centerline is valid? [True, True] Translation: X:89.64, Y:-12.09, Z:-1.72 [[ 9.85825377e-01 1.66598992e-01 1.98268218e-02 8.96432531e+01] [-1.66560869e-01 9.86024710e-01 -3.57048032e-03 -1.20870604e+01] [-2.01445746e-02 2.17497438e-04 9.99797054e-01 -1.72060746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters 0.025697080802722903 Centerline is valid? [True, True] Translation: X:89.67, Y:-12.09, Z:-1.72 [[ 9.85611496e-01 1.67813135e-01 2.02170997e-02 8.96747275e+01] [-1.67773690e-01 9.85818803e-01 -3.64380037e-03 -1.20885912e+01] [-2.05418746e-02 1.99474120e-04 9.99788974e-01 -1.71998446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574012739 meters 0.025119788625343125 Centerline is valid? [True, True] Translation: X:89.71, Y:-12.09, Z:-1.72 [[ 9.85449422e-01 1.68797778e-01 1.99184817e-02 8.97056054e+01] [-1.68759632e-01 9.85650688e-01 -3.59285587e-03 -1.20917987e+01] [-2.02391312e-02 1.79142099e-04 9.99795152e-01 -1.72114562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters 0.024688558439091277 Centerline is valid? [True, True] Translation: X:89.74, Y:-12.09, Z:-1.72 [[ 9.85284289e-01 1.69808305e-01 1.94938103e-02 8.97376203e+01] [-1.69771933e-01 9.85477100e-01 -3.51792403e-03 -1.20947117e+01] [-1.98080764e-02 1.56653422e-04 9.99803789e-01 -1.72250529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634012739 meters 0.024266582042980062 Centerline is valid? [True, True] Translation: X:89.77, Y:-12.10, Z:-1.73 [[ 9.85149799e-01 1.70739237e-01 1.81104105e-02 8.97692532e+01] [-1.70707953e-01 9.85316242e-01 -3.27090538e-03 -1.20963591e+01] [-1.84029535e-02 1.30740677e-04 9.99830643e-01 -1.72605502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters 0.024425088238274186 Centerline is valid? [True, True] Translation: X:89.80, Y:-12.10, Z:-1.73 [[ 9.85178333e-01 1.70587183e-01 1.79906801e-02 8.97997456e+01] [-1.70556234e-01 9.85342577e-01 -3.25211663e-03 -1.21018093e+01] [-1.82817525e-02 1.35492194e-04 9.99832866e-01 -1.72690871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694012739 meters 0.025385935625633262 Centerline is valid? [True, True] Translation: X:89.83, Y:-12.11, Z:-1.73 [[ 9.85425589e-01 1.69167740e-01 1.78517400e-02 8.98297116e+01] [-1.69137032e-01 9.85587261e-01 -3.22713510e-03 -1.21098309e+01] [-1.81403747e-02 1.60711188e-04 9.99835437e-01 -1.72815916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters 0.026904063566006945 Centerline is valid? [True, True] Translation: X:89.86, Y:-12.12, Z:-1.72 [[ 9.85618282e-01 1.68070418e-01 1.75766072e-02 8.98615049e+01] [-1.68040431e-01 9.85774975e-01 -3.17985438e-03 -1.21161000e+01] [-1.78610189e-02 1.80541962e-04 9.99840463e-01 -1.72453608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754012739 meters 0.025510512292919625 Centerline is valid? [True, True] Translation: X:89.89, Y:-12.12, Z:-1.73 [[ 9.85777830e-01 1.67123520e-01 1.76578309e-02 8.98935947e+01] [-1.67093053e-01 9.85935945e-01 -3.19736798e-03 -1.21207364e+01] [-1.79438456e-02 2.01393599e-04 9.99838976e-01 -1.72934503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters 0.028239382411898262 Centerline is valid? [True, True] Translation: X:89.92, Y:-12.13, Z:-1.73 [[ 9.86046889e-01 1.65521636e-01 1.77234628e-02 8.99225967e+01] [-1.65490627e-01 9.86206131e-01 -3.21235505e-03 -1.21333626e+01] [-1.80107020e-02 2.34465712e-04 9.99837767e-01 -1.73045150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814012739 meters 0.027651637788451974 Centerline is valid? [True, True] Translation: X:89.95, Y:-12.14, Z:-1.73 [[ 9.86284501e-01 1.64047267e-01 1.82037929e-02 8.99541704e+01] [-1.64014248e-01 9.86452442e-01 -3.30239054e-03 -1.21410770e+01] [-1.84989241e-02 2.71415196e-04 9.99828843e-01 -1.72986724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters 0.030422817720103305 Centerline is valid? [True, True] Translation: X:89.98, Y:-12.15, Z:-1.73 [[ 9.86341503e-01 1.63624198e-01 1.89093147e-02 8.99837535e+01] [-1.63588427e-01 9.86522699e-01 -3.43376587e-03 -1.21537683e+01] [-1.92163154e-02 2.93520735e-04 9.99815306e-01 -1.72993330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874012739 meters 0.028837221572930963 Centerline is valid? [True, True] Translation: X:90.02, Y:-12.16, Z:-1.73 [[ 9.86438304e-01 1.62986694e-01 1.93599997e-02 9.00162187e+01] [-1.62949012e-01 9.86628217e-01 -3.51880841e-03 -1.21575324e+01] [-1.96746409e-02 3.16394590e-04 9.99806385e-01 -1.72899549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters 0.029335499911260766 Centerline is valid? [True, True] Translation: X:90.05, Y:-12.17, Z:-1.73 [[ 9.86516863e-01 1.62362513e-01 2.05643895e-02 9.00464740e+01] [-1.62319832e-01 9.86731114e-01 -3.73908124e-03 -1.21668582e+01] [-2.08986096e-02 3.50658439e-04 9.99781539e-01 -1.72745537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934012739 meters 0.029512012163390982 Centerline is valid? [True, True] Translation: X:90.08, Y:-12.17, Z:-1.73 [[ 9.86492654e-01 1.62491712e-01 2.07047601e-02 9.00782267e+01] [-1.62448406e-01 9.86709845e-01 -3.76788269e-03 -1.21744701e+01] [-2.10418403e-02 3.53533332e-04 9.99778533e-01 -1.72756354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters 0.028807356050435322 Centerline is valid? [True, True] Translation: X:90.11, Y:-12.18, Z:-1.73 [[ 9.86274415e-01 1.63825535e-01 2.05905966e-02 9.01086410e+01] [-1.63782914e-01 9.86489274e-01 -3.75099133e-03 -1.21817497e+01] [-2.09269108e-02 3.27118868e-04 9.99780955e-01 -1.72818412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994012739 meters 0.02816877014130479 Centerline is valid? [True, True] Translation: X:90.14, Y:-12.19, Z:-1.73 [[ 9.86164469e-01 1.64598432e-01 1.96722235e-02 9.01407344e+01] [-1.64559624e-01 9.86360617e-01 -3.58662320e-03 -1.21873925e+01] [-1.99942591e-02 2.99746658e-04 9.99800050e-01 -1.73077931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters 0.027823935375920452 Centerline is valid? [True, True] Translation: X:90.17, Y:-12.19, Z:-1.73 [[ 9.85993019e-01 1.65822113e-01 1.79107184e-02 9.01716511e+01] [-1.65790132e-01 9.86155649e-01 -3.26623000e-03 -1.21927081e+01] [-1.82043692e-02 2.51059609e-04 9.99834255e-01 -1.73475106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054012739 meters 0.026014700200902373 Centerline is valid? [True, True] Translation: X:90.20, Y:-12.20, Z:-1.74 [[ 9.85482221e-01 1.68967805e-01 1.65732476e-02 9.02024563e+01] [-1.68940825e-01 9.85621554e-01 -3.02484245e-03 -1.21973316e+01] [-1.68460511e-02 1.81030327e-04 9.99858079e-01 -1.73799983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters 0.026014700200902373 Centerline is valid? [True, True] Translation: X:90.23, Y:-12.20, Z:-1.74 [[ 9.85451732e-01 1.69145552e-01 1.65730263e-02 9.02343929e+01] [-1.69118576e-01 9.85591066e-01 -3.02605448e-03 -1.22033638e+01] [-1.68460704e-02 1.79224006e-04 9.99858079e-01 -1.73866009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114012739 meters 0.024702611201949762 Centerline is valid? [True, True] Translation: X:90.27, Y:-12.21, Z:-1.74 [[ 9.85129447e-01 1.70986503e-01 1.68400728e-02 9.02664099e+01] [-1.70958864e-01 9.85273359e-01 -3.07806590e-03 -1.22068444e+01] [-1.71183828e-02 1.53333630e-04 9.99853458e-01 -1.73810018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters 0.022810909391635877 Centerline is valid? [True, True] Translation: X:90.30, Y:-12.21, Z:-1.74 [[ 9.84288668e-01 1.75668550e-01 1.77870338e-02 9.02977297e+01] [-1.75638421e-01 9.84449366e-01 -3.25438992e-03 -1.22073712e+01] [-1.80821281e-02 7.91725973e-05 9.99836502e-01 -1.73648514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174012739 meters 0.022299209185520995 Centerline is valid? [True, True] Translation: X:90.33, Y:-12.21, Z:-1.74 [[ 9.83799106e-01 1.78328061e-01 1.83962652e-02 9.03291859e+01] [-1.78296240e-01 9.83971088e-01 -3.36885242e-03 -1.22099625e+01] [-1.87021540e-02 3.42890830e-05 9.99825099e-01 -1.73600268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters 0.022387746307807183 Centerline is valid? [True, True] Translation: X:90.36, Y:-12.21, Z:-1.74 [[ 9.83005657e-01 1.82679903e-01 1.81088890e-02 9.03618239e+01] [-1.82649756e-01 9.83172442e-01 -3.31897550e-03 -1.22097784e+01] [-1.84104707e-02 -4.50124593e-05 9.99830512e-01 -1.73675715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234012739 meters 0.02277497854426285 Centerline is valid? [True, True] Translation: X:90.39, Y:-12.21, Z:-1.74 [[ 9.82628112e-01 1.84677608e-01 1.83350900e-02 9.03925493e+01] [-1.84646989e-01 9.82799153e-01 -3.36375848e-03 -1.22116119e+01] [-1.86409218e-02 -8.01955143e-05 9.99826240e-01 -1.73700899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters 0.023480335105405654 Centerline is valid? [True, True] Translation: X:90.42, Y:-12.21, Z:-1.74 [[ 9.82136988e-01 1.87186926e-01 1.91831233e-02 9.04235012e+01] [-1.87153865e-01 9.82324303e-01 -3.52048417e-03 -1.22130682e+01] [-1.95030369e-02 -1.32597960e-04 9.99809789e-01 -1.73620433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294012739 meters 0.02844785304017145 Centerline is valid? [True, True] Translation: X:90.45, Y:-12.20, Z:-1.73 [[ 9.80756933e-01 1.94101567e-01 2.09861894e-02 9.04544359e+01] [-1.94063579e-01 9.80981393e-01 -3.85134613e-03 -1.22025143e+01] [-2.13346136e-02 -2.95420621e-04 9.99772348e-01 -1.73171944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters 0.02975949851404524 Centerline is valid? [True, True] Translation: X:90.48, Y:-12.20, Z:-1.73 [[ 9.79965225e-01 1.98037720e-01 2.11947952e-02 9.04847127e+01] [-1.97999909e-01 9.80194324e-01 -3.88887258e-03 -1.22019697e+01] [-2.15451614e-02 -3.85607640e-04 9.99767802e-01 -1.73181965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354012739 meters 0.03577919045737822 Centerline is valid? [True, True] Translation: X:90.52, Y:-12.19, Z:-1.74 [[ 9.78294735e-01 2.06284464e-01 1.96502307e-02 9.05179561e+01] [-2.06253632e-01 9.78491923e-01 -3.60502001e-03 -1.21883857e+01] [-1.99712517e-02 -5.26159362e-04 9.99800416e-01 -1.73507132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters 0.04008920533815518 Centerline is valid? [True, True] Translation: X:90.55, Y:-12.18, Z:-1.74 [[ 9.77620642e-01 2.09515805e-01 1.90002113e-02 9.05478566e+01] [-2.09487589e-01 9.77805093e-01 -3.48577396e-03 -1.21820676e+01] [-1.93088281e-02 -5.72543865e-04 9.99813403e-01 -1.73741839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414012739 meters 0.04647732877317872 Centerline is valid? [True, True] Translation: X:90.58, Y:-12.17, Z:-1.74 [[ 9.76995370e-01 2.12390716e-01 1.92413962e-02 9.05791746e+01] [-2.12362354e-01 9.77184617e-01 -3.52903392e-03 -1.21697130e+01] [-1.95519304e-02 -6.38298395e-04 9.99808639e-01 -1.73820250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters 0.04229093913165115 Centerline is valid? [True, True] Translation: X:90.61, Y:-12.18, Z:-1.74 [[ 9.77073198e-01 2.12019587e-01 1.93819748e-02 9.06067706e+01] [-2.11990757e-01 9.77265209e-01 -3.55380199e-03 -1.21770702e+01] [-1.96948053e-02 -6.36474824e-04 9.99805836e-01 -1.73809769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474012739 meters 0.03881115441113025 Centerline is valid? [True, True] Translation: X:90.64, Y:-12.18, Z:-1.74 [[ 9.77755681e-01 2.08881524e-01 1.90351535e-02 9.06364696e+01] [-2.08853135e-01 9.77940791e-01 -3.48952130e-03 -1.21799624e+01] [-1.93441496e-02 -5.63652205e-04 9.99812726e-01 -1.73949568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters 0.038445983689363875 Centerline is valid? [True, True] Translation: X:90.66, Y:-12.18, Z:-1.74 [[ 9.78312209e-01 2.06249299e-01 1.91428252e-02 9.06645298e+01] [-2.06220093e-01 9.78499342e-01 -3.50881745e-03 -1.21815074e+01] [-1.94549330e-02 -5.14916246e-04 9.99810602e-01 -1.73995113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534012739 meters 0.032529413583025656 Centerline is valid? [True, True] Translation: X:90.69, Y:-12.19, Z:-1.74 [[ 9.79482388e-01 2.00583029e-01 1.95115520e-02 9.06938145e+01] [-2.00551586e-01 9.79676620e-01 -3.57517036e-03 -1.21895701e+01] [-1.98321298e-02 -4.11256301e-04 9.99803239e-01 -1.73979485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters 0.03025201899123252 Centerline is valid? [True, True] Translation: X:90.72, Y:-12.20, Z:-1.74 [[ 9.80148151e-01 1.97282364e-01 1.97299582e-02 9.07214075e+01] [-1.97249550e-01 9.80346646e-01 -3.61495943e-03 -1.21955448e+01] [-2.00553661e-02 -3.48529578e-04 9.99798810e-01 -1.73963588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59401273900001 meters 0.02771636555948717 Centerline is valid? [True, True] Translation: X:90.75, Y:-12.20, Z:-1.74 [[ 9.80793157e-01 1.94006530e-01 2.01556057e-02 9.07491893e+01] [-1.93971612e-01 9.81000195e-01 -3.69196489e-03 -1.22030346e+01] [-2.04889185e-02 -2.88561447e-04 9.99790038e-01 -1.73911240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters 0.023562901337800556 Centerline is valid? [True, True] Translation: X:90.78, Y:-12.22, Z:-1.74 [[ 9.82065467e-01 1.87398331e-01 2.07191745e-02 9.07761725e+01] [-1.87359982e-01 9.82283992e-01 -3.79417657e-03 -1.22157107e+01] [-2.10631358e-02 -1.55814376e-04 9.99778135e-01 -1.73983708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654012739 meters 0.022862156732047445 Centerline is valid? [True, True] Translation: X:90.80, Y:-12.22, Z:-1.74 [[ 9.82734385e-01 1.83890293e-01 2.04325166e-02 9.08032052e+01] [-1.83852261e-01 9.82946770e-01 -3.74066799e-03 -1.22230541e+01] [-2.07719488e-02 -8.04813246e-05 9.99784237e-01 -1.74074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters 0.02879977942747605 Centerline is valid? [True, True] Translation: X:90.83, Y:-12.24, Z:-1.73 [[ 9.83922151e-01 1.77666890e-01 1.82120253e-02 9.08302734e+01] [-1.77635628e-01 9.84090684e-01 -3.33308598e-03 -1.22388689e+01] [-1.85144634e-02 4.43925778e-05 9.99828592e-01 -1.73319003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714012739 meters 0.022877083113182664 Centerline is valid? [True, True] Translation: X:90.86, Y:-12.25, Z:-1.74 [[ 9.84398985e-01 1.74951861e-01 1.87212205e-02 9.08585138e+01] [-1.74918344e-01 9.84576984e-01 -3.42580014e-03 -1.22480212e+01] [-1.90318329e-02 9.76692921e-05 9.99818873e-01 -1.74425820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters 0.03178202927562183 Centerline is valid? [True, True] Translation: X:90.89, Y:-12.26, Z:-1.73 [[ 9.84728653e-01 1.73154853e-01 1.80797324e-02 9.08865124e+01] [-1.73123300e-01 9.84894604e-01 -3.30791907e-03 -1.22576339e+01] [-1.83794131e-02 1.27379764e-04 9.99831076e-01 -1.73337782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774012739 meters 0.024778665689631732 Centerline is valid? [True, True] Translation: X:90.92, Y:-12.27, Z:-1.75 [[ 9.85158974e-01 1.70612539e-01 1.87925087e-02 9.09150170e+01] [-1.70577983e-01 9.85338180e-01 -3.43852849e-03 -1.22702530e+01] [-1.91036324e-02 1.81908982e-04 9.99817492e-01 -1.74639559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters 0.025754899098906655 Centerline is valid? [True, True] Translation: X:90.94, Y:-12.28, Z:-1.75 [[ 9.85384495e-01 1.69399351e-01 1.79236285e-02 9.09425057e+01] [-1.69367715e-01 9.85547473e-01 -3.27957105e-03 -1.22818743e+01] [-1.82201440e-02 1.95954452e-04 9.99833980e-01 -1.74844755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834012739 meters 0.025976631892052814 Centerline is valid? [True, True] Translation: X:90.97, Y:-12.29, Z:-1.75 [[ 9.85422852e-01 1.69150116e-01 1.81670396e-02 9.09724575e+01] [-1.69117577e-01 9.85590278e-01 -3.32386757e-03 -1.22892860e+01] [-1.84674902e-02 2.03049329e-04 9.99829441e-01 -1.74861836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters 0.025468271656876883 Centerline is valid? [True, True] Translation: X:91.00, Y:-12.30, Z:-1.75 [[ 9.85378273e-01 1.69365056e-01 1.85778466e-02 9.10020146e+01] [-1.69331067e-01 9.85553366e-01 -3.39902940e-03 -1.22953685e+01] [-1.88851360e-02 2.03523133e-04 9.99821639e-01 -1.74674776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894012739 meters 0.02521750733900467 Centerline is valid? [True, True] Translation: X:91.03, Y:-12.30, Z:-1.75 [[ 9.85185344e-01 1.70346613e-01 1.97957127e-02 9.10306276e+01] [-1.70308219e-01 9.85384185e-01 -3.62185406e-03 -1.23029498e+01] [-2.01233528e-02 1.96824968e-04 9.99797485e-01 -1.74514939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters 0.02454777665549014 Centerline is valid? [True, True] Translation: X:91.06, Y:-12.31, Z:-1.75 [[ 9.85038264e-01 1.71130400e-01 2.03470889e-02 9.10609265e+01] [-1.71090009e-01 9.85248371e-01 -3.72249040e-03 -1.23083316e+01] [-2.06839675e-02 1.85611853e-04 9.99786047e-01 -1.74545260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954012739 meters 0.023389494624161605 Centerline is valid? [True, True] Translation: X:91.09, Y:-12.31, Z:-1.74 [[ 9.84562372e-01 1.73650239e-01 2.19665922e-02 9.10903559e+01] [-1.73603788e-01 9.84807379e-01 -4.01877776e-03 -1.23142977e+01] [-2.23307238e-02 1.43253750e-04 9.99750628e-01 -1.74326190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters 0.022914512601043047 Centerline is valid? [True, True] Translation: X:91.12, Y:-12.32, Z:-1.74 [[ 9.84259746e-01 1.75280764e-01 2.25700146e-02 9.11204111e+01] [-1.75232155e-01 9.84518482e-01 -4.12917362e-03 -1.23185364e+01] [-2.29443613e-02 1.09187081e-04 9.99736738e-01 -1.74279098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014012739 meters 0.02215549677331335 Centerline is valid? [True, True] Translation: X:91.15, Y:-12.32, Z:-1.74 [[ 9.83553442e-01 1.79294906e-01 2.18165723e-02 9.11523556e+01] [-1.79250474e-01 9.83795373e-01 -3.99137859e-03 -1.23194185e+01] [-2.21786768e-02 1.51032271e-05 9.99754023e-01 -1.74441368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters 0.022226541808912346 Centerline is valid? [True, True] Translation: X:91.18, Y:-12.32, Z:-1.75 [[ 9.83086039e-01 1.81937439e-01 2.09906908e-02 9.11818016e+01] [-1.81896900e-01 9.83310107e-01 -3.84075881e-03 -1.23219384e+01] [-2.13391362e-02 -4.23452143e-05 9.99772294e-01 -1.74540937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074012739 meters 0.02702555783906644 Centerline is valid? [True, True] Translation: X:91.21, Y:-12.32, Z:-1.74 [[ 9.82608856e-01 1.84582545e-01 2.02267041e-02 9.12106578e+01] [-1.84545469e-01 9.82817010e-01 -3.70071539e-03 -1.23234547e+01] [-2.05622363e-02 -9.63908627e-05 9.99788570e-01 -1.73872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters 0.02560932959194913 Centerline is valid? [True, True] Translation: X:91.24, Y:-12.32, Z:-1.75 [[ 9.81571712e-01 1.89966513e-01 2.07291375e-02 9.12405532e+01] [-1.89928787e-01 9.81790547e-01 -3.79186370e-03 -1.23213763e+01] [-2.10719984e-02 -2.15073804e-04 9.99777938e-01 -1.74736915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134012739 meters 0.02899939897914012 Centerline is valid? [True, True] Translation: X:91.27, Y:-12.32, Z:-1.75 [[ 9.80366489e-01 1.96060037e-01 2.10239998e-02 9.12713141e+01] [-1.96022650e-01 9.80591830e-01 -3.84483789e-03 -1.23197581e+01] [-2.13697816e-02 -3.51829931e-04 9.99771578e-01 -1.74771818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters 0.030954792181946866 Centerline is valid? [True, True] Translation: X:91.30, Y:-12.32, Z:-1.75 [[ 9.79706761e-01 1.99366600e-01 2.06789841e-02 9.13008615e+01] [-1.99331176e-01 9.79924887e-01 -3.78123821e-03 -1.23210303e+01] [-2.10177038e-02 -4.17461597e-04 9.99779017e-01 -1.74915285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194012739 meters 0.0349047203576204 Centerline is valid? [True, True] Translation: X:91.33, Y:-12.32, Z:-1.75 [[ 9.79089196e-01 2.02436435e-01 2.00956753e-02 9.13303508e+01] [-2.02403642e-01 9.79295292e-01 -3.67385231e-03 -1.23187360e+01] [-2.04233218e-02 -4.70408787e-04 9.99791312e-01 -1.75089935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters 0.03682921410985974 Centerline is valid? [True, True] Translation: X:91.36, Y:-12.32, Z:-1.75 [[ 9.78369703e-01 2.05889648e-01 2.00543691e-02 9.13597753e+01] [-2.05857729e-01 9.78575066e-01 -3.66556442e-03 -1.23188429e+01] [-2.03794073e-02 -5.42069691e-04 9.99792171e-01 -1.75265464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254012739 meters 0.035969226910194566 Centerline is valid? [True, True] Translation: X:91.39, Y:-12.33, Z:-1.75 [[ 9.78316063e-01 2.06140249e-01 2.00967361e-02 9.13883515e+01] [-2.06108263e-01 9.78522302e-01 -3.67257079e-03 -1.23252921e+01] [-2.04221691e-02 -5.49168368e-04 9.99791295e-01 -1.75296955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters 0.03591021483021085 Centerline is valid? [True, True] Translation: X:91.42, Y:-12.33, Z:-1.76 [[ 9.78478253e-01 2.05469734e-01 1.90393382e-02 9.14162992e+01] [-2.05440916e-01 9.78663339e-01 -3.47843634e-03 -1.23295950e+01] [-1.93478157e-02 -5.07884773e-04 9.99812684e-01 -1.75616646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314012739 meters 0.03521582622215369 Centerline is valid? [True, True] Translation: X:91.44, Y:-12.34, Z:-1.76 [[ 9.78635898e-01 2.04797597e-01 1.81582626e-02 9.14448313e+01] [-2.04771285e-01 9.78804230e-01 -3.31660724e-03 -1.23356329e+01] [-1.84526175e-02 -4.72539870e-04 9.99829624e-01 -1.75874040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters 0.03621262228471411 Centerline is valid? [True, True] Translation: X:91.47, Y:-12.34, Z:-1.76 [[ 9.78835922e-01 2.03900340e-01 1.74610979e-02 9.14728074e+01] [-2.03875881e-01 9.78991552e-01 -3.18847078e-03 -1.23390750e+01] [-1.77443976e-02 -4.38906978e-04 9.99842459e-01 -1.76108310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374012739 meters 0.03468708704413329 Centerline is valid? [True, True] Translation: X:91.50, Y:-12.35, Z:-1.76 [[ 9.79214028e-01 2.02042650e-01 1.78509293e-02 9.15010892e+01] [-2.02016798e-01 9.79376636e-01 -3.25856583e-03 -1.23470002e+01] [-1.81411524e-02 -4.15354214e-04 9.99835349e-01 -1.76088323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters 0.033381799651290116 Centerline is valid? [True, True] Translation: X:91.53, Y:-12.35, Z:-1.76 [[ 9.79445438e-01 2.00803372e-01 1.90955506e-02 9.15290003e+01] [-2.00773586e-01 9.79631476e-01 -3.48409515e-03 -1.23525256e+01] [-1.94062204e-02 -4.21401064e-04 9.99811593e-01 -1.75937958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434012739 meters 0.032906618792598055 Centerline is valid? [True, True] Translation: X:91.56, Y:-12.36, Z:-1.76 [[ 9.79381741e-01 2.01083515e-01 1.94119916e-02 9.15572023e+01] [-2.01052807e-01 9.79574005e-01 -3.54088385e-03 -1.23581319e+01] [-1.97274957e-02 -4.34958416e-04 9.99805299e-01 -1.75961884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters 0.0329837897479931 Centerline is valid? [True, True] Translation: X:91.59, Y:-12.36, Z:-1.76 [[ 9.79273176e-01 2.01595805e-01 1.95749113e-02 9.15858470e+01] [-2.01564701e-01 9.79468697e-01 -3.56963422e-03 -1.23631672e+01] [-1.98926362e-02 -4.49964117e-04 9.99802021e-01 -1.76013671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494012739 meters 0.034607785482626975 Centerline is valid? [True, True] Translation: X:91.61, Y:-12.37, Z:-1.76 [[ 9.79001945e-01 2.02996316e-01 1.86463574e-02 9.16138970e+01] [-2.02968364e-01 9.79179395e-01 -3.39944717e-03 -1.23657165e+01] [-1.89482042e-02 -4.56555268e-04 9.99820362e-01 -1.76208472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters 0.036485997721375715 Centerline is valid? [True, True] Translation: X:91.64, Y:-12.37, Z:-1.76 [[ 9.78909082e-01 2.03495222e-01 1.80749576e-02 9.16419365e+01] [-2.03469061e-01 9.79075834e-01 -3.29420136e-03 -1.23665360e+01] [-1.83671085e-02 -4.52971036e-04 9.99831208e-01 -1.76336505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554012739 meters 0.03692055030195347 Centerline is valid? [True, True] Translation: X:91.67, Y:-12.37, Z:-1.76 [[ 9.78853818e-01 2.03763152e-01 1.80493927e-02 9.16702602e+01] [-2.03737132e-01 9.79020106e-01 -3.28841071e-03 -1.23693501e+01] [-1.83407753e-02 -4.58458107e-04 9.99831689e-01 -1.76412342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters 0.03566001997077219 Centerline is valid? [True, True] Translation: X:91.70, Y:-12.37, Z:-1.76 [[ 9.78925002e-01 2.03248504e-01 1.98968852e-02 9.16989556e+01] [-2.03216798e-01 9.79127060e-01 -3.62396822e-03 -1.23744333e+01] [-2.02181449e-02 -4.95788219e-04 9.99795469e-01 -1.76204150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614012739 meters 0.03428488916814251 Centerline is valid? [True, True] Translation: X:91.73, Y:-12.38, Z:-1.76 [[ 9.79160785e-01 2.01973422e-01 2.12342848e-02 9.17267947e+01] [-2.01937034e-01 9.79390874e-01 -3.86647116e-03 -1.23803088e+01] [-2.15775891e-02 -5.02091550e-04 9.99767051e-01 -1.76107615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters 0.033934346698485565 Centerline is valid? [True, True] Translation: X:91.75, Y:-12.39, Z:-1.76 [[ 9.79361614e-01 2.01022250e-01 2.09972241e-02 9.17547427e+01] [-2.00986473e-01 9.79586560e-01 -3.82230013e-03 -1.23850227e+01] [-2.13369659e-02 -4.76743988e-04 9.99772227e-01 -1.76198780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674012739 meters 0.033291755090197564 Centerline is valid? [True, True] Translation: X:91.78, Y:-12.39, Z:-1.76 [[ 9.79589787e-01 2.00005883e-01 2.00373529e-02 9.17823415e+01] [-1.99973109e-01 9.79794600e-01 -3.64664650e-03 -1.23906490e+01] [-2.03618409e-02 -4.34714079e-04 9.99792582e-01 -1.76449383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters 0.03148406761626622 Centerline is valid? [True, True] Translation: X:91.81, Y:-12.40, Z:-1.77 [[ 9.80007423e-01 1.98109262e-01 1.83894039e-02 9.18100878e+01] [-1.98081343e-01 9.80179875e-01 -3.34571148e-03 -1.24007130e+01] [-1.86877400e-02 -3.63775723e-04 9.99825303e-01 -1.76873816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734012739 meters 0.03171692886192136 Centerline is valid? [True, True] Translation: X:91.84, Y:-12.40, Z:-1.77 [[ 9.80090026e-01 1.97686214e-01 1.85391989e-02 9.18372939e+01] [-1.97657778e-01 9.80265286e-01 -3.37208806e-03 -1.24047904e+01] [-1.88399485e-02 -3.59466994e-04 9.99822448e-01 -1.76881785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters 0.03397118849725355 Centerline is valid? [True, True] Translation: X:91.87, Y:-12.40, Z:-1.77 [[ 9.79852318e-01 1.98786151e-01 1.93261868e-02 9.18662381e+01] [-1.98755491e-01 9.80042809e-01 -3.51381364e-03 -1.24020956e+01] [-1.96389878e-02 -3.98167311e-04 9.99807057e-01 -1.76766731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794012739 meters 0.033607879519122315 Centerline is valid? [True, True] Translation: X:91.89, Y:-12.41, Z:-1.77 [[ 9.79791447e-01 1.99070182e-01 1.94880225e-02 9.18949713e+01] [-1.99039087e-01 9.79985151e-01 -3.54206071e-03 -1.24059740e+01] [-1.98030913e-02 -4.08397415e-04 9.99803816e-01 -1.76808149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters 0.0328870743903817 Centerline is valid? [True, True] Translation: X:91.92, Y:-12.41, Z:-1.77 [[ 9.79887124e-01 1.98688125e-01 1.85540857e-02 9.19234571e+01] [-1.98659885e-01 9.80062693e-01 -3.37149168e-03 -1.24083966e+01] [-1.88540426e-02 -3.82271253e-04 9.99822174e-01 -1.77072958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854012739 meters 0.032278381254250144 Centerline is valid? [True, True] Translation: X:91.95, Y:-12.41, Z:-1.77 [[ 9.79974320e-01 1.98333392e-01 1.77256084e-02 9.19517302e+01] [-1.98307574e-01 9.80134550e-01 -3.22015019e-03 -1.24120435e+01] [-1.80121445e-02 -3.59457910e-04 9.99837704e-01 -1.77300118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters 0.032358242742524114 Centerline is valid? [True, True] Translation: X:91.98, Y:-12.41, Z:-1.77 [[ 9.80070534e-01 1.97892465e-01 1.73297663e-02 9.19790068e+01] [-1.97867732e-01 9.80223675e-01 -3.14745851e-03 -1.24147356e+01] [-1.76099056e-02 -3.44270228e-04 9.99844874e-01 -1.77496180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914012739 meters 0.029956889772767163 Centerline is valid? [True, True] Translation: X:92.01, Y:-12.42, Z:-1.77 [[ 9.80315114e-01 1.96609666e-01 1.80808201e-02 9.20070655e+01] [-1.96582547e-01 9.80481783e-01 -3.28271403e-03 -1.24213408e+01] [-1.83733281e-02 -3.36279492e-04 9.99831140e-01 -1.77434250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters 0.0315165824830191 Centerline is valid? [True, True] Translation: X:92.03, Y:-12.42, Z:-1.77 [[ 9.80440287e-01 1.95916641e-01 1.88019678e-02 9.20348803e+01] [-1.95887206e-01 9.80620495e-01 -3.41267872e-03 -1.24216695e+01] [-1.91061955e-02 -3.37137232e-04 9.99817403e-01 -1.77319393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974012739 meters 0.0315165824830191 Centerline is valid? [True, True] Translation: X:92.06, Y:-12.43, Z:-1.77 [[ 9.80453491e-01 1.95850530e-01 1.88021717e-02 9.20619537e+01] [-1.95821105e-01 9.80633701e-01 -3.41155503e-03 -1.24264422e+01] [-1.91061981e-02 -3.36990991e-04 9.99817403e-01 -1.77375234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters 0.028197183753829874 Centerline is valid? [True, True] Translation: X:92.09, Y:-12.43, Z:-1.77 [[ 9.80946281e-01 1.93289357e-01 1.95861604e-02 9.20907629e+01] [-1.93256943e-01 9.81141750e-01 -3.55238921e-03 -1.24322619e+01] [-1.99034387e-02 -3.00458504e-04 9.99801862e-01 -1.77175733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034012739 meters 0.027584740438000667 Centerline is valid? [True, True] Translation: X:92.12, Y:-12.44, Z:-1.77 [[ 9.81176254e-01 1.92168482e-01 1.90901210e-02 9.21183292e+01] [-1.92137508e-01 9.81361911e-01 -3.46084845e-03 -1.24365318e+01] [-1.93993836e-02 -2.72225957e-04 9.99811777e-01 -1.77313890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters 0.02683797750835556 Centerline is valid? [True, True] Translation: X:92.15, Y:-12.44, Z:-1.77 [[ 9.81433668e-01 1.90715004e-01 2.03897811e-02 9.21457142e+01] [-1.90679383e-01 9.81645414e-01 -3.69512507e-03 -1.24416781e+01] [-2.07202509e-02 -2.61390726e-04 9.99785278e-01 -1.77070843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09401273900001 meters 0.026721501542625436 Centerline is valid? [True, True] Translation: X:92.17, Y:-12.44, Z:-1.77 [[ 9.81479537e-01 1.90382161e-01 2.12732495e-02 9.21730576e+01] [-1.90343346e-01 9.81710019e-01 -3.85345129e-03 -1.24445924e+01] [-2.16177906e-02 -2.67137912e-04 9.99766273e-01 -1.77024338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters 0.026193206062333576 Centerline is valid? [True, True] Translation: X:92.20, Y:-12.45, Z:-1.77 [[ 9.81581887e-01 1.89689777e-01 2.26889163e-02 9.22018322e+01] [-1.89645492e-01 9.81844038e-01 -4.10758460e-03 -1.24451942e+01] [-2.30561440e-02 -2.70920051e-04 9.99734135e-01 -1.76902008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154012739 meters 0.026023771748428678 Centerline is valid? [True, True] Translation: X:92.23, Y:-12.45, Z:-1.77 [[ 9.81679495e-01 1.89293455e-01 2.17567851e-02 9.22304324e+01] [-1.89252660e-01 9.81920529e-01 -3.93782454e-03 -1.24492769e+01] [-2.21088383e-02 -2.51847839e-04 9.99755538e-01 -1.77053388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters 0.025873027267315257 Centerline is valid? [True, True] Translation: X:92.26, Y:-12.45, Z:-1.77 [[ 9.81756771e-01 1.89009863e-01 2.07102492e-02 9.22593810e+01] [-1.88972854e-01 9.81975161e-01 -3.74746324e-03 -1.24534906e+01] [-2.10452578e-02 -2.34577491e-04 9.99778497e-01 -1.77261241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214012739 meters 0.025718746820381333 Centerline is valid? [True, True] Translation: X:92.29, Y:-12.45, Z:-1.77 [[ 9.81860800e-01 1.88533086e-01 2.01157691e-02 9.22881218e+01] [-1.88498091e-01 9.82066814e-01 -3.63895876e-03 -1.24536676e+01] [-2.04410934e-02 -2.18833112e-04 9.99791035e-01 -1.77353493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters 0.02504452181999172 Centerline is valid? [True, True] Translation: X:92.32, Y:-12.46, Z:-1.77 [[ 9.81902906e-01 1.88210532e-01 2.10589185e-02 9.23165904e+01] [-1.88172126e-01 9.82128681e-01 -3.80854023e-03 -1.24573619e+01] [-2.13993753e-02 -2.23084743e-04 9.99770982e-01 -1.77235276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274012739 meters 0.024902291466735577 Centerline is valid? [True, True] Translation: X:92.34, Y:-12.46, Z:-1.77 [[ 9.81923856e-01 1.87941333e-01 2.24409497e-02 9.23449270e+01] [-1.87897673e-01 9.82180228e-01 -4.05751274e-03 -1.24593528e+01] [-2.28036315e-02 -2.32433672e-04 9.99739936e-01 -1.76993467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters 0.024932102576981648 Centerline is valid? [True, True] Translation: X:92.37, Y:-12.46, Z:-1.77 [[ 9.82023754e-01 1.87488797e-01 2.18471231e-02 9.23726641e+01] [-1.87447340e-01 9.82266717e-01 -3.94857965e-03 -1.24627604e+01] [-2.22000163e-02 -2.17586089e-04 9.99753526e-01 -1.77194466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334012739 meters 0.02468952125194901 Centerline is valid? [True, True] Translation: X:92.40, Y:-12.47, Z:-1.77 [[ 9.82158476e-01 1.86878435e-01 2.10042435e-02 9.23999813e+01] [-1.86840002e-01 9.82383027e-01 -3.79499591e-03 -1.24661736e+01] [-2.13434152e-02 -1.97145488e-04 9.99772184e-01 -1.77436205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters 0.02350126886451066 Centerline is valid? [True, True] Translation: X:92.43, Y:-12.47, Z:-1.78 [[ 9.82548017e-01 1.84937697e-01 1.99359501e-02 9.24285522e+01] [-1.84902698e-01 9.82750236e-01 -3.60083735e-03 -1.24701485e+01] [-2.02579903e-02 -1.48215381e-04 9.99794775e-01 -1.77801530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394012739 meters 0.02295076446226194 Centerline is valid? [True, True] Translation: X:92.46, Y:-12.48, Z:-1.78 [[ 9.82980388e-01 1.82657098e-01 1.96453896e-02 9.24562053e+01] [-1.82622676e-01 9.83176675e-01 -3.54737624e-03 -1.24762745e+01] [-1.99628423e-02 -1.00692351e-04 9.99800718e-01 -1.77896920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters 0.02258402311293821 Centerline is valid? [True, True] Translation: X:92.48, Y:-12.48, Z:-1.78 [[ 9.83338875e-01 1.80769895e-01 1.91546801e-02 9.24841236e+01] [-1.80736831e-01 9.83525415e-01 -3.45782952e-03 -1.24830264e+01] [-1.94641862e-02 -6.17379924e-05 9.99810553e-01 -1.77989446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454012739 meters 0.02233296709066107 Centerline is valid? [True, True] Translation: X:92.51, Y:-12.49, Z:-1.78 [[ 9.83634942e-01 1.79157124e-01 1.91056427e-02 9.25112235e+01] [-1.79123943e-01 9.83820473e-01 -3.44803415e-03 -1.24888912e+01] [-1.94142623e-02 -3.06711976e-05 9.99811525e-01 -1.78088393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters 0.02223340734238033 Centerline is valid? [True, True] Translation: X:92.54, Y:-12.50, Z:-1.78 [[ 9.83942516e-01 1.77465094e-01 1.90595292e-02 9.25383630e+01] [-1.77431779e-01 9.84127096e-01 -3.43853716e-03 -1.24953423e+01] [-1.93672194e-02 1.55673624e-06 9.99812438e-01 -1.78127687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514012739 meters 0.022538412863732173 Centerline is valid? [True, True] Translation: X:92.57, Y:-12.50, Z:-1.78 [[ 9.84496046e-01 1.74233855e-01 2.02508928e-02 9.25657852e+01] [-1.74195592e-01 9.84704300e-01 -3.65188293e-03 -1.25045472e+01] [-2.05774229e-02 6.76480382e-05 9.99788260e-01 -1.77993440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters 0.023329073924637688 Centerline is valid? [True, True] Translation: X:92.59, Y:-12.51, Z:-1.78 [[ 9.84889674e-01 1.71905363e-01 2.09970400e-02 9.25925227e+01] [-1.71863723e-01 9.85113461e-01 -3.78535492e-03 -1.25145433e+01] [-2.13351896e-02 1.19527519e-04 9.99772372e-01 -1.77853514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574012739 meters 0.023311964908881398 Centerline is valid? [True, True] Translation: X:92.62, Y:-12.52, Z:-1.78 [[ 9.85009948e-01 1.71139217e-01 2.16048582e-02 9.26203855e+01] [-1.71094975e-01 9.85246847e-01 -3.89360359e-03 -1.25213630e+01] [-2.19524666e-02 1.38755598e-04 9.99759006e-01 -1.77778121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters 0.023489898422680826 Centerline is valid? [True, True] Translation: X:92.65, Y:-12.53, Z:-1.78 [[ 9.85165305e-01 1.70164603e-01 2.22110246e-02 9.26480312e+01] [-1.70117621e-01 9.85415639e-01 -4.00174592e-03 -1.25287031e+01] [-2.25680465e-02 1.63894570e-04 9.99745296e-01 -1.77725888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634012739 meters 0.02350321392098053 Centerline is valid? [True, True] Translation: X:92.67, Y:-12.54, Z:-1.78 [[ 9.85166944e-01 1.70044156e-01 2.30451005e-02 9.26746468e+01] [-1.69993574e-01 9.85436429e-01 -4.15081167e-03 -1.25356987e+01] [-2.34153028e-02 1.71723446e-04 9.99725809e-01 -1.77540261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters 0.023129658643329793 Centerline is valid? [True, True] Translation: X:92.70, Y:-12.54, Z:-1.78 [[ 9.84988899e-01 1.71168112e-01 2.23236492e-02 9.27021324e+01] [-1.71120967e-01 9.85241827e-01 -4.01953850e-03 -1.25399519e+01] [-2.26822098e-02 1.39156351e-04 9.99742716e-01 -1.77706739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694012739 meters 0.022229771665145476 Centerline is valid? [True, True] Translation: X:92.73, Y:-12.54, Z:-1.78 [[ 9.84316633e-01 1.75149907e-01 2.10541359e-02 9.27314748e+01] [-1.75108908e-01 9.84541776e-01 -3.78975093e-03 -1.25395920e+01] [-2.13924509e-02 4.35481262e-05 9.99771154e-01 -1.77996900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters 0.022120884275108076 Centerline is valid? [True, True] Translation: X:92.76, Y:-12.54, Z:-1.78 [[ 9.83963987e-01 1.77149903e-01 2.08034599e-02 9.27588682e+01] [-1.77110343e-01 9.84183881e-01 -3.74359244e-03 -1.25420195e+01] [-2.11376070e-02 -9.47793949e-07 9.99776576e-01 -1.78060912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754012739 meters 0.022442108837769644 Centerline is valid? [True, True] Translation: X:92.79, Y:-12.54, Z:-1.78 [[ 9.83457718e-01 1.80125961e-01 1.91194934e-02 9.27875376e+01] [-1.80093131e-01 9.83643550e-01 -3.43946420e-03 -1.25426811e+01] [-1.94263031e-02 -6.07217968e-05 9.99811290e-01 -1.78435346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters 0.022609561076503873 Centerline is valid? [True, True] Translation: X:92.82, Y:-12.55, Z:-1.79 [[ 9.83356628e-01 1.80762945e-01 1.82893156e-02 9.28156991e+01] [-1.80733029e-01 9.83526691e-01 -3.28928816e-03 -1.25469213e+01] [-1.85826114e-02 -7.09400831e-05 9.99827326e-01 -1.78627931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814012739 meters 0.022558600089843967 Centerline is valid? [True, True] Translation: X:92.84, Y:-12.55, Z:-1.79 [[ 9.83422225e-01 1.80397475e-01 1.83705800e-02 9.28424955e+01] [-1.80367245e-01 9.83593792e-01 -3.30307206e-03 -1.25516292e+01] [-1.86650543e-02 -6.51364321e-05 9.99825791e-01 -1.78672849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters 0.02227791689854774 Centerline is valid? [True, True] Translation: X:92.87, Y:-12.56, Z:-1.78 [[ 9.83603264e-01 1.79136550e-01 2.08498101e-02 9.28699553e+01] [-1.79097367e-01 9.83824219e-01 -3.74689885e-03 -1.25596335e+01] [-2.11837546e-02 -4.86841459e-05 9.99775598e-01 -1.78285777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874012739 meters 0.022220874822447164 Centerline is valid? [True, True] Translation: X:92.90, Y:-12.57, Z:-1.78 [[ 9.83636285e-01 1.78846377e-01 2.17631077e-02 9.28983118e+01] [-1.78803638e-01 9.83877010e-01 -3.90993680e-03 -1.25655299e+01] [-2.21114994e-02 -4.53671344e-05 9.99755510e-01 -1.78180478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters 0.022599412133994058 Centerline is valid? [True, True] Translation: X:92.93, Y:-12.56, Z:-1.78 [[ 9.83242848e-01 1.81023218e-01 2.15428881e-02 9.29265102e+01] [-1.80981886e-01 9.83478818e-01 -3.86928031e-03 -1.25641990e+01] [-2.18874037e-02 -9.44303302e-05 9.99760438e-01 -1.78151449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934012739 meters 0.022996615503584294 Centerline is valid? [True, True] Translation: X:92.96, Y:-12.56, Z:-1.78 [[ 9.82869246e-01 1.83076024e-01 2.12418149e-02 9.29558362e+01] [-1.83036346e-01 9.83098749e-01 -3.81390892e-03 -1.25643514e+01] [-2.15810370e-02 -1.39450398e-04 9.99767093e-01 -1.78252749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters 0.02439883343936951 Centerline is valid? [True, True] Translation: X:92.98, Y:-12.56, Z:-1.78 [[ 9.82419442e-01 1.85489789e-01 2.11087013e-02 9.29841178e+01] [-1.85451188e-01 9.82646173e-01 -3.78891232e-03 -1.25626156e+01] [-2.14451891e-02 -1.92332600e-04 9.99770007e-01 -1.78371347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994012739 meters 0.026985807895010632 Centerline is valid? [True, True] Translation: X:93.01, Y:-12.56, Z:-1.78 [[ 9.81522505e-01 1.90135584e-01 2.14949216e-02 9.30147926e+01] [-1.90096707e-01 9.81757796e-01 -3.85653756e-03 -1.25562178e+01] [-2.18360718e-02 -3.00835394e-04 9.99761519e-01 -1.78400546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters 0.02870011436972188 Centerline is valid? [True, True] Translation: X:93.05, Y:-12.55, Z:-1.79 [[ 9.80934242e-01 1.93266167e-01 2.04010341e-02 9.30452877e+01] [-1.93231842e-01 9.81146301e-01 -3.65933859e-03 -1.25506368e+01] [-2.07236255e-02 -3.52558876e-04 9.99785180e-01 -1.78671400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054012739 meters 0.028668350187580835 Centerline is valid? [True, True] Translation: X:93.07, Y:-12.55, Z:-1.79 [[ 9.80982136e-01 1.93101232e-01 1.96459513e-02 9.30734562e+01] [-1.93069387e-01 9.81178781e-01 -3.52296177e-03 -1.25519729e+01] [-1.99564788e-02 -3.37069204e-04 9.99800793e-01 -1.78866922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters 0.028440225245580403 Centerline is valid? [True, True] Translation: X:93.10, Y:-12.55, Z:-1.79 [[ 9.81176998e-01 1.92155026e-01 1.91871200e-02 9.31013659e+01] [-1.92124498e-01 9.81364534e-01 -3.43926244e-03 -1.25537799e+01] [-1.94904306e-02 -3.11790598e-04 9.99809995e-01 -1.79036848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114012739 meters 0.025093630221264256 Centerline is valid? [True, True] Translation: X:93.13, Y:-12.56, Z:-1.79 [[ 9.82116848e-01 1.87214745e-01 1.99282837e-02 9.31294304e+01] [-1.87180821e-01 9.82318986e-01 -3.57081642e-03 -1.25592488e+01] [-2.02444409e-02 -2.23233547e-04 9.99795035e-01 -1.78886349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters 0.023689579040760394 Centerline is valid? [True, True] Translation: X:93.16, Y:-12.57, Z:-1.79 [[ 9.82730448e-01 1.83939547e-01 2.01769503e-02 9.31563686e+01] [-1.83904101e-01 9.82937545e-01 -3.61435768e-03 -1.25656408e+01] [-2.04975053e-02 -1.58684569e-04 9.99789891e-01 -1.78916494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174012739 meters 0.02219409445770416 Centerline is valid? [True, True] Translation: X:93.18, Y:-12.58, Z:-1.79 [[ 9.83907652e-01 1.77593560e-01 1.96535037e-02 9.31838888e+01] [-1.77558686e-01 9.84103921e-01 -3.51941133e-03 -1.25766516e+01] [-1.99661148e-02 -2.68745464e-05 9.99800657e-01 -1.79119594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters 0.022154443601730602 Centerline is valid? [True, True] Translation: X:93.21, Y:-12.58, Z:-1.79 [[ 9.84327437e-01 1.75272010e-01 1.94735593e-02 9.32112033e+01] [-1.75237335e-01 9.84520047e-01 -3.48626001e-03 -1.25830602e+01] [-1.97831533e-02 1.91267372e-05 9.99804294e-01 -1.79162004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234012739 meters 0.022301204778185143 Centerline is valid? [True, True] Translation: X:93.24, Y:-12.59, Z:-1.79 [[ 9.84635670e-01 1.73472237e-01 1.99994850e-02 9.32399549e+01] [-1.73435323e-01 9.84838758e-01 -3.57892898e-03 -1.25886892e+01] [-2.03171128e-02 5.53239866e-05 9.99793585e-01 -1.79117940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters 0.02253577639205859 Centerline is valid? [True, True] Translation: X:93.27, Y:-12.59, Z:-1.79 [[ 9.84915341e-01 1.71882984e-01 1.99502331e-02 9.32677155e+01] [-1.71845945e-01 9.85117370e-01 -3.56915724e-03 -1.25928829e+01] [-2.02667986e-02 8.69510610e-05 9.99794604e-01 -1.79128780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294012739 meters 0.02267328699014701 Centerline is valid? [True, True] Translation: X:93.29, Y:-12.60, Z:-1.79 [[ 9.85012153e-01 1.71394485e-01 1.93646392e-02 9.32941161e+01] [-1.71359516e-01 9.85202478e-01 -3.46330852e-03 -1.25970092e+01] [-1.96716825e-02 9.30857843e-05 9.99806489e-01 -1.79270417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters 0.022848981191147616 Centerline is valid? [True, True] Translation: X:93.32, Y:-12.60, Z:-1.79 [[ 9.85144018e-01 1.70705631e-01 1.87310001e-02 9.33224234e+01] [-1.70672832e-01 9.85322068e-01 -3.34770114e-03 -1.26006371e+01] [-1.90275392e-02 1.01094919e-04 9.99818955e-01 -1.79343214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354012739 meters 0.023135984105819508 Centerline is valid? [True, True] Translation: X:93.35, Y:-12.60, Z:-1.79 [[ 9.85239420e-01 1.70063133e-01 1.95401175e-02 9.33496761e+01] [-1.70027332e-01 9.85433162e-01 -3.49135286e-03 -1.26046056e+01] [-1.98492302e-02 1.17464423e-04 9.99802978e-01 -1.79256658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters 0.023365251288018387 Centerline is valid? [True, True] Translation: X:93.38, Y:-12.61, Z:-1.79 [[ 9.85321323e-01 1.69418066e-01 2.09620753e-02 9.33777193e+01] [-1.69376745e-01 9.85544266e-01 -3.74411529e-03 -1.26090998e+01] [-2.12933739e-02 1.38668533e-04 9.99773261e-01 -1.79042044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414012739 meters 0.02422449155683903 Centerline is valid? [True, True] Translation: X:93.41, Y:-12.62, Z:-1.79 [[ 9.85630442e-01 1.67365878e-01 2.28318750e-02 9.34051079e+01] [-1.67316333e-01 9.85894834e-01 -4.07689735e-03 -1.26152987e+01] [-2.31921612e-02 1.98168535e-04 9.99731006e-01 -1.78705146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters 0.025029048999328424 Centerline is valid? [True, True] Translation: X:93.43, Y:-12.62, Z:-1.79 [[ 9.85904737e-01 1.65835258e-01 2.21476271e-02 9.34331923e+01] [-1.65788280e-01 9.86153445e-01 -3.95348385e-03 -1.26213867e+01] [-2.24965857e-02 2.25941458e-04 9.99746894e-01 -1.78897402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474012739 meters 0.02743830301913641 Centerline is valid? [True, True] Translation: X:93.46, Y:-12.63, Z:-1.79 [[ 9.86554858e-01 1.62198557e-01 2.00285086e-02 9.34599388e+01] [-1.62159407e-01 9.86758101e-01 -3.57436821e-03 -1.26288250e+01] [-2.03430505e-02 2.78499238e-04 9.99793020e-01 -1.79299656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters 0.02902388953096117 Centerline is valid? [True, True] Translation: X:93.49, Y:-12.64, Z:-1.79 [[ 9.86869408e-01 1.60276031e-01 2.00091567e-02 9.34878757e+01] [-1.60236585e-01 9.87072183e-01 -3.56976573e-03 -1.26363604e+01] [-2.03226299e-02 3.16693651e-04 9.99793424e-01 -1.79370963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534012739 meters 0.03196236429773262 Centerline is valid? [True, True] Translation: X:93.52, Y:-12.65, Z:-1.79 [[ 9.87661959e-01 1.55351553e-01 1.97420931e-02 9.35155075e+01] [-1.55312187e-01 9.87859163e-01 -3.52123176e-03 -1.26477226e+01] [-2.00494364e-02 4.11599006e-04 9.99798905e-01 -1.79412608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters 0.03651834266978427 Centerline is valid? [True, True] Translation: X:93.54, Y:-12.66, Z:-1.80 [[ 9.88170994e-01 1.52161111e-01 1.91071560e-02 9.35415799e+01] [-1.52123652e-01 9.88355596e-01 -3.40734226e-03 -1.26608453e+01] [-1.94031296e-02 4.60386429e-04 9.99811636e-01 -1.79572186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59401273900001 meters 0.0367502089736812 Centerline is valid? [True, True] Translation: X:93.57, Y:-12.67, Z:-1.80 [[ 9.88700095e-01 1.48778191e-01 1.83622627e-02 9.35706347e+01] [-1.48743029e-01 9.88870464e-01 -3.27364852e-03 -1.26675420e+01] [-1.86449467e-02 5.05398032e-04 9.99826040e-01 -1.79758576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters 0.047440946000933126 Centerline is valid? [True, True] Translation: X:93.60, Y:-12.69, Z:-1.80 [[ 9.89690824e-01 1.41998811e-01 1.86657637e-02 9.35960429e+01] [-1.41961280e-01 9.89866619e-01 -3.32728866e-03 -1.26929764e+01] [-1.89490874e-02 6.43171346e-04 9.99820243e-01 -1.79822445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654012739 meters 0.050355513453288404 Centerline is valid? [True, True] Translation: X:93.62, Y:-12.71, Z:-1.80 [[ 9.90065494e-01 1.39278660e-01 1.92814014e-02 9.36245725e+01] [-1.39238102e-01 9.90252967e-01 -3.43678762e-03 -1.27060846e+01] [-1.95721361e-02 7.17939106e-04 9.99808190e-01 -1.79841329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters 0.04767052266033125 Centerline is valid? [True, True] Translation: X:93.65, Y:-12.72, Z:-1.80 [[ 9.90494235e-01 1.36152358e-01 1.95883982e-02 9.36546595e+01] [-1.36109887e-01 9.90687594e-01 -3.49149828e-03 -1.27156937e+01] [-1.98813588e-02 7.92134248e-04 9.99802032e-01 -1.79785252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714012739 meters 0.04846093980468261 Centerline is valid? [True, True] Translation: X:93.68, Y:-12.73, Z:-1.80 [[ 9.90569297e-01 1.35688020e-01 1.90060515e-02 9.36848168e+01] [-1.35647944e-01 9.90751309e-01 -3.38813605e-03 -1.27252861e+01] [-1.92899999e-02 7.78051733e-04 9.99813628e-01 -1.79852835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters 0.054288368438749894 Centerline is valid? [True, True] Translation: X:93.71, Y:-12.74, Z:-1.79 [[ 9.90457850e-01 1.36676054e-01 1.76890795e-02 9.37135598e+01] [-1.36641489e-01 9.90615545e-01 -3.15377600e-03 -1.27368523e+01] [-1.79541228e-02 7.06620026e-04 9.99838562e-01 -1.78841410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774012739 meters 0.05395052980213929 Centerline is valid? [True, True] Translation: X:93.74, Y:-12.75, Z:-1.80 [[ 9.90276100e-01 1.37873762e-01 1.85491840e-02 9.37413537e+01] [-1.37835960e-01 9.90449549e-01 -3.30735217e-03 -1.27525939e+01] [-1.88280280e-02 7.18447222e-04 9.99822479e-01 -1.80137403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters 0.042879007758234985 Centerline is valid? [True, True] Translation: X:93.77, Y:-12.75, Z:-1.80 [[ 9.89949026e-01 1.40251557e-01 1.81776373e-02 9.37733050e+01] [-1.40215651e-01 9.90115683e-01 -3.24131090e-03 -1.27496221e+01] [-1.84525627e-02 6.59943327e-04 9.99829519e-01 -1.80247308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834012739 meters 0.05123019532141986 Centerline is valid? [True, True] Translation: X:93.80, Y:-12.77, Z:-1.80 [[ 9.89846727e-01 1.40954170e-01 1.83133564e-02 9.38016510e+01] [-1.40917846e-01 9.90015908e-01 -3.26549170e-03 -1.27702337e+01] [-1.85907988e-02 6.51657533e-04 9.99826964e-01 -1.80422346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters 0.04298972465936843 Centerline is valid? [True, True] Translation: X:93.83, Y:-12.77, Z:-1.80 [[ 9.89817295e-01 1.41214348e-01 1.78949776e-02 9.38336385e+01] [-1.41179652e-01 9.89978841e-01 -3.19391977e-03 -1.27678294e+01] [-1.81666765e-02 6.34990312e-04 9.99834771e-01 -1.80440008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894012739 meters 0.04106670570912252 Centerline is valid? [True, True] Translation: X:93.86, Y:-12.78, Z:-1.81 [[ 9.89778790e-01 1.41676199e-01 1.63034349e-02 9.38641712e+01] [-1.41647457e-01 9.89912889e-01 -2.91020467e-03 -1.27766228e+01] [-1.65512871e-02 5.71118764e-04 9.99862855e-01 -1.80734277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters 0.04106670570912252 Centerline is valid? [True, True] Translation: X:93.89, Y:-12.78, Z:-1.81 [[ 9.89775402e-01 1.41699875e-01 1.63033653e-02 9.38945316e+01] [-1.41671130e-01 9.89909501e-01 -2.91059461e-03 -1.27820844e+01] [-1.65512871e-02 5.71118763e-04 9.99862855e-01 -1.80796932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954012739 meters 0.042556454121450114 Centerline is valid? [True, True] Translation: X:93.92, Y:-12.79, Z:-1.81 [[ 9.89481603e-01 1.43763684e-01 1.60673533e-02 9.39229663e+01] [-1.43736030e-01 9.89611905e-01 -2.86889811e-03 -1.27935848e+01] [-1.63128875e-02 5.29264327e-04 9.99866796e-01 -1.81020937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters 0.040584189245428864 Centerline is valid? [True, True] Translation: X:93.95, Y:-12.80, Z:-1.81 [[ 9.89300724e-01 1.44941375e-01 1.66155195e-02 9.39529976e+01] [-1.44911964e-01 9.89440104e-01 -2.96702948e-03 -1.27977027e+01] [-1.68701067e-02 5.27496853e-04 9.99857550e-01 -1.81022815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014012739 meters 0.03947790344217361 Centerline is valid? [True, True] Translation: X:93.98, Y:-12.80, Z:-1.81 [[ 9.89151518e-01 1.45879532e-01 1.72753401e-02 9.39825840e+01] [-1.45847881e-01 9.89302218e-01 -3.08485350e-03 -1.28037241e+01] [-1.75405493e-02 5.31815770e-04 9.99846011e-01 -1.80961385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters 0.036135586267504904 Centerline is valid? [True, True] Translation: X:94.01, Y:-12.81, Z:-1.81 [[ 9.88866037e-01 1.47666606e-01 1.83993032e-02 9.40135587e+01] [-1.47631011e-01 9.89037052e-01 -3.28551972e-03 -1.28092970e+01] [-1.86827542e-02 5.32631118e-04 9.99825320e-01 -1.80770505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074012739 meters 0.036821827859224866 Centerline is valid? [True, True] Translation: X:94.04, Y:-12.82, Z:-1.81 [[ 9.88679176e-01 1.48842600e-01 1.89570084e-02 9.40432486e+01] [-1.48805024e-01 9.88860760e-01 -3.38545459e-03 -1.28181858e+01] [-1.92497417e-02 5.26230354e-04 9.99814568e-01 -1.80706550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters 0.03514294250056133 Centerline is valid? [True, True] Translation: X:94.07, Y:-12.82, Z:-1.81 [[ 9.88451650e-01 1.50335896e-01 1.90382088e-02 9.40744546e+01] [-1.50298215e-01 9.88634850e-01 -3.40301437e-03 -1.28248624e+01] [-1.93334319e-02 5.02306378e-04 9.99812966e-01 -1.80754651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134012739 meters 0.03711841805594356 Centerline is valid? [True, True] Translation: X:94.10, Y:-12.84, Z:-1.81 [[ 9.88378523e-01 1.50764948e-01 1.94377452e-02 9.41040182e+01] [-1.50725684e-01 9.88569508e-01 -3.47785765e-03 -1.28356540e+01] [-1.97399012e-02 5.07672366e-04 9.99805020e-01 -1.80805814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters 0.03603570130426732 Centerline is valid? [True, True] Translation: X:94.13, Y:-12.84, Z:-1.81 [[ 9.88353929e-01 1.50842634e-01 2.00751432e-02 9.41348232e+01] [-1.50800727e-01 9.88557649e-01 -3.59390562e-03 -1.28444128e+01] [-2.03875505e-02 5.24704547e-04 9.99792015e-01 -1.80766425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194012739 meters 0.039744716942279164 Centerline is valid? [True, True] Translation: X:94.17, Y:-12.85, Z:-1.80 [[ 9.88317248e-01 1.51193400e-01 1.92243011e-02 9.41661760e+01] [-1.51154977e-01 9.88504075e-01 -3.44465169e-03 -1.28533733e+01] [-1.95241086e-02 4.98559884e-04 9.99809262e-01 -1.80036978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters 0.04300533361865799 Centerline is valid? [True, True] Translation: X:94.20, Y:-12.86, Z:-1.80 [[ 9.88236204e-01 1.51929063e-01 1.75147319e-02 9.41958245e+01] [-1.51897235e-01 9.88391300e-01 -3.14121327e-03 -1.28644351e+01] [-1.77886502e-02 4.43821330e-04 9.99841671e-01 -1.80010360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254012739 meters 0.03605591919931703 Centerline is valid? [True, True] Translation: X:94.23, Y:-12.87, Z:-1.81 [[ 9.88098762e-01 1.52806386e-01 1.76364810e-02 9.42257369e+01] [-1.52774205e-01 9.88256050e-01 -3.16577925e-03 -1.28721158e+01] [-1.79131103e-02 4.33703203e-04 9.99839453e-01 -1.81381804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters 0.033376544729698206 Centerline is valid? [True, True] Translation: X:94.26, Y:-12.88, Z:-1.82 [[ 9.87602884e-01 1.56049002e-01 1.70074403e-02 9.42561335e+01] [-1.56019506e-01 9.87749248e-01 -3.05570736e-03 -1.28781741e+01] [-1.72759265e-02 3.64332967e-04 9.99850694e-01 -1.81556666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314012739 meters 0.0310997533471378 Centerline is valid? [True, True] Translation: X:94.29, Y:-12.88, Z:-1.82 [[ 9.87208141e-01 1.58436276e-01 1.78334846e-02 9.42868959e+01] [-1.58404222e-01 9.87369147e-01 -3.20483133e-03 -1.28819740e+01] [-1.81159940e-02 3.38936318e-04 9.99835834e-01 -1.81503504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters 0.02943538044660904 Centerline is valid? [True, True] Translation: X:94.32, Y:-12.89, Z:-1.81 [[ 9.86764497e-01 1.61109911e-01 1.84234728e-02 9.43165307e+01] [-1.61076161e-01 9.86936425e-01 -3.31109945e-03 -1.28858711e+01] [-1.87162474e-02 2.99693105e-04 9.99824791e-01 -1.81414294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374012739 meters 0.025550245484454764 Centerline is valid? [True, True] Translation: X:94.35, Y:-12.88, Z:-1.81 [[ 9.85872175e-01 1.66450023e-01 1.87201388e-02 9.43472009e+01] [-1.66416139e-01 9.86049871e-01 -3.36445076e-03 -1.28844918e+01] [-1.90190034e-02 2.01585154e-04 9.99819102e-01 -1.81451977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters 0.024085748536187335 Centerline is valid? [True, True] Translation: X:94.38, Y:-12.89, Z:-1.81 [[ 9.85470940e-01 1.68815265e-01 1.86663362e-02 9.43767051e+01] [-1.68782009e-01 9.85647697e-01 -3.35427837e-03 -1.28856399e+01] [-1.89646847e-02 1.55002137e-04 9.99820142e-01 -1.81486392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434012739 meters 0.022855642533216404 Centerline is valid? [True, True] Translation: X:94.41, Y:-12.89, Z:-1.82 [[ 9.84845185e-01 1.72496326e-01 1.80271866e-02 9.44055790e+01] [-1.72465933e-01 9.85010158e-01 -3.23901103e-03 -1.28855680e+01] [-1.83156794e-02 8.08488689e-05 9.99832251e-01 -1.81669681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters 0.022600943363906233 Centerline is valid? [True, True] Translation: X:94.43, Y:-12.89, Z:-1.82 [[ 9.84663191e-01 1.73517091e-01 1.81719194e-02 9.44349014e+01] [-1.73486389e-01 9.84830856e-01 -3.26457992e-03 -1.28884040e+01] [-1.84627273e-02 6.19310084e-05 9.99829547e-01 -1.81641345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494012739 meters 0.022382832093125016 Centerline is valid? [True, True] Translation: X:94.46, Y:-12.89, Z:-1.81 [[ 9.84547105e-01 1.74016546e-01 1.96275034e-02 9.44647317e+01] [-1.73980838e-01 9.84742727e-01 -3.52555796e-03 -1.28909647e+01] [-1.99415467e-02 5.62683942e-05 9.99801146e-01 -1.81349929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters 0.02244600182797314 Centerline is valid? [True, True] Translation: X:94.49, Y:-12.90, Z:-1.81 [[ 9.84641070e-01 1.73367405e-01 2.06326394e-02 9.44933086e+01] [-1.73327814e-01 9.84857217e-01 -3.70557091e-03 -1.28960648e+01] [-2.09626290e-02 7.24470363e-05 9.99780257e-01 -1.81262035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554012739 meters 0.022718895806053362 Centerline is valid? [True, True] Translation: X:94.52, Y:-12.90, Z:-1.81 [[ 9.84770618e-01 1.72547120e-01 2.13148151e-02 9.45220421e+01] [-1.72504692e-01 9.85001260e-01 -3.82731309e-03 -1.29012587e+01] [-2.16555116e-02 9.21198438e-05 9.99765488e-01 -1.81257225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters 0.023687888446535573 Centerline is valid? [True, True] Translation: X:94.55, Y:-12.91, Z:-1.81 [[ 9.85290911e-01 1.69492868e-01 2.17712746e-02 9.45502597e+01] [-1.69447869e-01 9.85531400e-01 -3.90875977e-03 -1.29106299e+01] [-2.21187817e-02 1.62169376e-04 9.99755337e-01 -1.81166286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614012739 meters 0.024602293935949794 Centerline is valid? [True, True] Translation: X:94.58, Y:-12.92, Z:-1.81 [[ 9.85566319e-01 1.67872562e-01 2.18594002e-02 9.45784940e+01] [-1.67826804e-01 9.85808685e-01 -3.92431796e-03 -1.29183194e+01] [-2.22079719e-02 1.99082325e-04 9.99753353e-01 -1.81207815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters 0.026134365063376876 Centerline is valid? [True, True] Translation: X:94.61, Y:-12.93, Z:-1.81 [[ 9.85977340e-01 1.65598008e-01 2.06393997e-02 9.46073127e+01] [-1.65556722e-01 9.86193310e-01 -3.70510684e-03 -1.29276426e+01] [-2.09679962e-02 2.36160031e-04 9.99780120e-01 -1.81469629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674012739 meters 0.026640092401873972 Centerline is valid? [True, True] Translation: X:94.64, Y:-12.94, Z:-1.82 [[ 9.86142413e-01 1.64711482e-01 1.98310134e-02 9.46367909e+01] [-1.64673169e-01 9.86341760e-01 -3.56095177e-03 -1.29352483e+01] [-2.01466863e-02 2.45969753e-04 9.99797005e-01 -1.81702656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters 0.027821842328104605 Centerline is valid? [True, True] Translation: X:94.67, Y:-12.94, Z:-1.82 [[ 9.86392918e-01 1.63363437e-01 1.84769916e-02 9.46655977e+01] [-1.63329941e-01 9.86565924e-01 -3.31781712e-03 -1.29448698e+01] [-1.87707803e-02 2.54825365e-04 9.99823781e-01 -1.81992086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734012739 meters 0.02813869186588565 Centerline is valid? [True, True] Translation: X:94.69, Y:-12.95, Z:-1.82 [[ 9.86413802e-01 1.63204927e-01 1.87606658e-02 9.46946937e+01] [-1.63170365e-01 9.86592157e-01 -3.36876920e-03 -1.29523354e+01] [-1.90589255e-02 2.61815741e-04 9.99818328e-01 -1.82015729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters 0.02820676864147148 Centerline is valid? [True, True] Translation: X:94.72, Y:-12.96, Z:-1.82 [[ 9.86391450e-01 1.63262690e-01 1.94216488e-02 9.47235918e+01] [-1.63225666e-01 9.86582597e-01 -3.48722005e-03 -1.29614732e+01] [-1.97303936e-02 2.69652483e-04 9.99805300e-01 -1.81938383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794012739 meters 0.02796668511186256 Centerline is valid? [True, True] Translation: X:94.75, Y:-12.97, Z:-1.82 [[ 9.86355969e-01 1.63470617e-01 1.94745903e-02 9.47531589e+01] [-1.63433431e-01 9.86548167e-01 -3.49672586e-03 -1.29686837e+01] [-1.97842333e-02 2.66217323e-04 9.99804237e-01 -1.81986343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters 0.027696377509770193 Centerline is valid? [True, True] Translation: X:94.78, Y:-12.98, Z:-1.82 [[ 9.86258043e-01 1.64067076e-01 1.94182286e-02 9.47833645e+01] [-1.64030221e-01 9.86449152e-01 -3.48659294e-03 -1.29753589e+01] [-1.97271302e-02 2.53504001e-04 9.99805369e-01 -1.82075528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854012739 meters 0.02658893472733886 Centerline is valid? [True, True] Translation: X:94.81, Y:-12.98, Z:-1.82 [[ 9.85884285e-01 1.66452208e-01 1.80509890e-02 9.48129071e+01] [-1.66420754e-01 9.86049505e-01 -3.24140548e-03 -1.29811784e+01] [-1.83387078e-02 1.91591529e-04 9.99831813e-01 -1.82278694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters 0.025218133880991422 Centerline is valid? [True, True] Translation: X:94.84, Y:-12.99, Z:-1.82 [[ 9.85707458e-01 1.67559461e-01 1.74537695e-02 9.48442573e+01] [-1.67530208e-01 9.85861958e-01 -3.13530379e-03 -1.29853572e+01] [-1.77323572e-02 1.66458700e-04 9.99842756e-01 -1.82411316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914012739 meters 0.024384528453714954 Centerline is valid? [True, True] Translation: X:94.87, Y:-12.99, Z:-1.82 [[ 9.85265971e-01 1.70059842e-01 1.81828446e-02 9.48738128e+01] [-1.70028510e-01 9.85433729e-01 -3.26675372e-03 -1.29903701e+01] [-1.84735320e-02 1.27019293e-04 9.99829342e-01 -1.82374881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters 0.02396576853450406 Centerline is valid? [True, True] Translation: X:94.90, Y:-12.99, Z:-1.82 [[ 9.85015972e-01 1.71475307e-01 1.84324411e-02 9.49040728e+01] [-1.71443353e-01 9.85188413e-01 -3.31184087e-03 -1.29946216e+01] [-1.87273264e-02 1.02096643e-04 9.99824623e-01 -1.82370643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974012739 meters 0.02371110223487939 Centerline is valid? [True, True] Translation: X:94.93, Y:-13.00, Z:-1.82 [[ 9.84755636e-01 1.72980730e-01 1.82757659e-02 9.49342709e+01] [-1.72949576e-01 9.84925206e-01 -3.28369031e-03 -1.29992482e+01] [-1.85682777e-02 7.28465843e-05 9.99827592e-01 -1.82461733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters 0.023602004279446597 Centerline is valid? [True, True] Translation: X:94.96, Y:-13.00, Z:-1.83 [[ 9.84370281e-01 1.75246706e-01 1.74282162e-02 9.49631619e+01] [-1.75218729e-01 9.84524551e-01 -3.13143847e-03 -1.30045927e+01] [-1.77072810e-02 2.87450878e-05 9.99843213e-01 -1.82778456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034012739 meters 0.02358247472697756 Centerline is valid? [True, True] Translation: X:94.99, Y:-13.01, Z:-1.83 [[ 9.84191730e-01 1.76270583e-01 1.71848767e-02 9.49922341e+01] [-1.76243540e-01 9.84341750e-01 -3.08759955e-03 -1.30081234e+01] [-1.74600446e-02 1.00664462e-05 9.99847562e-01 -1.82931567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters 0.023737812187950444 Centerline is valid? [True, True] Translation: X:95.02, Y:-13.01, Z:-1.83 [[ 9.83639830e-01 1.79297280e-01 1.74691184e-02 9.50225991e+01] [-1.79269827e-01 9.83794940e-01 -3.13782934e-03 -1.30073669e+01] [-1.77486345e-02 -4.51919093e-05 9.99842480e-01 -1.82818912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09401273900001 meters 0.024126394945505447 Centerline is valid? [True, True] Translation: X:95.05, Y:-13.01, Z:-1.83 [[ 9.83228891e-01 1.81489489e-01 1.79586583e-02 9.50525978e+01] [-1.81460849e-01 9.83392881e-01 -3.22530116e-03 -1.30089630e+01] [-1.82457750e-02 -8.75840969e-05 9.99833528e-01 -1.82801464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters 0.025716655655331395 Centerline is valid? [True, True] Translation: X:95.08, Y:-13.01, Z:-1.83 [[ 9.82509230e-01 1.85314296e-01 1.82818267e-02 9.50809566e+01] [-1.85285285e-01 9.82679289e-01 -3.28293664e-03 -1.30062861e+01] [-1.85735476e-02 -1.61837927e-04 9.99827484e-01 -1.82820897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154012739 meters 0.027670726286547 Centerline is valid? [True, True] Translation: X:95.11, Y:-13.01, Z:-1.83 [[ 9.82238370e-01 1.86742943e-01 1.82991111e-02 9.51094203e+01] [-1.86714147e-01 9.82408793e-01 -3.28489021e-03 -1.30050954e+01] [-1.85906377e-02 -1.90157715e-04 9.99827161e-01 -1.82985359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters 0.02844668977536628 Centerline is valid? [True, True] Translation: X:95.14, Y:-13.01, Z:-1.83 [[ 9.82062687e-01 1.87696159e-01 1.79730761e-02 9.51379189e+01] [-1.87668559e-01 9.82227117e-01 -3.22527685e-03 -1.30072922e+01] [-1.82590148e-02 -2.05557255e-04 9.99833269e-01 -1.83164257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214012739 meters 0.02768000272854843 Centerline is valid? [True, True] Translation: X:95.17, Y:-13.01, Z:-1.83 [[ 9.81912873e-01 1.88467674e-01 1.80843747e-02 9.51658207e+01] [-1.88439876e-01 9.82079369e-01 -3.24446881e-03 -1.30135120e+01] [-1.83717688e-02 -2.22031641e-04 9.99831200e-01 -1.83246234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters 0.027149483799914293 Centerline is valid? [True, True] Translation: X:95.19, Y:-13.02, Z:-1.83 [[ 9.82054541e-01 1.87538507e-01 1.99546290e-02 9.51938476e+01] [-1.87504491e-01 9.82257226e-01 -3.57895214e-03 -1.30199556e+01] [-2.02717699e-02 -2.26856355e-04 9.99794481e-01 -1.82919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274012739 meters 0.02658074113292031 Centerline is valid? [True, True] Translation: X:95.22, Y:-13.03, Z:-1.83 [[ 9.82179085e-01 1.86822650e-01 2.05314793e-02 9.52225303e+01] [-1.86786504e-01 9.82393633e-01 -3.68139556e-03 -1.30259231e+01] [-2.08577626e-02 -2.19213522e-04 9.99782429e-01 -1.82870323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters 0.026691431540959924 Centerline is valid? [True, True] Translation: X:95.25, Y:-13.03, Z:-1.83 [[ 9.82342173e-01 1.86036881e-01 1.98528286e-02 9.52503199e+01] [-1.86002944e-01 9.82542742e-01 -3.55878255e-03 -1.30302167e+01] [-2.01683174e-02 -1.96742373e-04 9.99796579e-01 -1.83028547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334012739 meters 0.02581038855845487 Centerline is valid? [True, True] Translation: X:95.28, Y:-13.04, Z:-1.84 [[ 9.82759409e-01 1.84074921e-01 1.73311105e-02 9.52779850e+01] [-1.84048769e-01 9.82912206e-01 -3.10582055e-03 -1.30378882e+01] [-1.76066637e-02 -1.37495171e-04 9.99844981e-01 -1.83596822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters 0.024231304974482788 Centerline is valid? [True, True] Translation: X:95.31, Y:-13.05, Z:-1.84 [[ 9.83478707e-01 1.80153421e-01 1.77306977e-02 9.53052037e+01] [-1.80125426e-01 9.83638521e-01 -3.17659982e-03 -1.30513591e+01] [-1.80128726e-02 -6.96312017e-05 9.99837753e-01 -1.83548107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394012739 meters 0.02399354670837724 Centerline is valid? [True, True] Translation: X:95.33, Y:-13.06, Z:-1.83 [[ 9.83845411e-01 1.78077638e-01 1.83456125e-02 9.53332512e+01] [-1.78047324e-01 9.84016440e-01 -3.28581184e-03 -1.30608673e+01] [-1.86375139e-02 -3.36563096e-05 9.99826306e-01 -1.83482620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters 0.023776055329144063 Centerline is valid? [True, True] Translation: X:95.36, Y:-13.07, Z:-1.84 [[ 9.84184720e-01 1.76181761e-01 1.84505752e-02 9.53613961e+01] [-1.76150775e-01 9.84357652e-01 -3.30413763e-03 -1.30698002e+01] [-1.87440937e-02 1.79863873e-06 9.99824314e-01 -1.83515177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454012739 meters 0.02413137427017201 Centerline is valid? [True, True] Translation: X:95.39, Y:-13.08, Z:-1.84 [[ 9.84623279e-01 1.73784507e-01 1.77748265e-02 9.53894781e+01] [-1.73755363e-01 9.84783704e-01 -3.18291513e-03 -1.30804575e+01] [-1.80575009e-02 4.55008980e-05 9.99836949e-01 -1.83735524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters 0.024273629882301865 Centerline is valid? [True, True] Translation: X:95.42, Y:-13.09, Z:-1.84 [[ 9.84702689e-01 1.73311516e-01 1.79925640e-02 9.54191374e+01] [-1.73281579e-01 9.84867055e-01 -3.22166430e-03 -1.30869619e+01] [-1.82786350e-02 5.46016068e-05 9.99832930e-01 -1.83825876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514012739 meters 0.024121779910803172 Centerline is valid? [True, True] Translation: X:95.45, Y:-13.09, Z:-1.84 [[ 9.84600033e-01 1.73874341e-01 1.81793260e-02 9.54492118e+01] [-1.73843875e-01 9.84767847e-01 -3.25510504e-03 -1.30934909e+01] [-1.84683950e-02 4.46120558e-05 9.99829444e-01 -1.83876660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters 0.02400098572699612 Centerline is valid? [True, True] Translation: X:95.48, Y:-13.10, Z:-1.84 [[ 9.84642622e-01 1.73671454e-01 1.78082553e-02 9.54774178e+01] [-1.73642185e-01 9.84803647e-01 -3.18868941e-03 -1.31007940e+01] [-1.80914191e-02 4.74551385e-05 9.99836336e-01 -1.84002864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574012739 meters 0.02432711339360401 Centerline is valid? [True, True] Translation: X:95.51, Y:-13.11, Z:-1.84 [[ 9.84841166e-01 1.72622953e-01 1.70057120e-02 9.55073690e+01] [-1.72596112e-01 9.84987976e-01 -3.04468361e-03 -1.31125163e+01] [-1.72760041e-02 6.34099930e-05 9.99850757e-01 -1.84192012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters 0.024637187584293906 Centerline is valid? [True, True] Translation: X:95.54, Y:-13.12, Z:-1.84 [[ 9.85004670e-01 1.71651361e-01 1.73669518e-02 9.55373695e+01] [-1.71623209e-01 9.85157756e-01 -3.10979231e-03 -1.31219804e+01] [-1.76429874e-02 8.25879496e-05 9.99844347e-01 -1.84150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634012739 meters 0.025265310173719854 Centerline is valid? [True, True] Translation: X:95.57, Y:-13.14, Z:-1.84 [[ 9.85356164e-01 1.69377928e-01 1.96047685e-02 9.55678512e+01] [-1.69341592e-01 9.85551165e-01 -3.51098280e-03 -1.31358628e+01] [-1.99161854e-02 1.39665835e-04 9.99801643e-01 -1.83768107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters 0.025449066190201815 Centerline is valid? [True, True] Translation: X:95.60, Y:-13.15, Z:-1.84 [[ 9.85554292e-01 1.68124563e-01 2.04173426e-02 9.55985871e+01] [-1.68084809e-01 9.85765743e-01 -3.66010604e-03 -1.31453570e+01] [-2.07420707e-02 1.75388071e-04 9.99784845e-01 -1.83652782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694012739 meters 0.026397959459776042 Centerline is valid? [True, True] Translation: X:95.63, Y:-13.16, Z:-1.84 [[ 9.85670371e-01 1.67389716e-01 2.08471079e-02 9.56287160e+01] [-1.67348028e-01 9.85890787e-01 -3.74085866e-03 -1.31559733e+01] [-2.11791529e-02 1.98531156e-04 9.99775677e-01 -1.83629463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters 0.02593253765156142 Centerline is valid? [True, True] Translation: X:95.66, Y:-13.16, Z:-1.84 [[ 9.85553401e-01 1.68004110e-01 2.14269187e-02 9.56606872e+01] [-1.67960137e-01 9.85786276e-01 -3.84850858e-03 -1.31640880e+01] [-2.17689277e-02 1.94042512e-04 9.99763010e-01 -1.83568701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754012739 meters 0.025350661622857325 Centerline is valid? [True, True] Translation: X:95.69, Y:-13.17, Z:-1.84 [[ 9.85368246e-01 1.69074426e-01 2.15234265e-02 9.56922956e+01] [-1.69030218e-01 9.85603271e-01 -3.87005822e-03 -1.31701374e+01] [-2.18678874e-02 1.75322996e-04 9.99760854e-01 -1.83614540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters 0.024716392029055685 Centerline is valid? [True, True] Translation: X:95.72, Y:-13.18, Z:-1.84 [[ 9.84969534e-01 1.71370620e-01 2.16131554e-02 9.57220800e+01] [-1.71326513e-01 9.85206625e-01 -3.88997066e-03 -1.31783027e+01] [-2.19600506e-02 1.28596024e-04 9.99758841e-01 -1.83628827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814012739 meters 0.024716392029055685 Centerline is valid? [True, True] Translation: X:95.75, Y:-13.18, Z:-1.84 [[ 9.84937145e-01 1.71556752e-01 2.16125336e-02 9.57540328e+01] [-1.71512614e-01 9.85174231e-01 -3.89342255e-03 -1.31842471e+01] [-2.19600541e-02 1.27954352e-04 9.99758841e-01 -1.83694859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters 0.024369476259001717 Centerline is valid? [True, True] Translation: X:95.79, Y:-13.19, Z:-1.84 [[ 9.84791915e-01 1.72443569e-01 2.11683735e-02 9.57852481e+01] [-1.72401345e-01 9.85019392e-01 -3.81744271e-03 -1.31920639e+01] [-2.15095519e-02 1.09930652e-04 9.99768637e-01 -1.83903186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874012739 meters 0.024184964643336814 Centerline is valid? [True, True] Translation: X:95.82, Y:-13.20, Z:-1.84 [[ 9.84628755e-01 1.73639120e-01 1.88592110e-02 9.58164549e+01] [-1.73605768e-01 9.84809347e-01 -3.40402841e-03 -1.32024904e+01] [-1.91637998e-02 7.76364401e-05 9.99816355e-01 -1.84435113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters 0.02417191926137434 Centerline is valid? [True, True] Translation: X:95.85, Y:-13.21, Z:-1.85 [[ 9.84560404e-01 1.74143463e-01 1.77444676e-02 9.58472975e+01] [-1.74113958e-01 9.84720290e-01 -3.20619337e-03 -1.32122691e+01] [-1.80316749e-02 6.71315501e-05 9.99837414e-01 -1.84701128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934012739 meters 0.02375998954307626 Centerline is valid? [True, True] Translation: X:95.88, Y:-13.22, Z:-1.85 [[ 9.84087223e-01 1.76803346e-01 1.76893698e-02 9.58774704e+01] [-1.76774392e-01 9.84246197e-01 -3.19963259e-03 -1.32204561e+01] [-1.79764007e-02 2.16899582e-05 9.99838411e-01 -1.84726584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters 0.023741806362105464 Centerline is valid? [True, True] Translation: X:95.91, Y:-13.22, Z:-1.85 [[ 9.83533335e-01 1.79754509e-01 1.87215177e-02 9.59099663e+01] [-1.79722554e-01 9.83711500e-01 -3.38940199e-03 -1.32240686e+01] [-1.90258326e-02 -3.10891308e-05 9.99818992e-01 -1.84526241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994012739 meters 0.02450994569982407 Centerline is valid? [True, True] Translation: X:95.94, Y:-13.23, Z:-1.84 [[ 9.82707568e-01 1.84098855e-01 1.98354968e-02 9.59422970e+01] [-1.84063788e-01 9.82907726e-01 -3.59506382e-03 -1.32254760e+01] [-2.01583102e-02 -1.18100246e-04 9.99796794e-01 -1.84340871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters 0.03358409829003504 Centerline is valid? [True, True] Translation: X:95.97, Y:-13.22, Z:-1.84 [[ 9.80656184e-01 1.94811111e-01 1.90283751e-02 9.59748658e+01] [-1.94780788e-01 9.80840725e-01 -3.45203386e-03 -1.32183089e+01] [-1.93362997e-02 -3.21103541e-04 9.99812985e-01 -1.83654213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054012739 meters 0.033779373408494025 Centerline is valid? [True, True] Translation: X:96.01, Y:-13.21, Z:-1.85 [[ 9.79606358e-01 2.00071408e-01 1.85152495e-02 9.60057700e+01] [-2.00043632e-01 9.79781231e-01 -3.35920644e-03 -1.32127691e+01] [-1.88129751e-02 -4.13157766e-04 9.99822935e-01 -1.84703882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters 0.042179234797348274 Centerline is valid? [True, True] Translation: X:96.04, Y:-13.20, Z:-1.85 [[ 9.77685365e-01 2.09328951e-01 1.76838122e-02 9.60378118e+01] [-2.09305129e-01 9.77845116e-01 -3.20809767e-03 -1.31996894e+01] [-1.79635771e-02 -5.64802441e-04 9.99838482e-01 -1.85050779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114012739 meters 0.045261790382165254 Centerline is valid? [True, True] Translation: X:96.07, Y:-13.20, Z:-1.85 [[ 9.76980427e-01 2.12600354e-01 1.76162981e-02 9.60691410e+01] [-2.12577240e-01 9.77139039e-01 -3.19607235e-03 -1.31988304e+01] [-1.78930588e-02 -6.22323900e-04 9.99839713e-01 -1.85178656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters 0.04861115139263399 Centerline is valid? [True, True] Translation: X:96.10, Y:-13.19, Z:-1.85 [[ 9.76160592e-01 2.16411242e-01 1.66334928e-02 9.61007913e+01] [-2.16391186e-01 9.76302078e-01 -3.01780506e-03 -1.31939105e+01] [-1.68924005e-02 -6.53478862e-04 9.99857100e-01 -1.85413815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174012739 meters 0.049379892270991994 Centerline is valid? [True, True] Translation: X:96.13, Y:-13.19, Z:-1.85 [[ 9.75978492e-01 2.17235964e-01 1.65685943e-02 9.61299046e+01] [-2.17216184e-01 9.76118893e-01 -3.00595574e-03 -1.31929047e+01] [-1.68259196e-02 -6.65218678e-04 9.99858213e-01 -1.85499881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters 0.05010790617435865 Centerline is valid? [True, True] Translation: X:96.16, Y:-13.19, Z:-1.86 [[ 9.75914255e-01 2.17484349e-01 1.70858274e-02 9.61588126e+01] [-2.17463367e-01 9.76063564e-01 -3.09897821e-03 -1.31917887e+01] [-1.73508329e-02 -6.91204558e-04 9.99849224e-01 -1.85511676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234012739 meters 0.051969391747842354 Centerline is valid? [True, True] Translation: X:96.19, Y:-13.19, Z:-1.85 [[ 9.76318416e-01 2.15467495e-01 1.93935517e-02 9.61896835e+01] [-2.15440091e-01 9.76510729e-01 -3.51620399e-03 -1.31858055e+01] [-1.96956390e-02 -7.45213850e-04 9.99805744e-01 -1.85131759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters 0.043648417953394546 Centerline is valid? [True, True] Translation: X:96.22, Y:-13.19, Z:-1.85 [[ 9.77221289e-01 2.11159806e-01 2.12152970e-02 9.62192466e+01] [-2.11126008e-01 9.77451286e-01 -3.84597807e-03 -1.31945014e+01] [-2.15490353e-02 -7.20729325e-04 9.99767533e-01 -1.84782159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294012739 meters 0.04195049601149966 Centerline is valid? [True, True] Translation: X:96.25, Y:-13.20, Z:-1.85 [[ 9.77725240e-01 2.08746553e-01 2.18685020e-02 9.62474126e+01] [-2.08710042e-01 9.77969531e-01 -3.96422353e-03 -1.31981601e+01] [-2.22142466e-02 -6.88254573e-04 9.99752996e-01 -1.84772236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters 0.04059698174348484 Centerline is valid? [True, True] Translation: X:96.28, Y:-13.20, Z:-1.85 [[ 9.78257671e-01 2.06269989e-01 2.15550448e-02 9.62750962e+01] [-2.06233940e-01 9.78494917e-01 -3.90637493e-03 -1.32024239e+01] [-2.18972696e-02 -6.23940569e-04 9.99760031e-01 -1.84888226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354012739 meters 0.036151193254803676 Centerline is valid? [True, True] Translation: X:96.30, Y:-13.21, Z:-1.85 [[ 9.79218447e-01 2.01776284e-01 2.04343850e-02 9.63039868e+01] [-2.01742931e-01 9.79431511e-01 -3.70215480e-03 -1.32108765e+01] [-2.07610877e-02 -4.97274457e-04 9.99784342e-01 -1.85216519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters 0.03304964980875044 Centerline is valid? [True, True] Translation: X:96.33, Y:-13.22, Z:-1.85 [[ 9.79945635e-01 1.98268337e-01 1.99052635e-02 9.63334717e+01] [-1.98235970e-01 9.80147691e-01 -3.60606139e-03 -1.32173901e+01] [-2.02250658e-02 -4.12195087e-04 9.99795367e-01 -1.85388973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414012739 meters 0.03165858810778924 Centerline is valid? [True, True] Translation: X:96.36, Y:-13.22, Z:-1.86 [[ 9.80293740e-01 1.96553098e-01 1.97753042e-02 9.63617276e+01] [-1.96520808e-01 9.80493110e-01 -3.58229010e-03 -1.32233768e+01] [-2.00936598e-02 -3.74562194e-04 9.99798032e-01 -1.85524039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters 0.0302976795566171 Centerline is valid? [True, True] Translation: X:96.39, Y:-13.23, Z:-1.86 [[ 9.80634722e-01 1.94835632e-01 1.98650288e-02 9.63898828e+01] [-1.94802715e-01 9.80835848e-01 -3.59758614e-03 -1.32300490e+01] [-2.01852703e-02 -3.41843659e-04 9.99796198e-01 -1.85514346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474012739 meters 0.02772737715881708 Centerline is valid? [True, True] Translation: X:96.42, Y:-13.24, Z:-1.86 [[ 9.81180683e-01 1.92072103e-01 1.98185537e-02 9.64175019e+01] [-1.92038795e-01 9.81380775e-01 -3.58821933e-03 -1.32402346e+01] [-2.01387444e-02 -2.85239667e-04 9.99797154e-01 -1.85606095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters 0.02803258173547761 Centerline is valid? [True, True] Translation: X:96.45, Y:-13.24, Z:-1.86 [[ 9.81315140e-01 1.91426740e-01 1.94010288e-02 9.64452165e+01] [-1.91394713e-01 9.81506868e-01 -3.51168287e-03 -1.32443477e+01] [-1.97144730e-02 -2.67186777e-04 9.99805615e-01 -1.85723138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534012739 meters 0.029447079905242098 Centerline is valid? [True, True] Translation: X:96.47, Y:-13.24, Z:-1.86 [[ 9.81175491e-01 1.92262486e-01 1.81601659e-02 9.64728836e+01] [-1.92234587e-01 9.81343500e-01 -3.28604833e-03 -1.32448949e+01] [-1.84531446e-02 -2.66821914e-04 9.99829691e-01 -1.85957838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters 0.028890846813604286 Centerline is valid? [True, True] Translation: X:96.50, Y:-13.25, Z:-1.86 [[ 9.81014700e-01 1.93067042e-01 1.83105286e-02 9.65008466e+01] [-1.93038845e-01 9.81185526e-01 -3.31188557e-03 -1.32498499e+01] [-1.86054415e-02 -2.85634853e-04 9.99826863e-01 -1.86071928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594012739 meters 0.03125840529203385 Centerline is valid? [True, True] Translation: X:96.53, Y:-13.25, Z:-1.86 [[ 9.80584655e-01 1.95077899e-01 1.99586483e-02 9.65294408e+01] [-1.95044835e-01 9.80787688e-01 -3.60891786e-03 -1.32476871e+01] [-2.02792166e-02 -3.53981797e-04 9.99794293e-01 -1.85858885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters 0.030681431189618306 Centerline is valid? [True, True] Translation: X:96.56, Y:-13.25, Z:-1.86 [[ 9.80541395e-01 1.95233045e-01 2.05580111e-02 9.65575319e+01] [-1.95198032e-01 9.80756811e-01 -3.71569436e-03 -1.32527573e+01] [-2.08878357e-02 -3.69491176e-04 9.99781757e-01 -1.85789863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654012739 meters 0.030338404550618075 Centerline is valid? [True, True] Translation: X:96.59, Y:-13.26, Z:-1.86 [[ 9.80732994e-01 1.94321275e-01 2.00508565e-02 9.65855439e+01] [-1.94287798e-01 9.80937880e-01 -3.62308552e-03 -1.32580458e+01] [-2.03726873e-02 -3.42357258e-04 9.99792397e-01 -1.85936429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters 0.0285798058692823 Centerline is valid? [True, True] Translation: X:96.61, Y:-13.27, Z:-1.86 [[ 9.81186358e-01 1.92166220e-01 1.85869705e-02 9.66128244e+01] [-1.92137082e-01 9.81362353e-01 -3.35774722e-03 -1.32671865e+01] [-1.88857986e-02 -2.76670497e-04 9.99821609e-01 -1.86249720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714012739 meters 0.02731284964632946 Centerline is valid? [True, True] Translation: X:96.64, Y:-13.28, Z:-1.86 [[ 9.81563856e-01 1.90176725e-01 1.91104821e-02 9.66411169e+01] [-1.90145563e-01 9.81749842e-01 -3.45138169e-03 -1.32754848e+01] [-1.94180853e-02 -2.46021867e-04 9.99811421e-01 -1.86272309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters 0.027433345512689732 Centerline is valid? [True, True] Translation: X:96.67, Y:-13.28, Z:-1.86 [[ 9.81625104e-01 1.89804721e-01 1.96550984e-02 9.66690988e+01] [-1.89771711e-01 9.81821831e-01 -3.54835129e-03 -1.32793559e+01] [-1.99712986e-02 -2.46830947e-04 9.99800523e-01 -1.86298230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774012739 meters 0.02757696642019683 Centerline is valid? [True, True] Translation: X:96.70, Y:-13.28, Z:-1.86 [[ 9.81558365e-01 1.90159662e-01 1.95570665e-02 9.66973423e+01] [-1.90127076e-01 9.81753145e-01 -3.52939429e-03 -1.32836602e+01] [-1.98713600e-02 -2.54021377e-04 9.99802513e-01 -1.86364395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters 0.028608225596204975 Centerline is valid? [True, True] Translation: X:96.73, Y:-13.29, Z:-1.86 [[ 9.81250623e-01 1.91771698e-01 1.92569746e-02 9.67258035e+01] [-1.91740432e-01 9.81439522e-01 -3.47433128e-03 -1.32863386e+01] [-1.95658343e-02 -2.83150889e-04 9.99808531e-01 -1.86498413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834012739 meters 0.02968800031486637 Centerline is valid? [True, True] Translation: X:96.75, Y:-13.29, Z:-1.87 [[ 9.81121069e-01 1.92472357e-01 1.88637323e-02 9.67537878e+01] [-1.92442501e-01 9.81302352e-01 -3.40251416e-03 -1.32891400e+01] [-1.91659148e-02 -2.91905492e-04 9.99816274e-01 -1.86659942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters 0.03168335788464284 Centerline is valid? [True, True] Translation: X:96.78, Y:-13.29, Z:-1.87 [[ 9.80874564e-01 1.93669886e-01 1.94181372e-02 9.67821505e+01] [-1.93638511e-01 9.81066700e-01 -3.50116980e-03 -1.32902723e+01] [-1.97285589e-02 -3.25890762e-04 9.99805320e-01 -1.86576781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894012739 meters 0.03109959496030995 Centerline is valid? [True, True] Translation: X:96.81, Y:-13.30, Z:-1.87 [[ 9.80822877e-01 1.93894869e-01 1.97804104e-02 9.68101274e+01] [-1.93862381e-01 9.81022255e-01 -3.56531362e-03 -1.32962054e+01] [-2.00963188e-02 -3.37736301e-04 9.99797992e-01 -1.86569472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters 0.030743771546214684 Centerline is valid? [True, True] Translation: X:96.84, Y:-13.30, Z:-1.87 [[ 9.80917239e-01 1.93389778e-01 2.00440750e-02 9.68388097e+01] [-1.93356332e-01 9.81121951e-01 -3.61189578e-03 -1.33016124e+01] [-2.03641857e-02 -3.32677979e-04 9.99792573e-01 -1.86504212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954012739 meters 0.028917603035852654 Centerline is valid? [True, True] Translation: X:96.87, Y:-13.31, Z:-1.87 [[ 9.81022708e-01 1.92833623e-01 2.02395607e-02 9.68671603e+01] [-1.92799423e-01 9.81231414e-01 -3.64617150e-03 -1.33095816e+01] [-2.05627972e-02 -3.25198571e-04 9.99788510e-01 -1.86586165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters 0.030305405932544986 Centerline is valid? [True, True] Translation: X:96.90, Y:-13.31, Z:-1.87 [[ 9.81091924e-01 1.92470410e-01 2.03415191e-02 9.68953782e+01] [-1.92435818e-01 9.81302725e-01 -3.66296284e-03 -1.33111478e+01] [-2.06662000e-02 -3.20733604e-04 9.99786380e-01 -1.86600699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014012739 meters 0.029212292564334056 Centerline is valid? [True, True] Translation: X:96.92, Y:-13.32, Z:-1.87 [[ 9.81138927e-01 1.92184323e-01 2.07747749e-02 9.69235415e+01] [-1.92148205e-01 9.81358794e-01 -3.73968946e-03 -1.33171854e+01] [-2.11062177e-02 -3.22680813e-04 9.99777187e-01 -1.86541334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters 0.028238839089147996 Centerline is valid? [True, True] Translation: X:96.95, Y:-13.32, Z:-1.87 [[ 9.81240464e-01 1.91614789e-01 2.12349921e-02 9.69516723e+01] [-1.91576943e-01 9.81470158e-01 -3.82149864e-03 -1.33218434e+01] [-2.15737667e-02 -3.18325771e-04 9.99767209e-01 -1.86615765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074012739 meters 0.028399706591448328 Centerline is valid? [True, True] Translation: X:96.98, Y:-13.33, Z:-1.87 [[ 9.81340512e-01 1.91086393e-01 2.13726649e-02 9.69796590e+01] [-1.91047952e-01 9.81573173e-01 -3.84518973e-03 -1.33257587e+01] [-2.17135980e-02 -3.09763418e-04 9.99764184e-01 -1.86651477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters 0.02753650306759525 Centerline is valid? [True, True] Translation: X:97.01, Y:-13.33, Z:-1.87 [[ 9.81467331e-01 1.90403844e-01 2.16391635e-02 9.70078035e+01] [-1.90364304e-01 9.81705804e-01 -3.89172877e-03 -1.33334021e+01] [-2.19842926e-02 -2.99719657e-04 9.99758271e-01 -1.86755149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134012739 meters 0.02677425877138115 Centerline is valid? [True, True] Translation: X:97.03, Y:-13.34, Z:-1.87 [[ 9.81853453e-01 1.88429449e-01 2.14042070e-02 9.70349767e+01] [-1.88390317e-01 9.82086696e-01 -3.84842778e-03 -1.33421273e+01] [-2.17459440e-02 -2.53753228e-04 9.99763497e-01 -1.86790244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters 0.02629062227030567 Centerline is valid? [True, True] Translation: X:97.06, Y:-13.35, Z:-1.87 [[ 9.82077722e-01 1.87325416e-01 2.07974964e-02 9.70619953e+01] [-1.87288244e-01 9.82297887e-01 -3.73833461e-03 -1.33487108e+01] [-2.11296218e-02 -2.23791436e-04 9.99776720e-01 -1.86956903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194012739 meters 0.02503434826166283 Centerline is valid? [True, True] Translation: X:97.09, Y:-13.36, Z:-1.87 [[ 9.82593485e-01 1.84743574e-01 1.94898628e-02 9.70897982e+01] [-1.84710445e-01 9.82786745e-01 -3.50213338e-03 -1.33589276e+01] [-1.98013754e-02 -1.58807785e-04 9.99803921e-01 -1.87282014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters 0.024353645962341658 Centerline is valid? [True, True] Translation: X:97.12, Y:-13.37, Z:-1.87 [[ 9.82852657e-01 1.83382770e-01 1.92721332e-02 9.71177748e+01] [-1.83350133e-01 9.83041577e-01 -3.46210189e-03 -1.33671206e+01] [-1.95801980e-02 -1.30812146e-04 9.99808281e-01 -1.87391394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254012739 meters 0.023522259427022792 Centerline is valid? [True, True] Translation: X:97.14, Y:-13.38, Z:-1.87 [[ 9.83255514e-01 1.81017054e-01 2.10100183e-02 9.71438445e+01] [-1.80977748e-01 9.83479953e-01 -3.77319896e-03 -1.33778325e+01] [-2.13459452e-02 -9.23271168e-05 9.99772145e-01 -1.87142857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters 0.02322798221328748 Centerline is valid? [True, True] Translation: X:97.17, Y:-13.39, Z:-1.87 [[ 9.83520324e-01 1.79486357e-01 2.17352370e-02 9.71722588e+01] [-1.79443945e-01 9.83760461e-01 -3.90217290e-03 -1.33866469e+01] [-2.20826536e-02 -6.23903163e-05 9.99756147e-01 -1.87117330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314012739 meters 0.023114747294831966 Centerline is valid? [True, True] Translation: X:97.20, Y:-13.39, Z:-1.87 [[ 9.83734967e-01 1.78283603e-01 2.19196672e-02 9.72005946e+01] [-1.78240181e-01 9.83979144e-01 -3.93476624e-03 -1.33947669e+01] [-2.22699996e-02 -3.61983071e-05 9.99751992e-01 -1.87190811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters 0.023037282935452468 Centerline is valid? [True, True] Translation: X:97.23, Y:-13.40, Z:-1.87 [[ 9.83979394e-01 1.77027519e-01 2.11141996e-02 9.72290511e+01] [-1.76986946e-01 9.84205902e-01 -3.78993054e-03 -1.34037204e+01] [-2.14516418e-02 -7.72413494e-06 9.99769887e-01 -1.87446964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374012739 meters 0.02296738462900731 Centerline is valid? [True, True] Translation: X:97.26, Y:-13.41, Z:-1.88 [[ 9.84138929e-01 1.76338065e-01 1.93766500e-02 9.72581625e+01] [-1.76303767e-01 9.84329664e-01 -3.47781711e-03 -1.34107940e+01] [-1.96862829e-02 6.47882284e-06 9.99806206e-01 -1.87793528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters 0.02301886382209252 Centerline is valid? [True, True] Translation: X:97.29, Y:-13.42, Z:-1.88 [[ 9.84246437e-01 1.75791307e-01 1.88776869e-02 9.72866503e+01] [-1.75758646e-01 9.84427456e-01 -3.38851023e-03 -1.34174883e+01] [-1.91793839e-02 1.72124175e-05 9.99816059e-01 -1.87927650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434012739 meters 0.02305296270594431 Centerline is valid? [True, True] Translation: X:97.32, Y:-13.42, Z:-1.88 [[ 9.84344741e-01 1.75228761e-01 1.89818775e-02 9.73166280e+01] [-1.75195640e-01 9.84527745e-01 -3.40697241e-03 -1.34245870e+01] [-1.92851846e-02 2.80932029e-05 9.99814023e-01 -1.87915062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters 0.023027243137044073 Centerline is valid? [True, True] Translation: X:97.35, Y:-13.43, Z:-1.88 [[ 9.84331140e-01 1.75123718e-01 2.05885961e-02 9.73452391e+01] [-1.75084729e-01 9.84546435e-01 -3.69534805e-03 -1.34308689e+01] [-2.09175719e-02 3.26974038e-05 9.99781203e-01 -1.87573470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494012739 meters 0.022994557164900415 Centerline is valid? [True, True] Translation: X:97.37, Y:-13.44, Z:-1.88 [[ 9.84146693e-01 1.76117568e-01 2.09258063e-02 9.73740882e+01] [-1.76077521e-01 9.84369139e-01 -3.75562158e-03 -1.34350331e+01] [-2.12601488e-02 1.15184653e-05 9.99773977e-01 -1.87656332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters 0.02288773138445467 Centerline is valid? [True, True] Translation: X:97.40, Y:-13.44, Z:-1.88 [[ 9.84027230e-01 1.76779602e-01 2.09614735e-02 9.74042769e+01] [-1.76739573e-01 9.84250462e-01 -3.76178873e-03 -1.34395909e+01] [-2.12963475e-02 -3.01934714e-06 9.99773207e-01 -1.87809856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554012739 meters 0.02299190673373404 Centerline is valid? [True, True] Translation: X:97.43, Y:-13.44, Z:-1.88 [[ 9.83935958e-01 1.77321597e-01 2.06659377e-02 9.74335472e+01] [-1.77282808e-01 9.84152961e-01 -3.70874325e-03 -1.34443501e+01] [-2.09960841e-02 -1.45496323e-05 9.99779558e-01 -1.87916643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters 0.022974092898695106 Centerline is valid? [True, True] Translation: X:97.46, Y:-13.45, Z:-1.88 [[ 9.83726059e-01 1.78543795e-01 2.01284439e-02 9.74641976e+01] [-1.78507259e-01 9.83931965e-01 -3.61205344e-03 -1.34488188e+01] [-2.04499291e-02 -3.98022600e-05 9.99790878e-01 -1.88062264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614012739 meters 0.02312861856842643 Centerline is valid? [True, True] Translation: X:97.49, Y:-13.45, Z:-1.88 [[ 9.83723506e-01 1.78606063e-01 1.96961317e-02 9.74936342e+01] [-1.78571091e-01 9.83920664e-01 -3.53447492e-03 -1.34548307e+01] [-2.00107096e-02 -4.02136727e-05 9.99799765e-01 -1.88275520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters 0.02294914232905956 Centerline is valid? [True, True] Translation: X:97.52, Y:-13.46, Z:-1.88 [[ 9.83880820e-01 1.77705260e-01 1.99843157e-02 9.75219468e+01] [-1.77669072e-01 9.84083757e-01 -3.58618964e-03 -1.34629427e+01] [-2.03035252e-02 -2.22116227e-05 9.99793862e-01 -1.88249903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674012739 meters 0.022913278537263042 Centerline is valid? [True, True] Translation: X:97.55, Y:-13.47, Z:-1.88 [[ 9.83868754e-01 1.77714668e-01 2.04883547e-02 9.75512886e+01] [-1.77676638e-01 9.84082058e-01 -3.67640033e-03 -1.34685491e+01] [-2.08155726e-02 -2.32065862e-05 9.99783332e-01 -1.88090364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters 0.02935085439743287 Centerline is valid? [True, True] Translation: X:97.58, Y:-13.47, Z:-1.87 [[ 9.83620777e-01 1.79169924e-01 1.97054906e-02 9.75818109e+01] [-1.79135032e-01 9.83818142e-01 -3.53616170e-03 -1.34730679e+01] [-2.00201929e-02 -5.17015704e-05 9.99799575e-01 -1.87225024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734012739 meters 0.02935085439743287 Centerline is valid? [True, True] Translation: X:97.61, Y:-13.48, Z:-1.87 [[ 9.83620777e-01 1.79169924e-01 1.97054906e-02 9.76113333e+01] [-1.79135032e-01 9.83818142e-01 -3.53616170e-03 -1.34783657e+01] [-2.00201929e-02 -5.17015704e-05 9.99799575e-01 -1.87285945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters 0.023329481411754168 Centerline is valid? [True, True] Translation: X:97.64, Y:-13.48, Z:-1.88 [[ 9.83318846e-01 1.80705712e-01 2.07242142e-02 9.76401893e+01] [-1.80667460e-01 9.83537207e-01 -3.71898021e-03 -1.34816463e+01] [-2.10550767e-02 -8.72478055e-05 9.99778313e-01 -1.88292473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794012739 meters 0.02389596502386568 Centerline is valid? [True, True] Translation: X:97.67, Y:-13.48, Z:-1.88 [[ 9.83024837e-01 1.82233264e-01 2.12886702e-02 9.76687399e+01] [-1.82193254e-01 9.83255319e-01 -3.82044886e-03 -1.34847500e+01] [-2.16284111e-02 -1.23055980e-04 9.99766071e-01 -1.88295244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters 0.025172403766896174 Centerline is valid? [True, True] Translation: X:97.70, Y:-13.49, Z:-1.88 [[ 9.82487824e-01 1.85070396e-01 2.16014912e-02 9.76988349e+01] [-1.85029903e-01 9.82725248e-01 -3.87583674e-03 -1.34863726e+01] [-2.19456334e-02 -1.88959414e-04 9.99759148e-01 -1.88263522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854012739 meters 0.026995351191843615 Centerline is valid? [True, True] Translation: X:97.73, Y:-13.49, Z:-1.89 [[ 9.82196354e-01 1.86866656e-01 1.92659054e-02 9.77275115e+01] [-1.86834800e-01 9.82385266e-01 -3.45640129e-03 -1.34855613e+01] [-1.95724277e-02 -2.04676831e-04 9.99808421e-01 -1.88674290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters 0.026728063019201567 Centerline is valid? [True, True] Translation: X:97.76, Y:-13.49, Z:-1.89 [[ 9.82125527e-01 1.87332491e-01 1.83299422e-02 9.77560927e+01] [-1.87303755e-01 9.82296542e-01 -3.28746101e-03 -1.34913524e+01] [-1.86212871e-02 -2.04567624e-04 9.99826588e-01 -1.88939684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914012739 meters 0.026321457973302046 Centerline is valid? [True, True] Translation: X:97.78, Y:-13.50, Z:-1.89 [[ 9.82053832e-01 1.87709202e-01 1.83174001e-02 9.77844054e+01] [-1.87680586e-01 9.82224623e-01 -3.28437294e-03 -1.34976231e+01] [-1.86083085e-02 -2.12389369e-04 9.99826828e-01 -1.88987365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters 0.027424476789238005 Centerline is valid? [True, True] Translation: X:97.81, Y:-13.50, Z:-1.89 [[ 9.81941771e-01 1.88128623e-01 1.99494020e-02 9.78127546e+01] [-1.88094789e-01 9.82144370e-01 -3.57594465e-03 -1.34995778e+01] [-2.02659304e-02 -2.41009125e-04 9.99794596e-01 -1.88709013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974012739 meters 0.027630096352847713 Centerline is valid? [True, True] Translation: X:97.84, Y:-13.50, Z:-1.88 [[ 9.81661922e-01 1.89377625e-01 2.18171174e-02 9.78416656e+01] [-1.89337497e-01 9.81904287e-01 -3.90932845e-03 -1.35026388e+01] [-2.21626605e-02 -2.93159531e-04 9.99754335e-01 -1.88400438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters 0.031241190139202575 Centerline is valid? [True, True] Translation: X:97.87, Y:-13.50, Z:-1.88 [[ 9.80797544e-01 1.93598548e-01 2.35749895e-02 9.78717490e+01] [-1.93552938e-01 9.81080743e-01 -4.22316012e-03 -1.34988313e+01] [-2.39465659e-02 -4.20943412e-04 9.99713151e-01 -1.88151288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034012739 meters 0.03267540499945816 Centerline is valid? [True, True] Translation: X:97.90, Y:-13.50, Z:-1.88 [[ 9.80504696e-01 1.95135766e-01 2.30775403e-02 9.79011235e+01] [-1.95092506e-01 9.80776137e-01 -4.13320980e-03 -1.35003860e+01] [-2.34404379e-02 -4.49623563e-04 9.99725134e-01 -1.88289480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters 0.03192620162685788 Centerline is valid? [True, True] Translation: X:97.93, Y:-13.50, Z:-1.89 [[ 9.80386762e-01 1.95905370e-01 2.15146962e-02 9.79300129e+01] [-1.95867977e-01 9.80622708e-01 -3.85236318e-03 -1.35031464e+01] [-2.18524983e-02 -4.37234177e-04 9.99761110e-01 -1.88734914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094012739 meters 0.03211867315330982 Centerline is valid? [True, True] Translation: X:97.96, Y:-13.51, Z:-1.89 [[ 9.80498568e-01 1.95304621e-01 2.18783554e-02 9.79577585e+01] [-1.95265829e-01 9.80742534e-01 -3.91637844e-03 -1.35063503e+01] [-2.22219205e-02 -4.32091741e-04 9.99752969e-01 -1.88765203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters 0.028559460776121797 Centerline is valid? [True, True] Translation: X:97.99, Y:-13.52, Z:-1.89 [[ 9.81309933e-01 1.90981350e-01 2.35995617e-02 9.79858141e+01] [-1.90934995e-01 9.81593599e-01 -4.22310013e-03 -1.35180856e+01] [-2.39717120e-02 -3.61812077e-04 9.99712572e-01 -1.88575642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154012739 meters 0.026859304702811324 Centerline is valid? [True, True] Translation: X:98.01, Y:-13.53, Z:-1.89 [[ 9.81860519e-01 1.88183618e-01 2.31699421e-02 9.80143151e+01] [-1.88138170e-01 9.82133821e-01 -4.14567169e-03 -1.35277325e+01] [-2.35361313e-02 -2.88679149e-04 9.99722945e-01 -1.88700132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters 0.025463426590036854 Centerline is valid? [True, True] Translation: X:98.04, Y:-13.54, Z:-1.89 [[ 9.82374206e-01 1.85653941e-01 2.17608154e-02 9.80423200e+01] [-1.85613243e-01 9.82615168e-01 -3.89305242e-03 -1.35370921e+01] [-2.21052678e-02 -2.14661224e-04 9.99755626e-01 -1.89066288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214012739 meters 0.024064406291839244 Centerline is valid? [True, True] Translation: X:98.07, Y:-13.55, Z:-1.90 [[ 9.83064807e-01 1.82221940e-01 1.94615148e-02 9.80694240e+01] [-1.82188725e-01 9.83257418e-01 -3.48129487e-03 -1.35493251e+01] [-1.97700471e-02 -1.23330096e-04 9.99804546e-01 -1.89539652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters 0.023688314707038582 Centerline is valid? [True, True] Translation: X:98.10, Y:-13.56, Z:-1.89 [[ 9.83212303e-01 1.81389097e-01 1.97879383e-02 9.80982682e+01] [-1.81354603e-01 9.83411401e-01 -3.53896331e-03 -1.35567818e+01] [-2.01016135e-02 -1.09081428e-04 9.99797936e-01 -1.89469962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274012739 meters 0.023867123969177426 Centerline is valid? [True, True] Translation: X:98.13, Y:-13.56, Z:-1.89 [[ 9.83141892e-01 1.81535316e-01 2.18391664e-02 9.81261597e+01] [-1.81493349e-01 9.83384418e-01 -3.90522628e-03 -1.35619533e+01] [-2.21852324e-02 -1.24271884e-04 9.99753870e-01 -1.89081892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters 0.023794268634097546 Centerline is valid? [True, True] Translation: X:98.16, Y:-13.57, Z:-1.89 [[ 9.83125085e-01 1.81608633e-01 2.19857236e-02 9.81556011e+01] [-1.81566136e-01 9.83370880e-01 -3.93067483e-03 -1.35685649e+01] [-2.23339648e-02 -1.27517857e-04 9.99750558e-01 -1.89134325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334012739 meters 0.024021540904041332 Centerline is valid? [True, True] Translation: X:98.18, Y:-13.58, Z:-1.90 [[ 9.83162982e-01 1.81622611e-01 2.00942435e-02 9.81833129e+01] [-1.81587124e-01 9.83368300e-01 -3.59208115e-03 -1.35795560e+01] [-2.04124452e-02 -1.17254658e-04 9.99791637e-01 -1.89571294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters 0.0237740109897215 Centerline is valid? [True, True] Translation: X:98.21, Y:-13.59, Z:-1.90 [[ 9.83132058e-01 1.81788179e-01 2.01100623e-02 9.82128583e+01] [-1.81752675e-01 9.83337706e-01 -3.59467536e-03 -1.35885583e+01] [-2.04284520e-02 -1.21017037e-04 9.99791310e-01 -1.89649762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394012739 meters 0.023820404462149895 Centerline is valid? [True, True] Translation: X:98.24, Y:-13.60, Z:-1.89 [[ 9.82969247e-01 1.82458225e-01 2.19192866e-02 9.82428152e+01] [-1.82416212e-01 9.83213595e-01 -3.91807437e-03 -1.35964499e+01] [-2.22662255e-02 -1.47086623e-04 9.99752066e-01 -1.89390400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters 0.02411106040953957 Centerline is valid? [True, True] Translation: X:98.27, Y:-13.60, Z:-1.89 [[ 9.82869415e-01 1.82916795e-01 2.25645533e-02 9.82735595e+01] [-1.82872391e-01 9.83128384e-01 -4.03347899e-03 -1.36030152e+01] [-2.29216438e-02 -1.62050662e-04 9.99737251e-01 -1.89331203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454012739 meters 0.024670575907036234 Centerline is valid? [True, True] Translation: X:98.30, Y:-13.61, Z:-1.89 [[ 9.82733496e-01 1.83666846e-01 2.23911997e-02 9.83034208e+01] [-1.83623304e-01 9.82988534e-01 -4.00300751e-03 -1.36090472e+01] [-2.27455124e-02 -1.77656503e-04 9.99741272e-01 -1.89348652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters 0.02514169069910982 Centerline is valid? [True, True] Translation: X:98.33, Y:-13.62, Z:-1.90 [[ 9.82397307e-01 1.85699758e-01 2.02763840e-02 9.83345368e+01] [-1.85664480e-01 9.82606513e-01 -3.62520015e-03 -1.36164212e+01] [-2.05969057e-02 -2.03217437e-04 9.99787841e-01 -1.89766093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514012739 meters 0.026407279707480375 Centerline is valid? [True, True] Translation: X:98.36, Y:-13.62, Z:-1.90 [[ 9.82207581e-01 1.86790675e-01 1.94296608e-02 9.83640302e+01] [-1.86758431e-01 9.82399714e-01 -3.47713029e-03 -1.36184945e+01] [-1.97371888e-02 -2.13389238e-04 9.99805180e-01 -1.89963855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters 0.026821309160503033 Centerline is valid? [True, True] Translation: X:98.39, Y:-13.62, Z:-1.90 [[ 9.81860165e-01 1.88577396e-01 1.97277206e-02 9.83935721e+01] [-1.88544511e-01 9.82058299e-01 -3.53067377e-03 -1.36240221e+01] [-2.00395770e-02 -2.52925507e-04 9.99799156e-01 -1.89950977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574012739 meters 0.028040005012968727 Centerline is valid? [True, True] Translation: X:98.42, Y:-13.63, Z:-1.90 [[ 9.81780538e-01 1.88925237e-01 2.03526209e-02 9.84218062e+01] [-1.88890315e-01 9.81991437e-01 -3.64225037e-03 -1.36283184e+01] [-2.06742124e-02 -2.68522439e-04 9.99786230e-01 -1.89860966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters 0.027840095079572833 Centerline is valid? [True, True] Translation: X:98.45, Y:-13.64, Z:-1.90 [[ 9.81698519e-01 1.89285774e-01 2.09502865e-02 9.84505244e+01] [-1.89248869e-01 9.81922000e-01 -3.74844419e-03 -1.36354434e+01] [-2.12810744e-02 -2.84975915e-04 9.99773492e-01 -1.89864833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634012739 meters 0.02832816935116921 Centerline is valid? [True, True] Translation: X:98.48, Y:-13.64, Z:-1.90 [[ 9.81424877e-01 1.90620513e-01 2.16571261e-02 9.84806137e+01] [-1.90581413e-01 9.81663748e-01 -3.87438082e-03 -1.36380629e+01] [-2.19985521e-02 -3.25031965e-04 9.99757950e-01 -1.89867383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters 0.032090708267275815 Centerline is valid? [True, True] Translation: X:98.51, Y:-13.63, Z:-1.90 [[ 9.80938502e-01 1.93132057e-01 2.14397654e-02 9.85106710e+01] [-1.93094348e-01 9.81172699e-01 -3.83496375e-03 -1.36335217e+01] [-2.17767669e-02 -3.78033927e-04 9.99762787e-01 -1.89941407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694012739 meters 0.02983478233180465 Centerline is valid? [True, True] Translation: X:98.54, Y:-13.64, Z:-1.90 [[ 9.80718977e-01 1.94273800e-01 2.11655259e-02 9.85399819e+01] [-1.94237331e-01 9.80947262e-01 -3.78519978e-03 -1.36414257e+01] [-2.14976298e-02 -3.98918014e-04 9.99768820e-01 -1.90038200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters 0.031944617422205064 Centerline is valid? [True, True] Translation: X:98.57, Y:-13.64, Z:-1.90 [[ 9.80536977e-01 1.95178074e-01 2.12780511e-02 9.85697441e+01] [-1.95141430e-01 9.80767731e-01 -3.80527524e-03 -1.36404598e+01] [-2.16115321e-02 -4.21016217e-04 9.99766355e-01 -1.90023429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754012739 meters 0.03248212033906215 Centerline is valid? [True, True] Translation: X:98.60, Y:-13.64, Z:-1.90 [[ 9.80282394e-01 1.96416933e-01 2.16059349e-02 9.85993900e+01] [-1.96379470e-01 9.80520362e-01 -3.86307316e-03 -1.36392281e+01] [-2.19438321e-02 -4.56059437e-04 9.99759101e-01 -1.90075400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters 0.033265597193839695 Centerline is valid? [True, True] Translation: X:98.63, Y:-13.64, Z:-1.90 [[ 9.80228491e-01 1.96792838e-01 2.06078807e-02 9.86273258e+01] [-1.96758860e-01 9.80444992e-01 -3.68366476e-03 -1.36398292e+01] [-2.09298122e-02 -4.43949954e-04 9.99780849e-01 -1.90281682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814012739 meters 0.034056979995755986 Centerline is valid? [True, True] Translation: X:98.66, Y:-13.64, Z:-1.90 [[ 9.80357067e-01 1.96196009e-01 2.01778927e-02 9.86555853e+01] [-1.96163332e-01 9.80564606e-01 -3.60561661e-03 -1.36408041e+01] [-2.04931350e-02 -4.23370937e-04 9.99789904e-01 -1.90400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters 0.0326825326390383 Centerline is valid? [True, True] Translation: X:98.68, Y:-13.64, Z:-1.90 [[ 9.80402756e-01 1.95951560e-01 2.03327679e-02 9.86846526e+01] [-1.95918353e-01 9.80613485e-01 -3.63201479e-03 -1.36448692e+01] [-2.06502853e-02 -4.22725089e-04 9.99786671e-01 -1.90458784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874012739 meters 0.03233878886277919 Centerline is valid? [True, True] Translation: X:98.71, Y:-13.64, Z:-1.90 [[ 9.80375455e-01 1.95955460e-01 2.15737066e-02 9.87139478e+01] [-1.95918095e-01 9.80612694e-01 -3.85284099e-03 -1.36441495e+01] [-2.19104358e-02 -4.49448750e-04 9.99759837e-01 -1.90364607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters 0.032820194361633984 Centerline is valid? [True, True] Translation: X:98.74, Y:-13.65, Z:-1.90 [[ 9.80313914e-01 1.96241955e-01 2.17652093e-02 9.87424783e+01] [-1.96204018e-01 9.80555395e-01 -3.88597492e-03 -1.36458770e+01] [-2.21045847e-02 -4.60946232e-04 9.99755558e-01 -1.90369027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934012739 meters 0.03337134752576228 Centerline is valid? [True, True] Translation: X:98.77, Y:-13.64, Z:-1.91 [[ 9.80173203e-01 1.97089803e-01 2.03985897e-02 9.87724347e+01] [-1.97056683e-01 9.80385336e-01 -3.64105354e-03 -1.36436986e+01] [-2.07160927e-02 -4.50815305e-04 9.99785297e-01 -1.90633347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters 0.034417857600047376 Centerline is valid? [True, True] Translation: X:98.80, Y:-13.64, Z:-1.91 [[ 9.80114659e-01 1.97454422e-01 1.96724905e-02 9.88007873e+01] [-1.97423710e-01 9.80311968e-01 -3.51053621e-03 -1.36435165e+01] [-1.99783488e-02 -4.43088052e-04 9.99800315e-01 -1.90839829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994012739 meters 0.03333995178640285 Centerline is valid? [True, True] Translation: X:98.83, Y:-13.64, Z:-1.91 [[ 9.80387652e-01 1.96088542e-01 1.97316024e-02 9.88303129e+01] [-1.96057397e-01 9.80586105e-01 -3.51965666e-03 -1.36449189e+01] [-2.00386995e-02 -4.17898677e-04 9.99799118e-01 -1.90965487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters 0.03128102390717501 Centerline is valid? [True, True] Translation: X:98.86, Y:-13.65, Z:-1.91 [[ 9.80719000e-01 1.94418605e-01 1.97901501e-02 9.88583242e+01] [-1.94386949e-01 9.80918578e-01 -3.52939064e-03 -1.36504384e+01] [-2.00987051e-02 -3.85606444e-04 9.99797926e-01 -1.90960552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054012739 meters 0.03000858741921568 Centerline is valid? [True, True] Translation: X:98.89, Y:-13.65, Z:-1.91 [[ 9.81107432e-01 1.92397928e-01 2.02791291e-02 9.88860737e+01] [-1.92364278e-01 9.81316927e-01 -3.61557550e-03 -1.36542670e+01] [-2.05958819e-02 -3.53712031e-04 9.99787820e-01 -1.90903918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters 0.027571503686268536 Centerline is valid? [True, True] Translation: X:98.91, Y:-13.66, Z:-1.91 [[ 9.81845268e-01 1.88455084e-01 2.15534307e-02 9.89136830e+01] [-1.88416151e-01 9.82081767e-01 -3.84138497e-03 -1.36593605e+01] [-2.18911598e-02 -2.89368797e-04 9.99760318e-01 -1.90737072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114012739 meters 0.026320364537586658 Centerline is valid? [True, True] Translation: X:98.94, Y:-13.67, Z:-1.91 [[ 9.82220918e-01 1.86532612e-01 2.11578362e-02 9.89420377e+01] [-1.86494676e-01 9.82448739e-01 -3.76963790e-03 -1.36663705e+01] [-2.14896499e-02 -2.43206600e-04 9.99769041e-01 -1.90923459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters 0.024524899607122685 Centerline is valid? [True, True] Translation: X:98.97, Y:-13.67, Z:-1.91 [[ 9.82989228e-01 1.82628526e-01 1.94679200e-02 9.89685388e+01] [-1.82595660e-01 9.83181977e-01 -3.46769198e-03 -1.36744178e+01] [-1.97738075e-02 -1.46053839e-04 9.99804468e-01 -1.91321758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174012739 meters 0.02390545469680055 Centerline is valid? [True, True] Translation: X:99.00, Y:-13.68, Z:-1.92 [[ 9.83264307e-01 1.81211298e-01 1.88087421e-02 9.89964405e+01] [-1.81180382e-01 9.83444179e-01 -3.34919127e-03 -1.36805061e+01] [-1.91042592e-02 -1.14634834e-04 9.99817490e-01 -1.91535767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters 0.023528533129218897 Centerline is valid? [True, True] Translation: X:99.02, Y:-13.68, Z:-1.91 [[ 9.83460653e-01 1.80067807e-01 1.95122575e-02 9.90245248e+01] [-1.80034329e-01 9.83654195e-01 -3.47349341e-03 -1.36840987e+01] [-1.98187783e-02 -9.68320724e-05 9.99803584e-01 -1.91395618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234012739 meters 0.023451118418432542 Centerline is valid? [True, True] Translation: X:99.05, Y:-13.69, Z:-1.91 [[ 9.83496617e-01 1.79817807e-01 1.99990322e-02 9.90527445e+01] [-1.79782610e-01 9.83699927e-01 -3.55891931e-03 -1.36883439e+01] [-2.03130035e-02 -9.52931082e-05 9.99793665e-01 -1.91308164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters 0.023489364032219864 Centerline is valid? [True, True] Translation: X:99.08, Y:-13.69, Z:-1.91 [[ 9.83531414e-01 1.79606406e-01 2.01865477e-02 9.90804224e+01] [-1.79570521e-01 9.83738548e-01 -3.59131837e-03 -1.36916117e+01] [-2.05033089e-02 -9.27344559e-05 9.99789781e-01 -1.91347945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294012739 meters 0.02318386524085809 Centerline is valid? [True, True] Translation: X:99.11, Y:-13.70, Z:-1.91 [[ 9.83753700e-01 1.78407854e-01 1.99823668e-02 9.91088994e+01] [-1.78372468e-01 9.83956622e-01 -3.55382487e-03 -1.36966060e+01] [-2.02958124e-02 -6.82157030e-05 9.99794016e-01 -1.91439805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters 0.022661660180616473 Centerline is valid? [True, True] Translation: X:99.14, Y:-13.71, Z:-1.91 [[ 9.84264575e-01 1.75467350e-01 2.08435968e-02 9.91365555e+01] [-1.75428209e-01 9.84485251e-01 -3.70599610e-03 -1.37073392e+01] [-2.11704949e-02 -8.87417471e-06 9.99775880e-01 -1.91247642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354012739 meters 0.022793342682296183 Centerline is valid? [True, True] Translation: X:99.16, Y:-13.72, Z:-1.91 [[ 9.84609358e-01 1.73539114e-01 2.07023866e-02 9.91629695e+01] [-1.73500096e-01 9.84826977e-01 -3.67991511e-03 -1.37150537e+01] [-2.10268780e-02 3.14127976e-05 9.99778910e-01 -1.91280544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters 0.02298497885842769 Centerline is valid? [True, True] Translation: X:99.19, Y:-13.72, Z:-1.91 [[ 9.84909228e-01 1.71834169e-01 2.06598766e-02 9.91913140e+01] [-1.71794961e-01 9.85125887e-01 -3.67118032e-03 -1.37222988e+01] [-2.09834135e-02 6.65166816e-05 9.99779822e-01 -1.91417107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414012739 meters 0.0234692195806613 Centerline is valid? [True, True] Translation: X:99.22, Y:-13.73, Z:-1.92 [[ 9.85224374e-01 1.70018126e-01 2.06583867e-02 9.92198860e+01] [-1.69978534e-01 9.85440930e-01 -3.67041891e-03 -1.37309001e+01] [-2.09816576e-02 1.04703879e-04 9.99779855e-01 -1.91528965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters 0.023279651000753222 Centerline is valid? [True, True] Translation: X:99.25, Y:-13.74, Z:-1.92 [[ 9.85191661e-01 1.70244346e-01 2.03532032e-02 9.92494215e+01] [-1.70205974e-01 9.85401874e-01 -3.61571659e-03 -1.37361642e+01] [-2.06716399e-02 9.79370503e-05 9.99786314e-01 -1.91562079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474012739 meters 0.022800973716402682 Centerline is valid? [True, True] Translation: X:99.28, Y:-13.74, Z:-1.92 [[ 9.84766540e-01 1.72806889e-01 1.93039194e-02 9.92783653e+01] [-1.72772872e-01 9.84955724e-01 -3.42887388e-03 -1.37383205e+01] [-1.96060390e-02 4.14466579e-05 9.99807782e-01 -1.91767706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters 0.022629958897185772 Centerline is valid? [True, True] Translation: X:99.31, Y:-13.74, Z:-1.92 [[ 9.84364343e-01 1.75151132e-01 1.86794468e-02 9.93071845e+01] [-1.75119715e-01 9.84541559e-01 -3.31730905e-03 -1.37399463e+01] [-1.89717221e-02 -5.69866521e-06 9.99820021e-01 -1.91971743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534012739 meters 0.022933800700667584 Centerline is valid? [True, True] Translation: X:99.34, Y:-13.74, Z:-1.92 [[ 9.83896612e-01 1.77797073e-01 1.83209397e-02 9.93366152e+01] [-1.77767325e-01 9.84067171e-01 -3.25276608e-03 -1.37416657e+01] [-1.86073676e-02 -5.64789264e-05 9.99826866e-01 -1.92111836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters 0.024528655231670183 Centerline is valid? [True, True] Translation: X:99.37, Y:-13.74, Z:-1.92 [[ 9.83064466e-01 1.82349784e-01 1.82431106e-02 9.93655651e+01] [-1.82321089e-01 9.83233714e-01 -3.23805245e-03 -1.37389262e+01] [-1.85276996e-02 -1.42889484e-04 9.99828337e-01 -1.92271364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594012739 meters 0.024528655231670183 Centerline is valid? [True, True] Translation: X:99.39, Y:-13.74, Z:-1.92 [[ 9.83077114e-01 1.82281566e-01 1.82433058e-02 9.93926536e+01] [-1.82252879e-01 9.83246363e-01 -3.23695270e-03 -1.37435960e+01] [-1.85277008e-02 -1.42720874e-04 9.99828337e-01 -1.92327198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters 0.02572731526912172 Centerline is valid? [True, True] Translation: X:99.42, Y:-13.74, Z:-1.92 [[ 9.82613748e-01 1.84784232e-01 1.80280267e-02 9.94220144e+01] [-1.84756663e-01 9.82779096e-01 -3.19743606e-03 -1.37445554e+01] [-1.83084035e-02 -1.88953418e-04 9.99832369e-01 -1.92460485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654012739 meters 0.026040897938564282 Centerline is valid? [True, True] Translation: X:99.45, Y:-13.75, Z:-1.92 [[ 9.82469119e-01 1.85538482e-01 1.81632303e-02 9.94500692e+01] [-1.85510642e-01 9.82636978e-01 -3.22055455e-03 -1.37487816e+01] [-1.84453986e-02 -2.05377140e-04 9.99829848e-01 -1.92416753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters 0.026346500565698913 Centerline is valid? [True, True] Translation: X:99.48, Y:-13.75, Z:-1.92 [[ 9.82365323e-01 1.86035663e-01 1.86843456e-02 9.94788339e+01] [-1.86006316e-01 9.82542967e-01 -3.31176974e-03 -1.37528538e+01] [-1.89742797e-02 -2.22038542e-04 9.99819947e-01 -1.92362427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714012739 meters 0.026726104862998444 Centerline is valid? [True, True] Translation: X:99.51, Y:-13.75, Z:-1.92 [[ 9.82358844e-01 1.86030124e-01 1.90759968e-02 9.95063906e+01] [-1.85999550e-01 9.82544015e-01 -3.38027980e-03 -1.37545232e+01] [-1.93718404e-02 -2.27479066e-04 9.99812322e-01 -1.92353285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters 0.025865492547256078 Centerline is valid? [True, True] Translation: X:99.53, Y:-13.76, Z:-1.92 [[ 9.82464221e-01 1.85487334e-01 1.89342031e-02 9.95345674e+01] [-1.85457143e-01 9.82646631e-01 -3.35353142e-03 -1.37600849e+01] [-1.92276685e-02 -2.16758580e-04 9.99815108e-01 -1.92460893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774012739 meters 0.026608007967899316 Centerline is valid? [True, True] Translation: X:99.56, Y:-13.76, Z:-1.93 [[ 9.82592589e-01 1.84842071e-01 1.85799217e-02 9.95631905e+01] [-1.84812901e-01 9.82768217e-01 -3.28988362e-03 -1.37608052e+01] [-1.88678654e-02 -2.01193966e-04 9.99821966e-01 -1.92640831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters 0.02546987426085839 Centerline is valid? [True, True] Translation: X:99.59, Y:-13.77, Z:-1.93 [[ 9.82664700e-01 1.84445293e-01 1.87088798e-02 9.95909296e+01] [-1.84415662e-01 9.82842762e-01 -3.31179351e-03 -1.37676038e+01] [-1.89987318e-02 -1.95827873e-04 9.99819489e-01 -1.92619270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834012739 meters 0.024784433808929748 Centerline is valid? [True, True] Translation: X:99.62, Y:-13.77, Z:-1.93 [[ 9.82849017e-01 1.83434534e-01 1.89626530e-02 9.96195865e+01] [-1.83403923e-01 9.83031912e-01 -3.35578420e-03 -1.37723017e+01] [-1.92564597e-02 -1.79595753e-04 9.99814561e-01 -1.92548868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters 0.02454121073470446 Centerline is valid? [True, True] Translation: X:99.65, Y:-13.78, Z:-1.92 [[ 9.83039964e-01 1.82341643e-01 1.95947493e-02 9.96473481e+01] [-1.82308761e-01 9.83235220e-01 -3.46665161e-03 -1.37767775e+01] [-1.98983626e-02 -1.64437375e-04 9.99801994e-01 -1.92466440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894012739 meters 0.023590249353179746 Centerline is valid? [True, True] Translation: X:99.68, Y:-13.78, Z:-1.92 [[ 9.83324582e-01 1.80746408e-01 2.00873666e-02 9.96756822e+01] [-1.80711544e-01 9.83529724e-01 -3.55254352e-03 -1.37847778e+01] [-2.03986316e-02 -1.36715654e-04 9.99791917e-01 -1.92421168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters 0.02269205505091179 Centerline is valid? [True, True] Translation: X:99.70, Y:-13.80, Z:-1.92 [[ 9.84032135e-01 1.76778600e-01 2.07384405e-02 9.97015825e+01] [-1.76740581e-01 9.84250640e-01 -3.66660406e-03 -1.37978903e+01] [-2.10600005e-02 -5.72677969e-05 9.99778212e-01 -1.92407527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954012739 meters 0.022487051748963257 Centerline is valid? [True, True] Translation: X:99.73, Y:-13.81, Z:-1.92 [[ 9.84732475e-01 1.72741427e-01 2.15023769e-02 9.97286716e+01] [-1.72699621e-01 9.84967207e-01 -3.80030327e-03 -1.38120866e+01] [-2.18356059e-02 2.88297112e-05 9.99761574e-01 -1.92324806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters 0.02247447474098795 Centerline is valid? [True, True] Translation: X:99.76, Y:-13.82, Z:-1.92 [[ 9.84969766e-01 1.71394614e-01 2.14113799e-02 9.97575163e+01] [-1.71352865e-01 9.85202458e-01 -3.78321494e-03 -1.38201663e+01] [-2.17429668e-02 5.74510508e-05 9.99763592e-01 -1.92384587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014012739 meters 0.022667751178568004 Centerline is valid? [True, True] Translation: X:99.79, Y:-13.83, Z:-1.93 [[ 9.85139108e-01 1.70489588e-01 2.08384002e-02 9.97852839e+01] [-1.70449852e-01 9.85359475e-01 -3.68147050e-03 -1.38278460e+01] [-2.11609675e-02 7.48583347e-05 9.99776079e-01 -1.92560900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters 0.022800779259616582 Centerline is valid? [True, True] Translation: X:99.81, Y:-13.84, Z:-1.93 [[ 9.85303032e-01 1.69786006e-01 1.87255961e-02 9.98136266e+01] [-1.69753805e-01 9.85480951e-01 -3.30758433e-03 -1.38385078e+01] [-1.90152998e-02 8.02316869e-05 9.99819190e-01 -1.92979997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074012739 meters 0.023085604318885983 Centerline is valid? [True, True] Translation: X:99.84, Y:-13.85, Z:-1.93 [[ 9.85352189e-01 1.69591947e-01 1.78783334e-02 9.98417073e+01] [-1.69562569e-01 9.85514366e-01 -3.15754816e-03 -1.38463275e+01] [-1.81548491e-02 7.98008561e-05 9.99835184e-01 -1.93183048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters 0.022861504608438228 Centerline is valid? [True, True] Translation: X:99.87, Y:-13.85, Z:-1.93 [[ 9.85301937e-01 1.69914926e-01 1.75786999e-02 9.98708595e+01] [-1.69886588e-01 9.85458732e-01 -3.10398445e-03 -1.38539995e+01] [-1.78504966e-02 7.19765455e-05 9.99840665e-01 -1.93373024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134012739 meters 0.02280112734175716 Centerline is valid? [True, True] Translation: X:99.90, Y:-13.86, Z:-1.93 [[ 9.85250883e-01 1.70178010e-01 1.78924976e-02 9.98988452e+01] [-1.70148702e-01 9.85413335e-01 -3.15898027e-03 -1.38600901e+01] [-1.81690947e-02 6.80028706e-05 9.99834926e-01 -1.93339940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters 0.022779186418773453 Centerline is valid? [True, True] Translation: X:99.93, Y:-13.87, Z:-1.93 [[ 9.85235392e-01 1.70170740e-01 1.87920811e-02 9.99264626e+01] [-1.70138422e-01 9.85414590e-01 -3.31709641e-03 -1.38682784e+01] [-1.90824636e-02 7.08657494e-05 9.99817911e-01 -1.93222903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194012739 meters 0.02283630980562695 Centerline is valid? [True, True] Translation: X:99.95, Y:-13.87, Z:-1.93 [[ 9.85259047e-01 1.70015950e-01 1.89522542e-02 9.99543604e+01] [-1.69983063e-01 9.85441308e-01 -3.34468683e-03 -1.38746212e+01] [-1.92449843e-02 7.38207423e-05 9.99814795e-01 -1.93273928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters 0.02290068004216738 Centerline is valid? [True, True] Translation: X:99.98, Y:-13.88, Z:-1.93 [[ 9.85260974e-01 1.70044813e-01 1.85896593e-02 9.99828361e+01] [-1.70013191e-01 9.85436328e-01 -3.28003620e-03 -1.38806412e+01] [-1.88766787e-02 7.12043642e-05 9.99821817e-01 -1.93385708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254012739 meters 0.023052989446445137 Centerline is valid? [True, True] Translation: X:100.01, Y:-13.89, Z:-1.94 [[ 9.85321566e-01 1.69869747e-01 1.69020805e-02 1.00011517e+02] [-1.69843586e-01 9.85466521e-01 -2.98191950e-03 -1.38874138e+01] [-1.71629723e-02 6.74396352e-05 9.99852703e-01 -1.93862483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters 0.023025569056243925 Centerline is valid? [True, True] Translation: X:100.04, Y:-13.89, Z:-1.94 [[ 9.85304755e-01 1.69987842e-01 1.66935140e-02 1.00040776e+02] [-1.69962346e-01 9.85446158e-01 -2.94470534e-03 -1.38929961e+01] [-1.69511233e-02 6.41633671e-05 9.99856317e-01 -1.93980313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314012739 meters 0.022925571801206482 Centerline is valid? [True, True] Translation: X:100.07, Y:-13.90, Z:-1.94 [[ 9.85278879e-01 1.70011391e-01 1.79348044e-02 1.00069135e+02] [-1.69981970e-01 9.85442095e-01 -3.16348946e-03 -1.38990636e+01] [-1.82115405e-02 6.83259664e-05 9.99834154e-01 -1.93719762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters 0.022828404172594116 Centerline is valid? [True, True] Translation: X:100.10, Y:-13.90, Z:-1.93 [[ 9.85255482e-01 1.70020612e-01 1.90951974e-02 1.00096918e+02] [-1.69987276e-01 9.85440504e-01 -3.36744903e-03 -1.39046623e+01] [-1.93897167e-02 7.18570283e-05 9.99811999e-01 -1.93490642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374012739 meters 0.022611261495187676 Centerline is valid? [True, True] Translation: X:100.13, Y:-13.91, Z:-1.93 [[ 9.85080098e-01 1.70864781e-01 2.05530542e-02 1.00125220e+02] [-1.70826354e-01 9.85294486e-01 -3.62403415e-03 -1.39100079e+01] [-2.08700308e-02 5.89606074e-05 9.99782195e-01 -1.93273458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters 0.02253915892942727 Centerline is valid? [True, True] Translation: X:100.15, Y:-13.91, Z:-1.94 [[ 9.84939116e-01 1.71782144e-01 1.96426241e-02 1.00153654e+02] [-1.71747241e-01 9.85134962e-01 -3.46286185e-03 -1.39143295e+01] [-1.99454936e-02 3.71415994e-05 9.99801068e-01 -1.93549114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434012739 meters 0.02246803606504661 Centerline is valid? [True, True] Translation: X:100.18, Y:-13.92, Z:-1.94 [[ 9.84800210e-01 1.72717633e-01 1.83620900e-02 1.00182987e+02] [-1.72687307e-01 9.84971380e-01 -3.23651532e-03 -1.39184389e+01] [-1.86451363e-02 1.64210926e-05 9.99826164e-01 -1.93919406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters 0.022515487221883703 Centerline is valid? [True, True] Translation: X:100.21, Y:-13.92, Z:-1.94 [[ 9.84671208e-01 1.73597141e-01 1.69305887e-02 1.00211417e+02] [-1.73571495e-01 9.84816751e-01 -2.98388187e-03 -1.39243818e+01] [-1.71915207e-02 -5.25022752e-07 9.99852215e-01 -1.94302122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494012739 meters 0.022305232836213194 Centerline is valid? [True, True] Translation: X:100.24, Y:-13.93, Z:-1.94 [[ 9.84625831e-01 1.73629220e-01 1.91014795e-02 1.00238601e+02] [-1.73596594e-01 9.84811096e-01 -3.36576472e-03 -1.39317345e+01] [-1.93957440e-02 -1.93290072e-06 9.99811885e-01 -1.93858582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters 0.022234282783739158 Centerline is valid? [True, True] Translation: X:100.27, Y:-13.94, Z:-1.94 [[ 9.84481148e-01 1.74304006e-01 2.03711424e-02 1.00267596e+02] [-1.74267069e-01 9.84691887e-01 -3.58826613e-03 -1.39369195e+01] [-2.06847479e-02 -1.74389198e-05 9.99786048e-01 -1.93676550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554012739 meters 0.022230827337400557 Centerline is valid? [True, True] Translation: X:100.30, Y:-13.94, Z:-1.94 [[ 9.84390606e-01 1.74784284e-01 2.06297912e-02 1.00296843e+02] [-1.74746518e-01 9.84606751e-01 -3.63333657e-03 -1.39422030e+01] [-2.09472818e-02 -2.83617820e-05 9.99780581e-01 -1.93683038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters 0.022647001047495067 Centerline is valid? [True, True] Translation: X:100.33, Y:-13.95, Z:-1.94 [[ 9.84126375e-01 1.76488197e-01 1.86331314e-02 1.00325136e+02] [-1.76457696e-01 9.84302755e-01 -3.28153041e-03 -1.39458045e+01] [-1.89197939e-02 -5.85188043e-05 9.99821003e-01 -1.94211046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614012739 meters 0.02387666675735343 Centerline is valid? [True, True] Translation: X:100.35, Y:-13.95, Z:-1.95 [[ 9.83601343e-01 1.79570183e-01 1.68210503e-02 1.00354561e+02] [-1.79545789e-01 9.83745159e-01 -2.96173894e-03 -1.39462037e+01] [-1.70794669e-02 -1.06978352e-04 9.99854130e-01 -1.94618805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters 0.025099033797121237 Centerline is valid? [True, True] Translation: X:100.38, Y:-13.95, Z:-1.95 [[ 9.83251793e-01 1.81485989e-01 1.66957052e-02 1.00383018e+02] [-1.81462244e-01 9.83393521e-01 -2.93899177e-03 -1.39480996e+01] [-1.69518341e-02 -1.39871197e-04 9.99856298e-01 -1.94719684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674012739 meters 0.02637484014048169 Centerline is valid? [True, True] Translation: X:100.41, Y:-13.95, Z:-1.95 [[ 9.82833195e-01 1.83698522e-01 1.71395667e-02 1.00411931e+02] [-1.83673854e-01 9.82982614e-01 -3.01598246e-03 -1.39499028e+01] [-1.74019276e-02 -1.83882598e-04 9.99848558e-01 -1.94614767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters 0.02897846597730887 Centerline is valid? [True, True] Translation: X:100.44, Y:-13.95, Z:-1.94 [[ 9.82008962e-01 1.87845572e-01 1.92987130e-02 1.00441155e+02] [-1.87815116e-01 9.82198532e-01 -3.39495264e-03 -1.39482122e+01] [-1.95928944e-02 -2.90716086e-04 9.99807999e-01 -1.94154329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734012739 meters 0.03171745848343709 Centerline is valid? [True, True] Translation: X:100.47, Y:-13.95, Z:-1.94 [[ 9.81719399e-01 1.89283665e-01 1.99678827e-02 1.00469141e+02] [-1.89251381e-01 9.81922392e-01 -3.51148221e-03 -1.39472835e+01] [-2.02715773e-02 -3.31659161e-04 9.99794455e-01 -1.94067359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters 0.03193241225472168 Centerline is valid? [True, True] Translation: X:100.50, Y:-13.95, Z:-1.94 [[ 9.81383118e-01 1.91012683e-01 2.00332537e-02 1.00497778e+02] [-1.90980566e-01 9.81587499e-01 -3.52205949e-03 -1.39511951e+01] [-2.03371495e-02 -3.69472417e-04 9.99793111e-01 -1.94140764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794012739 meters 0.03370662036922765 Centerline is valid? [True, True] Translation: X:100.53, Y:-13.95, Z:-1.94 [[ 9.81347372e-01 1.91224491e-01 1.97618255e-02 1.00525649e+02] [-1.91193300e-01 9.81546258e-01 -3.47345751e-03 -1.39528949e+01] [-2.00613560e-02 -3.69660219e-04 9.99798682e-01 -1.94250234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters 0.03456564243776316 Centerline is valid? [True, True] Translation: X:100.55, Y:-13.96, Z:-1.94 [[ 9.81409766e-01 1.90991366e-01 1.88989087e-02 1.00553412e+02] [-1.90962819e-01 9.81591654e-01 -3.32058524e-03 -1.39563377e+01] [-1.91852142e-02 -3.50134101e-04 9.99815886e-01 -1.94475118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854012739 meters 0.0325559198043332 Centerline is valid? [True, True] Translation: X:100.58, Y:-13.96, Z:-1.95 [[ 9.81449506e-01 1.90816490e-01 1.85993160e-02 1.00580545e+02] [-1.90788828e-01 9.81625667e-01 -3.26697617e-03 -1.39635295e+01] [-1.88809589e-02 -3.42169542e-04 9.99821680e-01 -1.94514503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters 0.03499903455353126 Centerline is valid? [True, True] Translation: X:100.61, Y:-13.96, Z:-1.94 [[ 9.81315720e-01 1.91348516e-01 2.01296432e-02 1.00608994e+02] [-1.91316256e-01 9.81522083e-01 -3.53431854e-03 -1.39613693e+01] [-2.04339760e-02 -3.82845623e-04 9.99791131e-01 -1.94228923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914012739 meters 0.035975165307965386 Centerline is valid? [True, True] Translation: X:100.64, Y:-13.96, Z:-1.94 [[ 9.81181537e-01 1.91988068e-01 2.05760255e-02 1.00638143e+02] [-1.91954526e-01 9.81397176e-01 -3.61153187e-03 -1.39629817e+01] [-2.08866244e-02 -4.06092834e-04 9.99781768e-01 -1.94146312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters 0.03700249952572133 Centerline is valid? [True, True] Translation: X:100.67, Y:-13.96, Z:-1.94 [[ 9.80996400e-01 1.92940344e-01 2.04960328e-02 1.00667530e+02] [-1.92907288e-01 9.81210397e-01 -3.59661843e-03 -1.39637730e+01] [-2.08048533e-02 -4.25564366e-04 9.99783465e-01 -1.94255974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974012739 meters 0.0408163327913998 Centerline is valid? [True, True] Translation: X:100.70, Y:-13.96, Z:-1.95 [[ 9.80459534e-01 1.95756830e-01 1.94516356e-02 1.00698641e+02] [-1.95727627e-01 9.80652360e-01 -3.41255655e-03 -1.39560549e+01] [-1.97433236e-02 -4.61348874e-04 9.99804975e-01 -1.94596979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters 0.040338896670751086 Centerline is valid? [True, True] Translation: X:100.73, Y:-13.96, Z:-1.95 [[ 9.80206486e-01 1.97062997e-01 1.90110431e-02 1.00727355e+02] [-1.97035358e-01 9.80390712e-01 -3.33467775e-03 -1.39577377e+01] [-1.92953917e-02 -4.77174929e-04 9.99813713e-01 -1.94761028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034012739 meters 0.04132006858823746 Centerline is valid? [True, True] Translation: X:100.76, Y:-13.95, Z:-1.95 [[ 9.80106925e-01 1.97573048e-01 1.88495675e-02 1.00755915e+02] [-1.97545986e-01 9.80288048e-01 -3.30554980e-03 -1.39538942e+01] [-1.91310933e-02 -4.83864148e-04 9.99816867e-01 -1.94830153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters 0.039772593579059365 Centerline is valid? [True, True] Translation: X:100.78, Y:-13.96, Z:-1.95 [[ 9.80363129e-01 1.96257915e-01 1.92604924e-02 1.00784379e+02] [-1.96229428e-01 9.80552197e-01 -3.37652962e-03 -1.39573231e+01] [-1.95485888e-02 -4.69250281e-04 9.99808798e-01 -1.94751364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094012739 meters 0.03613213088375023 Centerline is valid? [True, True] Translation: X:100.81, Y:-13.96, Z:-1.95 [[ 9.81018699e-01 1.92857359e-01 2.02077088e-02 1.00813141e+02] [-1.92825298e-01 9.81226712e-01 -3.54166665e-03 -1.39606377e+01] [-2.05113802e-02 -4.22116276e-04 9.99789530e-01 -1.94599129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters 0.03411235037374626 Centerline is valid? [True, True] Translation: X:100.84, Y:-13.97, Z:-1.95 [[ 9.81474429e-01 1.90569375e-01 1.97802422e-02 1.00840847e+02] [-1.90538204e-01 9.81673662e-01 -3.46612217e-03 -1.39661772e+01] [-2.00782795e-02 -3.66981544e-04 9.99798344e-01 -1.94783057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154012739 meters 0.02821987222963455 Centerline is valid? [True, True] Translation: X:100.87, Y:-13.98, Z:-1.95 [[ 9.82644204e-01 1.84600140e-01 1.82525642e-02 1.00868749e+02] [-1.84572582e-01 9.82813684e-01 -3.19766852e-03 -1.39778927e+01] [-1.85291599e-02 -2.26752456e-04 9.99828295e-01 -1.95175693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters 0.02588391795280613 Centerline is valid? [True, True] Translation: X:100.90, Y:-13.99, Z:-1.95 [[ 9.83281986e-01 1.81155038e-01 1.84224906e-02 1.00897134e+02] [-1.81126367e-01 9.83454537e-01 -3.22705677e-03 -1.39862163e+01] [-1.87022795e-02 -1.63691982e-04 9.99825084e-01 -1.95166854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214012739 meters 0.023611890089894665 Centerline is valid? [True, True] Translation: X:100.92, Y:-14.00, Z:-1.95 [[ 9.83863224e-01 1.77908907e-01 1.90152109e-02 1.00924786e+02] [-1.77877766e-01 9.84046955e-01 -3.33026082e-03 -1.39964586e+01] [-1.93043434e-02 -1.05862090e-04 9.99813648e-01 -1.95047809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters 0.021979228635292686 Centerline is valid? [True, True] Translation: X:100.95, Y:-14.01, Z:-1.95 [[ 9.84864837e-01 1.72195975e-01 1.97433494e-02 1.00952111e+02] [-1.72161272e-01 9.85062712e-01 -3.45690999e-03 -1.40101308e+01] [-2.00437033e-02 5.54895542e-06 9.99799105e-01 -1.94790732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274012739 meters 0.022180973939130693 Centerline is valid? [True, True] Translation: X:100.98, Y:-14.02, Z:-1.95 [[ 9.85194201e-01 1.70298838e-01 1.97659179e-02 1.00979466e+02] [-1.70263692e-01 9.85392462e-01 -3.45991699e-03 -1.40175311e+01] [-2.00664064e-02 4.32719851e-05 9.99798648e-01 -1.94889927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters 0.02338724780952665 Centerline is valid? [True, True] Translation: X:101.01, Y:-14.03, Z:-1.96 [[ 9.85726801e-01 1.67411578e-01 1.77774677e-02 1.01006534e+02] [-1.67382696e-01 9.85887091e-01 -3.11087684e-03 -1.40288108e+01] [-1.80473727e-02 9.08341952e-05 9.99837129e-01 -1.95527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334012739 meters 0.02333908847049375 Centerline is valid? [True, True] Translation: X:101.03, Y:-14.03, Z:-1.96 [[ 9.85990015e-01 1.66009261e-01 1.62669958e-02 1.01034421e+02] [-1.65984898e-01 9.86124188e-01 -2.84596391e-03 -1.40341818e+01] [-1.65137344e-02 1.06016348e-04 9.99863633e-01 -1.95771227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters 0.02541828131581152 Centerline is valid? [True, True] Translation: X:101.06, Y:-14.05, Z:-1.96 [[ 9.86267175e-01 1.64562971e-01 1.40031609e-02 1.01060990e+02] [-1.64544779e-01 9.86366573e-01 -2.44941868e-03 -1.40456226e+01] [-1.42153334e-02 1.11634227e-04 9.99898951e-01 -1.96429244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394012739 meters 0.024013446141264713 Centerline is valid? [True, True] Translation: X:101.09, Y:-14.05, Z:-1.96 [[ 9.86265208e-01 1.64566374e-01 1.41013342e-02 1.01090485e+02] [-1.64547940e-01 9.86366005e-01 -2.46564334e-03 -1.40472278e+01] [-1.43148386e-02 1.11432753e-04 9.99897531e-01 -1.96145402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters 0.023278146429568634 Centerline is valid? [True, True] Translation: X:101.12, Y:-14.05, Z:-1.96 [[ 9.86006797e-01 1.65856612e-01 1.67982225e-02 1.01118287e+02] [-1.65830655e-01 9.86149873e-01 -2.93624196e-03 -1.40525715e+01] [-1.70525601e-02 1.09494283e-04 9.99854589e-01 -1.95670815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454012739 meters 0.02280672964213714 Centerline is valid? [True, True] Translation: X:101.15, Y:-14.06, Z:-1.95 [[ 9.85758166e-01 1.67190839e-01 1.81124734e-02 1.01146039e+02] [-1.67160909e-01 9.85924548e-01 -3.16475532e-03 -1.40584752e+01] [-1.83866503e-02 9.19858707e-05 9.99830947e-01 -1.95443370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters 0.022700168713938044 Centerline is valid? [True, True] Translation: X:101.17, Y:-14.06, Z:-1.96 [[ 9.85628238e-01 1.67929935e-01 1.83442901e-02 1.01174796e+02] [-1.67899378e-01 9.85798930e-01 -3.20436973e-03 -1.40631388e+01] [-1.86218911e-02 7.83223973e-05 9.99826594e-01 -1.95505362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514012739 meters 0.022700168713938044 Centerline is valid? [True, True] Translation: X:101.20, Y:-14.07, Z:-1.96 [[ 9.85636018e-01 1.67884253e-01 1.83444388e-02 1.01202712e+02] [-1.67853704e-01 9.85806711e-01 -3.20351826e-03 -1.40679249e+01] [-1.86218911e-02 7.83209871e-05 9.99826594e-01 -1.95562891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters 0.022388471363270712 Centerline is valid? [True, True] Translation: X:101.23, Y:-14.07, Z:-1.96 [[ 9.85441726e-01 1.68988115e-01 1.86446324e-02 1.01230347e+02] [-1.68956773e-01 9.85618087e-01 -3.25505143e-03 -1.40717479e+01] [-1.89265520e-02 5.75265669e-05 9.99820875e-01 -1.95551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574012739 meters 0.02208881210963552 Centerline is valid? [True, True] Translation: X:101.26, Y:-14.07, Z:-1.96 [[ 9.84896403e-01 1.72180180e-01 1.82499582e-02 1.01259130e+02] [-1.72150719e-01 9.85065473e-01 -3.18504706e-03 -1.40723221e+01] [-1.85258057e-02 -4.80204454e-06 9.99828383e-01 -1.95641780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters 0.022282412932632563 Centerline is valid? [True, True] Translation: X:101.29, Y:-14.07, Z:-1.96 [[ 9.84552131e-01 1.74163725e-01 1.80027306e-02 1.01287960e+02] [-1.74135399e-01 9.84716708e-01 -3.14129379e-03 -1.40730873e+01] [-1.82746890e-02 -4.21451654e-05 9.99833003e-01 -1.95707308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634012739 meters 0.023892225098136315 Centerline is valid? [True, True] Translation: X:101.32, Y:-14.07, Z:-1.96 [[ 9.83713285e-01 1.78939640e-01 1.69934878e-02 1.01317589e+02] [-1.78915125e-01 9.83860046e-01 -2.96447137e-03 -1.40673411e+01] [-1.72496751e-02 -1.24202121e-04 9.99851206e-01 -1.95944740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters 0.025025009819891655 Centerline is valid? [True, True] Translation: X:101.35, Y:-14.07, Z:-1.96 [[ 9.83331126e-01 1.81088275e-01 1.63381135e-02 1.01346728e+02] [-1.81065927e-01 9.83466833e-01 -2.84918511e-03 -1.40677535e+01] [-1.65839468e-02 -1.56583276e-04 9.99862465e-01 -1.96129245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694012739 meters 0.026529316878975466 Centerline is valid? [True, True] Translation: X:101.37, Y:-14.07, Z:-1.96 [[ 9.82944498e-01 1.83152542e-01 1.65909447e-02 1.01374808e+02] [-1.83129804e-01 9.83084487e-01 -2.89252398e-03 -1.40669651e+01] [-1.68400735e-02 -1.95105923e-04 9.99858177e-01 -1.96135941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters 0.026164856680242765 Centerline is valid? [True, True] Translation: X:101.40, Y:-14.07, Z:-1.96 [[ 9.83057899e-01 1.82478424e-01 1.72855854e-02 1.01402601e+02] [-1.82453656e-01 9.83209839e-01 -3.01257860e-03 -1.40709987e+01] [-1.75450882e-02 -1.92279054e-04 9.99846055e-01 -1.96074589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754012739 meters 0.025111965691865586 Centerline is valid? [True, True] Translation: X:101.43, Y:-14.08, Z:-1.96 [[ 9.83329021e-01 1.80957870e-01 1.78405519e-02 1.01430501e+02] [-1.80931256e-01 9.83490834e-01 -3.10820589e-03 -1.40769984e+01] [-1.81084736e-02 -1.71524395e-04 9.99836013e-01 -1.95990503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters 0.022964496791441663 Centerline is valid? [True, True] Translation: X:101.46, Y:-14.09, Z:-1.96 [[ 9.84101508e-01 1.76591914e-01 1.89609583e-02 1.01457238e+02] [-1.76561058e-01 9.84284149e-01 -3.30246895e-03 -1.40888093e+01] [-1.92461601e-02 -9.78021999e-05 9.99814771e-01 -1.95895426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814012739 meters 0.02227850207145159 Centerline is valid? [True, True] Translation: X:101.48, Y:-14.10, Z:-1.96 [[ 9.84565400e-01 1.73986834e-01 1.89619045e-02 1.01484999e+02] [-1.73955509e-01 9.84747978e-01 -3.30176033e-03 -1.40990258e+01] [-1.92471599e-02 -4.77287553e-05 9.99814755e-01 -1.95943343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters 0.0223746347698529 Centerline is valid? [True, True] Translation: X:101.51, Y:-14.11, Z:-1.96 [[ 9.85467417e-01 1.68876506e-01 1.82947021e-02 1.01510889e+02] [-1.68846480e-01 9.85637217e-01 -3.18479562e-03 -1.41125755e+01] [-1.85697764e-02 4.95162684e-05 9.99827566e-01 -1.96044031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874012739 meters 0.022966280064098326 Centerline is valid? [True, True] Translation: X:101.54, Y:-14.12, Z:-1.96 [[ 9.85896639e-01 1.66429327e-01 1.75811238e-02 1.01538601e+02] [-1.66401226e-01 9.86053381e-01 -3.05959203e-03 -1.41210865e+01] [-1.78451324e-02 9.09209592e-05 9.99840759e-01 -1.96250904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters 0.024992865144132077 Centerline is valid? [True, True] Translation: X:101.56, Y:-14.14, Z:-1.97 [[ 9.86523021e-01 1.62786805e-01 1.65161786e-02 1.01564922e+02] [-1.62761507e-01 9.86661256e-01 -2.87353452e-03 -1.41351975e+01] [-1.67636470e-02 1.46609833e-04 9.99859469e-01 -1.96507767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934012739 meters 0.025921997584679328 Centerline is valid? [True, True] Translation: X:101.59, Y:-14.14, Z:-1.96 [[ 9.86753198e-01 1.61329488e-01 1.70564246e-02 1.01591132e+02] [-1.61302299e-01 9.86900585e-01 -2.96700037e-03 -1.41445200e+01] [-1.73116601e-02 1.76456602e-04 9.99850126e-01 -1.96480084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters 0.027388239972486076 Centerline is valid? [True, True] Translation: X:101.62, Y:-14.16, Z:-1.96 [[ 9.87094509e-01 1.58979662e-01 1.92327207e-02 1.01619205e+02] [-1.58944669e-01 9.87281828e-01 -3.34433860e-03 -1.41556411e+01] [-1.95197975e-02 2.44239834e-04 9.99809441e-01 -1.95992453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994012739 meters 0.026817615568696832 Centerline is valid? [True, True] Translation: X:101.65, Y:-14.16, Z:-1.96 [[ 9.87216773e-01 1.58139115e-01 1.98761812e-02 1.01648943e+02] [-1.58101581e-01 9.87416806e-01 -3.45577161e-03 -1.41609151e+01] [-2.01725680e-02 2.69140034e-04 9.99796477e-01 -1.95903315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters 0.0328899124895111 Centerline is valid? [True, True] Translation: X:101.68, Y:-14.17, Z:-1.95 [[ 9.87218196e-01 1.58177256e-01 1.94984199e-02 1.01677548e+02] [-1.58141143e-01 9.87410698e-01 -3.39009810e-03 -1.41710962e+01] [-1.97891848e-02 2.63264128e-04 9.99804140e-01 -1.95133494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054012739 meters 0.026191403360765853 Centerline is valid? [True, True] Translation: X:101.71, Y:-14.18, Z:-1.96 [[ 9.87115368e-01 1.58826357e-01 1.94277575e-02 1.01708603e+02] [-1.58790635e-01 9.87306501e-01 -3.37756543e-03 -1.41761688e+01] [-1.97175977e-02 2.49100783e-04 9.99805558e-01 -1.96106310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters 0.028617836335954674 Centerline is valid? [True, True] Translation: X:101.74, Y:-14.19, Z:-1.96 [[ 9.87239986e-01 1.58130309e-01 1.87620997e-02 1.01737771e+02] [-1.58096862e-01 9.87418220e-01 -3.26213847e-03 -1.41870945e+01] [-1.90418821e-02 2.54284449e-04 9.99818655e-01 -1.96348342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114012739 meters 0.0321125393260117 Centerline is valid? [True, True] Translation: X:101.77, Y:-14.20, Z:-1.97 [[ 9.87808617e-01 1.54621447e-01 1.80650103e-02 1.01766643e+02] [-1.54589807e-01 9.87973740e-01 -3.14345473e-03 -1.42005125e+01] [-1.83338013e-02 3.12465229e-04 9.99831873e-01 -1.96590239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters 0.03113976923777856 Centerline is valid? [True, True] Translation: X:101.80, Y:-14.21, Z:-1.97 [[ 9.88120296e-01 1.52640683e-01 1.78634156e-02 1.01798285e+02] [-1.52609424e-01 9.88281692e-01 -3.10823416e-03 -1.42067245e+01] [-1.81285296e-02 3.45183701e-04 9.99835605e-01 -1.96599702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174012739 meters 0.03301158708478891 Centerline is valid? [True, True] Translation: X:101.83, Y:-14.22, Z:-1.97 [[ 9.88685652e-01 1.49087812e-01 1.65380222e-02 1.01827713e+02] [-1.49060473e-01 9.88823886e-01 -2.88059923e-03 -1.42210118e+01] [-1.67826537e-02 3.82841717e-04 9.99859088e-01 -1.96927649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters 0.03991303991806937 Centerline is valid? [True, True] Translation: X:101.86, Y:-14.24, Z:-1.97 [[ 9.88799552e-01 1.48395368e-01 1.59455815e-02 1.01855473e+02] [-1.48369860e-01 9.88928041e-01 -2.77753402e-03 -1.42400065e+01] [-1.61812058e-02 3.80580704e-04 9.99869003e-01 -1.97292930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234012739 meters 0.03513451737549411 Centerline is valid? [True, True] Translation: X:101.89, Y:-14.24, Z:-1.97 [[ 9.88855780e-01 1.48027250e-01 1.58801801e-02 1.01887884e+02] [-1.48001887e-01 9.88983207e-01 -2.76715026e-03 -1.42439214e+01] [-1.61148451e-02 3.86015911e-04 9.99870073e-01 -1.97202084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters 0.03531464207132112 Centerline is valid? [True, True] Translation: X:101.92, Y:-14.25, Z:-1.97 [[ 9.88758683e-01 1.48642001e-01 1.61809337e-02 1.01918183e+02] [-1.48615701e-01 9.88890998e-01 -2.82258773e-03 -1.42525131e+01] [-1.64207347e-02 3.86117330e-04 9.99865096e-01 -1.97173400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294012739 meters 0.032052716195199914 Centerline is valid? [True, True] Translation: X:101.95, Y:-14.26, Z:-1.97 [[ 9.88354371e-01 1.51191861e-01 1.72237721e-02 1.01950033e+02] [-1.51162421e-01 9.88504368e-01 -3.00604758e-03 -1.42582472e+01] [-1.74802639e-02 3.67453189e-04 9.99847141e-01 -1.96982961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters 0.036194138584547515 Centerline is valid? [True, True] Translation: X:101.98, Y:-14.27, Z:-1.97 [[ 9.88093242e-01 1.52873572e-01 1.73613429e-02 1.01978787e+02] [-1.52843867e-01 9.88245695e-01 -3.03305107e-03 -1.42725115e+01] [-1.76209457e-02 3.43362495e-04 9.99844680e-01 -1.97129088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354012739 meters 0.028628658560583883 Centerline is valid? [True, True] Translation: X:102.01, Y:-14.27, Z:-1.97 [[ 9.87660461e-01 1.55776570e-01 1.61392305e-02 1.02011676e+02] [-1.55751250e-01 9.87792279e-01 -2.82179120e-03 -1.42704091e+01] [-1.63817763e-02 2.73266271e-04 9.99865772e-01 -1.97295677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters 0.029513620017408187 Centerline is valid? [True, True] Translation: X:102.04, Y:-14.28, Z:-1.98 [[ 9.87485175e-01 1.56940928e-01 1.55747978e-02 1.02041831e+02] [-1.56917451e-01 9.87607961e-01 -2.72574544e-03 -1.42808229e+01] [-1.58095753e-02 2.47675628e-04 9.99874990e-01 -1.97550271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414012739 meters 0.027650951077365385 Centerline is valid? [True, True] Translation: X:102.07, Y:-14.29, Z:-1.97 [[ 9.87286140e-01 1.58148414e-01 1.59736510e-02 1.02073722e+02] [-1.58123835e-01 9.87415325e-01 -2.79817047e-03 -1.42867828e+01] [-1.62151540e-02 2.36779966e-04 9.99868498e-01 -1.97469733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters 0.025971065222695024 Centerline is valid? [True, True] Translation: X:102.10, Y:-14.29, Z:-1.97 [[ 9.86788071e-01 1.61025068e-01 1.78950012e-02 1.02104107e+02] [-1.60994629e-01 9.86950293e-01 -3.13823433e-03 -1.42939423e+01] [-1.81668110e-02 2.15773123e-04 9.99834947e-01 -1.97020040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474012739 meters 0.023878943848749994 Centerline is valid? [True, True] Translation: X:102.13, Y:-14.30, Z:-1.97 [[ 9.86102212e-01 1.65120116e-01 1.83786410e-02 1.02134782e+02] [-1.65088662e-01 9.86273454e-01 -3.22612949e-03 -1.42990975e+01] [-1.86590646e-02 1.47188163e-04 9.99825894e-01 -1.97046454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters 0.022980038047989693 Centerline is valid? [True, True] Translation: X:102.17, Y:-14.30, Z:-1.97 [[ 9.85620878e-01 1.68040751e-01 1.77141233e-02 1.02166319e+02] [-1.68011976e-01 9.85780045e-01 -3.11095427e-03 -1.43030476e+01] [-1.79849964e-02 9.00366162e-05 9.99838253e-01 -1.97217119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534012739 meters 0.022271901513981503 Centerline is valid? [True, True] Translation: X:102.20, Y:-14.31, Z:-1.97 [[ 9.85032697e-01 1.71514752e-01 1.71252910e-02 1.02198746e+02] [-1.71488335e-01 9.85181551e-01 -3.01031218e-03 -1.43055729e+01] [-1.73878337e-02 2.84682855e-05 9.99848820e-01 -1.97395675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters 0.023160792371034303 Centerline is valid? [True, True] Translation: X:102.23, Y:-14.30, Z:-1.98 [[ 9.83773179e-01 1.78648190e-01 1.65878393e-02 1.02230124e+02] [-1.78624362e-01 9.83913012e-01 -2.91910800e-03 -1.43017733e+01] [-1.68424843e-02 -9.12520590e-05 9.99858151e-01 -1.97518926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594012739 meters 0.026579291486766955 Centerline is valid? [True, True] Translation: X:102.26, Y:-14.30, Z:-1.97 [[ 9.82401217e-01 1.85951255e-01 1.76062617e-02 1.02260435e+02] [-1.85925581e-01 9.82558944e-01 -3.09841604e-03 -1.42973376e+01] [-1.78753442e-02 -2.29566736e-04 9.99840197e-01 -1.97229597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters 0.030155562461458903 Centerline is valid? [True, True] Translation: X:102.29, Y:-14.29, Z:-1.97 [[ 9.81758762e-01 1.89285871e-01 1.79051172e-02 1.02289673e+02] [-1.89259884e-01 9.81921978e-01 -3.15033540e-03 -1.42949128e+01] [-1.81777421e-02 -2.95851037e-04 9.99834727e-01 -1.97206507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654012739 meters 0.03048701654520007 Centerline is valid? [True, True] Translation: X:102.32, Y:-14.30, Z:-1.97 [[ 9.81233979e-01 1.92009109e-01 1.76743152e-02 1.02319043e+02] [-1.91984239e-01 9.81393084e-01 -3.10914742e-03 -1.42992250e+01] [-1.79424353e-02 -3.42388860e-04 9.99838963e-01 -1.97201497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters 0.03269539724533421 Centerline is valid? [True, True] Translation: X:102.35, Y:-14.30, Z:-1.97 [[ 9.80768589e-01 1.94381020e-01 1.75782116e-02 1.02347473e+02] [-1.94356809e-01 9.80926028e-01 -3.09177702e-03 -1.42996691e+01] [-1.78439081e-02 -3.84127345e-04 9.99840711e-01 -1.97326746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714012739 meters 0.036452356296022156 Centerline is valid? [True, True] Translation: X:102.38, Y:-14.30, Z:-1.97 [[ 9.80138208e-01 1.97530669e-01 1.76274796e-02 1.02376627e+02] [-1.97506833e-01 9.80296608e-01 -3.10036297e-03 -1.42987840e+01] [-1.78925752e-02 -4.42763458e-04 9.99839817e-01 -1.97399646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters 0.03848953501553713 Centerline is valid? [True, True] Translation: X:102.40, Y:-14.30, Z:-1.97 [[ 9.79859469e-01 1.98728444e-01 1.95557193e-02 1.02404435e+02] [-1.98699365e-01 9.80054457e-01 -3.43853356e-03 -1.43004129e+01] [-1.98490043e-02 -5.16429335e-04 9.99802856e-01 -1.97133535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774012739 meters 0.037344101296335405 Centerline is valid? [True, True] Translation: X:102.43, Y:-14.31, Z:-1.97 [[ 9.79800291e-01 1.99031520e-01 1.94381895e-02 1.02432083e+02] [-1.99002871e-01 9.79992951e-01 -3.41672447e-03 -1.43069119e+01] [-1.97293246e-02 -5.20547900e-04 9.99805222e-01 -1.97200427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters 0.03719511980765886 Centerline is valid? [True, True] Translation: X:102.46, Y:-14.31, Z:-1.97 [[ 9.79734521e-01 1.99445010e-01 1.84920439e-02 1.02460791e+02] [-1.99419172e-01 9.79908891e-01 -3.24958537e-03 -1.43122213e+01] [-1.87686318e-02 -5.03937124e-04 9.99823727e-01 -1.97418649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834012739 meters 0.03956053518132254 Centerline is valid? [True, True] Translation: X:102.49, Y:-14.31, Z:-1.98 [[ 9.79433105e-01 2.01128250e-01 1.60692234e-02 1.02489359e+02] [-2.01108976e-01 9.79564806e-01 -2.82313084e-03 -1.43130045e+01] [-1.63086571e-02 -4.66597270e-04 9.99866896e-01 -1.97940261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters 0.03874878700193264 Centerline is valid? [True, True] Translation: X:102.52, Y:-14.32, Z:-1.98 [[ 9.79139406e-01 2.02608929e-01 1.53507215e-02 1.02518137e+02] [-2.02591530e-01 9.79259619e-01 -2.69644344e-03 -1.43177055e+01] [-1.55786652e-02 -4.69732129e-04 9.99878535e-01 -1.98031229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894012739 meters 0.04281194528281302 Centerline is valid? [True, True] Translation: X:102.55, Y:-14.31, Z:-1.98 [[ 9.78728244e-01 2.04594317e-01 1.52377598e-02 1.02547365e+02] [-2.04577425e-01 9.78846728e-01 -2.67585453e-03 -1.43145414e+01] [-1.54628959e-02 -4.98367255e-04 9.99880318e-01 -1.98206713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters 0.04868157082775936 Centerline is valid? [True, True] Translation: X:102.58, Y:-14.31, Z:-1.98 [[ 9.77836349e-01 2.08781916e-01 1.56903021e-02 1.02578287e+02] [-2.08764558e-01 9.77962051e-01 -2.75441188e-03 -1.43069377e+01] [-1.59195914e-02 -5.82214922e-04 9.99873106e-01 -1.98190175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954012739 meters 0.0490880140115363 Centerline is valid? [True, True] Translation: X:102.61, Y:-14.31, Z:-1.98 [[ 9.77072386e-01 2.12318748e-01 1.58209578e-02 1.02608978e+02] [-2.12301569e-01 9.77200252e-01 -2.77692205e-03 -1.43061291e+01] [-1.60498366e-02 -6.45560315e-04 9.99870985e-01 -1.98211543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters 0.05084303391315639 Centerline is valid? [True, True] Translation: X:102.64, Y:-14.30, Z:-1.98 [[ 9.76881993e-01 2.13171980e-01 1.61021017e-02 1.02637026e+02] [-2.13154300e-01 9.77014461e-01 -2.82630325e-03 -1.43049788e+01] [-1.63344749e-02 -6.71267471e-04 9.99866358e-01 -1.98244523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014012739 meters 0.05220381927288838 Centerline is valid? [True, True] Translation: X:102.67, Y:-14.30, Z:-1.98 [[ 9.76819676e-01 2.13446322e-01 1.62477154e-02 1.02665142e+02] [-2.13428379e-01 9.76954554e-01 -2.85064167e-03 -1.43046295e+01] [-1.64817385e-02 -6.83160671e-04 9.99863934e-01 -1.98296926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters 0.04636240393137794 Centerline is valid? [True, True] Translation: X:102.69, Y:-14.31, Z:-1.98 [[ 9.77305652e-01 2.11188837e-01 1.65208194e-02 1.02693914e+02] [-2.11169982e-01 9.77445059e-01 -2.89743583e-03 -1.43108387e+01] [-1.67600994e-02 -6.57020728e-04 9.99859324e-01 -1.98239132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074012739 meters 0.051311615068160135 Centerline is valid? [True, True] Translation: X:102.72, Y:-14.31, Z:-1.98 [[ 9.77729599e-01 2.09225382e-01 1.64186414e-02 1.02723044e+02] [-2.09206488e-01 9.77867248e-01 -2.87924596e-03 -1.43058809e+01] [-1.66576630e-02 -6.19762293e-04 9.99861059e-01 -1.98406492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters 0.04501567105750561 Centerline is valid? [True, True] Translation: X:102.75, Y:-14.31, Z:-1.98 [[ 9.78544261e-01 2.05445613e-01 1.55958129e-02 1.02751720e+02] [-2.05428102e-01 9.78668392e-01 -2.73388237e-03 -1.43141136e+01] [-1.58247932e-02 -5.28593340e-04 9.99874640e-01 -1.98490513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134012739 meters 0.043616319321406076 Centerline is valid? [True, True] Translation: X:102.78, Y:-14.32, Z:-1.99 [[ 9.78910381e-01 2.03708617e-01 1.54033875e-02 1.02780715e+02] [-2.03691326e-01 9.79031437e-01 -2.69985015e-03 -1.43186133e+01] [-1.56303833e-02 -4.94625079e-04 9.99877716e-01 -1.98539866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters 0.04202598552461514 Centerline is valid? [True, True] Translation: X:102.81, Y:-14.32, Z:-1.99 [[ 9.79323179e-01 2.01685274e-01 1.57848467e-02 1.02808677e+02] [-2.01666861e-01 9.79450267e-01 -2.76619037e-03 -1.43233761e+01] [-1.60183722e-02 -4.74286129e-04 9.99871585e-01 -1.98585097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194012739 meters 0.03729472898964445 Centerline is valid? [True, True] Translation: X:102.84, Y:-14.33, Z:-1.98 [[ 9.80163589e-01 1.97440167e-01 1.72255477e-02 1.02836998e+02] [-1.97417601e-01 9.80314839e-01 -3.01771476e-03 -1.43329022e+01] [-1.74822781e-02 -4.42772159e-04 9.99847075e-01 -1.98369401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters 0.03361712300687175 Centerline is valid? [True, True] Translation: X:102.87, Y:-14.34, Z:-1.98 [[ 9.80951729e-01 1.93417948e-01 1.79778176e-02 1.02865323e+02] [-1.93392701e-01 9.81116378e-01 -3.14903961e-03 -1.43421935e+01] [-1.82474121e-02 -3.87722849e-04 9.99833427e-01 -1.98268035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254012739 meters 0.03139324259425013 Centerline is valid? [True, True] Translation: X:102.89, Y:-14.35, Z:-1.98 [[ 9.81236438e-01 1.91949386e-01 1.81792640e-02 1.02893457e+02] [-1.91923320e-01 9.81404759e-01 -3.18417674e-03 -1.43508879e+01] [-1.84524170e-02 -3.64594463e-04 9.99829673e-01 -1.98302248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters 0.03061396965248753 Centerline is valid? [True, True] Translation: X:102.92, Y:-14.36, Z:-1.98 [[ 9.81431056e-01 1.90957494e-01 1.81195514e-02 1.02922001e+02] [-1.90931447e-01 9.81598246e-01 -3.17282588e-03 -1.43575844e+01] [-1.83919947e-02 -3.45682297e-04 9.99830793e-01 -1.98361164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314012739 meters 0.0324429804195576 Centerline is valid? [True, True] Translation: X:102.95, Y:-14.36, Z:-1.98 [[ 9.81411098e-01 1.91058364e-01 1.81372099e-02 1.02950444e+02] [-1.91032294e-01 9.81578616e-01 -3.17530761e-03 -1.43583937e+01] [-1.84097665e-02 -3.48510689e-04 9.99830465e-01 -1.98461379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters 0.03421241727077721 Centerline is valid? [True, True] Translation: X:102.98, Y:-14.36, Z:-1.99 [[ 9.81182134e-01 1.92268260e-01 1.77351565e-02 1.02978221e+02] [-1.92243549e-01 9.81342338e-01 -3.10387484e-03 -1.43591470e+01] [-1.80010366e-02 -3.64002891e-04 9.99837902e-01 -1.98611102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374012739 meters 0.03534793786261388 Centerline is valid? [True, True] Translation: X:103.01, Y:-14.36, Z:-1.99 [[ 9.80439955e-01 1.96083246e-01 1.69957535e-02 1.03007876e+02] [-1.96061143e-01 9.80587164e-01 -2.97345817e-03 -1.43607204e+01] [-1.72488630e-02 -4.16909653e-04 9.99851140e-01 -1.98779851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters 0.03534793786261388 Centerline is valid? [True, True] Translation: X:103.03, Y:-14.37, Z:-1.99 [[ 9.80453640e-01 1.96014803e-01 1.69957982e-02 1.03034982e+02] [-1.95992694e-01 9.80600848e-01 -2.97320264e-03 -1.43653264e+01] [-1.72488858e-02 -4.15964918e-04 9.99851140e-01 -1.98835697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434012739 meters 0.037119195846923504 Centerline is valid? [True, True] Translation: X:103.06, Y:-14.37, Z:-1.99 [[ 9.80085163e-01 1.97884336e-01 1.65790017e-02 1.03064256e+02] [-1.97863587e-01 9.80225279e-01 -2.89904934e-03 -1.43667946e+01] [-1.68248330e-02 -4.39065484e-04 9.99858356e-01 -1.98921535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters 0.038816424976844906 Centerline is valid? [True, True] Translation: X:103.09, Y:-14.37, Z:-1.99 [[ 9.79822664e-01 1.99151089e-01 1.69230621e-02 1.03092566e+02] [-1.99129671e-01 9.79968684e-01 -2.95841779e-03 -1.43658059e+01] [-1.71732430e-02 -4.71158999e-04 9.99852418e-01 -1.98987146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494012739 meters 0.0389620623809221 Centerline is valid? [True, True] Translation: X:103.12, Y:-14.37, Z:-1.99 [[ 9.79851183e-01 1.99006422e-01 1.69735762e-02 1.03121435e+02] [-1.98984873e-01 9.79998073e-01 -2.96619892e-03 -1.43689207e+01] [-1.72243646e-02 -4.71051379e-04 9.99851539e-01 -1.99016793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters 0.03827946542333251 Centerline is valid? [True, True] Translation: X:103.15, Y:-14.37, Z:-1.99 [[ 9.80082514e-01 1.97940703e-01 1.60543800e-02 1.03149648e+02] [-1.97921293e-01 9.80213902e-01 -2.80485937e-03 -1.43719640e+01] [-1.62919223e-02 -4.28510028e-04 9.99867186e-01 -1.99252416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554012739 meters 0.038138889977452295 Centerline is valid? [True, True] Translation: X:103.18, Y:-14.38, Z:-1.99 [[ 9.80236269e-01 1.97246201e-01 1.51919039e-02 1.03176872e+02] [-1.97228747e-01 9.80353906e-01 -2.65356763e-03 -1.43750832e+01] [-1.54168484e-02 -3.95156932e-04 9.99881075e-01 -1.99478095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters 0.03806697513913439 Centerline is valid? [True, True] Translation: X:103.21, Y:-14.38, Z:-1.99 [[ 9.80281105e-01 1.96982465e-01 1.57119194e-02 1.03206063e+02] [-1.96963778e-01 9.80406928e-01 -2.74339148e-03 -1.43752836e+01] [-1.59444746e-02 -4.05384174e-04 9.99872797e-01 -1.99382631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614012739 meters 0.038504688071249335 Centerline is valid? [True, True] Translation: X:103.24, Y:-14.38, Z:-1.99 [[ 9.80200431e-01 1.97298243e-01 1.67486740e-02 1.03235019e+02] [-1.97277068e-01 9.80343415e-01 -2.92357527e-03 -1.43768883e+01] [-1.69962686e-02 -4.38439574e-04 9.99855457e-01 -1.99267529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters 0.039252080237188416 Centerline is valid? [True, True] Translation: X:103.26, Y:-14.38, Z:-1.99 [[ 9.80085140e-01 1.97837408e-01 1.71311896e-02 1.03264171e+02] [-1.97815351e-01 9.80234742e-01 -2.98953059e-03 -1.43781578e+01] [-1.73840282e-02 -4.58817789e-04 9.99848781e-01 -1.99250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674012739 meters 0.041543412773438676 Centerline is valid? [True, True] Translation: X:103.29, Y:-14.37, Z:-1.99 [[ 9.79729364e-01 1.99639776e-01 1.65630159e-02 1.03293473e+02] [-1.99619427e-01 9.79869243e-01 -2.88964718e-03 -1.43743220e+01] [-1.68064784e-02 -4.75227551e-04 9.99858648e-01 -1.99367934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters 0.044243865709854356 Centerline is valid? [True, True] Translation: X:103.32, Y:-14.37, Z:-2.00 [[ 9.79549135e-01 2.00572270e-01 1.59454349e-02 1.03322368e+02] [-2.00553545e-01 9.79678794e-01 -2.78125156e-03 -1.43721080e+01] [-1.61792463e-02 -4.73540922e-04 9.99868995e-01 -1.99531411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734012739 meters 0.04430071985250397 Centerline is valid? [True, True] Translation: X:103.35, Y:-14.37, Z:-1.99 [[ 9.79379813e-01 2.01327015e-01 1.68111502e-02 1.03351692e+02] [-2.01306324e-01 9.79523951e-01 -2.93155897e-03 -1.43703028e+01] [-1.70571262e-02 -5.13081166e-04 9.99854385e-01 -1.99371095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters 0.04337426601165646 Centerline is valid? [True, True] Translation: X:103.38, Y:-14.37, Z:-1.99 [[ 9.79486713e-01 2.00720293e-01 1.78084786e-02 1.03380704e+02] [-2.00697033e-01 9.79648446e-01 -3.10221694e-03 -1.43743077e+01] [-1.80687263e-02 -5.35528556e-04 9.99836604e-01 -1.99263800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794012739 meters 0.03931769737236497 Centerline is valid? [True, True] Translation: X:103.41, Y:-14.38, Z:-1.99 [[ 9.80278652e-01 1.96694833e-01 1.91025475e-02 1.03408496e+02] [-1.96667323e-01 9.80464633e-01 -3.32669742e-03 -1.43812133e+01] [-1.93837164e-02 -4.95756426e-04 9.99811995e-01 -1.99119962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters 0.03704677026811623 Centerline is valid? [True, True] Translation: X:103.44, Y:-14.39, Z:-1.99 [[ 9.80769907e-01 1.94228102e-01 1.91267965e-02 1.03436307e+02] [-1.94200066e-01 9.80956290e-01 -3.33028275e-03 -1.43877987e+01] [-1.94093859e-02 -4.48184036e-04 9.99811520e-01 -1.99102373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854012739 meters 0.03502377217056641 Centerline is valid? [True, True] Translation: X:103.46, Y:-14.39, Z:-1.99 [[ 9.81179654e-01 1.92151079e-01 1.90905424e-02 1.03463641e+02] [-1.92122773e-01 9.81365272e-01 -3.32312353e-03 -1.43940030e+01] [-1.93733371e-02 -4.07146745e-04 9.99812236e-01 -1.99106054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters 0.03193659832449762 Centerline is valid? [True, True] Translation: X:103.49, Y:-14.40, Z:-1.99 [[ 9.81813748e-01 1.88884737e-01 1.90871942e-02 1.03491094e+02] [-1.88855845e-01 9.81999205e-01 -3.32145816e-03 -1.44007207e+01] [-1.93709823e-02 -3.43674898e-04 9.99812306e-01 -1.99181095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914012739 meters 0.03291583713722994 Centerline is valid? [True, True] Translation: X:103.52, Y:-14.41, Z:-1.98 [[ 9.82541209e-01 1.85082233e-01 1.89034362e-02 1.03517780e+02] [-1.85053206e-01 9.82723001e-01 -3.28865930e-03 -1.44110088e+01] [-1.91855140e-02 -2.66898186e-04 9.99815905e-01 -1.98436631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters 0.03323239121860157 Centerline is valid? [True, True] Translation: X:103.55, Y:-14.42, Z:-1.98 [[ 9.82941303e-01 1.82938706e-01 1.89690212e-02 1.03545597e+02] [-1.82909098e-01 9.83124294e-01 -3.29900197e-03 -1.44201704e+01] [-1.92524208e-02 -2.26881279e-04 9.99814629e-01 -1.98334087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974012739 meters 0.025052336299797442 Centerline is valid? [True, True] Translation: X:103.57, Y:-14.43, Z:-1.99 [[ 9.83321319e-01 1.80803668e-01 1.97285984e-02 1.03573018e+02] [-1.80771230e-01 9.83519190e-01 -3.43019787e-03 -1.44292639e+01] [-2.00236475e-02 -1.93376303e-04 9.99799488e-01 -1.99291854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters 0.022760254554733062 Centerline is valid? [True, True] Translation: X:103.60, Y:-14.44, Z:-1.99 [[ 9.84049949e-01 1.76854615e-01 1.91870244e-02 1.03599360e+02] [-1.76823199e-01 9.84236980e-01 -3.33521515e-03 -1.44430980e+01] [-1.94744271e-02 -1.10692720e-04 9.99810349e-01 -1.99366200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034012739 meters 0.02333238327653508 Centerline is valid? [True, True] Translation: X:103.63, Y:-14.45, Z:-1.99 [[ 9.84373970e-01 1.75126624e-01 1.83997857e-02 1.03627235e+02] [-1.75097445e-01 9.84545916e-01 -3.19759124e-03 -1.44541825e+01] [-1.86754172e-02 -7.41298833e-05 9.99825596e-01 -1.99184743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters 0.02155388249524749 Centerline is valid? [True, True] Translation: X:103.65, Y:-14.47, Z:-2.00 [[ 9.84864298e-01 1.72461374e-01 1.73028706e-02 1.03653007e+02] [-1.72435168e-01 9.85016281e-01 -3.00644232e-03 -1.44655085e+01] [-1.75621044e-02 -2.26857053e-05 9.99845774e-01 -1.99917084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094012739 meters 0.021529454127429883 Centerline is valid? [True, True] Translation: X:103.68, Y:-14.47, Z:-2.00 [[ 9.85037781e-01 1.71500389e-01 1.69760309e-02 1.03680675e+02] [-1.71475039e-01 9.85184052e-01 -2.94861901e-03 -1.44733004e+01] [-1.72302043e-02 -6.46444400e-06 9.99851549e-01 -1.99978662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters 0.021770417465507595 Centerline is valid? [True, True] Translation: X:103.71, Y:-14.48, Z:-2.01 [[ 9.85383359e-01 1.69636272e-01 1.55939546e-02 1.03707206e+02] [-1.69614659e-01 9.85506740e-01 -2.70793208e-03 -1.44846110e+01] [-1.58273109e-02 2.33879185e-05 9.99874740e-01 -2.00561778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154012739 meters 0.02221207873502432 Centerline is valid? [True, True] Translation: X:103.73, Y:-14.49, Z:-2.01 [[ 9.85594767e-01 1.68470134e-01 1.48582837e-02 1.03734576e+02] [-1.68450394e-01 9.85706758e-01 -2.57923938e-03 -1.44948337e+01] [-1.50804355e-02 3.92010928e-05 9.99886283e-01 -2.00790622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters 0.022561878064094404 Centerline is valid? [True, True] Translation: X:103.76, Y:-14.50, Z:-2.01 [[ 9.85733753e-01 1.67718846e-01 1.41193990e-02 1.03761759e+02] [-1.67700952e-01 9.85834868e-01 -2.45041601e-03 -1.45047446e+01] [-1.43303768e-02 4.76211231e-05 9.99897314e-01 -2.00981747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214012739 meters 0.022216972208999836 Centerline is valid? [True, True] Translation: X:103.79, Y:-14.51, Z:-2.01 [[ 9.85715557e-01 1.67794726e-01 1.44834769e-02 1.03789871e+02] [-1.67775913e-01 9.85821955e-01 -2.51298823e-03 -1.45137691e+01] [-1.46997957e-02 4.71130185e-05 9.99891951e-01 -2.00672207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters 0.021766172167854567 Centerline is valid? [True, True] Translation: X:103.82, Y:-14.52, Z:-2.00 [[ 9.85330263e-01 1.69872144e-01 1.63623912e-02 1.03817367e+02] [-1.69848435e-01 9.85466110e-01 -2.83808662e-03 -1.45210203e+01] [-1.66066938e-02 1.73261033e-05 9.99862099e-01 -2.00490175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274012739 meters 0.021623883702384467 Centerline is valid? [True, True] Translation: X:103.85, Y:-14.53, Z:-2.00 [[ 9.85114989e-01 1.71039538e-01 1.71445492e-02 1.03845707e+02] [-1.71013700e-01 9.85264166e-01 -2.97287714e-03 -1.45272561e+01] [-1.74003895e-02 -3.32697424e-06 9.99848602e-01 -2.00391363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters 0.021647979081428646 Centerline is valid? [True, True] Translation: X:103.87, Y:-14.53, Z:-2.00 [[ 9.84893222e-01 1.72283583e-01 1.74272446e-02 1.03873512e+02] [-1.72257094e-01 9.85047393e-01 -3.02112227e-03 -1.45339532e+01] [-1.76871516e-02 -2.64836647e-05 9.99843570e-01 -2.00315842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334012739 meters 0.022341836565792878 Centerline is valid? [True, True] Translation: X:103.90, Y:-14.54, Z:-2.00 [[ 9.84328302e-01 1.75453386e-01 1.77173133e-02 1.03901048e+02] [-1.75426532e-01 9.84487736e-01 -3.07080092e-03 -1.45382726e+01] [-1.79812601e-02 -8.54105724e-05 9.99838320e-01 -2.00361782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters 0.02288950135902153 Centerline is valid? [True, True] Translation: X:103.93, Y:-14.54, Z:-2.00 [[ 9.83966886e-01 1.77407010e-01 1.83281002e-02 1.03929377e+02] [-1.77378633e-01 9.84137560e-01 -3.17547814e-03 -1.45428475e+01] [-1.86007239e-02 -1.26448023e-04 9.99826984e-01 -2.00247038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394012739 meters 0.024814836558141498 Centerline is valid? [True, True] Translation: X:103.96, Y:-14.55, Z:-2.00 [[ 9.83218675e-01 1.81423196e-01 1.91483855e-02 1.03957738e+02] [-1.81393002e-01 9.83405094e-01 -3.31662705e-03 -1.45481588e+01] [-1.94323329e-02 -2.12413475e-04 9.99811152e-01 -2.00163317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters 0.02632352277810923 Centerline is valid? [True, True] Translation: X:103.99, Y:-14.55, Z:-2.00 [[ 9.82833976e-01 1.83484096e-01 1.92603872e-02 1.03985080e+02] [-1.83453962e-01 9.83022645e-01 -3.33508909e-03 -1.45518754e+01] [-1.95453326e-02 -2.55555472e-04 9.99808939e-01 -2.00198808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454012739 meters 0.02907709369966969 Centerline is valid? [True, True] Translation: X:104.01, Y:-14.55, Z:-2.00 [[ 9.82460024e-01 1.85490919e-01 1.91159879e-02 1.04013380e+02] [-1.85461637e-01 9.82645934e-01 -3.30893150e-03 -1.45529854e+01] [-1.93980245e-02 -2.94389488e-04 9.99811797e-01 -2.00301624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters 0.03263606607064162 Centerline is valid? [True, True] Translation: X:104.04, Y:-14.55, Z:-2.00 [[ 9.81598554e-01 1.89995533e-01 1.91305081e-02 1.04043201e+02] [-1.89967084e-01 9.81784879e-01 -3.31027274e-03 -1.45535941e+01] [-1.94109806e-02 -3.84807895e-04 9.99811515e-01 -2.00450083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514012739 meters 0.03264730506532529 Centerline is valid? [True, True] Translation: X:104.07, Y:-14.56, Z:-2.01 [[ 9.81101168e-01 1.92596376e-01 1.86315580e-02 1.04072026e+02] [-1.92569867e-01 9.81277970e-01 -3.22353565e-03 -1.45586826e+01] [-1.89035787e-02 -4.25262060e-04 9.99821221e-01 -2.00584267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters 0.0430294183747946 Centerline is valid? [True, True] Translation: X:104.10, Y:-14.55, Z:-2.01 [[ 9.79855173e-01 1.98875653e-01 1.82294826e-02 1.04104271e+02] [-1.98851374e-01 9.80024586e-01 -3.15325454e-03 -1.45457890e+01] [-1.84924466e-02 -5.35224871e-04 9.99828857e-01 -2.00742808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574012739 meters 0.0464709082815677 Centerline is valid? [True, True] Translation: X:104.13, Y:-14.54, Z:-2.01 [[ 9.79266987e-01 2.01743949e-01 1.83179268e-02 1.04134349e+02] [-2.01719935e-01 9.79438119e-01 -3.16851960e-03 -1.45441523e+01] [-1.85805055e-02 -5.92264370e-04 9.99827192e-01 -2.00722485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters 0.044010515266641737 Centerline is valid? [True, True] Translation: X:104.16, Y:-14.55, Z:-2.01 [[ 9.78692619e-01 2.04487912e-01 1.85863464e-02 1.04163217e+02] [-2.04463695e-01 9.78868871e-01 -3.21432176e-03 -1.45498071e+01] [-1.88508859e-02 -6.54400080e-04 9.99822092e-01 -2.00689994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634012739 meters 0.049493387201289485 Centerline is valid? [True, True] Translation: X:104.19, Y:-14.54, Z:-2.01 [[ 9.77708918e-01 2.09056447e-01 1.95108749e-02 1.04194479e+02] [-2.09030682e-01 9.77903264e-01 -3.37345756e-03 -1.45402517e+01] [-1.97849913e-02 -7.80111954e-04 9.99803954e-01 -2.00699785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters 0.05119051641291479 Centerline is valid? [True, True] Translation: X:104.22, Y:-14.54, Z:-2.01 [[ 9.77534712e-01 2.09767950e-01 2.05741209e-02 1.04223188e+02] [-2.09739467e-01 9.77750840e-01 -3.55691990e-03 -1.45354741e+01] [-2.08624918e-02 -8.38192470e-04 9.99782003e-01 -2.00644102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694012739 meters 0.049827015163189194 Centerline is valid? [True, True] Translation: X:104.25, Y:-14.54, Z:-2.01 [[ 9.77839665e-01 2.08344899e-01 2.05424599e-02 1.04252492e+02] [-2.08316216e-01 9.78055086e-01 -3.55018625e-03 -1.45383085e+01] [-2.08313206e-02 -8.07814579e-04 9.99782678e-01 -2.00682145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters 0.04737504179592077 Centerline is valid? [True, True] Translation: X:104.28, Y:-14.54, Z:-2.01 [[ 9.78317383e-01 2.06165595e-01 1.97698332e-02 1.04281657e+02] [-2.06138643e-01 9.78516840e-01 -3.41372267e-03 -1.45430558e+01] [-2.00489069e-02 -7.35622367e-04 9.99798730e-01 -2.00865770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754012739 meters 0.040818802377225044 Centerline is valid? [True, True] Translation: X:104.31, Y:-14.55, Z:-2.01 [[ 9.79467840e-01 2.00830390e-01 1.76041344e-02 1.04310576e+02] [-2.00808166e-01 9.79625869e-01 -3.03934928e-03 -1.45516910e+01] [-1.78558592e-02 -5.58109080e-04 9.99840416e-01 -2.01291282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters 0.039550780263574004 Centerline is valid? [True, True] Translation: X:104.34, Y:-14.56, Z:-2.01 [[ 9.80088385e-01 1.97862072e-01 1.66540962e-02 1.04338650e+02] [-1.97841752e-01 9.80229755e-01 -2.87539494e-03 -1.45562477e+01] [-1.68937722e-02 -4.76734385e-04 9.99857176e-01 -2.01474884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814012739 meters 0.03675660746193 Centerline is valid? [True, True] Translation: X:104.37, Y:-14.56, Z:-2.02 [[ 9.80605237e-01 1.95306524e-01 1.63929840e-02 1.04366279e+02] [-1.95286489e-01 9.80742158e-01 -2.82977103e-03 -1.45635899e+01] [-1.66299633e-02 -4.26439988e-04 9.99861622e-01 -2.01608613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters 0.03278259229139247 Centerline is valid? [True, True] Translation: X:104.40, Y:-14.57, Z:-2.02 [[ 9.81525946e-01 1.90606019e-01 1.66181636e-02 1.04395471e+02] [-1.90584772e-01 9.81666553e-01 -2.86767030e-03 -1.45704837e+01] [-1.68600906e-02 -3.52476117e-04 9.99857796e-01 -2.01679959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874012739 meters 0.029885616794210687 Centerline is valid? [True, True] Translation: X:104.42, Y:-14.58, Z:-2.01 [[ 9.82392041e-01 1.85931385e-01 1.83138743e-02 1.04423310e+02] [-1.85904766e-01 9.82562685e-01 -3.16034709e-03 -1.45773137e+01] [-1.85821372e-02 -2.99936677e-04 9.99827292e-01 -2.01415419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters 0.026791248689900512 Centerline is valid? [True, True] Translation: X:104.45, Y:-14.59, Z:-2.01 [[ 9.82904237e-01 1.83108049e-01 1.92536414e-02 1.04450790e+02] [-1.83078101e-01 9.83092760e-01 -3.32180040e-03 -1.45877190e+01] [-1.95363638e-02 -2.59908408e-04 9.99809113e-01 -2.01275974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934012739 meters 0.024728971706862005 Centerline is valid? [True, True] Translation: X:104.48, Y:-14.60, Z:-2.01 [[ 9.83471400e-01 1.79994705e-01 1.96446451e-02 1.04478631e+02] [-1.79962925e-01 9.83667558e-01 -3.38830123e-03 -1.45974023e+01] [-1.99336764e-02 -2.03010445e-04 9.99801284e-01 -2.01277314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters 0.022269653676870917 Centerline is valid? [True, True] Translation: X:104.51, Y:-14.61, Z:-2.02 [[ 9.84500788e-01 1.74421286e-01 1.83142840e-02 1.04505650e+02] [-1.74392715e-01 9.84671117e-01 -3.15802958e-03 -1.46113879e+01] [-1.85843741e-02 -8.47951070e-05 9.99827292e-01 -2.01597541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994012739 meters 0.021803231567810177 Centerline is valid? [True, True] Translation: X:104.53, Y:-14.62, Z:-2.02 [[ 9.84926367e-01 1.72044408e-01 1.79101543e-02 1.04533013e+02] [-1.72016706e-01 9.85089194e-01 -3.08751058e-03 -1.46203642e+01] [-1.81742884e-02 -3.98751829e-05 9.99834833e-01 -2.01777736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters 0.02177722200096802 Centerline is valid? [True, True] Translation: X:104.56, Y:-14.63, Z:-2.02 [[ 9.85521728e-01 1.68526261e-01 1.85963126e-02 1.04558784e+02] [-1.68495786e-01 9.85697164e-01 -3.20488908e-03 -1.46320569e+01] [-1.88704406e-02 2.50875185e-05 9.99821937e-01 -2.01709460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054012739 meters 0.021768330169305156 Centerline is valid? [True, True] Translation: X:104.59, Y:-14.64, Z:-2.02 [[ 9.85772082e-01 1.66973670e-01 1.93182798e-02 1.04586386e+02] [-1.66940508e-01 9.85961353e-01 -3.32811750e-03 -1.46405072e+01] [-1.96027853e-02 5.57618873e-05 9.99807845e-01 -2.01534878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters 0.022665763089321337 Centerline is valid? [True, True] Translation: X:104.61, Y:-14.65, Z:-2.02 [[ 9.86280055e-01 1.63920529e-01 1.95374919e-02 1.04613427e+02] [-1.63886029e-01 9.86473541e-01 -3.36495540e-03 -1.46539914e+01] [-1.98248041e-02 1.16866428e-04 9.99803462e-01 -2.01573730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114012739 meters 0.023480223812443773 Centerline is valid? [True, True] Translation: X:104.64, Y:-14.66, Z:-2.02 [[ 9.86576914e-01 1.62144675e-01 1.93674343e-02 1.04640259e+02] [-1.62110449e-01 9.86766985e-01 -3.33476936e-03 -1.46639399e+01] [-1.96518598e-02 1.50342994e-04 9.99806872e-01 -2.01724493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters 0.02513672407796471 Centerline is valid? [True, True] Translation: X:104.67, Y:-14.68, Z:-2.02 [[ 9.87035705e-01 1.59316721e-01 1.94602262e-02 1.04667775e+02] [-1.59281634e-01 9.87227501e-01 -3.34982052e-03 -1.46783166e+01] [-1.97453529e-02 2.06735822e-04 9.99805020e-01 -2.01827612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174012739 meters 0.025269695982085928 Centerline is valid? [True, True] Translation: X:104.70, Y:-14.69, Z:-2.02 [[ 9.87066200e-01 1.59096366e-01 1.97145353e-02 1.04696722e+02] [-1.59060316e-01 9.87263035e-01 -3.39336954e-03 -1.46850238e+01] [-2.00033047e-02 2.13680151e-04 9.99799891e-01 -2.01779097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters 0.024501739610490833 Centerline is valid? [True, True] Translation: X:104.73, Y:-14.69, Z:-2.02 [[ 9.86968150e-01 1.59744450e-01 1.93799179e-02 1.04727280e+02] [-1.59709748e-01 9.87158382e-01 -3.33532197e-03 -1.46891275e+01] [-1.96638476e-02 1.96694748e-04 9.99806629e-01 -2.01866472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234012739 meters 0.02303877270458377 Centerline is valid? [True, True] Translation: X:104.76, Y:-14.69, Z:-2.02 [[ 9.86392117e-01 1.63310582e-01 1.89801431e-02 1.04756287e+02] [-1.63277956e-01 9.86574700e-01 -3.26655671e-03 -1.46916736e+01] [-1.92587923e-02 1.23066811e-04 9.99814525e-01 -2.01998448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters 0.022212419303247178 Centerline is valid? [True, True] Translation: X:104.78, Y:-14.69, Z:-2.02 [[ 9.86000595e-01 1.65651419e-01 1.90377285e-02 1.04784903e+02] [-1.65619043e-01 9.86184365e-01 -3.27579700e-03 -1.46932428e+01] [-1.93173506e-02 7.69274126e-05 9.99813400e-01 -2.02073338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294012739 meters 0.021749801940209416 Centerline is valid? [True, True] Translation: X:104.81, Y:-14.69, Z:-2.02 [[ 9.85457709e-01 1.68992609e-01 1.77369958e-02 1.04814715e+02] [-1.68965061e-01 9.85617318e-01 -3.05124238e-03 -1.46923990e+01] [-1.79975277e-02 9.93773328e-06 9.99838031e-01 -2.02377308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters 0.021749801940209416 Centerline is valid? [True, True] Translation: X:104.84, Y:-14.70, Z:-2.02 [[ 9.85465587e-01 1.68946651e-01 1.77371377e-02 1.04842643e+02] [-1.68919110e-01 9.85625197e-01 -3.05041754e-03 -1.46971115e+01] [-1.79975277e-02 9.93999645e-06 9.99838031e-01 -2.02434837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354012739 meters 0.021809798785660833 Centerline is valid? [True, True] Translation: X:104.87, Y:-14.70, Z:-2.03 [[ 9.85430772e-01 1.69198930e-01 1.72602095e-02 1.04870349e+02] [-1.69172903e-01 9.85581921e-01 -2.96762528e-03 -1.47021241e+01] [-1.75134694e-02 4.42952257e-06 9.99846627e-01 -2.02655802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters 0.02204903063574403 Centerline is valid? [True, True] Translation: X:104.90, Y:-14.71, Z:-2.03 [[ 9.85806045e-01 1.66917803e-01 1.80246816e-02 1.04896349e+02] [-1.66889059e-01 9.85970813e-01 -3.09792840e-03 -1.47129065e+01] [-1.82889093e-02 4.58344102e-05 9.99832743e-01 -2.02553850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414012739 meters 0.02246459698580889 Centerline is valid? [True, True] Translation: X:104.92, Y:-14.72, Z:-2.03 [[ 9.86085681e-01 1.65168420e-01 1.88260945e-02 1.04923131e+02] [-1.65136765e-01 9.86265373e-01 -3.23456433e-03 -1.47210508e+01] [-1.91017730e-02 8.06772278e-05 9.99817541e-01 -2.02526371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters 0.022949813983348284 Centerline is valid? [True, True] Translation: X:104.95, Y:-14.73, Z:-2.02 [[ 9.86297484e-01 1.63826694e-01 1.94444613e-02 1.04951377e+02] [-1.63792689e-01 9.86489129e-01 -3.33957802e-03 -1.47286320e+01] [-1.97288617e-02 1.08956807e-04 9.99805361e-01 -2.02448545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474012739 meters 0.023097794943592004 Centerline is valid? [True, True] Translation: X:104.98, Y:-14.74, Z:-2.02 [[ 9.86354910e-01 1.63426563e-01 1.98934642e-02 1.04980278e+02] [-1.63390905e-01 9.86555495e-01 -3.41578829e-03 -1.47368773e+01] [-2.01842370e-02 1.18768425e-04 9.99796270e-01 -2.02457873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters 0.022054586609786587 Centerline is valid? [True, True] Translation: X:105.01, Y:-14.74, Z:-2.03 [[ 9.85835451e-01 1.66635348e-01 1.90032757e-02 1.05010349e+02] [-1.66603414e-01 9.86018589e-01 -3.26254151e-03 -1.47391793e+01] [-1.92812379e-02 5.03184725e-05 9.99814098e-01 -2.02600245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534012739 meters 0.02175430973734223 Centerline is valid? [True, True] Translation: X:105.04, Y:-14.74, Z:-2.03 [[ 9.85402559e-01 1.69224867e-01 1.85672038e-02 1.05039441e+02] [-1.69194849e-01 9.85577467e-01 -3.18728211e-03 -1.47405390e+01] [-1.88387851e-02 -7.19289035e-07 9.99822534e-01 -2.02705316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters 0.022188521008859284 Centerline is valid? [True, True] Translation: X:105.07, Y:-14.74, Z:-2.03 [[ 9.84905265e-01 1.72070888e-01 1.87943730e-02 1.05067201e+02] [-1.72040665e-01 9.85084568e-01 -3.22541002e-03 -1.47402349e+01] [-1.90690460e-02 -5.66731313e-05 9.99818168e-01 -2.02803857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594012739 meters 0.024711984336828547 Centerline is valid? [True, True] Translation: X:105.10, Y:-14.74, Z:-2.03 [[ 9.83767476e-01 1.78414684e-01 1.92289665e-02 1.05097133e+02] [-1.78384285e-01 9.83955368e-01 -3.29858777e-03 -1.47368988e+01] [-1.95089613e-02 -1.85102069e-04 9.99809665e-01 -2.02788472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters 0.02682174206656036 Centerline is valid? [True, True] Translation: X:105.13, Y:-14.74, Z:-2.03 [[ 9.83230701e-01 1.81304735e-01 1.96464174e-02 1.05125429e+02] [-1.81273596e-01 9.83426932e-01 -3.36926663e-03 -1.47366899e+01] [-1.99316799e-02 -2.48610345e-04 9.99801313e-01 -2.02727263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654012739 meters 0.030444946701791556 Centerline is valid? [True, True] Translation: X:105.16, Y:-14.73, Z:-2.02 [[ 9.82321980e-01 1.86033080e-01 2.08619309e-02 1.05155881e+02] [-1.85999061e-01 9.82543413e-01 -3.57644223e-03 -1.47315541e+01] [-2.11630894e-02 -3.67081743e-04 9.99775969e-01 -2.02498085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters 0.03256175860893686 Centerline is valid? [True, True] Translation: X:105.19, Y:-14.73, Z:-2.02 [[ 9.81890534e-01 1.88241153e-01 2.13599417e-02 1.05185441e+02] [-1.88206035e-01 9.82122745e-01 -3.66077070e-03 -1.47310055e+01] [-2.16671923e-02 -4.25593855e-04 9.99765148e-01 -2.02421880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714012739 meters 0.03773325799651269 Centerline is valid? [True, True] Translation: X:105.21, Y:-14.73, Z:-2.02 [[ 9.81539001e-01 1.90047248e-01 2.15228306e-02 1.05214284e+02] [-1.90012049e-01 9.81774833e-01 -3.68767215e-03 -1.47260396e+01] [-2.18314054e-02 -4.70003094e-04 9.99761556e-01 -2.02401511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters 0.03786762107884038 Centerline is valid? [True, True] Translation: X:105.24, Y:-14.73, Z:-2.03 [[ 9.80970171e-01 1.93013991e-01 2.10504709e-02 1.05244537e+02] [-1.92981026e-01 9.81195864e-01 -3.60559683e-03 -1.47268524e+01] [-2.13505656e-02 -5.25358539e-04 9.99771913e-01 -2.02564073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774012739 meters 0.03887158643923794 Centerline is valid? [True, True] Translation: X:105.27, Y:-14.73, Z:-2.03 [[ 9.80844466e-01 1.93740110e-01 2.02213428e-02 1.05273343e+02] [-1.93709854e-01 9.81052750e-01 -3.46313446e-03 -1.47268938e+01] [-2.05091520e-02 -5.20277086e-04 9.99789530e-01 -2.02793873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters 0.040126649561329115 Centerline is valid? [True, True] Translation: X:105.30, Y:-14.72, Z:-2.03 [[ 9.80730894e-01 1.94419871e-01 1.91788149e-02 1.05301394e+02] [-1.94392800e-01 9.80918272e-01 -3.28381189e-03 -1.47247268e+01] [-1.94512882e-02 -5.07687748e-04 9.99810677e-01 -2.03064501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834012739 meters 0.04426689373555367 Centerline is valid? [True, True] Translation: X:105.33, Y:-14.72, Z:-2.03 [[ 9.80753950e-01 1.94273131e-01 1.94843549e-02 1.05329643e+02] [-1.94245199e-01 9.80947341e-01 -3.33419861e-03 -1.47212449e+01] [-1.97608713e-02 -5.14713935e-04 9.99804602e-01 -2.03126881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters 0.03545939257737787 Centerline is valid? [True, True] Translation: X:105.36, Y:-14.73, Z:-2.03 [[ 9.81052847e-01 1.92703056e-01 2.00210697e-02 1.05357161e+02] [-1.92673270e-01 9.81256992e-01 -3.42443048e-03 -1.47336864e+01] [-2.03057128e-02 -4.97977690e-04 9.99793694e-01 -2.03028973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894012739 meters 0.03592810980586434 Centerline is valid? [True, True] Translation: X:105.39, Y:-14.73, Z:-2.03 [[ 9.81279371e-01 1.91510248e-01 2.03622641e-02 1.05385226e+02] [-1.91479218e-01 9.81490495e-01 -3.48099892e-03 -1.47349441e+01] [-2.06520156e-02 -4.83117980e-04 9.99786608e-01 -2.03066724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters 0.035331241428249574 Centerline is valid? [True, True] Translation: X:105.41, Y:-14.74, Z:-2.03 [[ 9.81517729e-01 1.90311473e-01 2.01119722e-02 1.05412794e+02] [-1.90280975e-01 9.81723656e-01 -3.43702087e-03 -1.47382344e+01] [-2.03985034e-02 -4.53428746e-04 9.99791826e-01 -2.03193346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954012739 meters 0.03795582898358356 Centerline is valid? [True, True] Translation: X:105.44, Y:-14.73, Z:-2.03 [[ 9.81908022e-01 1.88324357e-01 1.97628977e-02 1.05441354e+02] [-1.88294528e-01 9.82106803e-01 -3.37624609e-03 -1.47343823e+01] [-2.00451057e-02 -4.06082372e-04 9.99798994e-01 -2.03362205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters 0.031063717606009802 Centerline is valid? [True, True] Translation: X:105.47, Y:-14.74, Z:-2.04 [[ 9.82269808e-01 1.86534302e-01 1.87343961e-02 1.05469166e+02] [-1.86507191e-01 9.82448386e-01 -3.19951255e-03 -1.47445673e+01] [-1.90023960e-02 -3.51315004e-04 9.99819376e-01 -2.03618944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014012739 meters 0.03188286297706194 Centerline is valid? [True, True] Translation: X:105.50, Y:-14.75, Z:-2.04 [[ 9.82371103e-01 1.85980110e-01 1.89318478e-02 1.05496962e+02] [-1.85952338e-01 9.82553449e-01 -3.23237491e-03 -1.47453000e+01] [-1.92027098e-02 -3.45029669e-04 9.99815551e-01 -2.03679908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters 0.030401826008730395 Centerline is valid? [True, True] Translation: X:105.53, Y:-14.75, Z:-2.04 [[ 9.82406657e-01 1.85723442e-01 1.95950000e-02 1.05525273e+02] [-1.85693676e-01 9.82601994e-01 -3.34379706e-03 -1.47501729e+01] [-1.98751076e-02 -3.53699081e-04 9.99802408e-01 -2.03585756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074012739 meters 0.02937986399054957 Centerline is valid? [True, True] Translation: X:105.55, Y:-14.75, Z:-2.04 [[ 9.82481125e-01 1.85314298e-01 1.97345044e-02 1.05554051e+02] [-1.85284042e-01 9.82679240e-01 -3.36666633e-03 -1.47525747e+01] [-2.00165792e-02 -3.48802635e-04 9.99799587e-01 -2.03621793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters 0.030565546427507813 Centerline is valid? [True, True] Translation: X:105.58, Y:-14.75, Z:-2.04 [[ 9.82524984e-01 1.85158370e-01 1.90008648e-02 1.05581350e+02] [-1.85130308e-01 9.82708638e-01 -3.24071019e-03 -1.47529356e+01] [-1.92723586e-02 -3.33557237e-04 9.99814215e-01 -2.03798202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134012739 meters 0.028949995448473653 Centerline is valid? [True, True] Translation: X:105.61, Y:-14.76, Z:-2.04 [[ 9.82665286e-01 1.84529306e-01 1.78289570e-02 1.05609764e+02] [-1.84504539e-01 9.82826965e-01 -3.03847759e-03 -1.47569704e+01] [-1.80834679e-02 -3.03717047e-04 9.99836435e-01 -2.04016427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters 0.029751987323188754 Centerline is valid? [True, True] Translation: X:105.64, Y:-14.76, Z:-2.04 [[ 9.82807693e-01 1.83759465e-01 1.79303489e-02 1.05637423e+02] [-1.83734302e-01 9.82971197e-01 -3.05490823e-03 -1.47591706e+01] [-1.81863849e-02 -2.92032844e-04 9.99834571e-01 -2.04070645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194012739 meters 0.02862788079307251 Centerline is valid? [True, True] Translation: X:105.67, Y:-14.77, Z:-2.04 [[ 9.83032277e-01 1.82496742e-01 1.85062562e-02 1.05666023e+02] [-1.82469735e-01 9.83206419e-01 -3.15185439e-03 -1.47650602e+01] [-1.87706731e-02 -2.78457059e-04 9.99823777e-01 -2.04061454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters 0.02578569030104557 Centerline is valid? [True, True] Translation: X:105.69, Y:-14.77, Z:-2.04 [[ 9.83638166e-01 1.79024787e-01 2.01515447e-02 1.05694457e+02] [-1.78992056e-01 9.83844536e-01 -3.43106614e-03 -1.47734821e+01] [-2.04402331e-02 -2.32038821e-04 9.99791050e-01 -2.03787262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254012739 meters 0.0248034021493557 Centerline is valid? [True, True] Translation: X:105.72, Y:-14.78, Z:-2.04 [[ 9.83892984e-01 1.77568180e-01 2.05945935e-02 1.05723083e+02] [-1.77533690e-01 9.84108479e-01 -3.50577780e-03 -1.47797039e+01] [-2.08898287e-02 -2.06923998e-04 9.99781762e-01 -2.03721573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters 0.023840167580494977 Centerline is valid? [True, True] Translation: X:105.75, Y:-14.79, Z:-2.04 [[ 9.84220183e-01 1.75813672e-01 2.00046002e-02 1.05750819e+02] [-1.75780785e-01 9.84423448e-01 -3.40446686e-03 -1.47861606e+01] [-2.02915494e-02 -1.65679339e-04 9.99794092e-01 -2.03889426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314012739 meters 0.02327626239867552 Centerline is valid? [True, True] Translation: X:105.78, Y:-14.79, Z:-2.04 [[ 9.84372460e-01 1.75068128e-01 1.90265574e-02 1.05778606e+02] [-1.75038255e-01 9.84556311e-01 -3.23719512e-03 -1.47921583e+01] [-1.92994469e-02 -1.43769684e-04 9.99813738e-01 -2.04097750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters 0.022883386467875577 Centerline is valid? [True, True] Translation: X:105.81, Y:-14.80, Z:-2.04 [[ 9.84671884e-01 1.73513482e-01 1.77299945e-02 1.05806083e+02] [-1.73487302e-01 9.84831488e-01 -3.01590662e-03 -1.47955907e+01] [-1.79843573e-02 -1.06250451e-04 9.99838263e-01 -2.04424581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374012739 meters 0.022349006893867544 Centerline is valid? [True, True] Translation: X:105.83, Y:-14.80, Z:-2.04 [[ 9.84847985e-01 1.72528370e-01 1.75615614e-02 1.05834319e+02] [-1.72502556e-01 9.85004545e-01 -2.98569169e-03 -1.48013323e+01] [-1.78133343e-02 -8.89617926e-05 9.99841326e-01 -2.04486202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters 0.02191029263001924 Centerline is valid? [True, True] Translation: X:105.86, Y:-14.81, Z:-2.04 [[ 9.85242118e-01 1.70183123e-01 1.83213824e-02 1.05861302e+02] [-1.70154639e-01 9.85412453e-01 -3.11399270e-03 -1.48076424e+01] [-1.85840674e-02 -4.94314372e-05 9.99827300e-01 -2.04422961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434012739 meters 0.02148888405465804 Centerline is valid? [True, True] Translation: X:105.89, Y:-14.81, Z:-2.04 [[ 9.85423804e-01 1.69054675e-01 1.89853536e-02 1.05889247e+02] [-1.69023900e-01 9.85606674e-01 -3.22568284e-03 -1.48143855e+01] [-1.92574080e-02 -3.03138555e-05 9.99814558e-01 -2.04327646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters 0.02151864160627314 Centerline is valid? [True, True] Translation: X:105.92, Y:-14.82, Z:-2.04 [[ 9.85795558e-01 1.66770346e-01 1.98688341e-02 1.05915388e+02] [-1.66736196e-01 9.85995767e-01 -3.37482980e-03 -1.48222599e+01] [-2.01534078e-02 1.40384140e-05 9.99796899e-01 -2.04189105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494012739 meters 0.02163116841986003 Centerline is valid? [True, True] Translation: X:105.94, Y:-14.83, Z:-2.04 [[ 9.85945023e-01 1.65937639e-01 1.94193787e-02 1.05942347e+02] [-1.65904885e-01 9.86136248e-01 -3.29694782e-03 -1.48279344e+01] [-1.96972410e-02 2.88394996e-05 9.99805990e-01 -2.04345264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters 0.021775163164303325 Centerline is valid? [True, True] Translation: X:105.97, Y:-14.83, Z:-2.05 [[ 9.86121251e-01 1.64968072e-01 1.87193645e-02 1.05970487e+02] [-1.64937486e-01 9.86298907e-01 -3.17683560e-03 -1.48339365e+01] [-1.89869652e-02 4.52201673e-05 9.99819730e-01 -2.04553741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554012739 meters 0.022062230193325063 Centerline is valid? [True, True] Translation: X:106.00, Y:-14.84, Z:-2.05 [[ 9.86392088e-01 1.63441839e-01 1.78161272e-02 1.05998905e+02] [-1.63413899e-01 9.86552969e-01 -3.02277951e-03 -1.48402025e+01] [-1.80706018e-02 7.02429718e-05 9.99836711e-01 -2.04810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters 0.02237393787976779 Centerline is valid? [True, True] Translation: X:106.03, Y:-14.85, Z:-2.05 [[ 9.86600678e-01 1.62078078e-01 1.87029015e-02 1.06025699e+02] [-1.62047059e-01 9.86777932e-01 -3.17232346e-03 -1.48478782e+01] [-1.89697745e-02 9.90662980e-05 9.99820053e-01 -2.04574407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614012739 meters 0.022453582461044026 Centerline is valid? [True, True] Translation: X:106.05, Y:-14.85, Z:-2.05 [[ 9.86727328e-01 1.61231662e-01 1.93269414e-02 1.06054127e+02] [-1.61198400e-01 9.86916581e-01 -3.27699527e-03 -1.48544649e+01] [-1.96024344e-02 1.18028754e-04 9.99807847e-01 -2.04572117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters 0.02284182938419943 Centerline is valid? [True, True] Translation: X:106.08, Y:-14.86, Z:-2.05 [[ 9.86870411e-01 1.60337610e-01 1.94587353e-02 1.06081697e+02] [-1.60303737e-01 9.87062223e-01 -3.29841273e-03 -1.48620501e+01] [-1.97358422e-02 1.35797930e-04 9.99805220e-01 -2.04571300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674012739 meters 0.023538711193763665 Centerline is valid? [True, True] Translation: X:106.11, Y:-14.87, Z:-2.05 [[ 9.87168204e-01 1.58566975e-01 1.88534432e-02 1.06109229e+02] [-1.58534870e-01 9.87348210e-01 -3.19494742e-03 -1.48709732e+01] [-1.91215265e-02 1.65022343e-04 9.99817153e-01 -2.04748266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters 0.024317752564999934 Centerline is valid? [True, True] Translation: X:106.14, Y:-14.88, Z:-2.05 [[ 9.87269225e-01 1.58024452e-01 1.81038377e-02 1.06136440e+02] [-1.57994774e-01 9.87435185e-01 -3.06711492e-03 -1.48781596e+01] [-1.83610455e-02 1.67756423e-04 9.99831408e-01 -2.04989320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734012739 meters 0.024233746591006567 Centerline is valid? [True, True] Translation: X:106.16, Y:-14.88, Z:-2.05 [[ 9.87263756e-01 1.58102512e-01 1.77164546e-02 1.06164586e+02] [-1.58074121e-01 9.87422690e-01 -3.00042948e-03 -1.48837294e+01] [-1.79680047e-02 1.61702286e-04 9.99838549e-01 -2.05092052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters 0.022934064324303085 Centerline is valid? [True, True] Translation: X:106.19, Y:-14.89, Z:-2.05 [[ 9.86999250e-01 1.59685822e-01 1.82460565e-02 1.06193370e+02] [-1.59655994e-01 9.87167878e-01 -3.08927331e-03 -1.48862225e+01] [-1.85052340e-02 1.36018157e-04 9.99828754e-01 -2.04952134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794012739 meters 0.023232022856540725 Centerline is valid? [True, True] Translation: X:106.22, Y:-14.89, Z:-2.05 [[ 9.86880739e-01 1.60438807e-01 1.80498149e-02 1.06220567e+02] [-1.60409759e-01 9.87045782e-01 -3.05520444e-03 -1.48919955e+01] [-1.83061671e-02 1.19755946e-04 9.99832421e-01 -2.05109993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters 0.022933096353752673 Centerline is valid? [True, True] Translation: X:106.25, Y:-14.90, Z:-2.05 [[ 9.86910961e-01 1.60305874e-01 1.75721723e-02 1.06249522e+02] [-1.60278341e-01 9.87067380e-01 -2.97329739e-03 -1.48964153e+01] [-1.78215551e-02 1.17941152e-04 9.99841177e-01 -2.05253853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854012739 meters 0.02280497653923847 Centerline is valid? [True, True] Translation: X:106.28, Y:-14.90, Z:-2.05 [[ 9.86888695e-01 1.60498865e-01 1.70533767e-02 1.06277452e+02] [-1.60472976e-01 9.87036019e-01 -2.88473517e-03 -1.49026974e+01] [-1.72952938e-02 1.10306419e-04 9.99850419e-01 -2.05439791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters 0.027826818446694965 Centerline is valid? [True, True] Translation: X:106.31, Y:-14.91, Z:-2.04 [[ 9.86960214e-01 1.60112637e-01 1.65372186e-02 1.06305613e+02] [-1.60088251e-01 9.87098744e-01 -2.79666489e-03 -1.49089316e+01] [-1.67716491e-02 1.12782583e-04 9.99859340e-01 -2.04476826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914012739 meters 0.022855711746802027 Centerline is valid? [True, True] Translation: X:106.33, Y:-14.91, Z:-2.05 [[ 9.86982434e-01 1.59776293e-01 1.83633276e-02 1.06332981e+02] [-1.59746183e-01 9.87153240e-01 -3.10448937e-03 -1.49138379e+01] [-1.86234422e-02 1.30604966e-04 9.99826560e-01 -2.05210220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters 0.022758677588685945 Centerline is valid? [True, True] Translation: X:106.36, Y:-14.92, Z:-2.05 [[ 9.86740888e-01 1.61009675e-01 2.04525096e-02 1.06360232e+02] [-1.60972617e-01 9.86952821e-01 -3.45629407e-03 -1.49175573e+01] [-2.07421588e-02 1.18172682e-04 9.99784851e-01 -2.04890653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974012739 meters 0.02217186531642296 Centerline is valid? [True, True] Translation: X:106.39, Y:-14.92, Z:-2.05 [[ 9.86558620e-01 1.62197976e-01 1.98470719e-02 1.06389518e+02] [-1.62163344e-01 9.86758232e-01 -3.35282062e-03 -1.49190316e+01] [-2.01280823e-02 8.92865392e-05 9.99797406e-01 -2.05017881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters 0.02197448024499433 Centerline is valid? [True, True] Translation: X:106.42, Y:-14.92, Z:-2.05 [[ 9.86383368e-01 1.63383670e-01 1.88049948e-02 1.06417809e+02] [-1.63352811e-01 9.86562605e-01 -3.17595149e-03 -1.49213759e+01] [-1.90712033e-02 6.08569687e-05 9.99818126e-01 -2.05338568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034012739 meters 0.02204346978342188 Centerline is valid? [True, True] Translation: X:106.45, Y:-14.92, Z:-2.06 [[ 9.86074828e-01 1.65323739e-01 1.80137631e-02 1.06446887e+02] [-1.65295760e-01 9.86239353e-01 -3.04152004e-03 -1.49219073e+01] [-1.82687176e-02 2.15676846e-05 9.99833113e-01 -2.05560940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters 0.021893087246789778 Centerline is valid? [True, True] Translation: X:106.47, Y:-14.92, Z:-2.06 [[ 9.85946674e-01 1.66013161e-01 1.86758305e-02 1.06474237e+02] [-1.65983229e-01 9.86123537e-01 -3.15236416e-03 -1.49249340e+01] [-1.89400099e-02 8.18831697e-06 9.99820622e-01 -2.05519432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094012739 meters 0.02189433144825883 Centerline is valid? [True, True] Translation: X:106.50, Y:-14.93, Z:-2.05 [[ 9.86124380e-01 1.64793550e-01 2.00447951e-02 1.06500382e+02] [-1.64758844e-01 9.86328082e-01 -3.38211273e-03 -1.49311953e+01] [-2.03280947e-02 3.26265441e-05 9.99793362e-01 -2.05299371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters 0.022423997657848704 Centerline is valid? [True, True] Translation: X:106.53, Y:-14.94, Z:-2.05 [[ 9.86447134e-01 1.62884683e-01 1.97644190e-02 1.06526628e+02] [-1.62850590e-01 9.86645111e-01 -3.33319702e-03 -1.49398057e+01] [-2.00433942e-02 6.93753459e-05 9.99799109e-01 -2.05428389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154012739 meters 0.02290558253460487 Centerline is valid? [True, True] Translation: X:106.55, Y:-14.95, Z:-2.06 [[ 9.86877086e-01 1.60320431e-01 1.92607482e-02 1.06554789e+02] [-1.60287579e-01 9.87065016e-01 -3.24753042e-03 -1.49481133e+01] [-1.95322562e-02 1.17654647e-04 9.99809220e-01 -2.05618640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters 0.02576414528045162 Centerline is valid? [True, True] Translation: X:106.58, Y:-14.96, Z:-2.06 [[ 9.87783044e-01 1.54800997e-01 1.79250885e-02 1.06580976e+02] [-1.54771648e-01 9.87945650e-01 -3.02153732e-03 -1.49625685e+01] [-1.81767502e-02 2.10327826e-04 9.99834767e-01 -2.05900890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214012739 meters 0.02576414528045162 Centerline is valid? [True, True] Translation: X:106.61, Y:-14.97, Z:-2.06 [[ 9.87790088e-01 1.54756026e-01 1.79252282e-02 1.06608920e+02] [-1.54726685e-01 9.87952695e-01 -3.02070872e-03 -1.49671889e+01] [-1.81767504e-02 2.10314996e-04 9.99834767e-01 -2.05958423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters 0.029972640521018886 Centerline is valid? [True, True] Translation: X:106.64, Y:-14.98, Z:-2.06 [[ 9.88671483e-01 1.49159248e-01 1.67396864e-02 1.06635585e+02] [-1.49132870e-01 9.88813144e-01 -2.82016395e-03 -1.49828099e+01] [-1.69730754e-02 2.91778199e-04 9.99855904e-01 -2.06293501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274012739 meters 0.03160446653056986 Centerline is valid? [True, True] Translation: X:106.66, Y:-14.99, Z:-2.06 [[ 9.88963335e-01 1.47177338e-01 1.70397435e-02 1.06662826e+02] [-1.47149723e-01 9.89110065e-01 -2.87010636e-03 -1.49923101e+01] [-1.72765964e-02 3.31036424e-04 9.99850694e-01 -2.06289720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters 0.03168296379034901 Centerline is valid? [True, True] Translation: X:106.69, Y:-15.00, Z:-2.06 [[ 9.89151528e-01 1.45833906e-01 1.76557568e-02 1.06691328e+02] [-1.45804055e-01 9.89309020e-01 -2.97320278e-03 -1.49998272e+01] [-1.79005933e-02 3.66667129e-04 9.99839704e-01 -2.06203650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334012739 meters 0.03388427065109235 Centerline is valid? [True, True] Translation: X:106.72, Y:-15.01, Z:-2.06 [[ 9.89280393e-01 1.44579543e-01 2.05197248e-02 1.06718672e+02] [-1.44538964e-01 9.89493078e-01 -3.45493224e-03 -1.50136963e+01] [-2.08036382e-02 4.51996962e-04 9.99783479e-01 -2.05757600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters 0.032225643139269275 Centerline is valid? [True, True] Translation: X:106.75, Y:-15.02, Z:-2.06 [[ 9.89278981e-01 1.44530025e-01 2.09325123e-02 1.06749356e+02] [-1.44487790e-01 9.89500307e-01 -3.52421349e-03 -1.50175994e+01] [-2.12220820e-02 4.61937887e-04 9.99774680e-01 -2.05680971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394012739 meters 0.031984496325158804 Centerline is valid? [True, True] Translation: X:106.78, Y:-15.02, Z:-2.06 [[ 9.89155611e-01 1.45466799e-01 2.02629802e-02 1.06779477e+02] [-1.45427409e-01 9.89363041e-01 -3.41199126e-03 -1.50239570e+01] [-2.05437752e-02 4.28197584e-04 9.99788863e-01 -2.05837957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters 0.031490781608362044 Centerline is valid? [True, True] Translation: X:106.81, Y:-15.03, Z:-2.06 [[ 9.88985484e-01 1.46686446e-01 1.97686437e-02 1.06809133e+02] [-1.46649138e-01 9.89182961e-01 -3.33176527e-03 -1.50319617e+01] [-2.00435303e-02 3.96012932e-04 9.99799030e-01 -2.06041514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454012739 meters 0.031086515739694145 Centerline is valid? [True, True] Translation: X:106.84, Y:-15.04, Z:-2.06 [[ 9.88983049e-01 1.46680920e-01 1.99307997e-02 1.06839464e+02] [-1.46642970e-01 9.89183778e-01 -3.36038483e-03 -1.50383254e+01] [-2.02081281e-02 4.00651967e-04 9.99795715e-01 -2.05987195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters 0.03191556821222984 Centerline is valid? [True, True] Translation: X:106.87, Y:-15.05, Z:-2.06 [[ 9.89035586e-01 1.46225799e-01 2.06548878e-02 1.06869384e+02] [-1.46184940e-01 9.89251149e-01 -3.48256457e-03 -1.50500324e+01] [-2.09421122e-02 4.24946765e-04 9.99780600e-01 -2.06016433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514012739 meters 0.03282857905700015 Centerline is valid? [True, True] Translation: X:106.90, Y:-15.06, Z:-2.06 [[ 9.89179492e-01 1.45269731e-01 2.05094622e-02 1.06900590e+02] [-1.45229175e-01 9.89391989e-01 -3.46117162e-03 -1.50601357e+01] [-2.07947010e-02 4.45147715e-04 9.99783668e-01 -2.06126665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters 0.0353843962292314 Centerline is valid? [True, True] Translation: X:106.93, Y:-15.08, Z:-2.07 [[ 9.89600743e-01 1.42550033e-01 1.92316755e-02 1.06930344e+02] [-1.42513800e-01 9.89787484e-01 -3.24858786e-03 -1.50755948e+01] [-1.94983580e-02 4.74025810e-04 9.99809777e-01 -2.06510349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574012739 meters 0.03629047034356957 Centerline is valid? [True, True] Translation: X:106.96, Y:-15.09, Z:-2.07 [[ 9.89729041e-01 1.41796417e-01 1.81714438e-02 1.06961468e+02] [-1.41763932e-01 9.89895733e-01 -3.07007943e-03 -1.50855945e+01] [-1.84231609e-02 4.62491447e-04 9.99830172e-01 -2.06837569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters 0.03752412194277908 Centerline is valid? [True, True] Translation: X:106.99, Y:-15.10, Z:-2.07 [[ 9.89784545e-01 1.41524834e-01 1.72416671e-02 1.06991660e+02] [-1.41495500e-01 9.89934605e-01 -2.91568505e-03 -1.50963655e+01] [-1.74807648e-02 4.46281689e-04 9.99847100e-01 -2.07031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634012739 meters 0.03720915825825872 Centerline is valid? [True, True] Translation: X:107.02, Y:-15.11, Z:-2.07 [[ 9.89706537e-01 1.42037873e-01 1.74989752e-02 1.07022004e+02] [-1.42007690e-01 9.89861123e-01 -2.96185802e-03 -1.51094479e+01] [-1.77422513e-02 4.46381201e-04 9.99842494e-01 -2.07008932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters 0.0370371025525404 Centerline is valid? [True, True] Translation: X:107.05, Y:-15.12, Z:-2.07 [[ 9.89575027e-01 1.42901943e-01 1.78969462e-02 1.07052768e+02] [-1.42870459e-01 9.89736752e-01 -3.03218448e-03 -1.51178133e+01] [-1.81465705e-02 4.43629128e-04 9.99835239e-01 -2.06958162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694012739 meters 0.03442692945210962 Centerline is valid? [True, True] Translation: X:107.08, Y:-15.12, Z:-2.07 [[ 9.89094935e-01 1.46097171e-01 1.86232562e-02 1.07082440e+02] [-1.46063582e-01 9.89270162e-01 -3.15857899e-03 -1.51231828e+01] [-1.88848912e-02 4.03954970e-04 9.99821583e-01 -2.06913380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters 0.03880203620896861 Centerline is valid? [True, True] Translation: X:107.11, Y:-15.13, Z:-2.06 [[ 9.88760960e-01 1.48400923e-01 1.81363997e-02 1.07114921e+02] [-1.48369456e-01 9.88927218e-01 -3.07592818e-03 -1.51266319e+01] [-1.83920499e-02 3.50469939e-04 9.99830791e-01 -2.05738722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754012739 meters 0.028332869780151596 Centerline is valid? [True, True] Translation: X:107.15, Y:-15.13, Z:-2.07 [[ 9.88006294e-01 1.53225904e-01 1.91150838e-02 1.07145766e+02] [-1.53191785e-01 9.88191148e-01 -3.24528464e-03 -1.51295978e+01] [-1.93866183e-02 2.78087840e-04 9.99812023e-01 -2.06989015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters 0.027180906085341842 Centerline is valid? [True, True] Translation: X:107.18, Y:-15.13, Z:-2.07 [[ 9.87670719e-01 1.55400109e-01 1.89038970e-02 1.07176958e+02] [-1.55367133e-01 9.87851584e-01 -3.20970723e-03 -1.51345562e+01] [-1.91730335e-02 2.33089561e-04 9.99816153e-01 -2.07106122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814012739 meters 0.025773862976289717 Centerline is valid? [True, True] Translation: X:107.21, Y:-15.14, Z:-2.07 [[ 9.87344278e-01 1.57459943e-01 1.89114372e-02 1.07209073e+02] [-1.57427260e-01 9.87525356e-01 -3.21401638e-03 -1.51380124e+01] [-1.91816026e-02 1.96164938e-04 9.99815997e-01 -2.07158883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters 0.023343814030618235 Centerline is valid? [True, True] Translation: X:107.24, Y:-15.14, Z:-2.07 [[ 9.86594930e-01 1.61977978e-01 1.98388100e-02 1.07240187e+02] [-1.61942857e-01 9.86794366e-01 -3.37494037e-03 -1.51357902e+01] [-2.01234920e-02 1.16945492e-04 9.99797495e-01 -2.06992927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874012739 meters 0.02248386800931559 Centerline is valid? [True, True] Translation: X:107.27, Y:-15.14, Z:-2.07 [[ 9.86148424e-01 1.64640226e-01 2.01216599e-02 1.07271108e+02] [-1.64604645e-01 9.86353685e-01 -3.42328783e-03 -1.51359024e+01] [-2.04106843e-02 6.37512156e-05 9.99791678e-01 -2.06913030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters 0.022206869704738636 Centerline is valid? [True, True] Translation: X:107.30, Y:-15.14, Z:-2.07 [[ 9.85692965e-01 1.67389111e-01 1.97551093e-02 1.07300712e+02] [-1.67355366e-01 9.85890910e-01 -3.36092980e-03 -1.51360590e+01] [-2.00389657e-02 6.72130548e-06 9.99799200e-01 -2.07033507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934012739 meters 0.022830381704146682 Centerline is valid? [True, True] Translation: X:107.33, Y:-15.13, Z:-2.07 [[ 9.84939302e-01 1.71880794e-01 1.87500539e-02 1.07331474e+02] [-1.71851213e-01 9.85117752e-01 -3.18975030e-03 -1.51303183e+01] [-1.90192678e-02 -8.05090733e-05 9.99819114e-01 -2.07338052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters 0.02366381621169436 Centerline is valid? [True, True] Translation: X:107.36, Y:-15.13, Z:-2.07 [[ 9.84641245e-01 1.73565308e-01 1.88865762e-02 1.07359616e+02] [-1.73535612e-01 9.84822355e-01 -3.21257430e-03 -1.51290949e+01] [-1.91575139e-02 -1.14260403e-04 9.99816471e-01 -2.07403983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994012739 meters 0.024453424443956377 Centerline is valid? [True, True] Translation: X:107.39, Y:-15.13, Z:-2.07 [[ 9.84238831e-01 1.75653415e-01 2.04890575e-02 1.07388926e+02] [-1.75618944e-01 9.84452055e-01 -3.48388297e-03 -1.51270987e+01] [-2.07824507e-02 -1.69293751e-04 9.99784007e-01 -2.07061371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters 0.024852895370217905 Centerline is valid? [True, True] Translation: X:107.42, Y:-15.13, Z:-2.07 [[ 9.84096590e-01 1.76365246e-01 2.11943706e-02 1.07417569e+02] [-1.76328547e-01 9.84324775e-01 -3.60280872e-03 -1.51280115e+01] [-2.14975544e-02 -1.91660797e-04 9.99768883e-01 -2.06986162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054012739 meters 0.02555023980066258 Centerline is valid? [True, True] Translation: X:107.45, Y:-15.13, Z:-2.07 [[ 9.84047156e-01 1.76627609e-01 2.13045008e-02 1.07446094e+02] [-1.76590611e-01 9.84277729e-01 -3.62053942e-03 -1.51280728e+01] [-2.16090329e-02 -1.99393288e-04 9.99766478e-01 -2.07027987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters 0.025217275468777296 Centerline is valid? [True, True] Translation: X:107.48, Y:-15.13, Z:-2.07 [[ 9.84182799e-01 1.75976860e-01 2.04049865e-02 1.07475707e+02] [-1.75942803e-01 9.84394287e-01 -3.46656710e-03 -1.51282424e+01] [-2.06965877e-02 -1.78374807e-04 9.99785787e-01 -2.07443570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114012739 meters 0.02519368822173522 Centerline is valid? [True, True] Translation: X:107.50, Y:-15.13, Z:-2.08 [[ 9.84224953e-01 1.75819239e-01 1.97189753e-02 1.07503286e+02] [-1.75787419e-01 9.84422453e-01 -3.34919116e-03 -1.51312427e+01] [-2.00006543e-02 -1.69990261e-04 9.99799952e-01 -2.07720359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters 0.024223940838802253 Centerline is valid? [True, True] Translation: X:107.53, Y:-15.13, Z:-2.08 [[ 9.84189213e-01 1.76002553e-01 1.98668947e-02 1.07531652e+02] [-1.75970313e-01 9.84389694e-01 -3.37322103e-03 -1.51336802e+01] [-2.01504619e-02 -1.76095935e-04 9.99796943e-01 -2.07577676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174012739 meters 0.02588025954029522 Centerline is valid? [True, True] Translation: X:107.56, Y:-15.13, Z:-2.07 [[ 9.84067429e-01 1.76608038e-01 2.05157543e-02 1.07560529e+02] [-1.76573810e-01 9.84281242e-01 -3.48236200e-03 -1.51307011e+01] [-2.08082852e-02 -1.95665878e-04 9.99783465e-01 -2.07419446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters 0.02465922269521695 Centerline is valid? [True, True] Translation: X:107.59, Y:-15.13, Z:-2.07 [[ 9.83903541e-01 1.77460624e-01 2.10130690e-02 1.07589382e+02] [-1.77424938e-01 9.84127877e-01 -3.56549436e-03 -1.51348724e+01] [-2.13122818e-02 -2.20139931e-04 9.99772843e-01 -2.07352668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234012739 meters 0.026199745578246596 Centerline is valid? [True, True] Translation: X:107.62, Y:-15.13, Z:-2.08 [[ 9.83624595e-01 1.79125335e-01 1.99190946e-02 1.07618364e+02] [-1.79093629e-01 9.83826232e-01 -3.37892483e-03 -1.51306579e+01] [-2.02021788e-02 -2.43789351e-04 9.99795885e-01 -2.07704983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters 0.028440920882917112 Centerline is valid? [True, True] Translation: X:107.65, Y:-15.13, Z:-2.08 [[ 9.83614749e-01 1.79243582e-01 1.93329846e-02 1.07646956e+02] [-1.79213760e-01 9.83804696e-01 -3.27833351e-03 -1.51281083e+01] [-1.96075013e-02 -2.40119681e-04 9.99807726e-01 -2.07974943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294012739 meters 0.028555959854027726 Centerline is valid? [True, True] Translation: X:107.68, Y:-15.13, Z:-2.08 [[ 9.83606398e-01 1.79235934e-01 1.98225721e-02 1.07676023e+02] [-1.79204605e-01 9.83806088e-01 -3.36014615e-03 -1.51267962e+01] [-2.01038261e-02 -2.47234960e-04 9.99797867e-01 -2.07953651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters 0.025750822744896935 Centerline is valid? [True, True] Translation: X:107.70, Y:-15.13, Z:-2.08 [[ 9.83649808e-01 1.78933988e-01 2.03883004e-02 1.07703886e+02] [-1.78900809e-01 9.83861050e-01 -3.45470672e-03 -1.51345930e+01] [-2.06774191e-02 -2.49261826e-04 9.99786168e-01 -2.07904897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354012739 meters 0.026424199709260264 Centerline is valid? [True, True] Translation: X:107.73, Y:-15.14, Z:-2.08 [[ 9.83748972e-01 1.78443866e-01 1.98934039e-02 1.07731987e+02] [-1.78412197e-01 9.83950066e-01 -3.36989152e-03 -1.51353245e+01] [-2.01754525e-02 -2.34098579e-04 9.99796427e-01 -2.08000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters 0.02596598304199159 Centerline is valid? [True, True] Translation: X:107.76, Y:-15.14, Z:-2.08 [[ 9.83829888e-01 1.78198462e-01 1.80016457e-02 1.07759929e+02] [-1.78172506e-01 9.83994545e-01 -3.04846108e-03 -1.51367223e+01] [-1.82567523e-02 -2.08231207e-04 9.99833310e-01 -2.08396297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414012739 meters 0.0262961605699616 Centerline is valid? [True, True] Translation: X:107.79, Y:-15.14, Z:-2.09 [[ 9.83842608e-01 1.78160169e-01 1.76826883e-02 1.07786967e+02] [-1.78135141e-01 9.84001480e-01 -2.99322500e-03 -1.51379989e+01] [-1.79330649e-02 -2.05045889e-04 9.99839169e-01 -2.08517648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters 0.025736836583649083 Centerline is valid? [True, True] Translation: X:107.82, Y:-15.14, Z:-2.08 [[ 9.83880966e-01 1.77799762e-01 1.91177647e-02 1.07816008e+02] [-1.77770473e-01 9.84066663e-01 -3.23437623e-03 -1.51387838e+01] [-1.93882262e-02 -2.16332860e-04 9.99812007e-01 -2.08294667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474012739 meters 0.025077971405981992 Centerline is valid? [True, True] Translation: X:107.84, Y:-15.14, Z:-2.08 [[ 9.84008435e-01 1.77041893e-01 1.95848865e-02 1.07844351e+02] [-1.77011024e-01 9.84203295e-01 -3.31244074e-03 -1.51428812e+01] [-1.98619506e-02 -2.07271189e-04 9.99802711e-01 -2.08262876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters 0.02468272051947204 Centerline is valid? [True, True] Translation: X:107.87, Y:-15.15, Z:-2.08 [[ 9.84293215e-01 1.75432493e-01 1.97562075e-02 1.07872013e+02] [-1.75400777e-01 9.84491447e-01 -3.34045179e-03 -1.51453162e+01] [-2.00358411e-02 -1.77270111e-04 9.99799247e-01 -2.08335432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534012739 meters 0.024211148210493985 Centerline is valid? [True, True] Translation: X:107.90, Y:-15.15, Z:-2.08 [[ 9.84431435e-01 1.74618953e-01 2.00741203e-02 1.07900648e+02] [-1.74586064e-01 9.84636072e-01 -3.39297730e-03 -1.51500606e+01] [-2.03581811e-02 -1.64508138e-04 9.99792737e-01 -2.08360439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters 0.0238080753043 Centerline is valid? [True, True] Translation: X:107.93, Y:-15.16, Z:-2.08 [[ 9.84578472e-01 1.73761085e-01 2.03056147e-02 1.07928507e+02] [-1.73727270e-01 9.84787826e-01 -3.43112743e-03 -1.51552345e+01] [-2.05929186e-02 -1.49424800e-04 9.99787932e-01 -2.08330273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594012739 meters 0.02324282883625647 Centerline is valid? [True, True] Translation: X:107.96, Y:-15.16, Z:-2.08 [[ 9.84794706e-01 1.72432299e-01 2.11302764e-02 1.07956897e+02] [-1.72395397e-01 9.85021363e-01 -3.56943545e-03 -1.51614180e+01] [-2.14292596e-02 -1.27601263e-04 9.99770359e-01 -2.08142391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters 0.023140013715821854 Centerline is valid? [True, True] Translation: X:107.98, Y:-15.17, Z:-2.08 [[ 9.84853921e-01 1.72034861e-01 2.16046672e-02 1.07983920e+02] [-1.71996212e-01 9.85090855e-01 -3.64846355e-03 -1.51654571e+01] [-2.19102230e-02 -1.22717300e-04 9.99759935e-01 -2.08130056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654012739 meters 0.02316919916249654 Centerline is valid? [True, True] Translation: X:108.01, Y:-15.17, Z:-2.08 [[ 9.84857994e-01 1.72047935e-01 2.13129068e-02 1.08010763e+02] [-1.72010364e-01 9.85088571e-01 -3.59744352e-03 -1.51679475e+01] [-2.16140337e-02 -1.23069852e-04 9.99766382e-01 -2.08184008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters 0.023379482439907864 Centerline is valid? [True, True] Translation: X:108.04, Y:-15.17, Z:-2.08 [[ 9.84827951e-01 1.72288129e-01 2.07534951e-02 1.08037330e+02] [-1.72252593e-01 9.85046590e-01 -3.50135489e-03 -1.51713684e+01] [-2.10464014e-02 -1.26611189e-04 9.99778492e-01 -2.08343893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714012739 meters 0.02330106568234604 Centerline is valid? [True, True] Translation: X:108.07, Y:-15.18, Z:-2.08 [[ 9.84744756e-01 1.72764757e-01 2.07389738e-02 1.08065375e+02] [-1.72729412e-01 9.84963106e-01 -3.49723875e-03 -1.51771825e+01] [-2.10313236e-02 -1.38343236e-04 9.99778808e-01 -2.08441176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters 0.024004908730584557 Centerline is valid? [True, True] Translation: X:108.09, Y:-15.18, Z:-2.08 [[ 9.84544508e-01 1.73901181e-01 2.07482937e-02 1.08092525e+02] [-1.73866078e-01 9.84763095e-01 -3.49779213e-03 -1.51815077e+01] [-2.10404241e-02 -1.63692399e-04 9.99778612e-01 -2.08469312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774012739 meters 0.024294478059267738 Centerline is valid? [True, True] Translation: X:108.12, Y:-15.19, Z:-2.09 [[ 9.84472082e-01 1.74356812e-01 2.03573352e-02 1.08120448e+02] [-1.74323142e-01 9.84682524e-01 -3.43067128e-03 -1.51851918e+01] [-2.06436731e-02 -1.71354541e-04 9.99786882e-01 -2.08611018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters 0.02532692686825271 Centerline is valid? [True, True] Translation: X:108.15, Y:-15.19, Z:-2.09 [[ 9.84124676e-01 1.76442700e-01 1.91466804e-02 1.08149448e+02] [-1.76413332e-01 9.84310892e-01 -3.22557556e-03 -1.51870995e+01] [-1.94154153e-02 -2.03361176e-04 9.99811482e-01 -2.08906904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834012739 meters 0.026573066398255484 Centerline is valid? [True, True] Translation: X:108.18, Y:-15.19, Z:-2.09 [[ 9.83756087e-01 1.78547750e-01 1.85651014e-02 1.08178559e+02] [-1.78520529e-01 9.83931219e-01 -3.12674169e-03 -1.51887135e+01] [-1.88250556e-02 -2.38300548e-04 9.99822765e-01 -2.09060621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters 0.028609388080198018 Centerline is valid? [True, True] Translation: X:108.21, Y:-15.19, Z:-2.09 [[ 9.83288291e-01 1.81159986e-01 1.80331770e-02 1.08206620e+02] [-1.81134756e-01 9.83453599e-01 -3.03638903e-03 -1.51879290e+01] [-1.82848650e-02 -2.80789325e-04 9.99832778e-01 -2.09213397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894012739 meters 0.03328778737773634 Centerline is valid? [True, True] Translation: X:108.24, Y:-15.18, Z:-2.09 [[ 9.82238445e-01 1.86771174e-01 1.80045967e-02 1.08237112e+02] [-1.86746997e-01 9.82403369e-01 -3.02982950e-03 -1.51794960e+01] [-1.82536613e-02 -3.86289361e-04 9.99833313e-01 -2.09201366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters 0.035419688980035814 Centerline is valid? [True, True] Translation: X:108.27, Y:-15.18, Z:-2.09 [[ 9.81828756e-01 1.88871238e-01 1.84377205e-02 1.08266222e+02] [-1.88846262e-01 9.82001764e-01 -3.10224525e-03 -1.51784011e+01] [-1.86917990e-02 -4.36021013e-04 9.99825198e-01 -2.09201987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954012739 meters 0.03736392644119953 Centerline is valid? [True, True] Translation: X:108.30, Y:-15.18, Z:-2.09 [[ 9.81340520e-01 1.91388134e-01 1.84761040e-02 1.08296051e+02] [-1.91363562e-01 9.81514312e-01 -3.10540182e-03 -1.51766281e+01] [-1.87288976e-02 -4.88196431e-04 9.99824480e-01 -2.09269815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters 0.036784391750451735 Centerline is valid? [True, True] Translation: X:108.32, Y:-15.18, Z:-2.09 [[ 9.81370131e-01 1.91260105e-01 1.82274315e-02 1.08323814e+02] [-1.91236174e-01 9.81539272e-01 -3.06324406e-03 -1.51802546e+01] [-1.84768163e-02 -4.79568040e-04 9.99829174e-01 -2.09357333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014012739 meters 0.03888389556524501 Centerline is valid? [True, True] Translation: X:108.35, Y:-15.18, Z:-2.09 [[ 9.81468993e-01 1.90757516e-01 1.81710247e-02 1.08352208e+02] [-1.90733715e-01 9.81637075e-01 -3.05001885e-03 -1.51794283e+01] [-1.84191656e-02 -4.72328126e-04 9.99830241e-01 -2.09452031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters 0.03578485715204598 Centerline is valid? [True, True] Translation: X:108.38, Y:-15.19, Z:-2.09 [[ 9.81797414e-01 1.88973056e-01 1.90531276e-02 1.08380046e+02] [-1.88946587e-01 9.81982164e-01 -3.19632827e-03 -1.51860069e+01] [-1.93138514e-02 -4.61876607e-04 9.99813363e-01 -2.09423799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074012739 meters 0.03629738784372799 Centerline is valid? [True, True] Translation: X:108.41, Y:-15.19, Z:-2.09 [[ 9.81874318e-01 1.88611311e-01 1.86707788e-02 1.08407646e+02] [-1.88585889e-01 9.82051716e-01 -3.12897319e-03 -1.51887325e+01] [-1.89258301e-02 -4.48787002e-04 9.99820790e-01 -2.09474235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters 0.0389790993532561 Centerline is valid? [True, True] Translation: X:108.44, Y:-15.18, Z:-2.10 [[ 9.81468788e-01 1.90845280e-01 1.72365271e-02 1.08437712e+02] [-1.90823975e-01 9.81620024e-01 -2.88764350e-03 -1.51845908e+01] [-1.74708132e-02 -4.55010649e-04 9.99847270e-01 -2.09661212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134012739 meters 0.0389790993532561 Centerline is valid? [True, True] Translation: X:108.46, Y:-15.19, Z:-2.10 [[ 9.81503457e-01 1.90666892e-01 1.72365963e-02 1.08464832e+02] [-1.90645566e-01 9.81654691e-01 -2.88723047e-03 -1.51889306e+01] [-1.74708849e-02 -4.52253974e-04 9.99847270e-01 -2.09717007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters 0.04089211079061561 Centerline is valid? [True, True] Translation: X:108.50, Y:-15.19, Z:-2.10 [[ 9.81045052e-01 1.93027279e-01 1.70609463e-02 1.08495101e+02] [-1.93006805e-01 9.81193267e-01 -2.85417360e-03 -1.51865257e+01] [-1.72910190e-02 -4.92805851e-04 9.99850378e-01 -2.09819476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194012739 meters 0.04139061618037349 Centerline is valid? [True, True] Translation: X:108.52, Y:-15.19, Z:-2.10 [[ 9.80483812e-01 1.95836883e-01 1.73034406e-02 1.08524919e+02] [-1.95816267e-01 9.80636330e-01 -2.89436170e-03 -1.51855677e+01] [-1.75352053e-02 -5.50420349e-04 9.99846095e-01 -2.09794376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters 0.04797835996415898 Centerline is valid? [True, True] Translation: X:108.56, Y:-15.17, Z:-2.10 [[ 9.79576768e-01 2.00187068e-01 1.88280028e-02 1.08556553e+02] [-2.00163475e-01 9.79757454e-01 -3.14860213e-03 -1.51732442e+01] [-1.90771855e-02 -6.84380957e-04 9.99817780e-01 -2.09681158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254012739 meters 0.04824813711304539 Centerline is valid? [True, True] Translation: X:108.59, Y:-15.17, Z:-2.10 [[ 9.79544276e-01 2.00294909e-01 1.93638897e-02 1.08585818e+02] [-2.00269983e-01 9.79735398e-01 -3.23782515e-03 -1.51743326e+01] [-1.96200081e-02 -7.06412766e-04 9.99807260e-01 -2.09648516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters 0.04332160341411167 Centerline is valid? [True, True] Translation: X:108.62, Y:-15.18, Z:-2.10 [[ 9.80103042e-01 1.97441912e-01 2.03646569e-02 1.08615688e+02] [-1.97413799e-01 9.80314348e-01 -3.40166817e-03 -1.51793291e+01] [-2.06353972e-02 -6.86278973e-04 9.99786832e-01 -2.09523704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314012739 meters 0.04330908855444781 Centerline is valid? [True, True] Translation: X:108.64, Y:-15.18, Z:-2.09 [[ 9.80578187e-01 1.95019788e-01 2.08255107e-02 1.08644725e+02] [-1.94989857e-01 9.80799092e-01 -3.47798347e-03 -1.51811430e+01] [-2.11039176e-02 -6.50328622e-04 9.99777076e-01 -2.09423539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters 0.040075427654339114 Centerline is valid? [True, True] Translation: X:108.67, Y:-15.19, Z:-2.09 [[ 9.81093649e-01 1.92391402e-01 2.09952489e-02 1.08674036e+02] [-1.92360390e-01 9.81318088e-01 -3.50580726e-03 -1.51880479e+01] [-2.12775047e-02 -5.99129039e-04 9.99773429e-01 -2.09436362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374012739 meters 0.03724260092457686 Centerline is valid? [True, True] Translation: X:108.70, Y:-15.19, Z:-2.10 [[ 9.81952238e-01 1.88075947e-01 1.99308837e-02 1.08702881e+02] [-1.88047125e-01 9.82154370e-01 -3.32741204e-03 -1.51911056e+01] [-2.02010107e-02 -4.80585678e-04 9.99795823e-01 -2.09685515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters 0.03633983666028939 Centerline is valid? [True, True] Translation: X:108.73, Y:-15.19, Z:-2.10 [[ 9.82211902e-01 1.86820512e-01 1.89176290e-02 1.08730540e+02] [-1.86794320e-01 9.82393969e-01 -3.15786949e-03 -1.51927811e+01] [-1.91745194e-02 -4.32008641e-04 9.99816059e-01 -2.09890144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434012739 meters 0.031841752619379486 Centerline is valid? [True, True] Translation: X:108.76, Y:-15.20, Z:-2.10 [[ 9.82608773e-01 1.84802772e-01 1.81089870e-02 1.08759019e+02] [-1.84778444e-01 9.82775556e-01 -3.02211758e-03 -1.51965270e+01] [-1.83555655e-02 -3.76591183e-04 9.99831451e-01 -2.10026901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters 0.031506425806739735 Centerline is valid? [True, True] Translation: X:108.79, Y:-15.20, Z:-2.10 [[ 9.82887072e-01 1.83315317e-01 1.81245017e-02 1.08786611e+02] [-1.83290754e-01 9.83054104e-01 -3.02140648e-03 -1.51997228e+01] [-1.83712358e-02 -3.52352210e-04 9.99831173e-01 -2.10089193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494012739 meters 0.026345790782072363 Centerline is valid? [True, True] Translation: X:108.82, Y:-15.21, Z:-2.10 [[ 9.83950157e-01 1.77332375e-01 1.98826098e-02 1.08815029e+02] [-1.77301620e-01 9.84150984e-01 -3.31316133e-03 -1.52119181e+01] [-2.01550207e-02 -2.65233323e-04 9.99796832e-01 -2.09775174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters 0.02386789852303985 Centerline is valid? [True, True] Translation: X:108.84, Y:-15.22, Z:-2.10 [[ 9.84683896e-01 1.73093789e-01 2.08845784e-02 1.08842828e+02] [-1.73058911e-01 9.84905328e-01 -3.47972983e-03 -1.52206998e+01] [-2.11716522e-02 -1.87828471e-04 9.99775838e-01 -2.09634236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554012739 meters 0.022307234234681936 Centerline is valid? [True, True] Translation: X:108.87, Y:-15.23, Z:-2.10 [[ 9.85393902e-01 1.68921978e-01 2.15458390e-02 1.08870378e+02] [-1.68883935e-01 9.85629420e-01 -3.58635808e-03 -1.52299282e+01] [-2.18420275e-02 -1.04770692e-04 9.99761429e-01 -2.09622426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters 0.02215146094198457 Centerline is valid? [True, True] Translation: X:108.90, Y:-15.25, Z:-2.10 [[ 9.86803447e-01 1.60607346e-01 2.05970419e-02 1.08895758e+02] [-1.60570787e-01 9.87018376e-01 -3.42746987e-03 -1.52486013e+01] [-2.08801357e-02 7.49558424e-05 9.99781983e-01 -2.09896351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614012739 meters 0.02332381240381566 Centerline is valid? [True, True] Translation: X:108.92, Y:-15.26, Z:-2.10 [[ 9.87459079e-01 1.56670957e-01 1.94622412e-02 1.08922703e+02] [-1.56637573e-01 9.87650844e-01 -3.23752800e-03 -1.52603730e+01] [-1.97291255e-02 1.48408182e-04 9.99805351e-01 -2.10126339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters 0.026474518228983047 Centerline is valid? [True, True] Translation: X:108.95, Y:-15.28, Z:-2.11 [[ 9.88350822e-01 1.51250733e-01 1.69076289e-02 1.08949276e+02] [-1.51224757e-01 9.88495405e-01 -2.81185183e-03 -1.52754720e+01] [-1.71384081e-02 2.22243992e-04 9.99853102e-01 -2.10571262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674012739 meters 0.027476550537031717 Centerline is valid? [True, True] Translation: X:108.98, Y:-15.28, Z:-2.11 [[ 9.88558611e-01 1.49944145e-01 1.63898268e-02 1.08975719e+02] [-1.49919563e-01 9.88694441e-01 -2.72535706e-03 -1.52838313e+01] [-1.66131820e-02 2.37019524e-04 9.99861963e-01 -2.10766564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters 0.026134594756588192 Centerline is valid? [True, True] Translation: X:109.00, Y:-15.29, Z:-2.11 [[ 9.88591598e-01 1.49712342e-01 1.65187102e-02 1.09003705e+02] [-1.49687365e-01 9.88729567e-01 -2.74526729e-03 -1.52885436e+01] [-1.67435376e-02 2.41305978e-04 9.99859788e-01 -2.10694171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734012739 meters 0.025864029427787146 Centerline is valid? [True, True] Translation: X:109.03, Y:-15.30, Z:-2.10 [[ 9.88353139e-01 1.51116421e-01 1.79415539e-02 1.09030215e+02] [-1.51087204e-01 9.88515944e-01 -2.98078031e-03 -1.52995183e+01] [-1.81859570e-02 2.35324367e-04 9.99834594e-01 -2.10431965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters 0.025078915134912606 Centerline is valid? [True, True] Translation: X:109.06, Y:-15.30, Z:-2.10 [[ 9.88130437e-01 1.52480930e-01 1.86495226e-02 1.09058533e+02] [-1.52449626e-01 9.88306389e-01 -3.09718474e-03 -1.53048391e+01] [-1.89037039e-02 2.17309764e-04 9.99821285e-01 -2.10320544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794012739 meters 0.023354301279467225 Centerline is valid? [True, True] Translation: X:109.09, Y:-15.31, Z:-2.10 [[ 9.87590813e-01 1.55894631e-01 1.90065676e-02 1.09087039e+02] [-1.55862767e-01 9.87773679e-01 -3.15556208e-03 -1.53100448e+01] [-1.92661223e-02 1.53987910e-04 9.99814379e-01 -2.10381725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters 0.0227003736730845 Centerline is valid? [True, True] Translation: X:109.11, Y:-15.32, Z:-2.11 [[ 9.87298977e-01 1.57779485e-01 1.86108337e-02 1.09114615e+02] [-1.57749285e-01 9.87474365e-01 -3.08901221e-03 -1.53153656e+01] [-1.88651039e-02 1.13932882e-04 9.99822032e-01 -2.10553595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854012739 meters 0.02206095288978849 Centerline is valid? [True, True] Translation: X:109.14, Y:-15.32, Z:-2.11 [[ 9.86990350e-01 1.59716616e-01 1.84567707e-02 1.09143314e+02] [-1.59687273e-01 9.87162903e-01 -3.06233847e-03 -1.53201755e+01] [-1.87089457e-02 7.51871316e-05 9.99824970e-01 -2.10639331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters 0.021595558363505088 Centerline is valid? [True, True] Translation: X:109.17, Y:-15.32, Z:-2.10 [[ 9.86414027e-01 1.63131951e-01 1.93735367e-02 1.09170610e+02] [-1.63100298e-01 9.86604260e-01 -3.21346141e-03 -1.53244553e+01] [-1.96382321e-02 9.97380445e-06 9.99807151e-01 -2.10454938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914012739 meters 0.021577970227270073 Centerline is valid? [True, True] Translation: X:109.20, Y:-15.33, Z:-2.10 [[ 9.86180331e-01 1.64502551e-01 1.96790572e-02 1.09197317e+02] [-1.64470188e-01 9.86376657e-01 -3.26293429e-03 -1.53293860e+01] [-1.99477237e-02 -1.87766259e-05 9.99801024e-01 -2.10467961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters 0.021929213551624614 Centerline is valid? [True, True] Translation: X:109.22, Y:-15.34, Z:-2.11 [[ 9.85906535e-01 1.66222477e-01 1.89312744e-02 1.09224945e+02] [-1.66192874e-01 9.86088275e-01 -3.13736841e-03 -1.53377853e+01] [-1.91894088e-02 -5.30908850e-05 9.99815865e-01 -2.10775625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974012739 meters 0.022068892881662413 Centerline is valid? [True, True] Translation: X:109.25, Y:-15.34, Z:-2.11 [[ 9.85869233e-01 1.66489396e-01 1.85239349e-02 1.09252591e+02] [-1.66461116e-01 9.86043243e-01 -3.06903070e-03 -1.53445285e+01] [-1.87763620e-02 -5.78519476e-05 9.99823707e-01 -2.10978028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters 0.022105712317711197 Centerline is valid? [True, True] Translation: X:109.28, Y:-15.35, Z:-2.11 [[ 9.85828640e-01 1.66768037e-01 1.81745302e-02 1.09280279e+02] [-1.66740886e-01 9.85996155e-01 -3.00983290e-03 -1.53503956e+01] [-1.84219608e-02 -6.32577985e-05 9.99830299e-01 -2.11012567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034012739 meters 0.022124910660481327 Centerline is valid? [True, True] Translation: X:109.31, Y:-15.36, Z:-2.11 [[ 9.85696689e-01 1.67502378e-01 1.85739130e-02 1.09306990e+02] [-1.67474176e-01 9.85871669e-01 -3.07465371e-03 -1.53570309e+01] [-1.88265064e-02 -7.99747844e-05 9.99822762e-01 -2.10948660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters 0.022271727429413496 Centerline is valid? [True, True] Translation: X:109.33, Y:-15.36, Z:-2.11 [[ 9.85563477e-01 1.68245868e-01 1.89198639e-02 1.09334907e+02] [-1.68216790e-01 9.85745057e-01 -3.12942924e-03 -1.53633824e+01] [-1.91766759e-02 -9.83876040e-05 9.99816106e-01 -2.10908249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094012739 meters 0.022743079307407453 Centerline is valid? [True, True] Translation: X:109.36, Y:-15.37, Z:-2.11 [[ 9.85294856e-01 1.69760769e-01 1.93733853e-02 1.09363065e+02] [-1.69730592e-01 9.85485294e-01 -3.20346540e-03 -1.53704131e+01] [-1.96360091e-02 -1.31898183e-04 9.99807186e-01 -2.10896511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters 0.023216307961523276 Centerline is valid? [True, True] Translation: X:109.39, Y:-15.37, Z:-2.11 [[ 9.85211592e-01 1.70277074e-01 1.90745211e-02 1.09390363e+02] [-1.70247935e-01 9.85396214e-01 -3.15312442e-03 -1.53747236e+01] [-1.93328656e-02 -1.40903097e-04 9.99813093e-01 -2.11083773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154012739 meters 0.023247060745192578 Centerline is valid? [True, True] Translation: X:109.42, Y:-15.38, Z:-2.11 [[ 9.85162844e-01 1.70588605e-01 1.88068647e-02 1.09418573e+02] [-1.70560357e-01 9.85342330e-01 -3.10771875e-03 -1.53814154e+01] [-1.90613413e-02 -1.46096518e-04 9.99818305e-01 -2.11166079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters 0.02331373874034076 Centerline is valid? [True, True] Translation: X:109.45, Y:-15.39, Z:-2.11 [[ 9.85109073e-01 1.70972110e-01 1.81287860e-02 1.09446478e+02] [-1.70945943e-01 9.85275858e-01 -2.99482761e-03 -1.53890661e+01] [-1.83738872e-02 -1.48810562e-04 9.99831175e-01 -2.11293537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214012739 meters 0.023267682200622038 Centerline is valid? [True, True] Translation: X:109.47, Y:-15.39, Z:-2.11 [[ 9.85087992e-01 1.71148319e-01 1.76040205e-02 1.09474562e+02] [-1.71123689e-01 9.85245264e-01 -2.90730100e-03 -1.53947516e+01] [-1.78418575e-02 -1.48517620e-04 9.99840810e-01 -2.11451371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters 0.023826874048831673 Centerline is valid? [True, True] Translation: X:109.50, Y:-15.40, Z:-2.12 [[ 9.85038238e-01 1.71555485e-01 1.63824779e-02 1.09501900e+02] [-1.71534222e-01 9.85174449e-01 -2.70485265e-03 -1.54002060e+01] [-1.66036310e-02 -1.45772330e-04 9.99862140e-01 -2.11802003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274012739 meters 0.024102356610699448 Centerline is valid? [True, True] Translation: X:109.53, Y:-15.41, Z:-2.12 [[ 9.84997237e-01 1.71771976e-01 1.65780261e-02 1.09528153e+02] [-1.71750247e-01 9.85136724e-01 -2.73629708e-03 -1.54054970e+01] [-1.68016415e-02 -1.52035023e-04 9.99858831e-01 -2.11791158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters 0.02397266043745591 Centerline is valid? [True, True] Translation: X:109.56, Y:-15.41, Z:-2.12 [[ 9.84928333e-01 1.72094909e-01 1.73066815e-02 1.09555364e+02] [-1.72071320e-01 9.85080359e-01 -2.85419707e-03 -1.54114947e+01] [-1.75396648e-02 -1.66803959e-04 9.99846154e-01 -2.11628748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334012739 meters 0.024422427787953338 Centerline is valid? [True, True] Translation: X:109.58, Y:-15.42, Z:-2.11 [[ 9.84808621e-01 1.72612486e-01 1.88920501e-02 1.09582863e+02] [-1.72584502e-01 9.84989793e-01 -3.11409583e-03 -1.54165116e+01] [-1.91460083e-02 -1.93686636e-04 9.99816680e-01 -2.11451168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters 0.024550762136792532 Centerline is valid? [True, True] Translation: X:109.61, Y:-15.42, Z:-2.12 [[ 9.84887543e-01 1.72116473e-01 1.92989138e-02 1.09609623e+02] [-1.72087199e-01 9.85076588e-01 -3.17994214e-03 -1.54224222e+01] [-1.95582286e-02 -1.89210626e-04 9.99808702e-01 -2.11501346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394012739 meters 0.02326009391691572 Centerline is valid? [True, True] Translation: X:109.64, Y:-15.43, Z:-2.12 [[ 9.85181516e-01 1.70523211e-01 1.84178095e-02 1.09636955e+02] [-1.70496290e-01 9.85353648e-01 -3.03369711e-03 -1.54345031e+01] [-1.86653715e-02 -1.51425874e-04 9.99825775e-01 -2.11692132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters 0.02305425507812346 Centerline is valid? [True, True] Translation: X:109.66, Y:-15.44, Z:-2.12 [[ 9.85348584e-01 1.69705544e-01 1.69763401e-02 1.09664800e+02] [-1.69682564e-01 9.85494806e-01 -2.79551728e-03 -1.54420873e+01] [-1.72045098e-02 -1.26029929e-04 9.99851984e-01 -2.12057763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454012739 meters 0.022694685785306784 Centerline is valid? [True, True] Translation: X:109.69, Y:-15.45, Z:-2.12 [[ 9.85548678e-01 1.68656447e-01 1.57736041e-02 1.09691417e+02] [-1.68636484e-01 9.85674892e-01 -2.59687214e-03 -1.54497399e+01] [-1.59856248e-02 -1.00661227e-04 9.99872217e-01 -2.12281488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters 0.022360064298004353 Centerline is valid? [True, True] Translation: X:109.72, Y:-15.46, Z:-2.12 [[ 9.85872918e-01 1.66652229e-01 1.67816294e-02 1.09717674e+02] [-1.66629366e-01 9.86015735e-01 -2.76141603e-03 -1.54589642e+01] [-1.70071468e-02 -7.39069851e-05 9.99855365e-01 -2.12290692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514012739 meters 0.021863366502517075 Centerline is valid? [True, True] Translation: X:109.75, Y:-15.47, Z:-2.12 [[ 9.86010382e-01 1.65770407e-01 1.74269582e-02 1.09745651e+02] [-1.65745634e-01 9.86164372e-01 -2.86642371e-03 -1.54680552e+01] [-1.76610135e-02 -6.21186917e-05 9.99844030e-01 -2.12107160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters 0.021592897840765533 Centerline is valid? [True, True] Translation: X:109.77, Y:-15.48, Z:-2.12 [[ 9.86233526e-01 1.64383148e-01 1.79335639e-02 1.09773288e+02] [-1.64356701e-01 9.86396563e-01 -2.94884135e-03 -1.54796076e+01] [-1.81743456e-02 -3.92552060e-05 9.99834832e-01 -2.12080401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574012739 meters 0.021488700877322818 Centerline is valid? [True, True] Translation: X:109.80, Y:-15.49, Z:-2.12 [[ 9.86325319e-01 1.63872187e-01 1.75576827e-02 1.09799824e+02] [-1.63846771e-01 9.86481579e-01 -2.88623665e-03 -1.54869133e+01] [-1.77933045e-02 -3.00013239e-05 9.99841686e-01 -2.12135292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters 0.021568730058587893 Centerline is valid? [True, True] Translation: X:109.83, Y:-15.50, Z:-2.12 [[ 9.86375015e-01 1.63660369e-01 1.67216436e-02 1.09826665e+02] [-1.63637303e-01 9.86516742e-01 -2.74774795e-03 -1.54965792e+01] [-1.69458788e-02 -2.59747331e-05 9.99856408e-01 -2.12259439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634012739 meters 0.021644479945307542 Centerline is valid? [True, True] Translation: X:109.86, Y:-15.50, Z:-2.12 [[ 9.86311730e-01 1.64033558e-01 1.67976883e-02 1.09855308e+02] [-1.64010353e-01 9.86454759e-01 -2.75919856e-03 -1.55028918e+01] [-1.70227607e-02 -3.35648865e-05 9.99855102e-01 -2.12310011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters 0.02168544891924831 Centerline is valid? [True, True] Translation: X:109.88, Y:-15.51, Z:-2.12 [[ 9.86075272e-01 1.65264357e-01 1.85270328e-02 1.09882755e+02] [-1.65236364e-01 9.86249303e-01 -3.04230590e-03 -1.55081110e+01] [-1.87750580e-02 -6.13969157e-05 9.99823731e-01 -2.12020066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694012739 meters 0.022045791886440482 Centerline is valid? [True, True] Translation: X:109.91, Y:-15.51, Z:-2.12 [[ 9.85748442e-01 1.67063843e-01 1.97403754e-02 1.09911323e+02] [-1.67032448e-01 9.85946074e-01 -3.24030273e-03 -1.55120662e+01] [-2.00042831e-02 -1.03159864e-04 9.99799889e-01 -2.11833041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters 0.023001885480427895 Centerline is valid? [True, True] Translation: X:109.94, Y:-15.51, Z:-2.12 [[ 9.85348882e-01 1.69347466e-01 2.02241576e-02 1.09940082e+02] [-1.69315014e-01 9.85556397e-01 -3.31874413e-03 -1.55138363e+01] [-2.04940688e-02 -1.54132703e-04 9.99789963e-01 -2.11828665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754012739 meters 0.026550271883358203 Centerline is valid? [True, True] Translation: X:109.97, Y:-15.51, Z:-2.12 [[ 9.84316564e-01 1.75386942e-01 1.89821493e-02 1.09970329e+02] [-1.75359492e-01 9.84499544e-01 -3.11406602e-03 -1.55113010e+01] [-1.92340838e-02 -2.63473297e-04 9.99814973e-01 -2.12062648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters 0.029824140022179486 Centerline is valid? [True, True] Translation: X:110.00, Y:-15.51, Z:-2.12 [[ 9.83831840e-01 1.78166994e-01 1.82053180e-02 1.09998639e+02] [-1.78142222e-01 9.84000218e-01 -2.98650430e-03 -1.55096899e+01] [-1.84461334e-02 -3.04917791e-04 9.99829809e-01 -2.12285886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814012739 meters 0.0320176388950871 Centerline is valid? [True, True] Translation: X:110.03, Y:-15.51, Z:-2.12 [[ 9.83171365e-01 1.81741177e-01 1.85529577e-02 1.10028488e+02] [-1.81716108e-01 9.83346328e-01 -3.04235829e-03 -1.55091446e+01] [-1.87969046e-02 -3.80211713e-04 9.99823250e-01 -2.12317863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters 0.03399860511859347 Centerline is valid? [True, True] Translation: X:110.06, Y:-15.51, Z:-2.12 [[ 9.83022063e-01 1.82529604e-01 1.87234629e-02 1.10056707e+02] [-1.82504228e-01 9.83200277e-01 -3.06967428e-03 -1.55095858e+01] [-1.89692203e-02 -3.99553591e-04 9.99819988e-01 -2.12417456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874012739 meters 0.03462647631888593 Centerline is valid? [True, True] Translation: X:110.09, Y:-15.51, Z:-2.13 [[ 9.83006195e-01 1.82786741e-01 1.69654736e-02 1.10085453e+02] [-1.82765961e-01 9.83152517e-01 -2.78052069e-03 -1.55123638e+01] [-1.71878904e-02 -3.67442017e-04 9.99852210e-01 -2.12847367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters 0.0351080183607437 Centerline is valid? [True, True] Translation: X:110.11, Y:-15.52, Z:-2.13 [[ 9.83042176e-01 1.82678599e-01 1.60190480e-02 1.10112654e+02] [-1.82660069e-01 9.83172625e-01 -2.62477201e-03 -1.55151199e+01] [-1.62289791e-02 -3.45778813e-04 9.99868242e-01 -2.13152353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934012739 meters 0.031749111133070315 Centerline is valid? [True, True] Translation: X:110.14, Y:-15.52, Z:-2.13 [[ 9.83118759e-01 1.82309552e-01 1.55155850e-02 1.10140028e+02] [-1.82292136e-01 9.83241129e-01 -2.54139612e-03 -1.55237413e+01] [-1.57188821e-02 -3.29874941e-04 9.99876396e-01 -2.13196051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters 0.03172969059455496 Centerline is valid? [True, True] Translation: X:110.17, Y:-15.53, Z:-2.13 [[ 9.83148245e-01 1.82056142e-01 1.65858106e-02 1.10168458e+02] [-1.82036219e-01 9.83288075e-01 -2.71581244e-03 -1.55259548e+01] [-1.68030601e-02 -3.49172004e-04 9.99858758e-01 -2.13006416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994012739 meters 0.03182334761549043 Centerline is valid? [True, True] Translation: X:110.20, Y:-15.53, Z:-2.13 [[ 9.83151401e-01 1.81994378e-01 1.70695274e-02 1.10195175e+02] [-1.81973280e-01 9.83299505e-01 -2.79426079e-03 -1.55281592e+01] [-1.72929976e-02 -3.59016482e-04 9.99850400e-01 -2.13042552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters 0.03182334761549043 Centerline is valid? [True, True] Translation: X:110.22, Y:-15.53, Z:-2.13 [[ 9.83164303e-01 1.81924645e-01 1.70697652e-02 1.10222326e+02] [-1.81903562e-01 9.83312409e-01 -2.79280739e-03 -1.55324670e+01] [-1.72929924e-02 -3.59262549e-04 9.99850400e-01 -2.13098399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054012739 meters 0.03522629054151113 Centerline is valid? [True, True] Translation: X:110.25, Y:-15.53, Z:-2.13 [[ 9.83180570e-01 1.81842797e-01 1.70048132e-02 1.10250325e+02] [-1.81821882e-01 9.83327549e-01 -2.78098351e-03 -1.55293731e+01] [-1.72270031e-02 -3.57638195e-04 9.99851540e-01 -2.13179611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters 0.03145430670357539 Centerline is valid? [True, True] Translation: X:110.28, Y:-15.54, Z:-2.13 [[ 9.83289120e-01 1.81260674e-01 1.69432755e-02 1.10278262e+02] [-1.81239851e-01 9.83435024e-01 -2.76938178e-03 -1.55357612e+01] [-1.71645905e-02 -3.47693741e-04 9.99852617e-01 -2.13231317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114012739 meters 0.028648518207107017 Centerline is valid? [True, True] Translation: X:110.31, Y:-15.54, Z:-2.13 [[ 9.83860763e-01 1.78115880e-01 1.71094400e-02 1.10306843e+02] [-1.78094186e-01 9.84009474e-01 -2.79567112e-03 -1.55431960e+01] [-1.73338045e-02 -2.96540678e-04 9.99849714e-01 -2.13309767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters 0.02716690226548628 Centerline is valid? [True, True] Translation: X:110.33, Y:-15.55, Z:-2.13 [[ 9.84337788e-01 1.75454022e-01 1.71757145e-02 1.10334159e+02] [-1.75431764e-01 9.84487594e-01 -2.80593405e-03 -1.55491473e+01] [-1.74015902e-02 -2.51178974e-04 9.99848549e-01 -2.13332403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174012739 meters 0.025328003565477146 Centerline is valid? [True, True] Translation: X:110.36, Y:-15.56, Z:-2.13 [[ 9.84840419e-01 1.72620720e-01 1.70714735e-02 1.10362649e+02] [-1.72598324e-01 9.84988348e-01 -2.78782568e-03 -1.55556401e+01] [-1.72964389e-02 -2.00944298e-04 9.99850385e-01 -2.13413934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters 0.02402763436468809 Centerline is valid? [True, True] Translation: X:110.39, Y:-15.56, Z:-2.14 [[ 9.85300117e-01 1.70026073e-01 1.65775305e-02 1.10389679e+02] [-1.70004599e-01 9.85439552e-01 -2.70642994e-03 -1.55605338e+01] [-1.67963179e-02 -1.51610689e-04 9.99858920e-01 -2.13597584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234012739 meters 0.022658687808401145 Centerline is valid? [True, True] Translation: X:110.42, Y:-15.57, Z:-2.14 [[ 9.85938176e-01 1.66319503e-01 1.62399618e-02 1.10417203e+02] [-1.66298407e-01 9.86071912e-01 -2.65036620e-03 -1.55661751e+01] [-1.64545777e-02 -8.75825574e-05 9.99864610e-01 -2.13748457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters 0.02162497554312594 Centerline is valid? [True, True] Translation: X:110.45, Y:-15.57, Z:-2.14 [[ 9.86486579e-01 1.62978210e-01 1.68027224e-02 1.10445091e+02] [-1.62955161e-01 9.86629668e-01 -2.74114454e-03 -1.55736706e+01] [-1.70248112e-02 -3.39880212e-05 9.99855067e-01 -2.13689965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294012739 meters 0.021385598384252323 Centerline is valid? [True, True] Translation: X:110.47, Y:-15.58, Z:-2.14 [[ 9.86787267e-01 1.61098626e-01 1.72662376e-02 1.10472864e+02] [-1.61074014e-01 9.86938312e-01 -2.81590580e-03 -1.55794626e+01] [-1.74943499e-02 -2.44221185e-06 9.99846962e-01 -2.13692332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters 0.021423716363446206 Centerline is valid? [True, True] Translation: X:110.50, Y:-15.59, Z:-2.14 [[ 9.87080856e-01 1.59258067e-01 1.75570930e-02 1.10500052e+02] [-1.59232343e-01 9.87236986e-01 -2.86250979e-03 -1.55853526e+01] [-1.77888893e-02 2.98715713e-05 9.99841765e-01 -2.13692380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354012739 meters 0.021693491994911985 Centerline is valid? [True, True] Translation: X:110.53, Y:-15.59, Z:-2.14 [[ 9.87374219e-01 1.57393480e-01 1.78730187e-02 1.10528247e+02] [-1.57366536e-01 9.87535968e-01 -2.91290676e-03 -1.55918654e+01] [-1.81087213e-02 6.35139982e-05 9.99836022e-01 -2.13695151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters 0.023167704365607632 Centerline is valid? [True, True] Translation: X:110.56, Y:-15.60, Z:-2.14 [[ 9.88023433e-01 1.53305090e-01 1.75284156e-02 1.10556059e+02] [-1.53278545e-01 9.88178896e-01 -2.85593272e-03 -1.56022090e+01] [-1.77590394e-02 1.34998402e-04 9.99842287e-01 -2.13795107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414012739 meters 0.026040543002809894 Centerline is valid? [True, True] Translation: X:110.58, Y:-15.61, Z:-2.14 [[ 9.88843225e-01 1.47975798e-01 1.70949923e-02 1.10582775e+02] [-1.47949767e-01 9.88990957e-01 -2.78452576e-03 -1.56140732e+01] [-1.73188352e-02 2.24259311e-04 9.99849993e-01 -2.13849370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters 0.02860499017945724 Centerline is valid? [True, True] Translation: X:110.61, Y:-15.62, Z:-2.14 [[ 9.89328317e-01 1.44722525e-01 1.68781219e-02 1.10610340e+02] [-1.44696691e-01 9.89472240e-01 -2.74837805e-03 -1.56243254e+01] [-1.70981853e-02 2.76839845e-04 9.99853777e-01 -2.14051499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474012739 meters 0.02932932526068011 Centerline is valid? [True, True] Translation: X:110.64, Y:-15.63, Z:-2.14 [[ 9.89820778e-01 1.41317325e-01 1.68594700e-02 1.10638517e+02] [-1.41291064e-01 9.89964293e-01 -2.74475816e-03 -1.56322630e+01] [-1.70781551e-02 3.34726217e-04 9.99854102e-01 -2.14110059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters 0.03743919164776613 Centerline is valid? [True, True] Translation: X:110.67, Y:-15.65, Z:-2.13 [[ 9.90606153e-01 1.35562142e-01 1.79542489e-02 1.10665967e+02] [-1.35531430e-01 9.90768738e-01 -2.92208990e-03 -1.56512162e+01] [-1.81846333e-02 4.61275209e-04 9.99834539e-01 -2.12968380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534012739 meters 0.0416397455303031 Centerline is valid? [True, True] Translation: X:110.69, Y:-15.67, Z:-2.14 [[ 9.90901624e-01 1.33220572e-01 1.91376820e-02 1.10694496e+02] [-1.33185222e-01 9.91086267e-01 -3.11570613e-03 -1.56681872e+01] [-1.93821699e-02 5.38501845e-04 9.99812003e-01 -2.13724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters 0.03960984180597374 Centerline is valid? [True, True] Translation: X:110.72, Y:-15.67, Z:-2.14 [[ 9.91317558e-01 1.30195352e-01 1.84029559e-02 1.10724720e+02] [-1.30162089e-01 9.91488193e-01 -2.99900007e-03 -1.56739369e+01] [-1.86367694e-02 5.77594246e-04 9.99826153e-01 -2.13941917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594012739 meters 0.040963954925736484 Centerline is valid? [True, True] Translation: X:110.75, Y:-15.68, Z:-2.14 [[ 9.91444982e-01 1.29424649e-01 1.69147069e-02 1.10754479e+02] [-1.29396433e-01 9.91589110e-01 -2.75663303e-03 -1.56830684e+01] [-1.71292155e-02 5.44347232e-04 9.99853136e-01 -2.14275474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters 0.04546467282756944 Centerline is valid? [True, True] Translation: X:110.78, Y:-15.70, Z:-2.15 [[ 9.91510159e-01 1.29054433e-01 1.58920709e-02 1.10784395e+02] [-1.29029442e-01 9.91637375e-01 -2.59224473e-03 -1.56957844e+01] [-1.60937122e-02 5.19691936e-04 9.99870353e-01 -2.14583380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654012739 meters 0.04261582025149282 Centerline is valid? [True, True] Translation: X:110.82, Y:-15.70, Z:-2.15 [[ 9.91442449e-01 1.29604814e-01 1.56353196e-02 1.10816249e+02] [-1.29580656e-01 9.91565599e-01 -2.55267582e-03 -1.56991355e+01] [-1.58342841e-02 5.04796194e-04 9.99874502e-01 -2.14574777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters 0.04103702323312147 Centerline is valid? [True, True] Translation: X:110.85, Y:-15.70, Z:-2.14 [[ 9.91376131e-01 1.29965326e-01 1.68041961e-02 1.10847337e+02] [-1.29937415e-01 9.91518393e-01 -2.74692858e-03 -1.57039968e+01] [-1.70186750e-02 5.39745625e-04 9.99855026e-01 -2.14416804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714012739 meters 0.04157350490343535 Centerline is valid? [True, True] Translation: X:110.88, Y:-15.72, Z:-2.14 [[ 9.91427260e-01 1.29360239e-01 1.83825356e-02 1.10877551e+02] [-1.29326728e-01 9.91597482e-01 -3.00519745e-03 -1.57157035e+01] [-1.86168290e-02 6.02081489e-04 9.99826511e-01 -2.14224151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters 0.04687686307057891 Centerline is valid? [True, True] Translation: X:110.91, Y:-15.72, Z:-2.13 [[ 9.91517488e-01 1.28770150e-01 1.76442501e-02 1.10909523e+02] [-1.28739139e-01 9.91674291e-01 -2.88705537e-03 -1.57231185e+01] [-1.78691158e-02 5.91060324e-04 9.99840160e-01 -2.13011134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774012739 meters 0.0418920361155573 Centerline is valid? [True, True] Translation: X:110.94, Y:-15.73, Z:-2.14 [[ 9.91642895e-01 1.27658868e-01 1.86435799e-02 1.10940612e+02] [-1.27623985e-01 9.91817923e-01 -3.05388898e-03 -1.57323666e+01] [-1.88808927e-02 6.48999342e-04 9.99821529e-01 -2.14349797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters 0.04201193878151276 Centerline is valid? [True, True] Translation: X:110.97, Y:-15.74, Z:-2.14 [[ 9.91675102e-01 1.27423721e-01 1.85387979e-02 1.10971167e+02] [-1.27389130e-01 9.91848158e-01 -3.03984176e-03 -1.57436867e+01] [-1.87750205e-02 6.52894051e-04 9.99823521e-01 -2.14363442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834012739 meters 0.042546475488556626 Centerline is valid? [True, True] Translation: X:111.00, Y:-15.75, Z:-2.14 [[ 9.91587043e-01 1.28143147e-01 1.82885370e-02 1.11001108e+02] [-1.28109549e-01 9.91755480e-01 -3.00188410e-03 -1.57522221e+01] [-1.85224277e-02 6.33693156e-04 9.99828244e-01 -2.14456485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters 0.03993839894146999 Centerline is valid? [True, True] Translation: X:111.03, Y:-15.76, Z:-2.14 [[ 9.91122348e-01 1.31560319e-01 1.91930790e-02 1.11031109e+02] [-1.31523890e-01 9.91307985e-01 -3.15363258e-03 -1.57588467e+01] [-1.94411453e-02 6.01287322e-04 9.99810822e-01 -2.14272409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894012739 meters 0.03688602883854877 Centerline is valid? [True, True] Translation: X:111.06, Y:-15.76, Z:-2.14 [[ 9.90756969e-01 1.34270868e-01 1.92863066e-02 1.11063038e+02] [-1.34234592e-01 9.90944514e-01 -3.16920519e-03 -1.57618544e+01] [-1.95371916e-02 5.51022631e-04 9.99808979e-01 -2.14240177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters 0.031702745210353996 Centerline is valid? [True, True] Translation: X:111.09, Y:-15.76, Z:-2.14 [[ 9.89749060e-01 1.41522709e-01 1.91864622e-02 1.11092947e+02] [-1.41488154e-01 9.89934926e-01 -3.15352697e-03 -1.57613899e+01] [-1.94396447e-02 4.06543240e-04 9.99810950e-01 -2.14398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95401273899999 meters 0.028418451305213643 Centerline is valid? [True, True] Translation: X:111.13, Y:-15.76, Z:-2.15 [[ 9.89116699e-01 1.45943368e-01 1.86732175e-02 1.11125213e+02] [-1.45911430e-01 9.89292897e-01 -3.06889065e-03 -1.57616140e+01] [-1.89211657e-02 3.10855123e-04 9.99820930e-01 -2.14520883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters 0.03250425976792318 Centerline is valid? [True, True] Translation: X:111.16, Y:-15.76, Z:-2.13 [[ 9.88470460e-01 1.50424012e-01 1.72848470e-02 1.11157870e+02] [-1.50397314e-01 9.88621552e-01 -2.84168452e-03 -1.57585332e+01] [-1.75156298e-02 2.09326653e-04 9.99846568e-01 -2.13397332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014012739 meters 0.02177972289505087 Centerline is valid? [True, True] Translation: X:111.19, Y:-15.75, Z:-2.15 [[ 9.87195555e-01 1.58581848e-01 1.72259579e-02 1.11187513e+02] [-1.58556561e-01 9.87345833e-01 -2.83260794e-03 -1.57517084e+01] [-1.74571780e-02 6.50493121e-05 9.99847610e-01 -2.14842347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters 0.021480669219812145 Centerline is valid? [True, True] Translation: X:111.22, Y:-15.75, Z:-2.15 [[ 9.86184190e-01 1.64691529e-01 1.78169561e-02 1.11218263e+02] [-1.64665485e-01 9.86345121e-01 -2.92912683e-03 -1.57453011e+01] [-1.80560701e-02 -4.51791630e-05 9.99836975e-01 -2.14887430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074012739 meters 0.021874120896590243 Centerline is valid? [True, True] Translation: X:111.25, Y:-15.75, Z:-2.15 [[ 9.85926422e-01 1.66176135e-01 1.82915783e-02 1.11246589e+02] [-1.66148957e-01 9.86096084e-01 -3.00627065e-03 -1.57468605e+01] [-1.85368242e-02 -7.51649917e-05 9.99828175e-01 -2.14854374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters 0.022154030001916264 Centerline is valid? [True, True] Translation: X:111.27, Y:-15.75, Z:-2.15 [[ 9.85763605e-01 1.67067260e-01 1.89379198e-02 1.11274268e+02] [-1.67038314e-01 9.85945496e-01 -3.11132298e-03 -1.57495781e+01] [-1.91915569e-02 -9.63292364e-05 9.99815820e-01 -2.14797922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134012739 meters 0.022390110905856214 Centerline is valid? [True, True] Translation: X:111.30, Y:-15.75, Z:-2.15 [[ 9.85589540e-01 1.68103127e-01 1.88307539e-02 1.11302807e+02] [-1.68074720e-01 9.85769408e-01 -3.09249558e-03 -1.57516252e+01] [-1.90826393e-02 -1.17042391e-04 9.99817903e-01 -2.14786157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters 0.02240035962191124 Centerline is valid? [True, True] Translation: X:111.33, Y:-15.75, Z:-2.15 [[ 9.85563060e-01 1.68281782e-01 1.86197787e-02 1.11331569e+02] [-1.68254056e-01 9.85738925e-01 -3.05696853e-03 -1.57548933e+01] [-1.88686728e-02 -1.20018037e-04 9.99821964e-01 -2.14897775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194012739 meters 0.02287208629655344 Centerline is valid? [True, True] Translation: X:111.36, Y:-15.75, Z:-2.15 [[ 9.85342558e-01 1.69660980e-01 1.77537435e-02 1.11360722e+02] [-1.69636013e-01 9.85502477e-01 -2.91394218e-03 -1.57541347e+01] [-1.79907405e-02 -1.40443018e-04 9.99838144e-01 -2.15074060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters 0.0236054106679613 Centerline is valid? [True, True] Translation: X:111.39, Y:-15.75, Z:-2.15 [[ 9.85203800e-01 1.70469744e-01 1.77070314e-02 1.11388816e+02] [-1.70445053e-01 9.85362899e-01 -2.90541971e-03 -1.57548682e+01] [-1.79431379e-02 -1.55645379e-04 9.99838997e-01 -2.15217950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254012739 meters 0.023654881930543725 Centerline is valid? [True, True] Translation: X:111.42, Y:-15.76, Z:-2.15 [[ 9.85100269e-01 1.71053656e-01 1.78355584e-02 1.11417229e+02] [-1.71028722e-01 9.85261700e-01 -2.92536188e-03 -1.57573415e+01] [-1.80730864e-02 -1.68617981e-04 9.99836654e-01 -2.15258358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters 0.023858346813205252 Centerline is valid? [True, True] Translation: X:111.45, Y:-15.76, Z:-2.15 [[ 9.85100511e-01 1.71002336e-01 1.83080540e-02 1.11445215e+02] [-1.70976072e-01 9.85270608e-01 -3.00195261e-03 -1.57565656e+01] [-1.85517284e-02 -1.73014111e-04 9.99827887e-01 -2.15180832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314012739 meters 0.023214776398458814 Centerline is valid? [True, True] Translation: X:111.47, Y:-15.76, Z:-2.15 [[ 9.85290004e-01 1.69894170e-01 1.84276713e-02 1.11473804e+02] [-1.69867389e-01 9.85462301e-01 -3.02040457e-03 -1.57601586e+01] [-1.86729245e-02 -1.54285997e-04 9.99825634e-01 -2.15305043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters 0.021763874920008447 Centerline is valid? [True, True] Translation: X:111.50, Y:-15.77, Z:-2.15 [[ 9.86083946e-01 1.65265753e-01 1.80466975e-02 1.11500230e+02] [-1.65239308e-01 9.86249069e-01 -2.95712210e-03 -1.57681360e+01] [-1.82872496e-02 -6.60531628e-05 9.99832772e-01 -2.15485936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374012739 meters 0.021364409384900966 Centerline is valid? [True, True] Translation: X:111.53, Y:-15.78, Z:-2.16 [[ 9.86571935e-01 1.62325278e-01 1.80643863e-02 1.11528063e+02] [-1.62298309e-01 9.86737302e-01 -2.95890289e-03 -1.57758818e+01] [-1.83051086e-02 -1.26487954e-05 9.99832447e-01 -2.15553561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters 0.02148939893677531 Centerline is valid? [True, True] Translation: X:111.56, Y:-15.78, Z:-2.16 [[ 9.87061532e-01 1.59275457e-01 1.84624216e-02 1.11555153e+02] [-1.59246769e-01 9.87234180e-01 -3.02319932e-03 -1.57838773e+01] [-1.87082551e-02 4.40027652e-05 9.99824984e-01 -2.15539543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434012739 meters 0.023344512712534432 Centerline is valid? [True, True] Translation: X:111.58, Y:-15.79, Z:-2.15 [[ 9.87931632e-01 1.53698092e-01 1.91829947e-02 1.11582573e+02] [-1.53666095e-01 9.88117844e-01 -3.13985972e-03 -1.57948779e+01] [-1.94376498e-02 1.54190857e-04 9.99811059e-01 -2.15436158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters 0.024498870514334383 Centerline is valid? [True, True] Translation: X:111.61, Y:-15.80, Z:-2.16 [[ 9.88247290e-01 1.51689715e-01 1.89083222e-02 1.11610786e+02] [-1.51658276e-01 9.88428143e-01 -3.09402939e-03 -1.58026666e+01] [-1.91588502e-02 1.90062613e-04 9.99816434e-01 -2.15558484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494012739 meters 0.025969563920334834 Centerline is valid? [True, True] Translation: X:111.64, Y:-15.81, Z:-2.15 [[ 9.88545287e-01 1.49596938e-01 1.99742961e-02 1.11638619e+02] [-1.49561437e-01 9.88747034e-01 -3.26791015e-03 -1.58116138e+01] [-2.02383954e-02 2.43092737e-04 9.99795153e-01 -2.15430581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters 0.026418429250401422 Centerline is valid? [True, True] Translation: X:111.67, Y:-15.82, Z:-2.15 [[ 9.88573331e-01 1.49333161e-01 2.05518105e-02 1.11667061e+02] [-1.49295536e-01 9.88786904e-01 -3.36168085e-03 -1.58170805e+01] [-2.08233715e-02 2.54974478e-04 9.99783138e-01 -2.15371910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554012739 meters 0.025181723959038817 Centerline is valid? [True, True] Translation: X:111.70, Y:-15.82, Z:-2.15 [[ 9.88541830e-01 1.49485159e-01 2.09579737e-02 1.11698098e+02] [-1.49446081e-01 9.88763936e-01 -3.42743630e-03 -1.58190393e+01] [-2.12348394e-02 2.56077119e-04 9.99774483e-01 -2.15420210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters 0.025724819186366325 Centerline is valid? [True, True] Translation: X:111.73, Y:-15.83, Z:-2.16 [[ 9.88632947e-01 1.49154877e-01 1.89134764e-02 1.11726504e+02] [-1.49122991e-01 9.88813818e-01 -3.09309551e-03 -1.58255131e+01] [-1.91632571e-02 2.37501960e-04 9.99816340e-01 -2.15909451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614012739 meters 0.026541791844421368 Centerline is valid? [True, True] Translation: X:111.75, Y:-15.83, Z:-2.16 [[ 9.88793282e-01 1.48255239e-01 1.75564431e-02 1.11754412e+02] [-1.48227626e-01 9.88949103e-01 -2.87103447e-03 -1.58314709e+01] [-1.77880746e-02 2.36509717e-04 9.99841752e-01 -2.16192014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters 0.028108253935745682 Centerline is valid? [True, True] Translation: X:111.78, Y:-15.84, Z:-2.16 [[ 9.89102440e-01 1.46122643e-01 1.80148669e-02 1.11783088e+02] [-1.46093227e-01 9.89266442e-01 -2.94533038e-03 -1.58387241e+01] [-1.82518827e-02 2.81383425e-04 9.99833381e-01 -2.16221935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674012739 meters 0.029164801267244633 Centerline is valid? [True, True] Translation: X:111.81, Y:-15.85, Z:-2.16 [[ 9.89281724e-01 1.44798265e-01 1.88450010e-02 1.11811471e+02] [-1.44765844e-01 9.89461147e-01 -3.08058395e-03 -1.58458564e+01] [-1.90924595e-02 3.19452926e-04 9.99817671e-01 -2.16130644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters 0.03216236454947614 Centerline is valid? [True, True] Translation: X:111.84, Y:-15.86, Z:-2.16 [[ 9.89735013e-01 1.41611242e-01 1.92577378e-02 1.11841205e+02] [-1.41576787e-01 9.89922272e-01 -3.14780107e-03 -1.58591932e+01] [-1.95094276e-02 3.89040289e-04 9.99809597e-01 -2.16129103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734012739 meters 0.03393664369173949 Centerline is valid? [True, True] Translation: X:111.87, Y:-15.87, Z:-2.16 [[ 9.90003414e-01 1.39761338e-01 1.89739065e-02 1.11871405e+02] [-1.39727543e-01 9.90185130e-01 -3.10183261e-03 -1.58683832e+01] [-1.92211963e-02 4.19647545e-04 9.99815168e-01 -2.16255034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters 0.0359512160055009 Centerline is valid? [True, True] Translation: X:111.90, Y:-15.88, Z:-2.16 [[ 9.90267993e-01 1.37922433e-01 1.86199842e-02 1.11902592e+02] [-1.37889558e-01 9.90442933e-01 -3.04419957e-03 -1.58782193e+01] [-1.88618952e-02 4.47072001e-04 9.99821999e-01 -2.16469531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794012739 meters 0.039561253861849485 Centerline is valid? [True, True] Translation: X:111.93, Y:-15.89, Z:-2.16 [[ 9.90674338e-01 1.34960401e-01 1.87095139e-02 1.11930403e+02] [-1.34926623e-01 9.90850862e-01 -3.06189084e-03 -1.58934732e+01] [-1.89515720e-02 5.08925153e-04 9.99820273e-01 -2.16494757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters 0.036657884936431163 Centerline is valid? [True, True] Translation: X:111.96, Y:-15.90, Z:-2.16 [[ 9.90804841e-01 1.33920447e-01 1.92634550e-02 1.11962118e+02] [-1.33884423e-01 9.90991936e-01 -3.15357604e-03 -1.58981563e+01] [-1.95122568e-02 5.45501848e-04 9.99809469e-01 -2.16431479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854012739 meters 0.03790855731633244 Centerline is valid? [True, True] Translation: X:111.99, Y:-15.91, Z:-2.16 [[ 9.90949226e-01 1.32669369e-01 2.04565369e-02 1.11992538e+02] [-1.32628402e-01 9.91160162e-01 -3.35254286e-03 -1.59122383e+01] [-2.07204842e-02 6.09081949e-04 9.99785122e-01 -2.16278487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters 0.03930067395409093 Centerline is valid? [True, True] Translation: X:112.02, Y:-15.92, Z:-2.16 [[ 9.90937809e-01 1.32706567e-01 2.07660011e-02 1.12023260e+02] [-1.32664284e-01 9.91155175e-01 -3.40681229e-03 -1.59232650e+01] [-2.10344358e-02 6.21032443e-04 9.99778559e-01 -2.16320207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914012739 meters 0.037556636529586025 Centerline is valid? [True, True] Translation: X:112.05, Y:-15.93, Z:-2.16 [[ 9.90571900e-01 1.35343391e-01 2.12008770e-02 1.12052068e+02] [-1.35299842e-01 9.90798582e-01 -3.48185121e-03 -1.59333043e+01] [-2.14770445e-02 5.80548663e-04 9.99769173e-01 -2.16430844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters 0.037556636529586025 Centerline is valid? [True, True] Translation: X:112.08, Y:-15.94, Z:-2.16 [[ 9.90547243e-01 1.35523748e-01 2.12008043e-02 1.12084126e+02] [-1.35480231e-01 9.90773930e-01 -3.48229423e-03 -1.59387560e+01] [-2.14771377e-02 5.77087103e-04 9.99769173e-01 -2.16496891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974012739 meters 0.03285353285616763 Centerline is valid? [True, True] Translation: X:112.12, Y:-15.94, Z:-2.17 [[ 9.90206549e-01 1.37978138e-01 2.12843496e-02 1.12115590e+02] [-1.37934761e-01 9.90435133e-01 -3.49981010e-03 -1.59399974e+01] [-2.15636649e-02 5.29683201e-04 9.99767337e-01 -2.16549300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters 0.031104612471965744 Centerline is valid? [True, True] Translation: X:112.15, Y:-15.94, Z:-2.17 [[ 9.89707573e-01 1.41640935e-01 2.04148404e-02 1.12145572e+02] [-1.41601799e-01 9.89918006e-01 -3.35731647e-03 -1.59448982e+01] [-2.06845516e-02 4.31983398e-04 9.99785958e-01 -2.16718182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034012739 meters 0.025288514185220885 Centerline is valid? [True, True] Translation: X:112.18, Y:-15.94, Z:-2.17 [[ 9.88444962e-01 1.50428484e-01 1.86501778e-02 1.12175810e+02] [-1.50397379e-01 9.88620868e-01 -3.06733566e-03 -1.59416950e+01] [-1.88993696e-02 2.26954622e-04 9.99821365e-01 -2.17092869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters 0.02281468891691173 Centerline is valid? [True, True] Translation: X:112.21, Y:-15.94, Z:-2.17 [[ 9.87699578e-01 1.55280299e-01 1.83731176e-02 1.12208139e+02] [-1.55250952e-01 9.87870443e-01 -3.02170953e-03 -1.59407588e+01] [-1.86194718e-02 1.32097222e-04 9.99826634e-01 -2.17218342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094012739 meters 0.021164201472034867 Centerline is valid? [True, True] Translation: X:112.24, Y:-15.93, Z:-2.17 [[ 9.86284563e-01 1.63915216e-01 1.93536244e-02 1.12239624e+02] [-1.63884298e-01 9.86474430e-01 -3.18373059e-03 -1.59310703e+01] [-1.96137175e-02 -3.16908073e-05 9.99807632e-01 -2.17053790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters 0.022112780442226674 Centerline is valid? [True, True] Translation: X:112.27, Y:-15.93, Z:-2.17 [[ 9.85664170e-01 1.67508271e-01 2.01773028e-02 1.12268459e+02] [-1.67475427e-01 9.85870665e-01 -3.31872533e-03 -1.59286475e+01] [-2.04481249e-02 -1.08053747e-04 9.99790909e-01 -2.16984768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154012739 meters 0.02467236197458274 Centerline is valid? [True, True] Translation: X:112.30, Y:-15.92, Z:-2.17 [[ 9.84655031e-01 1.73218961e-01 2.12052315e-02 1.12298791e+02] [-1.73184038e-01 9.84883310e-01 -3.48636276e-03 -1.59234232e+01] [-2.14885828e-02 -2.39542995e-04 9.99769065e-01 -2.16982255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters 0.026388840005264983 Centerline is valid? [True, True] Translation: X:112.33, Y:-15.92, Z:-2.17 [[ 9.84258530e-01 1.75472702e-01 2.10826306e-02 1.12326777e+02] [-1.75438720e-01 9.84484255e-01 -3.46518128e-03 -1.59219866e+01] [-2.13635626e-02 -2.88075496e-04 9.99771732e-01 -2.17062778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214012739 meters 0.027911565036260886 Centerline is valid? [True, True] Translation: X:112.36, Y:-15.92, Z:-2.17 [[ 9.83900470e-01 1.77435458e-01 2.13664090e-02 1.12356548e+02] [-1.77401044e-01 9.84132382e-01 -3.51061625e-03 -1.59206976e+01] [-2.16502828e-02 -3.36326281e-04 9.99765549e-01 -2.17044556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters 0.02860410946201674 Centerline is valid? [True, True] Translation: X:112.39, Y:-15.92, Z:-2.17 [[ 9.83486570e-01 1.79742708e-01 2.11358882e-02 1.12386162e+02] [-1.79709586e-01 9.83713582e-01 -3.47173705e-03 -1.59169133e+01] [-2.14156797e-02 -3.83914961e-04 9.99770584e-01 -2.17217493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274012739 meters 0.03011561667798577 Centerline is valid? [True, True] Translation: X:112.41, Y:-15.92, Z:-2.17 [[ 9.83494431e-01 1.79775024e-01 2.04852126e-02 1.12414312e+02] [-1.79743939e-01 9.83707681e-01 -3.36386194e-03 -1.59157420e+01] [-2.07561993e-02 -3.73753305e-04 9.99784497e-01 -2.17383764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters 0.029593959264056842 Centerline is valid? [True, True] Translation: X:112.44, Y:-15.92, Z:-2.17 [[ 9.83667867e-01 1.78826600e-01 2.04590921e-02 1.12442953e+02] [-1.78795415e-01 9.83880542e-01 -3.35831487e-03 -1.59162891e+01] [-2.07298587e-02 -3.54525441e-04 9.99785051e-01 -2.17460059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334012739 meters 0.028920307281555008 Centerline is valid? [True, True] Translation: X:112.47, Y:-15.92, Z:-2.17 [[ 9.83831169e-01 1.77889595e-01 2.07731486e-02 1.12471429e+02] [-1.77857256e-01 9.84050393e-01 -3.40887172e-03 -1.59187628e+01] [-2.10482279e-02 -3.40900967e-04 9.99778403e-01 -2.17384892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters 0.02699287563808192 Centerline is valid? [True, True] Translation: X:112.50, Y:-15.92, Z:-2.17 [[ 9.84236270e-01 1.75595514e-01 2.10992881e-02 1.12500283e+02] [-1.75561647e-01 9.84462354e-01 -3.46138480e-03 -1.59217925e+01] [-2.13792584e-02 -2.97405292e-04 9.99771393e-01 -2.17388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394012739 meters 0.03351291634014591 Centerline is valid? [True, True] Translation: X:112.53, Y:-15.93, Z:-2.16 [[ 9.84515455e-01 1.74134581e-01 2.01610306e-02 1.12529142e+02] [-1.74103372e-01 9.84721830e-01 -3.30654536e-03 -1.59282092e+01] [-2.04287908e-02 -2.54758394e-04 9.99791278e-01 -2.16332022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters 0.024098849860926606 Centerline is valid? [True, True] Translation: X:112.56, Y:-15.93, Z:-2.18 [[ 9.84969157e-01 1.71505223e-01 2.05357921e-02 1.12556506e+02] [-1.71472287e-01 9.85183189e-01 -3.36722751e-03 -1.59331620e+01] [-2.08090142e-02 -2.04703996e-04 9.99783448e-01 -2.17657078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45401273899999 meters 0.023601877738573824 Centerline is valid? [True, True] Translation: X:112.59, Y:-15.94, Z:-2.18 [[ 9.85153924e-01 1.70375761e-01 2.10676697e-02 1.12585531e+02] [-1.70340867e-01 9.85379148e-01 -3.45313602e-03 -1.59368330e+01] [-2.13479731e-02 -1.86814619e-04 9.99772089e-01 -2.17665994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters 0.023296992613758363 Centerline is valid? [True, True] Translation: X:112.61, Y:-15.94, Z:-2.18 [[ 9.85249093e-01 1.69793095e-01 2.13196903e-02 1.12613597e+02] [-1.69757246e-01 9.85479718e-01 -3.49337988e-03 -1.59391009e+01] [-2.16032742e-02 -1.77322561e-04 9.99766606e-01 -2.17609777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514012739 meters 0.022687702390620533 Centerline is valid? [True, True] Translation: X:112.64, Y:-15.94, Z:-2.18 [[ 9.85425661e-01 1.68680119e-01 2.19837177e-02 1.12642500e+02] [-1.68641756e-01 9.85670834e-01 -3.60084029e-03 -1.59417569e+01] [-2.22760996e-02 -1.59012345e-04 9.99751844e-01 -2.17540907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters 0.022154457807560715 Centerline is valid? [True, True] Translation: X:112.67, Y:-15.95, Z:-2.18 [[ 9.85701404e-01 1.67030968e-01 2.22125423e-02 1.12671315e+02] [-1.66991407e-01 9.85951642e-01 -3.63726513e-03 -1.59471954e+01] [-2.25080285e-02 -1.24046340e-04 9.99746655e-01 -2.17574513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574012739 meters 0.02130083697071097 Centerline is valid? [True, True] Translation: X:112.70, Y:-15.95, Z:-2.18 [[ 9.86390723e-01 1.62955238e-01 2.18845150e-02 1.12698232e+02] [-1.62915852e-01 9.86633463e-01 -3.58272929e-03 -1.59536603e+01] [-2.21758194e-02 -3.13634669e-05 9.99754086e-01 -2.17749974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters 0.02124556554117381 Centerline is valid? [True, True] Translation: X:112.73, Y:-15.96, Z:-2.18 [[ 9.86704491e-01 1.60967196e-01 2.24456835e-02 1.12726642e+02] [-1.60925279e-01 9.86959757e-01 -3.67325823e-03 -1.59603668e+01] [-2.27442604e-02 1.23425281e-05 9.99741316e-01 -2.17724034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634012739 meters 0.02135292736957984 Centerline is valid? [True, True] Translation: X:112.76, Y:-15.97, Z:-2.18 [[ 9.87000931e-01 1.59045015e-01 2.31050797e-02 1.12755197e+02] [-1.59000099e-01 9.87271330e-01 -3.78004065e-03 -1.59668366e+01] [-2.34121794e-02 5.71936754e-05 9.99725896e-01 -2.17731742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters 0.022228579966739315 Centerline is valid? [True, True] Translation: X:112.78, Y:-15.98, Z:-2.18 [[ 9.87613136e-01 1.55184284e-01 2.31976712e-02 1.12783186e+02] [-1.55137968e-01 9.87885528e-01 -3.79405336e-03 -1.59750447e+01] [-2.35054211e-02 1.48217371e-04 9.99723698e-01 -2.17696202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694012739 meters 0.02437630838654335 Centerline is valid? [True, True] Translation: X:112.81, Y:-15.99, Z:-2.18 [[ 9.88173845e-01 1.51640953e-01 2.27480384e-02 1.12810972e+02] [-1.51595494e-01 9.88435617e-01 -3.71974499e-03 -1.59861082e+01] [-2.30490370e-02 2.27254602e-04 9.99734310e-01 -2.17854900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters 0.02547569233054579 Centerline is valid? [True, True] Translation: X:112.84, Y:-16.00, Z:-2.18 [[ 9.88471363e-01 1.49763560e-01 2.22539828e-02 1.12839261e+02] [-1.49719585e-01 9.88721804e-01 -3.63867265e-03 -1.59951408e+01] [-2.25479386e-02 2.64866640e-04 9.99745728e-01 -2.18003237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754012739 meters 0.026329408580925882 Centerline is valid? [True, True] Translation: X:112.87, Y:-16.00, Z:-2.18 [[ 9.88677379e-01 1.48496285e-01 2.15845738e-02 1.12868606e+02] [-1.48454624e-01 9.88912925e-01 -3.52877376e-03 -1.60040576e+01] [-2.18692738e-02 2.84489023e-04 9.99760798e-01 -2.18194774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters 0.02572657431438966 Centerline is valid? [True, True] Translation: X:112.90, Y:-16.01, Z:-2.19 [[ 9.88773011e-01 1.48058225e-01 2.01666538e-02 1.12898908e+02] [-1.48021767e-01 9.88978608e-01 -3.29696381e-03 -1.60095230e+01] [-2.04325318e-02 2.74845119e-04 9.99791196e-01 -2.18508131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814012739 meters 0.026396924946070047 Centerline is valid? [True, True] Translation: X:112.93, Y:-16.02, Z:-2.19 [[ 9.88713217e-01 1.48589813e-01 1.91635349e-02 1.12928000e+02] [-1.48556992e-01 9.88898885e-01 -3.13296801e-03 -1.60171909e+01] [-1.94163254e-02 2.50729783e-04 9.99811454e-01 -2.18692081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters 0.02429562665487882 Centerline is valid? [True, True] Translation: X:112.96, Y:-16.02, Z:-2.19 [[ 9.88467361e-01 1.50254688e-01 1.88628026e-02 1.12957775e+02] [-1.50223192e-01 9.88647299e-01 -3.08381696e-03 -1.60218942e+01] [-1.91120168e-02 2.14621987e-04 9.99817326e-01 -2.18823296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874012739 meters 0.02375364766272649 Centerline is valid? [True, True] Translation: X:112.99, Y:-16.03, Z:-2.19 [[ 9.88277334e-01 1.51493001e-01 1.89150969e-02 1.12987008e+02] [-1.51461561e-01 9.88458312e-01 -3.09214747e-03 -1.60278281e+01] [-1.91652234e-02 1.90989154e-04 9.99816312e-01 -2.18822846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters 0.022708067679049666 Centerline is valid? [True, True] Translation: X:113.02, Y:-16.03, Z:-2.19 [[ 9.87870232e-01 1.54125872e-01 1.89108487e-02 1.13016484e+02] [-1.54094937e-01 9.88051211e-01 -3.09099255e-03 -1.60327104e+01] [-1.91612888e-02 1.39433496e-04 9.99816396e-01 -2.18933763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934012739 meters 0.022505600219382485 Centerline is valid? [True, True] Translation: X:113.04, Y:-16.04, Z:-2.19 [[ 9.87761764e-01 1.54790469e-01 1.91470184e-02 1.13044894e+02] [-1.54758891e-01 9.87947314e-01 -3.12912527e-03 -1.60388617e+01] [-1.94006042e-02 1.27658966e-04 9.99811782e-01 -2.19023622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters 0.027321780133483922 Centerline is valid? [True, True] Translation: X:113.07, Y:-16.05, Z:-2.18 [[ 9.87654310e-01 1.55445226e-01 1.93841775e-02 1.13073996e+02] [-1.55412996e-01 9.87844506e-01 -3.16739387e-03 -1.60484911e+01] [-1.96409095e-02 1.15737106e-04 9.99807092e-01 -2.18041857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994012739 meters 0.022577761596368224 Centerline is valid? [True, True] Translation: X:113.10, Y:-16.06, Z:-2.19 [[ 9.87648588e-01 1.55378332e-01 2.01950659e-02 1.13102209e+02] [-1.55343345e-01 9.87855029e-01 -3.29936999e-03 -1.60582701e+01] [-2.04624481e-02 1.21449004e-04 9.99790615e-01 -2.18874190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters 0.022473495012124107 Centerline is valid? [True, True] Translation: X:113.13, Y:-16.06, Z:-2.19 [[ 9.87655029e-01 1.55282699e-01 2.06113299e-02 1.13131246e+02] [-1.55246240e-01 9.87870066e-01 -3.36710971e-03 -1.60648432e+01] [-2.08841697e-02 1.25711380e-04 9.99781894e-01 -2.18820922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054012739 meters 0.02187405992900831 Centerline is valid? [True, True] Translation: X:113.16, Y:-16.07, Z:-2.19 [[ 9.87509392e-01 1.56260731e-01 2.01936754e-02 1.13160775e+02] [-1.56225948e-01 9.87715836e-01 -3.29844857e-03 -1.60707731e+01] [-2.04610310e-02 1.02472853e-04 9.99790646e-01 -2.19056688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters 0.021866267523116677 Centerline is valid? [True, True] Translation: X:113.19, Y:-16.08, Z:-2.19 [[ 9.87380201e-01 1.57154376e-01 1.95663423e-02 1.13189952e+02] [-1.57121896e-01 9.87574046e-01 -3.19598516e-03 -1.60765166e+01] [-1.98254749e-02 8.13516624e-05 9.99803453e-01 -2.19213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114012739 meters 0.021267269385428972 Centerline is valid? [True, True] Translation: X:113.22, Y:-16.07, Z:-2.19 [[ 9.86841625e-01 1.60549797e-01 1.91668876e-02 1.13220556e+02] [-1.60519274e-01 9.87027742e-01 -3.13052819e-03 -1.60748955e+01] [-1.94208555e-02 1.26806520e-05 9.99811397e-01 -2.19291238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters 0.021154446336819687 Centerline is valid? [True, True] Translation: X:113.25, Y:-16.08, Z:-2.19 [[ 9.86529349e-01 1.62421542e-01 1.94701468e-02 1.13249275e+02] [-1.62390419e-01 9.86721461e-01 -3.17957170e-03 -1.60764328e+01] [-1.97280426e-02 -2.50244989e-05 9.99805383e-01 -2.19247326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174012739 meters 0.02156861927324603 Centerline is valid? [True, True] Translation: X:113.28, Y:-16.08, Z:-2.19 [[ 9.85973222e-01 1.65439335e-01 2.20597467e-02 1.13278182e+02] [-1.65400152e-01 9.86219964e-01 -3.60176860e-03 -1.60765459e+01] [-2.23516368e-02 -9.74380614e-05 9.99750166e-01 -2.18727672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters 0.022136836537117795 Centerline is valid? [True, True] Translation: X:113.31, Y:-16.08, Z:-2.19 [[ 9.85743840e-01 1.66660774e-01 2.30925857e-02 1.13307084e+02] [-1.66618198e-01 9.86014284e-01 -3.76925030e-03 -1.60784915e+01] [-2.33978055e-02 -1.32129752e-04 9.99726225e-01 -2.18665292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234012739 meters 0.022111422483500554 Centerline is valid? [True, True] Translation: X:113.34, Y:-16.08, Z:-2.19 [[ 9.85613902e-01 1.67456510e-01 2.28813074e-02 1.13336507e+02] [-1.67414947e-01 9.85879452e-01 -3.73373782e-03 -1.60815536e+01] [-2.31834495e-02 -1.50648978e-04 9.99731216e-01 -2.18846004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters 0.02775351044495178 Centerline is valid? [True, True] Translation: X:113.37, Y:-16.09, Z:-2.18 [[ 9.85749537e-01 1.66952401e-01 2.06093817e-02 1.13365335e+02] [-1.66918582e-01 9.85964949e-01 -3.36254722e-03 -1.60868725e+01] [-2.08815133e-02 -1.25459415e-04 9.99781950e-01 -2.18436151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294012739 meters 0.02167432960695412 Centerline is valid? [True, True] Translation: X:113.39, Y:-16.09, Z:-2.19 [[ 9.86024035e-01 1.65335268e-01 2.05146435e-02 1.13392732e+02] [-1.65301421e-01 9.86237416e-01 -3.34657814e-03 -1.60943513e+01] [-2.07856164e-02 -9.12932325e-05 9.99783952e-01 -2.19478521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters 0.021161103218305274 Centerline is valid? [True, True] Translation: X:113.42, Y:-16.11, Z:-2.19 [[ 9.86687129e-01 1.61318683e-01 2.06104607e-02 1.13420609e+02] [-1.61283658e-01 9.86902367e-01 -3.36145055e-03 -1.61066230e+01] [-2.08827772e-02 -7.43049934e-06 9.99781931e-01 -2.19404181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354012739 meters 0.021234450158304437 Centerline is valid? [True, True] Translation: X:113.45, Y:-16.12, Z:-2.19 [[ 9.87090544e-01 1.58825080e-01 2.06603843e-02 1.13449494e+02] [-1.58789349e-01 9.87306737e-01 -3.36908985e-03 -1.61156185e+01] [-2.09332326e-02 4.49477564e-05 9.99780875e-01 -2.19417101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters 0.021661794151256217 Centerline is valid? [True, True] Translation: X:113.48, Y:-16.12, Z:-2.19 [[ 9.87469927e-01 1.56450680e-01 2.06477258e-02 1.13478717e+02] [-1.56414478e-01 9.87685768e-01 -3.36678060e-03 -1.61239368e+01] [-2.09202000e-02 9.49913338e-05 9.99781144e-01 -2.19463314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414012739 meters 0.02320765933081835 Centerline is valid? [True, True] Translation: X:113.51, Y:-16.14, Z:-2.20 [[ 9.88124877e-01 1.52279026e-01 2.05018429e-02 1.13508201e+02] [-1.52242436e-01 9.88337526e-01 -3.34300426e-03 -1.61384758e+01] [-2.07718101e-02 1.82055166e-04 9.99784226e-01 -2.19620902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters 0.024590109646009068 Centerline is valid? [True, True] Translation: X:113.54, Y:-16.15, Z:-2.20 [[ 9.88651031e-01 1.49012208e-01 1.90918961e-02 1.13538412e+02] [-1.48979863e-01 9.88835329e-01 -3.11338253e-03 -1.61526759e+01] [-1.93426734e-02 2.33740781e-04 9.99812886e-01 -2.19939334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474012739 meters 0.025929915213255113 Centerline is valid? [True, True] Translation: X:113.57, Y:-16.16, Z:-2.20 [[ 9.88791020e-01 1.48199882e-01 1.81415160e-02 1.13568383e+02] [-1.48170485e-01 9.88957399e-01 -2.96143094e-03 -1.61622365e+01] [-1.83800702e-02 2.40199081e-04 9.99831043e-01 -2.20177800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters 0.02592108089436263 Centerline is valid? [True, True] Translation: X:113.60, Y:-16.17, Z:-2.20 [[ 9.88884342e-01 1.47670608e-01 1.73536895e-02 1.13600432e+02] [-1.47643581e-01 9.89036568e-01 -2.83546603e-03 -1.61682401e+01] [-1.75821485e-02 2.41787088e-04 9.99845393e-01 -2.20455372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534012739 meters 0.026496020737882993 Centerline is valid? [True, True] Translation: X:113.63, Y:-16.18, Z:-2.21 [[ 9.88853367e-01 1.47937207e-01 1.68405012e-02 1.13630588e+02] [-1.47911746e-01 9.88996728e-01 -2.75437843e-03 -1.61791018e+01] [-1.70626757e-02 2.32768446e-04 9.99854395e-01 -2.20650997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters 0.02581260314300132 Centerline is valid? [True, True] Translation: X:113.66, Y:-16.19, Z:-2.21 [[ 9.88778115e-01 1.48426665e-01 1.69518348e-02 1.13662450e+02] [-1.48400884e-01 9.88923391e-01 -2.77576917e-03 -1.61861496e+01] [-1.71760641e-02 2.28952538e-04 9.99852454e-01 -2.20593336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594012739 meters 0.027051326558383253 Centerline is valid? [True, True] Translation: X:113.69, Y:-16.20, Z:-2.20 [[ 9.88847943e-01 1.47772336e-01 1.85224878e-02 1.13691788e+02] [-1.47741374e-01 9.89021368e-01 -3.03654301e-03 -1.61990807e+01] [-1.87678532e-02 2.66141518e-04 9.99823833e-01 -2.20311325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters 0.02694855691859717 Centerline is valid? [True, True] Translation: X:113.72, Y:-16.21, Z:-2.20 [[ 9.88978692e-01 1.46786473e-01 1.93617512e-02 1.13722889e+02] [-1.46752416e-01 9.89168156e-01 -3.17597795e-03 -1.62064314e+01] [-1.96182184e-02 2.99590762e-04 9.99807499e-01 -2.20248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654012739 meters 0.029226163178516743 Centerline is valid? [True, True] Translation: X:113.75, Y:-16.22, Z:-2.20 [[ 9.89266598e-01 1.44660907e-01 2.06111631e-02 1.13751847e+02] [-1.44621773e-01 9.89481221e-01 -3.38464237e-03 -1.62227133e+01] [-2.08839843e-02 3.67490688e-04 9.99781838e-01 -2.20202572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters 0.030675689105554023 Centerline is valid? [True, True] Translation: X:113.78, Y:-16.23, Z:-2.20 [[ 9.89368815e-01 1.43909409e-01 2.09625609e-02 1.13782039e+02] [-1.43868690e-01 9.89590788e-01 -3.44569045e-03 -1.62337274e+01] [-2.12402244e-02 3.93202510e-04 9.99774324e-01 -2.20204693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714012739 meters 0.031482599683473764 Centerline is valid? [True, True] Translation: X:113.81, Y:-16.24, Z:-2.20 [[ 9.89398283e-01 1.43704807e-01 2.09753852e-02 1.13813129e+02] [-1.43663923e-01 9.89620517e-01 -3.45103594e-03 -1.62433382e+01] [-2.12536020e-02 4.01042911e-04 9.99774036e-01 -2.20227717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters 0.03130549563176313 Centerline is valid? [True, True] Translation: X:113.84, Y:-16.25, Z:-2.20 [[ 9.89356200e-01 1.43978032e-01 2.10863889e-02 1.13844649e+02] [-1.43936697e-01 9.89580803e-01 -3.47297136e-03 -1.62540839e+01] [-2.13667172e-02 4.00900578e-04 9.99771625e-01 -2.20205952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774012739 meters 0.030922315174996363 Centerline is valid? [True, True] Translation: X:113.88, Y:-16.26, Z:-2.20 [[ 9.89258766e-01 1.44675789e-01 2.08808710e-02 1.13875980e+02] [-1.44635332e-01 9.89479038e-01 -3.44289110e-03 -1.62621856e+01] [-2.11592871e-02 3.85798495e-04 9.99776043e-01 -2.20273358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters 0.026739424529464848 Centerline is valid? [True, True] Translation: X:113.91, Y:-16.27, Z:-2.21 [[ 9.88822911e-01 1.47750356e-01 1.99770495e-02 1.13908233e+02] [-1.47713891e-01 9.89024639e-01 -3.29691785e-03 -1.62665088e+01] [-2.02449150e-02 3.09180194e-04 9.99795003e-01 -2.20585675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834012739 meters 0.026739424529464848 Centerline is valid? [True, True] Translation: X:113.94, Y:-16.27, Z:-2.21 [[ 9.88794539e-01 1.47940142e-01 1.99768533e-02 1.13940273e+02] [-1.47903692e-01 9.88996269e-01 -3.29810656e-03 -1.62719792e+01] [-2.02449557e-02 3.06499395e-04 9.99795003e-01 -2.20651701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters 0.025562614742210582 Centerline is valid? [True, True] Translation: X:113.97, Y:-16.28, Z:-2.21 [[ 9.88475192e-01 1.50028616e-01 2.02041970e-02 1.13972016e+02] [-1.49991685e-01 9.88681618e-01 -3.33966523e-03 -1.62778176e+01] [-2.04765635e-02 2.70714688e-04 9.99790297e-01 -2.20760129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894012739 meters 0.024611702633547308 Centerline is valid? [True, True] Translation: X:114.00, Y:-16.28, Z:-2.21 [[ 9.88145488e-01 1.52072029e-01 2.10378729e-02 1.14003072e+02] [-1.52032369e-01 9.88369384e-01 -3.48125327e-03 -1.62840240e+01] [-2.13225907e-02 2.41547070e-04 9.99772619e-01 -2.20735732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters 0.023067970280437194 Centerline is valid? [True, True] Translation: X:114.04, Y:-16.29, Z:-2.21 [[ 9.87666615e-01 1.55121832e-01 2.12573351e-02 1.14035130e+02] [-1.55081969e-01 9.87895331e-01 -3.52113922e-03 -1.62904723e+01] [-2.15462276e-02 1.81082271e-04 9.99767837e-01 -2.20608704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95401273899999 meters 0.021953764476408375 Centerline is valid? [True, True] Translation: X:114.07, Y:-16.30, Z:-2.21 [[ 9.87248588e-01 1.57911677e-01 2.01029541e-02 1.14067203e+02] [-1.57876581e-01 9.87453234e-01 -3.33108111e-03 -1.62962527e+01] [-2.03767436e-02 1.14819464e-04 9.99792366e-01 -2.20804792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters 0.021613835590138394 Centerline is valid? [True, True] Translation: X:114.10, Y:-16.30, Z:-2.21 [[ 9.87058682e-01 1.59130795e-01 1.98128507e-02 1.14099711e+02] [-1.59096926e-01 9.87257505e-01 -3.28420945e-03 -1.63028566e+01] [-2.00830044e-02 8.95438115e-05 9.99798312e-01 -2.20936081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014012739 meters 0.021505936805321653 Centerline is valid? [True, True] Translation: X:114.13, Y:-16.31, Z:-2.21 [[ 9.86909541e-01 1.60057445e-01 1.97780560e-02 1.14130846e+02] [-1.60023801e-01 9.87107699e-01 -3.28244484e-03 -1.63099880e+01] [-2.00484511e-02 7.45164324e-05 9.99799007e-01 -2.21011924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters 0.02127417508277747 Centerline is valid? [True, True] Translation: X:114.16, Y:-16.32, Z:-2.21 [[ 9.86680089e-01 1.61388013e-01 2.04037192e-02 1.14161829e+02] [-1.61352408e-01 9.86891031e-01 -3.39026520e-03 -1.63187828e+01] [-2.06833956e-02 5.29179470e-05 9.99786074e-01 -2.20937870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074012739 meters 0.021132596606623776 Centerline is valid? [True, True] Translation: X:114.19, Y:-16.32, Z:-2.21 [[ 9.86455432e-01 1.62729379e-01 2.06114139e-02 1.14192921e+02] [-1.62693258e-01 9.86670740e-01 -3.42859672e-03 -1.63247903e+01] [-2.08946124e-02 2.88197677e-05 9.99781683e-01 -2.20962433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters 0.031192371245553435 Centerline is valid? [True, True] Translation: X:114.23, Y:-16.33, Z:-2.20 [[ 9.85958691e-01 1.65916089e-01 1.89026608e-02 1.14225792e+02] [-1.65886256e-01 9.86139874e-01 -3.14638929e-03 -1.63275455e+01] [-1.91627041e-02 -3.34817668e-05 9.99816378e-01 -2.19995021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134012739 meters 0.02140235514797953 Centerline is valid? [True, True] Translation: X:114.26, Y:-16.33, Z:-2.21 [[ 9.85679419e-01 1.67561675e-01 1.89517499e-02 1.14258422e+02] [-1.67531921e-01 9.85861593e-01 -3.15821883e-03 -1.63310372e+01] [-1.92129988e-02 -6.20317759e-05 9.99815411e-01 -2.21247100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters 0.021666016803288644 Centerline is valid? [True, True] Translation: X:114.29, Y:-16.33, Z:-2.22 [[ 9.85461002e-01 1.68912626e-01 1.83068130e-02 1.14290761e+02] [-1.68885031e-01 9.85631025e-01 -3.05417308e-03 -1.63343753e+01] [-1.85596513e-02 -8.19782325e-05 9.99827751e-01 -2.21519923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194012739 meters 0.02204410173516508 Centerline is valid? [True, True] Translation: X:114.32, Y:-16.34, Z:-2.22 [[ 9.85292110e-01 1.69891010e-01 1.83439857e-02 1.14322530e+02] [-1.69863412e-01 9.85462853e-01 -3.06370357e-03 -1.63386491e+01] [-1.85978121e-02 -9.73290253e-05 9.99827041e-01 -2.21614720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters 0.021734941750054464 Centerline is valid? [True, True] Translation: X:114.35, Y:-16.35, Z:-2.21 [[ 9.85294445e-01 1.69770536e-01 1.93086181e-02 1.14354511e+02] [-1.69739863e-01 9.85483615e-01 -3.22848318e-03 -1.63456320e+01] [-1.95764281e-02 -9.64356462e-05 9.99808359e-01 -2.21445496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254012739 meters 0.02109060573772078 Centerline is valid? [True, True] Translation: X:114.39, Y:-16.35, Z:-2.21 [[ 9.85570319e-01 1.67898740e-01 2.14746093e-02 1.14385734e+02] [-1.67860256e-01 9.85804245e-01 -3.59515015e-03 -1.63538895e+01] [-2.17733822e-02 -6.14601276e-05 9.99762930e-01 -2.21085895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters 0.020906868724526947 Centerline is valid? [True, True] Translation: X:114.42, Y:-16.36, Z:-2.21 [[ 9.85752359e-01 1.66830754e-01 2.14426102e-02 1.14417991e+02] [-1.66792052e-01 9.85985547e-01 -3.59347609e-03 -1.63606674e+01] [-2.17416061e-02 -3.41794140e-05 9.99763623e-01 -2.21155153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314012739 meters 0.020878926138068517 Centerline is valid? [True, True] Translation: X:114.45, Y:-16.37, Z:-2.21 [[ 9.86019895e-01 1.65304208e-01 2.09591144e-02 1.14449948e+02] [-1.65266802e-01 9.86242627e-01 -3.51643473e-03 -1.63687102e+01] [-2.12520535e-02 3.42878765e-06 9.99774150e-01 -2.21299763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters 0.020923441974579272 Centerline is valid? [True, True] Translation: X:114.48, Y:-16.37, Z:-2.21 [[ 9.86066747e-01 1.64969449e-01 2.13881011e-02 1.14481111e+02] [-1.64930324e-01 9.86298677e-01 -3.59269640e-03 -1.63741351e+01] [-2.16877409e-02 1.50920042e-05 9.99764793e-01 -2.21221972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374012739 meters 0.020747296675215725 Centerline is valid? [True, True] Translation: X:114.51, Y:-16.38, Z:-2.21 [[ 9.86045681e-01 1.65034892e-01 2.18494896e-02 1.14514313e+02] [-1.64993985e-01 9.86287729e-01 -3.67431085e-03 -1.63785333e+01] [-2.21562730e-02 1.80039676e-05 9.99754519e-01 -2.21164046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters 0.020801078525107666 Centerline is valid? [True, True] Translation: X:114.55, Y:-16.38, Z:-2.21 [[ 9.85750765e-01 1.66801113e-01 2.17443648e-02 1.14548079e+02] [-1.66760936e-01 9.85990562e-01 -3.66087421e-03 -1.63793251e+01] [-2.20503763e-02 -1.74010660e-05 9.99756861e-01 -2.21271264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434012739 meters 0.02100190204390805 Centerline is valid? [True, True] Translation: X:114.58, Y:-16.38, Z:-2.21 [[ 9.85510836e-01 1.68341616e-01 2.07241898e-02 1.14579614e+02] [-1.68305379e-01 9.85728714e-01 -3.49301217e-03 -1.63820873e+01] [-2.10164482e-02 -4.55912656e-05 9.99779129e-01 -2.21489396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters 0.021355363552071745 Centerline is valid? [True, True] Translation: X:114.61, Y:-16.38, Z:-2.22 [[ 9.85234049e-01 1.70235932e-01 1.82646278e-02 1.14613040e+02] [-1.70208058e-01 9.85403330e-01 -3.08137844e-03 -1.63828585e+01] [-1.85225863e-02 -7.29078521e-05 9.99828440e-01 -2.22030364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494012739 meters 0.0214062230808625 Centerline is valid? [True, True] Translation: X:114.64, Y:-16.39, Z:-2.22 [[ 9.85165647e-01 1.70655561e-01 1.80368233e-02 1.14644880e+02] [-1.70628384e-01 9.85330743e-01 -3.04645629e-03 -1.63856464e+01] [-1.82921312e-02 -7.63299217e-05 9.99832682e-01 -2.22156792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters 0.021406593203635242 Centerline is valid? [True, True] Translation: X:114.68, Y:-16.39, Z:-2.22 [[ 9.85100287e-01 1.70976041e-01 1.85639095e-02 1.14678073e+02] [-1.70947244e-01 9.85275183e-01 -3.13895197e-03 -1.63891665e+01] [-1.88272449e-02 -8.12666732e-05 9.99822748e-01 -2.22122452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554012739 meters 0.021069730180046056 Centerline is valid? [True, True] Translation: X:114.71, Y:-16.39, Z:-2.22 [[ 9.85101550e-01 1.70700252e-01 2.08892261e-02 1.14710666e+02] [-1.70663629e-01 9.85323002e-01 -3.53667921e-03 -1.63920051e+01] [-2.11863470e-02 -8.10429679e-05 9.99775541e-01 -2.21725096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters 0.020875432047893126 Centerline is valid? [True, True] Translation: X:114.74, Y:-16.40, Z:-2.22 [[ 9.85168757e-01 1.70250969e-01 2.13805321e-02 1.14743701e+02] [-1.70212406e-01 9.85400732e-01 -3.62408795e-03 -1.63970723e+01] [-2.16853965e-02 -6.88935873e-05 9.99764842e-01 -2.21672178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614012739 meters 0.02070730839963573 Centerline is valid? [True, True] Translation: X:114.78, Y:-16.40, Z:-2.22 [[ 9.85392654e-01 1.68918916e-01 2.16267701e-02 1.14775701e+02] [-1.68879045e-01 9.85629950e-01 -3.67008875e-03 -1.64029465e+01] [-2.19359398e-02 -3.58297930e-05 9.99759378e-01 -2.21756974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters 0.020643613745855088 Centerline is valid? [True, True] Translation: X:114.81, Y:-16.41, Z:-2.22 [[ 9.85584928e-01 1.67859169e-01 2.11103803e-02 1.14806444e+02] [-1.67820852e-01 9.85810986e-01 -3.58643905e-03 -1.64101839e+01] [-2.14128615e-02 -8.02172754e-06 9.99770718e-01 -2.21944514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674012739 meters 0.020976618505053737 Centerline is valid? [True, True] Translation: X:114.84, Y:-16.42, Z:-2.23 [[ 9.85989023e-01 1.65776597e-01 1.85409437e-02 1.14838274e+02] [-1.65746617e-01 9.86163333e-01 -3.15281178e-03 -1.64186329e+01] [-1.88070612e-02 3.55391140e-05 9.99823131e-01 -2.22534868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters 0.021063165074376142 Centerline is valid? [True, True] Translation: X:114.87, Y:-16.43, Z:-2.23 [[ 9.86070362e-01 1.65375644e-01 1.77802396e-02 1.14869284e+02] [-1.65347948e-01 9.86230650e-01 -3.02685724e-03 -1.64253324e+01] [-1.80359857e-02 4.47680917e-05 9.99837337e-01 -2.22780637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734012739 meters 0.02125107687487057 Centerline is valid? [True, True] Translation: X:114.90, Y:-16.43, Z:-2.23 [[ 9.86161927e-01 1.64780290e-01 1.82238892e-02 1.14901390e+02] [-1.64751028e-01 9.86330296e-01 -3.10583448e-03 -1.64345331e+01] [-1.84865544e-02 6.04512212e-05 9.99829107e-01 -2.22631857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters 0.021089416916164602 Centerline is valid? [True, True] Translation: X:114.93, Y:-16.44, Z:-2.23 [[ 9.86091831e-01 1.65135422e-01 1.87934407e-02 1.14932999e+02] [-1.65104293e-01 9.86270900e-01 -3.20679201e-03 -1.64411622e+01] [-1.90649786e-02 5.93136654e-05 9.99818245e-01 -2.22577799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794012739 meters 0.020925982593690152 Centerline is valid? [True, True] Translation: X:114.97, Y:-16.45, Z:-2.23 [[ 9.85955128e-01 1.65937912e-01 1.88969584e-02 1.14965535e+02] [-1.65906544e-01 9.86136201e-01 -3.22669162e-03 -1.64462783e+01] [-1.91704052e-02 4.62440901e-05 9.99816230e-01 -2.22617141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters 0.020572000510252774 Centerline is valid? [True, True] Translation: X:115.00, Y:-16.45, Z:-2.23 [[ 9.85551653e-01 1.68195995e-01 1.99510859e-02 1.14996847e+02] [-1.68161408e-01 9.85753573e-01 -3.41080622e-03 -1.64508022e+01] [-2.02405381e-02 6.52301313e-06 9.99795139e-01 -2.22598197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854012739 meters 0.020602624568622507 Centerline is valid? [True, True] Translation: X:115.03, Y:-16.46, Z:-2.23 [[ 9.85399699e-01 1.69054221e-01 2.02015757e-02 1.15028659e+02] [-1.69018890e-01 9.85606752e-01 -3.45612836e-03 -1.64580069e+01] [-2.04950825e-02 -8.78004427e-06 9.99789954e-01 -2.22659132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters 0.020720135219536806 Centerline is valid? [True, True] Translation: X:115.06, Y:-16.47, Z:-2.23 [[ 9.85295213e-01 1.69767751e-01 1.92938614e-02 1.15059330e+02] [-1.69735591e-01 9.85484100e-01 -3.30436827e-03 -1.64673487e+01] [-1.95747688e-02 -1.90767217e-05 9.99808396e-01 -2.22789800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914012739 meters 0.025107055616025446 Centerline is valid? [True, True] Translation: X:115.09, Y:-16.47, Z:-2.22 [[ 9.85210476e-01 1.70431531e-01 1.77034007e-02 1.15091703e+02] [-1.70404511e-01 9.85369521e-01 -3.03482610e-03 -1.64730956e+01] [-1.79616215e-02 -2.67968780e-05 9.99838677e-01 -2.22355541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters 0.020867462863209493 Centerline is valid? [True, True] Translation: X:115.12, Y:-16.48, Z:-2.23 [[ 9.85166862e-01 1.70678708e-01 1.77491511e-02 1.15123056e+02] [-1.70651526e-01 9.85326737e-01 -3.04609520e-03 -1.64788375e+01] [-1.80086168e-02 -2.80076872e-05 9.99837831e-01 -2.23352245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974012739 meters 0.021081336721947112 Centerline is valid? [True, True] Translation: X:115.15, Y:-16.49, Z:-2.23 [[ 9.84922053e-01 1.72074503e-01 1.78581867e-02 1.15154049e+02] [-1.72047158e-01 9.85083937e-01 -3.06801891e-03 -1.64856482e+01] [-1.81197407e-02 -5.06907947e-05 9.99835823e-01 -2.23346218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters 0.021507840565364204 Centerline is valid? [True, True] Translation: X:115.19, Y:-16.49, Z:-2.23 [[ 9.84460628e-01 1.74529004e-01 1.94138614e-02 1.15185873e+02] [-1.74497089e-01 9.84652028e-01 -3.33903474e-03 -1.64899985e+01] [-1.96986564e-02 -1.00514061e-04 9.99805958e-01 -2.22987818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034012739 meters 0.022324512371375053 Centerline is valid? [True, True] Translation: X:115.22, Y:-16.49, Z:-2.23 [[ 9.84063444e-01 1.76657589e-01 2.02789231e-02 1.15218300e+02] [-1.76623142e-01 9.84272358e-01 -3.49152754e-03 -1.64934887e+01] [-2.05767883e-02 -1.45842508e-04 9.99788265e-01 -2.22855493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters 0.0236755782572225 Centerline is valid? [True, True] Translation: X:115.25, Y:-16.50, Z:-2.23 [[ 9.83583847e-01 1.79241389e-01 2.08648167e-02 1.15250383e+02] [-1.79205430e-01 9.83805104e-01 -3.59589710e-03 -1.64964319e+01] [-2.11714468e-02 -2.02222138e-04 9.99775839e-01 -2.22795065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094012739 meters 0.027441862143355002 Centerline is valid? [True, True] Translation: X:115.28, Y:-16.49, Z:-2.23 [[ 9.82679412e-01 1.84222031e-01 2.00852308e-02 1.15282790e+02] [-1.84189684e-01 9.82884610e-01 -3.46465549e-03 -1.64930906e+01] [-2.03797301e-02 -2.94846704e-04 9.99792268e-01 -2.23102407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters 0.029630138171193875 Centerline is valid? [True, True] Translation: X:115.31, Y:-16.49, Z:-2.23 [[ 9.82217794e-01 1.86713140e-01 1.96572590e-02 1.15313001e+02] [-1.86682647e-01 9.82414418e-01 -3.39128025e-03 -1.64931906e+01] [-1.99447712e-02 -3.38693334e-04 9.99801026e-01 -2.23288936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154012739 meters 0.03126906896782894 Centerline is valid? [True, True] Translation: X:115.34, Y:-16.50, Z:-2.23 [[ 9.81530429e-01 1.90336460e-01 1.92366405e-02 1.15344379e+02] [-1.90307953e-01 9.81718834e-01 -3.31869639e-03 -1.64958266e+01] [-1.95166412e-02 -4.03484179e-04 9.99809451e-01 -2.23407255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters 0.03136556519921247 Centerline is valid? [True, True] Translation: X:115.37, Y:-16.50, Z:-2.24 [[ 9.81399939e-01 1.91051561e-01 1.88005483e-02 1.15374472e+02] [-1.91024454e-01 9.81579918e-01 -3.24392998e-03 -1.65011761e+01] [-1.90739985e-02 -4.07771781e-04 9.99817992e-01 -2.23513329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214012739 meters 0.031251579613155805 Centerline is valid? [True, True] Translation: X:115.40, Y:-16.51, Z:-2.24 [[ 9.81598905e-01 1.90165654e-01 1.73382176e-02 1.15403945e+02] [-1.90142462e-01 9.81751952e-01 -2.99164518e-03 -1.65057498e+01] [-1.75907371e-02 -3.60135740e-04 9.99845206e-01 -2.23892907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters 0.0307318744237542 Centerline is valid? [True, True] Translation: X:115.43, Y:-16.51, Z:-2.24 [[ 9.81765809e-01 1.89318235e-01 1.71610755e-02 1.15433053e+02] [-1.89295388e-01 9.81915724e-01 -2.96087520e-03 -1.65116840e+01] [-1.74112776e-02 -3.41626417e-04 9.99848354e-01 -2.24039525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274012739 meters 0.029555695675017434 Centerline is valid? [True, True] Translation: X:115.46, Y:-16.52, Z:-2.24 [[ 9.82013828e-01 1.88002950e-01 1.74279149e-02 1.15462466e+02] [-1.87979185e-01 9.82168410e-01 -3.00667193e-03 -1.65191039e+01] [-1.76824107e-02 -3.23491838e-04 9.99843602e-01 -2.24090543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters 0.02693068741794521 Centerline is valid? [True, True] Translation: X:115.49, Y:-16.53, Z:-2.24 [[ 9.82627528e-01 1.84707945e-01 1.80586723e-02 1.15493065e+02] [-1.84681874e-01 9.82793417e-01 -3.11538625e-03 -1.65300092e+01] [-1.83233808e-02 -2.73845145e-04 9.99832075e-01 -2.23939538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334012739 meters 0.026474014012047534 Centerline is valid? [True, True] Translation: X:115.52, Y:-16.54, Z:-2.24 [[ 9.82925618e-01 1.83105890e-01 1.81510971e-02 1.15523951e+02] [-1.83079264e-01 9.83093166e-01 -3.13211380e-03 -1.65359832e+01] [-1.84177280e-02 -2.44454595e-04 9.99830349e-01 -2.24011128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters 0.024162955091255045 Centerline is valid? [True, True] Translation: X:115.55, Y:-16.55, Z:-2.24 [[ 9.83500319e-01 1.79998689e-01 1.80995915e-02 1.15554358e+02] [-1.79971635e-01 9.83666833e-01 -3.12603392e-03 -1.65477331e+01] [-1.83666499e-02 -1.82957718e-04 9.99831302e-01 -2.24075367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394012739 meters 0.023133215602739458 Centerline is valid? [True, True] Translation: X:115.59, Y:-16.56, Z:-2.24 [[ 9.83779270e-01 1.78478966e-01 1.79890617e-02 1.15585484e+02] [-1.78451934e-01 9.83943716e-01 -3.10983663e-03 -1.65574037e+01] [-1.82552647e-02 -1.50790050e-04 9.99833347e-01 -2.24127696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters 0.021424731292741476 Centerline is valid? [True, True] Translation: X:115.62, Y:-16.57, Z:-2.24 [[ 9.84545851e-01 1.74107560e-01 1.88686200e-02 1.15615681e+02] [-1.74076955e-01 9.84726639e-01 -3.26516754e-03 -1.65723385e+01] [-1.91489231e-02 -6.98847499e-05 9.99816640e-01 -2.24132365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45401273899999 meters 0.02100442404536 Centerline is valid? [True, True] Translation: X:115.65, Y:-16.58, Z:-2.24 [[ 9.85023494e-01 1.71357144e-01 1.91166392e-02 1.15645691e+02] [-1.71325147e-01 9.85208977e-01 -3.31134413e-03 -1.65833581e+01] [-1.94013071e-02 -1.34092612e-05 9.99811777e-01 -2.24153319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters 0.021098527604538123 Centerline is valid? [True, True] Translation: X:115.68, Y:-16.59, Z:-2.24 [[ 9.85492827e-01 1.68582246e-01 1.95937191e-02 1.15677197e+02] [-1.68548021e-01 9.85687590e-01 -3.39708647e-03 -1.65945477e+01] [-1.98859742e-02 4.53217758e-05 9.99802253e-01 -2.24148579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514012739 meters 0.022350856184479018 Centerline is valid? [True, True] Translation: X:115.71, Y:-16.61, Z:-2.24 [[ 9.86224166e-01 1.64062773e-01 2.11021329e-02 1.15707518e+02] [-1.64021948e-01 9.86449889e-01 -3.66289097e-03 -1.66091964e+01] [-2.14171407e-02 1.51218647e-04 9.99770615e-01 -2.23853788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters 0.02327430712394756 Centerline is valid? [True, True] Translation: X:115.74, Y:-16.62, Z:-2.24 [[ 9.86476736e-01 1.62468512e-01 2.16247873e-02 1.15737365e+02] [-1.62425175e-01 9.86713710e-01 -3.75732586e-03 -1.66194959e+01] [-2.19479212e-02 1.94104687e-04 9.99759097e-01 -2.23788099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574012739 meters 0.024875656996219762 Centerline is valid? [True, True] Translation: X:115.77, Y:-16.64, Z:-2.24 [[ 9.86872282e-01 1.60023730e-01 2.18060806e-02 1.15766954e+02] [-1.59978991e-01 9.87113135e-01 -3.79227057e-03 -1.66358307e+01] [-2.21319218e-02 2.53971949e-04 9.99755027e-01 -2.23880517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters 0.02567907813512686 Centerline is valid? [True, True] Translation: X:115.80, Y:-16.65, Z:-2.24 [[ 9.87039427e-01 1.59089843e-01 2.10615997e-02 1.15797895e+02] [-1.59047821e-01 9.87264073e-01 -3.66619466e-03 -1.66463438e+01] [-2.13766151e-02 2.68877127e-04 9.99771458e-01 -2.24145658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634012739 meters 0.02681966498877946 Centerline is valid? [True, True] Translation: X:115.83, Y:-16.66, Z:-2.25 [[ 9.87207596e-01 1.58338765e-01 1.87082176e-02 1.15827470e+02] [-1.58305422e-01 9.87384814e-01 -3.25932794e-03 -1.66584459e+01] [-1.89882879e-02 2.56021007e-04 9.99819673e-01 -2.24622124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters 0.025403811931297378 Centerline is valid? [True, True] Translation: X:115.86, Y:-16.66, Z:-2.25 [[ 9.87106794e-01 1.59056701e-01 1.79204672e-02 1.15860088e+02] [-1.59026179e-01 9.87269422e-01 -3.12465531e-03 -1.66633872e+01] [-1.81893266e-02 2.34545068e-04 9.99834533e-01 -2.24826513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694012739 meters 0.02476477735798123 Centerline is valid? [True, True] Translation: X:115.89, Y:-16.67, Z:-2.25 [[ 9.86815305e-01 1.60944588e-01 1.70995381e-02 1.15890100e+02] [-1.60917024e-01 9.86963425e-01 -2.98487139e-03 -1.66714713e+01] [-1.73570176e-02 1.93909988e-04 9.99849337e-01 -2.25000982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters 0.02441923329149484 Centerline is valid? [True, True] Translation: X:115.92, Y:-16.68, Z:-2.25 [[ 9.86679642e-01 1.61809187e-01 1.67651536e-02 1.15920200e+02] [-1.61782770e-01 9.86822048e-01 -2.92918085e-03 -1.66776336e+01] [-1.70181916e-02 1.77850123e-04 9.99855164e-01 -2.25102891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754012739 meters 0.02416528606435626 Centerline is valid? [True, True] Translation: X:115.95, Y:-16.68, Z:-2.25 [[ 9.86573472e-01 1.62488679e-01 1.64381927e-02 1.15952807e+02] [-1.62463337e-01 9.86710394e-01 -2.87444677e-03 -1.66836080e+01] [-1.66868007e-02 1.65249290e-04 9.99860752e-01 -2.25215531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters 0.02416528606435626 Centerline is valid? [True, True] Translation: X:115.98, Y:-16.69, Z:-2.25 [[ 9.86542664e-01 1.62675676e-01 1.64376459e-02 1.15984778e+02] [-1.62650307e-01 9.86679582e-01 -2.87756978e-03 -1.66893959e+01] [-1.66868002e-02 1.65257192e-04 9.99860752e-01 -2.25281569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814012739 meters 0.023948233588797406 Centerline is valid? [True, True] Translation: X:116.02, Y:-16.70, Z:-2.25 [[ 9.86387749e-01 1.63555315e-01 1.69960813e-02 1.16015651e+02] [-1.63528263e-01 9.86534152e-01 -2.97885881e-03 -1.66965570e+01] [-1.72544229e-02 1.58970174e-04 9.99851119e-01 -2.25335351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters 0.02344028431657676 Centerline is valid? [True, True] Translation: X:116.05, Y:-16.70, Z:-2.25 [[ 9.86255606e-01 1.64253048e-01 1.79113217e-02 1.16047456e+02] [-1.64223060e-01 9.86418223e-01 -3.14249762e-03 -1.67023125e+01] [-1.81842189e-02 1.57853840e-04 9.99834641e-01 -2.25196390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874012739 meters 0.022534658893478134 Centerline is valid? [True, True] Translation: X:116.08, Y:-16.71, Z:-2.25 [[ 9.85931204e-01 1.66077512e-01 1.89187859e-02 1.16078209e+02] [-1.66044326e-01 9.86112692e-01 -3.32265165e-03 -1.67056450e+01] [-1.92078726e-02 1.34548896e-04 9.99815503e-01 -2.25045469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters 0.022407624841572597 Centerline is valid? [True, True] Translation: X:116.11, Y:-16.71, Z:-2.25 [[ 9.85775796e-01 1.67088414e-01 1.80981035e-02 1.16110751e+02] [-1.67058167e-01 9.85941910e-01 -3.18113673e-03 -1.67092508e+01] [-1.83752099e-02 1.12451585e-04 9.99831155e-01 -2.25282780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934012739 meters 0.022233989192226123 Centerline is valid? [True, True] Translation: X:116.14, Y:-16.71, Z:-2.26 [[ 9.85621935e-01 1.68133745e-01 1.67465172e-02 1.16143613e+02] [-1.68107949e-01 9.85764189e-01 -2.94648355e-03 -1.67125859e+01] [-1.70035203e-02 8.88961554e-05 9.99855426e-01 -2.25634797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters 0.02181179319443195 Centerline is valid? [True, True] Translation: X:116.18, Y:-16.71, Z:-2.26 [[ 9.85350076e-01 1.69833777e-01 1.55472101e-02 1.16177162e+02] [-1.69811712e-01 9.85472722e-01 -2.73813978e-03 -1.67139524e+01] [-1.57863800e-02 5.79278698e-05 9.99875386e-01 -2.25873060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994012739 meters 0.021294763354957762 Centerline is valid? [True, True] Translation: X:116.21, Y:-16.72, Z:-2.25 [[ 9.85097085e-01 1.71068016e-01 1.78736711e-02 1.16207969e+02] [-1.71038981e-01 9.85259221e-01 -3.15204672e-03 -1.67167987e+01] [-1.81494137e-02 4.79775509e-05 9.99835285e-01 -2.25437901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters 0.0211573186763876 Centerline is valid? [True, True] Translation: X:116.24, Y:-16.72, Z:-2.25 [[ 9.85046250e-01 1.71231802e-01 1.90671357e-02 1.16239683e+02] [-1.71198728e-01 9.85230769e-01 -3.36573685e-03 -1.67216249e+01] [-1.93618499e-02 5.11370888e-05 9.99812541e-01 -2.25334039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054012739 meters 0.02124146788752286 Centerline is valid? [True, True] Translation: X:116.27, Y:-16.73, Z:-2.25 [[ 9.85099918e-01 1.70843622e-01 1.97638287e-02 1.16271570e+02] [-1.70807935e-01 9.85298154e-01 -3.49237462e-03 -1.67275468e+01] [-2.00699139e-02 6.45191756e-05 9.99798577e-01 -2.25373111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters 0.021605997706727918 Centerline is valid? [True, True] Translation: X:116.30, Y:-16.73, Z:-2.26 [[ 9.85261080e-01 1.70061909e-01 1.84269046e-02 1.16303280e+02] [-1.70030715e-01 9.85433377e-01 -3.25803516e-03 -1.67345895e+01] [-1.87125545e-02 7.68754939e-05 9.99824902e-01 -2.25758857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114012739 meters 0.02173698412051795 Centerline is valid? [True, True] Translation: X:116.34, Y:-16.74, Z:-2.26 [[ 9.85315125e-01 1.69856333e-01 1.74048851e-02 1.16335916e+02] [-1.69828418e-01 9.85468832e-01 -3.08039084e-03 -1.67408438e+01] [-1.76751957e-02 7.93115849e-05 9.99843778e-01 -2.25980500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters 0.021870389842959467 Centerline is valid? [True, True] Translation: X:116.37, Y:-16.75, Z:-2.26 [[ 9.85344104e-01 1.69735845e-01 1.69334033e-02 1.16367705e+02] [-1.69709347e-01 9.85489592e-01 -3.00022944e-03 -1.67466464e+01] [-1.71969392e-02 8.25015713e-05 9.99852118e-01 -2.26072899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174012739 meters 0.021725517126747924 Centerline is valid? [True, True] Translation: X:116.40, Y:-16.75, Z:-2.26 [[ 9.85281486e-01 1.70116294e-01 1.67582755e-02 1.16400252e+02] [-1.70090345e-01 9.85423990e-01 -2.97223215e-03 -1.67514773e+01] [-1.70196319e-02 7.80644479e-05 9.99855153e-01 -2.26126737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters 0.02191810709508951 Centerline is valid? [True, True] Translation: X:116.43, Y:-16.76, Z:-2.26 [[ 9.85308360e-01 1.69989931e-01 1.64578056e-02 1.16432474e+02] [-1.69964834e-01 9.85445796e-01 -2.92207736e-03 -1.67573258e+01] [-1.67149991e-02 8.18990517e-05 9.99860291e-01 -2.26273559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234012739 meters 0.021945527055490785 Centerline is valid? [True, True] Translation: X:116.46, Y:-16.76, Z:-2.26 [[ 9.85306524e-01 1.69935067e-01 1.71209503e-02 1.16464439e+02] [-1.69907837e-01 9.85455258e-01 -3.04331240e-03 -1.67644937e+01] [-1.73890960e-02 8.96119294e-05 9.99848794e-01 -2.26178178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters 0.021359311114204825 Centerline is valid? [True, True] Translation: X:116.50, Y:-16.77, Z:-2.26 [[ 9.85055634e-01 1.71134543e-01 1.94516391e-02 1.16495897e+02] [-1.71099542e-01 9.85247665e-01 -3.46195548e-03 -1.67684798e+01] [-1.97571422e-02 8.20521972e-05 9.99804805e-01 -2.25835914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294012739 meters 0.02105392791319551 Centerline is valid? [True, True] Translation: X:116.53, Y:-16.77, Z:-2.26 [[ 9.84791921e-01 1.72522099e-01 2.05182476e-02 1.16529115e+02] [-1.72483384e-01 9.85005645e-01 -3.65521015e-03 -1.67718756e+01] [-2.08411943e-02 6.05646227e-05 9.99782797e-01 -2.25802405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters 0.02077349988834645 Centerline is valid? [True, True] Translation: X:116.56, Y:-16.77, Z:-2.26 [[ 9.84490104e-01 1.74206595e-01 2.07677037e-02 1.16561623e+02] [-1.74167222e-01 9.84709125e-01 -3.70368155e-03 -1.67746725e+01] [-2.10953531e-02 2.91845699e-05 9.99777468e-01 -2.25770109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354012739 meters 0.021022425368645476 Centerline is valid? [True, True] Translation: X:116.59, Y:-16.77, Z:-2.26 [[ 9.83835173e-01 1.78093248e-01 1.87389480e-02 1.16593853e+02] [-1.78061860e-01 9.84013614e-01 -3.34383488e-03 -1.67735620e+01] [-1.90348944e-02 -4.69095734e-05 9.99818819e-01 -2.26182390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters 0.021997323545194264 Centerline is valid? [True, True] Translation: X:116.63, Y:-16.77, Z:-2.27 [[ 9.83215835e-01 1.81673034e-01 1.67788470e-02 1.16627175e+02] [-1.81648345e-01 9.83358988e-01 -2.99673500e-03 -1.67717684e+01] [-1.70440559e-02 -1.01412472e-04 9.99854734e-01 -2.26655410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414012739 meters 0.02262581607984437 Centerline is valid? [True, True] Translation: X:116.66, Y:-16.77, Z:-2.27 [[ 9.82913630e-01 1.83268136e-01 1.71343391e-02 1.16659279e+02] [-1.83242582e-01 9.83062955e-01 -3.06311365e-03 -1.67737098e+01] [-1.74055052e-02 -1.28964381e-04 9.99848504e-01 -2.26675653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters 0.023402456460489707 Centerline is valid? [True, True] Translation: X:116.69, Y:-16.78, Z:-2.27 [[ 9.82584559e-01 1.84966442e-01 1.77482151e-02 1.16690549e+02] [-1.84939245e-01 9.82744824e-01 -3.17591012e-03 -1.67756410e+01] [-1.80294033e-02 -1.61741246e-04 9.99837444e-01 -2.26603541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474012739 meters 0.02476090585289753 Centerline is valid? [True, True] Translation: X:116.72, Y:-16.78, Z:-2.27 [[ 9.82170588e-01 1.87140725e-01 1.78685290e-02 1.16722702e+02] [-1.87113468e-01 9.82333095e-01 -3.20018207e-03 -1.67751060e+01] [-1.81517318e-02 -2.00317735e-04 9.99835224e-01 -2.26670359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters 0.02477693683109194 Centerline is valid? [True, True] Translation: X:116.75, Y:-16.78, Z:-2.27 [[ 9.82158199e-01 1.87286207e-01 1.70043737e-02 1.16754858e+02] [-1.87261503e-01 9.82305370e-01 -3.04779465e-03 -1.67789563e+01] [-1.72742975e-02 -1.90848078e-04 9.99850770e-01 -2.26870063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534012739 meters 0.024028514433471683 Centerline is valid? [True, True] Translation: X:116.78, Y:-16.78, Z:-2.27 [[ 9.82411336e-01 1.85932801e-01 1.72325564e-02 1.16784929e+02] [-1.85907164e-01 9.82562449e-01 -3.09193968e-03 -1.67816042e+01] [-1.75069558e-02 -1.66099110e-04 9.99846728e-01 -2.26928104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters 0.023239256599481704 Centerline is valid? [True, True] Translation: X:116.82, Y:-16.79, Z:-2.27 [[ 9.82581721e-01 1.84888314e-01 1.86942092e-02 1.16816267e+02] [-1.84857951e-01 9.82759526e-01 -3.35441642e-03 -1.67869120e+01] [-1.89921045e-02 -1.59784943e-04 9.99819621e-01 -2.26711344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594012739 meters 0.029837780880930424 Centerline is valid? [True, True] Translation: X:116.85, Y:-16.79, Z:-2.25 [[ 9.82831484e-01 1.83547839e-01 1.87740727e-02 1.16848156e+02] [-1.83516967e-01 9.83010769e-01 -3.36899821e-03 -1.67933988e+01] [-1.90734880e-02 -1.34203364e-04 9.99818075e-01 -2.25477077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters 0.021708844043758658 Centerline is valid? [True, True] Translation: X:116.88, Y:-16.80, Z:-2.27 [[ 9.83005392e-01 1.82595117e-01 1.89584579e-02 1.16879456e+02] [-1.82563395e-01 9.83188187e-01 -3.40535563e-03 -1.67988206e+01] [-1.92615331e-02 -1.13637485e-04 9.99814473e-01 -2.26800273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654012739 meters 0.02170351375250809 Centerline is valid? [True, True] Translation: X:116.91, Y:-16.80, Z:-2.27 [[ 9.83221913e-01 1.81533974e-01 1.78909721e-02 1.16911452e+02] [-1.81505496e-01 9.83384670e-01 -3.21649785e-03 -1.68029989e+01] [-1.81776114e-02 -8.47786105e-05 9.99834770e-01 -2.27117370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters 0.02090970486040005 Centerline is valid? [True, True] Translation: X:116.94, Y:-16.81, Z:-2.27 [[ 9.83966982e-01 1.77454838e-01 1.78537956e-02 1.16941422e+02] [-1.77425743e-01 9.84128945e-01 -3.21332168e-03 -1.68130200e+01] [-1.81406565e-02 -5.92052260e-06 9.99835445e-01 -2.27179070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714012739 meters 0.021006543897546342 Centerline is valid? [True, True] Translation: X:116.97, Y:-16.82, Z:-2.27 [[ 9.84396515e-01 1.74954957e-01 1.88219052e-02 1.16973110e+02] [-1.74922131e-01 9.84576437e-01 -3.38924429e-03 -1.68235982e+01] [-1.91245695e-02 4.39924969e-05 9.99817108e-01 -2.27120184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters 0.02305426232876982 Centerline is valid? [True, True] Translation: X:117.00, Y:-16.84, Z:-2.27 [[ 9.85284385e-01 1.69810242e-01 1.94721141e-02 1.17003023e+02] [-1.69774032e-01 9.85476767e-01 -3.50995331e-03 -1.68397348e+01] [-1.97853421e-02 1.52442866e-04 9.99804239e-01 -2.26964829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774012739 meters 0.029741095103215816 Centerline is valid? [True, True] Translation: X:117.03, Y:-16.85, Z:-2.26 [[ 9.85586866e-01 1.68206705e-01 1.80286848e-02 1.17033861e+02] [-1.68175348e-01 9.85751730e-01 -3.25239245e-03 -1.68484795e+01] [-1.83188815e-02 1.73534932e-04 9.99832180e-01 -2.26098421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters 0.026346389633080853 Centerline is valid? [True, True] Translation: X:117.06, Y:-16.86, Z:-2.27 [[ 9.85941847e-01 1.66100496e-01 1.81466021e-02 1.17062760e+02] [-1.66068317e-01 9.86108806e-01 -3.27654435e-03 -1.68625830e+01] [-1.84387598e-02 2.16906513e-04 9.99829968e-01 -2.27362596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834012739 meters 0.030114362325408935 Centerline is valid? [True, True] Translation: X:117.09, Y:-16.88, Z:-2.27 [[ 9.86572550e-01 1.62222912e-01 1.89296420e-02 1.17090720e+02] [-1.62187122e-01 9.86754090e-01 -3.42103446e-03 -1.68823617e+01] [-1.92338719e-02 3.04954520e-04 9.99814965e-01 -2.27276340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters 0.029327475335172395 Centerline is valid? [True, True] Translation: X:117.12, Y:-16.89, Z:-2.27 [[ 9.86796341e-01 1.60709564e-01 2.01349780e-02 1.17121971e+02] [-1.60668693e-01 9.87001675e-01 -3.64193376e-03 -1.68901591e+01] [-2.04585506e-02 3.58786303e-04 9.99790638e-01 -2.27088560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894012739 meters 0.030185880180780215 Centerline is valid? [True, True] Translation: X:117.15, Y:-16.90, Z:-2.27 [[ 9.86917061e-01 1.59799950e-01 2.14170824e-02 1.17152377e+02] [-1.59753411e-01 9.87149336e-01 -3.87761306e-03 -1.69041961e+01] [-2.17615011e-02 4.05430507e-04 9.99763108e-01 -2.26943008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters 0.030545386266136596 Centerline is valid? [True, True] Translation: X:117.18, Y:-16.91, Z:-2.27 [[ 9.86886375e-01 1.60056535e-01 2.09090691e-02 1.17183080e+02] [-1.60012163e-01 9.87107771e-01 -3.78904549e-03 -1.69144530e+01] [-2.12459661e-02 3.93651987e-04 9.99774201e-01 -2.27066182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95401273899999 meters 0.03049682698025696 Centerline is valid? [True, True] Translation: X:117.21, Y:-16.93, Z:-2.28 [[ 9.86857045e-01 1.60503453e-01 1.87567323e-02 1.17214164e+02] [-1.60467772e-01 9.87035218e-01 -3.40195273e-03 -1.69281699e+01] [-1.90595805e-02 3.47389983e-04 9.99818289e-01 -2.27554765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters 0.030220746648630524 Centerline is valid? [True, True] Translation: X:117.25, Y:-16.94, Z:-2.28 [[ 9.86745778e-01 1.61296136e-01 1.77855421e-02 1.17245637e+02] [-1.61264126e-01 9.86906001e-01 -3.22900700e-03 -1.69362504e+01] [-1.80734846e-02 3.18039133e-04 9.99836611e-01 -2.27821886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014012739 meters 0.027960198997561303 Centerline is valid? [True, True] Translation: X:117.28, Y:-16.94, Z:-2.28 [[ 9.86271657e-01 1.64092321e-01 1.84912964e-02 1.17275895e+02] [-1.64058151e-01 9.86444946e-01 -3.36030963e-03 -1.69426823e+01] [-1.87920469e-02 2.80530260e-04 9.99823375e-01 -2.27651764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters 0.02648393627761586 Centerline is valid? [True, True] Translation: X:117.31, Y:-16.95, Z:-2.27 [[ 9.85903009e-01 1.66137480e-01 1.98392009e-02 1.17307861e+02] [-1.66098495e-01 9.86102565e-01 -3.60847804e-03 -1.69482732e+01] [-2.01629904e-02 2.62347947e-04 9.99796672e-01 -2.27385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074012739 meters 0.02515424152438584 Centerline is valid? [True, True] Translation: X:117.34, Y:-16.95, Z:-2.27 [[ 9.85575045e-01 1.67962299e-01 2.07484006e-02 1.17338388e+02] [-1.67919989e-01 9.85793391e-01 -3.77734990e-03 -1.69535597e+01] [-2.10880886e-02 2.38790592e-04 9.99777593e-01 -2.27228141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters 0.023997998964436246 Centerline is valid? [True, True] Translation: X:117.37, Y:-16.96, Z:-2.28 [[ 9.85239557e-01 1.70015986e-01 1.99394031e-02 1.17369538e+02] [-1.69977273e-01 9.85441286e-01 -3.63294907e-03 -1.69576170e+01] [-2.02667705e-02 1.90079760e-04 9.99794590e-01 -2.27554372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134012739 meters 0.02376754479559748 Centerline is valid? [True, True] Translation: X:117.40, Y:-16.96, Z:-2.28 [[ 9.85166583e-01 1.70531662e-01 1.91247338e-02 1.17401970e+02] [-1.70496092e-01 9.85352182e-01 -3.48722005e-03 -1.69633085e+01] [-1.94392796e-02 1.74800282e-04 9.99811024e-01 -2.27871550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters 0.02355842835103176 Centerline is valid? [True, True] Translation: X:117.43, Y:-16.97, Z:-2.28 [[ 9.85059332e-01 1.71077717e-01 1.97617646e-02 1.17432608e+02] [-1.71039773e-01 9.85257522e-01 -3.60712826e-03 -1.69712146e+01] [-2.00875265e-02 1.73187630e-04 9.99798210e-01 -2.27741572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194012739 meters 0.02326545536254213 Centerline is valid? [True, True] Translation: X:117.46, Y:-16.98, Z:-2.28 [[ 9.84949787e-01 1.71621058e-01 2.04970620e-02 1.17464920e+02] [-1.71580279e-01 9.85163024e-01 -3.74497233e-03 -1.69774409e+01] [-2.08356637e-02 1.71718064e-04 9.99782899e-01 -2.27587526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters 0.021629213921688907 Centerline is valid? [True, True] Translation: X:117.50, Y:-16.98, Z:-2.27 [[ 9.84416846e-01 1.74566518e-01 2.12133032e-02 1.17496836e+02] [-1.74523437e-01 9.84645376e-01 -3.87978581e-03 -1.69766887e+01] [-2.15648616e-02 1.17107925e-04 9.99767444e-01 -2.27409642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254012739 meters 0.02066360384558369 Centerline is valid? [True, True] Translation: X:117.53, Y:-16.98, Z:-2.27 [[ 9.83908252e-01 1.77372898e-01 2.15268726e-02 1.17528432e+02] [-1.77329136e-01 9.84143715e-01 -3.94034979e-03 -1.69757273e+01] [-2.18844477e-02 5.96009657e-05 9.99760505e-01 -2.27435737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters 0.020449266095680332 Centerline is valid? [True, True] Translation: X:117.56, Y:-16.97, Z:-2.28 [[ 9.83224584e-01 1.81103141e-01 2.17041586e-02 1.17561826e+02] [-1.81059490e-01 9.83464108e-01 -3.97607537e-03 -1.69738910e+01] [-2.20653407e-02 -2.03688476e-05 9.99756531e-01 -2.27583534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314012739 meters 0.02282297825675331 Centerline is valid? [True, True] Translation: X:117.60, Y:-16.96, Z:-2.28 [[ 9.81787307e-01 1.88897734e-01 2.02812655e-02 1.17595543e+02] [-1.88861206e-01 9.81996748e-01 -3.71901452e-03 -1.69631672e+01] [-2.06186501e-02 -1.79063002e-04 9.99787397e-01 -2.28005864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters 0.02596126329291743 Centerline is valid? [True, True] Translation: X:117.63, Y:-16.96, Z:-2.28 [[ 9.81206341e-01 1.91984782e-01 1.93896966e-02 1.17627590e+02] [-1.91951965e-01 9.81397875e-01 -3.55718745e-03 -1.69581990e+01] [-1.97119329e-02 -2.31555476e-04 9.99805674e-01 -2.28279376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374012739 meters 0.02778310794333427 Centerline is valid? [True, True] Translation: X:117.66, Y:-16.95, Z:-2.28 [[ 9.80391792e-01 1.96071880e-01 1.96914030e-02 1.17661241e+02] [-1.96038847e-01 9.80589474e-01 -3.61300217e-03 -1.69543180e+01] [-2.00175906e-02 -3.18122264e-04 9.99799577e-01 -2.28305236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters 0.028578803315280333 Centerline is valid? [True, True] Translation: X:117.69, Y:-16.96, Z:-2.28 [[ 9.80171558e-01 1.97130850e-01 2.00784934e-02 1.17693107e+02] [-1.97096707e-01 9.80377126e-01 -3.68500132e-03 -1.69561155e+01] [-2.04109231e-02 -3.45471446e-04 9.99791616e-01 -2.28270771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434012739 meters 0.027637092333989848 Centerline is valid? [True, True] Translation: X:117.73, Y:-16.96, Z:-2.28 [[ 9.80337297e-01 1.96345441e-01 1.96786964e-02 1.17725381e+02] [-1.96312427e-01 9.80534735e-01 -3.61456570e-03 -1.69589925e+01] [-2.00053488e-02 -3.19679085e-04 9.99799822e-01 -2.28426173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters 0.026565697365926344 Centerline is valid? [True, True] Translation: X:117.76, Y:-16.96, Z:-2.29 [[ 9.80636872e-01 1.94900346e-01 1.91096897e-02 1.17756658e+02] [-1.94868880e-01 9.80823010e-01 -3.51311872e-03 -1.69639486e+01] [-1.94279314e-02 -2.78790082e-04 9.99811221e-01 -2.28656902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494012739 meters 0.025130328049761393 Centerline is valid? [True, True] Translation: X:117.79, Y:-16.97, Z:-2.29 [[ 9.81021003e-01 1.93032217e-01 1.83399568e-02 1.17788601e+02] [-1.93002853e-01 9.81192392e-01 -3.37462084e-03 -1.69705952e+01] [-1.86464366e-02 -2.29090050e-04 9.99826114e-01 -2.28908168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters 0.023004636894574403 Centerline is valid? [True, True] Translation: X:117.82, Y:-16.98, Z:-2.29 [[ 9.81613501e-01 1.89980240e-01 1.85052288e-02 1.17820061e+02] [-1.89949772e-01 9.81787899e-01 -3.40660016e-03 -1.69783985e+01] [-1.88153964e-02 -1.71099277e-04 9.99822960e-01 -2.28982817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554012739 meters 0.022437342517362215 Centerline is valid? [True, True] Translation: X:117.85, Y:-16.98, Z:-2.29 [[ 9.81812925e-01 1.88870643e-01 1.92681047e-02 1.17850799e+02] [-1.88837332e-01 9.82001964e-01 -3.55035711e-03 -1.69846940e+01] [-1.95918749e-02 -1.52750988e-04 9.99808049e-01 -2.28887791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters 0.02177261005802419 Centerline is valid? [True, True] Translation: X:117.88, Y:-16.99, Z:-2.29 [[ 9.82092373e-01 1.87369169e-01 1.96816194e-02 1.17881861e+02] [-1.87334050e-01 9.82289560e-01 -3.62964726e-03 -1.69900399e+01] [-2.00131332e-02 -1.22388572e-04 9.99799710e-01 -2.28883502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614012739 meters 0.02147199871682956 Centerline is valid? [True, True] Translation: X:117.91, Y:-17.00, Z:-2.29 [[ 9.82164834e-01 1.87011096e-01 1.94701879e-02 1.17914509e+02] [-1.86976622e-01 9.82357795e-01 -3.59239675e-03 -1.69963127e+01] [-1.97985089e-02 -1.12144207e-04 9.99803984e-01 -2.29035546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters 0.021180807653971144 Centerline is valid? [True, True] Translation: X:117.95, Y:-17.00, Z:-2.29 [[ 9.82260130e-01 1.86405547e-01 2.04452909e-02 1.17945968e+02] [-1.86367320e-01 9.82472881e-01 -3.77624511e-03 -1.70007380e+01] [-2.07908569e-02 -1.01079069e-04 9.99783842e-01 -2.28889296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674012739 meters 0.021180807653971144 Centerline is valid? [True, True] Translation: X:117.98, Y:-17.01, Z:-2.29 [[ 9.82231980e-01 1.86553888e-01 2.04446638e-02 1.17977076e+02] [-1.86515623e-01 9.82444725e-01 -3.77963743e-03 -1.70066524e+01] [-2.07908581e-02 -1.00768439e-04 9.99783842e-01 -2.28953636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters 0.021026489298812494 Centerline is valid? [True, True] Translation: X:118.01, Y:-17.01, Z:-2.29 [[ 9.82149899e-01 1.86898297e-01 2.12273871e-02 1.18010100e+02] [-1.86857051e-01 9.82379262e-01 -3.92781874e-03 -1.70123967e+01] [-2.15874475e-02 -1.08780168e-04 9.99766958e-01 -2.28885033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734012739 meters 0.020938894015271724 Centerline is valid? [True, True] Translation: X:118.04, Y:-17.02, Z:-2.29 [[ 9.82021331e-01 1.87506062e-01 2.18078641e-02 1.18042553e+02] [-1.87462586e-01 9.82263438e-01 -4.03940132e-03 -1.70160124e+01] [-2.21784798e-02 -1.21380346e-04 9.99754020e-01 -2.28915992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters 0.021050995506652345 Centerline is valid? [True, True] Translation: X:118.07, Y:-17.02, Z:-2.29 [[ 9.82009086e-01 1.87622635e-01 2.13518414e-02 1.18073809e+02] [-1.87580924e-01 9.82241178e-01 -3.95781072e-03 -1.70207589e+01] [-2.17152327e-02 -1.18592051e-04 9.99764189e-01 -2.29041919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794012739 meters 0.021202242068458704 Centerline is valid? [True, True] Translation: X:118.11, Y:-17.03, Z:-2.29 [[ 9.82074298e-01 1.87282729e-01 2.13366640e-02 1.18105587e+02] [-1.87240937e-01 9.82306046e-01 -3.95773453e-03 -1.70257596e+01] [-2.17003493e-02 -1.08307604e-04 9.99764514e-01 -2.29128669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters 0.02076703363741173 Centerline is valid? [True, True] Translation: X:118.14, Y:-17.03, Z:-2.29 [[ 9.82337558e-01 1.85946383e-01 2.09013111e-02 1.18135324e+02] [-1.85905899e-01 9.82559890e-01 -3.88069695e-03 -1.70338131e+01] [-2.12583915e-02 -7.35226601e-05 9.99774012e-01 -2.29251416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854012739 meters 0.020387487116468355 Centerline is valid? [True, True] Translation: X:118.17, Y:-17.04, Z:-2.29 [[ 9.82604900e-01 1.84531655e-01 2.08729255e-02 1.18166548e+02] [-1.84490896e-01 9.82826570e-01 -3.87848585e-03 -1.70422332e+01] [-2.12301691e-02 -3.98455161e-05 9.99774614e-01 -2.29334762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters 0.020354369577232724 Centerline is valid? [True, True] Translation: X:118.20, Y:-17.05, Z:-2.29 [[ 9.82651010e-01 1.84216387e-01 2.14782711e-02 1.18199067e+02] [-1.84173078e-01 9.82885711e-01 -3.99443356e-03 -1.70491190e+01] [-2.18465259e-02 -3.05851356e-05 9.99761336e-01 -2.29359765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914012739 meters 0.020462130936857458 Centerline is valid? [True, True] Translation: X:118.23, Y:-17.05, Z:-2.29 [[ 9.82429785e-01 1.85283351e-01 2.24008302e-02 1.18230908e+02] [-1.85236412e-01 9.82685136e-01 -4.17066850e-03 -1.70530755e+01] [-2.27857183e-02 -5.20604642e-05 9.99740370e-01 -2.29230907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters 0.020889037239724673 Centerline is valid? [True, True] Translation: X:118.26, Y:-17.06, Z:-2.29 [[ 9.82158798e-01 1.86768933e-01 2.19422154e-02 1.18262960e+02] [-1.86724177e-01 9.82403868e-01 -4.08932308e-03 -1.70551806e+01] [-2.23198758e-02 -8.07774717e-05 9.99750877e-01 -2.29333124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974012739 meters 0.021802079244411136 Centerline is valid? [True, True] Translation: X:118.30, Y:-17.05, Z:-2.30 [[ 9.81603615e-01 1.89972144e-01 1.91030601e-02 1.18295751e+02] [-1.89938770e-01 9.81789472e-01 -3.56318703e-03 -1.70535276e+01] [-1.94320896e-02 -1.30774474e-04 9.99811171e-01 -2.30071694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters 0.022472077799331292 Centerline is valid? [True, True] Translation: X:118.33, Y:-17.06, Z:-2.30 [[ 9.81383221e-01 1.91242061e-01 1.77044728e-02 1.18327197e+02] [-1.91213547e-01 9.81542895e-01 -3.30536011e-03 -1.70554345e+01] [-1.80098233e-02 -1.41510085e-04 9.99837800e-01 -2.30419930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034012739 meters 0.022687759746077948 Centerline is valid? [True, True] Translation: X:118.36, Y:-17.06, Z:-2.31 [[ 9.81308907e-01 1.91713885e-01 1.66918031e-02 1.18357727e+02] [-1.91688600e-01 9.81450848e-01 -3.11674863e-03 -1.70595808e+01] [-1.69797083e-02 -1.41135178e-04 9.99855824e-01 -2.30622217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters 0.022244239057566537 Centerline is valid? [True, True] Translation: X:118.39, Y:-17.06, Z:-2.31 [[ 9.81465667e-01 1.90883034e-01 1.69944530e-02 1.18388037e+02] [-1.90856700e-01 9.81612780e-01 -3.17326042e-03 -1.70641166e+01] [-1.72876939e-02 -1.29059065e-04 9.99850548e-01 -2.30610005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094012739 meters 0.022066473105149188 Centerline is valid? [True, True] Translation: X:118.42, Y:-17.07, Z:-2.31 [[ 9.81605853e-01 1.90145805e-01 1.71616361e-02 1.18417419e+02] [-1.90118836e-01 9.81755855e-01 -3.20451210e-03 -1.70671914e+01] [-1.74578612e-02 -1.17182442e-04 9.99847593e-01 -2.30634064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters 0.02285712213045487 Centerline is valid? [True, True] Translation: X:118.45, Y:-17.06, Z:-2.31 [[ 9.81634135e-01 1.89957491e-01 1.76231975e-02 1.18447465e+02] [-1.89929025e-01 9.81792309e-01 -3.29052762e-03 -1.70630526e+01] [-1.79273802e-02 -1.17062501e-04 9.99839285e-01 -2.30679887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154012739 meters 0.023233382832307845 Centerline is valid? [True, True] Translation: X:118.48, Y:-17.06, Z:-2.31 [[ 9.81514923e-01 1.90535501e-01 1.80188426e-02 1.18476603e+02] [-1.90505852e-01 9.81680297e-01 -3.36374801e-03 -1.70638855e+01] [-1.83296562e-02 -1.31126098e-04 9.99831989e-01 -2.30615258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters 0.022587990917606108 Centerline is valid? [True, True] Translation: X:118.51, Y:-17.06, Z:-2.30 [[ 9.81257219e-01 1.91759116e-01 1.90449975e-02 1.18507059e+02] [-1.91726241e-01 9.81442008e-01 -3.55442602e-03 -1.70647822e+01] [-1.93731542e-02 -1.63619589e-04 9.99812309e-01 -2.30468242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214012739 meters 0.022760436700260546 Centerline is valid? [True, True] Translation: X:118.54, Y:-17.07, Z:-2.30 [[ 9.81231087e-01 1.91843162e-01 1.95385722e-02 1.18535937e+02] [-1.91808587e-01 9.81425582e-01 -3.64605458e-03 -1.70657626e+01] [-1.98751252e-02 -1.70043835e-04 9.99802456e-01 -2.30457862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters 0.022158925877951135 Centerline is valid? [True, True] Translation: X:118.56, Y:-17.07, Z:-2.30 [[ 9.81445899e-01 1.90596321e-01 2.09043109e-02 1.18564807e+02] [-1.90556477e-01 9.81668487e-01 -3.90009253e-03 -1.70669629e+01] [-2.12644465e-02 -1.55722026e-04 9.99773874e-01 -2.30246427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274012739 meters 0.021272614180437844 Centerline is valid? [True, True] Translation: X:118.59, Y:-17.07, Z:-2.30 [[ 9.81807839e-01 1.88647730e-01 2.15731486e-02 1.18593787e+02] [-1.88604842e-01 9.82044816e-01 -4.02409144e-03 -1.70743742e+01] [-2.19449344e-02 -1.17915758e-04 9.99759174e-01 -2.30204272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters 0.02062864970126801 Centerline is valid? [True, True] Translation: X:118.62, Y:-17.08, Z:-2.30 [[ 9.82295296e-01 1.86021277e-01 2.21818614e-02 1.18622495e+02] [-1.85975276e-01 9.82545714e-01 -4.13717038e-03 -1.70820304e+01] [-2.25642946e-02 -6.13547883e-05 9.99745392e-01 -2.30138544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334012739 meters 0.020593566444321632 Centerline is valid? [True, True] Translation: X:118.65, Y:-17.09, Z:-2.30 [[ 9.83253504e-01 1.80691100e-01 2.37333606e-02 1.18652364e+02] [-1.80636873e-01 9.83539894e-01 -4.42695480e-03 -1.70925278e+01] [-2.41426183e-02 6.56987741e-05 9.99708522e-01 -2.29973366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters 0.02095814837055974 Centerline is valid? [True, True] Translation: X:118.68, Y:-17.10, Z:-2.30 [[ 9.83580106e-01 1.78846610e-01 2.41674199e-02 1.18683586e+02] [-1.78789794e-01 9.83876962e-01 -4.50915895e-03 -1.70996401e+01] [-2.45842155e-02 1.14231005e-04 9.99697756e-01 -2.30042112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394012739 meters 0.02167087496420425 Centerline is valid? [True, True] Translation: X:118.71, Y:-17.11, Z:-2.30 [[ 9.83911645e-01 1.77349075e-01 2.15680172e-02 1.18714883e+02] [-1.77303389e-01 9.84148000e-01 -4.02766372e-03 -1.71075599e+01] [-2.19404234e-02 1.38782698e-04 9.99759270e-01 -2.30411514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters 0.021830148377690952 Centerline is valid? [True, True] Translation: X:118.75, Y:-17.11, Z:-2.31 [[ 9.83958560e-01 1.77299371e-01 1.97606821e-02 1.18746548e+02] [-1.77260941e-01 9.84156957e-01 -3.69363172e-03 -1.71124272e+01] [-2.01024913e-02 1.31583442e-04 9.99797916e-01 -2.30840824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45401273899999 meters 0.021867189695362457 Centerline is valid? [True, True] Translation: X:118.78, Y:-17.12, Z:-2.31 [[ 9.83930388e-01 1.77575501e-01 1.86529715e-02 1.18776635e+02] [-1.77541248e-01 9.84107172e-01 -3.48977857e-03 -1.71162076e+01] [-1.89762222e-02 1.22027336e-04 9.99819928e-01 -2.31121869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters 0.021140553031846015 Centerline is valid? [True, True] Translation: X:118.81, Y:-17.12, Z:-2.31 [[ 9.83553994e-01 1.79526995e-01 1.97888318e-02 1.18807199e+02] [-1.79488839e-01 9.83753043e-01 -3.70228632e-03 -1.71185610e+01] [-2.01319839e-02 8.95240560e-05 9.99797327e-01 -2.31054346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514012739 meters 0.02050869360845635 Centerline is valid? [True, True] Translation: X:118.84, Y:-17.12, Z:-2.31 [[ 9.83043873e-01 1.82044101e-01 2.20156700e-02 1.18836822e+02] [-1.81997503e-01 9.83290366e-01 -4.11887992e-03 -1.71201618e+01] [-2.23976140e-02 4.22426982e-05 9.99749141e-01 -2.30592479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters 0.020382106410482034 Centerline is valid? [True, True] Translation: X:118.87, Y:-17.12, Z:-2.31 [[ 9.82891404e-01 1.82893072e-01 2.17856005e-02 1.18866864e+02] [-1.82847657e-01 9.83132811e-01 -4.07562052e-03 -1.71228392e+01] [-2.21635414e-02 2.24463614e-05 9.99754358e-01 -2.30730971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574012739 meters 0.02039502164937841 Centerline is valid? [True, True] Translation: X:118.90, Y:-17.13, Z:-2.31 [[ 9.82862916e-01 1.83126909e-01 2.10955991e-02 1.18895914e+02] [-1.83084374e-01 9.83089281e-01 -3.94676304e-03 -1.71266682e+01] [-2.14616159e-02 1.68524700e-05 9.99769673e-01 -2.30929999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters 0.02060350904530232 Centerline is valid? [True, True] Translation: X:118.93, Y:-17.13, Z:-2.31 [[ 9.82967889e-01 1.82691372e-01 1.99497256e-02 1.18925110e+02] [-1.82653249e-01 9.83170312e-01 -3.73214652e-03 -1.71339057e+01] [-2.02958089e-02 2.46979956e-05 9.99794019e-01 -2.31245907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634012739 meters 0.020653778815749337 Centerline is valid? [True, True] Translation: X:118.95, Y:-17.14, Z:-2.31 [[ 9.83032495e-01 1.82408275e-01 1.93477567e-02 1.18954590e+02] [-1.82372363e-01 9.83222874e-01 -3.61953162e-03 -1.71403075e+01] [-1.96833894e-02 2.96211033e-05 9.99806263e-01 -2.31341727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters 0.02057273356324451 Centerline is valid? [True, True] Translation: X:118.98, Y:-17.14, Z:-2.31 [[ 9.82857013e-01 1.83415835e-01 1.87275915e-02 1.18983428e+02] [-1.83382370e-01 9.83035417e-01 -3.50355809e-03 -1.71418361e+01] [-1.90524938e-02 9.18650779e-06 9.99818485e-01 -2.31425798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694012739 meters 0.020561482353291253 Centerline is valid? [True, True] Translation: X:119.01, Y:-17.14, Z:-2.31 [[ 9.82582383e-01 1.84879752e-01 1.87439954e-02 1.19012216e+02] [-1.84846507e-01 9.82761150e-01 -3.50594987e-03 -1.71432193e+01] [-1.90690497e-02 -1.98775143e-05 9.99818169e-01 -2.31395965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters 0.021550810750192287 Centerline is valid? [True, True] Translation: X:119.04, Y:-17.14, Z:-2.31 [[ 9.81738194e-01 1.89288824e-01 1.89699469e-02 1.19042083e+02] [-1.89255614e-01 9.81921448e-01 -3.54727472e-03 -1.71394881e+01] [-1.92984572e-02 -1.07673862e-04 9.99813762e-01 -2.31411988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754012739 meters 0.022222143669310038 Centerline is valid? [True, True] Translation: X:119.07, Y:-17.14, Z:-2.31 [[ 9.81445209e-01 1.90764395e-01 1.93454632e-02 1.19071172e+02] [-1.90730163e-01 9.81635842e-01 -3.61653643e-03 -1.71404425e+01] [-1.96801064e-02 -1.40330988e-04 9.99806318e-01 -2.31404013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters 0.022552529710171222 Centerline is valid? [True, True] Translation: X:119.10, Y:-17.14, Z:-2.31 [[ 9.81284598e-01 1.91523439e-01 1.99827448e-02 1.19099333e+02] [-1.91487091e-01 9.81488027e-01 -3.73467308e-03 -1.71416568e+01] [-2.03281022e-02 -1.61660497e-04 9.99793350e-01 -2.31374022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814012739 meters 0.0216828171074729 Centerline is valid? [True, True] Translation: X:119.13, Y:-17.15, Z:-2.31 [[ 9.81624209e-01 1.89620759e-01 2.13981483e-02 1.19127163e+02] [-1.89578659e-01 9.81857398e-01 -3.99771074e-03 -1.71455053e+01] [-2.17679792e-02 -1.32382624e-04 9.99763041e-01 -2.31254852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters 0.02049918461242138 Centerline is valid? [True, True] Translation: X:119.15, Y:-17.16, Z:-2.31 [[ 9.82623712e-01 1.84435728e-01 2.08351253e-02 1.19154246e+02] [-1.84394673e-01 9.82844577e-01 -3.89131774e-03 -1.71580354e+01] [-2.11953879e-02 -1.81850333e-05 9.99775352e-01 -2.31261148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874012739 meters 0.020508577212330608 Centerline is valid? [True, True] Translation: X:119.18, Y:-17.17, Z:-2.31 [[ 9.83136341e-01 1.81721873e-01 2.04962307e-02 1.19182154e+02] [-1.81681574e-01 9.83349968e-01 -3.82706800e-03 -1.71675114e+01] [-2.08504297e-02 3.87421962e-05 9.99782605e-01 -2.31332140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters 0.02105397964556043 Centerline is valid? [True, True] Translation: X:119.21, Y:-17.18, Z:-2.31 [[ 9.83562846e-01 1.79458826e-01 1.99663957e-02 1.19210199e+02] [-1.79420135e-01 9.83765482e-01 -3.72721916e-03 -1.71761637e+01] [-2.03111333e-02 8.35808638e-05 9.99793704e-01 -2.31454829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934012739 meters 0.02163712432093931 Centerline is valid? [True, True] Translation: X:119.24, Y:-17.18, Z:-2.32 [[ 9.83927395e-01 1.77413921e-01 2.02776283e-02 1.19238526e+02] [-1.77373595e-01 9.84136314e-01 -3.78459459e-03 -1.71838832e+01] [-2.06273902e-02 1.27050459e-04 9.99787225e-01 -2.31501960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters 0.02153351633132022 Centerline is valid? [True, True] Translation: X:119.27, Y:-17.19, Z:-2.32 [[ 9.83829842e-01 1.77939799e-01 2.04027033e-02 1.19267182e+02] [-1.77899098e-01 9.84041368e-01 -3.80744259e-03 -1.71885138e+01] [-2.07545996e-02 1.16253140e-04 9.99784593e-01 -2.31539878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994012739 meters 0.02062485502497903 Centerline is valid? [True, True] Translation: X:119.30, Y:-17.19, Z:-2.32 [[ 9.83146141e-01 1.81731805e-01 1.99302907e-02 1.19295669e+02] [-1.81693760e-01 9.83348133e-01 -3.71859101e-03 -1.71876878e+01] [-2.02742003e-02 3.47089595e-05 9.99794457e-01 -2.31697060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters 0.020579698047644954 Centerline is valid? [True, True] Translation: X:119.32, Y:-17.19, Z:-2.32 [[ 9.82761298e-01 1.83878925e-01 1.92034325e-02 1.19324957e+02] [-1.83844035e-01 9.82948900e-01 -3.58189726e-03 -1.71895338e+01] [-1.95346282e-02 -1.02865039e-05 9.99809181e-01 -2.31891535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054012739 meters 0.02090752638093044 Centerline is valid? [True, True] Translation: X:119.35, Y:-17.19, Z:-2.32 [[ 9.82432148e-01 1.85733158e-01 1.81732674e-02 1.19353544e+02] [-1.85702244e-01 9.82600220e-01 -3.38891677e-03 -1.71919425e+01] [-1.84864908e-02 -4.54357483e-05 9.99829109e-01 -2.32120298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters 0.021273605110370075 Centerline is valid? [True, True] Translation: X:119.38, Y:-17.20, Z:-2.32 [[ 9.82138981e-01 1.87386846e-01 1.70056433e-02 1.19381651e+02] [-1.87360037e-01 9.82286193e-01 -3.17045574e-03 -1.71953910e+01] [-1.72985104e-02 -7.23497918e-05 9.99850367e-01 -2.32422390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114012739 meters 0.02122618808106647 Centerline is valid? [True, True] Translation: X:119.41, Y:-17.20, Z:-2.32 [[ 9.82107807e-01 1.87463364e-01 1.79371945e-02 1.19408968e+02] [-1.87433571e-01 9.82271592e-01 -3.34294783e-03 -1.72027827e+01] [-1.82458769e-02 -7.88972754e-05 9.99833527e-01 -2.32367188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters 0.021246269059758734 Centerline is valid? [True, True] Translation: X:119.44, Y:-17.21, Z:-2.32 [[ 9.82128793e-01 1.87271059e-01 1.87772138e-02 1.19437040e+02] [-1.87238399e-01 9.82308274e-01 -3.49826879e-03 -1.72095846e+01] [-1.91001370e-02 -8.00649341e-05 9.99817573e-01 -2.32315668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174012739 meters 0.021237886772019657 Centerline is valid? [True, True] Translation: X:119.47, Y:-17.22, Z:-2.32 [[ 9.82087855e-01 1.87459999e-01 1.90313778e-02 1.19465723e+02] [-1.87426502e-01 9.82272234e-01 -3.54468399e-03 -1.72153748e+01] [-1.93584805e-02 -8.57934780e-05 9.99812603e-01 -2.32319125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters 0.02246108442175721 Centerline is valid? [True, True] Translation: X:119.49, Y:-17.22, Z:-2.33 [[ 9.81551424e-01 1.90378216e-01 1.76900063e-02 1.19494979e+02] [-1.90349763e-01 9.81710811e-01 -3.29405473e-03 -1.72174874e+01] [-1.79935867e-02 -1.34004389e-04 9.99838093e-01 -2.32563407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234012739 meters 0.023096583095480367 Centerline is valid? [True, True] Translation: X:119.52, Y:-17.22, Z:-2.33 [[ 9.81229514e-01 1.92090502e-01 1.70258725e-02 1.19523407e+02] [-1.92064417e-01 9.81377202e-01 -3.16958708e-03 -1.72215294e+01] [-1.73176507e-02 -1.59971883e-04 9.99850025e-01 -2.32734979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters 0.025383104389483404 Centerline is valid? [True, True] Translation: X:119.55, Y:-17.22, Z:-2.33 [[ 9.80624770e-01 1.95184343e-01 1.66773337e-02 1.19551561e+02] [-1.95159776e-01 9.80766551e-01 -3.10391992e-03 -1.72221807e+01] [-1.69624076e-02 -2.10963945e-04 9.99856106e-01 -2.32842546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294012739 meters 0.02613076837876323 Centerline is valid? [True, True] Translation: X:119.58, Y:-17.23, Z:-2.33 [[ 9.80438770e-01 1.96037831e-01 1.75780302e-02 1.19579644e+02] [-1.96010696e-01 9.80596304e-01 -3.27037762e-03 -1.72257638e+01] [-1.78780691e-02 -2.39076906e-04 9.99840146e-01 -2.32741118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters 0.026930402712862386 Centerline is valid? [True, True] Translation: X:119.61, Y:-17.23, Z:-2.32 [[ 9.80250877e-01 1.96834355e-01 1.90907144e-02 1.19607043e+02] [-1.96802524e-01 9.80436719e-01 -3.55056872e-03 -1.72287842e+01] [-1.94161113e-02 -2.76652681e-04 9.99811451e-01 -2.32463412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354012739 meters 0.027641839431437012 Centerline is valid? [True, True] Translation: X:119.64, Y:-17.23, Z:-2.32 [[ 9.79845392e-01 1.98701327e-01 2.05131721e-02 1.19635349e+02] [-1.98665015e-01 9.80060033e-01 -3.81358753e-03 -1.72324230e+01] [-2.08619050e-02 -3.38523478e-04 9.99782309e-01 -2.32213255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters 0.0283804118457022 Centerline is valid? [True, True] Translation: X:119.66, Y:-17.24, Z:-2.32 [[ 9.79720472e-01 1.99326307e-01 2.04161835e-02 1.19662573e+02] [-1.99290495e-01 9.79933110e-01 -3.79455936e-03 -1.72352880e+01] [-2.07628497e-02 -3.51143830e-04 9.99784367e-01 -2.32373281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414012739 meters 0.02858335527553789 Centerline is valid? [True, True] Translation: X:119.69, Y:-17.24, Z:-2.33 [[ 9.79815048e-01 1.98963605e-01 1.93896000e-02 1.19690014e+02] [-1.98931259e-01 9.80006825e-01 -3.60242768e-03 -1.72380148e+01] [-1.97186923e-02 -3.27484690e-04 9.99805514e-01 -2.32638034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters 0.028089791533775554 Centerline is valid? [True, True] Translation: X:119.72, Y:-17.24, Z:-2.33 [[ 9.79965672e-01 1.98237685e-01 1.92120446e-02 1.19718382e+02] [-1.98205815e-01 9.80153928e-01 -3.56810266e-03 -1.72441632e+01] [-1.95380934e-02 -3.11320839e-04 9.99809065e-01 -2.32732651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474012739 meters 0.026578793777008378 Centerline is valid? [True, True] Translation: X:119.75, Y:-17.25, Z:-2.33 [[ 9.80282506e-01 1.96688314e-01 1.89714291e-02 1.19746052e+02] [-1.96656964e-01 9.80466027e-01 -3.52252784e-03 -1.72522312e+01] [-1.92936818e-02 -2.77791233e-04 9.99813821e-01 -2.32732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters 0.02676095991234523 Centerline is valid? [True, True] Translation: X:119.77, Y:-17.26, Z:-2.33 [[ 9.80437838e-01 1.95904086e-01 1.90587439e-02 1.19773372e+02] [-1.95872317e-01 9.80623026e-01 -3.53782736e-03 -1.72559622e+01] [-1.93825180e-02 -2.64460517e-04 9.99812106e-01 -2.32774493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534012739 meters 0.02664792080583459 Centerline is valid? [True, True] Translation: X:119.80, Y:-17.26, Z:-2.33 [[ 9.80537954e-01 1.95371028e-01 1.93773569e-02 1.19800733e+02] [-1.95338108e-01 9.80729368e-01 -3.59578955e-03 -1.72605598e+01] [-1.97064561e-02 -2.59328106e-04 9.99805775e-01 -2.32836477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters 0.02567883751917361 Centerline is valid? [True, True] Translation: X:119.83, Y:-17.27, Z:-2.33 [[ 9.80658037e-01 1.94635012e-01 2.06646270e-02 1.19828646e+02] [-1.94597439e-01 9.80875702e-01 -3.83321402e-03 -1.72680282e+01] [-2.10155082e-02 -2.62211352e-04 9.99779115e-01 -2.32630310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594012739 meters 0.02567883751917361 Centerline is valid? [True, True] Translation: X:119.86, Y:-17.27, Z:-2.33 [[ 9.80671411e-01 1.94567596e-01 2.06648048e-02 1.19855700e+02] [-1.94530027e-01 9.80889077e-01 -3.83225552e-03 -1.72729053e+01] [-2.10155140e-02 -2.61741605e-04 9.99779115e-01 -2.32686147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters 0.02573289911226826 Centerline is valid? [True, True] Translation: X:119.88, Y:-17.28, Z:-2.33 [[ 9.80612817e-01 1.94850311e-01 2.07812115e-02 1.19884271e+02] [-1.94812412e-01 9.80832954e-01 -3.85237644e-03 -1.72782379e+01] [-2.11335338e-02 -2.70748243e-04 9.99776625e-01 -2.32629880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654012739 meters 0.027031983713400834 Centerline is valid? [True, True] Translation: X:119.91, Y:-17.28, Z:-2.33 [[ 9.80282995e-01 1.96586853e-01 1.99714507e-02 1.19913189e+02] [-1.96552230e-01 9.80486370e-01 -3.70134899e-03 -1.72776087e+01] [-2.03093718e-02 -2.97063710e-04 9.99793699e-01 -2.32829491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters 0.02886115347273584 Centerline is valid? [True, True] Translation: X:119.94, Y:-17.28, Z:-2.33 [[ 9.79992495e-01 1.98074790e-01 1.95214411e-02 1.19941462e+02] [-1.98042027e-01 9.80186857e-01 -3.61681102e-03 -1.72774155e+01] [-1.98510591e-02 -3.21618110e-04 9.99802897e-01 -2.32951721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714012739 meters 0.02916076317989674 Centerline is valid? [True, True] Translation: X:119.97, Y:-17.28, Z:-2.33 [[ 9.79743804e-01 1.99315949e-01 1.93708657e-02 1.19969605e+02] [-1.99283955e-01 9.79935219e-01 -3.58777678e-03 -1.72810343e+01] [-1.96972946e-02 -3.45200648e-04 9.99805930e-01 -2.33095924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters 0.030749390267361357 Centerline is valid? [True, True] Translation: X:120.00, Y:-17.28, Z:-2.33 [[ 9.79487338e-01 2.00638855e-01 1.86709406e-02 1.19997417e+02] [-2.00609391e-01 9.79665208e-01 -3.45710625e-03 -1.72805417e+01] [-1.89849008e-02 -3.59374233e-04 9.99819706e-01 -2.33315941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774012739 meters 0.030892779323134906 Centerline is valid? [True, True] Translation: X:120.03, Y:-17.28, Z:-2.33 [[ 9.79508068e-01 2.00618445e-01 1.77815895e-02 1.20026353e+02] [-2.00591747e-01 9.79669394e-01 -3.29083303e-03 -1.72807484e+01] [-1.80802808e-02 -3.43442603e-04 9.99836479e-01 -2.33477516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters 0.029817082678923166 Centerline is valid? [True, True] Translation: X:120.06, Y:-17.29, Z:-2.33 [[ 9.79535903e-01 2.00447416e-01 1.81727293e-02 1.20055200e+02] [-2.00419516e-01 9.79704400e-01 -3.36234637e-03 -1.72859559e+01] [-1.84778765e-02 -3.48630628e-04 9.99829209e-01 -2.33467350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834012739 meters 0.02959030592336996 Centerline is valid? [True, True] Translation: X:120.08, Y:-17.29, Z:-2.33 [[ 9.79579156e-01 2.00197918e-01 1.85868433e-02 1.20083842e+02] [-2.00168705e-01 9.79755413e-01 -3.43803714e-03 -1.72892901e+01] [-1.88988482e-02 -3.52674824e-04 9.99821339e-01 -2.33432269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters 0.02918756762167759 Centerline is valid? [True, True] Translation: X:120.11, Y:-17.29, Z:-2.33 [[ 9.79526326e-01 2.00450487e-01 1.86488114e-02 1.20113098e+02] [-2.00421142e-01 9.79703768e-01 -3.44858652e-03 -1.72880039e+01] [-1.89615816e-02 -3.59634797e-04 9.99820148e-01 -2.33432485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894012739 meters 0.03006426017445785 Centerline is valid? [True, True] Translation: X:120.14, Y:-17.29, Z:-2.34 [[ 9.79550558e-01 2.00348883e-01 1.84669792e-02 1.20140923e+02] [-2.00320106e-01 9.79724553e-01 -3.41410797e-03 -1.72871293e+01] [-1.87765656e-02 -3.55015847e-04 9.99823642e-01 -2.33550168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters 0.028980382935454938 Centerline is valid? [True, True] Translation: X:120.17, Y:-17.29, Z:-2.33 [[ 9.79684104e-01 1.99677225e-01 1.86564504e-02 1.20170005e+02] [-1.99647765e-01 9.79861666e-01 -3.44745154e-03 -1.72863814e+01] [-1.89691181e-02 -3.47305146e-04 9.99820010e-01 -2.33492386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95401273899999 meters 0.03187870087827456 Centerline is valid? [True, True] Translation: X:120.20, Y:-17.28, Z:-2.33 [[ 9.79784585e-01 1.99163614e-01 1.88685275e-02 1.20198667e+02] [-1.99133402e-01 9.79966192e-01 -3.48570723e-03 -1.72824248e+01] [-1.91847451e-02 -3.42111854e-04 9.99815897e-01 -2.33492142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters 0.031296662827155944 Centerline is valid? [True, True] Translation: X:120.23, Y:-17.28, Z:-2.34 [[ 9.79925327e-01 1.98453068e-01 1.90455795e-02 1.20227122e+02] [-1.98422176e-01 9.80110335e-01 -3.51721017e-03 -1.72847152e+01] [-1.93647704e-02 -3.32462001e-04 9.99812430e-01 -2.33520956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014012739 meters 0.0266511599861247 Centerline is valid? [True, True] Translation: X:120.26, Y:-17.29, Z:-2.34 [[ 9.80509502e-01 1.95562641e-01 1.88777578e-02 1.20255232e+02] [-1.95531772e-01 9.80691174e-01 -3.48539224e-03 -1.72917972e+01] [-1.91948630e-02 -2.73741222e-04 9.99815724e-01 -2.33602042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters 0.024658018582632543 Centerline is valid? [True, True] Translation: X:120.28, Y:-17.30, Z:-2.34 [[ 9.81051204e-01 1.92874426e-01 1.83845502e-02 1.20283352e+02] [-1.92844692e-01 9.81223425e-01 -3.39346546e-03 -1.72987451e+01] [-1.86938640e-02 -2.16199552e-04 9.99825231e-01 -2.33730773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074012739 meters 0.02174047620366237 Centerline is valid? [True, True] Translation: X:120.31, Y:-17.31, Z:-2.34 [[ 9.82296204e-01 1.86447417e-01 1.82078987e-02 1.20310145e+02] [-1.86417163e-01 9.82464937e-01 -3.35999214e-03 -1.73071882e+01] [-1.85150839e-02 -9.37572873e-05 9.99828577e-01 -2.33792703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters 0.02106508101234293 Centerline is valid? [True, True] Translation: X:120.34, Y:-17.32, Z:-2.34 [[ 9.82953146e-01 1.82928899e-01 1.84426120e-02 1.20338415e+02] [-1.82897262e-01 9.83126145e-01 -3.40214329e-03 -1.73151547e+01] [-1.87537643e-02 -2.89557876e-05 9.99824132e-01 -2.33833853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134012739 meters 0.021994095711190223 Centerline is valid? [True, True] Translation: X:120.37, Y:-17.33, Z:-2.34 [[ 9.84241665e-01 1.75791533e-01 1.91227910e-02 1.20365153e+02] [-1.75756189e-01 9.84427410e-01 -3.52666477e-03 -1.73294835e+01] [-1.94449574e-02 1.10141545e-04 9.99810923e-01 -2.33801546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters 0.02317350544559717 Centerline is valid? [True, True] Translation: X:120.39, Y:-17.34, Z:-2.34 [[ 9.84861044e-01 1.72263210e-01 1.93419398e-02 1.20392774e+02] [-1.72226388e-01 9.85050940e-01 -3.56614417e-03 -1.73389411e+01] [-1.96671114e-02 1.80964036e-04 9.99806567e-01 -2.33803182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194012739 meters 0.02672081341287344 Centerline is valid? [True, True] Translation: X:120.42, Y:-17.35, Z:-2.34 [[ 9.85773121e-01 1.67087636e-01 1.82503601e-02 1.20418649e+02] [-1.67053982e-01 9.85942012e-01 -3.36403909e-03 -1.73530236e+01] [-1.85558861e-02 2.67383980e-04 9.99827789e-01 -2.34019875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters 0.028347757573771077 Centerline is valid? [True, True] Translation: X:120.45, Y:-17.36, Z:-2.34 [[ 9.86099609e-01 1.65189302e-01 1.78901084e-02 1.20445311e+02] [-1.65156666e-01 9.86261835e-01 -3.29679881e-03 -1.73617282e+01] [-1.81889270e-02 2.96301358e-04 9.99834524e-01 -2.34147734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254012739 meters 0.030082662283388135 Centerline is valid? [True, True] Translation: X:120.47, Y:-17.37, Z:-2.34 [[ 9.86482055e-01 1.62796674e-01 1.87189508e-02 1.20472629e+02] [-1.62760535e-01 9.86659575e-01 -3.44835473e-03 -1.73729918e+01] [-1.90306127e-02 3.55033614e-04 9.99818838e-01 -2.33976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters 0.030659673081132845 Centerline is valid? [True, True] Translation: X:120.50, Y:-17.38, Z:-2.34 [[ 9.86609340e-01 1.61991811e-01 1.89911500e-02 1.20500226e+02] [-1.61954483e-01 9.86792031e-01 -3.49758873e-03 -1.73805643e+01] [-1.93068962e-02 3.75051833e-04 9.99813534e-01 -2.34001767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314012739 meters 0.030065581848821143 Centerline is valid? [True, True] Translation: X:120.53, Y:-17.39, Z:-2.34 [[ 9.86733643e-01 1.61306504e-01 1.83556250e-02 1.20528949e+02] [-1.61271530e-01 9.86904287e-01 -3.37967168e-03 -1.73860775e+01] [-1.86604081e-02 3.74596018e-04 9.99825809e-01 -2.34107027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters 0.031150552546835283 Centerline is valid? [True, True] Translation: X:120.56, Y:-17.40, Z:-2.34 [[ 9.86859543e-01 1.60667403e-01 1.71530926e-02 1.20555818e+02] [-1.60636771e-01 9.87008539e-01 -3.15790655e-03 -1.73959789e+01] [-1.74376216e-02 3.60992803e-04 9.99847888e-01 -2.34329995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374012739 meters 0.031113476004969987 Centerline is valid? [True, True] Translation: X:120.59, Y:-17.40, Z:-2.34 [[ 9.86902122e-01 1.60391806e-01 1.72820823e-02 1.20585112e+02] [-1.60360682e-01 9.87053359e-01 -3.18098988e-03 -1.74028657e+01] [-1.75685421e-02 3.67959162e-04 9.99845594e-01 -2.34303688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters 0.031041426032490327 Centerline is valid? [True, True] Translation: X:120.61, Y:-17.41, Z:-2.34 [[ 9.86903603e-01 1.60259128e-01 1.83926608e-02 1.20613987e+02] [-1.60223860e-01 9.87074899e-01 -3.38493257e-03 -1.74118843e+01] [-1.86974001e-02 3.93659037e-04 9.99825111e-01 -2.34128791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434012739 meters 0.03164391536206873 Centerline is valid? [True, True] Translation: X:120.64, Y:-17.42, Z:-2.34 [[ 9.86851917e-01 1.60502698e-01 1.90309940e-02 1.20642001e+02] [-1.60464993e-01 9.87035320e-01 -3.50194319e-03 -1.74204320e+01] [-1.93463345e-02 4.02091032e-04 9.99812761e-01 -2.34149080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters 0.03056692952729917 Centerline is valid? [True, True] Translation: X:120.67, Y:-17.43, Z:-2.34 [[ 9.86731829e-01 1.61230711e-01 1.91038018e-02 1.20671560e+02] [-1.61192867e-01 9.86916667e-01 -3.51464686e-03 -1.74264054e+01] [-1.94205294e-02 3.88617337e-04 9.99811328e-01 -2.34146308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494012739 meters 0.02966237671010646 Centerline is valid? [True, True] Translation: X:120.70, Y:-17.43, Z:-2.34 [[ 9.86390238e-01 1.63334921e-01 1.88680335e-02 1.20699353e+02] [-1.63298404e-01 9.86570619e-01 -3.47057731e-03 -1.74324973e+01] [-1.91815139e-02 3.42223830e-04 9.99815959e-01 -2.34203067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters 0.026198218328699358 Centerline is valid? [True, True] Translation: X:120.73, Y:-17.43, Z:-2.34 [[ 9.85750411e-01 1.67143848e-01 1.89489028e-02 1.20729064e+02] [-1.67107733e-01 9.85932483e-01 -3.48477104e-03 -1.74331706e+01] [-1.92647968e-02 2.68606285e-04 9.99814380e-01 -2.34190419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554012739 meters 0.02521403490783106 Centerline is valid? [True, True] Translation: X:120.76, Y:-17.44, Z:-2.34 [[ 9.85453740e-01 1.68833934e-01 1.93914597e-02 1.20756227e+02] [-1.68796454e-01 9.85644482e-01 -3.56545450e-03 -1.74372976e+01] [-1.97150549e-02 2.40380858e-04 9.99805611e-01 -2.34204999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters 0.02547837690321774 Centerline is valid? [True, True] Translation: X:120.78, Y:-17.44, Z:-2.34 [[ 9.85246352e-01 1.69994645e-01 1.97850118e-02 1.20783127e+02] [-1.69955885e-01 9.85444962e-01 -3.63660024e-03 -1.74441879e+01] [-2.01152428e-02 2.20367920e-04 9.99797644e-01 -2.34244139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614012739 meters 0.02427706822624297 Centerline is valid? [True, True] Translation: X:120.81, Y:-17.45, Z:-2.34 [[ 9.85210218e-01 1.70269512e-01 1.92124913e-02 1.20811359e+02] [-1.70233038e-01 9.85397509e-01 -3.53024343e-03 -1.74485078e+01] [-1.95330339e-02 2.07431122e-04 9.99809191e-01 -2.34437056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters 0.02451608324396537 Centerline is valid? [True, True] Translation: X:120.84, Y:-17.46, Z:-2.35 [[ 9.85341105e-01 1.69569541e-01 1.86836111e-02 1.20839858e+02] [-1.69534935e-01 9.85518201e-01 -3.43238828e-03 -1.74561035e+01] [-1.89950673e-02 2.14548471e-04 9.99819554e-01 -2.34520148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674012739 meters 0.025969913685091797 Centerline is valid? [True, True] Translation: X:120.87, Y:-17.47, Z:-2.34 [[ 9.85849675e-01 1.66537914e-01 1.91191496e-02 1.20868638e+02] [-1.66501115e-01 9.86035012e-01 -3.51189915e-03 -1.74684539e+01] [-1.94370153e-02 2.78844913e-04 9.99811044e-01 -2.34481683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters 0.028525043072475803 Centerline is valid? [True, True] Translation: X:120.90, Y:-17.48, Z:-2.34 [[ 9.86110088e-01 1.64936652e-01 1.95651588e-02 1.20896696e+02] [-1.64897800e-01 9.86304111e-01 -3.59382430e-03 -1.74808274e+01] [-1.98899499e-02 3.17654755e-04 9.99802125e-01 -2.34487800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734012739 meters 0.02968565100682995 Centerline is valid? [True, True] Translation: X:120.93, Y:-17.49, Z:-2.35 [[ 9.86530131e-01 1.62414008e-01 1.94933405e-02 1.20926366e+02] [-1.62374949e-01 9.86722633e-01 -3.58062093e-03 -1.74936769e+01] [-1.98160633e-02 3.67160272e-04 9.99803575e-01 -2.34577277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters 0.02998072129747476 Centerline is valid? [True, True] Translation: X:120.96, Y:-17.50, Z:-2.35 [[ 9.86623778e-01 1.61873169e-01 1.92509377e-02 1.20957108e+02] [-1.61834964e-01 9.86811500e-01 -3.53654876e-03 -1.75022112e+01] [-1.95695191e-02 3.73768290e-04 9.99808429e-01 -2.34650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794012739 meters 0.035457882295173895 Centerline is valid? [True, True] Translation: X:120.99, Y:-17.51, Z:-2.34 [[ 9.86610828e-01 1.62056679e-01 1.83495744e-02 1.20989125e+02] [-1.62021996e-01 9.86781388e-01 -3.37113530e-03 -1.75093155e+01] [-1.86533335e-02 3.52963900e-04 9.99825949e-01 -2.33909829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters 0.030073445231612168 Centerline is valid? [True, True] Translation: X:121.02, Y:-17.52, Z:-2.35 [[ 9.86629847e-01 1.61965353e-01 1.81320234e-02 1.21018540e+02] [-1.61931414e-01 9.86796382e-01 -3.33431986e-03 -1.75188029e+01] [-1.84326593e-02 3.53595302e-04 9.99830042e-01 -2.34939518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854012739 meters 0.029188720925532662 Centerline is valid? [True, True] Translation: X:121.05, Y:-17.53, Z:-2.35 [[ 9.86267595e-01 1.64190448e-01 1.78249232e-02 1.21048108e+02] [-1.64157956e-01 9.86428609e-01 -3.28098931e-03 -1.75268382e+01] [-1.81217213e-02 3.09830484e-04 9.99835740e-01 -2.35116223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters 0.028767686455381046 Centerline is valid? [True, True] Translation: X:121.08, Y:-17.53, Z:-2.35 [[ 9.86015065e-01 1.65680640e-01 1.80060342e-02 1.21077559e+02] [-1.65647728e-01 9.86179418e-01 -3.31456823e-03 -1.75325164e+01] [-1.83063401e-02 2.85555544e-04 9.99832384e-01 -2.35211596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914012739 meters 0.026325801008258657 Centerline is valid? [True, True] Translation: X:121.11, Y:-17.53, Z:-2.35 [[ 9.85589857e-01 1.68158889e-01 1.83090735e-02 1.21107838e+02] [-1.68125286e-01 9.85759874e-01 -3.37039078e-03 -1.75337774e+01] [-1.86151111e-02 2.43604752e-04 9.99826694e-01 -2.35161205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters 0.022879084432616294 Centerline is valid? [True, True] Translation: X:121.14, Y:-17.53, Z:-2.35 [[ 9.84690944e-01 1.73189655e-01 1.97253223e-02 1.21139093e+02] [-1.73151670e-01 9.84888480e-01 -3.63059920e-03 -1.75299332e+01] [-2.00560249e-02 1.59545660e-04 9.99798845e-01 -2.34957293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974012739 meters 0.022138495585797436 Centerline is valid? [True, True] Translation: X:121.17, Y:-17.53, Z:-2.35 [[ 9.84297931e-01 1.75324039e-01 2.04710517e-02 1.21168159e+02] [-1.75283594e-01 9.84510775e-01 -3.76759119e-03 -1.75323760e+01] [-2.08145203e-02 1.20192699e-04 9.99783347e-01 -2.34909673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters 0.021491889866209632 Centerline is valid? [True, True] Translation: X:121.20, Y:-17.53, Z:-2.35 [[ 9.83887713e-01 1.77393297e-01 2.22842278e-02 1.21198794e+02] [-1.77345912e-01 9.84140036e-01 -4.10076353e-03 -1.75316630e+01] [-2.26582487e-02 8.26741549e-05 9.99743266e-01 -2.34609892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034012739 meters 0.02143118989321656 Centerline is valid? [True, True] Translation: X:121.23, Y:-17.53, Z:-2.35 [[ 9.83796973e-01 1.77835041e-01 2.27643062e-02 1.21227054e+02] [-1.77785724e-01 9.84060310e-01 -4.18851449e-03 -1.75341801e+01] [-2.31463148e-02 7.34792374e-05 9.99732085e-01 -2.34623596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters 0.021612776812038815 Centerline is valid? [True, True] Translation: X:121.26, Y:-17.54, Z:-2.35 [[ 9.83868013e-01 1.77423839e-01 2.29022940e-02 1.21255234e+02] [-1.77373830e-01 9.84134531e-01 -4.21307388e-03 -1.75380412e+01] [-2.32864381e-02 8.28410087e-05 9.99728831e-01 -2.34722996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094012739 meters 0.022056571325403913 Centerline is valid? [True, True] Translation: X:121.28, Y:-17.54, Z:-2.35 [[ 9.84210155e-01 1.75542023e-01 2.27017418e-02 1.21284123e+02] [-1.75492403e-01 9.84471931e-01 -4.17540526e-03 -1.75429926e+01] [-2.30821867e-02 1.25493026e-04 9.99733563e-01 -2.34928231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters 0.02253218876825563 Centerline is valid? [True, True] Translation: X:121.31, Y:-17.55, Z:-2.35 [[ 9.84450305e-01 1.74219543e-01 2.24754857e-02 1.21312684e+02] [-1.74170576e-01 9.84706823e-01 -4.13321878e-03 -1.75486332e+01] [-2.28518516e-02 1.54380213e-04 9.99738850e-01 -2.34988767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154012739 meters 0.023777370097072457 Centerline is valid? [True, True] Translation: X:121.34, Y:-17.55, Z:-2.35 [[ 9.85107294e-01 1.70466062e-01 2.24708825e-02 1.21342441e+02] [-1.70416155e-01 9.85363519e-01 -4.13164972e-03 -1.75543494e+01] [-2.28462939e-02 2.40716892e-04 9.99738960e-01 -2.35161991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters 0.025297292633605008 Centerline is valid? [True, True] Translation: X:121.37, Y:-17.56, Z:-2.35 [[ 9.85476973e-01 1.68416158e-01 2.17056127e-02 1.21371896e+02] [-1.68369095e-01 9.85715943e-01 -3.99096381e-03 -1.75640082e+01] [-2.20677113e-02 2.78448564e-04 9.99756440e-01 -2.35321016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214012739 meters 0.029906133485731498 Centerline is valid? [True, True] Translation: X:121.40, Y:-17.58, Z:-2.36 [[ 9.86321885e-01 1.63474525e-01 2.11002093e-02 1.21400566e+02] [-1.63428910e-01 9.86547483e-01 -3.88007229e-03 -1.75810889e+01] [-2.14506513e-02 3.78616006e-04 9.99769837e-01 -2.35543059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters 0.032176330538361636 Centerline is valid? [True, True] Translation: X:121.43, Y:-17.59, Z:-2.36 [[ 9.86695523e-01 1.61160380e-01 2.14307547e-02 1.21430178e+02] [-1.61112704e-01 9.86928133e-01 -3.94428341e-03 -1.75916495e+01] [-2.17862769e-02 4.39039947e-04 9.99762555e-01 -2.35561446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274012739 meters 0.032139254595185775 Centerline is valid? [True, True] Translation: X:121.46, Y:-17.60, Z:-2.36 [[ 9.87002357e-01 1.59135079e-01 2.24136881e-02 1.21461898e+02] [-1.59082325e-01 9.87256688e-01 -4.12875259e-03 -1.75983087e+01] [-2.27850928e-02 5.09466916e-04 9.99740256e-01 -2.35549732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters 0.03436227212757204 Centerline is valid? [True, True] Translation: X:121.49, Y:-17.61, Z:-2.35 [[ 9.87396354e-01 1.56506943e-01 2.35375812e-02 1.21490798e+02] [-1.56447927e-01 9.87676675e-01 -4.33961203e-03 -1.76117058e+01] [-2.39266994e-02 6.02511302e-04 9.99713534e-01 -2.35395105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334012739 meters 0.035161977735174606 Centerline is valid? [True, True] Translation: X:121.52, Y:-17.62, Z:-2.36 [[ 9.87515231e-01 1.55774613e-01 2.34080711e-02 1.21521157e+02] [-1.55715992e-01 9.87792431e-01 -4.31773772e-03 -1.76213836e+01] [-2.37949094e-02 6.18820742e-04 9.99716670e-01 -2.35559475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters 0.036159633000393675 Centerline is valid? [True, True] Translation: X:121.55, Y:-17.63, Z:-2.36 [[ 9.87507702e-01 1.56087882e-01 2.15664652e-02 1.21550493e+02] [-1.56038155e-01 9.87743010e-01 -3.97999972e-03 -1.76337041e+01] [-2.19233550e-02 5.65088945e-04 9.99759495e-01 -2.35919198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394012739 meters 0.037675699691026715 Centerline is valid? [True, True] Translation: X:121.58, Y:-17.64, Z:-2.36 [[ 9.87434645e-01 1.56486305e-01 2.20194905e-02 1.21580380e+02] [-1.56434488e-01 9.87679963e-01 -4.06711325e-03 -1.76435454e+01] [-2.23846571e-02 5.71400811e-04 9.99749269e-01 -2.35906005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters 0.03575141866647549 Centerline is valid? [True, True] Translation: X:121.61, Y:-17.65, Z:-2.36 [[ 9.87363858e-01 1.56849315e-01 2.26031731e-02 1.21612536e+02] [-1.56794725e-01 9.87622374e-01 -4.17854780e-03 -1.76493387e+01] [-2.29788018e-02 5.81688775e-04 9.99735783e-01 -2.35894367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45401273899999 meters 0.03575141866647549 Centerline is valid? [True, True] Translation: X:121.64, Y:-17.66, Z:-2.36 [[ 9.87335073e-01 1.57030522e-01 2.26024049e-02 1.21644475e+02] [-1.56975885e-01 9.87593579e-01 -4.18269931e-03 -1.76554288e+01] [-2.29788014e-02 5.81693231e-04 9.99735783e-01 -2.35960423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters 0.03425886092403923 Centerline is valid? [True, True] Translation: X:121.68, Y:-17.67, Z:-2.36 [[ 9.87328788e-01 1.57017364e-01 2.29654374e-02 1.21675914e+02] [-1.56960850e-01 9.87595662e-01 -4.25432084e-03 -1.76665761e+01] [-2.33485686e-02 5.95738882e-04 9.99727208e-01 -2.36000879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514012739 meters 0.03568106860873061 Centerline is valid? [True, True] Translation: X:121.70, Y:-17.68, Z:-2.36 [[ 9.87379034e-01 1.56739819e-01 2.26995992e-02 1.21704979e+02] [-1.56684432e-01 9.87639747e-01 -4.20939422e-03 -1.76812100e+01] [-2.30788061e-02 5.99593796e-04 9.99733469e-01 -2.36062021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters 0.03641214478491181 Centerline is valid? [True, True] Translation: X:121.74, Y:-17.69, Z:-2.36 [[ 9.87362946e-01 1.56811734e-01 2.29018056e-02 1.21735806e+02] [-1.56755288e-01 9.87628327e-01 -4.25062413e-03 -1.76914430e+01] [-2.32850197e-02 6.06929622e-04 9.99728683e-01 -2.36064191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574012739 meters 0.03537393452310423 Centerline is valid? [True, True] Translation: X:121.77, Y:-17.70, Z:-2.36 [[ 9.87253601e-01 1.57449766e-01 2.32357150e-02 1.21767545e+02] [-1.57391739e-01 9.87526813e-01 -4.31681027e-03 -1.76993451e+01] [-2.36255724e-02 6.04676876e-04 9.99720694e-01 -2.36025078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters 0.034405892666642755 Centerline is valid? [True, True] Translation: X:121.80, Y:-17.71, Z:-2.36 [[ 9.86987973e-01 1.58787292e-01 2.53246316e-02 1.21798311e+02] [-1.58718683e-01 9.87312615e-01 -4.70947575e-03 -1.77099094e+01] [-2.57511332e-02 6.28703741e-04 9.99668187e-01 -2.35761324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634012739 meters 0.033081959835357146 Centerline is valid? [True, True] Translation: X:121.83, Y:-17.72, Z:-2.36 [[ 9.86685816e-01 1.60620566e-01 2.55369329e-02 1.21828947e+02] [-1.60551303e-01 9.87016051e-01 -4.75324438e-03 -1.77165540e+01] [-2.59688315e-02 5.89970961e-04 9.99662579e-01 -2.35721045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters 0.028258257598040012 Centerline is valid? [True, True] Translation: X:121.86, Y:-17.72, Z:-2.36 [[ 9.85903443e-01 1.65383455e-01 2.53517992e-02 1.21860811e+02] [-1.65316678e-01 9.86229231e-01 -4.72219543e-03 -1.77195723e+01] [-2.57836585e-02 4.64553510e-04 9.99667438e-01 -2.35894205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694012739 meters 0.027150829163290976 Centerline is valid? [True, True] Translation: X:121.89, Y:-17.73, Z:-2.36 [[ 9.85407086e-01 1.68450314e-01 2.44410999e-02 1.21891104e+02] [-1.68389147e-01 9.85710076e-01 -4.55433241e-03 -1.77254957e+01] [-2.48590171e-02 3.72255474e-04 9.99690898e-01 -2.36062191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters 0.02308739494555052 Centerline is valid? [True, True] Translation: X:121.92, Y:-17.72, Z:-2.36 [[ 9.84249726e-01 1.75249420e-01 2.32404314e-02 1.21922932e+02] [-1.75195934e-01 9.84524049e-01 -4.33378086e-03 -1.77249452e+01] [-2.36402562e-02 1.93893556e-04 9.99720511e-01 -2.36395252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754012739 meters 0.021920454921184614 Centerline is valid? [True, True] Translation: X:121.95, Y:-17.73, Z:-2.36 [[ 9.83648419e-01 1.78614738e-01 2.30773419e-02 1.21954598e+02] [-1.78562896e-01 9.83919083e-01 -4.30459374e-03 -1.77274202e+01] [-2.34751010e-02 1.13449811e-04 9.99724415e-01 -2.36418532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters 0.02125712892953932 Centerline is valid? [True, True] Translation: X:121.99, Y:-17.73, Z:-2.37 [[ 9.83005087e-01 1.82127288e-01 2.30358409e-02 1.21987095e+02] [-1.82076509e-01 9.83274962e-01 -4.30054487e-03 -1.77287521e+01] [-2.34338121e-02 3.31719891e-05 9.99725390e-01 -2.36526130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814012739 meters 0.021674338303253073 Centerline is valid? [True, True] Translation: X:122.02, Y:-17.73, Z:-2.37 [[ 9.82021692e-01 1.87438150e-01 2.23682039e-02 1.22019474e+02] [-1.87391572e-01 9.82276403e-01 -4.17924889e-03 -1.77258312e+01] [-2.27551095e-02 -8.74998283e-05 9.99741065e-01 -2.36771120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters 0.022286508799329644 Centerline is valid? [True, True] Translation: X:122.05, Y:-17.73, Z:-2.37 [[ 9.81665710e-01 1.89282711e-01 2.24608398e-02 1.22049097e+02] [-1.89236220e-01 9.81922623e-01 -4.19700939e-03 -1.77274067e+01] [-2.28492280e-02 -1.30344207e-04 9.99738914e-01 -2.36848317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874012739 meters 0.02402279281886694 Centerline is valid? [True, True] Translation: X:122.08, Y:-17.72, Z:-2.37 [[ 9.80928486e-01 1.92982603e-01 2.31737106e-02 1.22079731e+02] [-1.92934152e-01 9.81202153e-01 -4.32989215e-03 -1.77247466e+01] [-2.35736886e-02 -2.23685647e-04 9.99722077e-01 -2.36850127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters 0.025017385588110348 Centerline is valid? [True, True] Translation: X:122.11, Y:-17.73, Z:-2.37 [[ 9.80674925e-01 1.94186573e-01 2.38383551e-02 1.22109200e+02] [-1.94135674e-01 9.80964580e-01 -4.45345019e-03 -1.77250720e+01] [-2.42493823e-02 -2.60488206e-04 9.99705907e-01 -2.36782360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934012739 meters 0.025338597681545796 Centerline is valid? [True, True] Translation: X:122.14, Y:-17.73, Z:-2.37 [[ 9.80509074e-01 1.94971255e-01 2.42521353e-02 1.22138598e+02] [-1.94918834e-01 9.80808915e-01 -4.52992190e-03 -1.77267606e+01] [-2.46699151e-02 -2.85568410e-04 9.99695611e-01 -2.36777985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters 0.025338601908459397 Centerline is valid? [True, True] Translation: X:122.17, Y:-17.73, Z:-2.37 [[ 9.80481153e-01 1.95218971e-01 2.33722708e-02 1.22168799e+02] [-1.95170368e-01 9.80759641e-01 -4.36500419e-03 -1.77256429e+01] [-2.37747116e-02 -2.81770369e-04 9.99717302e-01 -2.37081049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994012739 meters 0.02523017671387052 Centerline is valid? [True, True] Translation: X:122.20, Y:-17.73, Z:-2.37 [[ 9.80594221e-01 1.94753022e-01 2.24996579e-02 1.22198230e+02] [-1.94707872e-01 9.80852279e-01 -4.20145344e-03 -1.77255400e+01] [-2.28870865e-02 -2.60939549e-04 9.99738022e-01 -2.37314437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters 0.02464902838293691 Centerline is valid? [True, True] Translation: X:122.23, Y:-17.73, Z:-2.37 [[ 9.80796913e-01 1.93731383e-01 2.24848130e-02 1.22225422e+02] [-1.93686049e-01 9.81054583e-01 -4.19757716e-03 -1.77298078e+01] [-2.28720312e-02 -2.38023861e-04 9.99738373e-01 -2.37390871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054012739 meters 0.024217875351682013 Centerline is valid? [True, True] Translation: X:122.25, Y:-17.73, Z:-2.37 [[ 9.81092660e-01 1.92211279e-01 2.26277835e-02 1.22253206e+02] [-1.92164994e-01 9.81353546e-01 -4.22291422e-03 -1.77344129e+01] [-2.30175473e-02 -2.05197747e-04 9.99735040e-01 -2.37407456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters 0.0225242109502378 Centerline is valid? [True, True] Translation: X:122.28, Y:-17.74, Z:-2.37 [[ 9.81736556e-01 1.88759745e-01 2.37295693e-02 1.22280996e+02] [-1.88707868e-01 9.82023290e-01 -4.42712537e-03 -1.77425075e+01] [-2.41386528e-02 -1.31685613e-04 9.99708612e-01 -2.37294687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114012739 meters 0.02173534142252552 Centerline is valid? [True, True] Translation: X:122.31, Y:-17.75, Z:-2.37 [[ 9.82099311e-01 1.86831885e-01 2.39747717e-02 1.22309950e+02] [-1.86778379e-01 9.82391897e-01 -4.47185972e-03 -1.77508289e+01] [-2.43881074e-02 -8.61586536e-05 9.99702562e-01 -2.37327620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters 0.021324118660028594 Centerline is valid? [True, True] Translation: X:122.34, Y:-17.76, Z:-2.38 [[ 9.82861368e-01 1.82814217e-01 2.37169583e-02 1.22338533e+02] [-1.82760697e-01 9.83147477e-01 -4.42330795e-03 -1.77615586e+01] [-2.41259113e-02 1.29706695e-05 9.99708928e-01 -2.37523352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174012739 meters 0.021525022048139324 Centerline is valid? [True, True] Translation: X:122.37, Y:-17.77, Z:-2.38 [[ 9.83187350e-01 1.81208165e-01 2.24996762e-02 1.22367661e+02] [-1.81159577e-01 9.83444761e-01 -4.19631030e-03 -1.77699567e+01] [-2.28875944e-02 4.97273720e-05 9.99738043e-01 -2.37748091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters 0.02229798962464742 Centerline is valid? [True, True] Translation: X:122.40, Y:-17.78, Z:-2.38 [[ 9.83735247e-01 1.78246459e-01 2.22072920e-02 1.22396904e+02] [-1.78198363e-01 9.83985867e-01 -4.14213099e-03 -1.77813909e+01] [-2.25899817e-02 1.17457166e-04 9.99744807e-01 -2.37896489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234012739 meters 0.02253005630984765 Centerline is valid? [True, True] Translation: X:122.43, Y:-17.79, Z:-2.38 [[ 9.83903948e-01 1.77230650e-01 2.28542678e-02 1.22427182e+02] [-1.77179410e-01 9.84169333e-01 -4.26393859e-03 -1.77893625e+01] [-2.32481701e-02 1.46000328e-04 9.99729714e-01 -2.37829005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters 0.023578190294217084 Centerline is valid? [True, True] Translation: X:122.46, Y:-17.80, Z:-2.38 [[ 9.84066667e-01 1.76245351e-01 2.34600019e-02 1.22456771e+02] [-1.76191055e-01 9.84346253e-01 -4.37798031e-03 -1.77994640e+01] [-2.38643636e-02 1.74782013e-04 9.99715190e-01 -2.37690986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294012739 meters 0.024904631922606425 Centerline is valid? [True, True] Translation: X:122.49, Y:-17.81, Z:-2.38 [[ 9.84448978e-01 1.73884279e-01 2.49893411e-02 1.22487795e+02] [-1.73821807e-01 9.84766061e-01 -4.66745561e-03 -1.78110723e+01] [-2.54202522e-02 2.51179474e-04 9.99676822e-01 -2.37589816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters 0.025374196089011685 Centerline is valid? [True, True] Translation: X:122.52, Y:-17.82, Z:-2.38 [[ 9.84999962e-01 1.70743345e-01 2.49356283e-02 1.22518033e+02] [-1.70680033e-01 9.85315481e-01 -4.66139203e-03 -1.78221498e+01] [-2.53653623e-02 3.35457106e-04 9.99678191e-01 -2.37777698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354012739 meters 0.026442254772669323 Centerline is valid? [True, True] Translation: X:122.55, Y:-17.83, Z:-2.38 [[ 9.85251451e-01 1.69345230e-01 2.45310320e-02 1.22548429e+02] [-1.69283425e-01 9.85556724e-01 -4.58969805e-03 -1.78318705e+01] [-2.49539670e-02 3.69309557e-04 9.99688533e-01 -2.37960054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters 0.027175144305386097 Centerline is valid? [True, True] Translation: X:122.58, Y:-17.84, Z:-2.38 [[ 9.85465329e-01 1.68192816e-01 2.38592241e-02 1.22579331e+02] [-1.68133920e-01 9.85754038e-01 -4.46782214e-03 -1.78408220e+01] [-2.42707821e-02 3.91338945e-04 9.99705345e-01 -2.38130348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414012739 meters 0.03340002788454585 Centerline is valid? [True, True] Translation: X:122.61, Y:-17.86, Z:-2.38 [[ 9.85792367e-01 1.66520208e-01 2.20097720e-02 1.22607526e+02] [-1.66469593e-01 9.86037960e-01 -4.12505976e-03 -1.78612094e+01] [-2.23893765e-02 4.02494636e-04 9.99749245e-01 -2.38460608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters 0.033220169572607816 Centerline is valid? [True, True] Translation: X:122.64, Y:-17.87, Z:-2.39 [[ 9.85947329e-01 1.65662451e-01 2.15364076e-02 1.22638400e+02] [-1.65613706e-01 9.86182427e-01 -4.03997184e-03 -1.78702327e+01] [-2.19080983e-02 4.16475174e-04 9.99759902e-01 -2.38729183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474012739 meters 0.03548189303623521 Centerline is valid? [True, True] Translation: X:122.67, Y:-17.89, Z:-2.39 [[ 9.86228082e-01 1.63969850e-01 2.16346544e-02 1.22667213e+02] [-1.63920179e-01 9.86465244e-01 -4.06176505e-03 -1.78866290e+01] [-2.20078416e-02 4.59470343e-04 9.99757693e-01 -2.38774925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters 0.03877285789633775 Centerline is valid? [True, True] Translation: X:122.70, Y:-17.89, Z:-2.38 [[ 9.86324769e-01 1.63351616e-01 2.19020268e-02 1.22698548e+02] [-1.63300488e-01 9.86567796e-01 -4.11504711e-03 -1.78923206e+01] [-2.22800339e-02 4.82161227e-04 9.99751653e-01 -2.37876978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534012739 meters 0.033347744751138164 Centerline is valid? [True, True] Translation: X:122.73, Y:-17.90, Z:-2.39 [[ 9.86477498e-01 1.62251025e-01 2.31678888e-02 1.22729420e+02] [-1.62193453e-01 9.86749368e-01 -4.35537506e-03 -1.79021139e+01] [-2.35675637e-02 5.38799623e-04 9.99722101e-01 -2.38634557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters 0.04159823246296789 Centerline is valid? [True, True] Translation: X:122.76, Y:-17.93, Z:-2.39 [[ 9.86961381e-01 1.59292660e-01 2.30885337e-02 1.22755668e+02] [-1.59234587e-01 9.87231217e-01 -4.34411770e-03 -1.79292732e+01] [-2.34857073e-02 6.10983277e-04 9.99723986e-01 -2.38706932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594012739 meters 0.03886773251598104 Centerline is valid? [True, True] Translation: X:122.79, Y:-17.94, Z:-2.39 [[ 9.87543772e-01 1.55800145e-01 2.19912256e-02 1.22785429e+02] [-1.55746557e-01 9.87788376e-01 -4.13934732e-03 -1.79415347e+01] [-2.23675879e-02 6.62728987e-04 9.99749595e-01 -2.39115015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters 0.03959092374957185 Centerline is valid? [True, True] Translation: X:122.82, Y:-17.95, Z:-2.39 [[ 9.87731972e-01 1.54559495e-01 2.22915842e-02 1.22815672e+02] [-1.54504092e-01 9.87983234e-01 -4.19702781e-03 -1.79533385e+01] [-2.26724019e-02 7.01397583e-04 9.99742702e-01 -2.39137908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654012739 meters 0.040364490496711466 Centerline is valid? [True, True] Translation: X:122.85, Y:-17.97, Z:-2.39 [[ 9.87798727e-01 1.54057008e-01 2.28059791e-02 1.22846003e+02] [-1.53998792e-01 9.88061689e-01 -4.29789027e-03 -1.79653995e+01] [-2.31958344e-02 7.33357309e-04 9.99730671e-01 -2.39105709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters 0.04156187788648896 Centerline is valid? [True, True] Translation: X:122.87, Y:-17.98, Z:-2.39 [[ 9.87718229e-01 1.54519779e-01 2.31589502e-02 1.22874417e+02] [-1.54459779e-01 9.87989420e-01 -4.36840055e-03 -1.79826633e+01] [-2.35558021e-02 7.37622525e-04 9.99722251e-01 -2.38994553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714012739 meters 0.03994958762773011 Centerline is valid? [True, True] Translation: X:122.91, Y:-17.99, Z:-2.39 [[ 9.87607189e-01 1.55306854e-01 2.26234484e-02 1.22905576e+02] [-1.55249722e-01 9.87866025e-01 -4.27095071e-03 -1.79904900e+01] [-2.30122440e-02 7.05737561e-04 9.99734934e-01 -2.39157991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters 0.039039940727156344 Centerline is valid? [True, True] Translation: X:122.93, Y:-18.00, Z:-2.39 [[ 9.87321160e-01 1.57193667e-01 2.20698558e-02 1.22934505e+02] [-1.57139692e-01 9.87567582e-01 -4.16983529e-03 -1.80028431e+01] [-2.24509458e-02 6.48916282e-04 9.99747735e-01 -2.39325846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774012739 meters 0.03815113822411706 Centerline is valid? [True, True] Translation: X:122.97, Y:-18.01, Z:-2.39 [[ 9.87163377e-01 1.58037800e-01 2.30764075e-02 1.22965192e+02] [-1.57978987e-01 9.87432843e-01 -4.36130126e-03 -1.80113504e+01] [-2.34756531e-02 6.59729403e-04 9.99724191e-01 -2.39232639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters 0.035856882905783656 Centerline is valid? [True, True] Translation: X:123.00, Y:-18.02, Z:-2.39 [[ 9.86653976e-01 1.60712522e-01 2.61804636e-02 1.22995810e+02] [-1.60637630e-01 9.87001024e-01 -4.95284925e-03 -1.80212763e+01] [-2.66361293e-02 6.81180777e-04 9.99644963e-01 -2.38748217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834012739 meters 0.03359894727924891 Centerline is valid? [True, True] Translation: X:123.03, Y:-18.03, Z:-2.39 [[ 9.86211624e-01 1.63325664e-01 2.66713543e-02 1.23026368e+02] [-1.63248793e-01 9.86572013e-01 -5.04931310e-03 -1.80267981e+01] [-2.71378941e-02 6.25624885e-04 9.99631504e-01 -2.38701840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters 0.031063711428763952 Centerline is valid? [True, True] Translation: X:123.06, Y:-18.03, Z:-2.39 [[ 9.85643219e-01 1.66801727e-01 2.61654256e-02 1.23056477e+02] [-1.66728954e-01 9.85990321e-01 -4.95408186e-03 -1.80306257e+01] [-2.66252058e-02 5.20423140e-04 9.99645351e-01 -2.38795269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894012739 meters 0.0261297421179418 Centerline is valid? [True, True] Translation: X:123.09, Y:-18.03, Z:-2.39 [[ 9.84520602e-01 1.73767214e-01 2.28941110e-02 1.23087202e+02] [-1.73713377e-01 9.84786713e-01 -4.33494802e-03 -1.80293762e+01] [-2.32990881e-02 2.90832303e-04 9.99728497e-01 -2.39429095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters 0.0243419086148488 Centerline is valid? [True, True] Translation: X:123.12, Y:-18.03, Z:-2.40 [[ 9.84040235e-01 1.76582401e-01 2.19879953e-02 1.23120035e+02] [-1.76533437e-01 9.84285837e-01 -4.16372664e-03 -1.80315966e+01] [-2.23777132e-02 2.15658161e-04 9.99749564e-01 -2.39713068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95401273899999 meters 0.022046527761898176 Centerline is valid? [True, True] Translation: X:123.15, Y:-18.03, Z:-2.40 [[ 9.83049781e-01 1.81817745e-01 2.35676886e-02 1.23152814e+02] [-1.81762949e-01 9.83332241e-01 -4.46472800e-03 -1.80307752e+01] [-2.39866348e-02 1.05317307e-04 9.99712274e-01 -2.39545391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters 0.021464871749298096 Centerline is valid? [True, True] Translation: X:123.18, Y:-18.03, Z:-2.39 [[ 9.82514384e-01 1.84541631e-01 2.46955970e-02 1.23183915e+02] [-1.84482226e-01 9.82824697e-01 -4.68228960e-03 -1.80332329e+01] [-2.51355200e-02 4.45181805e-05 9.99684052e-01 -2.39318113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01401273899998 meters 0.02140310188094907 Centerline is valid? [True, True] Translation: X:123.22, Y:-18.04, Z:-2.39 [[ 9.81969378e-01 1.87343305e-01 2.52710653e-02 1.23217153e+02] [-1.87281952e-01 9.82294500e-01 -4.79426743e-03 -1.80350302e+01] [-2.57218024e-02 -2.49906427e-05 9.99669139e-01 -2.39215889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters 0.022659977578956755 Centerline is valid? [True, True] Translation: X:123.25, Y:-18.03, Z:-2.40 [[ 9.81008723e-01 1.92474851e-01 2.39857594e-02 1.23249776e+02] [-1.92421013e-01 9.81301895e-01 -4.55456568e-03 -1.80299908e+01] [-2.44139105e-02 -1.47295441e-04 9.99701925e-01 -2.39508163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07401273899998 meters 0.02437746060581479 Centerline is valid? [True, True] Translation: X:123.28, Y:-18.03, Z:-2.40 [[ 9.80361864e-01 1.95944023e-01 2.22835224e-02 1.23281446e+02] [-1.95898380e-01 9.80615059e-01 -4.23446784e-03 -1.80288370e+01] [-2.26812763e-02 -2.13995152e-04 9.99742724e-01 -2.39970466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters 0.024841852326050424 Centerline is valid? [True, True] Translation: X:123.31, Y:-18.03, Z:-2.40 [[ 9.80135304e-01 1.97079612e-01 2.22353896e-02 1.23313777e+02] [-1.97034382e-01 9.80387459e-01 -4.22866190e-03 -1.80327500e+01] [-2.26326802e-02 -2.36475449e-04 9.99743820e-01 -2.40023260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13401273899999 meters 0.025756115885713443 Centerline is valid? [True, True] Translation: X:123.35, Y:-18.04, Z:-2.40 [[ 9.79865500e-01 1.98409237e-01 2.23019291e-02 1.23345912e+02] [-1.98363999e-01 9.80119230e-01 -4.24490181e-03 -1.80352786e+01] [-2.27007773e-02 -2.64467023e-04 9.99742269e-01 -2.40041684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters 0.027906628821744484 Centerline is valid? [True, True] Translation: X:123.38, Y:-18.03, Z:-2.40 [[ 9.79338553e-01 2.01031972e-01 2.19577818e-02 1.23378240e+02] [-2.00988701e-01 9.79584629e-01 -4.18283556e-03 -1.80314413e+01] [-2.23503892e-02 -3.16853909e-04 9.99750149e-01 -2.40153659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194012739 meters 0.028915401209003867 Centerline is valid? [True, True] Translation: X:123.41, Y:-18.03, Z:-2.40 [[ 9.79073070e-01 2.02324126e-01 2.19287736e-02 1.23410498e+02] [-2.02281221e-01 9.79318554e-01 -4.18056165e-03 -1.80332775e+01] [-2.23210834e-02 -3.42703759e-04 9.99750795e-01 -2.40247893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters 0.028639392318713843 Centerline is valid? [True, True] Translation: X:123.44, Y:-18.04, Z:-2.40 [[ 9.78492351e-01 2.05130281e-01 2.17781157e-02 1.23442256e+02] [-2.05088581e-01 9.78734595e-01 -4.15528263e-03 -1.80367046e+01] [-2.21673695e-02 -4.00530566e-04 9.99754193e-01 -2.40417978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254012739 meters 0.03090416458161493 Centerline is valid? [True, True] Translation: X:123.47, Y:-18.04, Z:-2.40 [[ 9.78285846e-01 2.06119744e-01 2.17130150e-02 1.23473938e+02] [-2.06078455e-01 9.78526687e-01 -4.14657864e-03 -1.80365341e+01] [-2.21014563e-02 -4.18045394e-04 9.99755646e-01 -2.40438572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters 0.031762414099147165 Centerline is valid? [True, True] Translation: X:123.51, Y:-18.04, Z:-2.40 [[ 9.78054672e-01 2.07081833e-01 2.29384703e-02 1.23505799e+02] [-2.07035936e-01 9.78323516e-01 -4.38402928e-03 -1.80359797e+01] [-2.33490978e-02 -4.61267351e-04 9.99727266e-01 -2.40263680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314012739 meters 0.03172982288566405 Centerline is valid? [True, True] Translation: X:123.54, Y:-18.04, Z:-2.40 [[ 9.78079852e-01 2.06888361e-01 2.36010254e-02 1.23536561e+02] [-2.06839704e-01 9.78364444e-01 -4.51122018e-03 -1.80400394e+01] [-2.40237231e-02 -4.69295550e-04 9.99711279e-01 -2.40202795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters 0.030581478856476923 Centerline is valid? [True, True] Translation: X:123.57, Y:-18.05, Z:-2.40 [[ 9.78157812e-01 2.06481567e-01 2.39302560e-02 1.23567903e+02] [-2.06431393e-01 9.78450380e-01 -4.57527823e-03 -1.80470826e+01] [-2.43592787e-02 -4.64611934e-04 9.99703161e-01 -2.40251016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374012739 meters 0.030581478856476923 Centerline is valid? [True, True] Translation: X:123.60, Y:-18.05, Z:-2.40 [[ 9.78124888e-01 2.06637560e-01 2.39295254e-02 1.23598983e+02] [-2.06587340e-01 9.78417448e-01 -4.57909660e-03 -1.80531710e+01] [-2.43592785e-02 -4.64608643e-04 9.99703161e-01 -2.40315365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters 0.030762146097754274 Centerline is valid? [True, True] Translation: X:123.63, Y:-18.06, Z:-2.40 [[ 9.78269636e-01 2.05936337e-01 2.40570930e-02 1.23630211e+02] [-2.05885271e-01 9.78565290e-01 -4.60744973e-03 -1.80562615e+01] [-2.44902775e-02 -4.45672954e-04 9.99699969e-01 -2.40293985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434012739 meters 0.030006695399338864 Centerline is valid? [True, True] Translation: X:123.66, Y:-18.06, Z:-2.40 [[ 9.78150116e-01 2.06468670e-01 2.43523835e-02 1.23661999e+02] [-2.06416414e-01 9.78453104e-01 -4.66777089e-03 -1.80587107e+01] [-2.47914136e-02 -4.60951028e-04 9.99692539e-01 -2.40389525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters 0.029538043319804804 Centerline is valid? [True, True] Translation: X:123.69, Y:-18.06, Z:-2.41 [[ 9.78076036e-01 2.06825656e-01 2.42984904e-02 1.23693906e+02] [-2.06773647e-01 9.78377704e-01 -4.66126717e-03 -1.80637802e+01] [-2.47371709e-02 -4.65213755e-04 9.99693881e-01 -2.40510689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494012739 meters 0.031173127942696548 Centerline is valid? [True, True] Translation: X:123.73, Y:-18.07, Z:-2.41 [[ 9.77948761e-01 2.07449827e-01 2.40995841e-02 1.23725216e+02] [-2.07398756e-01 9.78245545e-01 -4.62713354e-03 -1.80657615e+01] [-2.45352088e-02 -4.73124257e-04 9.99698854e-01 -2.40575031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters 0.031541004961272684 Centerline is valid? [True, True] Translation: X:123.76, Y:-18.07, Z:-2.41 [[ 9.77764900e-01 2.08449171e-01 2.29072904e-02 1.23756296e+02] [-2.08403231e-01 9.78033088e-01 -4.40134047e-03 -1.80672412e+01] [-2.33215437e-02 -4.70477090e-04 9.99727905e-01 -2.40818366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55401273899997 meters 0.03248518812342788 Centerline is valid? [True, True] Translation: X:123.79, Y:-18.07, Z:-2.41 [[ 9.77670659e-01 2.08989476e-01 2.19882083e-02 1.23785411e+02] [-2.08947264e-01 9.77917780e-01 -4.22567953e-03 -1.80690602e+01] [-2.23857824e-02 -4.63053081e-04 9.99749300e-01 -2.41042436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters 0.033776635887988106 Centerline is valid? [True, True] Translation: X:123.81, Y:-18.07, Z:-2.41 [[ 9.77516031e-01 2.09854586e-01 2.05781735e-02 1.23814960e+02] [-2.09817820e-01 9.77732503e-01 -3.95401460e-03 -1.80684553e+01] [-2.09497172e-02 -4.52554856e-04 9.99780428e-01 -2.41320822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61401273899997 meters 0.03208210117759669 Centerline is valid? [True, True] Translation: X:123.84, Y:-18.07, Z:-2.41 [[ 9.77496888e-01 2.09939839e-01 2.06178923e-02 1.23844317e+02] [-2.09902965e-01 9.77714200e-01 -3.96093420e-03 -1.80742402e+01] [-2.09899639e-02 -4.55955879e-04 9.99779582e-01 -2.41425389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters 0.031758817511521334 Centerline is valid? [True, True] Translation: X:123.87, Y:-18.08, Z:-2.41 [[ 9.77755806e-01 2.08637058e-01 2.15444379e-02 1.23873059e+02] [-2.08596492e-01 9.77993036e-01 -4.13837132e-03 -1.80761051e+01] [-2.19337278e-02 -4.47777571e-04 9.99759327e-01 -2.41278914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67401273899998 meters 0.030536712272885357 Centerline is valid? [True, True] Translation: X:123.90, Y:-18.08, Z:-2.41 [[ 9.78048749e-01 2.07212400e-01 2.19924179e-02 1.23901750e+02] [-2.07169787e-01 9.78295886e-01 -4.22363591e-03 -1.80830155e+01] [-2.23902817e-02 -4.25242711e-04 9.99749216e-01 -2.41258898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters 0.029124938221288293 Centerline is valid? [True, True] Translation: X:123.93, Y:-18.09, Z:-2.41 [[ 9.78464700e-01 2.05246197e-01 2.19278222e-02 1.23930317e+02] [-2.05203351e-01 9.78710302e-01 -4.21071060e-03 -1.80899814e+01] [-2.23252179e-02 -3.79630924e-04 9.99750689e-01 -2.41257877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73401273899998 meters 0.026279370712537872 Centerline is valid? [True, True] Translation: X:123.96, Y:-18.10, Z:-2.41 [[ 9.79230371e-01 2.01616497e-01 2.14165430e-02 1.23958874e+02] [-2.01574769e-01 9.79464498e-01 -4.11205223e-03 -1.80977188e+01] [-2.18058011e-02 -2.90388276e-04 9.99762183e-01 -2.41351480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters 0.024045541903138155 Centerline is valid? [True, True] Translation: X:123.99, Y:-18.11, Z:-2.41 [[ 9.79921926e-01 1.98128023e-01 2.23227399e-02 1.23987402e+02] [-1.98081786e-01 9.80176126e-01 -4.28585188e-03 -1.81066208e+01] [-2.27293641e-02 -2.21927970e-04 9.99741630e-01 -2.41243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79401273899998 meters 0.023412188334021724 Centerline is valid? [True, True] Translation: X:124.02, Y:-18.11, Z:-2.41 [[ 9.80173401e-01 1.96766948e-01 2.32996015e-02 1.24017299e+02] [-1.96716181e-01 9.80450268e-01 -4.47386628e-03 -1.81149866e+01] [-2.37244095e-02 -1.98243881e-04 9.99718517e-01 -2.41117657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters 0.022658522920060747 Centerline is valid? [True, True] Translation: X:124.05, Y:-18.12, Z:-2.41 [[ 9.80286924e-01 1.96093683e-01 2.41829179e-02 1.24048087e+02] [-1.96038770e-01 9.80585148e-01 -4.64419851e-03 -1.81245492e+01] [-2.46241081e-02 -1.88142403e-04 9.99696763e-01 -2.40988957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85401273899998 meters 0.023640801913738817 Centerline is valid? [True, True] Translation: X:124.08, Y:-18.14, Z:-2.41 [[ 9.80423614e-01 1.95398286e-01 2.42702994e-02 1.24079349e+02] [-1.95342672e-01 9.80723958e-01 -4.66465715e-03 -1.81353922e+01] [-2.47139301e-02 -1.67685115e-04 9.99694550e-01 -2.40682291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters 0.022338864998197847 Centerline is valid? [True, True] Translation: X:124.11, Y:-18.14, Z:-2.41 [[ 9.80368519e-01 1.95664126e-01 2.43539904e-02 1.24110642e+02] [-1.95608158e-01 9.80670954e-01 -4.68278883e-03 -1.81415720e+01] [-2.47995048e-02 -1.72980455e-04 9.99692430e-01 -2.41108671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914012739 meters 0.02289888649906457 Centerline is valid? [True, True] Translation: X:124.14, Y:-18.15, Z:-2.41 [[ 9.80128410e-01 1.96898648e-01 2.40670421e-02 1.24142225e+02] [-1.96844258e-01 9.80423828e-01 -4.63192342e-03 -1.81481187e+01] [-2.45079210e-02 -1.97579307e-04 9.99699616e-01 -2.41126870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters 0.02350627211562969 Centerline is valid? [True, True] Translation: X:124.17, Y:-18.15, Z:-2.41 [[ 9.79902521e-01 1.98037095e-01 2.39239968e-02 1.24173067e+02] [-1.97983593e-01 9.80194501e-01 -4.60832649e-03 -1.81534556e+01] [-2.43627897e-02 -2.20848103e-04 9.99703159e-01 -2.41182415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974012739 meters 0.024321114279406045 Centerline is valid? [True, True] Translation: X:124.20, Y:-18.16, Z:-2.41 [[ 9.79576873e-01 1.99703299e-01 2.34038985e-02 1.24204264e+02] [-1.99652499e-01 9.79856381e-01 -4.51124708e-03 -1.81573900e+01] [-2.38333702e-02 -2.53533514e-04 9.99715913e-01 -2.41318736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters 0.0277401355165807 Centerline is valid? [True, True] Translation: X:124.24, Y:-18.15, Z:-2.42 [[ 9.78517302e-01 2.04934629e-01 2.24875199e-02 1.24236144e+02] [-2.04889099e-01 9.78775594e-01 -4.33506445e-03 -1.81536126e+01] [-2.28986404e-02 -3.65512113e-04 9.99737725e-01 -2.41581272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034012739 meters 0.031320623431500015 Centerline is valid? [True, True] Translation: X:124.27, Y:-18.15, Z:-2.42 [[ 9.77870057e-01 2.08015815e-01 2.23511288e-02 1.24265555e+02] [-2.07971642e-01 9.78125366e-01 -4.30868488e-03 -1.81514047e+01] [-2.27584806e-02 -4.35067031e-04 9.99740898e-01 -2.41646882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters 0.03664760015135099 Centerline is valid? [True, True] Translation: X:124.30, Y:-18.15, Z:-2.42 [[ 9.76741492e-01 2.13302970e-01 2.18609392e-02 1.24297212e+02] [-2.13262051e-01 9.76985949e-01 -4.21346412e-03 -1.81466247e+01] [-2.22565749e-02 -5.46643510e-04 9.99752142e-01 -2.41712342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094012739 meters 0.037074513050989265 Centerline is valid? [True, True] Translation: X:124.33, Y:-18.15, Z:-2.42 [[ 9.76402878e-01 2.14922691e-01 2.11105613e-02 1.24325717e+02] [-2.14884918e-01 9.76630902e-01 -4.06852721e-03 -1.81498235e+01] [-2.14916454e-02 -5.63819573e-04 9.99768869e-01 -2.41928766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters 0.037554913025110735 Centerline is valid? [True, True] Translation: X:124.35, Y:-18.15, Z:-2.42 [[ 9.76333755e-01 2.15278916e-01 2.06733416e-02 1.24354630e+02] [-2.15242792e-01 9.76552443e-01 -3.98330509e-03 -1.81528347e+01] [-2.10461238e-02 -5.60752550e-04 9.99778349e-01 -2.42099345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154012739 meters 0.035385659910171945 Centerline is valid? [True, True] Translation: X:124.38, Y:-18.16, Z:-2.42 [[ 9.76515577e-01 2.14422900e-01 2.09797213e-02 1.24382253e+02] [-2.14385521e-01 9.76740762e-01 -4.04133426e-03 -1.81596582e+01] [-2.13583036e-02 -5.51322624e-04 9.99771733e-01 -2.42113419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters 0.03645754776108921 Centerline is valid? [True, True] Translation: X:124.41, Y:-18.16, Z:-2.42 [[ 9.76595591e-01 2.14013393e-01 2.14317303e-02 1.24410315e+02] [-2.13974311e-01 9.76830568e-01 -4.12735001e-03 -1.81619767e+01] [-2.18184775e-02 -5.55087899e-04 9.99761795e-01 -2.42035942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214012739 meters 0.03511746068200058 Centerline is valid? [True, True] Translation: X:124.44, Y:-18.17, Z:-2.42 [[ 9.76689770e-01 2.13569899e-01 2.15636702e-02 1.24439439e+02] [-2.13530248e-01 9.76927631e-01 -4.15173642e-03 -1.81659100e+01] [-2.19528312e-02 -5.49537357e-04 9.99758857e-01 -2.42080282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters 0.03514217672268118 Centerline is valid? [True, True] Translation: X:124.47, Y:-18.17, Z:-2.42 [[ 9.76773152e-01 2.13192496e-01 2.15213811e-02 1.24467818e+02] [-2.13152926e-01 9.77010065e-01 -4.14282021e-03 -1.81697596e+01] [-2.19098241e-02 -5.40749801e-04 9.99759805e-01 -2.42232666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27401273899997 meters 0.03543965695575692 Centerline is valid? [True, True] Translation: X:124.50, Y:-18.17, Z:-2.42 [[ 9.76843248e-01 2.13008591e-01 2.01148988e-02 1.24496074e+02] [-2.12973999e-01 9.77050197e-01 -3.87139959e-03 -1.81719638e+01] [-2.04779072e-02 -5.02199876e-04 9.99790180e-01 -2.42498939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters 0.03683820260786279 Centerline is valid? [True, True] Translation: X:124.52, Y:-18.17, Z:-2.43 [[ 9.76798392e-01 2.13230797e-01 1.99381126e-02 1.24523902e+02] [-2.13196880e-01 9.77001727e-01 -3.83619818e-03 -1.81733335e+01] [-2.02975661e-02 -5.03551199e-04 9.99793856e-01 -2.42567163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33401273899997 meters 0.03524284252755757 Centerline is valid? [True, True] Translation: X:124.55, Y:-18.18, Z:-2.43 [[ 9.76661976e-01 2.13810102e-01 2.04113914e-02 1.24552160e+02] [-2.13774709e-01 9.76875100e-01 -3.92603532e-03 -1.81788928e+01] [-2.07788060e-02 -5.29029840e-04 9.99783957e-01 -2.42507095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters 0.03665641180698914 Centerline is valid? [True, True] Translation: X:124.58, Y:-18.18, Z:-2.42 [[ 9.76248351e-01 2.15539827e-01 2.19485818e-02 1.24581975e+02] [-2.15499362e-01 9.76494860e-01 -4.22057243e-03 -1.81780883e+01] [-2.23423788e-02 -6.09578507e-04 9.99750192e-01 -2.42232998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39401273899998 meters 0.037952001586937754 Centerline is valid? [True, True] Translation: X:124.61, Y:-18.18, Z:-2.42 [[ 9.76147146e-01 2.15931772e-01 2.25880365e-02 1.24609758e+02] [-2.15889047e-01 9.76408246e-01 -4.34237555e-03 -1.81789463e+01] [-2.29928019e-02 -6.37712170e-04 9.99735427e-01 -2.42204980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters 0.038193123785765046 Centerline is valid? [True, True] Translation: X:124.64, Y:-18.18, Z:-2.42 [[ 9.76176596e-01 2.15778634e-01 2.27779212e-02 1.24637671e+02] [-2.15735179e-01 9.76442098e-01 -4.37745696e-03 -1.81803156e+01] [-2.31858829e-02 -6.40827881e-04 9.99730966e-01 -2.42313251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45401273899998 meters 0.04064521635984553 Centerline is valid? [True, True] Translation: X:124.67, Y:-18.18, Z:-2.42 [[ 9.76295766e-01 2.15278861e-01 2.23961719e-02 1.24666314e+02] [-2.15236755e-01 9.76552419e-01 -4.30254777e-03 -1.81806306e+01] [-2.27972835e-02 -6.19920181e-04 9.99739916e-01 -2.42409448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters 0.038768152392918566 Centerline is valid? [True, True] Translation: X:124.69, Y:-18.19, Z:-2.42 [[ 9.76320163e-01 2.15194807e-01 2.21389821e-02 1.24693681e+02] [-2.15153670e-01 9.76570950e-01 -4.25181298e-03 -1.81870333e+01] [-2.25352548e-02 -6.12152505e-04 9.99745861e-01 -2.42493063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51401273899998 meters 0.04064786974500951 Centerline is valid? [True, True] Translation: X:124.72, Y:-18.18, Z:-2.42 [[ 9.76273349e-01 2.15362863e-01 2.25651219e-02 1.24722286e+02] [-2.15320208e-01 9.76533891e-01 -4.33207283e-03 -1.81846216e+01] [-2.29685739e-02 -6.29439497e-04 9.99735989e-01 -2.42498043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters 0.04204422961619762 Centerline is valid? [True, True] Translation: X:124.75, Y:-18.18, Z:-2.43 [[ 9.76023462e-01 2.16585540e-01 2.16542191e-02 1.24751538e+02] [-2.16546587e-01 9.76263440e-01 -4.15600130e-03 -1.81835876e+01] [-2.20403522e-02 -6.32792460e-04 9.99756882e-01 -2.42760873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57401273899998 meters 0.04260766706934756 Centerline is valid? [True, True] Translation: X:124.78, Y:-18.19, Z:-2.43 [[ 9.75938809e-01 2.17038543e-01 2.09215809e-02 1.24780313e+02] [-2.17002304e-01 9.76162837e-01 -4.01447257e-03 -1.81863281e+01] [-2.12941650e-02 -6.22151681e-04 9.99773060e-01 -2.42969574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters 0.038508446199255565 Centerline is valid? [True, True] Translation: X:124.81, Y:-18.20, Z:-2.43 [[ 9.75956310e-01 2.16983049e-01 2.06793897e-02 1.24806792e+02] [-2.16947653e-01 9.76175178e-01 -3.96705197e-03 -1.81952207e+01] [-2.10474900e-02 -6.14675658e-04 9.99778288e-01 -2.43075345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63401273899999 meters 0.04170264269359849 Centerline is valid? [True, True] Translation: X:124.84, Y:-18.19, Z:-2.43 [[ 9.76010365e-01 2.16668849e-01 2.14097551e-02 1.24835703e+02] [-2.16630867e-01 9.76244955e-01 -4.10555992e-03 -1.81914441e+01] [-2.17907123e-02 -6.30944755e-04 9.99762355e-01 -2.42977366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters 0.040734421064445366 Centerline is valid? [True, True] Translation: X:124.86, Y:-18.20, Z:-2.43 [[ 9.76028484e-01 2.16496041e-01 2.23128617e-02 1.24863422e+02] [-2.16454774e-01 9.76283276e-01 -4.27731507e-03 -1.81961482e+01] [-2.27096955e-02 -6.54944095e-04 9.99741887e-01 -2.42879717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694012739 meters 0.04108720837949387 Centerline is valid? [True, True] Translation: X:124.89, Y:-18.20, Z:-2.43 [[ 9.76180452e-01 2.15693360e-01 2.34115167e-02 1.24891991e+02] [-2.15647738e-01 9.76460919e-01 -4.48626502e-03 -1.81965494e+01] [-2.38280887e-02 -6.69236416e-04 9.99715847e-01 -2.42788483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters 0.040507590547937525 Centerline is valid? [True, True] Translation: X:124.92, Y:-18.20, Z:-2.43 [[ 9.76283367e-01 2.15329421e-01 2.24505532e-02 1.24921185e+02] [-2.15287399e-01 9.76541263e-01 -4.30089956e-03 -1.81994558e+01] [-2.28500018e-02 -6.34424509e-04 9.99738703e-01 -2.43032047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754012739 meters 0.0400058698779331 Centerline is valid? [True, True] Translation: X:124.95, Y:-18.20, Z:-2.43 [[ 9.76406750e-01 2.14894975e-01 2.12134078e-02 1.24950263e+02] [-2.14857374e-01 9.76636985e-01 -4.06297477e-03 -1.82026084e+01] [-2.15909115e-02 -5.90741107e-04 9.99766715e-01 -2.43386787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters 0.03680129959337077 Centerline is valid? [True, True] Translation: X:124.98, Y:-18.21, Z:-2.44 [[ 9.76970275e-01 2.12484246e-01 1.94814682e-02 1.24979000e+02] [-2.12452073e-01 9.77164367e-01 -3.73043167e-03 -1.82079808e+01] [-1.98292545e-02 -4.94357448e-04 9.99803259e-01 -2.43772927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814012739 meters 0.03430904064395465 Centerline is valid? [True, True] Translation: X:125.01, Y:-18.21, Z:-2.44 [[ 9.77744101e-01 2.08790034e-01 2.05717176e-02 1.25007854e+02] [-2.08753356e-01 9.77960390e-01 -3.93844653e-03 -1.82132432e+01] [-2.09406334e-02 -4.43622224e-04 9.99780622e-01 -2.43638279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters 0.03072130479051274 Centerline is valid? [True, True] Translation: X:125.04, Y:-18.22, Z:-2.44 [[ 9.78217681e-01 2.06485597e-01 2.13041647e-02 1.25035148e+02] [-2.06445726e-01 9.78449555e-01 -4.07812840e-03 -1.82226826e+01] [-2.16871252e-02 -4.08856437e-04 9.99764723e-01 -2.43614884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874012739 meters 0.03089088770392147 Centerline is valid? [True, True] Translation: X:125.06, Y:-18.23, Z:-2.44 [[ 9.78584370e-01 2.04731515e-01 2.13924526e-02 1.25063194e+02] [-2.04690916e-01 9.78818097e-01 -4.09400847e-03 -1.82266415e+01] [-2.17774924e-02 -3.72508036e-04 9.99762773e-01 -2.43605575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters 0.02819034701573975 Centerline is valid? [True, True] Translation: X:125.09, Y:-18.23, Z:-2.44 [[ 9.79187094e-01 2.01826006e-01 2.14219083e-02 1.25091628e+02] [-2.01784623e-01 9.79421343e-01 -4.09858206e-03 -1.82341474e+01] [-2.18082746e-02 -3.09333029e-04 9.99762123e-01 -2.43577984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934012739 meters 0.027351192661884304 Centerline is valid? [True, True] Translation: X:125.12, Y:-18.24, Z:-2.44 [[ 9.79243045e-01 2.01547754e-01 2.14839851e-02 1.25119970e+02] [-2.01506099e-01 9.79478642e-01 -4.10881459e-03 -1.82395943e+01] [-2.18712268e-02 -3.05625916e-04 9.99760749e-01 -2.43595300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters 0.02885427015272813 Centerline is valid? [True, True] Translation: X:125.15, Y:-18.24, Z:-2.44 [[ 9.79108143e-01 2.02144301e-01 2.20210230e-02 1.25147918e+02] [-2.02100714e-01 9.79355693e-01 -4.21038119e-03 -1.82388832e+01] [-2.24175188e-02 -3.28045966e-04 9.99748642e-01 -2.43592471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994012739 meters 0.027436226373670984 Centerline is valid? [True, True] Translation: X:125.18, Y:-18.25, Z:-2.44 [[ 9.78944080e-01 2.02833815e-01 2.29549988e-02 1.25175825e+02] [-2.02786691e-01 9.79213109e-01 -4.38685886e-03 -1.82457613e+01] [-2.33676391e-02 -3.60478739e-04 9.99726874e-01 -2.43546455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters 0.028176991699990925 Centerline is valid? [True, True] Translation: X:125.20, Y:-18.25, Z:-2.43 [[ 9.78827782e-01 2.03276309e-01 2.39773793e-02 1.25204117e+02] [-2.03225050e-01 9.79121336e-01 -4.58124314e-03 -1.82483837e+01] [-2.44080218e-02 -3.88556029e-04 9.99702004e-01 -2.43398515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05401273899997 meters 0.0280166054855171 Centerline is valid? [True, True] Translation: X:125.23, Y:-18.25, Z:-2.43 [[ 9.78733791e-01 2.03630267e-01 2.47967941e-02 1.25232794e+02] [-2.03575595e-01 9.79047774e-01 -4.73632225e-03 -1.82520763e+01] [-2.52417046e-02 -4.12423465e-04 9.99681292e-01 -2.43244141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters 0.027857137016967338 Centerline is valid? [True, True] Translation: X:125.26, Y:-18.26, Z:-2.43 [[ 9.78833913e-01 2.03194570e-01 2.44159222e-02 1.25260426e+02] [-2.03141460e-01 9.79138300e-01 -4.66235411e-03 -1.82571463e+01] [-2.48539295e-02 -3.96215762e-04 9.99691015e-01 -2.43347755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11401273899997 meters 0.02704448939042981 Centerline is valid? [True, True] Translation: X:125.29, Y:-18.26, Z:-2.44 [[ 9.79177824e-01 2.01579968e-01 2.40063817e-02 1.25287303e+02] [-2.01528174e-01 9.79471997e-01 -4.58272902e-03 -1.82643545e+01] [-2.44373650e-02 -3.50655643e-04 9.99701302e-01 -2.43625085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters 0.026552551444378174 Centerline is valid? [True, True] Translation: X:125.32, Y:-18.27, Z:-2.44 [[ 9.79308648e-01 2.00904241e-01 2.43322531e-02 1.25315654e+02] [-2.00850858e-01 9.79610826e-01 -4.64352232e-03 -1.82706585e+01] [-2.47690419e-02 -3.39712349e-04 9.99693142e-01 -2.43587540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17401273899998 meters 0.026391522498285615 Centerline is valid? [True, True] Translation: X:125.34, Y:-18.28, Z:-2.43 [[ 9.79378791e-01 2.00519552e-01 2.46798250e-02 1.25343703e+02] [-2.00464541e-01 9.79689643e-01 -4.70866960e-03 -1.82760802e+01] [-2.51227492e-02 -3.35858641e-04 9.99684318e-01 -2.43492492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters 0.02745235507459782 Centerline is valid? [True, True] Translation: X:125.37, Y:-18.28, Z:-2.43 [[ 9.79152542e-01 2.01606019e-01 2.48054994e-02 1.25371398e+02] [-2.01550825e-01 9.79466630e-01 -4.73141617e-03 -1.82787840e+01] [-2.52500409e-02 -3.66790695e-04 9.99681100e-01 -2.43498129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23401273899998 meters 0.028488243841890463 Centerline is valid? [True, True] Translation: X:125.40, Y:-18.28, Z:-2.44 [[ 9.78912764e-01 2.02877348e-01 2.38868777e-02 1.25400479e+02] [-2.02826578e-01 9.79204081e-01 -4.55488428e-03 -1.82823064e+01] [-2.43142110e-02 -3.86059301e-04 9.99704291e-01 -2.43790201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters 0.028488243841890463 Centerline is valid? [True, True] Translation: X:125.43, Y:-18.29, Z:-2.44 [[ 9.78926457e-01 2.02811239e-01 2.38871001e-02 1.25427507e+02] [-2.02760477e-01 9.79217776e-01 -4.55371781e-03 -1.82873206e+01] [-2.43142182e-02 -3.85604979e-04 9.99704291e-01 -2.43846039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29401273899998 meters 0.029922003617748872 Centerline is valid? [True, True] Translation: X:125.46, Y:-18.29, Z:-2.44 [[ 9.78649376e-01 2.04308963e-01 2.24331529e-02 1.25456596e+02] [-2.04264619e-01 9.78906374e-01 -4.27511805e-03 -1.82900751e+01] [-2.28334013e-02 -3.98457816e-04 9.99739205e-01 -2.44116721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters 0.03242007485542984 Centerline is valid? [True, True] Translation: X:125.48, Y:-18.29, Z:-2.44 [[ 9.78184210e-01 2.06646926e-01 2.12767425e-02 1.25484847e+02] [-2.06607610e-01 9.78415486e-01 -4.05374343e-03 -1.82891172e+01] [-2.16551880e-02 -4.30629118e-04 9.99765406e-01 -2.44465241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35401273899998 meters 0.03261395818944163 Centerline is valid? [True, True] Translation: X:125.51, Y:-18.29, Z:-2.44 [[ 9.77958903e-01 2.07672326e-01 2.16469269e-02 1.25513289e+02] [-2.07631922e-01 9.78198339e-01 -4.12242626e-03 -1.82922675e+01] [-2.20311018e-02 -4.63029573e-04 9.99757179e-01 -2.44471171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters 0.03437019929652764 Centerline is valid? [True, True] Translation: X:125.54, Y:-18.29, Z:-2.44 [[ 9.77582761e-01 2.09428406e-01 2.17183963e-02 1.25543217e+02] [-2.09388191e-01 9.77823853e-01 -4.13500651e-03 -1.82903732e+01] [-2.21027538e-02 -5.05264630e-04 9.99755577e-01 -2.44499517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414012739 meters 0.036448854257592714 Centerline is valid? [True, True] Translation: X:125.57, Y:-18.29, Z:-2.45 [[ 9.77501781e-01 2.09852729e-01 2.12626495e-02 1.25571641e+02] [-2.09814305e-01 9.77732876e-01 -4.04723683e-03 -1.82896602e+01] [-2.16385151e-02 -5.05026826e-04 9.99765732e-01 -2.44531361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters 0.033329339859877995 Centerline is valid? [True, True] Translation: X:125.60, Y:-18.30, Z:-2.45 [[ 9.77526332e-01 2.09750121e-01 2.11460623e-02 1.25599284e+02] [-2.09712121e-01 9.77754895e-01 -4.02379290e-03 -1.82962846e+01] [-2.15196570e-02 -5.01222072e-04 9.99768300e-01 -2.44705520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474012739 meters 0.03348214781261817 Centerline is valid? [True, True] Translation: X:125.63, Y:-18.29, Z:-2.45 [[ 9.77918614e-01 2.07895365e-01 2.13237352e-02 1.25627611e+02] [-2.07856318e-01 9.78150960e-01 -4.05600416e-03 -1.82948337e+01] [-2.17010565e-02 -4.65831119e-04 9.99764396e-01 -2.44761699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters 0.03148524811075222 Centerline is valid? [True, True] Translation: X:125.66, Y:-18.30, Z:-2.45 [[ 9.78367348e-01 2.05711282e-01 2.19135063e-02 1.25655755e+02] [-2.05669539e-01 9.78612632e-01 -4.16626331e-03 -1.83005071e+01] [-2.23018814e-02 -4.30804753e-04 9.99751189e-01 -2.44685844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534012739 meters 0.026450982278226776 Centerline is valid? [True, True] Translation: X:125.68, Y:-18.31, Z:-2.45 [[ 9.79596087e-01 1.99670967e-01 2.28694225e-02 1.25683652e+02] [-1.99623879e-01 9.79862955e-01 -4.34696431e-03 -1.83110994e+01] [-2.32768625e-02 -3.07013611e-04 9.99729010e-01 -2.44588797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters 0.024534949338394476 Centerline is valid? [True, True] Translation: X:125.71, Y:-18.32, Z:-2.45 [[ 9.80269207e-01 1.96306438e-01 2.31530788e-02 1.25710615e+02] [-1.96257251e-01 9.80542569e-01 -4.40022530e-03 -1.83185073e+01] [-2.35663719e-02 -2.30554229e-04 9.99722248e-01 -2.44513836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594012739 meters 0.022309143122343764 Centerline is valid? [True, True] Translation: X:125.74, Y:-18.33, Z:-2.45 [[ 9.80849825e-01 1.93333947e-01 2.35712928e-02 1.25738216e+02] [-1.93282141e-01 9.81132997e-01 -4.47836054e-03 -1.83287427e+01] [-2.39923923e-02 -1.63310804e-04 9.99712128e-01 -2.44539120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters 0.021045051150623453 Centerline is valid? [True, True] Translation: X:125.77, Y:-18.34, Z:-2.45 [[ 9.81563373e-01 1.89584985e-01 2.43079800e-02 1.25766113e+02] [-1.89528769e-01 9.81864312e-01 -4.61714087e-03 -1.83367831e+01] [-2.47424787e-02 -7.50451617e-05 9.99693855e-01 -2.44552277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654012739 meters 0.021019633134990428 Centerline is valid? [True, True] Translation: X:125.79, Y:-18.34, Z:-2.45 [[ 9.81721514e-01 1.88806652e-01 2.39774420e-02 1.25794163e+02] [-1.88751750e-01 9.82014279e-01 -4.55323384e-03 -1.83417845e+01] [-2.44058713e-02 -5.57765298e-05 9.99702131e-01 -2.44704108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters 0.020905684016232766 Centerline is valid? [True, True] Translation: X:125.82, Y:-18.35, Z:-2.45 [[ 9.81816560e-01 1.88394444e-01 2.33190000e-02 1.25821887e+02] [-1.88342427e-01 9.82093443e-01 -4.42708618e-03 -1.83458551e+01] [-2.37354754e-02 -4.53705215e-05 9.99718273e-01 -2.44891783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714012739 meters 0.02091085178841711 Centerline is valid? [True, True] Translation: X:125.85, Y:-18.35, Z:-2.45 [[ 9.81922043e-01 1.87839470e-01 2.33545446e-02 1.25848842e+02] [-1.87787170e-01 9.82199742e-01 -4.43242444e-03 -1.83515857e+01] [-2.37714119e-02 -3.33885716e-05 9.99717420e-01 -2.44970349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters 0.020898194468326522 Centerline is valid? [True, True] Translation: X:125.88, Y:-18.36, Z:-2.45 [[ 9.82091421e-01 1.86986903e-01 2.30724817e-02 1.25875473e+02] [-1.86935661e-01 9.82362407e-01 -4.37726075e-03 -1.83580568e+01] [-2.34840291e-02 -1.41993988e-05 9.99724212e-01 -2.45087214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77401273899997 meters 0.021160339010286834 Centerline is valid? [True, True] Translation: X:125.90, Y:-18.37, Z:-2.45 [[ 9.82570274e-01 1.84331334e-01 2.40336370e-02 1.25902159e+02] [-1.84274986e-01 9.82864160e-01 -4.55768908e-03 -1.83676855e+01] [-2.44619254e-02 4.94516829e-05 9.99700761e-01 -2.44887150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters 0.021208727642268037 Centerline is valid? [True, True] Translation: X:125.93, Y:-18.37, Z:-2.45 [[ 9.82753181e-01 1.83296778e-01 2.44637588e-02 1.25930462e+02] [-1.83238109e-01 9.83057621e-01 -4.63787526e-03 -1.83741909e+01] [-2.48993921e-02 7.51937567e-05 9.99689959e-01 -2.44994701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83401273899997 meters 0.02128272916375077 Centerline is valid? [True, True] Translation: X:125.96, Y:-18.38, Z:-2.45 [[ 9.82954751e-01 1.82334616e-01 2.35381610e-02 1.25958289e+02] [-1.82280054e-01 9.83236532e-01 -4.46131904e-03 -1.83799504e+01] [-2.39570327e-02 9.47374850e-05 9.99712985e-01 -2.45347882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters 0.021420888248525793 Centerline is valid? [True, True] Translation: X:125.99, Y:-18.39, Z:-2.45 [[ 9.82994975e-01 1.82242310e-01 2.25525842e-02 1.25985873e+02] [-1.82192222e-01 9.83253646e-01 -4.27341311e-03 -1.83858038e+01] [-2.29537074e-02 9.18381833e-05 9.99736525e-01 -2.45466132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89401273899998 meters 0.021366864618239154 Centerline is valid? [True, True] Translation: X:126.01, Y:-18.39, Z:-2.46 [[ 9.83034790e-01 1.82075169e-01 2.21638235e-02 1.26013077e+02] [-1.82026782e-01 9.83284610e-01 -4.19838162e-03 -1.83903157e+01] [-2.25577676e-02 9.27457184e-05 9.99745537e-01 -2.45679278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters 0.021671802512693777 Centerline is valid? [True, True] Translation: X:126.04, Y:-18.40, Z:-2.46 [[ 9.83288938e-01 1.80596206e-01 2.29755387e-02 1.26040698e+02] [-1.80543845e-01 9.83557316e-01 -4.35049109e-03 -1.83982572e+01] [-2.33834413e-02 1.29697681e-04 9.99726562e-01 -2.45605885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95401273899998 meters 0.02226766087519895 Centerline is valid? [True, True] Translation: X:126.07, Y:-18.41, Z:-2.46 [[ 9.83475470e-01 1.79541382e-01 2.32570965e-02 1.26067785e+02] [-1.79487462e-01 9.83750409e-01 -4.40260453e-03 -1.84069085e+01] [-2.36696279e-02 1.55496334e-04 9.99719823e-01 -2.45525094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters 0.023207894728175152 Centerline is valid? [True, True] Translation: X:126.09, Y:-18.42, Z:-2.46 [[ 9.83754141e-01 1.77973941e-01 2.35173785e-02 1.26094485e+02] [-1.77918395e-01 9.84035182e-01 -4.45041016e-03 -1.84167687e+01] [-2.39339849e-02 1.93935187e-04 9.99713522e-01 -2.45626199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01401273899998 meters 0.02848988307787357 Centerline is valid? [True, True] Translation: X:126.12, Y:-18.42, Z:-2.45 [[ 9.83937072e-01 1.77076033e-01 2.26255769e-02 1.26122855e+02] [-1.77024414e-01 9.84197153e-01 -4.28028643e-03 -1.84231234e+01] [-2.30259645e-02 2.06253011e-04 9.99734846e-01 -2.44949686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters 0.02422061198452359 Centerline is valid? [True, True] Translation: X:126.15, Y:-18.43, Z:-2.46 [[ 9.84046293e-01 1.76302681e-01 2.38800652e-02 1.26149321e+02] [-1.76244982e-01 9.84335974e-01 -4.51633918e-03 -1.84330619e+01] [-2.43022499e-02 2.35545174e-04 9.99704629e-01 -2.45599202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07401273899998 meters 0.023947945065325466 Centerline is valid? [True, True] Translation: X:126.18, Y:-18.44, Z:-2.46 [[ 9.84115931e-01 1.75848380e-01 2.43553196e-02 1.26177577e+02] [-1.75788258e-01 9.84417231e-01 -4.60477326e-03 -1.84375473e+01] [-2.47855382e-02 2.50251529e-04 9.99692760e-01 -2.45589636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters 0.024470780897077986 Centerline is valid? [True, True] Translation: X:126.20, Y:-18.44, Z:-2.46 [[ 9.84061730e-01 1.76131461e-01 2.44993833e-02 1.26204284e+02] [-1.76070743e-01 9.84366623e-01 -4.63079420e-03 -1.84442117e+01] [-2.49320038e-02 2.43362732e-04 9.99689120e-01 -2.45622504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13401273899999 meters 0.02287267289213858 Centerline is valid? [True, True] Translation: X:126.23, Y:-18.45, Z:-2.46 [[ 9.83772245e-01 1.77966814e-01 2.28031424e-02 1.26233365e+02] [-1.77914735e-01 9.84036473e-01 -4.30894819e-03 -1.84468902e+01] [-2.32059736e-02 1.82008596e-04 9.99730689e-01 -2.46218677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters 0.022733097377111267 Centerline is valid? [True, True] Translation: X:126.26, Y:-18.45, Z:-2.46 [[ 9.83595314e-01 1.79075431e-01 2.17312834e-02 1.26260452e+02] [-1.79028427e-01 9.83835336e-01 -4.10540223e-03 -1.84513921e+01] [-2.21151812e-02 1.47536913e-04 9.99755419e-01 -2.46397515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194012739 meters 0.021928584745523904 Centerline is valid? [True, True] Translation: X:126.29, Y:-18.45, Z:-2.46 [[ 9.83319726e-01 1.80545518e-01 2.20370872e-02 1.26289704e+02] [-1.80497579e-01 9.83566623e-01 -4.16187972e-03 -1.84531624e+01] [-2.24263522e-02 1.14817539e-04 9.99748491e-01 -2.46399078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters 0.027633312172645735 Centerline is valid? [True, True] Translation: X:126.32, Y:-18.46, Z:-2.46 [[ 9.83358672e-01 1.80302782e-01 2.22851930e-02 1.26318064e+02] [-1.80253719e-01 9.83611149e-01 -4.20766950e-03 -1.84596211e+01] [-2.26786188e-02 1.20659373e-04 9.99742800e-01 -2.45523881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254012739 meters 0.022182209874422813 Centerline is valid? [True, True] Translation: X:126.34, Y:-18.47, Z:-2.46 [[ 9.83338329e-01 1.80231180e-01 2.37160609e-02 1.26344676e+02] [-1.80175622e-01 9.83624270e-01 -4.47664273e-03 -1.84653858e+01] [-2.41345237e-02 1.28998383e-04 9.99708712e-01 -2.46174474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters 0.02720990514107069 Centerline is valid? [True, True] Translation: X:126.37, Y:-18.47, Z:-2.46 [[ 9.83678810e-01 1.78335253e-01 2.39277215e-02 1.26372240e+02] [-1.78278165e-01 9.83969769e-01 -4.51545417e-03 -1.84738039e+01] [-2.43494192e-02 1.75966302e-04 9.99703493e-01 -2.45529465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314012739 meters 0.023387550356769506 Centerline is valid? [True, True] Translation: X:126.40, Y:-18.48, Z:-2.46 [[ 9.83823511e-01 1.77482165e-01 2.43182923e-02 1.26398489e+02] [-1.77422968e-01 9.84123997e-01 -4.58794129e-03 -1.84815681e+01] [-2.47464928e-02 1.99100921e-04 9.99693739e-01 -2.46334499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters 0.03374069404129792 Centerline is valid? [True, True] Translation: X:126.43, Y:-18.50, Z:-2.46 [[ 9.84527090e-01 1.73844897e-01 2.20081819e-02 1.26425680e+02] [-1.73795529e-01 9.84773011e-01 -4.15100646e-03 -1.84962953e+01] [-2.23946948e-02 2.61854698e-04 9.99749173e-01 -2.45747512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374012739 meters 0.0267490009596158 Centerline is valid? [True, True] Translation: X:126.45, Y:-18.51, Z:-2.47 [[ 9.84761370e-01 1.72465564e-01 2.23757536e-02 1.26452398e+02] [-1.72414191e-01 9.85015503e-01 -4.21972456e-03 -1.85059642e+01] [-2.27682213e-02 2.97524298e-04 9.99740726e-01 -2.46832831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters 0.027834934848167285 Centerline is valid? [True, True] Translation: X:126.48, Y:-18.52, Z:-2.47 [[ 9.85012337e-01 1.70988905e-01 2.26603441e-02 1.26480363e+02] [-1.70935854e-01 9.85272897e-01 -4.27213386e-03 -1.85151811e+01] [-2.30571104e-02 3.34639282e-04 9.99734093e-01 -2.46799360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434012739 meters 0.029198313619654033 Centerline is valid? [True, True] Translation: X:126.51, Y:-18.53, Z:-2.47 [[ 9.85261760e-01 1.69427168e-01 2.35308252e-02 1.26508021e+02] [-1.69369538e-01 9.85542636e-01 -4.43540799e-03 -1.85264906e+01] [-2.39421101e-02 3.84632882e-04 9.99713273e-01 -2.46547583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters 0.02788764266609466 Centerline is valid? [True, True] Translation: X:126.54, Y:-18.53, Z:-2.47 [[ 9.85143052e-01 1.70055328e-01 2.39656404e-02 1.26537480e+02] [-1.69995753e-01 9.85434445e-01 -4.51657665e-03 -1.85321035e+01] [-2.43846354e-02 3.75417028e-04 9.99702580e-01 -2.46520944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494012739 meters 0.02577669226278336 Centerline is valid? [True, True] Translation: X:126.57, Y:-18.54, Z:-2.46 [[ 9.84533730e-01 1.73407741e-01 2.49617631e-02 1.26566586e+02] [-1.73344202e-01 9.84850071e-01 -4.70369617e-03 -1.85371899e+01] [-2.53992515e-02 3.03970637e-04 9.99677341e-01 -2.46343634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters 0.024653055224886818 Centerline is valid? [True, True] Translation: X:126.60, Y:-18.54, Z:-2.46 [[ 9.84078002e-01 1.75921164e-01 2.53422729e-02 1.26595162e+02] [-1.75856523e-01 9.84404229e-01 -4.77472723e-03 -1.85403124e+01] [-2.57870161e-02 2.42100035e-04 9.99667430e-01 -2.46250580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55401273899997 meters 0.022983642891793846 Centerline is valid? [True, True] Translation: X:126.62, Y:-18.54, Z:-2.46 [[ 9.83553693e-01 1.78797885e-01 2.55626541e-02 1.26624984e+02] [-1.78733108e-01 9.83885811e-01 -4.81533916e-03 -1.85402582e+01] [-2.60117051e-02 1.67251996e-04 9.99661624e-01 -2.46333954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters 0.02174703484700235 Centerline is valid? [True, True] Translation: X:126.65, Y:-18.53, Z:-2.46 [[ 9.82437556e-01 1.84914108e-01 2.49644190e-02 1.26654058e+02] [-1.84854325e-01 9.82754686e-01 -4.70167208e-03 -1.85345331e+01] [-2.54033052e-02 4.31839477e-06 9.99677284e-01 -2.46492047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61401273899997 meters 0.021991285535291765 Centerline is valid? [True, True] Translation: X:126.68, Y:-18.53, Z:-2.47 [[ 9.81958133e-01 1.87485182e-01 2.46481543e-02 1.26681972e+02] [-1.87427750e-01 9.82267429e-01 -4.64066680e-03 -1.85347308e+01] [-2.50811354e-02 -6.28075914e-05 9.99685417e-01 -2.46562760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters 0.022912335157906118 Centerline is valid? [True, True] Translation: X:126.71, Y:-18.53, Z:-2.46 [[ 9.81301043e-01 1.90741819e-01 2.58035054e-02 1.26712195e+02] [-1.90680042e-01 9.81640227e-01 -4.85660772e-03 -1.85316676e+01] [-2.62561170e-02 -1.54419272e-04 9.99655237e-01 -2.46376842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67401273899998 meters 0.02367715817292361 Centerline is valid? [True, True] Translation: X:126.74, Y:-18.53, Z:-2.46 [[ 9.81114111e-01 1.91652190e-01 2.61637132e-02 1.26740646e+02] [-1.91589035e-01 9.81462890e-01 -4.92311552e-03 -1.85323001e+01] [-2.66222395e-02 -1.82542457e-04 9.99645549e-01 -2.46318361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters 0.023946576615578516 Centerline is valid? [True, True] Translation: X:126.77, Y:-18.53, Z:-2.46 [[ 9.81032533e-01 1.92118798e-01 2.57979956e-02 1.26768266e+02] [-1.92057598e-01 9.81371657e-01 -4.85278738e-03 -1.85344866e+01] [-2.62497334e-02 -1.93958774e-04 9.99655398e-01 -2.46456127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73401273899998 meters 0.024406280424175787 Centerline is valid? [True, True] Translation: X:126.80, Y:-18.54, Z:-2.47 [[ 9.80981859e-01 1.92491923e-01 2.49289244e-02 1.26795563e+02] [-1.92434939e-01 9.81298538e-01 -4.68764753e-03 -1.85357270e+01] [-2.53650513e-02 -1.98698861e-04 9.99678236e-01 -2.46848115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters 0.02369989715345325 Centerline is valid? [True, True] Translation: X:126.82, Y:-18.54, Z:-2.47 [[ 9.81038684e-01 1.92225266e-01 2.47496984e-02 1.26823954e+02] [-1.92169058e-01 9.81350809e-01 -4.65219649e-03 -1.85412858e+01] [-2.51824062e-02 -1.92141514e-04 9.99682854e-01 -2.47056890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79401273899998 meters 0.0233515826420173 Centerline is valid? [True, True] Translation: X:126.85, Y:-18.54, Z:-2.47 [[ 9.81289109e-01 1.90962273e-01 2.45986882e-02 1.26851565e+02] [-1.90906381e-01 9.81597364e-01 -4.62262331e-03 -1.85445720e+01] [-2.50287541e-02 -1.59916642e-04 9.99686719e-01 -2.47107629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters 0.022808416271831392 Centerline is valid? [True, True] Translation: X:126.88, Y:-18.55, Z:-2.47 [[ 9.81435834e-01 1.90260015e-01 2.41832761e-02 1.26879850e+02] [-1.90205815e-01 9.81733725e-01 -4.54322794e-03 -1.85503100e+01] [-2.46059323e-02 -1.40913045e-04 9.99697218e-01 -2.47295214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85401273899998 meters 0.022847182104748977 Centerline is valid? [True, True] Translation: X:126.91, Y:-18.55, Z:-2.48 [[ 9.81568025e-01 1.89700897e-01 2.31901403e-02 1.26907045e+02] [-1.89650928e-01 9.81841919e-01 -4.35557336e-03 -1.85544601e+01] [-2.35953080e-02 -1.22740088e-04 9.99721584e-01 -2.47516455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters 0.023197324542869314 Centerline is valid? [True, True] Translation: X:126.93, Y:-18.56, Z:-2.48 [[ 9.81541592e-01 1.89932041e-01 2.24036490e-02 1.26934313e+02] [-1.89885495e-01 9.81797232e-01 -4.20647308e-03 -1.85550032e+01] [-2.27947845e-02 -1.25299704e-04 9.99740157e-01 -2.47730567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914012739 meters 0.022840313213547223 Centerline is valid? [True, True] Translation: X:126.96, Y:-18.56, Z:-2.48 [[ 9.81410277e-01 1.90574119e-01 2.27018300e-02 1.26962820e+02] [-1.90526551e-01 9.81672799e-01 -4.26013331e-03 -1.85596302e+01] [-2.30976401e-02 -1.44362767e-04 9.99733203e-01 -2.47853772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters 0.0234125762214173 Centerline is valid? [True, True] Translation: X:126.99, Y:-18.56, Z:-2.48 [[ 9.81235013e-01 1.91411894e-01 2.32236053e-02 1.26990957e+02] [-1.91362378e-01 9.81509785e-01 -4.35687244e-03 -1.85599445e+01] [-2.36281531e-02 -1.69008541e-04 9.99720802e-01 -2.47887772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974012739 meters 0.023236183163715306 Centerline is valid? [True, True] Translation: X:127.02, Y:-18.56, Z:-2.48 [[ 9.81246496e-01 1.91340805e-01 2.33240281e-02 1.27019106e+02] [-1.91290873e-01 9.81523646e-01 -4.37426557e-03 -1.85635213e+01] [-2.37300606e-02 -1.69440932e-04 9.99718388e-01 -2.47954369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters 0.02329332077266977 Centerline is valid? [True, True] Translation: X:127.05, Y:-18.56, Z:-2.48 [[ 9.81406683e-01 1.90575860e-01 2.28421742e-02 1.27047626e+02] [-1.90527801e-01 9.81672460e-01 -4.28229948e-03 -1.85639999e+01] [-2.32396362e-02 -1.49391874e-04 9.99729912e-01 -2.48033230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034012739 meters 0.022935420842334037 Centerline is valid? [True, True] Translation: X:127.08, Y:-18.57, Z:-2.48 [[ 9.81537299e-01 1.89958804e-01 2.23647701e-02 1.27076509e+02] [-1.89912601e-01 9.81792053e-01 -4.19150794e-03 -1.85685288e+01] [-2.27537674e-02 -1.33230273e-04 9.99741091e-01 -2.48227885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters 0.02264014992846819 Centerline is valid? [True, True] Translation: X:127.11, Y:-18.57, Z:-2.48 [[ 9.81672954e-01 1.89364874e-01 2.14279015e-02 1.27105382e+02] [-1.89322341e-01 9.81906783e-01 -4.01498143e-03 -1.85734378e+01] [-2.18004983e-02 -1.15381788e-04 9.99762334e-01 -2.48465835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094012739 meters 0.022432332055506446 Centerline is valid? [True, True] Translation: X:127.13, Y:-18.58, Z:-2.49 [[ 9.81907922e-01 1.88140707e-01 2.14454446e-02 1.27133009e+02] [-1.88097829e-01 9.82142081e-01 -4.01745529e-03 -1.85770521e+01] [-2.18183205e-02 -8.90704096e-05 9.99761948e-01 -2.48576751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters 0.022355505373741216 Centerline is valid? [True, True] Translation: X:127.16, Y:-18.58, Z:-2.48 [[ 9.81972842e-01 1.87675849e-01 2.25191927e-02 1.27161228e+02] [-1.87628481e-01 9.82231016e-01 -4.21716338e-03 -1.85808016e+01] [-2.29105093e-02 -8.41020254e-05 9.99737516e-01 -2.48446455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154012739 meters 0.022336246527240696 Centerline is valid? [True, True] Translation: X:127.19, Y:-18.58, Z:-2.48 [[ 9.81911396e-01 1.87865902e-01 2.35884200e-02 1.27189960e+02] [-1.87814027e-01 9.82194682e-01 -4.41558054e-03 -1.85805898e+01] [-2.39979577e-02 -9.45273075e-05 9.99712003e-01 -2.48247817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters 0.022336246527240696 Centerline is valid? [True, True] Translation: X:127.22, Y:-18.59, Z:-2.48 [[ 9.81924254e-01 1.87798637e-01 2.35887804e-02 1.27216999e+02] [-1.87746789e-01 9.82207546e-01 -4.41365441e-03 -1.85855146e+01] [-2.39979564e-02 -9.48434701e-05 9.99712003e-01 -2.48303653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214012739 meters 0.02284952916474014 Centerline is valid? [True, True] Translation: X:127.24, Y:-18.59, Z:-2.48 [[ 9.81881644e-01 1.88056491e-01 2.33064944e-02 1.27244509e+02] [-1.88005992e-01 9.82158208e-01 -4.35901289e-03 -1.85861923e+01] [-2.37104055e-02 -1.01725871e-04 9.99718864e-01 -2.48237039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters 0.022666093319097125 Centerline is valid? [True, True] Translation: X:127.27, Y:-18.59, Z:-2.48 [[ 9.81753619e-01 1.88671366e-01 2.37264934e-02 1.27273389e+02] [-1.88619277e-01 9.82040275e-01 -4.43479787e-03 -1.85876432e+01] [-2.41370914e-02 -1.21395170e-04 9.99708651e-01 -2.48476401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27401273899997 meters 0.022638117958276128 Centerline is valid? [True, True] Translation: X:127.30, Y:-18.59, Z:-2.48 [[ 9.81738660e-01 1.88668579e-01 2.43591948e-02 1.27302256e+02] [-1.88613704e-01 9.82040809e-01 -4.55185636e-03 -1.85905375e+01] [-2.47805156e-02 -1.25744584e-04 9.99692908e-01 -2.48371809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters 0.022746580421679978 Centerline is valid? [True, True] Translation: X:127.33, Y:-18.59, Z:-2.48 [[ 9.81650383e-01 1.89038876e-01 2.50365390e-02 1.27330785e+02] [-1.88981057e-01 9.81969594e-01 -4.67719080e-03 -1.85931783e+01] [-2.54692909e-02 -1.40065461e-04 9.99675595e-01 -2.48297647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33401273899997 meters 0.023423595887530173 Centerline is valid? [True, True] Translation: X:127.36, Y:-18.59, Z:-2.48 [[ 9.81382817e-01 1.90530462e-01 2.42055531e-02 1.27359779e+02] [-1.90476900e-01 9.81681268e-01 -4.52081483e-03 -1.85937233e+01] [-2.46234910e-02 -1.73948714e-04 9.99696781e-01 -2.48446742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters 0.023725648870833744 Centerline is valid? [True, True] Translation: X:127.39, Y:-18.60, Z:-2.49 [[ 9.81260342e-01 1.91241629e-01 2.35537900e-02 1.27388186e+02] [-1.91191145e-01 9.81542971e-01 -4.39798002e-03 -1.85964346e+01] [-2.39601339e-02 -1.87712700e-04 9.99712897e-01 -2.48657457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39401273899998 meters 0.023793209031063387 Centerline is valid? [True, True] Translation: X:127.42, Y:-18.60, Z:-2.49 [[ 9.81143393e-01 1.91832716e-01 2.36188859e-02 1.27417360e+02] [-1.91782151e-01 9.81427617e-01 -4.40898764e-03 -1.85963333e+01] [-2.40260150e-02 -2.03831654e-04 9.99711313e-01 -2.48736678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters 0.02367057179223751 Centerline is valid? [True, True] Translation: X:127.44, Y:-18.60, Z:-2.49 [[ 9.81208894e-01 1.91419221e-01 2.42443522e-02 1.27444065e+02] [-1.91365850e-01 9.81508350e-01 -4.52436207e-03 -1.85989235e+01] [-2.46620840e-02 -2.00196754e-04 9.99695825e-01 -2.48698625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45401273899998 meters 0.022926725442788603 Centerline is valid? [True, True] Translation: X:127.47, Y:-18.60, Z:-2.49 [[ 9.81607912e-01 1.89322243e-01 2.45559476e-02 1.27472129e+02] [-1.89266884e-01 9.81914999e-01 -4.58054470e-03 -1.86049157e+01] [-2.49790523e-02 -1.51328759e-04 9.99687963e-01 -2.48688260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters 0.022496136615579424 Centerline is valid? [True, True] Translation: X:127.50, Y:-18.61, Z:-2.49 [[ 9.82000454e-01 1.87295795e-01 2.44007006e-02 1.27500305e+02] [-1.87240537e-01 9.82303556e-01 -4.55039559e-03 -1.86125290e+01] [-2.48211649e-02 -1.00309745e-04 9.99691902e-01 -2.48842856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51401273899998 meters 0.022167028219712764 Centerline is valid? [True, True] Translation: X:127.53, Y:-18.62, Z:-2.49 [[ 9.82447677e-01 1.84976070e-01 2.40918221e-02 1.27527148e+02] [-1.84921537e-01 9.82743024e-01 -4.49145276e-03 -1.86198193e+01] [-2.45068814e-02 -4.24794581e-05 9.99699660e-01 -2.48872215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters 0.02223367493963783 Centerline is valid? [True, True] Translation: X:127.55, Y:-18.63, Z:-2.49 [[ 9.83113477e-01 1.81545475e-01 2.30028778e-02 1.27554746e+02] [-1.81494865e-01 9.83382550e-01 -4.28659501e-03 -1.86292376e+01] [-2.33988405e-02 3.93051241e-05 9.99726209e-01 -2.49153991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57401273899998 meters 0.022373075074473392 Centerline is valid? [True, True] Translation: X:127.58, Y:-18.64, Z:-2.49 [[ 9.83413684e-01 1.79970151e-01 2.25448818e-02 1.27582552e+02] [-1.79921148e-01 9.83672069e-01 -4.20018198e-03 -1.86359194e+01] [-2.29326779e-02 7.42154269e-05 9.99737009e-01 -2.49239706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters 0.02272645156201265 Centerline is valid? [True, True] Translation: X:127.61, Y:-18.64, Z:-2.49 [[ 9.83765623e-01 1.78051114e-01 2.24276627e-02 1.27611011e+02] [-1.78002144e-01 9.84021233e-01 -4.17727324e-03 -1.86426357e+01] [-2.28130645e-02 1.17285763e-04 9.99739741e-01 -2.49284164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63401273899999 meters 0.02274380548958661 Centerline is valid? [True, True] Translation: X:127.64, Y:-18.65, Z:-2.49 [[ 9.83785288e-01 1.77944473e-01 2.24114019e-02 1.27638052e+02] [-1.77895573e-01 9.84040523e-01 -4.17309077e-03 -1.86471944e+01] [-2.27963061e-02 1.18536123e-04 9.99740123e-01 -2.49381613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters 0.02264785503337426 Centerline is valid? [True, True] Translation: X:127.67, Y:-18.65, Z:-2.49 [[ 9.83657202e-01 1.78641410e-01 2.24890025e-02 1.27666913e+02] [-1.78592394e-01 9.83914242e-01 -4.18575797e-03 -1.86507377e+01] [-2.28749996e-02 1.00986182e-04 9.99738328e-01 -2.49448525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694012739 meters 0.022439877813963702 Centerline is valid? [True, True] Translation: X:127.69, Y:-18.65, Z:-2.49 [[ 9.83517085e-01 1.79349114e-01 2.29790883e-02 1.27693484e+02] [-1.79298159e-01 9.83785489e-01 -4.27574112e-03 -1.86536677e+01] [-2.33733440e-02 8.51561993e-05 9.99726802e-01 -2.49416812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters 0.022300184484449828 Centerline is valid? [True, True] Translation: X:127.72, Y:-18.66, Z:-2.49 [[ 9.83375516e-01 1.80096622e-01 2.31905486e-02 1.27721040e+02] [-1.80044979e-01 9.83648922e-01 -4.31316840e-03 -1.86565659e+01] [-2.35881452e-02 6.61223722e-05 9.99721759e-01 -2.49348193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754012739 meters 0.022246154134325964 Centerline is valid? [True, True] Translation: X:127.75, Y:-18.66, Z:-2.49 [[ 9.83182272e-01 1.81112070e-01 2.34742130e-02 1.27748883e+02] [-1.81059485e-01 9.83462463e-01 -4.36422777e-03 -1.86600040e+01] [-2.38764217e-02 4.06024521e-05 9.99714917e-01 -2.49336946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters 0.02228439829081495 Centerline is valid? [True, True] Translation: X:127.78, Y:-18.67, Z:-2.49 [[ 9.83216926e-01 1.80950869e-01 2.32649714e-02 1.27776728e+02] [-1.80899212e-01 9.83492136e-01 -4.32364308e-03 -1.86658857e+01] [-2.36632834e-02 4.24640762e-05 9.99719984e-01 -2.49450446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814012739 meters 0.022354397257123532 Centerline is valid? [True, True] Translation: X:127.80, Y:-18.67, Z:-2.49 [[ 9.83435057e-01 1.79761918e-01 2.32624598e-02 1.27804405e+02] [-1.79709978e-01 9.83710144e-01 -4.32155856e-03 -1.86740777e+01] [-2.36603694e-02 6.94760474e-05 9.99720052e-01 -2.49464861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters 0.02270712053099752 Centerline is valid? [True, True] Translation: X:127.83, Y:-18.68, Z:-2.49 [[ 9.83593372e-01 1.78739275e-01 2.44202613e-02 1.27831283e+02] [-1.78681755e-01 9.83896469e-01 -4.53523298e-03 -1.86805701e+01] [-2.48376331e-02 9.73699481e-05 9.99691494e-01 -2.49366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874012739 meters 0.02300363585170233 Centerline is valid? [True, True] Translation: X:127.86, Y:-18.69, Z:-2.49 [[ 9.83776220e-01 1.77613654e-01 2.52534878e-02 1.27857850e+02] [-1.77551825e-01 9.84100286e-01 -4.68784085e-03 -1.86880339e+01] [-2.56845891e-02 1.27983495e-04 9.99670088e-01 -2.49271784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters 0.024102488611690717 Centerline is valid? [True, True] Translation: X:127.88, Y:-18.70, Z:-2.49 [[ 9.84320227e-01 1.74401490e-01 2.64161105e-02 1.27884495e+02] [-1.74332723e-01 9.84674602e-01 -4.90204415e-03 -1.86999345e+01] [-2.68661969e-02 2.19988738e-04 9.99639014e-01 -2.49205016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934012739 meters 0.02480542926007565 Centerline is valid? [True, True] Translation: X:127.91, Y:-18.71, Z:-2.49 [[ 9.84629123e-01 1.72658673e-01 2.63528514e-02 1.27912501e+02] [-1.72589650e-01 9.84981681e-01 -4.88880450e-03 -1.87086222e+01] [-2.68011704e-02 2.65429888e-04 9.99640749e-01 -2.49347655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters 0.025765128768823965 Centerline is valid? [True, True] Translation: X:127.94, Y:-18.72, Z:-2.49 [[ 9.84942406e-01 1.70897646e-01 2.61237616e-02 1.27938638e+02] [-1.70829236e-01 9.85288739e-01 -4.84490467e-03 -1.87177224e+01] [-2.65674309e-02 3.09249836e-04 9.99646976e-01 -2.49451763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994012739 meters 0.02750445173706955 Centerline is valid? [True, True] Translation: X:127.96, Y:-18.73, Z:-2.50 [[ 9.85574145e-01 1.67198962e-01 2.62318944e-02 1.27964881e+02] [-1.67128724e-01 9.85923090e-01 -4.86305552e-03 -1.87314285e+01] [-2.66757283e-02 4.08798726e-04 9.99644056e-01 -2.49513133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters 0.02914535678352111 Centerline is valid? [True, True] Translation: X:127.99, Y:-18.74, Z:-2.50 [[ 9.85933178e-01 1.65246597e-01 2.50864475e-02 1.27990777e+02] [-1.65181773e-01 9.86252183e-01 -4.64899061e-03 -1.87437471e+01] [-2.55097935e-02 4.39770214e-04 9.99674476e-01 -2.49826331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05401273899997 meters 0.029872542655872608 Centerline is valid? [True, True] Translation: X:128.02, Y:-18.75, Z:-2.50 [[ 9.86012730e-01 1.64931740e-01 2.40087115e-02 1.28018035e+02] [-1.64872309e-01 9.86304891e-01 -4.44783686e-03 -1.87509162e+01] [-2.44134991e-02 4.27252066e-04 9.99701855e-01 -2.50103262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters 0.028890578628976246 Centerline is valid? [True, True] Translation: X:128.05, Y:-18.75, Z:-2.50 [[ 9.86036055e-01 1.64932688e-01 2.30240644e-02 1.28046707e+02] [-1.64878065e-01 9.86304741e-01 -4.26403258e-03 -1.87544623e+01] [-2.34120222e-02 4.08326677e-04 9.99725818e-01 -2.50393815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11401273899997 meters 0.029486705176010507 Centerline is valid? [True, True] Translation: X:128.07, Y:-18.76, Z:-2.51 [[ 9.85961272e-01 1.65475182e-01 2.23234222e-02 1.28074269e+02] [-1.65423997e-01 9.86213880e-01 -4.13321326e-03 -1.87611702e+01] [-2.26996130e-02 3.82358487e-04 9.99742257e-01 -2.50550600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters 0.02706884653503356 Centerline is valid? [True, True] Translation: X:128.10, Y:-18.76, Z:-2.50 [[ 9.85656605e-01 1.67182529e-01 2.30447150e-02 1.28103746e+02] [-1.67128477e-01 9.85925899e-01 -4.26552186e-03 -1.87631973e+01] [-2.34335021e-02 3.52911663e-04 9.99725335e-01 -2.50459199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17401273899998 meters 0.02662208317604757 Centerline is valid? [True, True] Translation: X:128.13, Y:-18.77, Z:-2.50 [[ 9.85248826e-01 1.69509122e-01 2.34821027e-02 1.28130806e+02] [-1.69453701e-01 9.85528572e-01 -4.34472083e-03 -1.87679038e+01] [-2.38787529e-02 3.01501886e-04 9.99714816e-01 -2.50357995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters 0.025532473263240877 Centerline is valid? [True, True] Translation: X:128.16, Y:-18.77, Z:-2.51 [[ 9.85059514e-01 1.70672944e-01 2.29891421e-02 1.28159995e+02] [-1.70620177e-01 9.85327699e-01 -4.25205808e-03 -1.87708453e+01] [-2.33775497e-02 2.66118785e-04 9.99726672e-01 -2.50651825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23401273899998 meters 0.02512023244071294 Centerline is valid? [True, True] Translation: X:128.19, Y:-18.78, Z:-2.51 [[ 9.84920720e-01 1.71548545e-01 2.24114360e-02 1.28188846e+02] [-1.71498661e-01 9.85175639e-01 -4.14355715e-03 -1.87755508e+01] [-2.27900220e-02 2.37544037e-04 9.99740245e-01 -2.50879947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters 0.024910305841754316 Centerline is valid? [True, True] Translation: X:128.22, Y:-18.78, Z:-2.51 [[ 9.84787975e-01 1.72401672e-01 2.16865918e-02 1.28215597e+02] [-1.72355193e-01 9.85026710e-01 -4.00848357e-03 -1.87828894e+01] [-2.20529415e-02 2.09709696e-04 9.99756782e-01 -2.51189681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29401273899998 meters 0.024824894481139993 Centerline is valid? [True, True] Translation: X:128.24, Y:-18.79, Z:-2.51 [[ 9.84767423e-01 1.72586965e-01 2.11390911e-02 1.28242722e+02] [-1.72542874e-01 9.84994264e-01 -3.90601933e-03 -1.87902015e+01] [-2.14960115e-02 1.99121070e-04 9.99768914e-01 -2.51279885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters 0.02464321680360783 Centerline is valid? [True, True] Translation: X:128.27, Y:-18.80, Z:-2.51 [[ 9.84725253e-01 1.72891470e-01 2.06086252e-02 1.28271100e+02] [-1.72849656e-01 9.84940864e-01 -3.80679571e-03 -1.87956921e+01] [-2.09564396e-02 1.86454102e-04 9.99780372e-01 -2.51369213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35401273899998 meters 0.024077895094518846 Centerline is valid? [True, True] Translation: X:128.30, Y:-18.80, Z:-2.51 [[ 9.84548717e-01 1.73903778e-01 2.05255803e-02 1.28299492e+02] [-1.73862541e-01 9.84762636e-01 -3.79045991e-03 -1.88004082e+01] [-2.08719999e-02 1.63262889e-04 9.99782143e-01 -2.51441403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters 0.023227268696733618 Centerline is valid? [True, True] Translation: X:128.33, Y:-18.80, Z:-2.51 [[ 9.83926993e-01 1.77296108e-01 2.13017228e-02 1.28327249e+02] [-1.77252511e-01 9.84157549e-01 -3.93268667e-03 -1.88029298e+01] [-2.16615014e-02 9.36927114e-05 9.99765358e-01 -2.51320188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414012739 meters 0.022793320550195176 Centerline is valid? [True, True] Translation: X:128.36, Y:-18.80, Z:-2.51 [[ 9.83505872e-01 1.79490453e-01 2.23467528e-02 1.28356275e+02] [-1.79443071e-01 9.83759714e-01 -4.12422135e-03 -1.88047660e+01] [-2.27240935e-02 4.62259647e-05 9.99741773e-01 -2.51234420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters 0.0229029362913494 Centerline is valid? [True, True] Translation: X:128.38, Y:-18.80, Z:-2.51 [[ 9.82775417e-01 1.83456550e-01 2.22749753e-02 1.28384296e+02] [-1.83410516e-01 9.83027819e-01 -4.10980653e-03 -1.88036353e+01] [-2.26508913e-02 -4.64478920e-05 9.99743435e-01 -2.51276949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474012739 meters 0.02307700231401718 Centerline is valid? [True, True] Translation: X:128.41, Y:-18.81, Z:-2.51 [[ 9.82597665e-01 1.84493261e-01 2.15421863e-02 1.28411054e+02] [-1.84450494e-01 9.82833776e-01 -3.97282754e-03 -1.88067427e+01] [-2.19053482e-02 -6.97758392e-05 9.99760047e-01 -2.51436121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters 0.023482060804130317 Centerline is valid? [True, True] Translation: X:128.44, Y:-18.81, Z:-2.52 [[ 9.82372156e-01 1.85733227e-01 2.11687140e-02 1.28439513e+02] [-1.85692256e-01 9.82600203e-01 -3.90223655e-03 -1.88118121e+01] [-2.15251576e-02 -9.74177122e-05 9.99768302e-01 -2.51627728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534012739 meters 0.033610439280160644 Centerline is valid? [True, True] Translation: X:128.47, Y:-18.82, Z:-2.50 [[ 9.82316369e-01 1.86043671e-01 2.10310089e-02 1.28467496e+02] [-1.86003324e-01 9.82541471e-01 -3.87582284e-03 -1.88174044e+01] [-2.13849107e-02 -1.04553342e-04 9.99771311e-01 -2.50442905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters 0.023684464094413337 Centerline is valid? [True, True] Translation: X:128.50, Y:-18.82, Z:-2.51 [[ 9.82211016e-01 1.86380651e-01 2.28861010e-02 1.28495558e+02] [-1.86333002e-01 9.82477602e-01 -4.21599495e-03 -1.88227972e+01] [-2.32708615e-02 -1.23439208e-04 9.99729189e-01 -2.51430017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594012739 meters 0.02376961274748252 Centerline is valid? [True, True] Translation: X:128.52, Y:-18.83, Z:-2.51 [[ 9.82197856e-01 1.86337742e-01 2.37826933e-02 1.28522790e+02] [-1.86286303e-01 9.82485740e-01 -4.37993674e-03 -1.88285411e+01] [-2.41823045e-02 -1.28425538e-04 9.99707557e-01 -2.51280256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters 0.023977756661838375 Centerline is valid? [True, True] Translation: X:128.55, Y:-18.83, Z:-2.51 [[ 9.82086184e-01 1.86870630e-01 2.42093882e-02 1.28551051e+02] [-1.86817525e-01 9.82384521e-01 -4.45710510e-03 -1.88337366e+01] [-2.46158303e-02 -1.45476659e-04 9.99696974e-01 -2.51252797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654012739 meters 0.02494164079588269 Centerline is valid? [True, True] Translation: X:128.58, Y:-18.84, Z:-2.51 [[ 9.81632049e-01 1.89214607e-01 2.44203438e-02 1.28579209e+02] [-1.89161327e-01 9.81935736e-01 -4.49473090e-03 -1.88365926e+01] [-2.48296770e-02 -2.07212738e-04 9.99691675e-01 -2.51197513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters 0.02587664643107773 Centerline is valid? [True, True] Translation: X:128.61, Y:-18.84, Z:-2.51 [[ 9.81323038e-01 1.90784618e-01 2.46236549e-02 1.28606853e+02] [-1.90730978e-01 9.81631890e-01 -4.53069207e-03 -1.88391851e+01] [-2.50357512e-02 -2.50421261e-04 9.99686525e-01 -2.51268354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714012739 meters 0.027586437439226993 Centerline is valid? [True, True] Translation: X:128.64, Y:-18.84, Z:-2.51 [[ 9.80607823e-01 1.94387062e-01 2.49392739e-02 1.28635445e+02] [-1.94333238e-01 9.80924844e-01 -4.58733509e-03 -1.88402704e+01] [-2.53552719e-02 -3.48153171e-04 9.99678443e-01 -2.51318786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters 0.028896205056689904 Centerline is valid? [True, True] Translation: X:128.66, Y:-18.84, Z:-2.51 [[ 9.80297219e-01 1.95976603e-01 2.47089747e-02 1.28663555e+02] [-1.95924309e-01 9.80608495e-01 -4.54356962e-03 -1.88420376e+01] [-2.51202639e-02 -3.87040145e-04 9.99684361e-01 -2.51406540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77401273899997 meters 0.03343083862552692 Centerline is valid? [True, True] Translation: X:128.69, Y:-18.84, Z:-2.52 [[ 9.79604175e-01 1.99611402e-01 2.30423178e-02 1.28693722e+02] [-1.99566972e-01 9.79875036e-01 -4.23528164e-03 -1.88366022e+01] [-2.34240025e-02 -4.49586022e-04 9.99725519e-01 -2.51720445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters 0.03293551795157691 Centerline is valid? [True, True] Translation: X:128.72, Y:-18.84, Z:-2.52 [[ 9.79375382e-01 2.00814207e-01 2.23050433e-02 1.28722517e+02] [-2.00772911e-01 9.79629235e-01 -4.09867080e-03 -1.88408382e+01] [-2.26737438e-02 -4.64111194e-04 9.99742810e-01 -2.51993046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83401273899997 meters 0.03344202620061583 Centerline is valid? [True, True] Translation: X:128.75, Y:-18.84, Z:-2.52 [[ 9.79186307e-01 2.01796690e-01 2.17318023e-02 1.28750814e+02] [-2.01757808e-01 9.79427316e-01 -3.98992187e-03 -1.88437825e+01] [-2.20898738e-02 -4.77683924e-04 9.99755875e-01 -2.52121319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters 0.03399400724512942 Centerline is valid? [True, True] Translation: X:128.78, Y:-18.85, Z:-2.52 [[ 9.79393685e-01 2.00760664e-01 2.19810121e-02 1.28778520e+02] [-2.00720654e-01 9.79640211e-01 -4.03432200e-03 -1.88461147e+01] [-2.23434165e-02 -4.60853630e-04 9.99750248e-01 -2.52178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89401273899998 meters 0.032637198932039625 Centerline is valid? [True, True] Translation: X:128.81, Y:-18.85, Z:-2.52 [[ 9.79705077e-01 1.99225499e-01 2.20717629e-02 1.28806576e+02] [-1.99184803e-01 9.79953579e-01 -4.04941337e-03 -1.88529171e+01] [-2.24360495e-02 -4.29128923e-04 9.99748188e-01 -2.52246229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters 0.02871008330341427 Centerline is valid? [True, True] Translation: X:128.83, Y:-18.87, Z:-2.52 [[ 9.80474314e-01 1.95369091e-01 2.23838560e-02 1.28833575e+02] [-1.95326310e-01 9.80729726e-01 -4.10319696e-03 -1.88657250e+01] [-2.27541508e-02 -3.49076767e-04 9.99741030e-01 -2.52392613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95401273899998 meters 0.028109715487449994 Centerline is valid? [True, True] Translation: X:128.86, Y:-18.87, Z:-2.52 [[ 9.80870394e-01 1.93389199e-01 2.22235903e-02 1.28860836e+02] [-1.93346545e-01 9.81122075e-01 -4.07270548e-03 -1.88725173e+01] [-2.25916722e-02 -3.02058174e-04 9.99744730e-01 -2.52417049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters 0.025781673919958534 Centerline is valid? [True, True] Translation: X:128.89, Y:-18.88, Z:-2.53 [[ 9.81451780e-01 1.90499975e-01 2.14980038e-02 1.28888060e+02] [-1.90459395e-01 9.81687174e-01 -3.93847664e-03 -1.88816158e+01] [-2.18545942e-02 -2.29071891e-04 9.99761134e-01 -2.52629843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01401273899998 meters 0.02522512345513441 Centerline is valid? [True, True] Translation: X:128.92, Y:-18.89, Z:-2.53 [[ 9.81716572e-01 1.89174500e-01 2.11087645e-02 1.28916039e+02] [-1.89135092e-01 9.81943466e-01 -3.86614783e-03 -1.88872465e+01] [-2.14589900e-02 -1.96946732e-04 9.99769710e-01 -2.52767341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters 0.024572336316333394 Centerline is valid? [True, True] Translation: X:128.94, Y:-18.89, Z:-2.53 [[ 9.81928507e-01 1.88089543e-01 2.09458999e-02 1.28943977e+02] [-1.88050516e-01 9.82151869e-01 -3.83530301e-03 -1.88931613e+01] [-2.12934351e-02 -1.72893919e-04 9.99773254e-01 -2.52849785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07401273899998 meters 0.024572336316333394 Centerline is valid? [True, True] Translation: X:128.97, Y:-18.90, Z:-2.53 [[ 9.81941912e-01 1.88019526e-01 2.09460866e-02 1.28971035e+02] [-1.87980505e-01 9.82165275e-01 -3.83428316e-03 -1.88979823e+01] [-2.12934390e-02 -1.72412601e-04 9.99773254e-01 -2.52905616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters 0.024216960751331864 Centerline is valid? [True, True] Translation: X:129.00, Y:-18.90, Z:-2.53 [[ 9.82204500e-01 1.86632225e-01 2.10412263e-02 1.28998604e+02] [-1.86592563e-01 9.82429841e-01 -3.85015525e-03 -1.89035523e+01] [-2.13900916e-02 -1.44496546e-04 9.99771195e-01 -2.52890611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13401273899999 meters 0.024286169633550656 Centerline is valid? [True, True] Translation: X:129.03, Y:-18.91, Z:-2.53 [[ 9.82210575e-01 1.86476109e-01 2.21144157e-02 1.29025929e+02] [-1.86432291e-01 9.82459484e-01 -4.04506632e-03 -1.89069781e+01] [-2.24808257e-02 -1.49734270e-04 9.99747263e-01 -2.52704034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters 0.024057763327939456 Centerline is valid? [True, True] Translation: X:129.05, Y:-18.91, Z:-2.53 [[ 9.82250494e-01 1.86185762e-01 2.27778184e-02 1.29053165e+02] [-1.86139242e-01 9.82514549e-01 -4.16447655e-03 -1.89115133e+01] [-2.31549042e-02 -1.49286708e-04 9.99731878e-01 -2.52737626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194012739 meters 0.024132608716462386 Centerline is valid? [True, True] Translation: X:129.08, Y:-18.92, Z:-2.53 [[ 9.82298945e-01 1.85939348e-01 2.27011143e-02 1.29079990e+02] [-1.85893114e-01 9.82561213e-01 -4.14878354e-03 -1.89155613e+01] [-2.30766566e-02 -1.44635135e-04 9.99733688e-01 -2.52789458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters 0.023666059973948324 Centerline is valid? [True, True] Translation: X:129.11, Y:-18.92, Z:-2.53 [[ 9.82607856e-01 1.84433813e-01 2.15863481e-02 1.29107794e+02] [-1.84391682e-01 9.82844931e-01 -3.94338335e-03 -1.89226533e+01] [-2.19433260e-02 -1.05543573e-04 9.99759211e-01 -2.53158904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254012739 meters 0.02329000915617967 Centerline is valid? [True, True] Translation: X:129.13, Y:-18.93, Z:-2.53 [[ 9.82904783e-01 1.82919651e-01 2.09424883e-02 1.29134885e+02] [-1.82879673e-01 9.83127864e-01 -3.82478340e-03 -1.89298463e+01] [-2.12887719e-02 -7.05575193e-05 9.99773366e-01 -2.53335861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters 0.022942934782163218 Centerline is valid? [True, True] Translation: X:129.16, Y:-18.94, Z:-2.54 [[ 9.83435810e-01 1.80176570e-01 1.97588254e-02 1.29163085e+02] [-1.80140452e-01 9.83634283e-01 -3.60750118e-03 -1.89385655e+01] [-2.00854452e-02 -1.16178944e-05 9.99798267e-01 -2.53525272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314012739 meters 0.022951239592504852 Centerline is valid? [True, True] Translation: X:129.19, Y:-18.95, Z:-2.54 [[ 9.83676697e-01 1.78847466e-01 1.98428842e-02 1.29189945e+02] [-1.78810784e-01 9.83876813e-01 -3.62215090e-03 -1.89451929e+01] [-2.01707662e-02 1.49037638e-05 9.99796549e-01 -2.53633573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters 0.023109734316381837 Centerline is valid? [True, True] Translation: X:129.22, Y:-18.95, Z:-2.53 [[ 9.83968867e-01 1.77049677e-01 2.14168122e-02 1.29218067e+02] [-1.77006552e-01 9.84201915e-01 -3.90787929e-03 -1.89538771e+01] [-2.17703563e-02 5.43154725e-05 9.99762996e-01 -2.53382448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374012739 meters 0.024646805310146375 Centerline is valid? [True, True] Translation: X:129.25, Y:-18.96, Z:-2.53 [[ 9.84040739e-01 1.76559997e-01 2.21447610e-02 1.29245858e+02] [-1.76513791e-01 9.84289877e-01 -4.03964803e-03 -1.89606834e+01] [-2.25101044e-02 6.63225193e-05 9.99746613e-01 -2.52878326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters 0.02312444203812913 Centerline is valid? [True, True] Translation: X:129.27, Y:-18.97, Z:-2.53 [[ 9.84020385e-01 1.76565859e-01 2.29865236e-02 1.29274473e+02] [-1.76516099e-01 9.84288826e-01 -4.19210741e-03 -1.89665113e+01] [-2.33655614e-02 6.76276662e-05 9.99726986e-01 -2.53156920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434012739 meters 0.03262699662375182 Centerline is valid? [True, True] Translation: X:129.30, Y:-18.97, Z:-2.52 [[ 9.83629645e-01 1.78726449e-01 2.30125482e-02 1.29302363e+02] [-1.78677193e-01 9.83898804e-01 -4.19575877e-03 -1.89682667e+01] [-2.33919118e-02 1.52551852e-05 9.99726372e-01 -2.52019159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters 0.023167209080807355 Centerline is valid? [True, True] Translation: X:129.33, Y:-18.97, Z:-2.53 [[ 9.83081282e-01 1.81544580e-01 2.43466159e-02 1.29331591e+02] [-1.81490346e-01 9.83382714e-01 -4.43758120e-03 -1.89686271e+01] [-2.47476600e-02 -5.61727181e-05 9.99693728e-01 -2.53118375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494012739 meters 0.023174412597790333 Centerline is valid? [True, True] Translation: X:129.36, Y:-18.97, Z:-2.53 [[ 9.82994639e-01 1.82008999e-01 2.43775244e-02 1.29358835e+02] [-1.81954805e-01 9.83296862e-01 -4.44180517e-03 -1.89719721e+01] [-2.47787917e-02 -6.93370123e-05 9.99692956e-01 -2.53124214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters 0.023177938616502528 Centerline is valid? [True, True] Translation: X:129.39, Y:-18.98, Z:-2.53 [[ 9.83017872e-01 1.81914580e-01 2.41443201e-02 1.29385801e+02] [-1.81861451e-01 9.83314335e-01 -4.39678537e-03 -1.89759905e+01] [-2.45412954e-02 -6.88024812e-05 9.99698815e-01 -2.53198952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55401273899997 meters 0.023178802980544977 Centerline is valid? [True, True] Translation: X:129.41, Y:-18.98, Z:-2.54 [[ 9.83129732e-01 1.81453148e-01 2.30365947e-02 1.29414657e+02] [-1.81404689e-01 9.83399589e-01 -4.19364153e-03 -1.89804332e+01] [-2.34151272e-02 -5.60526326e-05 9.99725827e-01 -2.53552068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters 0.023015992211417393 Centerline is valid? [True, True] Translation: X:129.44, Y:-18.99, Z:-2.54 [[ 9.83188312e-01 1.81197998e-01 2.25395070e-02 1.29442196e+02] [-1.81151566e-01 9.83446635e-01 -4.10210057e-03 -1.89858139e+01] [-2.29096948e-02 -4.99296575e-05 9.99737537e-01 -2.53767083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61401273899997 meters 0.022901523629531784 Centerline is valid? [True, True] Translation: X:129.47, Y:-19.00, Z:-2.54 [[ 9.83641537e-01 1.78733318e-01 2.24438785e-02 1.29469849e+02] [-1.78686670e-01 9.83897556e-01 -4.08325669e-03 -1.89952570e+01] [-2.28122913e-02 6.03897134e-06 9.99739766e-01 -2.53897434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters 0.02322748579096178 Centerline is valid? [True, True] Translation: X:129.50, Y:-19.01, Z:-2.54 [[ 9.84141472e-01 1.75955298e-01 2.24787716e-02 1.29496471e+02] [-1.75907805e-01 9.84398155e-01 -4.08851960e-03 -1.90050581e+01] [-2.28474580e-02 6.94903213e-05 9.99738960e-01 -2.53948750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67401273899998 meters 0.025610089522602974 Centerline is valid? [True, True] Translation: X:129.52, Y:-19.02, Z:-2.54 [[ 9.85136053e-01 1.70240010e-01 2.29193387e-02 1.29522163e+02] [-1.70189130e-01 9.85402607e-01 -4.16687694e-03 -1.90224460e+01] [-2.32941452e-02 2.04318393e-04 9.99728634e-01 -2.53853471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters 0.026171879539993496 Centerline is valid? [True, True] Translation: X:129.55, Y:-19.03, Z:-2.54 [[ 9.85509416e-01 1.67965963e-01 2.36352760e-02 1.29550025e+02] [-1.67911231e-01 9.85792760e-01 -4.29573843e-03 -1.90309799e+01] [-2.40210218e-02 2.64862396e-04 9.99711419e-01 -2.53801265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73401273899998 meters 0.02903778223630739 Centerline is valid? [True, True] Translation: X:129.58, Y:-19.05, Z:-2.54 [[ 9.86078658e-01 1.64477866e-01 2.44113074e-02 1.29575523e+02] [-1.64418442e-01 9.86380708e-01 -4.43556559e-03 -1.90458144e+01] [-2.48083951e-02 3.60147435e-04 9.99692160e-01 -2.53698060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters 0.03116819750412277 Centerline is valid? [True, True] Translation: X:129.60, Y:-19.06, Z:-2.54 [[ 9.86271111e-01 1.63325182e-01 2.43758171e-02 1.29601227e+02] [-1.63265614e-01 9.86572215e-01 -4.42767111e-03 -1.90571226e+01] [-2.47716540e-02 3.87151355e-04 9.99693061e-01 -2.53735977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79401273899998 meters 0.03134469973473099 Centerline is valid? [True, True] Translation: X:129.63, Y:-19.07, Z:-2.54 [[ 9.86323386e-01 1.63038404e-01 2.41796873e-02 1.29629185e+02] [-1.62979741e-01 9.86619647e-01 -4.39053158e-03 -1.90659383e+01] [-2.45719798e-02 3.89684791e-04 9.99697987e-01 -2.53927589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters 0.030578995578526245 Centerline is valid? [True, True] Translation: X:129.66, Y:-19.07, Z:-2.54 [[ 9.86176657e-01 1.64035709e-01 2.34069887e-02 1.29656254e+02] [-1.63981042e-01 9.86454339e-01 -4.24921011e-03 -1.90740636e+01] [-2.37869477e-02 3.52169431e-04 9.99716988e-01 -2.54162894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85401273899998 meters 0.029193253750769536 Centerline is valid? [True, True] Translation: X:129.68, Y:-19.08, Z:-2.54 [[ 9.85943439e-01 1.65548583e-01 2.25654984e-02 1.29684592e+02] [-1.65498198e-01 9.86201589e-01 -4.09531054e-03 -1.90781212e+01] [-2.29321033e-02 3.03195224e-04 9.99736979e-01 -2.54352517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters 0.024911640900381213 Centerline is valid? [True, True] Translation: X:129.71, Y:-19.08, Z:-2.55 [[ 9.85238966e-01 1.69724532e-01 2.23106210e-02 1.29714276e+02] [-1.69676372e-01 9.85491523e-01 -4.04805983e-03 -1.90772703e+01] [-2.26739829e-02 2.02721071e-04 9.99742892e-01 -2.54529454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914012739 meters 0.024752453572978995 Centerline is valid? [True, True] Translation: X:129.74, Y:-19.08, Z:-2.54 [[ 9.84891909e-01 1.71650077e-01 2.28949251e-02 1.29741521e+02] [-1.71599917e-01 9.85157970e-01 -4.15253356e-03 -1.90838467e+01] [-2.32679006e-02 1.61029463e-04 9.99729253e-01 -2.54350558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters 0.02303347156232998 Centerline is valid? [True, True] Translation: X:129.77, Y:-19.08, Z:-2.54 [[ 9.84242042e-01 1.75130317e-01 2.44330727e-02 1.29771478e+02] [-1.75074302e-01 9.84545258e-01 -4.42986651e-03 -1.90831533e+01] [-2.48312698e-02 8.24577168e-05 9.99691653e-01 -2.54252001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974012739 meters 0.022790145994296487 Centerline is valid? [True, True] Translation: X:129.80, Y:-19.09, Z:-2.54 [[ 9.83926934e-01 1.76890464e-01 2.44448919e-02 1.29800085e+02] [-1.76834978e-01 9.84230543e-01 -4.43032895e-03 -1.90870352e+01] [-2.48430922e-02 3.64080455e-05 9.99691362e-01 -2.54469280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters 0.022912813344423525 Centerline is valid? [True, True] Translation: X:129.83, Y:-19.09, Z:-2.55 [[ 9.83502710e-01 1.79593185e-01 2.16496273e-02 1.29826933e+02] [-1.79550341e-01 9.83740965e-01 -3.92277343e-03 -1.90944889e+01] [-2.20021286e-02 -2.91396470e-05 9.99757923e-01 -2.55006827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034012739 meters 0.02318247781892962 Centerline is valid? [True, True] Translation: X:129.85, Y:-19.10, Z:-2.55 [[ 9.83346833e-01 1.80522819e-01 2.09885216e-02 1.29854117e+02] [-1.80482784e-01 9.83570795e-01 -3.80197269e-03 -1.90991492e+01] [-2.13300397e-02 -4.94090071e-05 9.99772488e-01 -2.55160852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters 0.023427223856320928 Centerline is valid? [True, True] Translation: X:129.88, Y:-19.10, Z:-2.55 [[ 9.83069746e-01 1.81949748e-01 2.16370906e-02 1.29882674e+02] [-1.81907579e-01 9.83307827e-01 -3.91797560e-03 -1.91026577e+01] [-2.19887952e-02 -8.43074871e-05 9.99758214e-01 -2.55082728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094012739 meters 0.023246430852415824 Centerline is valid? [True, True] Translation: X:129.91, Y:-19.11, Z:-2.55 [[ 9.83055923e-01 1.81907647e-01 2.25977763e-02 1.29910677e+02] [-1.81861664e-01 9.83315616e-01 -4.09086275e-03 -1.91093089e+01] [-2.29649056e-02 -8.81223431e-05 9.99736268e-01 -2.55068259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters 0.02351020898504055 Centerline is valid? [True, True] Translation: X:129.94, Y:-19.11, Z:-2.55 [[ 9.83115524e-01 1.81500741e-01 2.32668849e-02 1.29937960e+02] [-1.81451909e-01 9.83390804e-01 -4.21078364e-03 -1.91148602e+01] [-2.36447010e-02 -8.21339049e-05 9.99720422e-01 -2.54833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154012739 meters 0.023201530723655984 Centerline is valid? [True, True] Translation: X:129.97, Y:-19.13, Z:-2.55 [[ 9.83380378e-01 1.80103034e-01 2.29331582e-02 1.29965085e+02] [-1.80055245e-01 9.83647749e-01 -4.14898117e-03 -1.91254305e+01] [-2.33053935e-02 -4.92087446e-05 9.99728391e-01 -2.54992344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters 0.02298635035357677 Centerline is valid? [True, True] Translation: X:129.99, Y:-19.13, Z:-2.55 [[ 9.83444450e-01 1.79766746e-01 2.28239033e-02 1.29993100e+02] [-1.79719343e-01 9.83709264e-01 -4.12823309e-03 -1.91328652e+01] [-2.31942042e-02 -4.20089909e-05 9.99730977e-01 -2.55228351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214012739 meters 0.02291006436728762 Centerline is valid? [True, True] Translation: X:130.02, Y:-19.14, Z:-2.55 [[ 9.83589112e-01 1.78907164e-01 2.33384994e-02 1.30020002e+02] [-1.78857386e-01 9.83865959e-01 -4.22014357e-03 -1.91405823e+01] [-2.37169690e-02 -2.33757273e-05 9.99718713e-01 -2.55178769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters 0.02290331070577344 Centerline is valid? [True, True] Translation: X:130.05, Y:-19.15, Z:-2.55 [[ 9.83702053e-01 1.78314942e-01 2.31095718e-02 1.30048042e+02] [-1.78266002e-01 9.83973466e-01 -4.17744400e-03 -1.91479168e+01] [-2.34841061e-02 -1.02907292e-05 9.99724210e-01 -2.55240562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27401273899997 meters 0.022834198897562923 Centerline is valid? [True, True] Translation: X:130.08, Y:-19.16, Z:-2.56 [[ 9.83857444e-01 1.77626166e-01 2.17594926e-02 1.30075312e+02] [-1.77582630e-01 9.84098036e-01 -3.93248196e-03 -1.91572439e+01] [-2.21119856e-02 4.89372957e-06 9.99755500e-01 -2.55558867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters 0.02279250204281414 Centerline is valid? [True, True] Translation: X:130.10, Y:-19.16, Z:-2.56 [[ 9.83760568e-01 1.78194798e-01 2.14885525e-02 1.30102813e+02] [-1.78152498e-01 9.83995231e-01 -3.88249466e-03 -1.91618184e+01] [-2.18364736e-02 -8.79415095e-06 9.99761556e-01 -2.55600043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33401273899997 meters 0.023270126144070997 Centerline is valid? [True, True] Translation: X:130.13, Y:-19.16, Z:-2.55 [[ 9.83151197e-01 1.81411632e-01 2.24397817e-02 1.30132671e+02] [-1.81366371e-01 9.83407247e-01 -4.05301859e-03 -1.91607950e+01] [-2.28027086e-02 -8.50916853e-05 9.99739981e-01 -2.55479297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters 0.023694071476387232 Centerline is valid? [True, True] Translation: X:130.16, Y:-19.16, Z:-2.55 [[ 9.82791975e-01 1.83262608e-01 2.31246876e-02 1.30162052e+02] [-1.83215080e-01 9.83063985e-01 -4.17559072e-03 -1.91624014e+01] [-2.34982772e-02 -1.33054451e-04 9.99723869e-01 -2.55402351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39401273899998 meters 0.02590133810209641 Centerline is valid? [True, True] Translation: X:130.19, Y:-19.16, Z:-2.55 [[ 9.81931773e-01 1.87743190e-01 2.37168336e-02 1.30190489e+02] [-1.87694532e-01 9.82218119e-01 -4.28130157e-03 -1.91598583e+01] [-2.40988889e-02 -2.47573933e-04 9.99709549e-01 -2.55375358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters 0.02712273720307794 Centerline is valid? [True, True] Translation: X:130.22, Y:-19.16, Z:-2.55 [[ 9.81619975e-01 1.89416502e-01 2.33155348e-02 1.30218890e+02] [-1.89369981e-01 9.81896791e-01 -4.20748190e-03 -1.91611767e+01] [-2.36904153e-02 -2.85114106e-04 9.99719302e-01 -2.55463599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45401273899998 meters 0.028304911314973057 Centerline is valid? [True, True] Translation: X:130.25, Y:-19.16, Z:-2.56 [[ 9.81341352e-01 1.90877582e-01 2.31279042e-02 1.30246905e+02] [-1.90832244e-01 9.81613797e-01 -4.17225328e-03 -1.91624148e+01] [-2.34990595e-02 -3.19145187e-04 9.99723808e-01 -2.55556847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters 0.02997092631866351 Centerline is valid? [True, True] Translation: X:130.28, Y:-19.16, Z:-2.56 [[ 9.80959422e-01 1.92772624e-01 2.36077983e-02 1.30275367e+02] [-1.92725967e-01 9.81243383e-01 -4.25741288e-03 -1.91607299e+01] [-2.39857085e-02 -3.73486475e-04 9.99712232e-01 -2.55514985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51401273899998 meters 0.029948061970598804 Centerline is valid? [True, True] Translation: X:130.30, Y:-19.16, Z:-2.56 [[ 9.80933768e-01 1.92957407e-01 2.31599179e-02 1.30304269e+02] [-1.92912586e-01 9.81207063e-01 -4.17535145e-03 -1.91636821e+01] [-2.35303400e-02 -3.72096423e-04 9.99723054e-01 -2.55695566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters 0.03022557569665056 Centerline is valid? [True, True] Translation: X:130.33, Y:-19.16, Z:-2.56 [[ 9.81030444e-01 1.92650441e-01 2.15656103e-02 1.30332298e+02] [-1.92611526e-01 9.81267390e-01 -3.88696448e-03 -1.91648997e+01] [-2.19104555e-02 -3.40554606e-04 9.99759879e-01 -2.56114741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57401273899998 meters 0.0293030341425481 Centerline is valid? [True, True] Translation: X:130.36, Y:-19.17, Z:-2.56 [[ 9.81083111e-01 1.92380221e-01 2.15819405e-02 1.30360663e+02] [-1.92341209e-01 9.81320405e-01 -3.88867334e-03 -1.91701925e+01] [-2.19269025e-02 -3.35984801e-04 9.99759520e-01 -2.56201202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters 0.03002802592138223 Centerline is valid? [True, True] Translation: X:130.39, Y:-19.17, Z:-2.56 [[ 9.81176537e-01 1.91787931e-01 2.25830153e-02 1.30388445e+02] [-1.91745086e-01 9.81436333e-01 -4.06782775e-03 -1.91704199e+01] [-2.29439520e-02 -3.38925072e-04 9.99736695e-01 -2.56085431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63401273899999 meters 0.029387766958494498 Centerline is valid? [True, True] Translation: X:130.42, Y:-19.18, Z:-2.56 [[ 9.81289862e-01 1.91210627e-01 2.25544326e-02 1.30416464e+02] [-1.91167780e-01 9.81548974e-01 -4.06085110e-03 -1.91751623e+01] [-2.29147580e-02 -3.26808794e-04 9.99737369e-01 -2.56152359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters 0.02736940943039793 Centerline is valid? [True, True] Translation: X:130.44, Y:-19.18, Z:-2.57 [[ 9.81712468e-01 1.89219609e-01 2.08942423e-02 1.30444028e+02] [-1.89182406e-01 9.81934759e-01 -3.76105014e-03 -1.91822075e+01] [-2.12284472e-02 -2.60553211e-04 9.99774617e-01 -2.56658566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694012739 meters 0.02631648489318415 Centerline is valid? [True, True] Translation: X:130.47, Y:-19.19, Z:-2.57 [[ 9.82017430e-01 1.87687139e-01 2.03790314e-02 1.30471896e+02] [-1.87651438e-01 9.82228837e-01 -3.66737172e-03 -1.91887173e+01] [-2.07051908e-02 -2.22731589e-04 9.99785600e-01 -2.56796366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters 0.024695940320248966 Centerline is valid? [True, True] Translation: X:130.50, Y:-19.20, Z:-2.57 [[ 9.82535590e-01 1.84868042e-01 2.11570471e-02 1.30499135e+02] [-1.84828932e-01 9.82763338e-01 -3.80634756e-03 -1.91979068e+01] [-2.14960422e-02 -1.70562460e-04 9.99768919e-01 -2.56697645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754012739 meters 0.02387102386820598 Centerline is valid? [True, True] Translation: X:130.53, Y:-19.21, Z:-2.57 [[ 9.82739454e-01 1.83679787e-01 2.20204816e-02 1.30527099e+02] [-1.83637145e-01 9.82986120e-01 -3.96058161e-03 -1.92050679e+01] [-2.23733066e-02 -1.51558571e-04 9.99749675e-01 -2.56675298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters 0.023748197772806345 Centerline is valid? [True, True] Translation: X:130.55, Y:-19.21, Z:-2.57 [[ 9.82937438e-01 1.82610966e-01 2.20732423e-02 1.30554315e+02] [-1.82567875e-01 9.83185241e-01 -3.96892867e-03 -1.92097877e+01] [-2.24268560e-02 -1.28656377e-04 9.99748478e-01 -2.56650521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814012739 meters 0.023122269137429863 Centerline is valid? [True, True] Translation: X:130.58, Y:-19.22, Z:-2.57 [[ 9.83406487e-01 1.80201204e-01 2.09572505e-02 1.30581452e+02] [-1.80161840e-01 9.83629768e-01 -3.76702865e-03 -1.92196753e+01] [-2.12929986e-02 -7.11764016e-05 9.99773276e-01 -2.56948194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters 0.022792131678694698 Centerline is valid? [True, True] Translation: X:130.61, Y:-19.23, Z:-2.57 [[ 9.83959134e-01 1.77357271e-01 1.92047346e-02 1.30607515e+02] [-1.77323690e-01 9.84146533e-01 -3.45119352e-03 -1.92322159e+01] [-1.95123672e-02 -9.62101375e-06 9.99809616e-01 -2.57434986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874012739 meters 0.022852231839749524 Centerline is valid? [True, True] Translation: X:130.63, Y:-19.24, Z:-2.58 [[ 9.84133536e-01 1.76444636e-01 1.86674304e-02 1.30634952e+02] [-1.76412764e-01 9.84310566e-01 -3.35357511e-03 -1.92395695e+01] [-1.89662693e-02 7.19274380e-06 9.99820124e-01 -2.57565662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters 0.026735577113278387 Centerline is valid? [True, True] Translation: X:130.66, Y:-19.25, Z:-2.57 [[ 9.84172758e-01 1.76220024e-01 1.87212765e-02 1.30662913e+02] [-1.76187950e-01 9.84350803e-01 -3.36202451e-03 -1.92450817e+01] [-1.90207596e-02 1.03496007e-05 9.99819089e-01 -2.56667631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934012739 meters 0.022726882450216663 Centerline is valid? [True, True] Translation: X:130.69, Y:-19.25, Z:-2.57 [[ 9.83836917e-01 1.77907372e-01 2.03442478e-02 1.30690966e+02] [-1.77869883e-01 9.84047238e-01 -3.65216996e-03 -1.92502226e+01] [-2.06694489e-02 -2.54893637e-05 9.99786364e-01 -2.57318112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters 0.022944064891448904 Centerline is valid? [True, True] Translation: X:130.72, Y:-19.25, Z:-2.57 [[ 9.83627491e-01 1.79034302e-01 2.05834366e-02 1.30718697e+02] [-1.78996195e-01 9.83842831e-01 -3.69407986e-03 -1.92539236e+01] [-2.09122336e-02 -5.07583262e-05 9.99781314e-01 -2.57347105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994012739 meters 0.022944064891448904 Centerline is valid? [True, True] Translation: X:130.75, Y:-19.26, Z:-2.57 [[ 9.83635833e-01 1.78988437e-01 2.05836544e-02 1.30746589e+02] [-1.78950345e-01 9.83851176e-01 -3.69286630e-03 -1.92588394e+01] [-2.09122329e-02 -5.10164227e-05 9.99781314e-01 -2.57404635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters 0.02301181945974344 Centerline is valid? [True, True] Translation: X:130.77, Y:-19.26, Z:-2.57 [[ 9.83507292e-01 1.79655181e-01 2.09146467e-02 1.30774736e+02] [-1.79616026e-01 9.83729643e-01 -3.75122708e-03 -1.92632012e+01] [-2.12482853e-02 -6.72465468e-05 9.99774227e-01 -2.57353669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05401273899997 meters 0.022806501641032303 Centerline is valid? [True, True] Translation: X:130.80, Y:-19.27, Z:-2.57 [[ 9.83686124e-01 1.78592952e-01 2.15908995e-02 1.30802639e+02] [-1.78550992e-01 9.83923043e-01 -3.87144696e-03 -1.92714551e+01] [-2.19351967e-02 -4.67878559e-05 9.99759394e-01 -2.57462566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters 0.022778404645859642 Centerline is valid? [True, True] Translation: X:130.83, Y:-19.28, Z:-2.57 [[ 9.83799977e-01 1.77921474e-01 2.19443287e-02 1.30830409e+02] [-1.77877985e-01 9.84044688e-01 -3.93376704e-03 -1.92786476e+01] [-2.22941017e-02 -3.33730557e-05 9.99751455e-01 -2.57452686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11401273899997 meters 0.0227607410825546 Centerline is valid? [True, True] Translation: X:130.86, Y:-19.29, Z:-2.57 [[ 9.83927758e-01 1.77160169e-01 2.23705702e-02 1.30858951e+02] [-1.77114796e-01 9.84182033e-01 -4.00932352e-03 -1.92856815e+01] [-2.27270057e-02 -1.72742695e-05 9.99741708e-01 -2.57354244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters 0.022664401602767767 Centerline is valid? [True, True] Translation: X:130.89, Y:-19.29, Z:-2.57 [[ 9.83923042e-01 1.77166957e-01 2.25237027e-02 1.30885971e+02] [-1.77120988e-01 9.84180811e-01 -4.03563546e-03 -1.92903922e+01] [-2.28823772e-02 -1.86657690e-05 9.99738164e-01 -2.57427064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17401273899998 meters 0.022675931086122737 Centerline is valid? [True, True] Translation: X:130.91, Y:-19.30, Z:-2.57 [[ 9.83976911e-01 1.76789608e-01 2.31273298e-02 1.30914397e+02] [-1.76741071e-01 9.84248665e-01 -4.14239793e-03 -1.92964983e+01] [-2.34953764e-02 -1.15251027e-05 9.99723945e-01 -2.57430853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters 0.022772941011347324 Centerline is valid? [True, True] Translation: X:130.94, Y:-19.31, Z:-2.57 [[ 9.84422745e-01 1.74117659e-01 2.43905872e-02 1.30941117e+02] [-1.74062885e-01 9.84724854e-01 -4.36737807e-03 -1.93069526e+01] [-2.47784551e-02 5.38503164e-05 9.99692965e-01 -2.57315119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23401273899998 meters 0.0234253440203229 Centerline is valid? [True, True] Translation: X:130.97, Y:-19.32, Z:-2.58 [[ 9.85042188e-01 1.70805820e-01 2.27433313e-02 1.30968972e+02] [-1.70757340e-01 9.85304702e-01 -4.07123293e-03 -1.93183078e+01] [-2.31045016e-02 1.26745442e-04 9.99733047e-01 -2.57664887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters 0.02372354411357907 Centerline is valid? [True, True] Translation: X:131.00, Y:-19.33, Z:-2.58 [[ 9.85235038e-01 1.69841862e-01 2.15791854e-02 1.30996272e+02] [-1.69797999e-01 9.85471320e-01 -3.86232790e-03 -1.93253987e+01] [-2.19216533e-02 1.41198273e-04 9.99759682e-01 -2.57987409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29401273899998 meters 0.02405118242292945 Centerline is valid? [True, True] Translation: X:131.02, Y:-19.33, Z:-2.58 [[ 9.85332386e-01 1.69440942e-01 2.02448914e-02 1.31024231e+02] [-1.69402266e-01 9.85540333e-01 -3.62282780e-03 -1.93322336e+01] [-2.05660123e-02 1.40159095e-04 9.99788487e-01 -2.58317612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters 0.02358705649435915 Centerline is valid? [True, True] Translation: X:131.05, Y:-19.34, Z:-2.58 [[ 9.85117851e-01 1.70702443e-01 2.00872106e-02 1.31051741e+02] [-1.70664644e-01 9.85322619e-01 -3.59390207e-03 -1.93382561e+01] [-2.04058708e-02 1.12240452e-04 9.99791772e-01 -2.58362423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35401273899998 meters 0.02310332087416409 Centerline is valid? [True, True] Translation: X:131.08, Y:-19.34, Z:-2.58 [[ 9.84816049e-01 1.72378924e-01 2.05634561e-02 1.31080050e+02] [-1.72339697e-01 9.85030710e-01 -3.67812203e-03 -1.93417545e+01] [-2.08896665e-02 7.83738200e-05 9.99781784e-01 -2.58279734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters 0.02263847062876859 Centerline is valid? [True, True] Translation: X:131.11, Y:-19.34, Z:-2.58 [[ 9.84023741e-01 1.76862954e-01 2.04149866e-02 1.31109431e+02] [-1.76825275e-01 9.84235488e-01 -3.65061111e-03 -1.93397253e+01] [-2.07388122e-02 -1.75976167e-05 9.99784928e-01 -2.58347455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414012739 meters 0.022933039127388113 Centerline is valid? [True, True] Translation: X:131.14, Y:-19.34, Z:-2.59 [[ 9.83647455e-01 1.78990454e-01 2.00025373e-02 1.31138641e+02] [-1.78954741e-01 9.83850809e-01 -3.57593936e-03 -1.93405829e+01] [-2.03195715e-02 -6.20852141e-05 9.99793534e-01 -2.58630391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters 0.023430826597996248 Centerline is valid? [True, True] Translation: X:131.17, Y:-19.34, Z:-2.59 [[ 9.83351600e-01 1.80699841e-01 1.91624151e-02 1.31168058e+02] [-1.80667406e-01 9.83538285e-01 -3.42488532e-03 -1.93422869e+01] [-1.94658452e-02 -9.41573660e-05 9.99810518e-01 -2.58809061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474012739 meters 0.024108123798073186 Centerline is valid? [True, True] Translation: X:131.20, Y:-19.34, Z:-2.59 [[ 9.83076980e-01 1.82225025e-01 1.88066829e-02 1.31195999e+02] [-1.82194078e-01 9.83256846e-01 -3.36046893e-03 -1.93440948e+01] [-1.91041612e-02 -1.22866591e-04 9.99817491e-01 -2.59021620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters 0.023999529228783983 Centerline is valid? [True, True] Translation: X:131.22, Y:-19.35, Z:-2.59 [[ 9.83126651e-01 1.81832339e-01 1.99747265e-02 1.31223581e+02] [-1.81797377e-01 9.83329541e-01 -3.56769957e-03 -1.93487204e+01] [-2.02904618e-02 -1.23852352e-04 9.99794120e-01 -2.58823481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534012739 meters 0.02375596637937161 Centerline is valid? [True, True] Translation: X:131.25, Y:-19.35, Z:-2.59 [[ 9.83189201e-01 1.81444450e-01 2.04182654e-02 1.31251381e+02] [-1.81407860e-01 9.83401188e-01 -3.64571191e-03 -1.93540030e+01] [-2.07408406e-02 -1.19609254e-04 9.99784878e-01 -2.58808421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters 0.023387208477723735 Centerline is valid? [True, True] Translation: X:131.28, Y:-19.36, Z:-2.59 [[ 9.83351839e-01 1.80559054e-01 2.04349878e-02 1.31279495e+02] [-1.80522241e-01 9.83564140e-01 -3.64729935e-03 -1.93604434e+01] [-2.07576741e-02 -1.02391271e-04 9.99784531e-01 -2.58887516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594012739 meters 0.022708906839156703 Centerline is valid? [True, True] Translation: X:131.31, Y:-19.37, Z:-2.59 [[ 9.83911877e-01 1.77597752e-01 1.94025217e-02 1.31306736e+02] [-1.77564006e-01 9.84103164e-01 -3.46215790e-03 -1.93682633e+01] [-1.97089544e-02 -3.87312037e-05 9.99805759e-01 -2.59044027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters 0.022607729353233488 Centerline is valid? [True, True] Translation: X:131.34, Y:-19.37, Z:-2.59 [[ 9.84116918e-01 1.76423524e-01 1.97137767e-02 1.31335198e+02] [-1.76388476e-01 9.84314350e-01 -3.51645294e-03 -1.93747886e+01] [-2.00249383e-02 -1.66822079e-05 9.99799481e-01 -2.59119166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654012739 meters 0.02265198321642358 Centerline is valid? [True, True] Translation: X:131.36, Y:-19.38, Z:-2.59 [[ 9.84367892e-01 1.74926955e-01 2.05040094e-02 1.31361996e+02] [-1.74888738e-01 9.84581414e-01 -3.65640309e-03 -1.93825777e+01] [-2.08274700e-02 1.33254771e-05 9.99783085e-01 -2.59016694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters 0.022619492083548676 Centerline is valid? [True, True] Translation: X:131.39, Y:-19.39, Z:-2.59 [[ 9.84437780e-01 1.74569027e-01 2.01968323e-02 1.31389110e+02] [-1.74531895e-01 9.84644938e-01 -3.60046436e-03 -1.93871540e+01] [-2.05152382e-02 1.94417357e-05 9.99789540e-01 -2.59067998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714012739 meters 0.022710976261221826 Centerline is valid? [True, True] Translation: X:131.42, Y:-19.39, Z:-2.59 [[ 9.84457752e-01 1.74594823e-01 1.89626495e-02 1.31417772e+02] [-1.74562115e-01 9.84640364e-01 -3.37944944e-03 -1.93879052e+01] [-1.92614245e-02 1.67649961e-05 9.99814481e-01 -2.59397391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters 0.022705752373623073 Centerline is valid? [True, True] Translation: X:131.45, Y:-19.39, Z:-2.59 [[ 9.84414041e-01 1.74813742e-01 1.92133139e-02 1.31445891e+02] [-1.74780223e-01 9.84601521e-01 -3.42317234e-03 -1.93913049e+01] [-1.95158757e-02 1.17116211e-05 9.99809547e-01 -2.59483294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77401273899997 meters 0.022696224207203766 Centerline is valid? [True, True] Translation: X:131.47, Y:-19.40, Z:-2.59 [[ 9.84425011e-01 1.74681087e-01 1.98473105e-02 1.31474336e+02] [-1.74645318e-01 9.84625064e-01 -3.53486898e-03 -1.93957955e+01] [-2.01596342e-02 1.35735674e-05 9.99796774e-01 -2.59413907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters 0.022790545665525432 Centerline is valid? [True, True] Translation: X:131.50, Y:-19.40, Z:-2.59 [[ 9.84648571e-01 1.73283802e-01 2.09741754e-02 1.31501675e+02] [-1.73243561e-01 9.84871932e-01 -3.73447796e-03 -1.94014693e+01] [-2.13040012e-02 4.35075356e-05 9.99773043e-01 -2.59232371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83401273899997 meters 0.02304532962263729 Centerline is valid? [True, True] Translation: X:131.53, Y:-19.41, Z:-2.59 [[ 9.84976697e-01 1.71286063e-01 2.19543010e-02 1.31528429e+02] [-1.71241508e-01 9.85221334e-01 -3.90759477e-03 -1.94092880e+01] [-2.22991622e-02 8.94021723e-05 9.99751339e-01 -2.59058478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters 0.023354681314703522 Centerline is valid? [True, True] Translation: X:131.56, Y:-19.42, Z:-2.59 [[ 9.85142729e-01 1.70298543e-01 2.21858134e-02 1.31555090e+02] [-1.70252824e-01 9.85392508e-01 -3.94741399e-03 -1.94174908e+01] [-2.25339732e-02 1.11568815e-04 9.99746072e-01 -2.59168116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89401273899998 meters 0.023904639296869878 Centerline is valid? [True, True] Translation: X:131.58, Y:-19.43, Z:-2.59 [[ 9.85432887e-01 1.68617528e-01 2.21394149e-02 1.31583296e+02] [-1.68571602e-01 9.85681545e-01 -3.93797305e-03 -1.94273435e+01] [-2.24864239e-02 1.48531512e-04 9.99747137e-01 -2.59232043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters 0.025687858939769735 Centerline is valid? [True, True] Translation: X:131.61, Y:-19.44, Z:-2.59 [[ 9.86130684e-01 1.64523963e-01 2.18663839e-02 1.31611266e+02] [-1.64478166e-01 9.86373058e-01 -3.88896120e-03 -1.94418691e+01] [-2.22082393e-02 2.38481242e-04 9.99753338e-01 -2.59373901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95401273899998 meters 0.026857722738414865 Centerline is valid? [True, True] Translation: X:131.64, Y:-19.45, Z:-2.60 [[ 9.86442165e-01 1.62677764e-01 2.16286726e-02 1.31638991e+02] [-1.62632511e-01 9.86679213e-01 -3.84678485e-03 -1.94521822e+01] [-2.19663480e-02 2.77105444e-04 9.99758672e-01 -2.59533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters 0.02753954736293866 Centerline is valid? [True, True] Translation: X:131.67, Y:-19.47, Z:-2.60 [[ 9.86643949e-01 1.61540875e-01 2.09347434e-02 1.31668509e+02] [-1.61498221e-01 9.86865979e-01 -3.72352722e-03 -1.94659683e+01] [-2.12612879e-02 2.92871772e-04 9.99773910e-01 -2.59683966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01401273899998 meters 0.02718486987975298 Centerline is valid? [True, True] Translation: X:131.70, Y:-19.47, Z:-2.60 [[ 9.86548190e-01 1.62096730e-01 2.11499041e-02 1.31699023e+02] [-1.62053311e-01 9.86774832e-01 -3.76229807e-03 -1.94739642e+01] [-2.14800492e-02 2.84276369e-04 9.99769237e-01 -2.59683168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters 0.025706892542935275 Centerline is valid? [True, True] Translation: X:131.73, Y:-19.48, Z:-2.60 [[ 9.86075513e-01 1.64882734e-01 2.16510027e-02 1.31728127e+02] [-1.64837894e-01 9.86313151e-01 -3.85191840e-03 -1.94812796e+01] [-2.19897836e-02 2.29376715e-04 9.99758169e-01 -2.59688818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07401273899998 meters 0.02490279504898222 Centerline is valid? [True, True] Translation: X:131.76, Y:-19.49, Z:-2.60 [[ 9.85812824e-01 1.66480890e-01 2.13819932e-02 1.31757338e+02] [-1.66437533e-01 9.86044663e-01 -3.80407521e-03 -1.94875926e+01] [-2.17169061e-02 1.91339914e-04 9.99764142e-01 -2.59784359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters 0.02414759070628189 Centerline is valid? [True, True] Translation: X:131.79, Y:-19.49, Z:-2.60 [[ 9.85553598e-01 1.68064040e-01 2.09424068e-02 1.31787189e+02] [-1.68022800e-01 9.85776067e-01 -3.72609592e-03 -1.94940540e+01] [-2.12707461e-02 1.53465409e-04 9.99773740e-01 -2.59969075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13401273899999 meters 0.023128923105033814 Centerline is valid? [True, True] Translation: X:131.82, Y:-19.50, Z:-2.60 [[ 9.84932518e-01 1.71695792e-01 2.07000009e-02 1.31815800e+02] [-1.71656303e-01 9.85150014e-01 -3.68295865e-03 -1.95019901e+01] [-2.10249547e-02 7.41801139e-05 9.99778948e-01 -2.60068809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters 0.022662763197473564 Centerline is valid? [True, True] Translation: X:131.85, Y:-19.51, Z:-2.60 [[ 9.84189365e-01 1.75928812e-01 2.05023590e-02 1.31845261e+02] [-1.75890996e-01 9.84402891e-01 -3.64755985e-03 -1.95057586e+01] [-2.08242924e-02 -1.62907420e-05 9.99783151e-01 -2.60238220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194012739 meters 0.02290234630206405 Centerline is valid? [True, True] Translation: X:131.87, Y:-19.51, Z:-2.61 [[ 9.83919200e-01 1.77529431e-01 1.96547658e-02 1.31873259e+02] [-1.77495001e-01 9.84115491e-01 -3.49655687e-03 -1.95104035e+01] [-1.99633013e-02 -4.82932436e-05 9.99800712e-01 -2.60543559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters 0.02354969693656837 Centerline is valid? [True, True] Translation: X:131.90, Y:-19.51, Z:-2.61 [[ 9.83642673e-01 1.79231177e-01 1.79798833e-02 1.31900574e+02] [-1.79202659e-01 9.83806983e-01 -3.19808286e-03 -1.95135929e+01] [-1.82619309e-02 -7.62721238e-05 9.99833234e-01 -2.60875296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254012739 meters 0.025112909517965274 Centerline is valid? [True, True] Translation: X:131.93, Y:-19.52, Z:-2.61 [[ 9.83035345e-01 1.82702465e-01 1.61653949e-02 1.31928893e+02] [-1.82679895e-01 9.83168242e-01 -2.87455886e-03 -1.95156795e+01] [-1.64184919e-02 -1.27299692e-04 9.99865199e-01 -2.61170467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters 0.02588765373605297 Centerline is valid? [True, True] Translation: X:131.96, Y:-19.52, Z:-2.61 [[ 9.82766288e-01 1.84096253e-01 1.67031024e-02 1.31957054e+02] [-1.84072377e-01 9.82908208e-01 -2.96902110e-03 -1.95193059e+01] [-1.69642021e-02 -1.56725916e-04 9.99856085e-01 -2.61164532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314012739 meters 0.026936806198878963 Centerline is valid? [True, True] Translation: X:131.98, Y:-19.52, Z:-2.61 [[ 9.82384248e-01 1.85788915e-01 2.00914978e-02 1.31984436e+02] [-1.85754750e-01 9.82589654e-01 -3.56993728e-03 -1.95232158e+01] [-2.04049526e-02 -2.25040997e-04 9.99791772e-01 -2.60627269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters 0.027653944676013915 Centerline is valid? [True, True] Translation: X:132.01, Y:-19.53, Z:-2.60 [[ 9.82213898e-01 1.86517889e-01 2.16087083e-02 1.32012979e+02] [-1.86478573e-01 9.82451530e-01 -3.83823344e-03 -1.95276084e+01] [-2.19454078e-02 -2.59594874e-04 9.99759137e-01 -2.60317824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374012739 meters 0.029090257647009374 Centerline is valid? [True, True] Translation: X:132.04, Y:-19.53, Z:-2.60 [[ 9.81876922e-01 1.88327424e-01 2.12247622e-02 1.32042461e+02] [-1.88289936e-01 9.82106254e-01 -3.76909420e-03 -1.95273586e+01] [-2.15547955e-02 -2.95622499e-04 9.99767625e-01 -2.60336173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters 0.029957713935283316 Centerline is valid? [True, True] Translation: X:132.07, Y:-19.53, Z:-2.61 [[ 9.81725453e-01 1.89211276e-01 2.03525735e-02 1.32071827e+02] [-1.89177014e-01 9.81936353e-01 -3.61333643e-03 -1.95285602e+01] [-2.06686158e-02 -3.02934748e-04 9.99786335e-01 -2.60605721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434012739 meters 0.030753213476382907 Centerline is valid? [True, True] Translation: X:132.10, Y:-19.53, Z:-2.61 [[ 9.81575694e-01 1.90081754e-01 1.94443570e-02 1.32100589e+02] [-1.90050669e-01 9.81768217e-01 -3.45126708e-03 -1.95301259e+01] [-1.97458746e-02 -3.07733181e-04 9.99804984e-01 -2.60854504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters 0.03098882757632367 Centerline is valid? [True, True] Translation: X:132.13, Y:-19.53, Z:-2.61 [[ 9.81627410e-01 1.89817566e-01 1.94144062e-02 1.32128879e+02] [-1.89786541e-01 9.81819332e-01 -3.44509383e-03 -1.95320568e+01] [-1.97153786e-02 -3.02794465e-04 9.99805587e-01 -2.61067348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494012739 meters 0.02990778908349692 Centerline is valid? [True, True] Translation: X:132.16, Y:-19.54, Z:-2.61 [[ 9.81892969e-01 1.88419854e-01 1.95999047e-02 1.32156514e+02] [-1.88387977e-01 9.82088530e-01 -3.47691697e-03 -1.95369171e+01] [-1.99039618e-02 -2.78426070e-04 9.99801858e-01 -2.61108310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters 0.026860414526023224 Centerline is valid? [True, True] Translation: X:132.18, Y:-19.54, Z:-2.61 [[ 9.82601905e-01 1.84655518e-01 1.98956128e-02 1.32184529e+02] [-1.84621922e-01 9.82803285e-01 -3.52826781e-03 -1.95441720e+01] [-2.02049878e-02 -2.06283615e-04 9.99795837e-01 -2.61084913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55401273899997 meters 0.025119669825501453 Centerline is valid? [True, True] Translation: X:132.21, Y:-19.55, Z:-2.61 [[ 9.83079298e-01 1.82062324e-01 2.02090072e-02 1.32211879e+02] [-1.82027132e-01 9.83286980e-01 -3.58294952e-03 -1.95523364e+01] [-2.05235738e-02 -1.56264109e-04 9.99789357e-01 -2.61068759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters 0.023751576888198945 Centerline is valid? [True, True] Translation: X:132.24, Y:-19.56, Z:-2.61 [[ 9.83574074e-01 1.79324103e-01 2.06132637e-02 1.32239236e+02] [-1.79286906e-01 9.83790047e-01 -3.65370747e-03 -1.95618781e+01] [-2.09343214e-02 -1.01996317e-04 9.99780848e-01 -2.61073161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61401273899997 meters 0.02276738216281726 Centerline is valid? [True, True] Translation: X:132.27, Y:-19.58, Z:-2.61 [[ 9.84623809e-01 1.73518488e-01 2.01814003e-02 1.32265304e+02] [-1.73481630e-01 9.84830612e-01 -3.57629995e-03 -1.95763427e+01] [-2.04958150e-02 2.02078484e-05 9.99789939e-01 -2.61244814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters 0.023510073583859942 Centerline is valid? [True, True] Translation: X:132.29, Y:-19.59, Z:-2.62 [[ 9.85384321e-01 1.69274377e-01 1.90768096e-02 1.32294425e+02] [-1.69240660e-01 9.85568960e-01 -3.37994416e-03 -1.95881139e+01] [-1.93736494e-02 1.01972123e-04 9.99812308e-01 -2.61570938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67401273899998 meters 0.02400432075185142 Centerline is valid? [True, True] Translation: X:132.32, Y:-19.60, Z:-2.62 [[ 9.85580236e-01 1.68099460e-01 1.93434944e-02 1.32324362e+02] [-1.68064568e-01 9.85770032e-01 -3.42719419e-03 -1.95967102e+01] [-1.96443466e-02 1.26818818e-04 9.99807023e-01 -2.61628871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters 0.024081776829301245 Centerline is valid? [True, True] Translation: X:132.36, Y:-19.60, Z:-2.62 [[ 9.85648270e-01 1.67623746e-01 1.99942100e-02 1.32355297e+02] [-1.67586368e-01 9.85851033e-01 -3.54248503e-03 -1.96046823e+01] [-2.03051172e-02 1.40887207e-04 9.99793820e-01 -2.61539484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73401273899998 meters 0.023553855331544322 Centerline is valid? [True, True] Translation: X:132.39, Y:-19.61, Z:-2.61 [[ 9.85442847e-01 1.68721198e-01 2.08698991e-02 1.32387006e+02] [-1.68680707e-01 9.85663808e-01 -3.69828090e-03 -1.96117721e+01] [-2.11946826e-02 1.24095128e-04 9.99775360e-01 -2.61296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters 0.023354018673699937 Centerline is valid? [True, True] Translation: X:132.42, Y:-19.62, Z:-2.61 [[ 9.85219627e-01 1.70048078e-01 2.06382638e-02 1.32418129e+02] [-1.70008698e-01 9.85435762e-01 -3.66072536e-03 -1.96174118e+01] [-2.09601826e-02 9.79341103e-05 9.99780306e-01 -2.61359485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79401273899998 meters 0.0230772739069955 Centerline is valid? [True, True] Translation: X:132.45, Y:-19.62, Z:-2.62 [[ 9.84964400e-01 1.71560732e-01 2.02989235e-02 1.32448541e+02] [-1.71522893e-01 9.85173543e-01 -3.60366004e-03 -1.96240511e+01] [-2.06162090e-02 6.77467537e-05 9.99787461e-01 -2.61568455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters 0.02298969135053455 Centerline is valid? [True, True] Translation: X:132.48, Y:-19.63, Z:-2.62 [[ 9.84862272e-01 1.72137401e-01 2.03720598e-02 1.32478806e+02] [-1.72099402e-01 9.85072948e-01 -3.61713640e-03 -1.96307086e+01] [-2.06906095e-02 5.63618522e-05 9.99785925e-01 -2.61708313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85401273899998 meters 0.022844352998203414 Centerline is valid? [True, True] Translation: X:132.51, Y:-19.64, Z:-2.62 [[ 9.84664941e-01 1.73290890e-01 2.01301178e-02 1.32508359e+02] [-1.73254019e-01 9.84870685e-01 -3.57466682e-03 -1.96381104e+01] [-2.04450201e-02 3.22252832e-05 9.99790978e-01 -2.61852073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters 0.022844352998203414 Centerline is valid? [True, True] Translation: X:132.54, Y:-19.64, Z:-2.62 [[ 9.84664941e-01 1.73290912e-01 2.01299218e-02 1.32537891e+02] [-1.73254019e-01 9.84870681e-01 -3.57576984e-03 -1.96433555e+01] [-2.04450182e-02 3.33453360e-05 9.99790978e-01 -2.61912997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914012739 meters 0.022976283534028207 Centerline is valid? [True, True] Translation: X:132.57, Y:-19.65, Z:-2.62 [[ 9.84503579e-01 1.74266591e-01 1.95923184e-02 1.32569861e+02] [-1.74231837e-01 9.84698510e-01 -3.48020482e-03 -1.96499494e+01] [-1.98990102e-02 1.26684646e-05 9.99801995e-01 -2.62110337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters 0.0228955708016156 Centerline is valid? [True, True] Translation: X:132.60, Y:-19.66, Z:-2.62 [[ 9.84394079e-01 1.74954527e-01 1.89528340e-02 1.32600255e+02] [-1.74922073e-01 9.84576515e-01 -3.36972783e-03 -1.96573860e+01] [-1.92500644e-02 1.87111477e-06 9.99814700e-01 -2.62286028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974012739 meters 0.022981391448067837 Centerline is valid? [True, True] Translation: X:132.63, Y:-19.67, Z:-2.62 [[ 9.84313998e-01 1.75428876e-01 1.87259943e-02 1.32629388e+02] [-1.75397221e-01 9.84492107e-01 -3.33246962e-03 -1.96662356e+01] [-1.90202050e-02 -4.29086293e-06 9.99819100e-01 -2.62387329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters 0.022956632643677043 Centerline is valid? [True, True] Translation: X:132.66, Y:-19.67, Z:-2.62 [[ 9.84160843e-01 1.76215641e-01 1.93773588e-02 1.32659294e+02] [-1.76181893e-01 9.84351587e-01 -3.44863080e-03 -1.96722887e+01] [-1.96818365e-02 -1.99323626e-05 9.99806294e-01 -2.62255891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034012739 meters 0.023314819319973774 Centerline is valid? [True, True] Translation: X:132.69, Y:-19.68, Z:-2.62 [[ 9.83716261e-01 1.78553640e-01 2.05162016e-02 1.32688838e+02] [-1.78516317e-01 9.83930177e-01 -3.65131314e-03 -1.96764936e+01] [-2.08384651e-02 -7.06206339e-05 9.99782853e-01 -2.62066951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters 0.023667836643140785 Centerline is valid? [True, True] Translation: X:132.72, Y:-19.68, Z:-2.62 [[ 9.83444484e-01 1.80064932e-01 2.03363552e-02 1.32718660e+02] [-1.80028583e-01 9.83654721e-01 -3.61930549e-03 -1.96819442e+01] [-2.06556618e-02 -1.01739192e-04 9.99786644e-01 -2.62225827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094012739 meters 0.023953885124889062 Centerline is valid? [True, True] Translation: X:132.75, Y:-19.69, Z:-2.62 [[ 9.83204175e-01 1.81404812e-01 2.00460509e-02 1.32749391e+02] [-1.81369772e-01 9.83408500e-01 -3.56764071e-03 -1.96882229e+01] [-2.03606440e-02 -1.28028430e-04 9.99792692e-01 -2.62382009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters 0.02608972045428481 Centerline is valid? [True, True] Translation: X:132.78, Y:-19.69, Z:-2.62 [[ 9.82700443e-01 1.84092852e-01 2.02401044e-02 1.32779420e+02] [-1.84057689e-01 9.82908840e-01 -3.60268186e-03 -1.96909841e+01] [-2.05574055e-02 -1.84989788e-04 9.99788657e-01 -2.62405108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154012739 meters 0.02611788157639582 Centerline is valid? [True, True] Translation: X:132.81, Y:-19.70, Z:-2.62 [[ 9.82381711e-01 1.85743286e-01 2.06301904e-02 1.32809336e+02] [-1.85707113e-01 9.82598281e-01 -3.67236786e-03 -1.96968077e+01] [-2.09533073e-02 -2.23506087e-04 9.99780430e-01 -2.62398226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters 0.028160361769947084 Centerline is valid? [True, True] Translation: X:132.84, Y:-19.70, Z:-2.63 [[ 9.81677492e-01 1.89491874e-01 2.00532087e-02 1.32839965e+02] [-1.89458478e-01 9.81882245e-01 -3.56965970e-03 -1.96969198e+01] [-2.03663111e-02 -2.94995836e-04 9.99792542e-01 -2.62582966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214012739 meters 0.031973533114409716 Centerline is valid? [True, True] Translation: X:132.87, Y:-19.69, Z:-2.63 [[ 9.81377512e-01 1.91098962e-01 1.94773174e-02 1.32869436e+02] [-1.91067773e-01 9.81570723e-01 -3.46716427e-03 -1.96943420e+01] [-1.97809361e-02 -3.18890617e-04 9.99804287e-01 -2.62782428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters 0.030521626341664294 Centerline is valid? [True, True] Translation: X:132.90, Y:-19.70, Z:-2.63 [[ 9.81104609e-01 1.92528410e-01 1.91456649e-02 1.32897844e+02] [-1.92498559e-01 9.81291340e-01 -3.40744679e-03 -1.97011613e+01] [-1.94435055e-02 -3.42451160e-04 9.99810899e-01 -2.62871812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27401273899997 meters 0.035302800671600555 Centerline is valid? [True, True] Translation: X:132.93, Y:-19.70, Z:-2.63 [[ 9.80794184e-01 1.94084835e-01 1.93350905e-02 1.32928086e+02] [-1.94054706e-01 9.80984676e-01 -3.44044878e-03 -1.96959699e+01] [-1.96351664e-02 -3.77693164e-04 9.99807140e-01 -2.62941793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters 0.03152776506486046 Centerline is valid? [True, True] Translation: X:132.96, Y:-19.71, Z:-2.63 [[ 9.80867088e-01 1.93799444e-01 1.84805734e-02 1.32956186e+02] [-1.93771882e-01 9.81041104e-01 -3.28774364e-03 -1.97079715e+01] [-1.87673650e-02 -3.56175949e-04 9.99823814e-01 -2.63158438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33401273899997 meters 0.030635792887041064 Centerline is valid? [True, True] Translation: X:132.99, Y:-19.71, Z:-2.63 [[ 9.81128182e-01 1.92510228e-01 1.80915045e-02 1.32985168e+02] [-1.92483603e-01 9.81294913e-01 -3.21810161e-03 -1.97148043e+01] [-1.83726188e-02 -3.24947782e-04 9.99831156e-01 -2.63278522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters 0.031358809728309546 Centerline is valid? [True, True] Translation: X:133.01, Y:-19.72, Z:-2.63 [[ 9.81346793e-01 1.91326636e-01 1.87773863e-02 1.33013459e+02] [-1.91297746e-01 9.81526372e-01 -3.33966160e-03 -1.97175015e+01] [-1.90694660e-02 -3.14705464e-04 9.99818112e-01 -2.63297207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39401273899998 meters 0.02915978642770022 Centerline is valid? [True, True] Translation: X:133.04, Y:-19.72, Z:-2.63 [[ 9.81620522e-01 1.89707082e-01 2.07936138e-02 1.33041489e+02] [-1.89671313e-01 9.81840682e-01 -3.69715151e-03 -1.97244191e+01] [-2.11173918e-02 -3.14752241e-04 9.99776953e-01 -2.63018664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters 0.027869309334671463 Centerline is valid? [True, True] Translation: X:133.07, Y:-19.73, Z:-2.63 [[ 9.81860252e-01 1.88474838e-01 2.06804585e-02 1.33070728e+02] [-1.88439204e-01 9.82077977e-01 -3.67607668e-03 -1.97312140e+01] [-2.10026708e-02 -2.87615583e-04 9.99779378e-01 -2.63152665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45401273899998 meters 0.02739929436162943 Centerline is valid? [True, True] Translation: X:133.10, Y:-19.74, Z:-2.64 [[ 9.82616797e-01 1.84734866e-01 1.83646076e-02 1.33099740e+02] [-1.84706122e-01 9.82788378e-01 -3.26395190e-03 -1.97367102e+01] [-1.86514886e-02 -1.84841481e-04 9.99826029e-01 -2.63774388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters 0.02484132543907829 Centerline is valid? [True, True] Translation: X:133.13, Y:-19.75, Z:-2.64 [[ 9.83071348e-01 1.82297771e-01 1.83915352e-02 1.33127588e+02] [-1.82268506e-01 9.83243359e-01 -3.26923133e-03 -1.97491249e+01] [-1.86793284e-02 -1.38309998e-04 9.99825517e-01 -2.63706423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51401273899998 meters 0.02392593148669653 Centerline is valid? [True, True] Translation: X:133.16, Y:-19.76, Z:-2.64 [[ 9.83443883e-01 1.80199354e-01 1.91395558e-02 1.33156726e+02] [-1.80167268e-01 9.83630104e-01 -3.40194913e-03 -1.97586867e+01] [-1.94392723e-02 -1.02695409e-04 9.99811034e-01 -2.63645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters 0.023168922497897475 Centerline is valid? [True, True] Translation: X:133.19, Y:-19.77, Z:-2.63 [[ 9.84053063e-01 1.76702773e-01 2.03887028e-02 1.33186985e+02] [-1.76665610e-01 9.84264258e-01 -3.62404492e-03 -1.97725832e+01] [-2.07082502e-02 -3.57301040e-05 9.99785561e-01 -2.63411699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57401273899998 meters 0.023103060975161436 Centerline is valid? [True, True] Translation: X:133.22, Y:-19.78, Z:-2.63 [[ 9.84336481e-01 1.74965187e-01 2.16535277e-02 1.33217170e+02] [-1.74922763e-01 9.84574620e-01 -3.85276038e-03 -1.97836793e+01] [-2.19936127e-02 4.71771766e-06 9.99758111e-01 -2.63162862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters 0.023039251374667523 Centerline is valid? [True, True] Translation: X:133.25, Y:-19.79, Z:-2.63 [[ 9.84270643e-01 1.75288747e-01 2.20262766e-02 1.33249304e+02] [-1.75244839e-01 9.84517067e-01 -3.92315743e-03 -1.97904703e+01] [-2.23729306e-02 1.45739240e-06 9.99749695e-01 -2.63152582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63401273899999 meters 0.023050451143688862 Centerline is valid? [True, True] Translation: X:133.28, Y:-19.80, Z:-2.63 [[ 9.84054629e-01 1.76532954e-01 2.17394599e-02 1.33281960e+02] [-1.76490395e-01 9.84294730e-01 -3.87621703e-03 -1.97957308e+01] [-2.20823158e-02 -2.23965381e-05 9.99756156e-01 -2.63223988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters 0.02414887132060135 Centerline is valid? [True, True] Translation: X:133.31, Y:-19.79, Z:-2.63 [[ 9.83204606e-01 1.81367842e-01 2.03570077e-02 1.33314211e+02] [-1.81331483e-01 9.83415320e-01 -3.63338883e-03 -1.97934226e+01] [-2.06783732e-02 -1.19001777e-04 9.99786172e-01 -2.63485310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694012739 meters 0.02469729909975386 Centerline is valid? [True, True] Translation: X:133.34, Y:-19.80, Z:-2.64 [[ 9.82808248e-01 1.83541327e-01 2.00132109e-02 1.33344851e+02] [-1.83506574e-01 9.83011982e-01 -3.57508866e-03 -1.97970989e+01] [-2.03294027e-02 -1.58929153e-04 9.99793324e-01 -2.63675080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters 0.026117692394613107 Centerline is valid? [True, True] Translation: X:133.37, Y:-19.80, Z:-2.64 [[ 9.82443805e-01 1.85490886e-01 1.99324238e-02 1.33374359e+02] [-1.85456793e-01 9.82645965e-01 -3.56171685e-03 -1.98008238e+01] [-2.02471818e-02 -1.97416739e-04 9.99794985e-01 -2.63746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754012739 meters 0.025821526179061215 Centerline is valid? [True, True] Translation: X:133.40, Y:-19.81, Z:-2.64 [[ 9.82420091e-01 1.85639383e-01 1.97176055e-02 1.33403913e+02] [-1.85606055e-01 9.82617922e-01 -3.52309463e-03 -1.98088089e+01] [-2.00288976e-02 -1.98548018e-04 9.99799382e-01 -2.63833622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters 0.02571965214963259 Centerline is valid? [True, True] Translation: X:133.43, Y:-19.82, Z:-2.64 [[ 9.82507312e-01 1.85234492e-01 1.91719929e-02 1.33433000e+02] [-1.85202907e-01 9.82694331e-01 -3.42559618e-03 -1.98159895e+01] [-1.94747473e-02 -1.85035512e-04 9.99810332e-01 -2.64040129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814012739 meters 0.025817076282337478 Centerline is valid? [True, True] Translation: X:133.46, Y:-19.82, Z:-2.64 [[ 9.82635624e-01 1.84648763e-01 1.82226317e-02 1.33461784e+02] [-1.84620123e-01 9.82804562e-01 -3.25617126e-03 -1.98243969e+01] [-1.85105335e-02 -1.64634629e-04 9.99828652e-01 -2.64307353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters 0.026082734092801953 Centerline is valid? [True, True] Translation: X:133.49, Y:-19.83, Z:-2.64 [[ 9.82420273e-01 1.85791991e-01 1.82138240e-02 1.33491951e+02] [-1.85763571e-01 9.82589081e-01 -3.25483336e-03 -1.98293370e+01] [-1.85014265e-02 -1.85850720e-04 9.99828817e-01 -2.64323546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874012739 meters 0.029447882886157913 Centerline is valid? [True, True] Translation: X:133.52, Y:-19.83, Z:-2.64 [[ 9.81432810e-01 1.90831532e-01 1.93123171e-02 1.33522847e+02] [-1.90800555e-01 9.81622757e-01 -3.45115132e-03 -1.98251254e+01] [-1.96159984e-02 -2.97727673e-04 9.99807543e-01 -2.64007786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters 0.03253691360965203 Centerline is valid? [True, True] Translation: X:133.55, Y:-19.82, Z:-2.64 [[ 9.80766608e-01 1.94148560e-01 2.00797682e-02 1.33552306e+02] [-1.94115776e-01 9.80972065e-01 -3.58780717e-03 -1.98225973e+01] [-2.03942593e-02 -3.78998330e-04 9.99791944e-01 -2.63872336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934012739 meters 0.037804638202692836 Centerline is valid? [True, True] Translation: X:133.58, Y:-19.82, Z:-2.64 [[ 9.79641793e-01 1.99673993e-01 2.07906965e-02 1.33584499e+02] [-1.99640104e-01 9.79862253e-01 -3.71411440e-03 -1.98158156e+01] [-2.11136308e-02 -5.12155128e-04 9.99776951e-01 -2.63843949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters 0.03831919489308817 Centerline is valid? [True, True] Translation: X:133.61, Y:-19.82, Z:-2.64 [[ 9.79261854e-01 2.01553494e-01 2.05526396e-02 1.33612804e+02] [-2.01520791e-01 9.79477356e-01 -3.67154804e-03 -1.98177425e+01] [-2.08708584e-02 -5.46377259e-04 9.99782031e-01 -2.63979514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99401273899997 meters 0.04154281757841303 Centerline is valid? [True, True] Translation: X:133.64, Y:-19.81, Z:-2.64 [[ 9.79002465e-01 2.02849384e-01 2.01568954e-02 1.33641274e+02] [-2.02818231e-01 9.79209788e-01 -3.59947709e-03 -1.98146959e+01] [-2.04679810e-02 -5.64288928e-04 9.99790350e-01 -2.64230375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters 0.03893549291967485 Centerline is valid? [True, True] Translation: X:133.67, Y:-19.82, Z:-2.64 [[ 9.79172374e-01 2.02031843e-01 2.01145887e-02 1.33669575e+02] [-2.02000672e-01 9.79378800e-01 -3.59075431e-03 -1.98229083e+01] [-2.04252485e-02 -5.47193026e-04 9.99791233e-01 -2.64318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05401273899997 meters 0.034909563654468456 Centerline is valid? [True, True] Translation: X:133.70, Y:-19.83, Z:-2.64 [[ 9.79542234e-01 2.00252537e-01 1.98980895e-02 1.33697435e+02] [-2.00221681e-01 9.79744184e-01 -3.55141207e-03 -1.98339249e+01] [-2.02062168e-02 -5.05270816e-04 9.99795706e-01 -2.64433012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters 0.03242846925589923 Centerline is valid? [True, True] Translation: X:133.73, Y:-19.84, Z:-2.65 [[ 9.80552299e-01 1.95366684e-01 1.86827928e-02 1.33725858e+02] [-1.95338603e-01 9.80730194e-01 -3.33407007e-03 -1.98399398e+01] [-1.89741452e-02 -3.80240571e-04 9.99819902e-01 -2.64721679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11401273899997 meters 0.03086669695606106 Centerline is valid? [True, True] Translation: X:133.75, Y:-19.85, Z:-2.65 [[ 9.81014429e-01 1.93059688e-01 1.84023789e-02 1.33754179e+02] [-1.93032046e-01 9.81186958e-01 -3.28359558e-03 -1.98459462e+01] [-1.86901041e-02 -3.30994210e-04 9.99825270e-01 -2.64855232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters 0.029391982346352444 Centerline is valid? [True, True] Translation: X:133.78, Y:-19.85, Z:-2.65 [[ 9.81638654e-01 1.89913306e-01 1.78462788e-02 1.33781997e+02] [-1.89886795e-01 9.81800829e-01 -3.18409023e-03 -1.98531227e+01] [-1.81261924e-02 -2.63146634e-04 9.99835672e-01 -2.65058960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17401273899998 meters 0.027632145521525847 Centerline is valid? [True, True] Translation: X:133.81, Y:-19.86, Z:-2.65 [[ 9.81945199e-01 1.88351797e-01 1.75278813e-02 1.33810219e+02] [-1.88325985e-01 9.82101597e-01 -3.12664145e-03 -1.98617478e+01] [-1.78030687e-02 -2.30764954e-04 9.99841486e-01 -2.65262404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters 0.026207993652747764 Centerline is valid? [True, True] Translation: X:133.84, Y:-19.87, Z:-2.65 [[ 9.82373376e-01 1.86139799e-01 1.71617226e-02 1.33838766e+02] [-1.86114725e-01 9.82523252e-01 -3.06092533e-03 -1.98691451e+01] [-1.74315515e-02 -1.87077721e-04 9.99848041e-01 -2.65354447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23401273899998 meters 0.02549247591891812 Centerline is valid? [True, True] Translation: X:133.87, Y:-19.88, Z:-2.65 [[ 9.82560289e-01 1.85051767e-01 1.81967432e-02 1.33867394e+02] [-1.85023398e-01 9.82728758e-01 -3.24506323e-03 -1.98758128e+01] [-1.84829675e-02 -1.78352982e-04 9.99829159e-01 -2.65251834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters 0.024847159339469155 Centerline is valid? [True, True] Translation: X:133.90, Y:-19.88, Z:-2.65 [[ 9.82736867e-01 1.83979131e-01 1.94917994e-02 1.33897008e+02] [-1.83946379e-01 9.82930135e-01 -3.47549850e-03 -1.98838121e+01] [-1.97984962e-02 -1.69945408e-04 9.99803976e-01 -2.65037148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29401273899998 meters 0.02437656659466314 Centerline is valid? [True, True] Translation: X:133.93, Y:-19.89, Z:-2.65 [[ 9.83014821e-01 1.82472895e-01 1.96342613e-02 1.33925709e+02] [-1.82439362e-01 9.83210874e-01 -3.50090462e-03 -1.98917440e+01] [-1.99434395e-02 -1.40620979e-04 9.99801100e-01 -2.65037109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters 0.024079323754799167 Centerline is valid? [True, True] Translation: X:133.96, Y:-19.90, Z:-2.65 [[ 9.83180445e-01 1.81631715e-01 1.91345867e-02 1.33955907e+02] [-1.81599713e-01 9.83366618e-01 -3.41157304e-03 -1.98983505e+01] [-1.94359637e-02 -1.20643552e-04 9.99811097e-01 -2.65225871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35401273899998 meters 0.023480829611542048 Centerline is valid? [True, True] Translation: X:133.99, Y:-19.91, Z:-2.65 [[ 9.83514463e-01 1.79826100e-01 1.90230216e-02 1.33985066e+02] [-1.79794133e-01 9.83698412e-01 -3.39162037e-03 -1.99073204e+01] [-1.93228180e-02 -8.45199860e-05 9.99813293e-01 -2.65326942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters 0.02316103627942702 Centerline is valid? [True, True] Translation: X:134.01, Y:-19.91, Z:-2.65 [[ 9.83741005e-01 1.78553360e-01 1.92959273e-02 1.34014214e+02] [-1.78520200e-01 9.83930228e-01 -3.44155233e-03 -1.99148500e+01] [-1.96003469e-02 -5.91166553e-05 9.99807893e-01 -2.65369081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414012739 meters 0.022927185668412144 Centerline is valid? [True, True] Translation: X:134.04, Y:-19.93, Z:-2.65 [[ 9.84174229e-01 1.76203096e-01 1.88031069e-02 1.34044462e+02] [-1.76171178e-01 9.84353833e-01 -3.35368722e-03 -1.99269126e+01] [-1.90998404e-02 -1.19529596e-05 9.99817581e-01 -2.65468098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters 0.02289286299590152 Centerline is valid? [True, True] Translation: X:134.08, Y:-19.94, Z:-2.66 [[ 9.84295942e-01 1.75453953e-01 1.94270289e-02 1.34076050e+02] [-1.75419670e-01 9.84487638e-01 -3.46831756e-03 -1.99352831e+01] [-1.97341998e-02 5.96790671e-06 9.99805262e-01 -2.65517543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474012739 meters 0.02812862414043029 Centerline is valid? [True, True] Translation: X:134.11, Y:-19.94, Z:-2.64 [[ 9.84337776e-01 1.75220144e-01 1.94176098e-02 1.34108059e+02] [-1.75185772e-01 9.84529279e-01 -3.47048307e-03 -1.99429490e+01] [-1.97253039e-02 1.44386316e-05 9.99805437e-01 -2.64474921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters 0.022939564331173036 Centerline is valid? [True, True] Translation: X:134.14, Y:-19.95, Z:-2.66 [[ 9.84500770e-01 1.74229525e-01 2.00576061e-02 1.34138103e+02] [-1.74192558e-01 9.84705068e-01 -3.58908618e-03 -1.99542578e+01] [-2.03761511e-02 3.95723948e-05 9.99792384e-01 -2.65506810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534012739 meters 0.023011328173265587 Centerline is valid? [True, True] Translation: X:134.17, Y:-19.96, Z:-2.66 [[ 9.84535714e-01 1.74152268e-01 1.89846333e-02 1.34170554e+02] [-1.74119071e-01 9.84718734e-01 -3.40047973e-03 -1.99620685e+01] [-1.92867253e-02 4.23070218e-05 9.99813993e-01 -2.65734739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters 0.0229946101164482 Centerline is valid? [True, True] Translation: X:134.20, Y:-19.97, Z:-2.66 [[ 9.84469178e-01 1.74575879e-01 1.85391286e-02 1.34202716e+02] [-1.74544231e-01 9.84643723e-01 -3.32419818e-03 -1.99705109e+01] [-1.88347614e-02 3.66727158e-05 9.99822609e-01 -2.65878584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594012739 meters 0.02279512803910625 Centerline is valid? [True, True] Translation: X:134.23, Y:-19.98, Z:-2.66 [[ 9.84295387e-01 1.75502484e-01 1.90123463e-02 1.34234383e+02] [-1.75469297e-01 9.84478988e-01 -3.41297520e-03 -1.99773479e+01] [-1.93162410e-02 2.32927201e-05 9.99813424e-01 -2.65855195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters 0.022828682825838224 Centerline is valid? [True, True] Translation: X:134.27, Y:-19.98, Z:-2.66 [[ 9.83938326e-01 1.77277208e-01 2.09323386e-02 1.34266954e+02] [-1.77237288e-01 9.84160958e-01 -3.76195601e-03 -1.99843581e+01] [-2.12676995e-02 -8.45821461e-06 9.99773817e-01 -2.65634746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654012739 meters 0.022742314488504153 Centerline is valid? [True, True] Translation: X:134.30, Y:-19.99, Z:-2.66 [[ 9.83784324e-01 1.78136479e-01 2.08757951e-02 1.34299422e+02] [-1.78096883e-01 9.84005790e-01 -3.75581400e-03 -1.99910781e+01] [-2.12109507e-02 -2.30030866e-05 9.99775022e-01 -2.65717184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters 0.02299246263920236 Centerline is valid? [True, True] Translation: X:134.33, Y:-20.00, Z:-2.66 [[ 9.83499523e-01 1.79869753e-01 1.93793712e-02 1.34330511e+02] [-1.79835897e-01 9.83690434e-01 -3.49014437e-03 -1.99961972e+01] [-1.96910735e-02 -5.25512845e-05 9.99806111e-01 -2.66020651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714012739 meters 0.023097630932796587 Centerline is valid? [True, True] Translation: X:134.36, Y:-20.00, Z:-2.66 [[ 9.83356278e-01 1.80708012e-01 1.88426190e-02 1.34363174e+02] [-1.80676094e-01 9.83536787e-01 -3.39684622e-03 -2.00021437e+01] [-1.91462463e-02 -6.41007561e-05 9.99816692e-01 -2.66147455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters 0.023020178841600052 Centerline is valid? [True, True] Translation: X:134.40, Y:-20.01, Z:-2.66 [[ 9.83295353e-01 1.81011902e-01 1.91033941e-02 1.34395995e+02] [-1.80979079e-01 9.83480903e-01 -3.44762805e-03 -2.00089548e+01] [-1.94118850e-02 -6.72780262e-05 9.99811569e-01 -2.66145454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77401273899997 meters 0.022865343059752335 Centerline is valid? [True, True] Translation: X:134.43, Y:-20.02, Z:-2.66 [[ 9.83340362e-01 1.80611841e-01 2.05205907e-02 1.34428112e+02] [-1.80573790e-01 9.83554452e-01 -3.70770718e-03 -2.00179080e+01] [-2.08527741e-02 -5.95427029e-05 9.99782555e-01 -2.65870647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters 0.022865343059752335 Centerline is valid? [True, True] Translation: X:134.46, Y:-20.02, Z:-2.66 [[ 9.83306319e-01 1.80797172e-01 2.05198915e-02 1.34460060e+02] [-1.80759080e-01 9.83520401e-01 -3.71157256e-03 -2.00238744e+01] [-2.08527737e-02 -5.95439639e-05 9.99782555e-01 -2.65936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83401273899997 meters 0.022742670252370003 Centerline is valid? [True, True] Translation: X:134.49, Y:-20.03, Z:-2.66 [[ 9.83284852e-01 1.80806589e-01 2.14447606e-02 1.34492898e+02] [-1.80764894e-01 9.83518670e-01 -3.88320723e-03 -2.00307190e+01] [-2.17934319e-02 -5.81610274e-05 9.99762493e-01 -2.65824977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters 0.022769972211684097 Centerline is valid? [True, True] Translation: X:134.52, Y:-20.04, Z:-2.66 [[ 9.83193891e-01 1.81153581e-01 2.26528515e-02 1.34524122e+02] [-1.81107042e-01 9.83454816e-01 -4.10653842e-03 -2.00370734e+01] [-2.30219700e-02 -6.50674340e-05 9.99734957e-01 -2.65745725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89401273899998 meters 0.02283120715034878 Centerline is valid? [True, True] Translation: X:134.56, Y:-20.04, Z:-2.66 [[ 9.83140872e-01 1.81500994e-01 2.21678964e-02 1.34556428e+02] [-1.81456426e-01 9.83390759e-01 -4.02257969e-03 -2.00440038e+01] [-2.25298067e-02 -6.77447459e-05 9.99746169e-01 -2.65915626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters 0.022831452623414197 Centerline is valid? [True, True] Translation: X:134.59, Y:-20.05, Z:-2.66 [[ 9.83165916e-01 1.81454699e-01 2.14236735e-02 1.34587471e+02] [-1.81412975e-01 9.83399303e-01 -3.89153060e-03 -2.00516906e+01] [-2.17741621e-02 -6.05121036e-05 9.99762913e-01 -2.66134648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95401273899998 meters 0.03024647909216198 Centerline is valid? [True, True] Translation: X:134.62, Y:-20.06, Z:-2.65 [[ 9.83299623e-01 1.81039587e-01 1.86150200e-02 1.34618505e+02] [-1.81007957e-01 9.83475809e-01 -3.38431537e-03 -2.00597774e+01] [-1.89201169e-02 -4.16706958e-05 9.99820998e-01 -2.65482043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters 0.02281989275719379 Centerline is valid? [True, True] Translation: X:134.65, Y:-20.07, Z:-2.67 [[ 9.83416573e-01 1.80391970e-01 1.87238296e-02 1.34649616e+02] [-1.80359809e-01 9.83594803e-01 -3.40627923e-03 -2.00672345e+01] [-1.90311269e-02 -2.72348789e-05 9.99818891e-01 -2.66771214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01401273899998 meters 0.022793725021958682 Centerline is valid? [True, True] Translation: X:134.68, Y:-20.08, Z:-2.67 [[ 9.83507520e-01 1.79748952e-01 2.00816625e-02 1.34680459e+02] [-1.79711744e-01 9.83712516e-01 -3.65714603e-03 -2.00760699e+01] [-2.04119509e-02 -1.20799735e-05 9.99791654e-01 -2.66618925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters 0.022794080804035877 Centerline is valid? [True, True] Translation: X:134.71, Y:-20.08, Z:-2.67 [[ 9.83636522e-01 1.79024670e-01 2.02326606e-02 1.34711101e+02] [-1.78986673e-01 9.83844585e-01 -3.68826742e-03 -2.00839566e+01] [-2.05660844e-02 6.53793439e-06 9.99788496e-01 -2.66545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07401273899998 meters 0.023010499184526977 Centerline is valid? [True, True] Translation: X:134.74, Y:-20.09, Z:-2.67 [[ 9.83943232e-01 1.77409360e-01 1.95354650e-02 1.34742791e+02] [-1.77373553e-01 9.84137144e-01 -3.56447576e-03 -2.00928573e+01] [-1.98579481e-02 4.21669632e-05 9.99802811e-01 -2.66837198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters 0.023077949051690062 Centerline is valid? [True, True] Translation: X:134.77, Y:-20.10, Z:-2.67 [[ 9.83912829e-01 1.77632869e-01 1.90291684e-02 1.34774176e+02] [-1.77598863e-01 9.84096826e-01 -3.47586710e-03 -2.00997657e+01] [-1.93439724e-02 4.03915767e-05 9.99812887e-01 -2.67077265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13401273899999 meters 0.023087322076490044 Centerline is valid? [True, True] Translation: X:134.81, Y:-20.11, Z:-2.67 [[ 9.83647711e-01 1.79184784e-01 1.81657477e-02 1.34807037e+02] [-1.79153995e-01 9.83815436e-01 -3.32162035e-03 -2.01060855e+01] [-1.84669269e-02 1.28379772e-05 9.99829472e-01 -2.67306818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters 0.023020602445181965 Centerline is valid? [True, True] Translation: X:134.84, Y:-20.11, Z:-2.67 [[ 9.83422305e-01 1.80407064e-01 1.82718913e-02 1.34838317e+02] [-1.80376098e-01 9.83592035e-01 -3.34248172e-03 -2.01112216e+01] [-1.85750941e-02 -8.74137337e-06 9.99827468e-01 -2.67361133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194012739 meters 0.023084589468913147 Centerline is valid? [True, True] Translation: X:134.87, Y:-20.12, Z:-2.68 [[ 9.83221620e-01 1.81585416e-01 1.73776645e-02 1.34870945e+02] [-1.81557537e-01 9.83375176e-01 -3.18195094e-03 -2.01152444e+01] [-1.76665597e-02 -2.64830009e-05 9.99843934e-01 -2.67562289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters 0.02324878712688435 Centerline is valid? [True, True] Translation: X:134.90, Y:-20.12, Z:-2.68 [[ 9.83141870e-01 1.82081348e-01 1.66866799e-02 1.34902568e+02] [-1.82055660e-01 9.83283470e-01 -3.05860249e-03 -2.01197192e+01] [-1.69646510e-02 -3.08643428e-05 9.99856089e-01 -2.67778205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254012739 meters 0.023298529789227723 Centerline is valid? [True, True] Translation: X:134.93, Y:-20.12, Z:-2.68 [[ 9.83021107e-01 1.82763454e-01 1.63408324e-02 1.34934961e+02] [-1.82738866e-01 9.83156914e-01 -2.99808605e-03 -2.01249312e+01] [-1.66135430e-02 -3.89233283e-05 9.99861985e-01 -2.67818154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters 0.023413686952672406 Centerline is valid? [True, True] Translation: X:134.97, Y:-20.13, Z:-2.68 [[ 9.82692009e-01 1.84405136e-01 1.76397358e-02 1.34968047e+02] [-1.84376680e-01 9.82850315e-01 -3.24015888e-03 -2.01282579e+01] [-1.79347219e-02 -6.82776952e-05 9.99839158e-01 -2.67615214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314012739 meters 0.023741721099138222 Centerline is valid? [True, True] Translation: X:135.00, Y:-20.13, Z:-2.67 [[ 9.82385160e-01 1.85932807e-01 1.86651634e-02 1.35000962e+02] [-1.85901149e-01 9.82562457e-01 -3.43240482e-03 -2.01318903e+01] [-1.89778854e-02 -9.79317425e-05 9.99819899e-01 -2.67438507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters 0.024864596964131055 Centerline is valid? [True, True] Translation: X:135.03, Y:-20.13, Z:-2.67 [[ 9.81661751e-01 1.89600518e-01 1.97951814e-02 1.35033967e+02] [-1.89565572e-01 9.81861300e-01 -3.64432550e-03 -2.01307779e+01] [-2.01270885e-02 -1.74989919e-04 9.99797414e-01 -2.67446458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374012739 meters 0.025796598350058035 Centerline is valid? [True, True] Translation: X:135.07, Y:-20.13, Z:-2.68 [[ 9.81312291e-01 1.91448307e-01 1.93321871e-02 1.35065430e+02] [-1.91415270e-01 9.81502677e-01 -3.56236375e-03 -2.01314187e+01] [-1.96566019e-02 -2.04684485e-04 9.99806769e-01 -2.67553040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters 0.027424631502504595 Centerline is valid? [True, True] Translation: X:135.10, Y:-20.13, Z:-2.68 [[ 9.81056659e-01 1.92808866e-01 1.87769500e-02 1.35096195e+02] [-1.92777890e-01 9.81236308e-01 -3.46313212e-03 -2.01307454e+01] [-1.90923477e-02 -2.22251989e-04 9.99817700e-01 -2.67687277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434012739 meters 0.0267149040830331 Centerline is valid? [True, True] Translation: X:135.13, Y:-20.13, Z:-2.68 [[ 9.81009126e-01 1.93012964e-01 1.91595886e-02 1.35126718e+02] [-1.92980747e-01 9.81196179e-01 -3.53394845e-03 -2.01327706e+01] [-1.94814130e-02 -2.30596041e-04 9.99810193e-01 -2.67661681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters 0.02679350319036157 Centerline is valid? [True, True] Translation: X:135.16, Y:-20.13, Z:-2.67 [[ 9.80977282e-01 1.92932451e-01 2.14625532e-02 1.35156861e+02] [-1.92892004e-01 9.81212007e-01 -3.95870796e-03 -2.01326494e+01] [-2.18230782e-02 -2.56552321e-04 9.99761815e-01 -2.67259467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49401273899997 meters 0.026140283637214993 Centerline is valid? [True, True] Translation: X:135.19, Y:-20.14, Z:-2.67 [[ 9.81072543e-01 1.92403940e-01 2.18492340e-02 1.35187933e+02] [-1.92361895e-01 9.81315781e-01 -4.02983358e-03 -2.01372906e+01] [-2.22163540e-02 -2.49400966e-04 9.99753155e-01 -2.67271531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters 0.025809735572479765 Centerline is valid? [True, True] Translation: X:135.22, Y:-20.14, Z:-2.67 [[ 9.81346219e-01 1.91035514e-01 2.15645669e-02 1.35217684e+02] [-1.90994217e-01 9.81583102e-01 -3.97782868e-03 -2.01419631e+01] [-2.19273210e-02 -2.15080424e-04 9.99759544e-01 -2.67465248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55401273899997 meters 0.02362340947994046 Centerline is valid? [True, True] Translation: X:135.25, Y:-20.15, Z:-2.68 [[ 9.82398321e-01 1.85788080e-01 1.93991699e-02 1.35248457e+02] [-1.85753634e-01 9.82589834e-01 -3.57856148e-03 -2.01529881e+01] [-1.97262812e-02 -8.78935036e-05 9.99805414e-01 -2.68008899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters 0.023186194812595953 Centerline is valid? [True, True] Translation: X:135.28, Y:-20.17, Z:-2.68 [[ 9.83587181e-01 1.79369519e-01 1.95661078e-02 1.35279155e+02] [-1.79333170e-01 9.83781771e-01 -3.61115002e-03 -2.01655133e+01] [-1.98965105e-02 4.30287374e-05 9.99802044e-01 -2.67973382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61401273899997 meters 0.023576749685533024 Centerline is valid? [True, True] Translation: X:135.31, Y:-20.17, Z:-2.68 [[ 9.83951349e-01 1.77296077e-01 2.01455520e-02 1.35309113e+02] [-1.77257035e-01 9.84157555e-01 -3.72165864e-03 -2.01745116e+01] [-2.04862327e-02 9.09902184e-05 9.99790131e-01 -2.67916513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters 0.024098648781033155 Centerline is valid? [True, True] Translation: X:135.34, Y:-20.18, Z:-2.68 [[ 9.84189653e-01 1.75946785e-01 2.03336295e-02 1.35339232e+02] [-1.75906682e-01 9.84399672e-01 -3.75836462e-03 -2.01828659e+01] [-2.06776904e-02 1.22122254e-04 9.99786186e-01 -2.67982721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67401273899998 meters 0.024714420811141852 Centerline is valid? [True, True] Translation: X:135.37, Y:-20.19, Z:-2.68 [[ 9.84506186e-01 1.74327466e-01 1.89078078e-02 1.35370027e+02] [-1.74292440e-01 9.84687724e-01 -3.49749724e-03 -2.01910110e+01] [-1.92279961e-02 1.47819709e-04 9.99815114e-01 -2.68351165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters 0.024882530209002943 Centerline is valid? [True, True] Translation: X:135.40, Y:-20.20, Z:-2.68 [[ 9.84559750e-01 1.74066509e-01 1.85188926e-02 1.35401658e+02] [-1.74032804e-01 9.84733886e-01 -3.42869386e-03 -2.01970778e+01] [-1.88330019e-02 1.52859150e-04 9.99822632e-01 -2.68463562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73401273899998 meters 0.024867670974275606 Centerline is valid? [True, True] Translation: X:135.43, Y:-20.20, Z:-2.68 [[ 9.84432317e-01 1.74732621e-01 1.90137695e-02 1.35433043e+02] [-1.74697171e-01 9.84615910e-01 -3.52260723e-03 -2.02025933e+01] [-1.93367744e-02 1.46116659e-04 9.99813016e-01 -2.68304233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters 0.030930472526935537 Centerline is valid? [True, True] Translation: X:135.47, Y:-20.21, Z:-2.67 [[ 9.84136613e-01 1.76393528e-01 1.89855321e-02 1.35465525e+02] [-1.76358421e-01 9.84319719e-01 -3.52099985e-03 -2.02056976e+01] [-1.93089152e-02 1.16886394e-04 9.99813559e-01 -2.66965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79401273899998 meters 0.023255184852846392 Centerline is valid? [True, True] Translation: X:135.50, Y:-20.21, Z:-2.68 [[ 9.83629174e-01 1.78961866e-01 2.11257693e-02 1.35497067e+02] [-1.78918903e-01 9.83856008e-01 -3.92195235e-03 -2.02068941e+01] [-2.14865949e-02 7.79472917e-05 9.99769133e-01 -2.68001073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters 0.023079762098213517 Centerline is valid? [True, True] Translation: X:135.53, Y:-20.21, Z:-2.68 [[ 9.83387544e-01 1.80241091e-01 2.14962390e-02 1.35530401e+02] [-1.80196835e-01 9.83622461e-01 -3.99428101e-03 -2.02099016e+01] [-2.18641171e-02 5.43719465e-05 9.99760950e-01 -2.68005795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85401273899998 meters 0.02287686529869314 Centerline is valid? [True, True] Translation: X:135.56, Y:-20.21, Z:-2.68 [[ 9.83118213e-01 1.81707074e-01 2.14736813e-02 1.35562785e+02] [-1.81663167e-01 9.83352703e-01 -3.99437303e-03 -2.02128291e+01] [-2.18420084e-02 2.59639199e-05 9.99761435e-01 -2.68038099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters 0.022956621422242782 Centerline is valid? [True, True] Translation: X:135.59, Y:-20.21, Z:-2.68 [[ 9.82585816e-01 1.84709119e-01 2.01904879e-02 1.35593868e+02] [-1.84670865e-01 9.82793234e-01 -3.75920097e-03 -2.02091031e+01] [-2.05374336e-02 -3.48573005e-05 9.99789084e-01 -2.68318703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914012739 meters 0.023291769726783533 Centerline is valid? [True, True] Translation: X:135.62, Y:-20.21, Z:-2.68 [[ 9.82192655e-01 1.86804418e-01 2.00423796e-02 1.35624492e+02] [-1.86767154e-01 9.82397121e-01 -3.73186297e-03 -2.02094509e+01] [-2.03867045e-02 -7.78497988e-05 9.99792167e-01 -2.68406170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters 0.02481311271854155 Centerline is valid? [True, True] Translation: X:135.65, Y:-20.20, Z:-2.68 [[ 9.81505441e-01 1.90344859e-01 2.03937107e-02 1.35654946e+02] [-1.90307041e-01 9.81717276e-01 -3.79726822e-03 -2.02033124e+01] [-2.07436486e-02 -1.54027332e-04 9.99784816e-01 -2.68428268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974012739 meters 0.02505561486144053 Centerline is valid? [True, True] Translation: X:135.68, Y:-20.21, Z:-2.69 [[ 9.81240986e-01 1.91709748e-01 2.03347174e-02 1.35684635e+02] [-1.91672453e-01 9.81451649e-01 -3.78571346e-03 -2.02054933e+01] [-2.06833001e-02 -1.82907967e-04 9.99786061e-01 -2.68625059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters 0.025554110813771454 Centerline is valid? [True, True] Translation: X:135.71, Y:-20.21, Z:-2.69 [[ 9.81130207e-01 1.92397906e-01 1.91458237e-02 1.35713515e+02] [-1.92364984e-01 9.81316978e-01 -3.56395720e-03 -2.02073740e+01] [-1.94738197e-02 -1.86279998e-04 9.99810350e-01 -2.68845072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034012739 meters 0.025776496716774164 Centerline is valid? [True, True] Translation: X:135.74, Y:-20.21, Z:-2.69 [[ 9.81199008e-01 1.92208671e-01 1.74451802e-02 1.35741632e+02] [-1.92181321e-01 9.81354064e-01 -3.24666488e-03 -2.02095218e+01] [-1.77439357e-02 -1.67013432e-04 9.99842550e-01 -2.69342002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters 0.025366768863270873 Centerline is valid? [True, True] Translation: X:135.77, Y:-20.21, Z:-2.69 [[ 9.81326618e-01 1.91558683e-01 1.74166427e-02 1.35770077e+02] [-1.91531342e-01 9.81481149e-01 -3.24017003e-03 -2.02143571e+01] [-1.77147892e-02 -1.56167834e-04 9.99843069e-01 -2.69385300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094012739 meters 0.024517557429857235 Centerline is valid? [True, True] Translation: X:135.80, Y:-20.22, Z:-2.69 [[ 9.81701626e-01 1.89561556e-01 1.81200095e-02 1.35798428e+02] [-1.89531638e-01 9.81868831e-01 -3.37008270e-03 -2.02181321e+01] [-1.84303107e-02 -1.25899416e-04 9.99830139e-01 -2.69271620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters 0.024407532948411602 Centerline is valid? [True, True] Translation: X:135.83, Y:-20.22, Z:-2.69 [[ 9.81924175e-01 1.88398571e-01 1.81904498e-02 1.35825695e+02] [-1.88368237e-01 9.82092647e-01 -3.38229909e-03 -2.02215985e+01] [-1.85019273e-02 -1.05341701e-04 9.99828819e-01 -2.69359124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154012739 meters 0.024171546237341458 Centerline is valid? [True, True] Translation: X:135.85, Y:-20.22, Z:-2.69 [[ 9.82031678e-01 1.87883221e-01 1.77109484e-02 1.35854170e+02] [-1.87854401e-01 9.82191369e-01 -3.29204962e-03 -2.02248408e+01] [-1.80140616e-02 -9.41826024e-05 9.99837729e-01 -2.69435349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters 0.024445619752634738 Centerline is valid? [True, True] Translation: X:135.88, Y:-20.23, Z:-2.70 [[ 9.82000202e-01 1.88062515e-01 1.75525821e-02 1.35882209e+02] [-1.88034251e-01 9.82157055e-01 -3.26181382e-03 -2.02274243e+01] [-1.78528173e-02 -9.73847985e-05 9.99840621e-01 -2.69554367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214012739 meters 0.024503988109274198 Centerline is valid? [True, True] Translation: X:135.91, Y:-20.23, Z:-2.70 [[ 9.81946894e-01 1.88348827e-01 1.74647343e-02 1.35911259e+02] [-1.88320910e-01 9.82102188e-01 -3.24442865e-03 -2.02299833e+01] [-1.77632381e-02 -1.03118028e-04 9.99842216e-01 -2.69609152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters 0.02442308790831264 Centerline is valid? [True, True] Translation: X:135.94, Y:-20.23, Z:-2.70 [[ 9.82071888e-01 1.87686888e-01 1.75624312e-02 1.35938666e+02] [-1.87658566e-01 9.82228906e-01 -3.26176246e-03 -2.02343030e+01] [-1.78625177e-02 -9.24554415e-05 9.99840448e-01 -2.69722879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27401273899997 meters 0.024102852147061874 Centerline is valid? [True, True] Translation: X:135.97, Y:-20.24, Z:-2.70 [[ 9.82178145e-01 1.87084432e-01 1.80418170e-02 1.35966857e+02] [-1.87054461e-01 9.82343834e-01 -3.34966894e-03 -2.02394738e+01] [-1.83499386e-02 -8.48307258e-05 9.99831622e-01 -2.69711109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters 0.023899095284418075 Centerline is valid? [True, True] Translation: X:136.00, Y:-20.24, Z:-2.70 [[ 9.82264169e-01 1.86532733e-01 1.90431445e-02 1.35995767e+02] [-1.86499258e-01 9.82448743e-01 -3.53464013e-03 -2.02435159e+01] [-1.93682394e-02 -7.95819643e-05 9.99812415e-01 -2.69548576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33401273899997 meters 0.02387297913298571 Centerline is valid? [True, True] Translation: X:136.02, Y:-20.25, Z:-2.70 [[ 9.82291199e-01 1.86360132e-01 1.93365339e-02 1.36023552e+02] [-1.86325603e-01 9.82481499e-01 -3.58814341e-03 -2.02465395e+01] [-1.96664737e-02 -7.82896443e-05 9.99806593e-01 -2.69549123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters 0.023762142446851955 Centerline is valid? [True, True] Translation: X:136.05, Y:-20.25, Z:-2.69 [[ 9.82321127e-01 1.86119992e-01 2.01134843e-02 1.36052214e+02] [-1.86082608e-01 9.82527019e-01 -3.73104374e-03 -2.02480430e+01] [-2.04564636e-02 -7.76865244e-05 9.99790742e-01 -2.69448516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39401273899998 meters 0.02382080511300853 Centerline is valid? [True, True] Translation: X:136.08, Y:-20.25, Z:-2.69 [[ 9.82267549e-01 1.86371032e-01 2.04034641e-02 1.36080193e+02] [-1.86332636e-01 9.82479431e-01 -3.78382187e-03 -2.02502326e+01] [-2.07511785e-02 -8.51058171e-05 9.99784667e-01 -2.69449158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters 0.02380720012088369 Centerline is valid? [True, True] Translation: X:136.11, Y:-20.25, Z:-2.69 [[ 9.82186798e-01 1.86716661e-01 2.11183114e-02 1.36108903e+02] [-1.86675635e-01 9.82413802e-01 -3.91508223e-03 -2.02512943e+01] [-2.14779317e-02 -9.69321216e-05 9.99769318e-01 -2.69346129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45401273899998 meters 0.023926746943659812 Centerline is valid? [True, True] Translation: X:136.14, Y:-20.25, Z:-2.69 [[ 9.82123578e-01 1.87087105e-01 2.07772214e-02 1.36136814e+02] [-1.87047499e-01 9.82343323e-01 -3.85085427e-03 -2.02538500e+01] [-2.11308099e-02 -1.04312513e-04 9.99776714e-01 -2.69405851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters 0.024022000363325125 Centerline is valid? [True, True] Translation: X:136.17, Y:-20.26, Z:-2.70 [[ 9.82067168e-01 1.87419729e-01 2.04431590e-02 1.36165509e+02] [-1.87381483e-01 9.82279916e-01 -3.78773959e-03 -2.02564355e+01] [-2.07908016e-02 -1.10854768e-04 9.99783842e-01 -2.69636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51401273899998 meters 0.024506247827092854 Centerline is valid? [True, True] Translation: X:136.19, Y:-20.25, Z:-2.70 [[ 9.81992847e-01 1.88002972e-01 1.85723069e-02 1.36194184e+02] [-1.87971526e-01 9.82168453e-01 -3.44028478e-03 -2.02541042e+01] [-1.88879177e-02 -1.12729828e-04 9.99821601e-01 -2.70019186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters 0.024958158394586538 Centerline is valid? [True, True] Translation: X:136.22, Y:-20.25, Z:-2.70 [[ 9.81790825e-01 1.89026323e-01 1.88633408e-02 1.36224022e+02] [-1.88994095e-01 9.81972011e-01 -3.49298695e-03 -2.02514414e+01] [-1.91835392e-02 -1.35677484e-04 9.99815970e-01 -2.69960075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57401273899998 meters 0.02518978600797527 Centerline is valid? [True, True] Translation: X:136.25, Y:-20.25, Z:-2.70 [[ 9.81673818e-01 1.89625438e-01 1.89396248e-02 1.36253111e+02] [-1.89593078e-01 9.81856492e-01 -3.50621321e-03 -2.02518343e+01] [-1.92608608e-02 -1.48864052e-04 9.99814481e-01 -2.69946639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters 0.025738526308289423 Centerline is valid? [True, True] Translation: X:136.28, Y:-20.25, Z:-2.70 [[ 9.81488012e-01 1.90558236e-01 1.92052127e-02 1.36281738e+02] [-1.90525159e-01 9.81675878e-01 -3.55446432e-03 -2.02515532e+01] [-1.95306265e-02 -1.70412092e-04 9.99809245e-01 -2.69933735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63401273899999 meters 0.0263625628356356 Centerline is valid? [True, True] Translation: X:136.31, Y:-20.25, Z:-2.70 [[ 9.81311075e-01 1.91465635e-01 1.92219799e-02 1.36312029e+02] [-1.91432697e-01 9.81499299e-01 -3.55642471e-03 -2.02486457e+01] [-1.95472929e-02 -1.89756498e-04 9.99808915e-01 -2.69973884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters 0.026429592219220775 Centerline is valid? [True, True] Translation: X:136.34, Y:-20.25, Z:-2.70 [[ 9.81285751e-01 1.91612082e-01 1.90547936e-02 1.36340567e+02] [-1.91579759e-01 9.81470719e-01 -3.52461572e-03 -2.02501858e+01] [-1.93770809e-02 -1.91857568e-04 9.99812228e-01 -2.70035091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694012739 meters 0.026429592219220775 Centerline is valid? [True, True] Translation: X:136.37, Y:-20.26, Z:-2.70 [[ 9.81298662e-01 1.91545934e-01 1.90549481e-02 1.36367619e+02] [-1.91513614e-01 9.81483631e-01 -3.52378029e-03 -2.02550502e+01] [-1.93770854e-02 -1.91401090e-04 9.99812228e-01 -2.70090924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters 0.025968099228972943 Centerline is valid? [True, True] Translation: X:136.40, Y:-20.26, Z:-2.70 [[ 9.81553788e-01 1.90298068e-01 1.84067141e-02 1.36396133e+02] [-1.90267714e-01 9.81726346e-01 -3.40264977e-03 -2.02559191e+01] [-1.87178739e-02 -1.62319649e-04 9.99824792e-01 -2.70373876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754012739 meters 0.02535124592048257 Centerline is valid? [True, True] Translation: X:136.42, Y:-20.26, Z:-2.70 [[ 9.81706316e-01 1.89507758e-01 1.84260261e-02 1.36424525e+02] [-1.89477221e-01 9.81879212e-01 -3.40513610e-03 -2.02602954e+01] [-1.87374317e-02 -1.48468601e-04 9.99824428e-01 -2.70419506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters 0.024731869995294826 Centerline is valid? [True, True] Translation: X:136.45, Y:-20.26, Z:-2.70 [[ 9.82088282e-01 1.87512030e-01 1.84890464e-02 1.36452312e+02] [-1.87480946e-01 9.82262300e-01 -3.41593386e-03 -2.02612999e+01] [-1.88016219e-02 -1.11595296e-04 9.99823228e-01 -2.70388661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814012739 meters 0.02447899137564722 Centerline is valid? [True, True] Translation: X:136.48, Y:-20.26, Z:-2.71 [[ 9.82227318e-01 1.86800391e-01 1.83059792e-02 1.36480216e+02] [-1.86769816e-01 9.82397885e-01 -3.38106137e-03 -2.02640816e+01] [-1.86153388e-02 -9.80335223e-05 9.99826715e-01 -2.70516791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters 0.02410420557616543 Centerline is valid? [True, True] Translation: X:136.51, Y:-20.27, Z:-2.71 [[ 9.82376370e-01 1.86035087e-01 1.81001306e-02 1.36508537e+02] [-1.86005084e-01 9.82543098e-01 -3.34201894e-03 -2.02701542e+01] [-1.84058912e-02 -8.35958893e-05 9.99830594e-01 -2.70583248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874012739 meters 0.023845177665969646 Centerline is valid? [True, True] Translation: X:136.54, Y:-20.27, Z:-2.71 [[ 9.82737524e-01 1.84150791e-01 1.77607529e-02 1.36536258e+02] [-1.84121610e-01 9.82898003e-01 -3.27853646e-03 -2.02738320e+01] [-1.80607536e-02 -4.81976168e-05 9.99836890e-01 -2.70853165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters 0.023864218312853205 Centerline is valid? [True, True] Translation: X:136.56, Y:-20.28, Z:-2.71 [[ 9.82854525e-01 1.83586704e-01 1.71144694e-02 1.36563828e+02] [-1.83559540e-01 9.83003520e-01 -3.15826441e-03 -2.02776833e+01] [-1.74033990e-02 -3.74096581e-05 9.99848549e-01 -2.71023517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934012739 meters 0.02382666801817824 Centerline is valid? [True, True] Translation: X:136.59, Y:-20.28, Z:-2.71 [[ 9.82987728e-01 1.82916700e-01 1.66315051e-02 1.36590933e+02] [-1.82890966e-01 9.83128415e-01 -3.06824150e-03 -2.02799809e+01] [-1.69121379e-02 -2.57082937e-05 9.99856979e-01 -2.71213199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters 0.02385911888294875 Centerline is valid? [True, True] Translation: X:136.62, Y:-20.29, Z:-2.71 [[ 9.83203639e-01 1.81795589e-01 1.61544799e-02 1.36618534e+02] [-1.81771194e-01 9.83336343e-01 -2.97816729e-03 -2.02853694e+01] [-1.64267049e-02 -8.27418212e-06 9.99865073e-01 -2.71311498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99401273899997 meters 0.02429674478149259 Centerline is valid? [True, True] Translation: X:136.65, Y:-20.29, Z:-2.71 [[ 9.83941917e-01 1.77797060e-01 1.57006284e-02 1.36646590e+02] [-1.77773525e-01 9.84067174e-01 -2.89335506e-03 -2.02925458e+01] [-1.59649031e-02 5.57372656e-05 9.99872551e-01 -2.71446292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters 0.02462188235557751 Centerline is valid? [True, True] Translation: X:136.67, Y:-20.30, Z:-2.71 [[ 9.84349912e-01 1.75491084e-01 1.60664378e-02 1.36674620e+02] [-1.75466144e-01 9.84481016e-01 -2.96002133e-03 -2.02983432e+01] [-1.63365603e-02 9.45808522e-05 9.99866545e-01 -2.71396826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05401273899997 meters 0.027110930405540187 Centerline is valid? [True, True] Translation: X:136.70, Y:-20.31, Z:-2.71 [[ 9.85257806e-01 1.70203347e-01 1.72590896e-02 1.36701252e+02] [-1.70173770e-01 9.85408942e-01 -3.17889782e-03 -2.03092367e+01] [-1.75483202e-02 1.94989553e-04 9.99845997e-01 -2.71228388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters 0.028083805056226093 Centerline is valid? [True, True] Translation: X:136.73, Y:-20.32, Z:-2.71 [[ 9.85789638e-01 1.67017783e-01 1.79958442e-02 1.36729629e+02] [-1.66985116e-01 9.85953849e-01 -3.31347252e-03 -2.03163955e+01] [-1.82964807e-02 2.61348741e-04 9.99832571e-01 -2.71123551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11401273899997 meters 0.032438611990679975 Centerline is valid? [True, True] Translation: X:136.76, Y:-20.33, Z:-2.71 [[ 9.86866670e-01 1.60355815e-01 1.94984051e-02 1.36757710e+02] [-1.60316184e-01 9.87059187e-01 -3.58908772e-03 -2.03304251e+01] [-1.98216110e-02 4.16041150e-04 9.99803446e-01 -2.70914131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters 0.035535815176473216 Centerline is valid? [True, True] Translation: X:136.78, Y:-20.34, Z:-2.71 [[ 9.87452074e-01 1.56620668e-01 2.02080905e-02 1.36784318e+02] [-1.56577323e-01 9.87658700e-01 -3.71945866e-03 -2.03411527e+01] [-2.05412405e-02 5.08658454e-04 9.99788877e-01 -2.70792413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17401273899998 meters 0.04484241520185138 Centerline is valid? [True, True] Translation: X:136.81, Y:-20.35, Z:-2.70 [[ 9.88444147e-01 1.50438286e-01 1.86142716e-02 1.36813117e+02] [-1.50400430e-01 9.88619228e-01 -3.42522880e-03 -2.03516706e+01] [-1.89177124e-02 5.86052914e-04 9.99820872e-01 -2.69625477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters 0.05018581811539152 Centerline is valid? [True, True] Translation: X:136.84, Y:-20.36, Z:-2.70 [[ 9.88835335e-01 1.47905107e-01 1.81317107e-02 1.36840558e+02] [-1.47868763e-01 9.89001364e-01 -3.33638051e-03 -2.03645658e+01] [-1.84257543e-02 6.18017300e-04 9.99830040e-01 -2.69740509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23401273899998 meters 0.045584979646115645 Centerline is valid? [True, True] Translation: X:136.87, Y:-20.38, Z:-2.71 [[ 9.89230824e-01 1.45106989e-01 1.91399798e-02 1.36869361e+02] [-1.45065972e-01 9.89415717e-01 -3.52165121e-03 -2.03752637e+01] [-1.94484130e-02 7.07166152e-04 9.99810612e-01 -2.71173682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters 0.04840788071495568 Centerline is valid? [True, True] Translation: X:136.90, Y:-20.39, Z:-2.71 [[ 9.89921149e-01 1.40186312e-01 2.00976722e-02 1.36897351e+02] [-1.40140074e-01 9.90124783e-01 -3.69786162e-03 -2.03905277e+01] [-2.04175929e-02 8.44102156e-04 9.99791183e-01 -2.71096532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29401273899998 meters 0.053587838833033474 Centerline is valid? [True, True] Translation: X:136.93, Y:-20.41, Z:-2.71 [[ 9.90220255e-01 1.38044958e-01 2.01850607e-02 1.36925193e+02] [-1.37997873e-01 9.90425562e-01 -3.71398556e-03 -2.04058492e+01] [-2.05044970e-02 8.92168301e-04 9.99789363e-01 -2.71117882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters 0.05332191642644299 Centerline is valid? [True, True] Translation: X:136.95, Y:-20.42, Z:-2.71 [[ 9.90711912e-01 1.34454593e-01 2.02945941e-02 1.36953968e+02] [-1.34406238e-01 9.90919279e-01 -3.73438133e-03 -2.04179627e+01] [-2.06124093e-02 9.71976026e-04 9.99787069e-01 -2.71156257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35401273899998 meters 0.05746482102496447 Centerline is valid? [True, True] Translation: X:136.98, Y:-20.43, Z:-2.71 [[ 9.90878011e-01 1.33230317e-01 2.02595810e-02 1.36982729e+02] [-1.33181871e-01 9.91084603e-01 -3.72804085e-03 -2.04337275e+01] [-2.05756469e-02 9.95824800e-04 9.99787803e-01 -2.71199679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters 0.05985763381537651 Centerline is valid? [True, True] Translation: X:137.01, Y:-20.45, Z:-2.71 [[ 9.90898225e-01 1.33109597e-01 2.00634442e-02 1.37011682e+02] [-1.33061997e-01 9.91100828e-01 -3.69504882e-03 -2.04503903e+01] [-2.03767426e-02 9.91735371e-04 9.99791881e-01 -2.71244591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414012739 meters 0.05860660593856883 Centerline is valid? [True, True] Translation: X:137.04, Y:-20.46, Z:-2.71 [[ 9.90662005e-01 1.34868995e-01 1.99786262e-02 1.37042759e+02] [-1.34822117e-01 9.90862980e-01 -3.68120940e-03 -2.04578949e+01] [-2.02925621e-02 9.53273597e-04 9.99793630e-01 -2.71273173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters 0.054010222503357984 Centerline is valid? [True, True] Translation: X:137.07, Y:-20.46, Z:-2.71 [[ 9.90337222e-01 1.37207215e-01 2.01585488e-02 1.37073159e+02] [-1.37159958e-01 9.90541945e-01 -3.71505237e-03 -2.04599348e+01] [-2.04776201e-02 9.14208926e-04 9.99789894e-01 -2.71280576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474012739 meters 0.04816620835798536 Centerline is valid? [True, True] Translation: X:137.10, Y:-20.46, Z:-2.71 [[ 9.89405143e-01 1.43696367e-01 2.07079236e-02 1.37103647e+02] [-1.43647916e-01 9.89621499e-01 -3.81629679e-03 -2.04621860e+01] [-2.10413944e-02 8.01213608e-04 9.99778284e-01 -2.71244383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters 0.04549013529397179 Centerline is valid? [True, True] Translation: X:137.13, Y:-20.47, Z:-2.71 [[ 9.88938202e-01 1.46904484e-01 2.05013611e-02 1.37133664e+02] [-1.46857684e-01 9.89150416e-01 -3.77820861e-03 -2.04666746e+01] [-2.08339657e-02 7.25632432e-04 9.99782686e-01 -2.71428709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534012739 meters 0.039963012465641115 Centerline is valid? [True, True] Translation: X:137.16, Y:-20.47, Z:-2.72 [[ 9.87933854e-01 1.53667993e-01 1.93092607e-02 1.37163262e+02] [-1.53627766e-01 9.88122384e-01 -3.55852370e-03 -2.04692806e+01] [-1.96267440e-02 5.49147439e-04 9.99807226e-01 -2.71686083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters 0.03508969430913883 Centerline is valid? [True, True] Translation: X:137.20, Y:-20.47, Z:-2.72 [[ 9.87494715e-01 1.56520549e-01 1.88548702e-02 1.37195314e+02] [-1.56482718e-01 9.87674585e-01 -3.47451997e-03 -2.04682758e+01] [-1.91663099e-02 4.80608765e-04 9.99816194e-01 -2.71852825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594012739 meters 0.032618777364840756 Centerline is valid? [True, True] Translation: X:137.23, Y:-20.47, Z:-2.72 [[ 9.86521042e-01 1.62580556e-01 1.85417716e-02 1.37225194e+02] [-1.62545030e-01 9.86695209e-01 -3.41732583e-03 -2.04685199e+01] [-1.88506680e-02 3.57391010e-04 9.99822246e-01 -2.71914291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters 0.031273976999744775 Centerline is valid? [True, True] Translation: X:137.25, Y:-20.47, Z:-2.72 [[ 9.86069881e-01 1.65366660e-01 1.78901554e-02 1.37253777e+02] [-1.65334049e-01 9.86232113e-01 -3.29706542e-03 -2.04706269e+01] [-1.81890704e-02 2.93285083e-04 9.99834522e-01 -2.72104157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654012739 meters 0.028452443349753047 Centerline is valid? [True, True] Translation: X:137.28, Y:-20.47, Z:-2.72 [[ 9.85408867e-01 1.69421346e-01 1.63025207e-02 1.37281941e+02] [-1.69394828e-01 9.85543692e-01 -3.00404829e-03 -2.04690491e+01] [-1.65757964e-02 1.98653130e-04 9.99862592e-01 -2.72417714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters 0.026806613000247493 Centerline is valid? [True, True] Translation: X:137.31, Y:-20.47, Z:-2.73 [[ 9.85105414e-01 1.71203357e-01 1.60229005e-02 1.37310658e+02] [-1.71177992e-01 9.85235699e-01 -2.95160124e-03 -2.04698633e+01] [-1.62916576e-02 1.64870429e-04 9.99867269e-01 -2.72523210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714012739 meters 0.025600484499063395 Centerline is valid? [True, True] Translation: X:137.34, Y:-20.47, Z:-2.72 [[ 9.84673427e-01 1.73579188e-01 1.69855219e-02 1.37339212e+02] [-1.73551050e-01 9.84819906e-01 -3.12811816e-03 -2.04701823e+01] [-1.72706563e-02 1.32319664e-04 9.99850842e-01 -2.72417251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters 0.025082004098267635 Centerline is valid? [True, True] Translation: X:137.37, Y:-20.47, Z:-2.72 [[ 9.84461908e-01 1.74693852e-01 1.77991261e-02 1.37367813e+02] [-1.74663156e-01 9.84622793e-01 -3.27684225e-03 -2.04730541e+01] [-1.80978695e-02 1.17074830e-04 9.99836213e-01 -2.72230499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77401273899997 meters 0.02449215466258941 Centerline is valid? [True, True] Translation: X:137.40, Y:-20.47, Z:-2.72 [[ 9.84201389e-01 1.76055135e-01 1.87674026e-02 1.37396048e+02] [-1.76021272e-01 9.84380303e-01 -3.45420087e-03 -2.04749845e+01] [-1.90823913e-02 9.61672052e-05 9.99817910e-01 -2.72104764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters 0.023969314478655655 Centerline is valid? [True, True] Translation: X:137.43, Y:-20.47, Z:-2.72 [[ 9.83737779e-01 1.78524569e-01 1.97220973e-02 1.37426080e+02] [-1.78487693e-01 9.83935453e-01 -3.62872460e-03 -2.04724172e+01] [-2.00530872e-02 4.95618343e-05 9.99798915e-01 -2.71918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83401273899997 meters 0.023731260294240625 Centerline is valid? [True, True] Translation: X:137.46, Y:-20.47, Z:-2.72 [[ 9.83425788e-01 1.80239492e-01 1.96836169e-02 1.37455571e+02] [-1.80203121e-01 9.83622756e-01 -3.62074998e-03 -2.04718388e+01] [-2.00138556e-02 1.36896949e-05 9.99799703e-01 -2.72019116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters 0.02369600056136959 Centerline is valid? [True, True] Translation: X:137.48, Y:-20.48, Z:-2.72 [[ 9.83413094e-01 1.80334701e-01 1.94443163e-02 1.37482469e+02] [-1.80299246e-01 9.83605305e-01 -3.57584065e-03 -2.04760585e+01] [-1.97703808e-02 1.07329530e-05 9.99804547e-01 -2.72114138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89401273899998 meters 0.023691321268627705 Centerline is valid? [True, True] Translation: X:137.51, Y:-20.48, Z:-2.72 [[ 9.83604682e-01 1.79321255e-01 1.91237506e-02 1.37509315e+02] [-1.79286807e-01 9.83790571e-01 -3.51487730e-03 -2.04823481e+01] [-1.94440577e-02 2.86135919e-05 9.99810946e-01 -2.72107179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters 0.02464850638315445 Centerline is valid? [True, True] Translation: X:137.54, Y:-20.50, Z:-2.72 [[ 9.84406027e-01 1.74779300e-01 1.99241095e-02 1.37535175e+02] [-1.74741006e-01 9.84607628e-01 -3.66049504e-03 -2.04958079e+01] [-2.02572089e-02 1.21854439e-04 9.99794794e-01 -2.72059313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95401273899998 meters 0.026001170783471354 Centerline is valid? [True, True] Translation: X:137.56, Y:-20.51, Z:-2.72 [[ 9.84973785e-01 1.71475874e-01 2.05588945e-02 1.37562353e+02] [-1.71434411e-01 9.85188300e-01 -3.77572827e-03 -2.05069322e+01] [-2.09018287e-02 1.94491397e-04 9.99781514e-01 -2.72068378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters 0.029435946736658107 Centerline is valid? [True, True] Translation: X:137.59, Y:-20.52, Z:-2.72 [[ 9.85917089e-01 1.66025712e-01 2.00737623e-02 1.37588883e+02] [-1.65985071e-01 9.86121378e-01 -3.68570420e-03 -2.05240015e+01] [-2.04070878e-02 3.01853902e-04 9.99791708e-01 -2.72195335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01401273899998 meters 0.029964989441620963 Centerline is valid? [True, True] Translation: X:137.62, Y:-20.53, Z:-2.72 [[ 9.86188858e-01 1.64477953e-01 1.94560949e-02 1.37617470e+02] [-1.64439483e-01 9.86380707e-01 -3.57185395e-03 -2.05318844e+01] [-1.97786079e-02 3.23172381e-04 9.99804332e-01 -2.72310550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters 0.0308669284538508 Centerline is valid? [True, True] Translation: X:137.65, Y:-20.54, Z:-2.73 [[ 9.86241450e-01 1.64322988e-01 1.80487572e-02 1.37645271e+02] [-1.64289863e-01 9.86406541e-01 -3.31311409e-03 -2.05404701e+01] [-1.83478329e-02 3.02302602e-04 9.99831619e-01 -2.72547368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07401273899998 meters 0.029564139709223853 Centerline is valid? [True, True] Translation: X:137.68, Y:-20.54, Z:-2.73 [[ 9.86172379e-01 1.64750454e-01 1.79255790e-02 1.37675247e+02] [-1.64717862e-01 9.86335239e-01 -3.28984724e-03 -2.05435190e+01] [-1.82226340e-02 2.91693431e-04 9.99833911e-01 -2.72578914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters 0.028007651959870074 Centerline is valid? [True, True] Translation: X:137.70, Y:-20.55, Z:-2.72 [[ 9.85697430e-01 1.67387937e-01 1.95411061e-02 1.37703213e+02] [-1.67349733e-01 9.85891073e-01 -3.58584140e-03 -2.05457361e+01] [-1.98656286e-02 2.64355780e-04 9.99802624e-01 -2.72354347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13401273899999 meters 0.027263134736259322 Centerline is valid? [True, True] Translation: X:137.73, Y:-20.55, Z:-2.72 [[ 9.85510463e-01 1.68422301e-01 2.00762489e-02 1.37732034e+02] [-1.68382215e-01 9.85714901e-01 -3.68280201e-03 -2.05492019e+01] [-2.04097237e-02 2.48956657e-04 9.99791669e-01 -2.72291465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters 0.027746938557994937 Centerline is valid? [True, True] Translation: X:137.76, Y:-20.56, Z:-2.72 [[ 9.85380824e-01 1.69183676e-01 2.00378539e-02 1.37759761e+02] [-1.69143921e-01 9.85584512e-01 -3.67480359e-03 -2.05552043e+01] [-2.03707153e-02 2.31799814e-04 9.99792469e-01 -2.72406204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194012739 meters 0.026294027456191884 Centerline is valid? [True, True] Translation: X:137.79, Y:-20.56, Z:-2.73 [[ 9.85143769e-01 1.70781772e-01 1.80371931e-02 1.37788924e+02] [-1.70749838e-01 9.85308862e-01 -3.30734818e-03 -2.05550873e+01] [-1.83370410e-02 1.78365666e-04 9.99831846e-01 -2.72732997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters 0.025981465243444562 Centerline is valid? [True, True] Translation: X:137.82, Y:-20.56, Z:-2.73 [[ 9.85081990e-01 1.71201703e-01 1.74198056e-02 1.37817576e+02] [-1.71171997e-01 9.85235987e-01 -3.19335118e-03 -2.05585547e+01] [-1.77093266e-02 1.63929817e-04 9.99843164e-01 -2.72923941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254012739 meters 0.026162659222463185 Centerline is valid? [True, True] Translation: X:137.85, Y:-20.56, Z:-2.73 [[ 9.85166686e-01 1.70619801e-01 1.83162141e-02 1.37846027e+02] [-1.70586875e-01 9.85336922e-01 -3.35676260e-03 -2.05623434e+01] [-1.86203722e-02 1.82464963e-04 9.99826609e-01 -2.72844083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters 0.02599345002850508 Centerline is valid? [True, True] Translation: X:137.87, Y:-20.57, Z:-2.73 [[ 9.85159283e-01 1.70588502e-01 1.89934206e-02 1.37874467e+02] [-1.70553108e-01 9.85342340e-01 -3.47993957e-03 -2.05668175e+01] [-1.93086591e-02 1.88907860e-04 9.99813553e-01 -2.72767533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314012739 meters 0.025803624296462234 Centerline is valid? [True, True] Translation: X:137.90, Y:-20.57, Z:-2.73 [[ 9.85118733e-01 1.70965043e-01 1.76645436e-02 1.37902767e+02] [-1.70934504e-01 9.85277081e-01 -3.23567534e-03 -2.05706803e+01] [-1.79576574e-02 1.68044386e-04 9.99838734e-01 -2.72956811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters 0.025984603666532022 Centerline is valid? [True, True] Translation: X:137.93, Y:-20.58, Z:-2.73 [[ 9.85081605e-01 1.71222603e-01 1.72352196e-02 1.37930229e+02] [-1.71193583e-01 9.85232356e-01 -3.15626369e-03 -2.05753668e+01] [-1.75211197e-02 1.58618302e-04 9.99846481e-01 -2.73129450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374012739 meters 0.02548557105678165 Centerline is valid? [True, True] Translation: X:137.96, Y:-20.58, Z:-2.73 [[ 9.84903207e-01 1.72185458e-01 1.78280771e-02 1.37958749e+02] [-1.72154587e-01 9.85064540e-01 -3.26359294e-03 -2.05768945e+01] [-1.81237498e-02 1.45137900e-04 9.99835741e-01 -2.73012906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters 0.025205671745237784 Centerline is valid? [True, True] Translation: X:137.99, Y:-20.58, Z:-2.73 [[ 9.84765667e-01 1.72886214e-01 1.86262876e-02 1.37986152e+02] [-1.72852659e-01 9.84941794e-01 -3.40882005e-03 -2.05809945e+01] [-1.89351471e-02 1.37285608e-04 9.99820705e-01 -2.72980783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434012739 meters 0.025183000854255826 Centerline is valid? [True, True] Translation: X:138.01, Y:-20.59, Z:-2.73 [[ 9.84710078e-01 1.73149034e-01 1.91173622e-02 1.38013745e+02] [-1.73113758e-01 9.84895626e-01 -3.49755598e-03 -2.05876643e+01] [-1.94342049e-02 1.34600204e-04 9.99811129e-01 -2.73052809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters 0.025140382782990692 Centerline is valid? [True, True] Translation: X:138.04, Y:-20.59, Z:-2.73 [[ 9.84770800e-01 1.72852018e-01 1.86721925e-02 1.38041872e+02] [-1.72818328e-01 9.84947796e-01 -3.41528078e-03 -2.05934118e+01] [-1.89814730e-02 1.36371691e-04 9.99819826e-01 -2.73103482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49401273899997 meters 0.025208528764264552 Centerline is valid? [True, True] Translation: X:138.07, Y:-20.60, Z:-2.73 [[ 9.84789829e-01 1.72775608e-01 1.83733928e-02 1.38069830e+02] [-1.72742990e-01 9.84961203e-01 -3.35978638e-03 -2.05989847e+01] [-1.86775682e-02 1.34808647e-04 9.99825550e-01 -2.73262933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters 0.024973336039360396 Centerline is valid? [True, True] Translation: X:138.10, Y:-20.60, Z:-2.73 [[ 9.84800165e-01 1.72767275e-01 1.78914293e-02 1.38097570e+02] [-1.72736355e-01 9.84962665e-01 -3.27109087e-03 -2.06048475e+01] [-1.81875274e-02 1.30870532e-04 9.99834585e-01 -2.73300757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55401273899997 meters 0.03122333919668979 Centerline is valid? [True, True] Translation: X:138.13, Y:-20.61, Z:-2.72 [[ 9.84559014e-01 1.74099378e-01 1.82470236e-02 1.38126069e+02] [-1.74067461e-01 9.84728082e-01 -3.33524155e-03 -2.06102757e+01] [-1.85490200e-02 1.07529056e-04 9.99827946e-01 -2.72143661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters 0.024032052377540643 Centerline is valid? [True, True] Translation: X:138.15, Y:-20.61, Z:-2.73 [[ 9.84431704e-01 1.74739346e-01 1.89836873e-02 1.38152973e+02] [-1.74704937e-01 9.84614722e-01 -3.46897542e-03 -2.06149238e+01] [-1.92977845e-02 9.84254790e-05 9.99813776e-01 -2.73072857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61401273899997 meters 0.024032052377540643 Centerline is valid? [True, True] Translation: X:138.18, Y:-20.62, Z:-2.73 [[ 9.84439469e-01 1.74695576e-01 1.89838858e-02 1.38180851e+02] [-1.74661180e-01 9.84622489e-01 -3.46788874e-03 -2.06199246e+01] [-1.92977857e-02 9.81786563e-05 9.99813776e-01 -2.73130387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters 0.023743581964897786 Centerline is valid? [True, True] Translation: X:138.21, Y:-20.62, Z:-2.73 [[ 9.84330353e-01 1.75359161e-01 1.85181130e-02 1.38209447e+02] [-1.75326564e-01 9.84504524e-01 -3.38197612e-03 -2.06234667e+01] [-1.88242265e-02 8.22646215e-05 9.99822805e-01 -2.73252699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67401273899998 meters 0.02360816883670372 Centerline is valid? [True, True] Translation: X:138.24, Y:-20.63, Z:-2.74 [[ 9.84089939e-01 1.76915700e-01 1.63654025e-02 1.38236747e+02] [-1.76890468e-01 9.84226007e-01 -2.98821418e-03 -2.06256305e+01] [-1.66359167e-02 4.57878103e-05 9.99861613e-01 -2.73749374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters 0.023344165958886675 Centerline is valid? [True, True] Translation: X:138.26, Y:-20.63, Z:-2.74 [[ 9.83998025e-01 1.77434760e-01 1.62724461e-02 1.38264848e+02] [-1.77409899e-01 9.84132565e-01 -2.97035067e-03 -2.06297678e+01] [-1.65412876e-02 3.59261753e-05 9.99863183e-01 -2.73836477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73401273899998 meters 0.023139544057863268 Centerline is valid? [True, True] Translation: X:138.29, Y:-20.64, Z:-2.74 [[ 9.83869369e-01 1.78007743e-01 1.77287484e-02 1.38293630e+02] [-1.77978351e-01 9.84029086e-01 -3.23479457e-03 -2.06352275e+01] [-1.80214225e-02 2.72818950e-05 9.99837601e-01 -2.73538956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters 0.023246638678089074 Centerline is valid? [True, True] Translation: X:138.32, Y:-20.64, Z:-2.74 [[ 9.83987220e-01 1.77317243e-01 1.81037581e-02 1.38320241e+02] [-1.77286493e-01 9.84153745e-01 -3.30235188e-03 -2.06420785e+01] [-1.84024453e-02 3.99202584e-05 9.99830660e-01 -2.73534424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79401273899998 meters 0.023711547674211447 Centerline is valid? [True, True] Translation: X:138.35, Y:-20.65, Z:-2.74 [[ 9.84342412e-01 1.75417018e-01 1.72882883e-02 1.38346939e+02] [-1.75388702e-01 9.84494218e-01 -3.15251049e-03 -2.06518845e+01] [-1.75732239e-02 7.09793301e-05 9.99845576e-01 -2.73839916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters 0.02400781963900533 Centerline is valid? [True, True] Translation: X:138.37, Y:-20.66, Z:-2.74 [[ 9.84483227e-01 1.74688589e-01 1.66334567e-02 1.38373896e+02] [-1.74662290e-01 9.84623730e-01 -3.03215869e-03 -2.06582905e+01] [-1.69073797e-02 7.98717287e-05 9.99857057e-01 -2.74070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85401273899998 meters 0.028587750395653328 Centerline is valid? [True, True] Translation: X:138.40, Y:-20.66, Z:-2.73 [[ 9.84644694e-01 1.73836919e-01 1.59860094e-02 1.38401947e+02] [-1.73812530e-01 9.84774450e-01 -2.91325285e-03 -2.06647438e+01] [-1.62490445e-02 8.99502155e-05 9.99867972e-01 -2.73296508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters 0.023854516416923047 Centerline is valid? [True, True] Translation: X:138.43, Y:-20.67, Z:-2.74 [[ 9.84623465e-01 1.73943042e-01 1.61384833e-02 1.38429682e+02] [-1.73918212e-01 9.84755711e-01 -2.94025783e-03 -2.06704719e+01] [-1.64039010e-02 8.82706843e-05 9.99865443e-01 -2.74048361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914012739 meters 0.02356328070954837 Centerline is valid? [True, True] Translation: X:138.46, Y:-20.68, Z:-2.74 [[ 9.84458100e-01 1.74900895e-01 1.58721739e-02 1.38457333e+02] [-1.74877014e-01 9.84586041e-01 -2.89103729e-03 -2.06756307e+01] [-1.61331659e-02 7.04267103e-05 9.99869850e-01 -2.74129560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters 0.023475992318158913 Centerline is valid? [True, True] Translation: X:138.49, Y:-20.68, Z:-2.74 [[ 9.84431365e-01 1.75042729e-01 1.59665408e-02 1.38485744e+02] [-1.75018598e-01 9.84560835e-01 -2.90721584e-03 -2.06815187e+01] [-1.62289177e-02 6.75128738e-05 9.99868300e-01 -2.74215183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974012739 meters 0.0234699546111997 Centerline is valid? [True, True] Translation: X:138.51, Y:-20.69, Z:-2.74 [[ 9.84433254e-01 1.75038367e-01 1.58977283e-02 1.38513620e+02] [-1.75014455e-01 9.84561611e-01 -2.89391785e-03 -2.06877918e+01] [-1.61588397e-02 6.65367071e-05 9.99869435e-01 -2.74286523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters 0.023151564133549858 Centerline is valid? [True, True] Translation: X:138.54, Y:-20.69, Z:-2.74 [[ 9.84293453e-01 1.75725279e-01 1.69418197e-02 1.38542021e+02] [-1.75698240e-01 9.84439243e-01 -3.08309121e-03 -2.06939155e+01] [-1.72199692e-02 5.80185903e-05 9.99851724e-01 -2.74113560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034012739 meters 0.022839386786071638 Centerline is valid? [True, True] Translation: X:138.57, Y:-20.69, Z:-2.74 [[ 9.83816340e-01 1.78303859e-01 1.76958533e-02 1.38570786e+02] [-1.78274792e-01 9.83975474e-01 -3.21943529e-03 -2.06942284e+01] [-1.79863234e-02 1.26084697e-05 9.99838233e-01 -2.73852463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters 0.02280526155019498 Centerline is valid? [True, True] Translation: X:138.60, Y:-20.69, Z:-2.74 [[ 9.83454611e-01 1.80339001e-01 1.71718845e-02 1.38600300e+02] [-1.80311960e-01 9.83604516e-01 -3.12298794e-03 -2.06947287e+01] [-1.74535397e-02 -2.49792680e-05 9.99847675e-01 -2.73919830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094012739 meters 0.023277833562645945 Centerline is valid? [True, True] Translation: X:138.63, Y:-20.70, Z:-2.74 [[ 9.83010790e-01 1.82777574e-01 1.67971939e-02 1.38629202e+02] [-1.82752070e-01 9.83154288e-01 -3.05405754e-03 -2.06952538e+01] [-1.70724464e-02 -6.75504369e-05 9.99854253e-01 -2.74075826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters 0.02462224673076588 Centerline is valid? [True, True] Translation: X:138.66, Y:-20.69, Z:-2.74 [[ 9.82297153e-01 1.86566511e-01 1.68890384e-02 1.38658577e+02] [-1.86541301e-01 9.82442323e-01 -3.06991320e-03 -2.06912812e+01] [-1.71652491e-02 -1.34936207e-04 9.99852657e-01 -2.74196714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154012739 meters 0.025098131161224318 Centerline is valid? [True, True] Translation: X:138.69, Y:-20.69, Z:-2.74 [[ 9.82089038e-01 1.87575788e-01 1.77889024e-02 1.38687957e+02] [-1.87548002e-01 9.82250120e-01 -3.23254800e-03 -2.06925420e+01] [-1.80794993e-02 -1.61623155e-04 9.99836539e-01 -2.74073071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters 0.02477709773422227 Centerline is valid? [True, True] Translation: X:138.72, Y:-20.70, Z:-2.74 [[ 9.81981068e-01 1.88025605e-01 1.89619381e-02 1.38716685e+02] [-1.87994135e-01 9.82164110e-01 -3.44474825e-03 -2.06956096e+01] [-1.92714360e-02 -1.82055587e-04 9.99814272e-01 -2.73856903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214012739 meters 0.025067055817930887 Centerline is valid? [True, True] Translation: X:138.74, Y:-20.70, Z:-2.74 [[ 9.82093754e-01 1.87500890e-01 1.83104914e-02 1.38744237e+02] [-1.87471471e-01 9.82264419e-01 -3.32555511e-03 -2.06999210e+01] [-1.86092887e-02 -1.66687846e-04 9.99826818e-01 -2.74044273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters 0.02421244818179046 Centerline is valid? [True, True] Translation: X:138.77, Y:-20.71, Z:-2.74 [[ 9.82491382e-01 1.85560803e-01 1.66695429e-02 1.38772348e+02] [-1.85536157e-01 9.82632777e-01 -3.02656645e-03 -2.07077436e+01] [-1.69416513e-02 -1.19227475e-04 9.99856473e-01 -2.74384099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27401273899997 meters 0.02393296676736158 Centerline is valid? [True, True] Translation: X:138.80, Y:-20.71, Z:-2.74 [[ 9.82651163e-01 1.84714762e-01 1.66478082e-02 1.38799490e+02] [-1.84690071e-01 9.82792168e-01 -3.02188587e-03 -2.07122907e+01] [-1.69195224e-02 -1.05225223e-04 9.99856849e-01 -2.74491190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters 0.02381994194982647 Centerline is valid? [True, True] Translation: X:138.83, Y:-20.71, Z:-2.75 [[ 9.82631424e-01 1.84783055e-01 1.70501557e-02 1.38827081e+02] [-1.84757184e-01 9.82779330e-01 -3.09394221e-03 -2.07147936e+01] [-1.73282487e-02 -1.09933912e-04 9.99849849e-01 -2.74510554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33401273899997 meters 0.024473802980843524 Centerline is valid? [True, True] Translation: X:138.86, Y:-20.72, Z:-2.74 [[ 9.82403522e-01 1.85957082e-01 1.74150576e-02 1.38855032e+02] [-1.85930298e-01 9.82557859e-01 -3.15889602e-03 -2.07171286e+01] [-1.76987208e-02 -1.34676270e-04 9.99843356e-01 -2.74491556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters 0.025619142835725 Centerline is valid? [True, True] Translation: X:138.89, Y:-20.72, Z:-2.74 [[ 9.81837702e-01 1.88885660e-01 1.78026609e-02 1.38885062e+02] [-1.88858172e-01 9.81999068e-01 -3.22813615e-03 -2.07157733e+01] [-1.80919450e-02 -1.92672207e-04 9.99836309e-01 -2.74274979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39401273899998 meters 0.02633958789510341 Centerline is valid? [True, True] Translation: X:138.91, Y:-20.72, Z:-2.74 [[ 9.81603373e-01 1.90052569e-01 1.82986229e-02 1.38913997e+02] [-1.90023746e-01 9.81773891e-01 -3.31717264e-03 -2.07169445e+01] [-1.85955474e-02 -2.21025025e-04 9.99827063e-01 -2.74199606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters 0.026226142160969343 Centerline is valid? [True, True] Translation: X:138.94, Y:-20.72, Z:-2.75 [[ 9.81616140e-01 1.90095525e-01 1.71302375e-02 1.38943210e+02] [-1.90070285e-01 9.81765577e-01 -3.10461519e-03 -2.07192457e+01] [-1.74080510e-02 -2.08408753e-04 9.99848447e-01 -2.74514667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45401273899998 meters 0.026210512263008853 Centerline is valid? [True, True] Translation: X:138.97, Y:-20.72, Z:-2.75 [[ 9.81769633e-01 1.89296337e-01 1.71838438e-02 1.38971066e+02] [-1.89270830e-01 9.81919986e-01 -3.11361367e-03 -2.07231610e+01] [-1.74625553e-02 -1.95549025e-04 9.99847499e-01 -2.74694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters 0.025623133358055303 Centerline is valid? [True, True] Translation: X:139.00, Y:-20.73, Z:-2.75 [[ 9.82010661e-01 1.88061047e-01 1.69736549e-02 1.38999185e+02] [-1.88036004e-01 9.82157326e-01 -3.07389832e-03 -2.07285140e+01] [-1.72488801e-02 -1.73057327e-04 9.99851212e-01 -2.74863418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51401273899998 meters 0.023734022263806418 Centerline is valid? [True, True] Translation: X:139.03, Y:-20.74, Z:-2.75 [[ 9.82737443e-01 1.84283174e-01 1.63349223e-02 1.39027379e+02] [-1.84259470e-01 9.82873187e-01 -2.95745754e-03 -2.07369491e+01] [-1.66001668e-02 -1.03459853e-04 9.99862202e-01 -2.75000292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters 0.022837346461604468 Centerline is valid? [True, True] Translation: X:139.05, Y:-20.75, Z:-2.75 [[ 9.83474587e-01 1.80485989e-01 1.42318225e-02 1.39054520e+02] [-1.80467603e-01 9.83577555e-01 -2.57636021e-03 -2.07478409e+01] [-1.44630981e-02 -3.45980862e-05 9.99895403e-01 -2.75366172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57401273899998 meters 0.02290540624126475 Centerline is valid? [True, True] Translation: X:139.08, Y:-20.75, Z:-2.76 [[ 9.83680923e-01 1.79470373e-01 1.27368204e-02 1.39081735e+02] [-1.79455565e-01 9.83763378e-01 -2.30548566e-03 -2.07542063e+01] [-1.29437839e-02 -1.78310472e-05 9.99916226e-01 -2.75682703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters 0.0229519593094284 Centerline is valid? [True, True] Translation: X:139.11, Y:-20.76, Z:-2.76 [[ 9.83860161e-01 1.78587618e-01 1.12091958e-02 1.39109523e+02] [-1.78576104e-01 9.83924013e-01 -2.02789239e-03 -2.07601371e+01] [-1.13911534e-02 -6.53199177e-06 9.99935119e-01 -2.75994783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63401273899999 meters 0.02302170339057778 Centerline is valid? [True, True] Translation: X:139.14, Y:-20.76, Z:-2.76 [[ 9.83878496e-01 1.78475310e-01 1.13872471e-02 1.39135932e+02] [-1.78463423e-01 9.83944391e-01 -2.05984257e-03 -2.07643385e+01] [-1.15720490e-02 -5.57229238e-06 9.99933042e-01 -2.76012077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters 0.022799549600642812 Centerline is valid? [True, True] Translation: X:139.16, Y:-20.77, Z:-2.76 [[ 9.83867496e-01 1.78438472e-01 1.28243002e-02 1.39162980e+02] [-1.78423412e-01 9.83951072e-01 -2.31827620e-03 -2.07691111e+01] [-1.30321536e-02 -7.27881056e-06 9.99915078e-01 -2.75998754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694012739 meters 0.022462445611335317 Centerline is valid? [True, True] Translation: X:139.19, Y:-20.77, Z:-2.75 [[ 9.83760146e-01 1.78858149e-01 1.50245623e-02 1.39191605e+02] [-1.78837545e-01 9.83874871e-01 -2.71486229e-03 -2.07741274e+01] [-1.52678645e-02 -1.61825069e-05 9.99883439e-01 -2.75477946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters 0.022407577795742505 Centerline is valid? [True, True] Translation: X:139.22, Y:-20.78, Z:-2.75 [[ 9.83683308e-01 1.79261418e-01 1.52477473e-02 1.39218089e+02] [-1.79240254e-01 9.83801476e-01 -2.75460045e-03 -2.07779634e+01] [-1.54945498e-02 -2.33556088e-05 9.99879952e-01 -2.75448836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754012739 meters 0.022666736752598945 Centerline is valid? [True, True] Translation: X:139.25, Y:-20.78, Z:-2.76 [[ 9.83503690e-01 1.80305438e-01 1.45065992e-02 1.39247162e+02] [-1.80286416e-01 9.83610669e-01 -2.61935309e-03 -2.07807215e+01] [-1.47411293e-02 -3.91993446e-05 9.99891343e-01 -2.75657646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters 0.02293801896748446 Centerline is valid? [True, True] Translation: X:139.27, Y:-20.78, Z:-2.76 [[ 9.83431602e-01 1.80736357e-01 1.40233280e-02 1.39274634e+02] [-1.80718632e-01 9.83531579e-01 -2.53151720e-03 -2.07845337e+01] [-1.42499231e-02 -4.47026459e-05 9.99898464e-01 -2.75896753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814012739 meters 0.02313043963296249 Centerline is valid? [True, True] Translation: X:139.30, Y:-20.79, Z:-2.76 [[ 9.83314682e-01 1.81446218e-01 1.30194512e-02 1.39302605e+02] [-1.81431011e-01 9.83400868e-01 -2.34959967e-03 -2.07888922e+01] [-1.32296656e-02 -5.17363374e-05 9.99912483e-01 -2.75991625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters 0.023103615048840086 Centerline is valid? [True, True] Translation: X:139.33, Y:-20.79, Z:-2.76 [[ 9.83262721e-01 1.81668613e-01 1.38179449e-02 1.39330465e+02] [-1.81651520e-01 9.83359808e-01 -2.49278762e-03 -2.07924008e+01] [-1.40408729e-02 -5.89855512e-05 9.99901420e-01 -2.75898786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874012739 meters 0.02337367582129696 Centerline is valid? [True, True] Translation: X:139.36, Y:-20.79, Z:-2.76 [[ 9.83019834e-01 1.82940002e-01 1.43164990e-02 1.39359186e+02] [-1.82921799e-01 9.83124076e-01 -2.58195550e-03 -2.07926038e+01] [-1.45472378e-02 -8.06862883e-05 9.99894180e-01 -2.75825782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters 0.02339252670205078 Centerline is valid? [True, True] Translation: X:139.39, Y:-20.80, Z:-2.76 [[ 9.82941196e-01 1.83302540e-01 1.50593547e-02 1.39387659e+02] [-1.83282463e-01 9.83056545e-01 -2.71449436e-03 -2.07952504e+01] [-1.53017709e-02 -9.19272712e-05 9.99882917e-01 -2.75767158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934012739 meters 0.023747705367843163 Centerline is valid? [True, True] Translation: X:139.42, Y:-20.80, Z:-2.76 [[ 9.82773263e-01 1.84074622e-01 1.65301887e-02 1.39415076e+02] [-1.84050562e-01 9.82912265e-01 -2.97832044e-03 -2.07952263e+01] [-1.67959585e-02 -1.15376827e-04 9.99858931e-01 -2.75645506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters 0.024126597955410667 Centerline is valid? [True, True] Translation: X:139.44, Y:-20.80, Z:-2.76 [[ 9.82664198e-01 1.84640097e-01 1.67065717e-02 1.39443166e+02] [-1.84615628e-01 9.82806196e-01 -3.00859860e-03 -2.07984142e+01] [-1.69748302e-02 -1.27852097e-04 9.99855909e-01 -2.75658432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99401273899997 meters 0.025078332722978342 Centerline is valid? [True, True] Translation: X:139.47, Y:-20.80, Z:-2.76 [[ 9.82398382e-01 1.86156448e-01 1.54659894e-02 1.39471708e+02] [-1.86135679e-01 9.82520105e-01 -2.78436409e-03 -2.07992706e+01] [-1.57139728e-02 -1.43417645e-04 9.99876518e-01 -2.75907936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters 0.02531461789546689 Centerline is valid? [True, True] Translation: X:139.50, Y:-20.80, Z:-2.76 [[ 9.82343593e-01 1.86477786e-01 1.50698298e-02 1.39500290e+02] [-1.86458119e-01 9.82459167e-01 -2.71214089e-03 -2.08022538e+01] [-1.53112465e-02 -1.45637904e-04 9.99882765e-01 -2.76010241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05401273899997 meters 0.025529947969301536 Centerline is valid? [True, True] Translation: X:139.53, Y:-20.80, Z:-2.76 [[ 9.82168606e-01 1.87357567e-01 1.55554308e-02 1.39529014e+02] [-1.87336734e-01 9.82291767e-01 -2.79878247e-03 -2.08036943e+01] [-1.58043447e-02 -1.65227330e-04 9.99875090e-01 -2.75942524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters 0.025159020444006672 Centerline is valid? [True, True] Translation: X:139.56, Y:-20.81, Z:-2.76 [[ 9.82140325e-01 1.87450612e-01 1.62064697e-02 1.39557129e+02] [-1.87428023e-01 9.82274014e-01 -2.91520614e-03 -2.08076752e+01] [-1.64656513e-02 -1.74405076e-04 9.99864417e-01 -2.75827353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11401273899997 meters 0.026408774047656527 Centerline is valid? [True, True] Translation: X:139.59, Y:-20.81, Z:-2.76 [[ 9.82017727e-01 1.88133856e-01 1.57110125e-02 1.39585536e+02] [-1.88112733e-01 9.82143380e-01 -2.82490376e-03 -2.08062128e+01] [-1.59619269e-02 -1.81335928e-04 9.99872584e-01 -2.76084624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters 0.027070985849240264 Centerline is valid? [True, True] Translation: X:139.61, Y:-20.81, Z:-2.76 [[ 9.81908026e-01 1.88777834e-01 1.48174805e-02 1.39614485e+02] [-1.88759124e-01 9.82019805e-01 -2.66392295e-03 -2.08077143e+01] [-1.50539489e-02 -1.81207311e-04 9.99886666e-01 -2.76299799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17401273899998 meters 0.02700072575959223 Centerline is valid? [True, True] Translation: X:139.64, Y:-20.81, Z:-2.77 [[ 9.81847462e-01 1.89157986e-01 1.39577452e-02 1.39644076e+02] [-1.89141452e-01 9.81946651e-01 -2.50730895e-03 -2.08082127e+01] [-1.41800387e-02 -1.78193266e-04 9.99899442e-01 -2.76543561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters 0.02779673066339904 Centerline is valid? [True, True] Translation: X:139.67, Y:-20.81, Z:-2.77 [[ 9.81945414e-01 1.88619287e-01 1.43516407e-02 1.39672339e+02] [-1.88601794e-01 9.82050270e-01 -2.57493475e-03 -2.08093191e+01] [-1.45797150e-02 -1.78299827e-04 9.99893694e-01 -2.76691714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23401273899998 meters 0.026173220343912888 Centerline is valid? [True, True] Translation: X:139.70, Y:-20.82, Z:-2.77 [[ 9.82174447e-01 1.87382843e-01 1.48669708e-02 1.39700692e+02] [-1.87363936e-01 9.82286945e-01 -2.66699439e-03 -2.08156481e+01] [-1.51033803e-02 -1.66080423e-04 9.99885924e-01 -2.76578322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters 0.023896779061596617 Centerline is valid? [True, True] Translation: X:139.73, Y:-20.82, Z:-2.76 [[ 9.83010062e-01 1.82886748e-01 1.56094530e-02 1.39727299e+02] [-1.82865387e-01 9.83133982e-01 -2.79711202e-03 -2.08239733e+01] [-1.58577384e-02 -1.04839399e-04 9.99874253e-01 -2.76405629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29401273899998 meters 0.02248361180715465 Centerline is valid? [True, True] Translation: X:139.75, Y:-20.83, Z:-2.77 [[ 9.83828302e-01 1.78501921e-01 1.47965120e-02 1.39754784e+02] [-1.78482251e-01 9.83939563e-01 -2.65007211e-03 -2.08335511e+01] [-1.50319165e-02 -3.36988343e-05 9.99887014e-01 -2.76635852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters 0.022513085517186383 Centerline is valid? [True, True] Translation: X:139.78, Y:-20.84, Z:-2.77 [[ 9.84065845e-01 1.77262132e-01 1.38762226e-02 1.39782437e+02] [-1.77244718e-01 9.84163674e-01 -2.48466056e-03 -2.08399382e+01] [-1.40969104e-02 -1.44175622e-05 9.99900634e-01 -2.76797409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35401273899998 meters 0.022540967581130666 Centerline is valid? [True, True] Translation: X:139.81, Y:-20.85, Z:-2.77 [[ 9.84307630e-01 1.75924792e-01 1.37461501e-02 1.39808268e+02] [-1.75907574e-01 9.84403610e-01 -2.46122780e-03 -2.08462153e+01] [-1.39647508e-02 4.55338815e-06 9.99902488e-01 -2.77033180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters 0.022573340206917106 Centerline is valid? [True, True] Translation: X:139.83, Y:-20.85, Z:-2.77 [[ 9.84643121e-01 1.73974416e-01 1.45199049e-02 1.39833775e+02] [-1.73955029e-01 9.84750172e-01 -2.59734717e-03 -2.08545480e+01] [-1.47503508e-02 3.16495517e-05 9.99891207e-01 -2.76957766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414012739 meters 0.022631535005998207 Centerline is valid? [True, True] Translation: X:139.86, Y:-20.86, Z:-2.77 [[ 9.84766654e-01 1.73302241e-01 1.41763751e-02 1.39861838e+02] [-1.73283711e-01 9.84868688e-01 -2.53455359e-03 -2.08602396e+01] [-1.44011118e-02 3.94089762e-05 9.99896298e-01 -2.77016094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters 0.02271866886466277 Centerline is valid? [True, True] Translation: X:139.89, Y:-20.87, Z:-2.77 [[ 9.84814187e-01 1.73189061e-01 1.21064884e-02 1.39890125e+02] [-1.73175544e-01 9.84888597e-01 -2.16406337e-03 -2.08662882e+01] [-1.22983345e-02 3.46525921e-05 9.99924372e-01 -2.77360354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474012739 meters 0.023726806459109642 Centerline is valid? [True, True] Translation: X:139.92, Y:-20.88, Z:-2.78 [[ 9.85376214e-01 1.70011236e-01 1.13972312e-02 1.39915749e+02] [-1.69999048e-01 9.85442122e-01 -2.03688452e-03 -2.08805836e+01] [-1.15776049e-02 6.95791153e-05 9.99932975e-01 -2.77696542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters 0.023726806459109642 Centerline is valid? [True, True] Translation: X:139.94, Y:-20.89, Z:-2.78 [[ 9.85387944e-01 1.69943225e-01 1.13973373e-02 1.39942829e+02] [-1.69931039e-01 9.85453853e-01 -2.03629017e-03 -2.08852877e+01] [-1.15776037e-02 6.97744056e-05 9.99932975e-01 -2.77752377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534012739 meters 0.024363191535987365 Centerline is valid? [True, True] Translation: X:139.97, Y:-20.90, Z:-2.78 [[ 9.85693381e-01 1.68134447e-01 1.18053194e-02 1.39968725e+02] [-1.68121253e-01 9.85764069e-01 -2.10840921e-03 -2.08960853e+01] [-1.19917559e-02 9.35199230e-05 9.99928092e-01 -2.77862281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters 0.024965961189640975 Centerline is valid? [True, True] Translation: X:139.99, Y:-20.91, Z:-2.78 [[ 9.85933633e-01 1.66678885e-01 1.23701793e-02 1.39994909e+02] [-1.66664301e-01 9.86011225e-01 -2.20794303e-03 -2.09058029e+01] [-1.25651531e-02 1.15218018e-04 9.99921049e-01 -2.77760888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594012739 meters 0.024912942695046045 Centerline is valid? [True, True] Translation: X:140.02, Y:-20.92, Z:-2.78 [[ 9.86101962e-01 1.65567994e-01 1.37898188e-02 1.40021425e+02] [-1.65549773e-01 9.86198367e-01 -2.46047472e-03 -2.09158001e+01] [-1.40068727e-02 1.43377579e-04 9.99901889e-01 -2.77529111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters 0.025168007238923165 Centerline is valid? [True, True] Translation: X:140.05, Y:-20.92, Z:-2.78 [[ 9.86101848e-01 1.65591840e-01 1.35088429e-02 1.40047406e+02] [-1.65574368e-01 9.86194364e-01 -2.40946288e-03 -2.09237398e+01] [-1.37213321e-02 1.39257681e-04 9.99905848e-01 -2.77684119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654012739 meters 0.024157537293597937 Centerline is valid? [True, True] Translation: X:140.08, Y:-20.93, Z:-2.78 [[ 9.85717914e-01 1.67957926e-01 1.22609044e-02 1.40076219e+02] [-1.67943732e-01 9.85794160e-01 -2.18562663e-03 -2.09290192e+01] [-1.24538213e-02 9.52692847e-05 9.99922444e-01 -2.77955503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters 0.02357102453420545 Centerline is valid? [True, True] Translation: X:140.10, Y:-20.93, Z:-2.78 [[ 9.85381623e-01 1.69892087e-01 1.26386339e-02 1.40103914e+02] [-1.69877168e-01 9.85462670e-01 -2.25266366e-03 -2.09320387e+01] [-1.28376117e-02 7.27180398e-05 9.99917592e-01 -2.77996474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714012739 meters 0.022221632495476894 Centerline is valid? [True, True] Translation: X:140.13, Y:-20.93, Z:-2.78 [[ 9.84606582e-01 1.74165994e-01 1.46998471e-02 1.40133379e+02] [-1.74146303e-01 9.84716307e-01 -2.61893002e-03 -2.09319495e+01] [-1.49313077e-02 1.86916933e-05 9.99888522e-01 -2.77666734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters 0.022141188357358874 Centerline is valid? [True, True] Translation: X:140.16, Y:-20.94, Z:-2.78 [[ 9.84308081e-01 1.75835346e-01 1.48166505e-02 1.40160935e+02] [-1.75815540e-01 9.84419591e-01 -2.63910715e-03 -2.09356654e+01] [-1.50498493e-02 -7.30291184e-06 9.99886745e-01 -2.77679731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77401273899997 meters 0.022137133390709548 Centerline is valid? [True, True] Translation: X:140.19, Y:-20.94, Z:-2.78 [[ 9.84227992e-01 1.76341739e-01 1.41014406e-02 1.40188852e+02] [-1.76323863e-01 9.84329005e-01 -2.51083738e-03 -2.09417197e+01] [-1.43232224e-02 -1.51840463e-05 9.99897417e-01 -2.77881829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters 0.022222520201590594 Centerline is valid? [True, True] Translation: X:140.22, Y:-20.95, Z:-2.78 [[ 9.84619500e-01 1.74186230e-01 1.35498170e-02 1.40215421e+02] [-1.74169529e-01 9.84712728e-01 -2.41206791e-03 -2.09521497e+01] [-1.37628263e-02 1.50038535e-05 9.99905288e-01 -2.78088699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83401273899997 meters 0.02237196350764253 Centerline is valid? [True, True] Translation: X:140.24, Y:-20.96, Z:-2.78 [[ 9.84892226e-01 1.72624903e-01 1.37093199e-02 1.40241513e+02] [-1.72607665e-01 9.84987635e-01 -2.43975395e-03 -2.09616483e+01] [-1.39246728e-02 3.65610101e-05 9.99903046e-01 -2.78211059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters 0.022669089442742582 Centerline is valid? [True, True] Translation: X:140.27, Y:-20.97, Z:-2.78 [[ 9.85229455e-01 1.70643183e-01 1.42767360e-02 1.40268746e+02] [-1.70624302e-01 9.85332888e-01 -2.53925537e-03 -2.09708321e+01] [-1.45006441e-02 6.57910770e-05 9.99894858e-01 -2.78097970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89401273899998 meters 0.023524161334171272 Centerline is valid? [True, True] Translation: X:140.29, Y:-20.98, Z:-2.78 [[ 9.85740191e-01 1.67614224e-01 1.48911843e-02 1.40294705e+02] [-1.67593346e-01 9.85852656e-01 -2.64787856e-03 -2.09830213e+01] [-1.51243357e-02 1.14456903e-04 9.99885614e-01 -2.78180808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters 0.023856403144751397 Centerline is valid? [True, True] Translation: X:140.32, Y:-20.99, Z:-2.78 [[ 9.85901546e-01 1.66661398e-01 1.49037151e-02 1.40322766e+02] [-1.66640393e-01 9.86014180e-01 -2.64899260e-03 -2.09905611e+01] [-1.51367593e-02 1.28084951e-04 9.99885424e-01 -2.78249895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95401273899998 meters 0.024249815856162014 Centerline is valid? [True, True] Translation: X:140.35, Y:-21.00, Z:-2.78 [[ 9.86002465e-01 1.66022516e-01 1.53513521e-02 1.40349827e+02] [-1.66000164e-01 9.86121952e-01 -2.72784416e-03 -2.09999391e+01] [-1.55911888e-02 1.41334093e-04 9.99878440e-01 -2.78239717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters 0.024262933157571966 Centerline is valid? [True, True] Translation: X:140.38, Y:-21.01, Z:-2.78 [[ 9.86015317e-01 1.65949448e-01 1.53158360e-02 1.40377405e+02] [-1.65927205e-01 9.86134251e-01 -2.72061457e-03 -2.10059154e+01] [-1.55549549e-02 1.41253779e-04 9.99879004e-01 -2.78334646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01401273899998 meters 0.023853273188810496 Centerline is valid? [True, True] Translation: X:140.41, Y:-21.01, Z:-2.79 [[ 9.85853633e-01 1.66984026e-01 1.44550721e-02 1.40406201e+02] [-1.66964337e-01 9.85959594e-01 -2.56686831e-03 -2.10100118e+01] [-1.46807431e-02 1.17074910e-04 9.99892225e-01 -2.78547571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters 0.023462083281649632 Centerline is valid? [True, True] Translation: X:140.43, Y:-21.01, Z:-2.79 [[ 9.85756863e-01 1.67548449e-01 1.45232475e-02 1.40434189e+02] [-1.67528645e-01 9.85863837e-01 -2.57829401e-03 -2.10145038e+01] [-1.47499337e-02 1.08511045e-04 9.99891208e-01 -2.78618205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07401273899998 meters 0.023000520311922228 Centerline is valid? [True, True] Translation: X:140.46, Y:-21.02, Z:-2.79 [[ 9.85545059e-01 1.68811648e-01 1.42675677e-02 1.40462944e+02] [-1.68792677e-01 9.85648325e-01 -2.53224934e-03 -2.10187346e+01] [-1.44902774e-02 8.73848797e-05 9.99895007e-01 -2.78705754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters 0.023011315796875438 Centerline is valid? [True, True] Translation: X:140.49, Y:-21.02, Z:-2.79 [[ 9.85453046e-01 1.69372739e-01 1.39702898e-02 1.40490522e+02] [-1.69354615e-01 9.85552063e-01 -2.47891212e-03 -2.10227779e+01] [-1.41883081e-02 7.69184607e-05 9.99899338e-01 -2.78847354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13401273899999 meters 0.022545383617244844 Centerline is valid? [True, True] Translation: X:140.52, Y:-21.03, Z:-2.79 [[ 9.85340659e-01 1.70017669e-01 1.40633658e-02 1.40519285e+02] [-1.69999381e-01 9.85441012e-01 -2.49451565e-03 -2.10260801e+01] [-1.42827291e-02 6.71842220e-05 9.99897994e-01 -2.78906969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters 0.02279067025526836 Centerline is valid? [True, True] Translation: X:140.55, Y:-21.03, Z:-2.79 [[ 9.85407925e-01 1.69632353e-01 1.40030897e-02 1.40546132e+02] [-1.69614192e-01 9.85507412e-01 -2.48322212e-03 -2.10321240e+01] [-1.42213835e-02 7.18640198e-05 9.99898868e-01 -2.79071598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194012739 meters 0.023411280829790188 Centerline is valid? [True, True] Translation: X:140.57, Y:-21.04, Z:-2.79 [[ 9.85795344e-01 1.67377921e-01 1.38625874e-02 1.40574235e+02] [-1.67359912e-01 9.85892804e-01 -2.45741436e-03 -2.10407821e+01] [-1.40783421e-02 1.02466231e-04 9.99900890e-01 -2.79071223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters 0.024174212444356795 Centerline is valid? [True, True] Translation: X:140.60, Y:-21.05, Z:-2.79 [[ 9.86012132e-01 1.66119561e-01 1.35781656e-02 1.40600727e+02] [-1.66102171e-01 9.86105612e-01 -2.40643629e-03 -2.10486236e+01] [-1.37892614e-02 1.17412598e-04 9.99904917e-01 -2.79276293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254012739 meters 0.02474823409152192 Centerline is valid? [True, True] Translation: X:140.63, Y:-21.06, Z:-2.80 [[ 9.86227097e-01 1.64977908e-01 1.17644893e-02 1.40627773e+02] [-1.64964779e-01 9.86297256e-01 -2.08446131e-03 -2.10576370e+01] [-1.19471735e-02 1.15025849e-04 9.99928623e-01 -2.79725497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters 0.02522826290062338 Centerline is valid? [True, True] Translation: X:140.65, Y:-21.07, Z:-2.80 [[ 9.86260620e-01 1.64794598e-01 1.15208858e-02 1.40654225e+02] [-1.64782002e-01 9.86327901e-01 -2.04062980e-03 -2.10658133e+01] [-1.16996559e-02 1.14158181e-04 9.99931550e-01 -2.79919391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314012739 meters 0.024417184825827644 Centerline is valid? [True, True] Translation: X:140.68, Y:-21.07, Z:-2.80 [[ 9.86023517e-01 1.66071161e-01 1.33414502e-02 1.40681364e+02] [-1.66054401e-01 9.86113764e-01 -2.36209544e-03 -2.10739459e+01] [-1.35484636e-02 1.13675130e-04 9.99908209e-01 -2.79703562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters 0.023490751598976695 Centerline is valid? [True, True] Translation: X:140.71, Y:-21.08, Z:-2.80 [[ 9.85822073e-01 1.67236250e-01 1.36702636e-02 1.40710434e+02] [-1.67218778e-01 9.85916846e-01 -2.41942915e-03 -2.10777814e+01] [-1.38823594e-02 9.92018911e-05 9.99903630e-01 -2.79557360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374012739 meters 0.022247869785484913 Centerline is valid? [True, True] Translation: X:140.74, Y:-21.08, Z:-2.80 [[ 9.85076874e-01 1.71559605e-01 1.38150278e-02 1.40738410e+02] [-1.71542195e-01 9.85173741e-01 -2.44438254e-03 -2.10783437e+01] [-1.40295599e-02 3.80445184e-05 9.99901580e-01 -2.79691878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters 0.021829074940567194 Centerline is valid? [True, True] Translation: X:140.77, Y:-21.08, Z:-2.80 [[ 9.84531446e-01 1.74616845e-01 1.43801477e-02 1.40767331e+02] [-1.74598318e-01 9.84636459e-01 -2.54364881e-03 -2.10790322e+01] [-1.46033816e-02 -6.44735389e-06 9.99893365e-01 -2.79535083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434012739 meters 0.023593726513018748 Centerline is valid? [True, True] Translation: X:140.80, Y:-21.07, Z:-2.79 [[ 9.83145517e-01 1.82065590e-01 1.66437121e-02 1.40797078e+02] [-1.82041851e-01 9.83286379e-01 -2.94312725e-03 -2.10740665e+01] [-1.69013776e-02 -1.36329807e-04 9.99857152e-01 -2.79183096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters 0.025651248994919003 Centerline is valid? [True, True] Translation: X:140.83, Y:-21.07, Z:-2.79 [[ 9.82474243e-01 1.85619587e-01 1.70214657e-02 1.40825389e+02] [-1.85595305e-01 9.82621661e-01 -3.00911121e-03 -2.10728572e+01] [-1.72842109e-02 -2.02729862e-04 9.99850596e-01 -2.79200405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49401273899997 meters 0.030572407208373772 Centerline is valid? [True, True] Translation: X:140.86, Y:-21.07, Z:-2.80 [[ 9.81221349e-01 1.92204157e-01 1.61934305e-02 1.40856418e+02] [-1.92183093e-01 9.81354915e-01 -2.86166135e-03 -2.10666118e+01] [-1.64415258e-02 -3.04180347e-04 9.99864783e-01 -2.79515039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters 0.032408957061244414 Centerline is valid? [True, True] Translation: X:140.89, Y:-21.07, Z:-2.80 [[ 9.80787472e-01 1.94425873e-01 1.59534990e-02 1.40885874e+02] [-1.94405727e-01 9.80917156e-01 -2.81898481e-03 -2.10667840e+01] [-1.61971445e-02 -3.36626594e-04 9.99868761e-01 -2.79631586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55401273899997 meters 0.03366709378548558 Centerline is valid? [True, True] Translation: X:140.91, Y:-21.07, Z:-2.80 [[ 9.80610781e-01 1.95338830e-01 1.56600498e-02 1.40914164e+02] [-1.95319546e-01 9.80735755e-01 -2.76644072e-03 -2.10668702e+01] [-1.58987641e-02 -3.45912220e-04 9.99873547e-01 -2.79778757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters 0.032539309446039666 Centerline is valid? [True, True] Translation: X:140.94, Y:-21.07, Z:-2.80 [[ 9.80942175e-01 1.93683619e-01 1.54630188e-02 1.40941107e+02] [-1.93664626e-01 9.81063992e-01 -2.73071739e-03 -2.10729720e+01] [-1.56991062e-02 -3.15963903e-04 9.99876712e-01 -2.79827140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61401273899997 meters 0.02873727091906864 Centerline is valid? [True, True] Translation: X:140.97, Y:-21.08, Z:-2.80 [[ 9.81822723e-01 1.89204656e-01 1.50246077e-02 1.40968860e+02] [-1.89186216e-01 9.81937646e-01 -2.65225543e-03 -2.10848392e+01] [-1.52550470e-02 -2.38404025e-04 9.99883607e-01 -2.80005628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters 0.028329746005639794 Centerline is valid? [True, True] Translation: X:141.00, Y:-21.09, Z:-2.80 [[ 9.82203661e-01 1.87258157e-01 1.45034770e-02 1.40995909e+02] [-1.87240764e-01 9.82310716e-01 -2.56012892e-03 -2.10910321e+01] [-1.47263259e-02 -2.01074113e-04 9.99891542e-01 -2.80231063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67401273899998 meters 0.026593849423375927 Centerline is valid? [True, True] Translation: X:141.02, Y:-21.10, Z:-2.80 [[ 9.82476073e-01 1.85847469e-01 1.41945484e-02 1.41023663e+02] [-1.85830674e-01 9.82578591e-01 -2.50471346e-03 -2.11003599e+01] [-1.44127540e-02 -1.76961449e-04 9.99896115e-01 -2.80280655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters 0.025763250237287205 Centerline is valid? [True, True] Translation: X:141.05, Y:-21.11, Z:-2.80 [[ 9.82702122e-01 1.84610844e-01 1.46756778e-02 1.41051581e+02] [-1.84592764e-01 9.82811685e-01 -2.58888654e-03 -2.11066747e+01] [-1.49013641e-02 -1.64919623e-04 9.99888955e-01 -2.80262130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73401273899998 meters 0.026221148062381745 Centerline is valid? [True, True] Translation: X:141.08, Y:-21.11, Z:-2.80 [[ 9.82574058e-01 1.85192384e-01 1.58745801e-02 1.41079005e+02] [-1.85171316e-01 9.82702267e-01 -2.79970369e-03 -2.11080655e+01] [-1.61184697e-02 -1.88600681e-04 9.99870071e-01 -2.80108742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters 0.026785369607748275 Centerline is valid? [True, True] Translation: X:141.11, Y:-21.11, Z:-2.80 [[ 9.82436432e-01 1.85891682e-01 1.62154076e-02 1.41107412e+02] [-1.85869819e-01 9.82570222e-01 -2.85832403e-03 -2.11112154e+01] [-1.64641153e-02 -2.05833220e-04 9.99864436e-01 -2.80090822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79401273899998 meters 0.028060519644004685 Centerline is valid? [True, True] Translation: X:141.14, Y:-21.11, Z:-2.80 [[ 9.82243086e-01 1.87044852e-01 1.45857110e-02 1.41135018e+02] [-1.87027298e-01 9.82351354e-01 -2.57053254e-03 -2.11132305e+01] [-1.48090978e-02 -2.03038307e-04 9.99890319e-01 -2.80466354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters 0.02805815443799998 Centerline is valid? [True, True] Translation: X:141.16, Y:-21.12, Z:-2.81 [[ 9.82179497e-01 1.87504684e-01 1.28618994e-02 1.41163646e+02] [-1.87491083e-01 9.82263691e-01 -2.26605122e-03 -2.11175046e+01] [-1.30586720e-02 -1.85822395e-04 9.99914715e-01 -2.80816180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85401273899998 meters 0.028216351204686144 Centerline is valid? [True, True] Translation: X:141.19, Y:-21.12, Z:-2.81 [[ 9.82086405e-01 1.88095519e-01 1.12413459e-02 1.41192269e+02] [-1.88085173e-01 9.82150725e-01 -1.98013458e-03 -2.11202825e+01] [-1.14131505e-02 -1.69667232e-04 9.99934853e-01 -2.81215972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters 0.02816394929418841 Centerline is valid? [True, True] Translation: X:141.22, Y:-21.12, Z:-2.81 [[ 9.82068109e-01 1.88168495e-01 1.16123406e-02 1.41219604e+02] [-1.88157464e-01 9.82136745e-01 -2.04509180e-03 -2.11243339e+01] [-1.17897282e-02 -1.76529123e-04 9.99930483e-01 -2.81174847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914012739 meters 0.029881173118920253 Centerline is valid? [True, True] Translation: X:141.25, Y:-21.12, Z:-2.81 [[ 9.81645307e-01 1.90211286e-01 1.38621189e-02 1.41247545e+02] [-1.90195790e-01 9.81743148e-01 -2.43993854e-03 -2.11249798e+01] [-1.40731440e-02 -2.41362422e-04 9.99900939e-01 -2.80822985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters 0.02998297500033812 Centerline is valid? [True, True] Translation: X:141.28, Y:-21.13, Z:-2.81 [[ 9.81465192e-01 1.91041952e-01 1.51343841e-02 1.41276240e+02] [-1.91023595e-01 9.81581833e-01 -2.66279633e-03 -2.11286959e+01] [-1.53643423e-02 -2.77582558e-04 9.99881923e-01 -2.80644200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974012739 meters 0.033341692385301214 Centerline is valid? [True, True] Translation: X:141.30, Y:-21.12, Z:-2.81 [[ 9.81188922e-01 1.92396158e-01 1.58750479e-02 1.41304975e+02] [-1.92376148e-01 9.81317288e-01 -2.79246167e-03 -2.11247914e+01] [-1.61157179e-02 -3.14048120e-04 9.99870084e-01 -2.80667673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters 0.03211341663677953 Centerline is valid? [True, True] Translation: X:141.33, Y:-21.13, Z:-2.81 [[ 9.81020472e-01 1.93291215e-01 1.54058222e-02 1.41332764e+02] [-1.93272504e-01 9.81141378e-01 -2.70845042e-03 -2.11299669e+01] [-1.56388093e-02 -3.20476518e-04 9.99877655e-01 -2.80777439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034012739 meters 0.03271651172353447 Centerline is valid? [True, True] Translation: X:141.36, Y:-21.13, Z:-2.81 [[ 9.80898216e-01 1.93964254e-01 1.47158875e-02 1.41361157e+02] [-1.93947270e-01 9.81008546e-01 -2.58632032e-03 -2.11319906e+01] [-1.49380651e-02 -3.17189221e-04 9.99888371e-01 -2.81007130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters 0.03460666820009996 Centerline is valid? [True, True] Translation: X:141.39, Y:-21.13, Z:-2.81 [[ 9.80733671e-01 1.94930630e-01 1.27873432e-02 1.41389655e+02] [-1.94917896e-01 9.80816989e-01 -2.24675952e-03 -2.11312431e+01] [-1.29800057e-02 -2.89009313e-04 9.99915714e-01 -2.81406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094012739 meters 0.033892465226645144 Centerline is valid? [True, True] Translation: X:141.42, Y:-21.14, Z:-2.81 [[ 9.80758685e-01 1.94801543e-01 1.28359086e-02 1.41417593e+02] [-1.94788710e-01 9.80842635e-01 -2.25460067e-03 -2.11351171e+01] [-1.30292061e-02 -2.89070901e-04 9.99915075e-01 -2.81415793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters 0.03264822412395662 Centerline is valid? [True, True] Translation: X:141.45, Y:-21.14, Z:-2.81 [[ 9.80872093e-01 1.94132086e-01 1.42362269e-02 1.41447152e+02] [-1.94116245e-01 9.80975349e-01 -2.49948859e-03 -2.11368195e+01] [-1.44506186e-02 -3.11804302e-04 9.99895536e-01 -2.81213412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154012739 meters 0.031998077763649824 Centerline is valid? [True, True] Translation: X:141.48, Y:-21.14, Z:-2.81 [[ 9.81096554e-01 1.92963692e-01 1.46480423e-02 1.41475235e+02] [-1.92946815e-01 9.81205850e-01 -2.57015658e-03 -2.11406309e+01] [-1.48686917e-02 -3.04721338e-04 9.99889408e-01 -2.81211277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters 0.029787128066899853 Centerline is valid? [True, True] Translation: X:141.50, Y:-21.15, Z:-2.81 [[ 9.81585042e-01 1.90445507e-01 1.48766147e-02 1.41503226e+02] [-1.90427822e-01 9.81697731e-01 -2.60952432e-03 -2.11462945e+01] [-1.51013111e-02 -2.71451293e-04 9.99885932e-01 -2.81219028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214012739 meters 0.02848520151830449 Centerline is valid? [True, True] Translation: X:141.53, Y:-21.15, Z:-2.81 [[ 9.81849260e-01 1.89103007e-01 1.45630796e-02 1.41531358e+02] [-1.89085921e-01 9.81957225e-01 -2.55384076e-03 -2.11516579e+01] [-1.47832602e-02 -2.46186661e-04 9.99890691e-01 -2.81318619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters 0.02701147755468042 Centerline is valid? [True, True] Translation: X:141.56, Y:-21.16, Z:-2.81 [[ 9.82289030e-01 1.86774186e-01 1.49554049e-02 1.41559108e+02] [-1.86755909e-01 9.82402848e-01 -2.62193414e-03 -2.11558396e+01] [-1.51819420e-02 -2.17513089e-04 9.99884724e-01 -2.81312838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27401273899997 meters 0.026906665599586214 Centerline is valid? [True, True] Translation: X:141.59, Y:-21.16, Z:-2.81 [[ 9.82401479e-01 1.86176902e-01 1.50164951e-02 1.41586428e+02] [-1.86158419e-01 9.82516217e-01 -2.63171191e-03 -2.11597168e+01] [-1.52439139e-02 -2.10049310e-04 9.99883783e-01 -2.81400861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters 0.025830589524502998 Centerline is valid? [True, True] Translation: X:141.61, Y:-21.16, Z:-2.82 [[ 9.82667197e-01 1.84783809e-01 1.48366066e-02 1.41614600e+02] [-1.84765622e-01 9.82779176e-01 -2.59923296e-03 -2.11637554e+01] [-1.50614041e-02 -1.87113869e-04 9.99886553e-01 -2.81546626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33401273899997 meters 0.025371663524902634 Centerline is valid? [True, True] Translation: X:141.64, Y:-21.17, Z:-2.82 [[ 9.82757976e-01 1.84267014e-01 1.52456180e-02 1.41643011e+02] [-1.84247760e-01 9.82876205e-01 -2.67013231e-03 -2.11685391e+01] [-1.54765725e-02 -1.84877145e-04 9.99880214e-01 -2.81564497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters 0.02517763955940978 Centerline is valid? [True, True] Translation: X:141.67, Y:-21.17, Z:-2.81 [[ 9.82827354e-01 1.83850374e-01 1.57934067e-02 1.41670198e+02] [-1.83829669e-01 9.82954224e-01 -2.76532297e-03 -2.11729545e+01] [-1.60326015e-02 -1.85461675e-04 9.99871452e-01 -2.81399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39401273899998 meters 0.025259997478285137 Centerline is valid? [True, True] Translation: X:141.70, Y:-21.18, Z:-2.81 [[ 9.82690347e-01 1.84538537e-01 1.62853036e-02 1.41698417e+02] [-1.84516634e-01 9.82825258e-01 -2.85038773e-03 -2.11771801e+01] [-1.65316141e-02 -2.03860910e-04 9.99863323e-01 -2.81382161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters 0.025259997478285137 Centerline is valid? [True, True] Translation: X:141.73, Y:-21.18, Z:-2.81 [[ 9.82703547e-01 1.84468217e-01 1.62854242e-02 1.41725513e+02] [-1.84446316e-01 9.82838459e-01 -2.84969892e-03 -2.11817876e+01] [-1.65316201e-02 -2.03377253e-04 9.99863323e-01 -2.81437994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45401273899998 meters 0.026033883675591746 Centerline is valid? [True, True] Translation: X:141.75, Y:-21.18, Z:-2.81 [[ 9.82482255e-01 1.85538230e-01 1.74408497e-02 1.41754040e+02] [-1.85513306e-01 9.82637018e-01 -3.05045746e-03 -2.11825441e+01] [-1.77040010e-02 -2.38489349e-04 9.99843243e-01 -2.81364805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters 0.025844700424894007 Centerline is valid? [True, True] Translation: X:141.78, Y:-21.19, Z:-2.81 [[ 9.82600768e-01 1.84904883e-01 1.74904058e-02 1.41781015e+02] [-1.84879735e-01 9.82756395e-01 -3.05805042e-03 -2.11880395e+01] [-1.77542566e-02 -2.28778895e-04 9.99842355e-01 -2.81447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51401273899998 meters 0.025412794974336128 Centerline is valid? [True, True] Translation: X:141.81, Y:-21.19, Z:-2.82 [[ 9.82807801e-01 1.83886950e-01 1.65654731e-02 1.41807930e+02] [-1.83864263e-01 9.82947379e-01 -2.89539491e-03 -2.11938542e+01] [-1.68154137e-02 -2.00181807e-04 9.99858591e-01 -2.81695102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters 0.024749885894774965 Centerline is valid? [True, True] Translation: X:141.84, Y:-21.20, Z:-2.82 [[ 9.83056092e-01 1.82681335e-01 1.51079647e-02 1.41835701e+02] [-1.82662335e-01 9.83172163e-01 -2.63978348e-03 -2.11999307e+01] [-1.53359695e-02 -1.64600878e-04 9.99882384e-01 -2.82010136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57401273899998 meters 0.023783302680728848 Centerline is valid? [True, True] Translation: X:141.86, Y:-21.21, Z:-2.82 [[ 9.83430644e-01 1.80713984e-01 1.43744530e-02 1.41864125e+02] [-1.80696584e-01 9.83535683e-01 -2.51097610e-03 -2.12065526e+01] [-1.45915560e-02 -1.28043709e-04 9.99893529e-01 -2.82186752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters 0.023830501439620424 Centerline is valid? [True, True] Translation: X:141.89, Y:-21.21, Z:-2.82 [[ 9.83453772e-01 1.80546365e-01 1.48891836e-02 1.41892009e+02] [-1.80527687e-01 9.83566466e-01 -2.60020610e-03 -2.12105544e+01] [-1.51139595e-02 -1.30727387e-04 9.99885769e-01 -2.82160747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63401273899999 meters 0.024803033606340095 Centerline is valid? [True, True] Translation: X:141.92, Y:-21.21, Z:-2.82 [[ 9.83249164e-01 1.81639889e-01 1.51007088e-02 1.41920778e+02] [-1.81620820e-01 9.83365104e-01 -2.63623211e-03 -2.12098280e+01] [-1.53283550e-02 -1.50530098e-04 9.99882503e-01 -2.82171245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters 0.0254838446596235 Centerline is valid? [True, True] Translation: X:141.95, Y:-21.21, Z:-2.82 [[ 9.82984136e-01 1.83053542e-01 1.52836127e-02 1.41949662e+02] [-1.83034193e-01 9.83102930e-01 -2.66719683e-03 -2.12102191e+01] [-1.55136042e-02 -1.75611543e-04 9.99879641e-01 -2.82123085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694012739 meters 0.026774836808834582 Centerline is valid? [True, True] Translation: X:141.98, Y:-21.21, Z:-2.82 [[ 9.82375259e-01 1.86219111e-01 1.61645622e-02 1.41979487e+02] [-1.86197909e-01 9.82508211e-01 -2.82013605e-03 -2.12058562e+01] [-1.64069783e-02 -2.39375803e-04 9.99865368e-01 -2.81958797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters 0.028843388372430015 Centerline is valid? [True, True] Translation: X:142.01, Y:-21.20, Z:-2.82 [[ 9.82090855e-01 1.87667069e-01 1.66920375e-02 1.42007617e+02] [-1.87644684e-01 9.82232659e-01 -2.91135244e-03 -2.12042768e+01] [-1.69418294e-02 -2.72959483e-04 9.99856440e-01 -2.81958937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754012739 meters 0.028237870286676243 Centerline is valid? [True, True] Translation: X:142.04, Y:-21.21, Z:-2.82 [[ 9.82240042e-01 1.86761791e-01 1.80148209e-02 1.42035585e+02] [-1.86735587e-01 9.82405189e-01 -3.14086470e-03 -2.12070638e+01] [-1.82844471e-02 -2.78925093e-04 9.99832787e-01 -2.81762466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters 0.025632384929535658 Centerline is valid? [True, True] Translation: X:142.06, Y:-21.22, Z:-2.82 [[ 9.82664298e-01 1.84386675e-01 1.92984666e-02 1.42063072e+02] [-1.84356168e-01 9.82853748e-01 -3.36344815e-03 -2.12166308e+01] [-1.95877452e-02 -2.52650934e-04 9.99808110e-01 -2.81622744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814012739 meters 0.023892505203396273 Centerline is valid? [True, True] Translation: X:142.09, Y:-21.23, Z:-2.82 [[ 9.83217811e-01 1.81348885e-01 1.98826235e-02 1.42090232e+02] [-1.81315903e-01 9.83418803e-01 -3.46426993e-03 -2.12258042e+01] [-2.01811873e-02 -1.98903931e-04 9.99796319e-01 -2.81603619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters 0.021332407994348882 Centerline is valid? [True, True] Translation: X:142.12, Y:-21.24, Z:-2.82 [[ 9.84399925e-01 1.74879597e-01 1.93368779e-02 1.42116373e+02] [-1.74847169e-01 9.84589824e-01 -3.36828361e-03 -2.12417413e+01] [-1.96279373e-02 -6.52602229e-05 9.99807351e-01 -2.81844458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874012739 meters 0.02127902723451114 Centerline is valid? [True, True] Translation: X:142.14, Y:-21.25, Z:-2.82 [[ 9.85186375e-01 1.70645350e-01 1.69697243e-02 1.42141574e+02] [-1.70619757e-01 9.85332515e-01 -2.95536110e-03 -2.12546507e+01] [-1.72251398e-02 1.62112381e-05 9.99851636e-01 -2.82277688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters 0.021405518931183674 Centerline is valid? [True, True] Translation: X:142.17, Y:-21.26, Z:-2.83 [[ 9.85247617e-01 1.70368470e-01 1.61776662e-02 1.42168726e+02] [-1.70345196e-01 9.85380426e-01 -2.81606146e-03 -2.12606143e+01] [-1.64209237e-02 1.87301184e-05 9.99865167e-01 -2.82522662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934012739 meters 0.021221630203919088 Centerline is valid? [True, True] Translation: X:142.20, Y:-21.26, Z:-2.82 [[ 9.84945530e-01 1.72006736e-01 1.72042363e-02 1.42197709e+02] [-1.71980684e-01 9.85095773e-01 -2.99363389e-03 -2.12641940e+01] [-1.74627457e-02 -1.02300051e-05 9.99847515e-01 -2.82365724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters 0.02125926757524552 Centerline is valid? [True, True] Translation: X:142.23, Y:-21.27, Z:-2.82 [[ 9.84755713e-01 1.72996131e-01 1.81252352e-02 1.42225198e+02] [-1.72967397e-01 9.84922503e-01 -3.15303387e-03 -2.12692103e+01] [-1.83974147e-02 -3.01066489e-05 9.99830753e-01 -2.82228036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99401273899997 meters 0.02169315038056393 Centerline is valid? [True, True] Translation: X:142.25, Y:-21.28, Z:-2.82 [[ 9.84419897e-01 1.74879872e-01 1.82892625e-02 1.42251886e+02] [-1.74850966e-01 9.84589775e-01 -3.18025089e-03 -2.12752285e+01] [-1.85635827e-02 -6.71929536e-05 9.99827680e-01 -2.82339654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters 0.02185681121649242 Centerline is valid? [True, True] Translation: X:142.28, Y:-21.28, Z:-2.83 [[ 9.84287319e-01 1.75698948e-01 1.75599871e-02 1.42280095e+02] [-1.75672449e-01 9.84443941e-01 -3.05243480e-03 -2.12806640e+01] [-1.78231325e-02 -8.03330763e-05 9.99841152e-01 -2.82531325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05401273899997 meters 0.022939611460522955 Centerline is valid? [True, True] Translation: X:142.31, Y:-21.28, Z:-2.83 [[ 9.83971146e-01 1.77553003e-01 1.66046586e-02 1.42307391e+02] [-1.77529583e-01 9.84111233e-01 -2.88579197e-03 -2.12840353e+01] [-1.68532121e-02 -1.08282092e-04 9.99857969e-01 -2.82885195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters 0.023045346124355468 Centerline is valid? [True, True] Translation: X:142.34, Y:-21.29, Z:-2.83 [[ 9.83767384e-01 1.78718353e-01 1.61704858e-02 1.42335182e+02] [-1.78696323e-01 9.83900266e-01 -2.80885968e-03 -2.12906328e+01] [-1.64121401e-02 -1.26341825e-04 9.99865304e-01 -2.82919270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11401273899997 meters 0.024539907430065462 Centerline is valid? [True, True] Translation: X:142.36, Y:-21.29, Z:-2.83 [[ 9.83310194e-01 1.81308349e-01 1.51110886e-02 1.42362518e+02] [-1.81289424e-01 9.83426285e-01 -2.62444815e-03 -2.12931606e+01] [-1.53364761e-02 -1.58833926e-04 9.99882377e-01 -2.83159885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters 0.027689554522417628 Centerline is valid? [True, True] Translation: X:142.39, Y:-21.29, Z:-2.83 [[ 9.82925965e-01 1.83391532e-01 1.49697786e-02 1.42391382e+02] [-1.83373225e-01 9.83039933e-01 -2.59823572e-03 -2.12898494e+01] [-1.51923846e-02 -1.91183230e-04 9.99884571e-01 -2.83318308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17401273899998 meters 0.02942512434998351 Centerline is valid? [True, True] Translation: X:142.42, Y:-21.29, Z:-2.83 [[ 9.82461580e-01 1.85772194e-01 1.60603753e-02 1.42420144e+02] [-1.85751468e-01 9.82592811e-01 -2.78580900e-03 -2.12903580e+01] [-1.62983352e-02 -2.46287983e-04 9.99867143e-01 -2.83183230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters 0.031617878415475725 Centerline is valid? [True, True] Translation: X:142.45, Y:-21.29, Z:-2.83 [[ 9.81644116e-01 1.90015414e-01 1.64003793e-02 1.42450217e+02] [-1.89994411e-01 9.81781054e-01 -2.84373450e-03 -2.12914193e+01] [-1.66419351e-02 -3.24445173e-04 9.99861461e-01 -2.83103606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23401273899998 meters 0.03366653242156709 Centerline is valid? [True, True] Translation: X:142.48, Y:-21.29, Z:-2.83 [[ 9.81414585e-01 1.91306751e-01 1.50711565e-02 1.42478538e+02] [-1.91289169e-01 9.81530247e-01 -2.61311106e-03 -2.12910429e+01] [-1.52927018e-02 -3.18403693e-04 9.99883009e-01 -2.83479370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters 0.03270826923193059 Centerline is valid? [True, True] Translation: X:142.51, Y:-21.30, Z:-2.84 [[ 9.81658907e-01 1.90099549e-01 1.44205447e-02 1.42507213e+02] [-1.90083325e-01 9.81764778e-01 -2.50008236e-03 -2.12960574e+01] [-1.46328474e-02 -2.86876977e-04 9.99892893e-01 -2.83634471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29401273899998 meters 0.028194859626701138 Centerline is valid? [True, True] Translation: X:142.53, Y:-21.31, Z:-2.84 [[ 9.82575110e-01 1.85243994e-01 1.51926193e-02 1.42534777e+02] [-1.85225456e-01 9.82692531e-01 -2.63061014e-03 -2.13095174e+01] [-1.54169783e-02 -2.29287797e-04 9.99881125e-01 -2.83576239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters 0.025746733912562395 Centerline is valid? [True, True] Translation: X:142.56, Y:-21.32, Z:-2.84 [[ 9.83142183e-01 1.82144431e-01 1.59641762e-02 1.42562238e+02] [-1.82123559e-01 9.83271768e-01 -2.76390300e-03 -2.13199857e+01] [-1.62005533e-02 -1.90142954e-04 9.99868744e-01 -2.83568748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35401273899998 meters 0.022359374575042463 Centerline is valid? [True, True] Translation: X:142.59, Y:-21.33, Z:-2.84 [[ 9.84346172e-01 1.75481305e-01 1.63989251e-02 1.42588534e+02] [-1.75458369e-01 9.84482760e-01 -2.83836292e-03 -2.13341578e+01] [-1.66425386e-02 -8.33969653e-05 9.99861500e-01 -2.83558992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters 0.02154471317773643 Centerline is valid? [True, True] Translation: X:142.62, Y:-21.34, Z:-2.84 [[ 9.84873952e-01 1.72448931e-01 1.68720326e-02 1.42616094e+02] [-1.72424221e-01 9.85018459e-01 -2.91942034e-03 -2.13449133e+01] [-1.71227145e-02 -3.38860341e-05 9.99853395e-01 -2.83524111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414012739 meters 0.02153647137695385 Centerline is valid? [True, True] Translation: X:142.64, Y:-21.36, Z:-2.83 [[ 9.85549913e-01 1.68483867e-01 1.74515309e-02 1.42642489e+02] [-1.68456822e-01 9.85704411e-01 -3.01891302e-03 -2.13586069e+01] [-1.77106891e-02 3.54600209e-05 9.99843153e-01 -2.83437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters 0.021711423494721705 Centerline is valid? [True, True] Translation: X:142.67, Y:-21.37, Z:-2.83 [[ 9.85724101e-01 1.67455634e-01 1.75101937e-02 1.42669002e+02] [-1.67428267e-01 9.85879611e-01 -3.02776015e-03 -2.13659452e+01] [-1.77699585e-02 5.28347509e-05 9.99842100e-01 -2.83496064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474012739 meters 0.02192798844332332 Centerline is valid? [True, True] Translation: X:142.70, Y:-21.37, Z:-2.84 [[ 9.85851536e-01 1.66810440e-01 1.64628703e-02 1.42696687e+02] [-1.66786176e-01 9.85988982e-01 -2.84570621e-03 -2.13744700e+01] [-1.67069023e-02 5.96646460e-05 9.99860428e-01 -2.83720289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters 0.021923575094162748 Centerline is valid? [True, True] Translation: X:142.72, Y:-21.38, Z:-2.84 [[ 9.85808268e-01 1.67091814e-01 1.61983066e-02 1.42723157e+02] [-1.67068371e-01 9.85941339e-01 -2.79936087e-03 -2.13810579e+01] [-1.64383303e-02 5.34084034e-05 9.99864880e-01 -2.83879649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534012739 meters 0.021905765638842202 Centerline is valid? [True, True] Translation: X:142.75, Y:-21.39, Z:-2.84 [[ 9.85795731e-01 1.67094924e-01 1.69133752e-02 1.42750935e+02] [-1.67069393e-01 9.85940811e-01 -2.92137640e-03 -2.13870653e+01] [-1.71637341e-02 5.41730484e-05 9.99852691e-01 -2.83745501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters 0.021737592757905676 Centerline is valid? [True, True] Translation: X:142.78, Y:-21.39, Z:-2.83 [[ 9.85685661e-01 1.67549636e-01 1.87322485e-02 1.42778133e+02] [-1.67518419e-01 9.85863640e-01 -3.23456360e-03 -2.13930789e+01] [-1.90093926e-02 5.02663094e-05 9.99819304e-01 -2.83384703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594012739 meters 0.021794891561146258 Centerline is valid? [True, True] Translation: X:142.81, Y:-21.40, Z:-2.83 [[ 9.85824916e-01 1.66727954e-01 1.87356394e-02 1.42806655e+02] [-1.66696598e-01 9.86002934e-01 -3.23403101e-03 -2.13997233e+01] [-1.90125988e-02 6.50209925e-05 9.99819242e-01 -2.83410696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters 0.022205461616166485 Centerline is valid? [True, True] Translation: X:142.83, Y:-21.41, Z:-2.83 [[ 9.86063867e-01 1.65276527e-01 1.90189595e-02 1.42834475e+02] [-1.65243964e-01 9.86247262e-01 -3.28199373e-03 -2.14080608e+01] [-1.92998332e-02 9.34871857e-05 9.99813737e-01 -2.83499222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654012739 meters 0.022876757570126513 Centerline is valid? [True, True] Translation: X:142.86, Y:-21.42, Z:-2.84 [[ 9.86488207e-01 1.62673584e-01 1.94504927e-02 1.42862069e+02] [-1.62639039e-01 9.86679930e-01 -3.35549521e-03 -2.14183515e+01] [-1.97372612e-02 1.46747010e-04 9.99805191e-01 -2.83598477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters 0.023177548914125757 Centerline is valid? [True, True] Translation: X:142.89, Y:-21.42, Z:-2.84 [[ 9.86596915e-01 1.62084092e-01 1.88487513e-02 1.42889134e+02] [-1.62051561e-01 9.86776937e-01 -3.25079622e-03 -2.14247420e+01] [-1.91264155e-02 1.52755940e-04 9.99817062e-01 -2.83768138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714012739 meters 0.023873666483637628 Centerline is valid? [True, True] Translation: X:142.92, Y:-21.43, Z:-2.84 [[ 9.86618662e-01 1.62062475e-01 1.78709039e-02 1.42915862e+02] [-1.62033248e-01 9.86780489e-01 -3.08112112e-03 -2.14319452e+01] [-1.81339934e-02 1.44211009e-04 9.99835555e-01 -2.84078246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters 0.027028696731985664 Centerline is valid? [True, True] Translation: X:142.94, Y:-21.44, Z:-2.83 [[ 9.86675996e-01 1.61805882e-01 1.70098426e-02 1.42944377e+02] [-1.61779384e-01 9.86822596e-01 -2.93156497e-03 -2.14350427e+01] [-1.72600415e-02 1.40662934e-04 9.99851024e-01 -2.83375573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77401273899997 meters 0.023548819974262548 Centerline is valid? [True, True] Translation: X:142.97, Y:-21.44, Z:-2.84 [[ 9.86707566e-01 1.61561404e-01 1.74954735e-02 1.42971258e+02] [-1.61533348e-01 9.86862650e-01 -3.01441623e-03 -2.14422626e+01] [-1.77526427e-02 1.48244880e-04 9.99842398e-01 -2.84072732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters 0.023524256378686603 Centerline is valid? [True, True] Translation: X:143.00, Y:-21.45, Z:-2.84 [[ 9.86677343e-01 1.61718582e-01 1.77460262e-02 1.42998573e+02] [-1.61689761e-01 9.86836906e-01 -3.05650580e-03 -2.14481592e+01] [-1.80067273e-02 1.46434293e-04 9.99837855e-01 -2.84100916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83401273899997 meters 0.023406495513660388 Centerline is valid? [True, True] Translation: X:143.02, Y:-21.46, Z:-2.84 [[ 9.86583001e-01 1.62245168e-01 1.81793072e-02 1.43024872e+02] [-1.62215035e-01 9.86750468e-01 -3.12990464e-03 -2.14572208e+01] [-1.84462518e-02 1.38953764e-04 9.99829844e-01 -2.84137076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters 0.023444669971596954 Centerline is valid? [True, True] Translation: X:143.05, Y:-21.46, Z:-2.84 [[ 9.86574623e-01 1.62223968e-01 1.88121573e-02 1.43053103e+02] [-1.62191714e-01 9.86753953e-01 -3.23793903e-03 -2.14645789e+01] [-1.90882419e-02 1.43292451e-04 9.99817793e-01 -2.84129541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89401273899998 meters 0.023340120723029233 Centerline is valid? [True, True] Translation: X:143.08, Y:-21.47, Z:-2.84 [[ 9.86501983e-01 1.62641196e-01 1.90178662e-02 1.43080759e+02] [-1.62608328e-01 9.86685270e-01 -3.27243349e-03 -2.14721025e+01] [-1.92968809e-02 1.35798701e-04 9.99813789e-01 -2.84031075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters 0.023144974925901993 Centerline is valid? [True, True] Translation: X:143.11, Y:-21.48, Z:-2.84 [[ 9.86439822e-01 1.63092678e-01 1.83645117e-02 1.43108300e+02] [-1.63062123e-01 9.86610746e-01 -3.15917822e-03 -2.14780516e+01] [-1.86338635e-02 1.21782931e-04 9.99826367e-01 -2.84252242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95401273899998 meters 0.022766291755011814 Centerline is valid? [True, True] Translation: X:143.14, Y:-21.48, Z:-2.85 [[ 9.86122444e-01 1.65248032e-01 1.59879382e-02 1.43135817e+02] [-1.65225171e-01 9.86252038e-01 -2.74954251e-03 -2.14826755e+01] [-1.62224932e-02 6.97757545e-05 9.99868404e-01 -2.84794541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters 0.022462982060015978 Centerline is valid? [True, True] Translation: X:143.16, Y:-21.49, Z:-2.85 [[ 9.85933622e-01 1.66374589e-01 1.59495990e-02 1.43164930e+02] [-1.66352001e-01 9.86062622e-01 -2.74191361e-03 -2.14864746e+01] [-1.61834881e-02 5.00971132e-05 9.99869038e-01 -2.84807538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01401273899998 meters 0.02202290118357741 Centerline is valid? [True, True] Translation: X:143.19, Y:-21.49, Z:-2.85 [[ 9.85387328e-01 1.69460408e-01 1.71750945e-02 1.43192954e+02] [-1.69434694e-01 9.85536996e-01 -2.95201545e-03 -2.14882322e+01] [-1.74269407e-02 -1.17825496e-06 9.99848139e-01 -2.84603191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters 0.022202679472320148 Centerline is valid? [True, True] Translation: X:143.22, Y:-21.49, Z:-2.85 [[ 9.85073923e-01 1.71235693e-01 1.75414775e-02 1.43220805e+02] [-1.71209172e-01 9.85230093e-01 -3.01387818e-03 -2.14904627e+01] [-1.77984750e-02 -3.43690176e-05 9.99841594e-01 -2.84508299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07401273899998 meters 0.02248719976165845 Centerline is valid? [True, True] Translation: X:143.25, Y:-21.49, Z:-2.85 [[ 9.84758624e-01 1.73035644e-01 1.75817746e-02 1.43249832e+02] [-1.73009308e-01 9.84915561e-01 -3.01958037e-03 -2.14934972e+01] [-1.78390585e-02 -6.82528591e-05 9.99840869e-01 -2.84536557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters 0.024325830601759267 Centerline is valid? [True, True] Translation: X:143.28, Y:-21.49, Z:-2.85 [[ 9.84156478e-01 1.76456097e-01 1.72995243e-02 1.43277903e+02] [-1.76431142e-01 9.84308503e-01 -2.97034802e-03 -2.14910383e+01] [-1.75522049e-02 -1.28887585e-04 9.99845940e-01 -2.84778745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13401273899999 meters 0.02547658458662955 Centerline is valid? [True, True] Translation: X:143.31, Y:-21.49, Z:-2.85 [[ 9.83866908e-01 1.78070039e-01 1.72327649e-02 1.43307263e+02] [-1.78045547e-01 9.84017803e-01 -2.95756898e-03 -2.14929325e+01] [-1.74840019e-02 -1.58362801e-04 9.99847131e-01 -2.84852762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters 0.026930183241276346 Centerline is valid? [True, True] Translation: X:143.34, Y:-21.49, Z:-2.85 [[ 9.83447626e-01 1.80358666e-01 1.73642659e-02 1.43336846e+02] [-1.80334169e-01 9.83600890e-01 -2.97936792e-03 -2.14932017e+01] [-1.76168622e-02 -2.01318150e-04 9.99844791e-01 -2.84842381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194012739 meters 0.027382334269902272 Centerline is valid? [True, True] Translation: X:143.37, Y:-21.50, Z:-2.85 [[ 9.83329404e-01 1.80973139e-01 1.76637161e-02 1.43365966e+02] [-1.80947902e-01 9.83488015e-01 -3.02993804e-03 -2.14953071e+01] [-1.79203905e-02 -2.16785203e-04 9.99839393e-01 -2.84784835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters 0.025420320715456798 Centerline is valid? [True, True] Translation: X:143.39, Y:-21.50, Z:-2.85 [[ 9.83623640e-01 1.79325030e-01 1.80850258e-02 1.43394050e+02] [-1.79298313e-01 9.83789864e-01 -3.10137368e-03 -2.15013815e+01] [-1.83480190e-02 -1.92030148e-04 9.99831642e-01 -2.84815455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254012739 meters 0.02475548150394369 Centerline is valid? [True, True] Translation: X:143.42, Y:-21.51, Z:-2.85 [[ 9.83970735e-01 1.77359838e-01 1.85763537e-02 1.43421832e+02] [-1.77331315e-01 9.84146057e-01 -3.18471787e-03 -2.15063196e+01] [-1.88466863e-02 -1.60500043e-04 9.99822373e-01 -2.84854519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters 0.023288025743419663 Centerline is valid? [True, True] Translation: X:143.45, Y:-21.51, Z:-2.85 [[ 9.84536805e-01 1.74108741e-01 1.93242436e-02 1.43449045e+02] [-1.74077272e-01 9.84726427e-01 -3.31171533e-03 -2.15141986e+01] [-1.96056920e-02 -1.03405993e-04 9.99807785e-01 -2.84762430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314012739 meters 0.023288025743419663 Centerline is valid? [True, True] Translation: X:143.48, Y:-21.52, Z:-2.85 [[ 9.84548187e-01 1.74044345e-01 1.93244243e-02 1.43476160e+02] [-1.74012885e-01 9.84737811e-01 -3.31066109e-03 -2.15187021e+01] [-1.96056931e-02 -1.03193434e-04 9.99807785e-01 -2.84818262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters 0.022830992313861802 Centerline is valid? [True, True] Translation: X:143.50, Y:-21.53, Z:-2.85 [[ 9.84733911e-01 1.73029640e-01 1.89701803e-02 1.43504742e+02] [-1.72999160e-01 9.84916614e-01 -3.24869954e-03 -2.15250387e+01] [-1.92461670e-02 -8.27206357e-05 9.99814772e-01 -2.84874728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374012739 meters 0.022798376774897558 Centerline is valid? [True, True] Translation: X:143.53, Y:-21.53, Z:-2.85 [[ 9.84924872e-01 1.72072175e-01 1.77246286e-02 1.43533139e+02] [-1.72045425e-01 9.85084343e-01 -3.03460742e-03 -2.15298821e+01] [-1.79824257e-02 -6.05809392e-05 9.99838301e-01 -2.85234462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters 0.02306467853302902 Centerline is valid? [True, True] Translation: X:143.56, Y:-21.53, Z:-2.85 [[ 9.84849877e-01 1.72555748e-01 1.71823939e-02 1.43561242e+02] [-1.72530696e-01 9.84999751e-01 -2.94102186e-03 -2.15323141e+01] [-1.74321439e-02 -6.80253532e-05 9.99848046e-01 -2.85436933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434012739 meters 0.023601791421159077 Centerline is valid? [True, True] Translation: X:143.59, Y:-21.53, Z:-2.85 [[ 9.84549060e-01 1.74157986e-01 1.82248156e-02 1.43589220e+02] [-1.74130101e-01 9.84717719e-01 -3.11813765e-03 -2.15314288e+01] [-1.84893474e-02 -1.03529483e-04 9.99829052e-01 -2.85281672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters 0.023851290658388005 Centerline is valid? [True, True] Translation: X:143.62, Y:-21.53, Z:-2.85 [[ 9.84464491e-01 1.74620795e-01 1.83642220e-02 1.43616752e+02] [-1.74592583e-01 9.84635752e-01 -3.14089018e-03 -2.15349771e+01] [-1.86305343e-02 -1.14162098e-04 9.99826430e-01 -2.85277754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49401273899997 meters 0.023807322950516834 Centerline is valid? [True, True] Translation: X:143.64, Y:-21.54, Z:-2.85 [[ 9.84532228e-01 1.74226448e-01 1.84780396e-02 1.43644313e+02] [-1.74197835e-01 9.84705607e-01 -3.15928506e-03 -2.15401694e+01] [-1.87458602e-02 -1.08416523e-04 9.99824275e-01 -2.85235452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters 0.023777085362592393 Centerline is valid? [True, True] Translation: X:143.67, Y:-21.54, Z:-2.85 [[ 9.84632977e-01 1.73702142e-01 1.80406771e-02 1.43671218e+02] [-1.73674802e-01 9.84798231e-01 -3.08328151e-03 -2.15448849e+01] [-1.83019995e-02 -9.73103843e-05 9.99832500e-01 -2.85288840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55401273899997 meters 0.023705049607105143 Centerline is valid? [True, True] Translation: X:143.70, Y:-21.55, Z:-2.85 [[ 9.84695983e-01 1.73292396e-01 1.85355414e-02 1.43698717e+02] [-1.73263493e-01 9.84870416e-01 -3.16626894e-03 -2.15494344e+01] [-1.88037967e-02 -9.37203316e-05 9.99823189e-01 -2.85427586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters 0.023716746703317644 Centerline is valid? [True, True] Translation: X:143.73, Y:-21.55, Z:-2.85 [[ 9.84639885e-01 1.73588019e-01 1.87482176e-02 1.43726188e+02] [-1.73558528e-01 9.84818353e-01 -3.20128432e-03 -2.15538632e+01] [-1.90192934e-02 -1.01800826e-04 9.99819112e-01 -2.85451569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61401273899997 meters 0.024014863922697992 Centerline is valid? [True, True] Translation: X:143.76, Y:-21.56, Z:-2.85 [[ 9.84514828e-01 1.74301577e-01 1.86952838e-02 1.43755375e+02] [-1.74272406e-01 9.84692311e-01 -3.19091944e-03 -2.15566879e+01] [-1.89652845e-02 -1.16564583e-04 9.99820136e-01 -2.85457561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters 0.02418429410770423 Centerline is valid? [True, True] Translation: X:143.78, Y:-21.56, Z:-2.86 [[ 9.84441814e-01 1.74807865e-01 1.77911571e-02 1.43784171e+02] [-1.74781544e-01 9.84602557e-01 -3.03581733e-03 -2.15592706e+01] [-1.80479036e-02 -1.20980394e-04 9.99837116e-01 -2.85656339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67401273899998 meters 0.025041254301569497 Centerline is valid? [True, True] Translation: X:143.81, Y:-21.56, Z:-2.86 [[ 9.84229088e-01 1.76143537e-01 1.63265964e-02 1.43813025e+02] [-1.76121566e-01 9.84364484e-01 -2.78525044e-03 -2.15578731e+01] [-1.65619255e-02 -1.34141225e-04 9.99862833e-01 -2.85929163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters 0.02540351882925829 Centerline is valid? [True, True] Translation: X:143.84, Y:-21.56, Z:-2.86 [[ 9.84225375e-01 1.76115878e-01 1.68407122e-02 1.43839690e+02] [-1.76092514e-01 9.84369432e-01 -2.87199280e-03 -2.15599257e+01] [-1.70832858e-02 -1.38835156e-04 9.99854060e-01 -2.85899020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73401273899998 meters 0.024521868371322163 Centerline is valid? [True, True] Translation: X:143.87, Y:-21.57, Z:-2.85 [[ 9.84274365e-01 1.75521853e-01 1.99011159e-02 1.43867898e+02] [-1.75489143e-01 9.84475523e-01 -3.39196155e-03 -2.15654031e+01] [-2.01875249e-02 -1.53808970e-04 9.99796199e-01 -2.85359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters 0.024231969408529293 Centerline is valid? [True, True] Translation: X:143.90, Y:-21.57, Z:-2.85 [[ 9.84385071e-01 1.74807188e-01 2.06997145e-02 1.43895939e+02] [-1.74771663e-01 9.84602674e-01 -3.52704646e-03 -2.15706697e+01] [-2.09975473e-02 -1.45751651e-04 9.99779517e-01 -2.85222359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79401273899998 meters 0.023968009939137783 Centerline is valid? [True, True] Translation: X:143.92, Y:-21.57, Z:-2.85 [[ 9.84795845e-01 1.72496988e-01 2.05409887e-02 1.43923897e+02] [-1.72461524e-01 9.85010040e-01 -3.49899579e-03 -2.15743454e+01] [-2.08366464e-02 -9.67336927e-05 9.99782889e-01 -2.85331077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters 0.023602590430753516 Centerline is valid? [True, True] Translation: X:143.95, Y:-21.58, Z:-2.85 [[ 9.85071279e-01 1.70991308e-01 1.99135106e-02 1.43951364e+02] [-1.70957694e-01 9.85272535e-01 -3.39093314e-03 -2.15801778e+01] [-2.02000552e-02 -6.40570017e-05 9.99795956e-01 -2.85482519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85401273899998 meters 0.023315950519786265 Centerline is valid? [True, True] Translation: X:143.98, Y:-21.59, Z:-2.86 [[ 9.85401062e-01 1.69144767e-01 1.93595983e-02 1.43978770e+02] [-1.69112662e-01 9.85591217e-01 -3.29555825e-03 -2.15869782e+01] [-1.96380765e-02 -2.65065884e-05 9.99807154e-01 -2.85701246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters 0.023452901138554184 Centerline is valid? [True, True] Translation: X:144.01, Y:-21.60, Z:-2.86 [[ 9.86097480e-01 1.65137808e-01 1.84733597e-02 1.44005909e+02] [-1.65107889e-01 9.86270501e-01 -3.14370411e-03 -2.15970059e+01] [-1.87388742e-02 4.99012669e-05 9.99824411e-01 -2.85882800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914012739 meters 0.0246652093324083 Centerline is valid? [True, True] Translation: X:144.03, Y:-21.61, Z:-2.86 [[ 9.86711133e-01 1.61565910e-01 1.72509974e-02 1.44031947e+02] [-1.61539287e-01 9.86861918e-01 -2.93494372e-03 -2.16064352e+01] [-1.74985392e-02 1.09227829e-04 9.99846883e-01 -2.86256604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters 0.02524656968740418 Centerline is valid? [True, True] Translation: X:144.06, Y:-21.61, Z:-2.86 [[ 9.86846998e-01 1.60782551e-01 1.67920710e-02 1.44059438e+02] [-1.60757224e-01 9.86989846e-01 -2.85623103e-03 -2.16134013e+01] [-1.70328357e-02 1.19216290e-04 9.99854924e-01 -2.86409561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974012739 meters 0.025352858001326743 Centerline is valid? [True, True] Translation: X:144.09, Y:-21.62, Z:-2.86 [[ 9.86990222e-01 1.59865806e-01 1.71238591e-02 1.44087843e+02] [-1.59839347e-01 9.87138747e-01 -2.91164757e-03 -2.16195361e+01] [-1.73690977e-02 1.36701225e-04 9.99849136e-01 -2.86428343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters 0.025849746695709927 Centerline is valid? [True, True] Translation: X:144.12, Y:-21.63, Z:-2.86 [[ 9.87349596e-01 1.57572833e-01 1.76515683e-02 1.44115466e+02] [-1.57544366e-01 9.87507352e-01 -3.00058389e-03 -2.16266036e+01] [-1.79038639e-02 1.81720168e-04 9.99839696e-01 -2.86231032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034012739 meters 0.03509468602864329 Centerline is valid? [True, True] Translation: X:144.14, Y:-21.63, Z:-2.85 [[ 9.87681796e-01 1.55512418e-01 1.73365872e-02 1.44143824e+02] [-1.55484659e-01 9.87833914e-01 -2.94598355e-03 -2.16332969e+01] [-1.75838058e-02 2.14120968e-04 9.99845370e-01 -2.85276074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters 0.027634640166654664 Centerline is valid? [True, True] Translation: X:144.17, Y:-21.64, Z:-2.87 [[ 9.87845989e-01 1.54487023e-01 1.71482497e-02 1.44170728e+02] [-1.54459724e-01 9.87994791e-01 -2.91309680e-03 -2.16434788e+01] [-1.73924170e-02 2.28977068e-04 9.99848714e-01 -2.86515289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094012739 meters 0.02820029554010634 Centerline is valid? [True, True] Translation: X:144.20, Y:-21.65, Z:-2.87 [[ 9.87934682e-01 1.53979485e-01 1.65946469e-02 1.44197716e+02] [-1.53953859e-01 9.88074018e-01 -2.81845667e-03 -2.16538925e+01] [-1.68307240e-02 2.29641157e-04 9.99858327e-01 -2.86609922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters 0.028050539926094572 Centerline is valid? [True, True] Translation: X:144.22, Y:-21.66, Z:-2.87 [[ 9.87811165e-01 1.54793659e-01 1.63715038e-02 1.44224822e+02] [-1.54768838e-01 9.87946799e-01 -2.78006708e-03 -2.16588222e+01] [-1.66045115e-02 2.12382689e-04 9.99862113e-01 -2.86641955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154012739 meters 0.027403633124388514 Centerline is valid? [True, True] Translation: X:144.25, Y:-21.66, Z:-2.87 [[ 9.87608481e-01 1.56067919e-01 1.65012969e-02 1.44252115e+02] [-1.56042897e-01 9.87746308e-01 -2.80111171e-03 -2.16623071e+01] [-1.67362588e-02 1.91491501e-04 9.99859921e-01 -2.86627799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters 0.02542827506800888 Centerline is valid? [True, True] Translation: X:144.28, Y:-21.66, Z:-2.87 [[ 9.87015030e-01 1.59726383e-01 1.69945309e-02 1.44280611e+02] [-1.59700403e-01 9.87161317e-01 -2.88373579e-03 -2.16645024e+01] [-1.72369522e-02 1.32257124e-04 9.99851424e-01 -2.86598742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214012739 meters 0.025374192207900326 Centerline is valid? [True, True] Translation: X:144.31, Y:-21.67, Z:-2.87 [[ 9.86805043e-01 1.60960847e-01 1.75332082e-02 1.44307694e+02] [-1.60933403e-01 9.86960786e-01 -2.97432807e-03 -2.16707967e+01] [-1.77833393e-02 1.13403068e-04 9.99841857e-01 -2.86668045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters 0.024615067020454028 Centerline is valid? [True, True] Translation: X:144.34, Y:-21.67, Z:-2.87 [[ 9.86671019e-01 1.61790366e-01 1.74406678e-02 1.44336623e+02] [-1.61763360e-01 9.86825146e-01 -2.95760502e-03 -2.16743629e+01] [-1.76894016e-02 9.69221309e-05 9.99843526e-01 -2.86672540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27401273899997 meters 0.024831599259568918 Centerline is valid? [True, True] Translation: X:144.36, Y:-21.68, Z:-2.87 [[ 9.86672977e-01 1.61837975e-01 1.68791420e-02 1.44362930e+02] [-1.61812699e-01 9.86817339e-01 -2.86164788e-03 -2.16832997e+01] [-1.71197533e-02 9.22511018e-05 9.99853442e-01 -2.86899385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters 0.025026094515473666 Centerline is valid? [True, True] Translation: X:144.39, Y:-21.69, Z:-2.87 [[ 9.86691893e-01 1.61784574e-01 1.62745351e-02 1.44389592e+02] [-1.61761085e-01 9.86826096e-01 -2.75822036e-03 -2.16911517e+01] [-1.65063734e-02 8.89272180e-05 9.99863757e-01 -2.87076651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33401273899997 meters 0.024639375066211274 Centerline is valid? [True, True] Translation: X:144.42, Y:-21.70, Z:-2.87 [[ 9.86678345e-01 1.61865365e-01 1.62925403e-02 1.44418257e+02] [-1.61841851e-01 9.86812848e-01 -2.76029993e-03 -2.16963376e+01] [-1.65244850e-02 8.67132966e-05 9.99863458e-01 -2.86891896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters 0.02478678710570012 Centerline is valid? [True, True] Translation: X:144.45, Y:-21.70, Z:-2.87 [[ 9.86665995e-01 1.61971793e-01 1.59797364e-02 1.44445902e+02] [-1.61949199e-01 9.86795385e-01 -2.70658637e-03 -2.17024091e+01] [-1.62071207e-02 8.25912384e-05 9.99868653e-01 -2.87008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39401273899998 meters 0.024877695420070622 Centerline is valid? [True, True] Translation: X:144.47, Y:-21.71, Z:-2.87 [[ 9.86628724e-01 1.62227102e-01 1.56884984e-02 1.44473883e+02] [-1.62205373e-01 9.86753445e-01 -2.65621164e-03 -2.17087189e+01] [-1.59115894e-02 7.59359594e-05 9.99873400e-01 -2.87093900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters 0.02486877053693907 Centerline is valid? [True, True] Translation: X:144.50, Y:-21.71, Z:-2.87 [[ 9.86429451e-01 1.63433283e-01 1.57003546e-02 1.44501181e+02] [-1.63411681e-01 9.86554387e-01 -2.65776191e-03 -2.17148722e+01] [-1.59236204e-02 5.60732891e-05 9.99873210e-01 -2.87105656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45401273899998 meters 0.02424606900130462 Centerline is valid? [True, True] Translation: X:144.53, Y:-21.72, Z:-2.87 [[ 9.86018227e-01 1.65768901e-01 1.69920109e-02 1.44530332e+02] [-1.65743964e-01 9.86164627e-01 -2.87527031e-03 -2.17158471e+01] [-1.72335505e-02 1.87456947e-05 9.99851491e-01 -2.86931832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters 0.031861945555601165 Centerline is valid? [True, True] Translation: X:144.56, Y:-21.72, Z:-2.86 [[ 9.85711773e-01 1.67575085e-01 1.70555445e-02 1.44559136e+02] [-1.67550246e-01 9.85859316e-01 -2.88521505e-03 -2.17181022e+01] [-1.72978576e-02 -1.36702445e-05 9.99850381e-01 -2.86064161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51401273899998 meters 0.02501692094550788 Centerline is valid? [True, True] Translation: X:144.59, Y:-21.72, Z:-2.87 [[ 9.84954103e-01 1.71997284e-01 1.68032488e-02 1.44586863e+02] [-1.71973831e-01 9.85097420e-01 -2.84176946e-03 -2.17189307e+01] [-1.70416137e-02 -9.07065700e-05 9.99854777e-01 -2.87020832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters 0.02610632248552917 Centerline is valid? [True, True] Translation: X:144.62, Y:-21.72, Z:-2.87 [[ 9.84453358e-01 1.74850360e-01 1.67014154e-02 1.44616398e+02] [-1.74827618e-01 9.84595009e-01 -2.82349537e-03 -2.17190546e+01] [-1.69378194e-02 -1.40269179e-04 9.99856535e-01 -2.87031019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57401273899998 meters 0.02885523969483363 Centerline is valid? [True, True] Translation: X:144.65, Y:-21.72, Z:-2.87 [[ 9.83832898e-01 1.78282889e-01 1.69717393e-02 1.44645475e+02] [-1.78259928e-01 9.83979253e-01 -2.86839960e-03 -2.17160984e+01] [-1.72112259e-02 -2.03355136e-04 9.99851855e-01 -2.87117126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters 0.030744104140968016 Centerline is valid? [True, True] Translation: X:144.67, Y:-21.72, Z:-2.87 [[ 9.82729589e-01 1.84199547e-01 1.76941230e-02 1.44674875e+02] [-1.84175568e-01 9.82888816e-01 -2.98935979e-03 -2.17161937e+01] [-1.79419943e-02 -3.21092834e-04 9.99838978e-01 -2.87017082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63401273899999 meters 0.035178016300373365 Centerline is valid? [True, True] Translation: X:144.70, Y:-21.71, Z:-2.87 [[ 9.81958657e-01 1.88365117e-01 1.66066160e-02 1.44704078e+02] [-1.88344604e-01 9.82098999e-01 -2.80481917e-03 -2.17118402e+01] [-1.68376710e-02 -3.73550042e-04 9.99858167e-01 -2.87262427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters 0.037444069638856194 Centerline is valid? [True, True] Translation: X:144.73, Y:-21.71, Z:-2.87 [[ 9.81583642e-01 1.90322745e-01 1.64561763e-02 1.44732179e+02] [-1.90302892e-01 9.81721493e-01 -2.77851957e-03 -2.17105047e+01] [-1.66841974e-02 -4.04308579e-04 9.99860727e-01 -2.87292464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694012739 meters 0.04225750726987808 Centerline is valid? [True, True] Translation: X:144.76, Y:-21.71, Z:-2.87 [[ 9.81140406e-01 1.92579693e-01 1.66302366e-02 1.44762481e+02] [-1.92559759e-01 9.81281234e-01 -2.80685977e-03 -2.17051419e+01] [-1.68594833e-02 -4.48390813e-04 9.99857768e-01 -2.87279137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters 0.04485123808540591 Centerline is valid? [True, True] Translation: X:144.79, Y:-21.70, Z:-2.87 [[ 9.80026226e-01 1.98126181e-01 1.71642848e-02 1.44793963e+02] [-1.98105812e-01 9.80176362e-01 -2.89600700e-03 -2.17005667e+01] [-1.73978010e-02 -5.62181749e-04 9.99848489e-01 -2.87189496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754012739 meters 0.051449852185088615 Centerline is valid? [True, True] Translation: X:144.82, Y:-21.69, Z:-2.87 [[ 9.79515518e-01 2.00654919e-01 1.69397019e-02 1.44824061e+02] [-2.00635456e-01 9.79661801e-01 -2.85816487e-03 -2.16924880e+01] [-1.71686837e-02 -5.99087959e-04 9.99852428e-01 -2.87440314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters 0.05012553861368238 Centerline is valid? [True, True] Translation: X:144.85, Y:-21.69, Z:-2.88 [[ 9.78966201e-01 2.03422095e-01 1.56406117e-02 1.44854569e+02] [-2.03405871e-01 9.79090952e-01 -2.63799172e-03 -2.16911537e+01] [-1.58502072e-02 -5.98887530e-04 9.99874198e-01 -2.87744529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814012739 meters 0.050066839228332466 Centerline is valid? [True, True] Translation: X:144.88, Y:-21.69, Z:-2.88 [[ 9.78990504e-01 2.03332963e-01 1.52741536e-02 1.44881698e+02] [-2.03317477e-01 9.79109476e-01 -2.57634616e-03 -2.16913371e+01] [-1.54789246e-02 -5.83283941e-04 9.99880024e-01 -2.87865218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters 0.04972439280815495 Centerline is valid? [True, True] Translation: X:144.91, Y:-21.69, Z:-2.88 [[ 9.79576475e-01 2.00440719e-01 1.59200557e-02 1.44911056e+02] [-2.00423540e-01 9.79705671e-01 -2.68364932e-03 -2.16905955e+01] [-1.61348815e-02 -5.61914188e-04 9.99869666e-01 -2.87772849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874012739 meters 0.045020498447465966 Centerline is valid? [True, True] Translation: X:144.94, Y:-21.70, Z:-2.88 [[ 9.80056802e-01 1.98031221e-01 1.65015160e-02 1.44939411e+02] [-1.98012422e-01 9.80195563e-01 -2.78172244e-03 -2.16992858e+01] [-1.67255807e-02 -5.41259162e-04 9.99859971e-01 -2.87689502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters 0.04069900261127449 Centerline is valid? [True, True] Translation: X:144.97, Y:-21.70, Z:-2.88 [[ 9.81102544e-01 1.92705724e-01 1.73868151e-02 1.44968549e+02] [-1.92684075e-01 9.81256478e-01 -2.92773990e-03 -2.17040229e+01] [-1.76251172e-02 -4.77749330e-04 9.99844551e-01 -2.87529136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934012739 meters 0.039176778069051864 Centerline is valid? [True, True] Translation: X:145.00, Y:-21.71, Z:-2.87 [[ 9.81659417e-01 1.89862138e-01 1.72382337e-02 1.44996969e+02] [-1.89840423e-01 9.81810669e-01 -2.90251861e-03 -2.17106445e+01] [-1.74757601e-02 -4.23228834e-04 9.99847198e-01 -2.87191140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters 0.03586621465775014 Centerline is valid? [True, True] Translation: X:145.02, Y:-21.72, Z:-2.88 [[ 9.82229468e-01 1.86926585e-01 1.68441229e-02 1.45024133e+02] [-1.86905432e-01 9.82373819e-01 -2.83541039e-03 -2.17163355e+01] [-1.70772390e-02 -3.63234444e-04 9.99854107e-01 -2.87750818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99401273899997 meters 0.03159968868101456 Centerline is valid? [True, True] Translation: X:145.05, Y:-21.73, Z:-2.88 [[ 9.83253174e-01 1.81578655e-01 1.55687938e-02 1.45052624e+02] [-1.81559929e-01 9.83376392e-01 -2.61972720e-03 -2.17261602e+01] [-1.57856709e-02 -2.50814021e-04 9.99875367e-01 -2.88047276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters 0.02986816584284525 Centerline is valid? [True, True] Translation: X:145.08, Y:-21.73, Z:-2.88 [[ 9.83876317e-01 1.78306279e-01 1.39378466e-02 1.45081274e+02] [-1.78290945e-01 9.83975020e-01 -2.34515474e-03 -2.17314472e+01] [-1.41326487e-02 -1.77649627e-04 9.99900113e-01 -2.88359357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05401273899997 meters 0.029210057858578886 Centerline is valid? [True, True] Translation: X:145.11, Y:-21.74, Z:-2.88 [[ 9.84002527e-01 1.77657013e-01 1.33046039e-02 1.45109957e+02] [-1.77642989e-01 9.84092455e-01 -2.23803467e-03 -2.17359789e+01] [-1.34905628e-02 -1.61237821e-04 9.99908985e-01 -2.88457258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters 0.02858391178082732 Centerline is valid? [True, True] Translation: X:145.14, Y:-21.74, Z:-2.88 [[ 9.84128048e-01 1.76945288e-01 1.35036908e-02 1.45138858e+02] [-1.76930783e-01 9.84220677e-01 -2.27087562e-03 -2.17385795e+01] [-1.36924324e-02 -1.54386195e-04 9.99906242e-01 -2.88478269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11401273899997 meters 0.027977324958338202 Centerline is valid? [True, True] Translation: X:145.17, Y:-21.74, Z:-2.88 [[ 9.84193292e-01 1.76515809e-01 1.43433992e-02 1.45167924e+02] [-1.76499409e-01 9.84297792e-01 -2.41135052e-03 -2.17421019e+01] [-1.45438177e-02 -1.58366466e-04 9.99894221e-01 -2.88370228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters 0.027795933955994685 Centerline is valid? [True, True] Translation: X:145.20, Y:-21.74, Z:-2.88 [[ 9.84372583e-01 1.75406773e-01 1.55910648e-02 1.45195748e+02] [-1.75387269e-01 9.84496033e-01 -2.62031619e-03 -2.17429971e+01] [-1.58089626e-02 -1.55106847e-04 9.99875019e-01 -2.88269146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17401273899998 meters 0.027491134002407002 Centerline is valid? [True, True] Translation: X:145.22, Y:-21.75, Z:-2.88 [[ 9.84460297e-01 1.74950659e-01 1.51720393e-02 1.45223320e+02] [-1.74932147e-01 9.84577192e-01 -2.54906079e-03 -2.17470381e+01] [-1.53840037e-02 -1.44628261e-04 9.99881649e-01 -2.88422222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters 0.026446883797826115 Centerline is valid? [True, True] Translation: X:145.25, Y:-21.75, Z:-2.89 [[ 9.84964890e-01 1.72125129e-01 1.47344826e-02 1.45251549e+02] [-1.72107370e-01 9.85075089e-01 -2.47442992e-03 -2.17528247e+01] [-1.49404833e-02 -9.86864563e-05 9.99888380e-01 -2.88603774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23401273899998 meters 0.026446883797826115 Centerline is valid? [True, True] Translation: X:145.28, Y:-21.76, Z:-2.89 [[ 9.84976918e-01 1.72056279e-01 1.47345774e-02 1.45278674e+02] [-1.72038521e-01 9.85087117e-01 -2.47386551e-03 -2.17572430e+01] [-1.49404864e-02 -9.82144724e-05 9.99888380e-01 -2.88659604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters 0.025498965704542163 Centerline is valid? [True, True] Translation: X:145.31, Y:-21.76, Z:-2.89 [[ 9.85382151e-01 1.69622988e-01 1.58132294e-02 1.45306356e+02] [-1.69602243e-01 9.85509025e-01 -2.65362531e-03 -2.17646249e+01] [-1.60341961e-02 -6.71241621e-05 9.99871442e-01 -2.88512568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29401273899998 meters 0.024955217562169292 Centerline is valid? [True, True] Translation: X:145.33, Y:-21.78, Z:-2.88 [[ 9.86394899e-01 1.63376709e-01 1.82524975e-02 1.45333801e+02] [-1.63348018e-01 9.86563759e-01 -3.06192720e-03 -2.17782557e+01] [-1.85075001e-02 3.87600873e-05 9.99828721e-01 -2.88013732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters 0.025426292956881247 Centerline is valid? [True, True] Translation: X:145.36, Y:-21.79, Z:-2.88 [[ 9.86864763e-01 1.60495078e-01 1.84192759e-02 1.45361121e+02] [-1.60465375e-01 9.87036636e-01 -3.08900418e-03 -2.17869076e+01] [-1.86762701e-02 9.27733612e-05 9.99825579e-01 -2.88061798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35401273899998 meters 0.02752045679663112 Centerline is valid? [True, True] Translation: X:145.39, Y:-21.80, Z:-2.88 [[ 9.87618561e-01 1.55958224e-01 1.69295941e-02 1.45387006e+02] [-1.55932477e-01 9.87763639e-01 -2.83845805e-03 -2.18009959e+01] [-1.71651183e-02 1.63440307e-04 9.99852655e-01 -2.88481186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters 0.027959444830363958 Centerline is valid? [True, True] Translation: X:145.41, Y:-21.81, Z:-2.89 [[ 9.87833272e-01 1.54642083e-01 1.64697563e-02 1.45414904e+02] [-1.54617550e-01 9.87970543e-01 -2.76033333e-03 -2.18078344e+01] [-1.66984978e-02 1.80235720e-04 9.99860554e-01 -2.88653604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414012739 meters 0.028061583254658802 Centerline is valid? [True, True] Translation: X:145.44, Y:-21.82, Z:-2.89 [[ 9.87913969e-01 1.54160455e-01 1.61414036e-02 1.45443217e+02] [-1.54136839e-01 9.88045809e-01 -2.70455680e-03 -2.18160436e+01] [-1.63653819e-02 1.83884514e-04 9.99866061e-01 -2.88816481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters 0.027802447290611543 Centerline is valid? [True, True] Translation: X:145.47, Y:-21.82, Z:-2.89 [[ 9.87850790e-01 1.54579449e-01 1.60003559e-02 1.45470427e+02] [-1.54556311e-01 9.87980346e-01 -2.68021941e-03 -2.18219997e+01] [-1.62223440e-02 1.74700887e-04 9.99868394e-01 -2.88905173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474012739 meters 0.027076125496193735 Centerline is valid? [True, True] Translation: X:145.50, Y:-21.83, Z:-2.89 [[ 9.87661180e-01 1.55703363e-01 1.67885622e-02 1.45498979e+02] [-1.55678069e-01 9.87803845e-01 -2.81116646e-03 -2.18284365e+01] [-1.70215143e-02 1.62869051e-04 9.99855110e-01 -2.88807787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters 0.02697061476205161 Centerline is valid? [True, True] Translation: X:145.53, Y:-21.83, Z:-2.89 [[ 9.87531144e-01 1.56506813e-01 1.69663625e-02 1.45525881e+02] [-1.56481112e-01 9.87676868e-01 -2.84013367e-03 -2.18339477e+01] [-1.72017840e-02 1.49805180e-04 9.99852027e-01 -2.88874274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534012739 meters 0.026829731079015384 Centerline is valid? [True, True] Translation: X:145.55, Y:-21.84, Z:-2.89 [[ 9.87393737e-01 1.57295041e-01 1.76601017e-02 1.45553149e+02] [-1.57267342e-01 9.87551644e-01 -2.95513095e-03 -2.18405941e+01] [-1.79050900e-02 1.40520532e-04 9.99839681e-01 -2.88793847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters 0.02646291871437957 Centerline is valid? [True, True] Translation: X:145.58, Y:-21.85, Z:-2.89 [[ 9.87352678e-01 1.57439338e-01 1.86425550e-02 1.45581421e+02] [-1.57408519e-01 9.87528650e-01 -3.11833970e-03 -2.18453621e+01] [-1.89010065e-02 1.44404082e-04 9.99821350e-01 -2.88669335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594012739 meters 0.02676239218928235 Centerline is valid? [True, True] Translation: X:145.61, Y:-21.86, Z:-2.89 [[ 9.87452969e-01 1.56749167e-01 1.91398302e-02 1.45608721e+02] [-1.56716570e-01 9.87638432e-01 -3.20059147e-03 -2.18561500e+01] [-1.94049219e-02 1.60905012e-04 9.99811694e-01 -2.88646330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters 0.027366638693394736 Centerline is valid? [True, True] Translation: X:145.64, Y:-21.87, Z:-2.89 [[ 9.87634583e-01 1.55664648e-01 1.86131095e-02 1.45635987e+02] [-1.55633644e-01 9.87809944e-01 -3.11166287e-03 -2.18658688e+01] [-1.88705905e-02 1.76359806e-04 9.99821919e-01 -2.88840294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654012739 meters 0.02932015645107892 Centerline is valid? [True, True] Translation: X:145.66, Y:-21.88, Z:-2.89 [[ 9.88160944e-01 1.52547421e-01 1.63472713e-02 1.45662863e+02] [-1.52523092e-01 9.88296131e-01 -2.73217140e-03 -2.18807274e+01] [-1.65727307e-02 2.06488704e-04 9.99862642e-01 -2.89312305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters 0.030046647850297214 Centerline is valid? [True, True] Translation: X:145.69, Y:-21.89, Z:-2.89 [[ 9.88407423e-01 1.51030803e-01 1.55068514e-02 1.45690614e+02] [-1.51008732e-01 9.88529033e-01 -2.59125666e-03 -2.18898030e+01] [-1.57203324e-02 2.19547341e-04 9.99876404e-01 -2.89484317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714012739 meters 0.03190360841740218 Centerline is valid? [True, True] Translation: X:145.72, Y:-21.91, Z:-2.90 [[ 9.88757765e-01 1.48715263e-01 1.55515889e-02 1.45716106e+02] [-1.48692789e-01 9.88880026e-01 -2.59798781e-03 -2.19080049e+01] [-1.57650160e-02 2.56371493e-04 9.99875692e-01 -2.89623412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters 0.03214368007483063 Centerline is valid? [True, True] Translation: X:145.74, Y:-21.92, Z:-2.90 [[ 9.88855100e-01 1.48124987e-01 1.49859797e-02 1.45744120e+02] [-1.48104062e-01 9.88968616e-01 -2.50276337e-03 -2.19171626e+01] [-1.51913853e-02 2.55385862e-04 9.99884572e-01 -2.89776703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77401273899997 meters 0.030395268826416803 Centerline is valid? [True, True] Translation: X:145.77, Y:-21.92, Z:-2.90 [[ 9.88667308e-01 1.49382096e-01 1.48977613e-02 1.45772862e+02] [-1.49361568e-01 9.88779518e-01 -2.48745351e-03 -2.19246969e+01] [-1.51021823e-02 2.34110983e-04 9.99885928e-01 -2.89791550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters 0.030811970408370075 Centerline is valid? [True, True] Translation: X:145.80, Y:-21.93, Z:-2.90 [[ 9.88450654e-01 1.50816856e-01 1.48182633e-02 1.45800392e+02] [-1.50796712e-01 9.88561698e-01 -2.47387896e-03 -2.19336475e+01] [-1.50218701e-02 2.10761897e-04 9.99887143e-01 -2.89946777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83401273899997 meters 0.028052798713170225 Centerline is valid? [True, True] Translation: X:145.83, Y:-21.94, Z:-2.90 [[ 9.87848864e-01 1.54686417e-01 1.50576823e-02 1.45829894e+02] [-1.54666077e-01 9.87963607e-01 -2.51316015e-03 -2.19391094e+01] [-1.52651939e-02 1.53709754e-04 9.99883468e-01 -2.89938553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters 0.02809336060194427 Centerline is valid? [True, True] Translation: X:145.86, Y:-21.95, Z:-2.90 [[ 9.87654664e-01 1.55942018e-01 1.48442537e-02 1.45857811e+02] [-1.55922393e-01 9.87766202e-01 -2.47748656e-03 -2.19474143e+01] [-1.50489964e-02 1.32349597e-04 9.99886749e-01 -2.90109473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89401273899998 meters 0.02741390872566415 Centerline is valid? [True, True] Translation: X:145.89, Y:-21.95, Z:-2.90 [[ 9.87489260e-01 1.56950753e-01 1.52125653e-02 1.45886872e+02] [-1.56930273e-01 9.87606423e-01 -2.53825096e-03 -2.19525715e+01] [-1.54224076e-02 1.19183556e-04 9.99881060e-01 -2.90051191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters 0.027021351593098705 Centerline is valid? [True, True] Translation: X:145.91, Y:-21.96, Z:-2.90 [[ 9.87064725e-01 1.59764636e-01 1.33599996e-02 1.45914812e+02] [-1.59749097e-01 9.87155133e-01 -2.22917559e-03 -2.19581062e+01] [-1.35445356e-02 6.60927095e-05 9.99908266e-01 -2.90480385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95401273899998 meters 0.026948622000422317 Centerline is valid? [True, True] Translation: X:145.94, Y:-21.96, Z:-2.91 [[ 9.86816187e-01 1.61335854e-01 1.28279082e-02 1.45941577e+02] [-1.61321664e-01 9.86899560e-01 -2.14010251e-03 -2.19639820e+01] [-1.30051322e-02 4.24683003e-05 9.99915429e-01 -2.90574456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters 0.02619737269748896 Centerline is valid? [True, True] Translation: X:145.97, Y:-21.97, Z:-2.90 [[ 9.86659994e-01 1.62123422e-01 1.47665875e-02 1.45970021e+02] [-1.62104724e-01 9.86770487e-01 -2.46248620e-03 -2.19673887e+01] [-1.49704595e-02 3.59030290e-05 9.99887936e-01 -2.90099153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01401273899998 meters 0.025868644054026297 Centerline is valid? [True, True] Translation: X:146.00, Y:-21.97, Z:-2.90 [[ 9.86446676e-01 1.63189850e-01 1.70888600e-02 1.45998772e+02] [-1.63164984e-01 9.86594685e-01 -2.84877222e-03 -2.19702004e+01] [-1.73246692e-02 2.18583171e-05 9.99849916e-01 -2.89747984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters 0.02573803056649367 Centerline is valid? [True, True] Translation: X:146.03, Y:-21.97, Z:-2.90 [[ 9.86029208e-01 1.65614499e-01 1.78392259e-02 1.46027693e+02] [-1.65587816e-01 9.86190568e-01 -2.97290965e-03 -2.19731135e+01] [-1.80852333e-02 -2.25827011e-05 9.99836449e-01 -2.89801809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07401273899998 meters 0.025796487679241472 Centerline is valid? [True, True] Translation: X:146.06, Y:-21.98, Z:-2.90 [[ 9.85963404e-01 1.66069845e-01 1.72328846e-02 1.46056055e+02] [-1.66045025e-01 9.86113992e-01 -2.87124828e-03 -2.19795071e+01] [-1.74704164e-02 -3.04890348e-05 9.99847380e-01 -2.90033393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters 0.025826993717405575 Centerline is valid? [True, True] Translation: X:146.08, Y:-21.99, Z:-2.90 [[ 9.86128597e-01 1.65148961e-01 1.66195971e-02 1.46083491e+02] [-1.65125755e-01 9.86268635e-01 -2.76849811e-03 -2.19876979e+01] [-1.68486020e-02 -1.42283547e-05 9.99858052e-01 -2.90109177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13401273899999 meters 0.025870685535626426 Centerline is valid? [True, True] Translation: X:146.11, Y:-21.99, Z:-2.90 [[ 9.86084856e-01 1.65474125e-01 1.59677799e-02 1.46112375e+02] [-1.65452756e-01 9.86214132e-01 -2.65933146e-03 -2.19919562e+01] [-1.61877008e-02 -1.95867166e-05 9.99868970e-01 -2.90143886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters 0.025857418516296395 Centerline is valid? [True, True] Translation: X:146.14, Y:-22.00, Z:-2.90 [[ 9.86027209e-01 1.65830862e-01 1.58261814e-02 1.46140126e+02] [-1.65809921e-01 9.86154209e-01 -2.63541393e-03 -2.19969416e+01] [-1.60440883e-02 -2.55480437e-05 9.99871285e-01 -2.90327652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194012739 meters 0.026039105477982005 Centerline is valid? [True, True] Translation: X:146.17, Y:-22.00, Z:-2.90 [[ 9.85967557e-01 1.66208429e-01 1.55799205e-02 1.46168304e+02] [-1.66188190e-01 9.86090644e-01 -2.59389123e-03 -2.20030164e+01] [-1.57943405e-02 -3.17061946e-05 9.99875261e-01 -2.90439514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters 0.026178202785572337 Centerline is valid? [True, True] Translation: X:146.20, Y:-22.01, Z:-2.90 [[ 9.85954237e-01 1.66291941e-01 1.55316840e-02 1.46196124e+02] [-1.66271850e-01 9.86076564e-01 -2.58512827e-03 -2.20120678e+01] [-1.57453156e-02 -3.36636600e-05 9.99876034e-01 -2.90496035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254012739 meters 0.026061692745700468 Centerline is valid? [True, True] Translation: X:146.22, Y:-22.02, Z:-2.90 [[ 9.86099852e-01 1.65371851e-01 1.61006932e-02 1.46224727e+02] [-1.65350152e-01 9.86231287e-01 -2.67892706e-03 -2.20192371e+01] [-1.63220265e-02 -2.05624879e-05 9.99866787e-01 -2.90374814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters 0.025633514365374 Centerline is valid? [True, True] Translation: X:146.25, Y:-22.03, Z:-2.90 [[ 9.86165399e-01 1.64709121e-01 1.86738260e-02 1.46253300e+02] [-1.64679823e-01 9.86342185e-01 -3.10653007e-03 -2.20286590e+01] [-1.89304562e-02 -1.16498924e-05 9.99820803e-01 -2.89902356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314012739 meters 0.02546829770571446 Centerline is valid? [True, True] Translation: X:146.28, Y:-22.03, Z:-2.90 [[ 9.85955701e-01 1.65772262e-01 2.02709733e-02 1.46282689e+02] [-1.65737974e-01 9.86164061e-01 -3.37168877e-03 -2.20345889e+01] [-2.05494378e-02 -3.53342793e-05 9.99788837e-01 -2.89650908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters 0.02606311434847895 Centerline is valid? [True, True] Translation: X:146.31, Y:-22.04, Z:-2.90 [[ 9.85404455e-01 1.69057014e-01 1.99445804e-02 1.46312038e+02] [-1.69024488e-01 9.85606268e-01 -3.31764079e-03 -2.20371491e+01] [-2.02183739e-02 -1.01904482e-04 9.99795583e-01 -2.89784455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374012739 meters 0.026818567467713085 Centerline is valid? [True, True] Translation: X:146.34, Y:-22.04, Z:-2.90 [[ 9.85145889e-01 1.70740793e-01 1.83073498e-02 1.46341485e+02] [-1.70713682e-01 9.85315973e-01 -3.04511970e-03 -2.20388809e+01] [-1.85584503e-02 -1.25427937e-04 9.99827769e-01 -2.90207491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters 0.027980077212296055 Centerline is valid? [True, True] Translation: X:146.37, Y:-22.04, Z:-2.91 [[ 9.84721852e-01 1.73349252e-01 1.65200245e-02 1.46370691e+02] [-1.73327549e-01 9.84860402e-01 -2.74752800e-03 -2.20409315e+01] [-1.67461999e-02 -1.57824496e-04 9.99859760e-01 -2.90574222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434012739 meters 0.03020072477831614 Centerline is valid? [True, True] Translation: X:146.40, Y:-22.04, Z:-2.90 [[ 9.83975224e-01 1.77322995e-01 1.86899621e-02 1.46399226e+02] [-1.77295945e-01 9.84152676e-01 -3.10769094e-03 -2.20423263e+01] [-1.89448413e-02 -2.55763619e-04 9.99820498e-01 -2.90138034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters 0.031248808287374204 Centerline is valid? [True, True] Translation: X:146.43, Y:-22.04, Z:-2.90 [[ 9.83597785e-01 1.79403154e-01 1.87057784e-02 1.46427685e+02] [-1.79376455e-01 9.83775594e-01 -3.10921926e-03 -2.20442619e+01] [-1.89600920e-02 -2.97155045e-04 9.99820197e-01 -2.90125313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49401273899997 meters 0.032121067204972466 Centerline is valid? [True, True] Translation: X:146.46, Y:-22.05, Z:-2.90 [[ 9.83260769e-01 1.81300978e-01 1.81167371e-02 1.46456341e+02] [-1.81276279e-01 9.83427603e-01 -3.01006574e-03 -2.20459333e+01] [-1.83622272e-02 -3.24455146e-04 9.99831347e-01 -2.90393049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters 0.0361006788830951 Centerline is valid? [True, True] Translation: X:146.49, Y:-22.04, Z:-2.91 [[ 9.82629520e-01 1.84901398e-01 1.58335004e-02 1.46485918e+02] [-1.84883011e-01 9.82757017e-01 -2.63000276e-03 -2.20408274e+01] [-1.60467748e-02 -3.43026883e-04 9.99871183e-01 -2.90849357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55401273899997 meters 0.037014636371343744 Centerline is valid? [True, True] Translation: X:146.51, Y:-22.04, Z:-2.91 [[ 9.82232404e-01 1.86956772e-01 1.63300336e-02 1.46514990e+02] [-1.86937507e-01 9.82368064e-01 -2.71189834e-03 -2.20420080e+01] [-1.65491112e-02 -3.88981338e-04 9.99862978e-01 -2.90767532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters 0.04223378959774384 Centerline is valid? [True, True] Translation: X:146.55, Y:-22.03, Z:-2.91 [[ 9.81582973e-01 1.90194829e-01 1.79107294e-02 1.46545388e+02] [-1.90172210e-01 9.81746245e-01 -2.97341456e-03 -2.20331613e+01] [-1.81493194e-02 -4.87469883e-04 9.99835169e-01 -2.90585514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61401273899997 meters 0.04050721509039147 Centerline is valid? [True, True] Translation: X:146.57, Y:-22.04, Z:-2.91 [[ 9.81491811e-01 1.90581315e-01 1.87773254e-02 1.46573951e+02] [-1.90556538e-01 9.81671275e-01 -3.11658390e-03 -2.20381825e+01] [-1.90271236e-02 -5.19240558e-04 9.99818833e-01 -2.90563107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters 0.038881105188685344 Centerline is valid? [True, True] Translation: X:146.60, Y:-22.04, Z:-2.91 [[ 9.81801917e-01 1.88887494e-01 1.96598571e-02 1.46602630e+02] [-1.88860013e-01 9.81998602e-01 -3.26208089e-03 -2.20418494e+01] [-1.99221185e-02 -5.10243595e-04 9.99801405e-01 -2.90619815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67401273899998 meters 0.03808737254720019 Centerline is valid? [True, True] Translation: X:146.63, Y:-22.05, Z:-2.91 [[ 9.82169181e-01 1.86956410e-01 1.97737475e-02 1.46630608e+02] [-1.86928237e-01 9.82368096e-01 -3.28002618e-03 -2.20462055e+01] [-2.00383206e-02 -4.74731149e-04 9.99799100e-01 -2.90706367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters 0.034054966178301074 Centerline is valid? [True, True] Translation: X:146.66, Y:-22.06, Z:-2.91 [[ 9.82966663e-01 1.82696560e-01 1.99626006e-02 1.46659331e+02] [-1.82666988e-01 9.83169270e-01 -3.31038885e-03 -2.20556253e+01] [-2.02314121e-02 -3.92506234e-04 9.99795247e-01 -2.90707648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73401273899998 meters 0.0324105466106172 Centerline is valid? [True, True] Translation: X:146.69, Y:-22.06, Z:-2.91 [[ 9.83374812e-01 1.80527303e-01 1.95926566e-02 1.46687280e+02] [-1.80498391e-01 9.83569914e-01 -3.24882923e-03 -2.20623275e+01] [-1.98572499e-02 -3.41626147e-04 9.99802767e-01 -2.90808110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters 0.030115519382909302 Centerline is valid? [True, True] Translation: X:146.72, Y:-22.07, Z:-2.91 [[ 9.84007190e-01 1.77305757e-01 1.71031738e-02 1.46716082e+02] [-1.77283251e-01 9.84155785e-01 -2.83529312e-03 -2.20679902e+01] [-1.73349012e-02 -2.42157438e-04 9.99849710e-01 -2.91275487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79401273899998 meters 0.029963002092685147 Centerline is valid? [True, True] Translation: X:146.74, Y:-22.07, Z:-2.91 [[ 9.84158473e-01 1.76518076e-01 1.65368653e-02 1.46743895e+02] [-1.76496934e-01 9.84297374e-01 -2.74091248e-03 -2.20703852e+01] [-1.67610136e-02 -2.21213771e-04 9.99859500e-01 -2.91458669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters 0.02996863146723561 Centerline is valid? [True, True] Translation: X:146.77, Y:-22.07, Z:-2.91 [[ 9.84219310e-01 1.76125637e-01 1.70912119e-02 1.46771663e+02] [-1.76103013e-01 9.84367670e-01 -2.83170097e-03 -2.20720886e+01] [-1.73227716e-02 -2.22799141e-04 9.99849925e-01 -2.91407492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85401273899998 meters 0.030055215203383966 Centerline is valid? [True, True] Translation: X:146.80, Y:-22.08, Z:-2.91 [[ 9.84196485e-01 1.76285919e-01 1.67497457e-02 1.46800651e+02] [-1.76264230e-01 9.84338979e-01 -2.77410635e-03 -2.20758535e+01] [-1.69764635e-02 -2.22115326e-04 9.99855865e-01 -2.91369132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters 0.029677603165683644 Centerline is valid? [True, True] Translation: X:146.83, Y:-22.08, Z:-2.92 [[ 9.84428753e-01 1.75057100e-01 1.59700629e-02 1.46828638e+02] [-1.75037233e-01 9.84558264e-01 -2.64429709e-03 -2.20786656e+01] [-1.61863604e-02 -1.92233531e-04 9.99868974e-01 -2.91672286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914012739 meters 0.028405298168292972 Centerline is valid? [True, True] Translation: X:146.86, Y:-22.09, Z:-2.92 [[ 9.84732004e-01 1.73343697e-01 1.59638039e-02 1.46856870e+02] [-1.73323637e-01 9.84861379e-01 -2.64226285e-03 -2.20857149e+01] [-1.61801536e-02 -1.64983763e-04 9.99869079e-01 -2.91764524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters 0.027524240574836843 Centerline is valid? [True, True] Translation: X:146.88, Y:-22.09, Z:-2.92 [[ 9.85077432e-01 1.71293446e-01 1.67632973e-02 1.46884480e+02] [-1.71271044e-01 9.85220044e-01 -2.77371501e-03 -2.20930403e+01] [-1.69906557e-02 -1.38743361e-04 9.99855639e-01 -2.91734440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974012739 meters 0.027356350190599253 Centerline is valid? [True, True] Translation: X:146.91, Y:-22.10, Z:-2.92 [[ 9.85118774e-01 1.71043882e-01 1.68816787e-02 1.46912051e+02] [-1.71021139e-01 9.85263402e-01 -2.79250527e-03 -2.20968390e+01] [-1.71105412e-02 -1.36174566e-04 9.99853595e-01 -2.91733854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters 0.02806203695652221 Centerline is valid? [True, True] Translation: X:146.94, Y:-22.10, Z:-2.92 [[ 9.84956156e-01 1.71990404e-01 1.67532426e-02 1.46940024e+02] [-1.71968160e-01 9.85098613e-01 -2.77024811e-03 -2.20974438e+01] [-1.69800521e-02 -1.52451375e-04 9.99855817e-01 -2.91833471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034012739 meters 0.029217212913336683 Centerline is valid? [True, True] Translation: X:146.97, Y:-22.10, Z:-2.92 [[ 9.84519223e-01 1.74527792e-01 1.61848736e-02 1.46969273e+02] [-1.74507390e-01 9.84652230e-01 -2.67528219e-03 -2.20951513e+01] [-1.64033830e-02 -1.90513307e-04 9.99865437e-01 -2.91929225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters 0.029730245869451784 Centerline is valid? [True, True] Translation: X:147.00, Y:-22.10, Z:-2.92 [[ 9.84274393e-01 1.75729134e-01 1.79775068e-02 1.46998417e+02] [-1.75704181e-01 9.84438528e-01 -2.97061791e-03 -2.20957697e+01] [-1.82197745e-02 -2.34819969e-04 9.99833979e-01 -2.91645762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094012739 meters 0.02947070037829784 Centerline is valid? [True, True] Translation: X:147.03, Y:-22.10, Z:-2.91 [[ 9.84340297e-01 1.75240793e-01 1.91008757e-02 1.47025957e+02] [-1.75212551e-01 9.84525574e-01 -3.15527709e-03 -2.20989900e+01] [-1.93582339e-02 -2.40846759e-04 9.99812583e-01 -2.91499716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters 0.02947070037829784 Centerline is valid? [True, True] Translation: X:147.05, Y:-22.10, Z:-2.92 [[ 9.84352442e-01 1.75172542e-01 1.91010574e-02 1.47053099e+02] [-1.75144308e-01 9.84537720e-01 -3.15417650e-03 -2.21033346e+01] [-1.93582367e-02 -2.40620150e-04 9.99812583e-01 -2.91555552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154012739 meters 0.02856662329596929 Centerline is valid? [True, True] Translation: X:147.08, Y:-22.11, Z:-2.92 [[ 9.84456113e-01 1.74506425e-01 1.98411152e-02 1.47081159e+02] [-1.74475855e-01 9.84656006e-01 -3.27491038e-03 -2.21090503e+01] [-2.01081662e-02 -2.37789991e-04 9.99797782e-01 -2.91510877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters 0.028317822170344016 Centerline is valid? [True, True] Translation: X:147.11, Y:-22.11, Z:-2.92 [[ 9.84711695e-01 1.73119071e-01 1.93045483e-02 1.47109116e+02] [-1.73089883e-01 9.84900881e-01 -3.18543140e-03 -2.21127155e+01] [-1.95645255e-02 -2.04690448e-04 9.99808575e-01 -2.91616277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214012739 meters 0.02697233711096454 Centerline is valid? [True, True] Translation: X:147.14, Y:-22.12, Z:-2.92 [[ 9.85208385e-01 1.70351881e-01 1.85654104e-02 1.47137344e+02] [-1.70324416e-01 9.85383284e-01 -3.06234457e-03 -2.21215576e+01] [-1.88157213e-02 -1.45095139e-04 9.99822958e-01 -2.91719691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters 0.026382477750449787 Centerline is valid? [True, True] Translation: X:147.16, Y:-22.13, Z:-2.92 [[ 9.85517231e-01 1.68515039e-01 1.89332948e-02 1.47164638e+02] [-1.68486148e-01 9.85699076e-01 -3.12233683e-03 -2.21282710e+01] [-1.91886919e-02 -1.12881159e-04 9.99815874e-01 -2.91762561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27401273899997 meters 0.02529650727836486 Centerline is valid? [True, True] Translation: X:147.19, Y:-22.14, Z:-2.92 [[ 9.86270662e-01 1.63912018e-01 2.00756576e-02 1.47192310e+02] [-1.63878608e-01 9.86474961e-01 -3.30941666e-03 -2.21383489e+01] [-2.03465867e-02 -2.59902510e-05 9.99792986e-01 -2.91683425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters 0.02543810946803007 Centerline is valid? [True, True] Translation: X:147.22, Y:-22.15, Z:-2.92 [[ 9.86746781e-01 1.61126447e-01 1.92108802e-02 1.47219131e+02] [-1.61095343e-01 9.86933770e-01 -3.16597110e-03 -2.21454158e+01] [-1.94699881e-02 2.92284572e-05 9.99810441e-01 -2.91791732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33401273899997 meters 0.025661691742254807 Centerline is valid? [True, True] Translation: X:147.25, Y:-22.15, Z:-2.92 [[ 9.87018824e-01 1.59608056e-01 1.78636645e-02 1.47246929e+02] [-1.59580931e-01 9.87180463e-01 -2.94291750e-03 -2.21521748e+01] [-1.81043740e-02 5.40147443e-05 9.99836101e-01 -2.92102657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters 0.02618871795507373 Centerline is valid? [True, True] Translation: X:147.28, Y:-22.16, Z:-2.93 [[ 9.87221090e-01 1.58581017e-01 1.57028716e-02 1.47275141e+02] [-1.58559939e-01 9.87345966e-01 -2.58630011e-03 -2.21597498e+01] [-1.59143051e-02 6.34036469e-05 9.99873357e-01 -2.92643037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39401273899998 meters 0.026034558166049142 Centerline is valid? [True, True] Translation: X:147.30, Y:-22.17, Z:-2.92 [[ 9.87244294e-01 1.58238569e-01 1.75857680e-02 1.47302594e+02] [-1.58212094e-01 9.87400906e-01 -2.89548560e-03 -2.21656692e+01] [-1.78223808e-02 7.62704603e-05 9.99841166e-01 -2.92423744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters 0.025867671362153344 Centerline is valid? [True, True] Translation: X:147.33, Y:-22.17, Z:-2.92 [[ 9.87210653e-01 1.58353177e-01 1.84227426e-02 1.47330434e+02] [-1.58324164e-01 9.87382532e-01 -3.03212826e-03 -2.21710017e+01] [-1.86704414e-02 7.65840066e-05 9.99825689e-01 -2.92306342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45401273899998 meters 0.025816216546484104 Centerline is valid? [True, True] Translation: X:147.36, Y:-22.18, Z:-2.92 [[ 9.87197659e-01 1.58405019e-01 1.86716803e-02 1.47358239e+02] [-1.58375246e-01 9.87374217e-01 -3.07196570e-03 -2.21771149e+01] [-1.89225505e-02 7.55053870e-05 9.99820950e-01 -2.92312585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters 0.025727700401197446 Centerline is valid? [True, True] Translation: X:147.39, Y:-22.18, Z:-2.92 [[ 9.87187279e-01 1.58544035e-01 1.80295509e-02 1.47386912e+02] [-1.58516314e-01 9.87351905e-01 -2.96550176e-03 -2.21818984e+01] [-1.82716741e-02 6.95276628e-05 9.99833057e-01 -2.92447765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51401273899998 meters 0.02567908145668631 Centerline is valid? [True, True] Translation: X:147.42, Y:-22.19, Z:-2.93 [[ 9.87148683e-01 1.58775008e-01 1.81100473e-02 1.47415281e+02] [-1.58747093e-01 9.87314789e-01 -2.97788730e-03 -2.21861636e+01] [-1.83531316e-02 6.47001684e-05 9.99831565e-01 -2.92508629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters 0.0255789763444183 Centerline is valid? [True, True] Translation: X:147.44, Y:-22.19, Z:-2.92 [[ 9.87081873e-01 1.59106565e-01 1.88275414e-02 1.47443266e+02] [-1.59076472e-01 9.87261413e-01 -3.09489418e-03 -2.21946521e+01] [-1.90801231e-02 5.98950844e-05 9.99817956e-01 -2.92417448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57401273899998 meters 0.025522618995276223 Centerline is valid? [True, True] Translation: X:147.47, Y:-22.20, Z:-2.93 [[ 9.87071895e-01 1.59170916e-01 1.88067548e-02 1.47471562e+02] [-1.59140916e-01 9.87251040e-01 -3.09077733e-03 -2.22036511e+01] [-1.90589500e-02 5.78952662e-05 9.99818360e-01 -2.92576285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters 0.025580156698259096 Centerline is valid? [True, True] Translation: X:147.50, Y:-22.21, Z:-2.93 [[ 9.86992855e-01 1.59717595e-01 1.83137446e-02 1.47499669e+02] [-1.59689249e-01 9.87162746e-01 -3.00931397e-03 -2.22089749e+01] [-1.85592868e-02 4.56632515e-05 9.99827761e-01 -2.92800289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63401273899999 meters 0.025397540596274092 Centerline is valid? [True, True] Translation: X:147.53, Y:-22.21, Z:-2.93 [[ 9.86637878e-01 1.62028775e-01 1.70989329e-02 1.47527183e+02] [-1.62004418e-01 9.86786034e-01 -2.80937059e-03 -2.22110978e+01] [-1.73281870e-02 1.72876549e-06 9.99849856e-01 -2.93110200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters 0.025543748615912073 Centerline is valid? [True, True] Translation: X:147.56, Y:-22.21, Z:-2.93 [[ 9.86424143e-01 1.63356757e-01 1.67922809e-02 1.47556054e+02] [-1.63333475e-01 9.86567063e-01 -2.75799643e-03 -2.22149439e+01] [-1.70172486e-02 -2.21873368e-05 9.99855196e-01 -2.93191934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694012739 meters 0.02580852205681906 Centerline is valid? [True, True] Translation: X:147.58, Y:-22.22, Z:-2.93 [[ 9.86025926e-01 1.65552742e-01 1.85785317e-02 1.47584441e+02] [-1.65524651e-01 9.86200935e-01 -3.05042406e-03 -2.22181737e+01] [-1.88271714e-02 -6.74077621e-05 9.99822751e-01 -2.92875139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters 0.025969142368732753 Centerline is valid? [True, True] Translation: X:147.61, Y:-22.22, Z:-2.93 [[ 9.85881424e-01 1.66399756e-01 1.86799318e-02 1.47613094e+02] [-1.66371525e-01 9.86058372e-01 -3.06621456e-03 -2.22214688e+01] [-1.89297205e-02 -8.48847708e-05 9.99820813e-01 -2.92891319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754012739 meters 0.026802976153437394 Centerline is valid? [True, True] Translation: X:147.64, Y:-22.22, Z:-2.93 [[ 9.85554897e-01 1.68451671e-01 1.74808485e-02 1.47641874e+02] [-1.68427284e-01 9.85709907e-01 -2.86865410e-03 -2.22236457e+01] [-1.77142751e-02 -1.17035739e-04 9.99843083e-01 -2.93252482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters 0.027482622236758552 Centerline is valid? [True, True] Translation: X:147.67, Y:-22.23, Z:-2.93 [[ 9.85349505e-01 1.69689711e-01 1.70808603e-02 1.47669843e+02] [-1.69666626e-01 9.85497531e-01 -2.80229244e-03 -2.22262423e+01] [-1.73086659e-02 -1.36814476e-04 9.99850184e-01 -2.93372763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814012739 meters 0.028361789080736454 Centerline is valid? [True, True] Translation: X:147.70, Y:-22.23, Z:-2.93 [[ 9.84854293e-01 1.72497665e-01 1.75093375e-02 1.47698918e+02] [-1.72473869e-01 9.85009908e-01 -2.87154931e-03 -2.22261798e+01] [-1.77422064e-02 -1.91845515e-04 9.99842576e-01 -2.93203068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters 0.030049817133547124 Centerline is valid? [True, True] Translation: X:147.73, Y:-22.22, Z:-2.93 [[ 9.84657158e-01 1.73600333e-01 1.76975940e-02 1.47727355e+02] [-1.73576216e-01 9.84816165e-01 -2.90158511e-03 -2.22248164e+01] [-1.79325928e-02 -2.14814840e-04 9.99839175e-01 -2.93265926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874012739 meters 0.030945081630246184 Centerline is valid? [True, True] Translation: X:147.76, Y:-22.23, Z:-2.93 [[ 9.84353107e-01 1.75132410e-01 1.94319102e-02 1.47756446e+02] [-1.75103657e-01 9.84544853e-01 -3.18463260e-03 -2.22255999e+01] [-1.96893196e-02 -2.67795543e-04 9.99806111e-01 -2.93072295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters 0.02963032513132167 Centerline is valid? [True, True] Translation: X:147.78, Y:-22.23, Z:-2.93 [[ 9.84311143e-01 1.75346771e-01 1.96235289e-02 1.47784489e+02] [-1.75317509e-01 9.84506696e-01 -3.21515049e-03 -2.22327084e+01] [-1.98832618e-02 -2.75639750e-04 9.99802270e-01 -2.93063233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934012739 meters 0.03013539762369266 Centerline is valid? [True, True] Translation: X:147.81, Y:-22.24, Z:-2.93 [[ 9.84213646e-01 1.75894892e-01 1.96083230e-02 1.47811789e+02] [-1.75865802e-01 9.84408911e-01 -3.21171436e-03 -2.22354865e+01] [-1.98675321e-02 -2.87420362e-04 9.99802580e-01 -2.93127156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters 0.03189511053740248 Centerline is valid? [True, True] Translation: X:147.84, Y:-22.23, Z:-2.93 [[ 9.83765083e-01 1.78496237e-01 1.85837107e-02 1.47840900e+02] [-1.78470592e-01 9.83940541e-01 -3.04283248e-03 -2.22335053e+01] [-1.88284006e-02 -3.23213515e-04 9.99822678e-01 -2.93412850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99401273899997 meters 0.035744955875413625 Centerline is valid? [True, True] Translation: X:147.87, Y:-22.23, Z:-2.93 [[ 9.83553461e-01 1.79639389e-01 1.87691170e-02 1.47870063e+02] [-1.79613460e-01 9.83732468e-01 -3.07204251e-03 -2.22271126e+01] [-1.90156497e-02 -3.49668004e-04 9.99819125e-01 -2.93461168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters 0.03316293332762725 Centerline is valid? [True, True] Translation: X:147.90, Y:-22.24, Z:-2.93 [[ 9.83659021e-01 1.78987631e-01 1.94514223e-02 1.47898206e+02] [-1.78959678e-01 9.83851262e-01 -3.18249332e-03 -2.22352211e+01] [-1.97069333e-02 -3.50532019e-04 9.99805738e-01 -2.93281250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05401273899997 meters 0.030580147218483955 Centerline is valid? [True, True] Translation: X:147.93, Y:-22.24, Z:-2.93 [[ 9.84134882e-01 1.76259509e-01 2.02760881e-02 1.47925798e+02] [-1.76228578e-01 9.84343685e-01 -3.31642748e-03 -2.22432643e+01] [-2.05431911e-02 -3.09414198e-04 9.99788919e-01 -2.93179458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters 0.0298292365687396 Centerline is valid? [True, True] Translation: X:147.95, Y:-22.25, Z:-2.93 [[ 9.84443233e-01 1.74625760e-01 1.94258985e-02 1.47952770e+02] [-1.74597068e-01 9.84634843e-01 -3.17648410e-03 -2.22485712e+01] [-1.96821124e-02 -2.64636636e-04 9.99806253e-01 -2.93422173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11401273899997 meters 0.028691446752298427 Centerline is valid? [True, True] Translation: X:147.98, Y:-22.26, Z:-2.94 [[ 9.84836141e-01 1.72579509e-01 1.77225241e-02 1.47980302e+02] [-1.72555314e-01 9.84995569e-01 -2.89697295e-03 -2.22560000e+01] [-1.79565659e-02 -2.05072064e-04 9.99838747e-01 -2.93802906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters 0.026776655477812515 Centerline is valid? [True, True] Translation: X:148.01, Y:-22.27, Z:-2.94 [[ 9.85684432e-01 1.67824075e-01 1.61641983e-02 1.48007535e+02] [-1.67803320e-01 9.85816955e-01 -2.64156591e-03 -2.22685195e+01] [-1.63782591e-02 -1.08655741e-04 9.99865861e-01 -2.94189343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17401273899998 meters 0.02547556829716691 Centerline is valid? [True, True] Translation: X:148.03, Y:-22.28, Z:-2.94 [[ 9.86301997e-01 1.64070219e-01 1.70098258e-02 1.48033896e+02] [-1.64046691e-01 9.86448661e-01 -2.77894432e-03 -2.22784041e+01] [-1.72352619e-02 -4.95273047e-05 9.99851461e-01 -2.93982350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters 0.025061122873202682 Centerline is valid? [True, True] Translation: X:148.06, Y:-22.29, Z:-2.94 [[ 9.86537954e-01 1.62599940e-01 1.74391552e-02 1.48062192e+02] [-1.62574998e-01 9.86692079e-01 -2.84800094e-03 -2.22852177e+01] [-1.76701611e-02 -2.55096054e-05 9.99843870e-01 -2.93936766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23401273899998 meters 0.025144880169423973 Centerline is valid? [True, True] Translation: X:148.09, Y:-22.30, Z:-2.94 [[ 9.87078841e-01 1.59271072e-01 1.75524073e-02 1.48088610e+02] [-1.59245293e-01 9.87234888e-01 -2.86568732e-03 -2.22959481e+01] [-1.77847699e-02 3.35210675e-05 9.99841838e-01 -2.94008938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters 0.025435943721467565 Centerline is valid? [True, True] Translation: X:148.12, Y:-22.30, Z:-2.94 [[ 9.87342972e-01 1.57600197e-01 1.77773089e-02 1.48116338e+02] [-1.57573502e-01 9.87502999e-01 -2.90131804e-03 -2.23040590e+01] [-1.80123941e-02 6.33631541e-05 9.99837762e-01 -2.94021025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29401273899998 meters 0.02568448764401349 Centerline is valid? [True, True] Translation: X:148.15, Y:-22.31, Z:-2.94 [[ 9.87620733e-01 1.55740107e-01 1.87164590e-02 1.48145119e+02] [-1.55710201e-01 9.87798061e-01 -3.05364637e-03 -2.23128758e+01] [-1.89636571e-02 1.01500883e-04 9.99820169e-01 -2.93737694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters 0.025821606647645927 Centerline is valid? [True, True] Translation: X:148.17, Y:-22.32, Z:-2.94 [[ 9.87699481e-01 1.55266933e-01 1.84909530e-02 1.48173378e+02] [-1.55237667e-01 9.87872546e-01 -3.01644684e-03 -2.23193688e+01] [-1.87350593e-02 1.08850568e-04 9.99824477e-01 -2.93898767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35401273899998 meters 0.026068395944602807 Centerline is valid? [True, True] Translation: X:148.20, Y:-22.33, Z:-2.94 [[ 9.87838213e-01 1.54443746e-01 1.79664923e-02 1.48202037e+02] [-1.54415993e-01 9.88001576e-01 -2.93026222e-03 -2.23272169e+01] [-1.82034834e-02 1.20311246e-04 9.99834296e-01 -2.94100097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters 0.026272974525177486 Centerline is valid? [True, True] Translation: X:148.23, Y:-22.33, Z:-2.94 [[ 9.87848956e-01 1.54393248e-01 1.78091299e-02 1.48230300e+02] [-1.54365978e-01 9.88009469e-01 -2.90420585e-03 -2.23339188e+01] [-1.80439787e-02 1.19792975e-04 9.99837187e-01 -2.94195427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414012739 meters 0.026312469854395233 Centerline is valid? [True, True] Translation: X:148.26, Y:-22.34, Z:-2.94 [[ 9.87954307e-01 1.53800444e-01 1.70795617e-02 1.48259612e+02] [-1.53775286e-01 9.88101922e-01 -2.78455109e-03 -2.23421516e+01] [-1.73046130e-02 1.24594756e-04 9.99850256e-01 -2.94282877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters 0.02665754540478533 Centerline is valid? [True, True] Translation: X:148.29, Y:-22.35, Z:-2.94 [[ 9.88096846e-01 1.52921559e-01 1.67218485e-02 1.48288046e+02] [-1.52897318e-01 9.88238320e-01 -2.72619816e-03 -2.23499335e+01] [-1.69420660e-02 1.37022013e-04 9.99856464e-01 -2.94390670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474012739 meters 0.02664272386872926 Centerline is valid? [True, True] Translation: X:148.32, Y:-22.36, Z:-2.94 [[ 9.88151739e-01 1.52496350e-01 1.73494867e-02 1.48317536e+02] [-1.52470186e-01 9.88304022e-01 -2.82873297e-03 -2.23591761e+01] [-1.75779389e-02 1.49937948e-04 9.99845485e-01 -2.94243393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters 0.02660461154313162 Centerline is valid? [True, True] Translation: X:148.35, Y:-22.37, Z:-2.94 [[ 9.88064654e-01 1.53036018e-01 1.75561137e-02 1.48345878e+02] [-1.53009312e-01 9.88220601e-01 -2.86245150e-03 -2.23659054e+01] [-1.77873715e-02 1.42038274e-04 9.99841782e-01 -2.94219688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534012739 meters 0.025262954624240646 Centerline is valid? [True, True] Translation: X:148.38, Y:-22.37, Z:-2.94 [[ 9.87524793e-01 1.56413445e-01 1.81553974e-02 1.48375615e+02] [-1.56385458e-01 9.87691666e-01 -2.95996302e-03 -2.23676808e+01] [-1.83949127e-02 8.37967426e-05 9.99830796e-01 -2.94131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters 0.024652235883423603 Centerline is valid? [True, True] Translation: X:148.41, Y:-22.37, Z:-2.94 [[ 9.87104147e-01 1.58991675e-01 1.86293137e-02 1.48405980e+02] [-1.58962675e-01 9.87279923e-01 -3.03678036e-03 -2.23682442e+01] [-1.88751702e-02 3.62529559e-05 9.99821847e-01 -2.94133885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594012739 meters 0.025018289391747498 Centerline is valid? [True, True] Translation: X:148.44, Y:-22.36, Z:-2.94 [[ 9.86319335e-01 1.63829225e-01 1.82798700e-02 1.48435592e+02] [-1.63802139e-01 9.86488714e-01 -2.97946098e-03 -2.23618581e+01] [-1.85210082e-02 -5.55818257e-05 9.99828470e-01 -2.94337891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters 0.025574193067099217 Centerline is valid? [True, True] Translation: X:148.46, Y:-22.36, Z:-2.94 [[ 9.85911366e-01 1.66235450e-01 1.85621558e-02 1.48464929e+02] [-1.66207969e-01 9.86086084e-01 -3.02435563e-03 -2.23613684e+01] [-1.88066386e-02 -1.03431608e-04 9.99823134e-01 -2.94425119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654012739 meters 0.027822515226352013 Centerline is valid? [True, True] Translation: X:148.49, Y:-22.36, Z:-2.94 [[ 9.85093860e-01 1.70867332e-01 1.98605417e-02 1.48494336e+02] [-1.70836832e-01 9.85294023e-01 -3.23492070e-03 -2.23563447e+01] [-2.01212153e-02 -2.06211498e-04 9.99797527e-01 -2.94125646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters 0.028120474022010483 Centerline is valid? [True, True] Translation: X:148.52, Y:-22.36, Z:-2.94 [[ 9.84797044e-01 1.72669691e-01 1.89726138e-02 1.48523314e+02] [-1.72642211e-01 9.84979758e-01 -3.08923832e-03 -2.23591291e+01] [-1.92210584e-02 -2.33201235e-04 9.99815231e-01 -2.94296095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714012739 meters 0.030823032118577395 Centerline is valid? [True, True] Translation: X:148.55, Y:-22.36, Z:-2.95 [[ 9.84524951e-01 1.74548792e-01 1.55993639e-02 1.48552119e+02] [-1.74530460e-01 9.84648501e-01 -2.53944842e-03 -2.23568291e+01] [-1.58031479e-02 -2.22413816e-04 9.99875098e-01 -2.95053546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters 0.02973617847287742 Centerline is valid? [True, True] Translation: X:148.58, Y:-22.36, Z:-2.95 [[ 9.84537270e-01 1.74481021e-01 1.55800488e-02 1.48579240e+02] [-1.74462740e-01 9.84660512e-01 -2.53540985e-03 -2.23630372e+01] [-1.57834397e-02 -2.21932504e-04 9.99875409e-01 -2.95104334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77401273899997 meters 0.028570075398090904 Centerline is valid? [True, True] Translation: X:148.61, Y:-22.37, Z:-2.95 [[ 9.84784200e-01 1.72813692e-01 1.83168752e-02 1.48606894e+02] [-1.72788166e-01 9.84954504e-01 -2.97918381e-03 -2.23686960e+01] [-1.85561325e-02 -2.31086121e-04 9.99827793e-01 -2.94715126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters 0.027997287551181062 Centerline is valid? [True, True] Translation: X:148.64, Y:-22.37, Z:-2.94 [[ 9.84907714e-01 1.71915371e-01 2.00474591e-02 1.48635347e+02] [-1.71884633e-01 9.85111694e-01 -3.25934107e-03 -2.23728341e+01] [-2.03093173e-02 -2.35699993e-04 9.99793717e-01 -2.94380656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83401273899997 meters 0.02764405373260537 Centerline is valid? [True, True] Translation: X:148.66, Y:-22.37, Z:-2.95 [[ 9.85073725e-01 1.71160779e-01 1.82686841e-02 1.48663956e+02] [-1.71135139e-01 9.85243090e-01 -2.96935989e-03 -2.23749539e+01] [-1.85073327e-02 -2.01375393e-04 9.99828704e-01 -2.94711199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters 0.028628489461140706 Centerline is valid? [True, True] Translation: X:148.69, Y:-22.38, Z:-2.95 [[ 9.85117992e-01 1.71058052e-01 1.67834357e-02 1.48691759e+02] [-1.71036408e-01 9.85260934e-01 -2.72726766e-03 -2.23765458e+01] [-1.70025846e-02 -1.83898115e-04 9.99855429e-01 -2.95132200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89401273899998 meters 0.027401934725741862 Centerline is valid? [True, True] Translation: X:148.72, Y:-22.38, Z:-2.95 [[ 9.85322066e-01 1.70037024e-01 1.50942681e-02 1.48719973e+02] [-1.70019410e-01 9.85437663e-01 -2.45194945e-03 -2.23845302e+01] [-1.52913825e-02 -1.50358670e-04 9.99883069e-01 -2.95441445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters 0.027260745386561577 Centerline is valid? [True, True] Translation: X:148.75, Y:-22.39, Z:-2.95 [[ 9.85475226e-01 1.69121334e-01 1.53802772e-02 1.48747105e+02] [-1.69102946e-01 9.85595229e-01 -2.49776586e-03 -2.23890938e+01] [-1.55811533e-02 -1.39363801e-04 9.99878597e-01 -2.95435520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95401273899998 meters 0.026573381281126213 Centerline is valid? [True, True] Translation: X:148.77, Y:-22.39, Z:-2.96 [[ 9.85758828e-01 1.67453311e-01 1.54570961e-02 1.48774460e+02] [-1.67434550e-01 9.85880001e-01 -2.50913057e-03 -2.23923304e+01] [-1.56590042e-02 -1.14654328e-04 9.99877384e-01 -2.95521751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters 0.026038492076912435 Centerline is valid? [True, True] Translation: X:148.80, Y:-22.40, Z:-2.95 [[ 9.85890059e-01 1.66671495e-01 1.55371633e-02 1.48802372e+02] [-1.66652458e-01 9.86012476e-01 -2.52117131e-03 -2.23974029e+01] [-1.57400443e-02 -1.03708718e-04 9.99876112e-01 -2.95466404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01401273899998 meters 0.02552009693319784 Centerline is valid? [True, True] Translation: X:148.83, Y:-22.40, Z:-2.95 [[ 9.86130577e-01 1.65140265e-01 1.65884948e-02 1.48830150e+02] [-1.65118362e-01 9.86270087e-01 -2.69092681e-03 -2.24031205e+01] [-1.68051166e-02 -8.54598839e-05 9.99858780e-01 -2.95347003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters 0.02552009693319784 Centerline is valid? [True, True] Translation: X:148.86, Y:-22.41, Z:-2.95 [[ 9.86137976e-01 1.65096062e-01 1.65886173e-02 1.48858122e+02] [-1.65074166e-01 9.86277488e-01 -2.69017160e-03 -2.24075645e+01] [-1.68051165e-02 -8.54717759e-05 9.99858780e-01 -2.95404533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07401273899998 meters 0.025110582812137103 Centerline is valid? [True, True] Translation: X:148.89, Y:-22.41, Z:-2.95 [[ 9.86288496e-01 1.64171063e-01 1.68185746e-02 1.48885863e+02] [-1.64148434e-01 9.86431881e-01 -2.72667834e-03 -2.24143852e+01] [-1.70380199e-02 -7.14512071e-05 9.99854840e-01 -2.95322888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters 0.024537011359833993 Centerline is valid? [True, True] Translation: X:148.91, Y:-22.42, Z:-2.95 [[ 9.86653568e-01 1.62017883e-01 1.62770399e-02 1.48913279e+02] [-1.61996406e-01 9.86787821e-01 -2.63816802e-03 -2.24227381e+01] [-1.64894151e-02 -3.38640697e-05 9.99864040e-01 -2.95405805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13401273899999 meters 0.024622370007758656 Centerline is valid? [True, True] Translation: X:148.94, Y:-22.43, Z:-2.96 [[ 9.86774539e-01 1.61336244e-01 1.57043385e-02 1.48940703e+02] [-1.61316178e-01 9.86899496e-01 -2.54461414e-03 -2.24279912e+01] [-1.59091422e-02 -2.24034157e-05 9.99873441e-01 -2.95718013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters 0.02474882294397286 Centerline is valid? [True, True] Translation: X:148.97, Y:-22.43, Z:-2.96 [[ 9.86715177e-01 1.61710710e-01 1.55822565e-02 1.48969086e+02] [-1.61691012e-01 9.86838206e-01 -2.52408598e-03 -2.24339495e+01] [-1.57853378e-02 -2.89568911e-05 9.99875403e-01 -2.95780524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194012739 meters 0.02452445600183964 Centerline is valid? [True, True] Translation: X:149.00, Y:-22.44, Z:-2.96 [[ 9.86656736e-01 1.61971207e-01 1.65473088e-02 1.48995956e+02] [-1.61949045e-01 9.86795484e-01 -2.67960982e-03 -2.24403380e+01] [-1.67628293e-02 -3.59657734e-05 9.99859493e-01 -2.95569168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters 0.024367973103073245 Centerline is valid? [True, True] Translation: X:149.02, Y:-22.45, Z:-2.95 [[ 9.86593348e-01 1.62196490e-01 1.80516905e-02 1.49024915e+02] [-1.62170174e-01 9.86758479e-01 -2.92203338e-03 -2.24452145e+01] [-1.82866022e-02 -4.45870819e-05 9.99832785e-01 -2.95233679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254012739 meters 0.024168137342095237 Centerline is valid? [True, True] Translation: X:149.05, Y:-22.45, Z:-2.95 [[ 9.86399308e-01 1.63139030e-01 2.00515057e-02 1.49052875e+02] [-1.63106774e-01 9.86603087e-01 -3.24469925e-03 -2.24505678e+01] [-2.03122146e-02 -6.99673190e-05 9.99793683e-01 -2.94893636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters 0.024525547310520136 Centerline is valid? [True, True] Translation: X:149.08, Y:-22.45, Z:-2.95 [[ 9.86186454e-01 1.64352652e-01 2.06030264e-02 1.49081172e+02] [-1.64318884e-01 9.86401640e-01 -3.33291179e-03 -2.24546166e+01] [-2.08706319e-02 -9.85938385e-05 9.99782180e-01 -2.94825333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314012739 meters 0.02503888486164474 Centerline is valid? [True, True] Translation: X:149.11, Y:-22.46, Z:-2.95 [[ 9.85944577e-01 1.65761732e-01 2.08887152e-02 1.49108890e+02] [-1.65727354e-01 9.86165823e-01 -3.37833369e-03 -2.24577406e+01] [-2.11597354e-02 -1.30981718e-04 9.99776099e-01 -2.94813341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters 0.02686568831590301 Centerline is valid? [True, True] Translation: X:149.14, Y:-22.46, Z:-2.95 [[ 9.85434913e-01 1.69028706e-01 1.86367696e-02 1.49136648e+02] [-1.69001944e-01 9.85611112e-01 -3.01314250e-03 -2.24575697e+01] [-1.88779148e-02 -1.80394477e-04 9.99821780e-01 -2.95301595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374012739 meters 0.028896151384380384 Centerline is valid? [True, True] Translation: X:149.16, Y:-22.46, Z:-2.95 [[ 9.84949687e-01 1.71907864e-01 1.79387998e-02 1.49164368e+02] [-1.71883563e-01 9.85113006e-01 -2.89932297e-03 -2.24578104e+01] [-1.81701614e-02 -2.27697581e-04 9.99834883e-01 -2.95464835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters 0.03012088089605811 Centerline is valid? [True, True] Translation: X:149.19, Y:-22.46, Z:-2.95 [[ 9.84715143e-01 1.73217464e-01 1.82153131e-02 1.49192153e+02] [-1.73192656e-01 9.84883569e-01 -2.94273450e-03 -2.24603427e+01] [-1.84496956e-02 -2.57003230e-04 9.99829757e-01 -2.95481949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434012739 meters 0.029466793867277116 Centerline is valid? [True, True] Translation: X:149.22, Y:-22.47, Z:-2.96 [[ 9.84634728e-01 1.73744025e-01 1.75347418e-02 1.49220291e+02] [-1.73721141e-01 9.84790814e-01 -2.83157332e-03 -2.24670001e+01] [-1.77600216e-02 -2.58089932e-04 9.99842245e-01 -2.95675349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters 0.02981415137802297 Centerline is valid? [True, True] Translation: X:149.25, Y:-22.47, Z:-2.96 [[ 9.84617328e-01 1.73925365e-01 1.66938768e-02 1.49248824e+02] [-1.73904662e-01 9.84758806e-01 -2.69503848e-03 -2.24711415e+01] [-1.69081777e-02 -2.49561428e-04 9.99857015e-01 -2.95870037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49401273899997 meters 0.030337217103451657 Centerline is valid? [True, True] Translation: X:149.28, Y:-22.48, Z:-2.96 [[ 9.84508080e-01 1.74527326e-01 1.68538525e-02 1.49276663e+02] [-1.74506326e-01 9.84652296e-01 -2.72008984e-03 -2.24751918e+01] [-1.70699145e-02 -2.63153449e-04 9.99854264e-01 -2.95903477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters 0.031035895304880413 Centerline is valid? [True, True] Translation: X:149.30, Y:-22.48, Z:-2.96 [[ 9.84325817e-01 1.75341669e-01 1.89205142e-02 1.49304338e+02] [-1.75315378e-01 9.84507593e-01 -3.05236210e-03 -2.24775518e+01] [-1.91625961e-02 -3.12538269e-04 9.99816332e-01 -2.95591998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55401273899997 meters 0.03132202513505957 Centerline is valid? [True, True] Translation: X:149.33, Y:-22.48, Z:-2.96 [[ 9.84304638e-01 1.75430244e-01 1.91992194e-02 1.49332720e+02] [-1.75403212e-01 9.84491812e-01 -3.09616547e-03 -2.24811902e+01] [-1.94446354e-02 -3.20034723e-04 9.99810884e-01 -2.95706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters 0.030590614073008178 Centerline is valid? [True, True] Translation: X:149.36, Y:-22.49, Z:-2.96 [[ 9.84303345e-01 1.75575536e-01 1.78929247e-02 1.49360809e+02] [-1.75552095e-01 9.84465916e-01 -2.88474025e-03 -2.24871744e+01] [-1.81214644e-02 -3.01680945e-04 9.99835747e-01 -2.96080632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61401273899997 meters 0.031103503768917438 Centerline is valid? [True, True] Translation: X:149.39, Y:-22.49, Z:-2.96 [[ 9.84220028e-01 1.76087277e-01 1.74415209e-02 1.49389656e+02] [-1.76065099e-01 9.84374511e-01 -2.81114513e-03 -2.24921902e+01] [-1.76639955e-02 -3.04057753e-04 9.99843933e-01 -2.96208709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters 0.03173424712465205 Centerline is valid? [True, True] Translation: X:149.42, Y:-22.50, Z:-2.96 [[ 9.84196375e-01 1.76224201e-01 1.73933028e-02 1.49416807e+02] [-1.76202181e-01 9.84350007e-01 -2.80256646e-03 -2.24956262e+01] [-1.76149778e-02 -3.06462144e-04 9.99844797e-01 -2.96236507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67401273899998 meters 0.033905245928911025 Centerline is valid? [True, True] Translation: X:149.45, Y:-22.49, Z:-2.96 [[ 9.83859628e-01 1.77881997e-01 1.94480849e-02 1.49445543e+02] [-1.77854816e-01 9.84051753e-01 -3.13233932e-03 -2.24931166e+01] [-1.96951088e-02 -3.77153361e-04 9.99805961e-01 -2.95726677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters 0.034227389913240557 Centerline is valid? [True, True] Translation: X:149.47, Y:-22.50, Z:-2.96 [[ 9.83572618e-01 1.79430968e-01 1.97340451e-02 1.49474254e+02] [-1.79403317e-01 9.83770479e-01 -3.17721091e-03 -2.24950448e+01] [-1.99838610e-02 -4.15335490e-04 9.99800216e-01 -2.95749001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73401273899998 meters 0.03675109832682225 Centerline is valid? [True, True] Translation: X:149.50, Y:-22.49, Z:-2.96 [[ 9.82889241e-01 1.83415888e-01 1.69514693e-02 1.49504034e+02] [-1.83396089e-01 9.83035315e-01 -2.72851376e-03 -2.24929643e+01] [-1.71643457e-02 -4.27006355e-04 9.99852591e-01 -2.96368553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters 0.04046004114905155 Centerline is valid? [True, True] Translation: X:149.53, Y:-22.49, Z:-2.97 [[ 9.82524094e-01 1.85417123e-01 1.63369314e-02 1.49533642e+02] [-1.85399020e-01 9.82659805e-01 -2.62902711e-03 -2.24899304e+01] [-1.65411125e-02 -4.45768586e-04 9.99863087e-01 -2.96653029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79401273899998 meters 0.04294943509443794 Centerline is valid? [True, True] Translation: X:149.56, Y:-22.49, Z:-2.97 [[ 9.82157229e-01 1.87330969e-01 1.65615636e-02 1.49563065e+02] [-1.87312646e-01 9.82296734e-01 -2.66455886e-03 -2.24860138e+01] [-1.67675242e-02 -4.85174563e-04 9.99859297e-01 -2.96554766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters 0.0402849422813644 Centerline is valid? [True, True] Translation: X:149.59, Y:-22.49, Z:-2.96 [[ 9.82601562e-01 1.84918999e-01 1.72955042e-02 1.49591108e+02] [-1.84898653e-01 9.82753656e-01 -2.78203887e-03 -2.24924835e+01] [-1.75116719e-02 -4.64279707e-04 9.99846551e-01 -2.96396760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85401273899998 meters 0.03840648390995704 Centerline is valid? [True, True] Translation: X:149.62, Y:-22.50, Z:-2.97 [[ 9.83006155e-01 1.82807935e-01 1.67379446e-02 1.49619635e+02] [-1.82788587e-01 9.83148558e-01 -2.69157061e-03 -2.24989494e+01] [-1.69479266e-02 -4.13674780e-04 9.99856288e-01 -2.96559564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters 0.036257219652580004 Centerline is valid? [True, True] Translation: X:149.65, Y:-22.50, Z:-2.97 [[ 9.83482534e-01 1.80325321e-01 1.56487428e-02 1.49647843e+02] [-1.80308103e-01 9.83606963e-01 -2.51597499e-03 -2.25040329e+01] [-1.58459063e-02 -3.47177661e-04 9.99874385e-01 -2.96839532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914012739 meters 0.03537146251235841 Centerline is valid? [True, True] Translation: X:149.68, Y:-22.51, Z:-2.97 [[ 9.83733420e-01 1.78983552e-01 1.52789768e-02 1.49675590e+02] [-1.78966985e-01 9.83852015e-01 -2.45589346e-03 -2.25089802e+01] [-1.54718167e-02 -3.18487946e-04 9.99880254e-01 -2.97032182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters 0.03432472347408262 Centerline is valid? [True, True] Translation: X:149.70, Y:-22.52, Z:-2.97 [[ 9.83977407e-01 1.77679034e-01 1.47859043e-02 1.49703533e+02] [-1.77663386e-01 9.84088450e-01 -2.37576375e-03 -2.25154027e+01] [-1.49727611e-02 -2.89215965e-04 9.99887860e-01 -2.97235324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974012739 meters 0.033001975778517045 Centerline is valid? [True, True] Translation: X:149.73, Y:-22.52, Z:-2.97 [[ 9.84340506e-01 1.75783579e-01 1.31871974e-02 1.49732036e+02] [-1.75770970e-01 9.84428809e-01 -2.11829928e-03 -2.25227711e+01] [-1.33542192e-02 -2.32798684e-04 9.99910801e-01 -2.97453353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters 0.02905182049133679 Centerline is valid? [True, True] Translation: X:149.76, Y:-22.53, Z:-2.97 [[ 9.84850651e-01 1.72762512e-01 1.49100440e-02 1.49759775e+02] [-1.72746054e-01 9.84963485e-01 -2.39451766e-03 -2.25333835e+01] [-1.50995318e-02 -2.17408985e-04 9.99885972e-01 -2.97096408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034012739 meters 0.029577203269440685 Centerline is valid? [True, True] Translation: X:149.79, Y:-22.54, Z:-2.97 [[ 9.85011644e-01 1.71760607e-01 1.58226153e-02 1.49787867e+02] [-1.71741957e-01 9.85138695e-01 -2.54024223e-03 -2.25367746e+01] [-1.60237841e-02 -2.15238733e-04 9.99871588e-01 -2.97123339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters 0.02903252969808101 Centerline is valid? [True, True] Translation: X:149.82, Y:-22.54, Z:-2.97 [[ 9.85052518e-01 1.71658715e-01 1.43116407e-02 1.49816152e+02] [-1.71643454e-01 9.85156459e-01 -2.29704893e-03 -2.25429254e+01] [-1.44935137e-02 -1.93785618e-04 9.99894945e-01 -2.97421287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094012739 meters 0.029393037318828107 Centerline is valid? [True, True] Translation: X:149.85, Y:-22.55, Z:-2.98 [[ 9.84982391e-01 1.72132551e-01 1.34191902e-02 1.49845265e+02] [-1.72119186e-01 9.85073779e-01 -2.15323790e-03 -2.25460224e+01] [-1.35895347e-02 -1.88798680e-04 9.99907640e-01 -2.97648254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters 0.03083440810280319 Centerline is valid? [True, True] Translation: X:149.87, Y:-22.54, Z:-2.98 [[ 9.84701216e-01 1.73749878e-01 1.32096376e-02 1.49874501e+02] [-1.73737081e-01 9.84789793e-01 -2.11899823e-03 -2.25447258e+01] [-1.33768920e-02 -2.08423735e-04 9.99910504e-01 -2.97711099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154012739 meters 0.03125813027629484 Centerline is valid? [True, True] Translation: X:149.90, Y:-22.55, Z:-2.98 [[ 9.84461677e-01 1.75032975e-01 1.40948209e-02 1.49903777e+02] [-1.75018547e-01 9.84562542e-01 -2.26027149e-03 -2.25470225e+01] [-1.42728547e-02 -2.41704407e-04 9.99898108e-01 -2.97628661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters 0.03684861208569042 Centerline is valid? [True, True] Translation: X:149.93, Y:-22.54, Z:-2.98 [[ 9.83849859e-01 1.78423754e-01 1.42975249e-02 1.49934368e+02] [-1.78409277e-01 9.83953696e-01 -2.29200533e-03 -2.25378387e+01] [-1.44770507e-02 -2.95821960e-04 9.99895158e-01 -2.97742743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214012739 meters 0.03431470135434781 Centerline is valid? [True, True] Translation: X:149.96, Y:-22.54, Z:-2.98 [[ 9.83655807e-01 1.79504236e-01 1.41238554e-02 1.49962717e+02] [-1.79490227e-01 9.83757152e-01 -2.26374352e-03 -2.25441072e+01] [-1.43007953e-02 -3.08349553e-04 9.99897691e-01 -2.97632767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters 0.03678934472014956 Centerline is valid? [True, True] Translation: X:149.99, Y:-22.54, Z:-2.98 [[ 9.83674112e-01 1.79409933e-01 1.40469591e-02 1.49990584e+02] [-1.79396072e-01 9.83774355e-01 -2.25095672e-03 -2.25412307e+01] [-1.42228822e-02 -3.05761444e-04 9.99898803e-01 -2.97852518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27401273899997 meters 0.03351896093414216 Centerline is valid? [True, True] Translation: X:150.02, Y:-22.55, Z:-2.98 [[ 9.83957197e-01 1.77860103e-01 1.39290543e-02 1.50018049e+02] [-1.77846338e-01 9.84055742e-01 -2.23066279e-03 -2.25500852e+01] [-1.41037118e-02 -2.82354602e-04 9.99900498e-01 -2.97797330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters 0.03042019853741929 Centerline is valid? [True, True] Translation: X:150.05, Y:-22.56, Z:-2.98 [[ 9.84730592e-01 1.73502072e-01 1.42370409e-02 1.50046015e+02] [-1.73487247e-01 9.84833478e-01 -2.27920695e-03 -2.25577129e+01] [-1.44165616e-02 -2.25540224e-04 9.99896051e-01 -2.97852397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33401273899997 meters 0.028514846983698328 Centerline is valid? [True, True] Translation: X:150.07, Y:-22.57, Z:-2.98 [[ 9.85249715e-01 1.70555941e-01 1.39165182e-02 1.50074361e+02] [-1.70541485e-01 9.85347979e-01 -2.22771200e-03 -2.25653794e+01] [-1.40925626e-02 -1.78491074e-04 9.99900679e-01 -2.97993215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters 0.02535194609947341 Centerline is valid? [True, True] Translation: X:150.10, Y:-22.58, Z:-2.98 [[ 9.86285829e-01 1.64524417e-01 1.31140832e-02 1.50101594e+02] [-1.64511063e-01 9.86373007e-01 -2.09797572e-03 -2.25776970e+01] [-1.32805459e-02 -8.82080502e-05 9.99911806e-01 -2.98167963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39401273899998 meters 0.024237926455996747 Centerline is valid? [True, True] Translation: X:150.13, Y:-22.59, Z:-2.98 [[ 9.86729845e-01 1.61787339e-01 1.37503062e-02 1.50129168e+02] [-1.61772402e-01 9.86825645e-01 -2.19907769e-03 -2.25871070e+01] [-1.39249377e-02 -5.45244677e-05 9.99903042e-01 -2.97985384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters 0.023630799268896333 Centerline is valid? [True, True] Translation: X:150.16, Y:-22.60, Z:-2.98 [[ 9.87401056e-01 1.57409064e-01 1.61722679e-02 1.50155503e+02] [-1.57387829e-01 9.87533486e-01 -2.58548747e-03 -2.25997277e+01] [-1.63776352e-02 7.59493223e-06 9.99865878e-01 -2.97628995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45401273899998 meters 0.023951413406120507 Centerline is valid? [True, True] Translation: X:150.18, Y:-22.61, Z:-2.98 [[ 9.87829825e-01 1.54711715e-01 1.60162950e-02 1.50183157e+02] [-1.54690550e-01 9.87959656e-01 -2.55951290e-03 -2.26119259e+01] [-1.62194399e-02 5.07937123e-05 9.99868455e-01 -2.97794355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters 0.024123804158996665 Centerline is valid? [True, True] Translation: X:150.21, Y:-22.62, Z:-2.98 [[ 9.87918578e-01 1.54178508e-01 1.56802939e-02 1.50211023e+02] [-1.54158166e-01 9.88043007e-01 -2.50511016e-03 -2.26181536e+01] [-1.58790389e-02 5.75995146e-05 9.99873918e-01 -2.97880488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51401273899998 meters 0.024083085679983064 Centerline is valid? [True, True] Translation: X:150.24, Y:-22.62, Z:-2.98 [[ 9.87946320e-01 1.54055909e-01 1.51276356e-02 1.50239695e+02] [-1.54036972e-01 9.88062130e-01 -2.41613705e-03 -2.26238152e+01] [-1.53192640e-02 5.67985299e-05 9.99882652e-01 -2.97971437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters 0.023735704764633603 Centerline is valid? [True, True] Translation: X:150.27, Y:-22.63, Z:-2.98 [[ 9.87686809e-01 1.55634673e-01 1.58939036e-02 1.50268347e+02] [-1.55613986e-01 9.87814683e-01 -2.53772310e-03 -2.26281664e+01] [-1.60951890e-02 3.31619476e-05 9.99870464e-01 -2.97816435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57401273899998 meters 0.023514040792848624 Centerline is valid? [True, True] Translation: X:150.30, Y:-22.63, Z:-2.97 [[ 9.87183151e-01 1.58518147e-01 1.84776569e-02 1.50295955e+02] [-1.58490710e-01 9.87356064e-01 -2.94924192e-03 -2.26323959e+01] [-1.87115349e-02 -1.70950349e-05 9.99824924e-01 -2.97354566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters 0.02342067526078568 Centerline is valid? [True, True] Translation: X:150.32, Y:-22.64, Z:-2.97 [[ 9.87016819e-01 1.59431246e-01 1.94801488e-02 1.50324815e+02] [-1.59400953e-01 9.87209034e-01 -3.10801864e-03 -2.26374079e+01] [-1.97264941e-02 -3.74876106e-05 9.99805413e-01 -2.97251922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63401273899999 meters 0.023642362260115863 Centerline is valid? [True, True] Translation: X:150.35, Y:-22.64, Z:-2.98 [[ 9.86882880e-01 1.60405207e-01 1.82304627e-02 1.50352254e+02] [-1.60378857e-01 9.87051248e-01 -2.90784877e-03 -2.26407804e+01] [-1.84608351e-02 -5.40746123e-05 9.99829583e-01 -2.97645203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters 0.02385381230442894 Centerline is valid? [True, True] Translation: X:150.38, Y:-22.65, Z:-2.98 [[ 9.86895643e-01 1.60528682e-01 1.63564334e-02 1.50380366e+02] [-1.60507503e-01 9.87031175e-01 -2.60803980e-03 -2.26460110e+01] [-1.65629748e-02 -5.14671787e-05 9.99862823e-01 -2.98045902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694012739 meters 0.024042252232591956 Centerline is valid? [True, True] Translation: X:150.41, Y:-22.66, Z:-2.98 [[ 9.87020656e-01 1.59945779e-01 1.44073775e-02 1.50406618e+02] [-1.59929292e-01 9.87125801e-01 -2.29679181e-03 -2.26552872e+01] [-1.45892562e-02 -3.71807147e-05 9.99893570e-01 -2.98425401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters 0.023936956311210737 Centerline is valid? [True, True] Translation: X:150.43, Y:-22.66, Z:-2.98 [[ 9.87116544e-01 1.59351410e-01 1.44241887e-02 1.50434529e+02] [-1.59334836e-01 9.87221924e-01 -2.29843905e-03 -2.26618874e+01] [-1.46061348e-02 -2.94485285e-05 9.99893324e-01 -2.98425640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754012739 meters 0.024204190506630946 Centerline is valid? [True, True] Translation: X:150.46, Y:-22.67, Z:-2.99 [[ 9.87071865e-01 1.59760073e-01 1.28783385e-02 1.50461848e+02] [-1.59746901e-01 9.87155873e-01 -2.05169395e-03 -2.26666093e+01] [-1.30407063e-02 -3.21052938e-05 9.99914966e-01 -2.98674322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters 0.02451409061389064 Centerline is valid? [True, True] Translation: X:150.49, Y:-22.67, Z:-2.99 [[ 9.86955591e-01 1.60513188e-01 1.24167996e-02 1.50490437e+02] [-1.60501013e-01 9.87033695e-01 -1.97738892e-03 -2.26712701e+01] [-1.25731966e-02 -4.13138711e-05 9.99920953e-01 -2.98941806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814012739 meters 0.02493997224469694 Centerline is valid? [True, True] Translation: X:150.52, Y:-22.68, Z:-2.99 [[ 9.86565233e-01 1.62812319e-01 1.34606641e-02 1.50518653e+02] [-1.62798235e-01 9.86657054e-01 -2.14292200e-03 -2.26756068e+01] [-1.36299533e-02 -7.72400090e-05 9.99907105e-01 -2.98794602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters 0.024920107045518624 Centerline is valid? [True, True] Translation: X:150.55, Y:-22.68, Z:-2.99 [[ 9.86486680e-01 1.63189502e-01 1.46019276e-02 1.50547227e+02] [-1.63172980e-01 9.86594739e-01 -2.32384927e-03 -2.26802113e+01] [-1.47854127e-02 -9.01936809e-05 9.99890686e-01 -2.98639728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874012739 meters 0.024632676150098756 Centerline is valid? [True, True] Translation: X:150.58, Y:-22.69, Z:-2.99 [[ 9.86478417e-01 1.63179103e-01 1.52615125e-02 1.50575030e+02] [-1.63161064e-01 9.86596458e-01 -2.42807116e-03 -2.26865626e+01] [-1.54531647e-02 -9.48448402e-05 9.99880588e-01 -2.98519747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters 0.02481154627921961 Centerline is valid? [True, True] Translation: X:150.60, Y:-22.69, Z:-2.99 [[ 9.86552809e-01 1.62728613e-01 1.52628125e-02 1.50602533e+02] [-1.62710529e-01 9.86670862e-01 -2.42757974e-03 -2.26926628e+01] [-1.54544090e-02 -8.84846799e-05 9.99880570e-01 -2.98719772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934012739 meters 0.02481154627921961 Centerline is valid? [True, True] Translation: X:150.63, Y:-22.70, Z:-2.99 [[ 9.86560211e-01 1.62683719e-01 1.52629691e-02 1.50630519e+02] [-1.62665645e-01 9.86678266e-01 -2.42659448e-03 -2.26970202e+01] [-1.54544073e-02 -8.87791488e-05 9.99880570e-01 -2.98777303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters 0.02431877382598304 Centerline is valid? [True, True] Translation: X:150.66, Y:-22.71, Z:-2.99 [[ 9.86887840e-01 1.60803237e-01 1.39538452e-02 1.50656701e+02] [-1.60787949e-01 9.86986482e-01 -2.21796122e-03 -2.27073836e+01] [-1.41289119e-02 -5.47311998e-05 9.99900180e-01 -2.98991898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99401273899997 meters 0.0242216684336768 Centerline is valid? [True, True] Translation: X:150.68, Y:-22.71, Z:-2.99 [[ 9.87145039e-01 1.59297590e-01 1.29980542e-02 1.50683940e+02] [-1.59284203e-01 9.87230610e-01 -2.06539503e-03 -2.27142148e+01] [-1.31610894e-02 -3.15402568e-05 9.99913389e-01 -2.99228214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters 0.024177155449755454 Centerline is valid? [True, True] Translation: X:150.71, Y:-22.73, Z:-2.99 [[ 9.87894803e-01 1.54608654e-01 1.26499876e-02 1.50710607e+02] [-1.54595601e-01 9.87975791e-01 -2.00920730e-03 -2.27280040e+01] [-1.28085224e-02 2.92530076e-05 9.99917967e-01 -2.99448927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05401273899997 meters 0.02554952392929458 Centerline is valid? [True, True] Translation: X:150.74, Y:-22.75, Z:-2.99 [[ 9.88673947e-01 1.49286295e-01 1.54087074e-02 1.50736680e+02] [-1.49266296e-01 9.88794007e-01 -2.44641824e-03 -2.27458170e+01] [-1.56012542e-02 1.18709302e-04 9.99878286e-01 -2.98906891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters 0.02618442880360764 Centerline is valid? [True, True] Translation: X:150.77, Y:-22.75, Z:-2.99 [[ 9.88903780e-01 1.47616864e-01 1.66906008e-02 1.50766095e+02] [-1.47593173e-01 9.89044608e-01 -2.64920365e-03 -2.27545818e+01] [-1.68988159e-02 1.56388772e-04 9.99857193e-01 -2.98699945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11401273899997 meters 0.027681170428315305 Centerline is valid? [True, True] Translation: X:150.80, Y:-22.76, Z:-2.99 [[ 9.89197269e-01 1.45664331e-01 1.64519120e-02 1.50795054e+02] [-1.45641043e-01 9.89334053e-01 -2.61127713e-03 -2.27637885e+01] [-1.66568067e-02 1.86994576e-04 9.99861248e-01 -2.98800814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters 0.0282429473593604 Centerline is valid? [True, True] Translation: X:150.83, Y:-22.77, Z:-2.99 [[ 9.89298052e-01 1.45102739e-01 1.53153398e-02 1.50825433e+02] [-1.45082489e-01 9.89416576e-01 -2.43098405e-03 -2.27702535e+01] [-1.55059935e-02 1.82980174e-04 9.99879758e-01 -2.99079753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17401273899998 meters 0.028877648466333818 Centerline is valid? [True, True] Translation: X:150.86, Y:-22.78, Z:-2.99 [[ 9.89397839e-01 1.44509952e-01 1.44495948e-02 1.50856220e+02] [-1.44491859e-01 9.89503330e-01 -2.29386293e-03 -2.27772772e+01] [-1.46294082e-02 1.81694204e-04 9.99892968e-01 -2.99335267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters 0.03064030956284176 Centerline is valid? [True, True] Translation: X:150.89, Y:-22.79, Z:-2.99 [[ 9.89715557e-01 1.42278624e-01 1.48293460e-02 1.50885572e+02] [-1.42259311e-01 9.89826623e-01 -2.35454739e-03 -2.27868365e+01] [-1.50134832e-02 2.20719640e-04 9.99887267e-01 -2.99356909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23401273899998 meters 0.03169281283189094 Centerline is valid? [True, True] Translation: X:150.92, Y:-22.80, Z:-2.99 [[ 9.89870650e-01 1.40928432e-01 1.71834947e-02 1.50915752e+02] [-1.40902300e-01 9.90019747e-01 -2.72817881e-03 -2.27977582e+01] [-1.73964770e-02 2.79350201e-04 9.99848631e-01 -2.98948822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters 0.03241946225718079 Centerline is valid? [True, True] Translation: X:150.95, Y:-22.81, Z:-2.99 [[ 9.89902469e-01 1.40610679e-01 1.79370788e-02 1.50947253e+02] [-1.40582104e-01 9.90064921e-01 -2.85046082e-03 -2.28067272e+01] [-1.81596777e-02 3.00045929e-04 9.99835054e-01 -2.98848694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29401273899998 meters 0.031163121087227696 Centerline is valid? [True, True] Translation: X:150.98, Y:-22.81, Z:-2.99 [[ 9.90119501e-01 1.39106381e-01 1.76858369e-02 1.50978846e+02] [-1.39078310e-01 9.90277390e-01 -2.81337365e-03 -2.28141193e+01] [-1.79052426e-02 3.25859811e-04 9.99839635e-01 -2.98838065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters 0.0351043139739105 Centerline is valid? [True, True] Translation: X:151.01, Y:-22.83, Z:-2.99 [[ 9.90197164e-01 1.38587942e-01 1.74057068e-02 1.51007903e+02] [-1.38560622e-01 9.90350075e-01 -2.77169498e-03 -2.28270840e+01] [-1.76218665e-02 3.32778950e-04 9.99844667e-01 -2.99000225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35401273899998 meters 0.035416979392948716 Centerline is valid? [True, True] Translation: X:151.04, Y:-22.84, Z:-2.99 [[ 9.90188357e-01 1.38715121e-01 1.68858912e-02 1.51038975e+02] [-1.38689385e-01 9.90332273e-01 -2.69141165e-03 -2.28353891e+01] [-1.70959825e-02 3.23110619e-04 9.99853801e-01 -2.99216592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters 0.03479175357441718 Centerline is valid? [True, True] Translation: X:151.07, Y:-22.84, Z:-2.99 [[ 9.90100568e-01 1.39433652e-01 1.60972398e-02 1.51070629e+02] [-1.39410318e-01 9.90231371e-01 -2.56819921e-03 -2.28402440e+01] [-1.62980852e-02 2.98654187e-04 9.99867133e-01 -2.99441819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414012739 meters 0.032779455874576154 Centerline is valid? [True, True] Translation: X:151.10, Y:-22.84, Z:-3.00 [[ 9.89762811e-01 1.42028087e-01 1.40570334e-02 1.51102631e+02] [-1.42010531e-01 9.89862602e-01 -2.24442874e-03 -2.28424681e+01] [-1.42333036e-02 2.25205326e-04 9.99898676e-01 -2.99984652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters 0.028915019639327005 Centerline is valid? [True, True] Translation: X:151.13, Y:-22.84, Z:-3.00 [[ 9.89543993e-01 1.43604669e-01 1.34307402e-02 1.51134862e+02] [-1.43588764e-01 9.89635115e-01 -2.14617090e-03 -2.28430071e+01] [-1.35997322e-02 1.95227150e-04 9.99907500e-01 -2.99979472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474012739 meters 0.03032561007021895 Centerline is valid? [True, True] Translation: X:151.16, Y:-22.86, Z:-3.00 [[ 9.89273931e-01 1.45355016e-01 1.44571579e-02 1.51164384e+02] [-1.45336733e-01 9.89379545e-01 -2.31289765e-03 -2.28584755e+01] [-1.46398076e-02 1.86933246e-04 9.99892815e-01 -3.00005643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters 0.027276315816377027 Centerline is valid? [True, True] Translation: X:151.20, Y:-22.86, Z:-3.00 [[ 9.89122450e-01 1.46305703e-01 1.52125109e-02 1.51196214e+02] [-1.46285530e-01 9.89239409e-01 -2.43646490e-03 -2.28614300e+01] [-1.54052840e-02 1.84591913e-04 9.99881315e-01 -2.99772923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534012739 meters 0.027591929106699616 Centerline is valid? [True, True] Translation: X:151.23, Y:-22.87, Z:-3.00 [[ 9.89069366e-01 1.46675686e-01 1.51007735e-02 1.51227356e+02] [-1.46655814e-01 9.89184619e-01 -2.42107377e-03 -2.28701244e+01] [-1.52925656e-02 1.79993672e-04 9.99883046e-01 -2.99894621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters 0.02842249026654015 Centerline is valid? [True, True] Translation: X:151.26, Y:-22.88, Z:-3.00 [[ 9.88786193e-01 1.48587686e-01 1.49520371e-02 1.51256923e+02] [-1.48568379e-01 9.88899225e-01 -2.40008426e-03 -2.28832647e+01] [-1.51426809e-02 1.51770274e-04 9.99885332e-01 -3.00184646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594012739 meters 0.02613636912829999 Centerline is valid? [True, True] Translation: X:151.29, Y:-22.88, Z:-3.00 [[ 9.88496797e-01 1.50541726e-01 1.45351665e-02 1.51289649e+02] [-1.50523660e-01 9.88603649e-01 -2.33529756e-03 -2.28846973e+01] [-1.47210783e-02 1.20547710e-04 9.99891632e-01 -3.00162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters 0.025668093709354186 Centerline is valid? [True, True] Translation: X:151.32, Y:-22.89, Z:-3.00 [[ 9.88124449e-01 1.52995614e-01 1.42272635e-02 1.51320961e+02] [-1.52978526e-01 9.88226864e-01 -2.28813174e-03 -2.28888323e+01] [-1.44098381e-02 8.44931170e-05 9.99896169e-01 -3.00386840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654012739 meters 0.024146912224146534 Centerline is valid? [True, True] Translation: X:151.35, Y:-22.89, Z:-3.01 [[ 9.87226902e-01 1.58721591e-01 1.38021697e-02 1.51352249e+02] [-1.58706027e-01 9.87323380e-01 -2.22267122e-03 -2.28866353e+01] [-1.39799908e-02 3.79329611e-06 9.99902275e-01 -3.00564632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters 0.025368817579866202 Centerline is valid? [True, True] Translation: X:151.38, Y:-22.89, Z:-3.01 [[ 9.86571913e-01 1.62901588e-01 1.17869470e-02 1.51382616e+02] [-1.62890534e-01 9.86642321e-01 -1.89832105e-03 -2.28862420e+01] [-1.19387402e-02 -4.71518595e-05 9.99928730e-01 -3.01177978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714012739 meters 0.025979909156588966 Centerline is valid? [True, True] Translation: X:151.41, Y:-22.89, Z:-3.02 [[ 9.86440924e-01 1.63763127e-01 1.07676534e-02 1.51412442e+02] [-1.63753955e-01 9.86499689e-01 -1.73396765e-03 -2.28891467e+01] [-1.09062467e-02 -5.27891798e-05 9.99940524e-01 -3.01504931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters 0.024782698422024935 Centerline is valid? [True, True] Translation: X:151.44, Y:-22.90, Z:-3.01 [[ 9.86734328e-01 1.61973518e-01 1.09520020e-02 1.51442018e+02] [-1.61963924e-01 9.86795105e-01 -1.76321722e-03 -2.28991192e+01] [-1.10929765e-02 -3.40022687e-05 9.99938470e-01 -3.01238545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77401273899997 meters 0.024524075408981685 Centerline is valid? [True, True] Translation: X:151.47, Y:-22.91, Z:-3.01 [[ 9.86955421e-01 1.60551241e-01 1.19287985e-02 1.51470263e+02] [-1.60539754e-01 9.87027507e-01 -1.92057126e-03 -2.29074166e+01] [-1.20824024e-02 -1.95281739e-05 9.99927005e-01 -3.01222858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters 0.024455994056614513 Centerline is valid? [True, True] Translation: X:151.50, Y:-22.92, Z:-3.01 [[ 9.87492860e-01 1.57175844e-01 1.23937765e-02 1.51500937e+02] [-1.57163198e-01 9.87570632e-01 -1.99395925e-03 -2.29208975e+01] [-1.25531320e-02 2.11749715e-05 9.99921206e-01 -3.01181456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83401273899997 meters 0.025038979164649103 Centerline is valid? [True, True] Translation: X:151.53, Y:-22.93, Z:-3.01 [[ 9.87698268e-01 1.55852226e-01 1.27363598e-02 1.51531208e+02] [-1.55838732e-01 9.87780381e-01 -2.05130322e-03 -2.29307161e+01] [-1.29004265e-02 4.12504716e-05 9.99916785e-01 -3.01458677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters 0.02539183111825474 Centerline is valid? [True, True] Translation: X:151.56, Y:-22.94, Z:-3.01 [[ 9.88105497e-01 1.53152942e-01 1.38457022e-02 1.51562553e+02] [-1.53136700e-01 9.88202494e-01 -2.23208083e-03 -2.29447190e+01] [-1.40242072e-02 8.52462004e-05 9.99901652e-01 -3.01036593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89401273899998 meters 0.026070480439733375 Centerline is valid? [True, True] Translation: X:151.59, Y:-22.96, Z:-3.01 [[ 9.88281599e-01 1.51981141e-01 1.41849602e-02 1.51594329e+02] [-1.51963933e-01 9.88383388e-01 -2.28946742e-03 -2.29559186e+01] [-1.43681349e-02 1.07036190e-04 9.99896767e-01 -3.01011373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters 0.026937700546226212 Centerline is valid? [True, True] Translation: X:151.62, Y:-22.97, Z:-3.01 [[ 9.88528741e-01 1.50229003e-01 1.55619688e-02 1.51623354e+02] [-1.50208021e-01 9.88651215e-01 -2.51514250e-03 -2.29690296e+01] [-1.57632068e-02 1.48758113e-04 9.99875742e-01 -3.00728733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95401273899998 meters 0.026659460681134048 Centerline is valid? [True, True] Translation: X:151.65, Y:-22.98, Z:-3.01 [[ 9.88539483e-01 1.50083556e-01 1.62670431e-02 1.51654986e+02] [-1.50060578e-01 9.88673303e-01 -2.63099593e-03 -2.29776685e+01] [-1.64776605e-02 1.59801462e-04 9.99864221e-01 -3.00538517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters 0.02624368317244673 Centerline is valid? [True, True] Translation: X:151.69, Y:-22.98, Z:-3.00 [[ 9.88462933e-01 1.50541696e-01 1.66801598e-02 1.51687030e+02] [-1.50517547e-01 9.88603648e-01 -2.70102628e-03 -2.29847996e+01] [-1.68966839e-02 1.59207619e-04 9.99857228e-01 -3.00476058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01401273899998 meters 0.02626171551962127 Centerline is valid? [True, True] Translation: X:151.72, Y:-22.99, Z:-3.00 [[ 9.88272286e-01 1.51670092e-01 1.77220867e-02 1.51717153e+02] [-1.51642947e-01 9.88431161e-01 -2.87347302e-03 -2.29922112e+01] [-1.79528827e-02 1.52344295e-04 9.99838822e-01 -3.00402198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters 0.024879659674375297 Centerline is valid? [True, True] Translation: X:151.75, Y:-22.99, Z:-3.00 [[ 9.87838461e-01 1.54417324e-01 1.81787272e-02 1.51748972e+02] [-1.54389172e-01 9.88005708e-01 -2.95040528e-03 -2.29946181e+01] [-1.84162800e-02 1.07925155e-04 9.99830400e-01 -3.00263428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07401273899998 meters 0.02430925180507962 Centerline is valid? [True, True] Translation: X:151.78, Y:-23.00, Z:-3.01 [[ 9.87496452e-01 1.56909138e-01 1.51749897e-02 1.51782345e+02] [-1.56889790e-01 9.87613041e-01 -2.46459002e-03 -2.29965753e+01] [-1.53737344e-02 5.29729640e-05 9.99881816e-01 -3.00862380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters 0.024094898408763585 Centerline is valid? [True, True] Translation: X:151.81, Y:-23.00, Z:-3.01 [[ 9.87249081e-01 1.58535877e-01 1.43397473e-02 1.51813735e+02] [-1.58518734e-01 9.87353217e-01 -2.33155773e-03 -2.30006552e+01] [-1.45280312e-02 2.87096338e-05 9.99894462e-01 -3.01041882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13401273899999 meters 0.023863235147809397 Centerline is valid? [True, True] Translation: X:151.85, Y:-23.00, Z:-3.01 [[ 9.86642589e-01 1.62134759e-01 1.57709252e-02 1.51845181e+02] [-1.62114430e-01 9.86768625e-01 -2.56756569e-03 -2.30023788e+01] [-1.59785458e-02 -2.34248868e-05 9.99872335e-01 -3.00913457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters 0.02397547150310781 Centerline is valid? [True, True] Translation: X:151.88, Y:-23.00, Z:-3.01 [[ 9.86337411e-01 1.63931023e-01 1.62828593e-02 1.51877736e+02] [-1.63909556e-01 9.86471802e-01 -2.65341721e-03 -2.30048772e+01] [-1.64975590e-02 -5.17515766e-05 9.99863905e-01 -3.00892051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194012739 meters 0.026165743094708104 Centerline is valid? [True, True] Translation: X:151.91, Y:-23.00, Z:-3.01 [[ 9.85552173e-01 1.68718857e-01 1.48614282e-02 1.51910556e+02] [-1.68701472e-01 9.85664209e-01 -2.42484809e-03 -2.29992533e+01] [-1.50574954e-02 -1.17330506e-04 9.99886623e-01 -3.01334141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters 0.02734597434601925 Centerline is valid? [True, True] Translation: X:151.94, Y:-23.00, Z:-3.02 [[ 9.85081172e-01 1.71548670e-01 1.36432666e-02 1.51942737e+02] [-1.71534298e-01 9.85175635e-01 -2.22546599e-03 -2.29995958e+01] [-1.38227896e-02 -1.48023527e-04 9.99904450e-01 -3.01615978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254012739 meters 0.032760245254870604 Centerline is valid? [True, True] Translation: X:151.97, Y:-22.99, Z:-3.02 [[ 9.84202108e-01 1.76567252e-01 1.30466704e-02 1.51974024e+02] [-1.76554509e-01 9.84288557e-01 -2.13129266e-03 -2.29902193e+01] [-1.32180049e-02 -2.05825757e-04 9.99912617e-01 -3.01872417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters 0.030874778487087196 Centerline is valid? [True, True] Translation: X:152.00, Y:-23.00, Z:-3.01 [[ 9.83688489e-01 1.79356046e-01 1.37246003e-02 1.52004128e+02] [-1.79342218e-01 9.83784195e-01 -2.24179878e-03 -2.29968186e+01] [-1.39041251e-02 -2.56168611e-04 9.99903300e-01 -3.01440678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314012739 meters 0.03634620274911602 Centerline is valid? [True, True] Translation: X:152.04, Y:-22.99, Z:-3.02 [[ 9.82966182e-01 1.83320205e-01 1.30838630e-02 1.52035284e+02] [-1.83307988e-01 9.83053210e-01 -2.13722451e-03 -2.29884416e+01] [-1.32539299e-02 -2.97557179e-04 9.99912119e-01 -3.01696036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters 0.03881876250313084 Centerline is valid? [True, True] Translation: X:152.06, Y:-22.98, Z:-3.02 [[ 9.82577294e-01 1.85404356e-01 1.29261829e-02 1.52064649e+02] [-1.85392612e-01 9.82662262e-01 -2.11147043e-03 -2.29846997e+01] [-1.30935479e-02 -3.21735906e-04 9.99914224e-01 -3.01948107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374012739 meters 0.043079709789723516 Centerline is valid? [True, True] Translation: X:152.09, Y:-22.98, Z:-3.02 [[ 9.82427606e-01 1.86149914e-01 1.35723144e-02 1.52093533e+02] [-1.86137042e-01 9.82521291e-01 -2.21665764e-03 -2.29806874e+01] [-1.37477185e-02 -3.48604788e-04 9.99905435e-01 -3.01959936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters 0.03955219411858652 Centerline is valid? [True, True] Translation: X:152.12, Y:-22.99, Z:-3.01 [[ 9.81995753e-01 1.88238219e-01 1.58339463e-02 1.52121951e+02] [-1.88220989e-01 9.82123301e-01 -2.58491309e-03 -2.29870613e+01] [-1.60374670e-02 -4.41907352e-04 9.99871294e-01 -3.01291291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434012739 meters 0.04266925775717418 Centerline is valid? [True, True] Translation: X:152.15, Y:-22.98, Z:-3.01 [[ 9.81807982e-01 1.89184969e-01 1.61905417e-02 1.52150570e+02] [-1.89167094e-01 9.81941357e-01 -2.64241713e-03 -2.29843138e+01] [-1.63980681e-02 -4.68371496e-04 9.99865433e-01 -3.01346867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters 0.04084456360579407 Centerline is valid? [True, True] Translation: X:152.18, Y:-22.99, Z:-3.02 [[ 9.81678581e-01 1.89922605e-01 1.53807308e-02 1.52179038e+02] [-1.89906580e-01 9.81798958e-01 -2.50924866e-03 -2.29851416e+01] [-1.55773485e-02 -4.57626318e-04 9.99878561e-01 -3.01551224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49401273899997 meters 0.041815836872420756 Centerline is valid? [True, True] Translation: X:152.21, Y:-22.99, Z:-3.02 [[ 9.81570435e-01 1.90502341e-01 1.51109059e-02 1.52206822e+02] [-1.90486954e-01 9.81686634e-01 -2.46439245e-03 -2.29851036e+01] [-1.53036469e-02 -4.59455687e-04 9.99882787e-01 -3.01717485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters 0.04313154609922393 Centerline is valid? [True, True] Translation: X:152.24, Y:-22.98, Z:-3.02 [[ 9.81304199e-01 1.91896225e-01 1.47617260e-02 1.52236083e+02] [-1.91881712e-01 9.81415109e-01 -2.40651976e-03 -2.29810624e+01] [-1.49491829e-02 -4.70977308e-04 9.99888144e-01 -3.01795860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55401273899997 meters 0.04437765486299953 Centerline is valid? [True, True] Translation: X:152.26, Y:-22.98, Z:-3.02 [[ 9.81197150e-01 1.92452593e-01 1.46339191e-02 1.52264351e+02] [-1.92438409e-01 9.81306156e-01 -2.38459858e-03 -2.29802843e+01] [-1.48192771e-02 -4.76366784e-04 9.99890075e-01 -3.01859293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters 0.044610312403917766 Centerline is valid? [True, True] Translation: X:152.29, Y:-22.98, Z:-3.02 [[ 9.81167071e-01 1.92530821e-01 1.55904162e-02 1.52293221e+02] [-1.92514747e-01 9.81290794e-01 -2.53952405e-03 -2.29774659e+01] [-1.57876686e-02 -5.09687663e-04 9.99875237e-01 -3.01848488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61401273899997 meters 0.04083997980210654 Centerline is valid? [True, True] Translation: X:152.32, Y:-22.98, Z:-3.02 [[ 9.81354775e-01 1.91522546e-01 1.61839442e-02 1.52321033e+02] [-1.91505108e-01 9.81488080e-01 -2.63494092e-03 -2.29847717e+01] [-1.63889989e-02 -5.13496129e-04 9.99865559e-01 -3.01755269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters 0.040252451887557945 Centerline is valid? [True, True] Translation: X:152.35, Y:-22.99, Z:-3.02 [[ 9.82061603e-01 1.87766685e-01 1.72823463e-02 1.52349978e+02] [-1.87746235e-01 9.82213541e-01 -2.81282629e-03 -2.29852793e+01] [-1.75031096e-02 -4.82326759e-04 9.99846693e-01 -3.01630746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67401273899998 meters 0.03974395727810983 Centerline is valid? [True, True] Translation: X:152.38, Y:-22.99, Z:-3.02 [[ 9.82348578e-01 1.86197902e-01 1.79335633e-02 1.52377823e+02] [-1.86175631e-01 9.82512147e-01 -2.91817558e-03 -2.29883010e+01] [-1.81633019e-02 -4.72126835e-04 9.99834922e-01 -3.01525138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters 0.036489716434092316 Centerline is valid? [True, True] Translation: X:152.41, Y:-22.99, Z:-3.02 [[ 9.82847335e-01 1.83491488e-01 1.84929810e-02 1.52406542e+02] [-1.83467348e-01 9.83021202e-01 -3.00811517e-03 -2.29944802e+01] [-1.87309559e-02 -4.36340191e-04 9.99824465e-01 -3.01509703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73401273899998 meters 0.03382095396781193 Centerline is valid? [True, True] Translation: X:152.43, Y:-23.00, Z:-3.02 [[ 9.83428878e-01 1.80503045e-01 1.69201561e-02 1.52434517e+02] [-1.80482414e-01 9.83574364e-01 -2.75114876e-03 -2.30003128e+01] [-1.71388225e-02 -3.48231482e-04 9.99853059e-01 -3.01794902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters 0.0318921909994112 Centerline is valid? [True, True] Translation: X:152.46, Y:-23.01, Z:-3.02 [[ 9.83737133e-01 1.78899517e-01 1.60067765e-02 1.52463025e+02] [-1.78880853e-01 9.83867303e-01 -2.60190066e-03 -2.30071889e+01] [-1.62140228e-02 -3.03719539e-04 9.99868498e-01 -3.01996558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79401273899998 meters 0.030447477296281514 Centerline is valid? [True, True] Translation: X:152.49, Y:-23.01, Z:-3.02 [[ 9.84351711e-01 1.75568469e-01 1.50805380e-02 1.52489726e+02] [-1.75551517e-01 9.84467195e-01 -2.45096251e-03 -2.30139887e+01] [-1.52766067e-02 -2.34802185e-04 9.99883278e-01 -3.02387977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters 0.029113109138843372 Centerline is valid? [True, True] Translation: X:152.52, Y:-23.02, Z:-3.03 [[ 9.84667801e-01 1.73835362e-01 1.45116812e-02 1.52517549e+02] [-1.73819489e-01 9.84774709e-01 -2.35762181e-03 -2.30213771e+01] [-1.47005747e-02 -2.00938736e-04 9.99891921e-01 -3.02507059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85401273899998 meters 0.029113109138843372 Centerline is valid? [True, True] Translation: X:152.55, Y:-23.03, Z:-3.03 [[ 9.84675540e-01 1.73791512e-01 1.45117859e-02 1.52545524e+02] [-1.73775644e-01 9.84782448e-01 -2.35697739e-03 -2.30258271e+01] [-1.47005747e-02 -2.00936964e-04 9.99891921e-01 -3.02564594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters 0.026095599061857055 Centerline is valid? [True, True] Translation: X:152.57, Y:-23.04, Z:-3.03 [[ 9.85280027e-01 1.70356882e-01 1.42056417e-02 1.52572284e+02] [-1.70341329e-01 9.85382419e-01 -2.30664333e-03 -2.30388902e+01] [-1.43909421e-02 -1.47118279e-04 9.99896434e-01 -3.02521608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914012739 meters 0.025402883575917436 Centerline is valid? [True, True] Translation: X:152.60, Y:-23.05, Z:-3.03 [[ 9.85602076e-01 1.68442915e-01 1.46810386e-02 1.52599840e+02] [-1.68426103e-01 9.85711402e-01 -2.38308337e-03 -2.30458782e+01] [-1.48726806e-02 -1.23898191e-04 9.99889388e-01 -3.02547016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters 0.023959198192408243 Centerline is valid? [True, True] Translation: X:152.63, Y:-23.06, Z:-3.03 [[ 9.86301842e-01 1.64254801e-01 1.51339372e-02 1.52627417e+02] [-1.64236454e-01 9.86417942e-01 -2.45576495e-03 -2.30556660e+01] [-1.53317584e-02 -6.34186940e-05 9.99882460e-01 -3.02697331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974012739 meters 0.02369848703317305 Centerline is valid? [True, True] Translation: X:152.66, Y:-23.06, Z:-3.03 [[ 9.86646444e-01 1.62236975e-01 1.44207442e-02 1.52655393e+02] [-1.62220108e-01 9.86751824e-01 -2.33954991e-03 -2.30633909e+01] [-1.46092571e-02 -3.10260726e-05 9.99893279e-01 -3.03039089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters 0.023641882277784115 Centerline is valid? [True, True] Translation: X:152.68, Y:-23.08, Z:-3.03 [[ 9.87259242e-01 1.58467140e-01 1.43998358e-02 1.52684396e+02] [-1.58449932e-01 9.87364251e-01 -2.33545592e-03 -2.30761174e+01] [-1.45879761e-02 2.40474417e-05 9.99893590e-01 -3.03106342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034012739 meters 0.024232077242810943 Centerline is valid? [True, True] Translation: X:152.71, Y:-23.09, Z:-3.03 [[ 9.87759591e-01 1.55264699e-01 1.49620796e-02 1.52713075e+02] [-1.55245754e-01 9.87872901e-01 -2.42658302e-03 -2.30887757e+01] [-1.51573957e-02 7.40813331e-05 9.99885117e-01 -3.02964027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters 0.02446087636608441 Centerline is valid? [True, True] Translation: X:152.74, Y:-23.10, Z:-3.03 [[ 9.87915737e-01 1.54240325e-01 1.52452771e-02 1.52744456e+02] [-1.54220543e-01 9.88033357e-01 -2.47193572e-03 -2.30959917e+01] [-1.54441145e-02 9.09292872e-05 9.99880728e-01 -3.02861556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094012739 meters 0.025390115478147447 Centerline is valid? [True, True] Translation: X:152.77, Y:-23.11, Z:-3.03 [[ 9.88212603e-01 1.52363076e-01 1.48776413e-02 1.52774051e+02] [-1.52343980e-01 9.88324582e-01 -2.41518529e-03 -2.31072873e+01] [-1.50719236e-02 1.20197454e-04 9.99886405e-01 -3.03034853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters 0.02550833677556407 Centerline is valid? [True, True] Translation: X:152.80, Y:-23.12, Z:-3.03 [[ 9.88251190e-01 1.52132658e-01 1.46710234e-02 1.52804757e+02] [-1.52114050e-01 9.88360076e-01 -2.38256418e-03 -2.31153972e+01] [-1.48627196e-02 1.22903110e-04 9.99889536e-01 -3.03118578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154012739 meters 0.025405513126224633 Centerline is valid? [True, True] Translation: X:152.84, Y:-23.12, Z:-3.03 [[ 9.88163333e-01 1.52644888e-01 1.52566345e-02 1.52835278e+02] [-1.52624779e-01 9.88281095e-01 -2.48067205e-03 -2.31223595e+01] [-1.54565054e-02 1.22768691e-04 9.99880534e-01 -3.03012598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters 0.02484379983827339 Centerline is valid? [True, True] Translation: X:152.87, Y:-23.13, Z:-3.03 [[ 9.88012184e-01 1.53507660e-01 1.63500285e-02 1.52867205e+02] [-1.53484639e-01 9.88147451e-01 -2.66114639e-03 -2.31266993e+01] [-1.65647454e-02 1.19766835e-04 9.99862788e-01 -3.02824975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214012739 meters 0.02398192068587499 Centerline is valid? [True, True] Translation: X:152.90, Y:-23.13, Z:-3.03 [[ 9.87523915e-01 1.56552373e-01 1.69668022e-02 1.52897920e+02] [-1.56527979e-01 9.87669656e-01 -2.76455244e-03 -2.31308666e+01] [-1.71903929e-02 7.42823793e-05 9.99852232e-01 -3.02850932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters 0.023643394763120364 Centerline is valid? [True, True] Translation: X:152.93, Y:-23.14, Z:-3.03 [[ 9.87284342e-01 1.58112200e-01 1.64365351e-02 1.52929764e+02] [-1.58089483e-01 9.87421151e-01 -2.68054202e-03 -2.31366466e+01] [-1.66536088e-02 4.80138296e-05 9.99861318e-01 -3.03013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27401273899997 meters 0.023305313717904435 Centerline is valid? [True, True] Translation: X:152.96, Y:-23.14, Z:-3.03 [[ 9.86902756e-01 1.60540068e-01 1.58062324e-02 1.52961366e+02] [-1.60519328e-01 9.87029324e-01 -2.58043646e-03 -2.31404418e+01] [-1.60154783e-02 9.43404936e-06 9.99871744e-01 -3.03138979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters 0.023169563036809376 Centerline is valid? [True, True] Translation: X:152.99, Y:-23.15, Z:-3.03 [[ 9.86675421e-01 1.61859390e-01 1.65272715e-02 1.52991233e+02] [-1.61836842e-01 9.86813831e-01 -2.70164029e-03 -2.31462998e+01] [-1.67466259e-02 -9.07934732e-06 9.99859765e-01 -3.03048947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33401273899997 meters 0.02330030216344064 Centerline is valid? [True, True] Translation: X:153.02, Y:-23.15, Z:-3.03 [[ 9.86555552e-01 1.62526361e-01 1.71267307e-02 1.53022424e+02] [-1.62502245e-01 9.86704202e-01 -2.79981077e-03 -2.31528924e+01] [-1.73540602e-02 -2.09633241e-05 9.99849407e-01 -3.02972306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters 0.02394349469247571 Centerline is valid? [True, True] Translation: X:153.05, Y:-23.15, Z:-3.03 [[ 9.86094971e-01 1.65425921e-01 1.58421568e-02 1.53054077e+02] [-1.65405655e-01 9.86222217e-01 -2.59015343e-03 -2.31544671e+01] [-1.60523656e-02 -6.62450606e-05 9.99871150e-01 -3.03184275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39401273899998 meters 0.024800644933956246 Centerline is valid? [True, True] Translation: X:153.08, Y:-23.15, Z:-3.03 [[ 9.85668420e-01 1.68051147e-01 1.47165602e-02 1.53084188e+02] [-1.68033944e-01 9.85778272e-01 -2.40663125e-03 -2.31542385e+01] [-1.49117024e-02 -1.00741220e-04 9.99888809e-01 -3.03494762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters 0.0276045119265825 Centerline is valid? [True, True] Translation: X:153.11, Y:-23.15, Z:-3.04 [[ 9.84876784e-01 1.72748989e-01 1.32479026e-02 1.53113932e+02] [-1.72735472e-01 9.84965869e-01 -2.16648520e-03 -2.31512003e+01] [-1.34229901e-02 -1.54661745e-04 9.99909896e-01 -3.03952578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45401273899998 meters 0.0290245740409501 Centerline is valid? [True, True] Translation: X:153.14, Y:-23.15, Z:-3.04 [[ 9.84509019e-01 1.74650298e-01 1.54681593e-02 1.53141456e+02] [-1.74632114e-01 9.84630504e-01 -2.52905777e-03 -2.31527920e+01] [-1.56721222e-02 -2.11357183e-04 9.99877162e-01 -3.03608808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters 0.02910305361573073 Centerline is valid? [True, True] Translation: X:153.17, Y:-23.16, Z:-3.03 [[ 9.84199911e-01 1.76273355e-01 1.66805268e-02 1.53171234e+02] [-1.76252465e-01 9.84341220e-01 -2.72585906e-03 -2.31565972e+01] [-1.68998264e-02 -2.57193715e-04 9.99857155e-01 -3.03307525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51401273899998 meters 0.03068952726446693 Centerline is valid? [True, True] Translation: X:153.20, Y:-23.16, Z:-3.03 [[ 9.83822713e-01 1.78355714e-01 1.67960929e-02 1.53200859e+02] [-1.78334844e-01 9.83966032e-01 -2.74433764e-03 -2.31570435e+01] [-1.70162532e-02 -2.95386910e-04 9.99855169e-01 -3.03339817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters 0.034901930005850665 Centerline is valid? [True, True] Translation: X:153.23, Y:-23.15, Z:-3.04 [[ 9.83148741e-01 1.82179608e-01 1.51375133e-02 1.53230165e+02] [-1.82163114e-01 9.83265215e-01 -2.47303198e-03 -2.31526862e+01] [-1.53347263e-02 -3.26138287e-04 9.99882363e-01 -3.03729654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57401273899998 meters 0.0344554904491422 Centerline is valid? [True, True] Translation: X:153.26, Y:-23.16, Z:-3.04 [[ 9.82825368e-01 1.83887383e-01 1.54830993e-02 1.53258351e+02] [-1.83870343e-01 9.82947252e-01 -2.52925303e-03 -2.31558510e+01] [-1.56841676e-02 -3.61068730e-04 9.99876931e-01 -3.03752084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters 0.03476828568636946 Centerline is valid? [True, True] Translation: X:153.29, Y:-23.16, Z:-3.04 [[ 9.82694875e-01 1.84489092e-01 1.65697809e-02 1.53286505e+02] [-1.84469679e-01 9.82834481e-01 -2.70569872e-03 -2.31594024e+01] [-1.67845239e-02 -3.97745901e-04 9.99859051e-01 -3.03585634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63401273899999 meters 0.0357518376727628 Centerline is valid? [True, True] Translation: X:153.31, Y:-23.16, Z:-3.03 [[ 9.82647422e-01 1.84667072e-01 1.73814941e-02 1.53314273e+02] [-1.84645760e-01 9.82801045e-01 -2.83699318e-03 -2.31622502e+01] [-1.76064498e-02 -4.21655164e-04 9.99844906e-01 -3.03496550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters 0.03545150416184536 Centerline is valid? [True, True] Translation: X:153.34, Y:-23.17, Z:-3.04 [[ 9.82760960e-01 1.84043736e-01 1.75726667e-02 1.53342508e+02] [-1.84021873e-01 9.82917967e-01 -2.86708816e-03 -2.31679457e+01] [-1.78001595e-02 -4.16092740e-04 9.99841478e-01 -3.03655691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694012739 meters 0.03555584252157658 Centerline is valid? [True, True] Translation: X:153.37, Y:-23.17, Z:-3.04 [[ 9.82891738e-01 1.83453798e-01 1.63870516e-02 1.53369718e+02] [-1.83434714e-01 9.83028260e-01 -2.67298716e-03 -2.31736467e+01] [-1.65993045e-02 -3.78697129e-04 9.99862150e-01 -3.03933724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters 0.034724042678446976 Centerline is valid? [True, True] Translation: X:153.40, Y:-23.18, Z:-3.04 [[ 9.83060622e-01 1.82618094e-01 1.55706773e-02 1.53397729e+02] [-1.82600776e-01 9.83183864e-01 -2.53884548e-03 -2.31823515e+01] [-1.57724778e-02 -3.47378735e-04 9.99875546e-01 -3.04210286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754012739 meters 0.03351049090935179 Centerline is valid? [True, True] Translation: X:153.43, Y:-23.19, Z:-3.04 [[ 9.83318802e-01 1.81200178e-01 1.58312780e-02 1.53426177e+02] [-1.81182102e-01 9.83446179e-01 -2.58067758e-03 -2.31905310e+01] [-1.60368291e-02 -3.30715433e-04 9.99871347e-01 -3.04251978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters 0.031046774422866602 Centerline is valid? [True, True] Translation: X:153.45, Y:-23.20, Z:-3.04 [[ 9.83904946e-01 1.77897977e-01 1.68334810e-02 1.53453283e+02] [-1.77877081e-01 9.84048892e-01 -2.74260047e-03 -2.32014389e+01] [-1.70528714e-02 -2.95832302e-04 9.99854545e-01 -3.04020042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814012739 meters 0.030290299501372603 Centerline is valid? [True, True] Translation: X:153.48, Y:-23.21, Z:-3.04 [[ 9.84112707e-01 1.76766289e-01 1.66089960e-02 1.53482340e+02] [-1.76745796e-01 9.84252815e-01 -2.70540361e-03 -2.32093012e+01] [-1.68256753e-02 -2.73148148e-04 9.99858401e-01 -3.04113047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters 0.030367355809051498 Centerline is valid? [True, True] Translation: X:153.51, Y:-23.22, Z:-3.04 [[ 9.84212373e-01 1.76228483e-01 1.64172825e-02 1.53509946e+02] [-1.76208391e-01 9.84349254e-01 -2.67383610e-03 -2.32155511e+01] [-1.66315459e-02 -2.61240375e-04 9.99861652e-01 -3.04249217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874012739 meters 0.030669472482831115 Centerline is valid? [True, True] Translation: X:153.54, Y:-23.22, Z:-3.04 [[ 9.83990126e-01 1.77556233e-01 1.54017965e-02 1.53538943e+02] [-1.77538721e-01 9.84110620e-01 -2.50789891e-03 -2.32220976e+01] [-1.56023646e-02 -2.66667480e-04 9.99878240e-01 -3.04461473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters 0.031779836427567175 Centerline is valid? [True, True] Translation: X:153.57, Y:-23.23, Z:-3.05 [[ 9.83869121e-01 1.78285679e-01 1.46891163e-02 1.53567766e+02] [-1.78269836e-01 9.83978732e-01 -2.39158754e-03 -2.32251806e+01] [-1.48801638e-02 -2.65617219e-04 9.99889249e-01 -3.04644453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934012739 meters 0.033412752393937574 Centerline is valid? [True, True] Translation: X:153.60, Y:-23.23, Z:-3.05 [[ 9.83664168e-01 1.79475773e-01 1.39015306e-02 1.53595829e+02] [-1.79461706e-01 9.83762357e-01 -2.26304267e-03 -2.32275315e+01] [-1.40819638e-02 -2.68718402e-04 9.99900808e-01 -3.04871867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters 0.03477378688964495 Centerline is valid? [True, True] Translation: X:153.62, Y:-23.23, Z:-3.05 [[ 9.83517864e-01 1.80207627e-01 1.47587945e-02 1.53624073e+02] [-1.80191868e-01 9.83628549e-01 -2.40168847e-03 -2.32280423e+01] [-1.49499742e-02 -2.97311230e-04 9.99888199e-01 -3.04750362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99401273899997 meters 0.034206525661713366 Centerline is valid? [True, True] Translation: X:153.65, Y:-23.23, Z:-3.05 [[ 9.83379622e-01 1.80917515e-01 1.52765084e-02 1.53652155e+02] [-1.80900732e-01 9.83498221e-01 -2.48491392e-03 -2.32321878e+01] [-1.54739833e-02 -3.19917840e-04 9.99880220e-01 -3.04613307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters 0.036596815710356355 Centerline is valid? [True, True] Translation: X:153.68, Y:-23.23, Z:-3.04 [[ 9.83005409e-01 1.82893478e-01 1.58221939e-02 1.53680524e+02] [-1.82875745e-01 9.83132668e-01 -2.57275907e-03 -2.32287376e+01] [-1.60258566e-02 -3.64459424e-04 9.99871511e-01 -3.04497855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05401273899997 meters 0.035049660817925044 Centerline is valid? [True, True] Translation: X:153.71, Y:-23.23, Z:-3.04 [[ 9.82912426e-01 1.83338424e-01 1.64373315e-02 1.53709326e+02] [-1.83319369e-01 9.83049781e-01 -2.67150957e-03 -2.32337719e+01] [-1.66485055e-02 -3.87421279e-04 9.99861329e-01 -3.04341166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters 0.034960627320262054 Centerline is valid? [True, True] Translation: X:153.74, Y:-23.23, Z:-3.04 [[ 9.82930017e-01 1.83125239e-01 1.77123966e-02 1.53737521e+02] [-1.83103094e-01 9.83089505e-01 -2.87784227e-03 -2.32344660e+01] [-1.79398767e-02 -4.14477062e-04 9.99838982e-01 -3.04226123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11401273899997 meters 0.03566152042087871 Centerline is valid? [True, True] Translation: X:153.77, Y:-23.24, Z:-3.04 [[ 9.83000956e-01 1.82756418e-01 1.75844465e-02 1.53765317e+02] [-1.82734552e-01 9.83158139e-01 -2.85601296e-03 -2.32367785e+01] [-1.78102464e-02 -4.05822477e-04 9.99841303e-01 -3.04340412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters 0.03473431285854187 Centerline is valid? [True, True] Translation: X:153.79, Y:-23.24, Z:-3.05 [[ 9.83367582e-01 1.80874065e-01 1.65157831e-02 1.53792817e+02] [-1.80854526e-01 9.83506202e-01 -2.68145672e-03 -2.32420932e+01] [-1.67283811e-02 -3.50096510e-04 9.99860010e-01 -3.04630392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17401273899998 meters 0.032336250545509496 Centerline is valid? [True, True] Translation: X:153.82, Y:-23.25, Z:-3.05 [[ 9.83908206e-01 1.77872734e-01 1.69095173e-02 1.53820223e+02] [-1.77851828e-01 9.84053452e-01 -2.74433658e-03 -2.32495130e+01] [-1.71280115e-02 -3.07213281e-04 9.99853258e-01 -3.04666884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters 0.03114696710689564 Centerline is valid? [True, True] Translation: X:153.85, Y:-23.26, Z:-3.05 [[ 9.84231151e-01 1.76063157e-01 1.70530287e-02 1.53847223e+02] [-1.76041636e-01 9.84378833e-01 -2.76687299e-03 -2.32557002e+01] [-1.72737849e-02 -2.78800468e-04 9.99850758e-01 -3.04709727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23401273899998 meters 0.02818328607665425 Centerline is valid? [True, True] Translation: X:153.88, Y:-23.27, Z:-3.05 [[ 9.84566330e-01 1.74149276e-01 1.73542964e-02 1.53875871e+02] [-1.74126710e-01 9.84719233e-01 -2.81459303e-03 -2.32670331e+01] [-1.75792688e-02 -2.50693009e-04 9.99845441e-01 -3.04701964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters 0.029559327835545237 Centerline is valid? [True, True] Translation: X:153.91, Y:-23.27, Z:-3.05 [[ 9.84707898e-01 1.73393393e-01 1.68845300e-02 1.53905289e+02] [-1.73371921e-01 9.84852617e-01 -2.73844271e-03 -2.32692999e+01] [-1.71036015e-02 -2.30737241e-04 9.99853696e-01 -3.05000317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29401273899998 meters 0.02803158267904171 Centerline is valid? [True, True] Translation: X:153.93, Y:-23.28, Z:-3.05 [[ 9.84682555e-01 1.73521444e-01 1.70462136e-02 1.53934070e+02] [-1.73499581e-01 9.84830063e-01 -2.76449242e-03 -2.32768695e+01] [-1.72673224e-02 -2.35363454e-04 9.99850881e-01 -3.04932198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters 0.03077998899197535 Centerline is valid? [True, True] Translation: X:153.96, Y:-23.27, Z:-3.05 [[ 9.84256148e-01 1.75882159e-01 1.74728473e-02 1.53963623e+02] [-1.75859566e-01 9.84411187e-01 -2.83326248e-03 -2.32743505e+01] [-1.76987866e-02 -2.84111332e-04 9.99843324e-01 -3.04751506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35401273899998 meters 0.0325771078898979 Centerline is valid? [True, True] Translation: X:153.99, Y:-23.27, Z:-3.05 [[ 9.83919199e-01 1.77813343e-01 1.68945058e-02 1.53993329e+02] [-1.77792515e-01 9.84064185e-01 -2.73899156e-03 -2.32739569e+01] [-1.71123073e-02 -3.08770288e-04 9.99853526e-01 -3.04885142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters 0.03665701467749362 Centerline is valid? [True, True] Translation: X:154.02, Y:-23.27, Z:-3.05 [[ 9.83158956e-01 1.82053822e-01 1.59647371e-02 1.54024070e+02] [-1.82035788e-01 9.83288500e-01 -2.58784251e-03 -2.32671690e+01] [-1.61690691e-02 -3.61892968e-04 9.99869207e-01 -3.05209274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414012739 meters 0.03627523216109955 Centerline is valid? [True, True] Translation: X:154.05, Y:-23.27, Z:-3.05 [[ 9.82953991e-01 1.83129286e-01 1.62823861e-02 1.54052606e+02] [-1.83110684e-01 9.83088762e-01 -2.63880990e-03 -2.32705166e+01] [-1.64902741e-02 -3.87650123e-04 9.99863951e-01 -3.05234965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters 0.03422083426281757 Centerline is valid? [True, True] Translation: X:154.08, Y:-23.28, Z:-3.05 [[ 9.83161269e-01 1.81830929e-01 1.82052880e-02 1.54081056e+02] [-1.81807468e-01 9.83329724e-01 -2.94947541e-03 -2.32756857e+01] [-1.84381066e-02 -4.10047325e-04 9.99829920e-01 -3.04927793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474012739 meters 0.03199696621334428 Centerline is valid? [True, True] Translation: X:154.11, Y:-23.28, Z:-3.05 [[ 9.84114526e-01 1.76586566e-01 1.83243986e-02 1.54110103e+02] [-1.76561905e-01 9.84285063e-01 -2.96784071e-03 -2.32799836e+01] [-1.85605126e-02 -3.14695571e-04 9.99827689e-01 -3.04999605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters 0.02882347813399454 Centerline is valid? [True, True] Translation: X:154.14, Y:-23.29, Z:-3.05 [[ 9.84637298e-01 1.73804107e-01 1.67786787e-02 1.54137864e+02] [-1.73783032e-01 9.84780216e-01 -2.71720789e-03 -2.32886041e+01] [-1.69955727e-02 -2.40385417e-04 9.99855536e-01 -3.05324196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534012739 meters 0.027017612823471676 Centerline is valid? [True, True] Translation: X:154.17, Y:-23.30, Z:-3.06 [[ 9.85254516e-01 1.70509861e-01 1.41395123e-02 1.54166291e+02] [-1.70494564e-01 9.85355958e-01 -2.28922563e-03 -2.32959422e+01] [-1.43227882e-02 -1.55240096e-04 9.99897412e-01 -3.05855856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters 0.026836497835803576 Centerline is valid? [True, True] Translation: X:154.19, Y:-23.30, Z:-3.06 [[ 9.85394420e-01 1.69671747e-01 1.44683998e-02 1.54194076e+02] [-1.69655645e-01 9.85500622e-01 -2.34207479e-03 -2.32993971e+01] [-1.46560009e-02 -1.46778268e-04 9.99892584e-01 -3.05860027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594012739 meters 0.025888529005854224 Centerline is valid? [True, True] Translation: X:154.22, Y:-23.30, Z:-3.05 [[ 9.85639577e-01 1.67980055e-01 1.72431328e-02 1.54222326e+02] [-1.67956948e-01 9.85790383e-01 -2.78995153e-03 -2.33025089e+01] [-1.74667707e-02 -1.46217310e-04 9.99847434e-01 -3.05376393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters 0.02489974334949813 Centerline is valid? [True, True] Translation: X:154.25, Y:-23.31, Z:-3.05 [[ 9.85865087e-01 1.66643797e-01 1.73169200e-02 1.54251614e+02] [-1.66620301e-01 9.86017155e-01 -2.80102083e-03 -2.33096477e+01] [-1.75415529e-02 -1.23921785e-04 9.99846127e-01 -3.05339775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654012739 meters 0.024255883228464923 Centerline is valid? [True, True] Translation: X:154.28, Y:-23.32, Z:-3.06 [[ 9.86450482e-01 1.63387807e-01 1.48280316e-02 1.54279500e+02] [-1.63370217e-01 9.86561920e-01 -2.39815577e-03 -2.33192563e+01] [-1.50206007e-02 -5.67968116e-05 9.99887183e-01 -3.05850103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters 0.023871893383853014 Centerline is valid? [True, True] Translation: X:154.31, Y:-23.33, Z:-3.06 [[ 9.86953285e-01 1.60330208e-01 1.47457940e-02 1.54307412e+02] [-1.60312476e-01 9.87063435e-01 -2.38450730e-03 -2.33300580e+01] [-1.49373426e-02 -1.05374351e-05 9.99888432e-01 -3.05955091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714012739 meters 0.023609731188597816 Centerline is valid? [True, True] Translation: X:154.34, Y:-23.34, Z:-3.06 [[ 9.87114562e-01 1.59227996e-01 1.58520249e-02 1.54336300e+02] [-1.59207368e-01 9.87241837e-01 -2.56298514e-03 -2.33371256e+01] [-1.60578811e-02 6.20080840e-06 9.99871064e-01 -3.05729970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters 0.023609731188597816 Centerline is valid? [True, True] Translation: X:154.37, Y:-23.34, Z:-3.06 [[ 9.87114562e-01 1.59227987e-01 1.58520990e-02 1.54365909e+02] [-1.59207366e-01 9.87241839e-01 -2.56252679e-03 -2.33419123e+01] [-1.60578813e-02 5.73659671e-06 9.99871064e-01 -3.05790891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77401273899997 meters 0.023566511703815733 Centerline is valid? [True, True] Translation: X:154.40, Y:-23.35, Z:-3.05 [[ 9.87298618e-01 1.57898809e-01 1.75899079e-02 1.54395706e+02] [-1.57873208e-01 9.87455298e-01 -2.84344745e-03 -2.33497108e+01] [-1.78182247e-02 3.03565487e-05 9.99841242e-01 -3.05455742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters 0.02351949612988344 Centerline is valid? [True, True] Translation: X:154.42, Y:-23.35, Z:-3.05 [[ 9.87269735e-01 1.58045354e-01 1.78923780e-02 1.54424838e+02] [-1.58018888e-01 9.87431853e-01 -2.89236798e-03 -2.33544096e+01] [-1.81246293e-02 2.82136947e-05 9.99835735e-01 -3.05484803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83401273899997 meters 0.023480202213307256 Centerline is valid? [True, True] Translation: X:154.45, Y:-23.36, Z:-3.06 [[ 9.87190036e-01 1.58543544e-01 1.78823197e-02 1.54454970e+02] [-1.58517194e-01 9.87351986e-01 -2.89050408e-03 -2.33584653e+01] [-1.81144147e-02 1.88216731e-05 9.99835920e-01 -3.05522590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters 0.02353983463048157 Centerline is valid? [True, True] Translation: X:154.49, Y:-23.36, Z:-3.06 [[ 9.86828214e-01 1.60751060e-01 1.81431015e-02 1.54485123e+02] [-1.60724308e-01 9.86994983e-01 -2.93265693e-03 -2.33598933e+01] [-1.83785779e-02 -2.20088353e-05 9.99831099e-01 -3.05593724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89401273899998 meters 0.023494957098647216 Centerline is valid? [True, True] Translation: X:154.51, Y:-23.36, Z:-3.06 [[ 9.86645021e-01 1.61915799e-01 1.77447708e-02 1.54514922e+02] [-1.61890398e-01 9.86804577e-01 -2.86824434e-03 -2.33629891e+01] [-1.79750352e-02 -4.27690187e-05 9.99838435e-01 -3.05735544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters 0.023771880424537786 Centerline is valid? [True, True] Translation: X:154.54, Y:-23.37, Z:-3.06 [[ 9.86539148e-01 1.62616921e-01 1.72118145e-02 1.54544320e+02] [-1.62593125e-01 9.86689279e-01 -2.78235252e-03 -2.33670909e+01] [-1.74351705e-02 -5.36230310e-05 9.99847994e-01 -3.05857406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95401273899998 meters 0.023974066250326925 Centerline is valid? [True, True] Translation: X:154.57, Y:-23.37, Z:-3.06 [[ 9.86419441e-01 1.63338554e-01 1.72395602e-02 1.54573049e+02] [-1.63314794e-01 9.86570075e-01 -2.78670352e-03 -2.33701260e+01] [-1.74632104e-02 -6.66166947e-05 9.99847504e-01 -3.05860403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters 0.02388857019853307 Centerline is valid? [True, True] Translation: X:154.60, Y:-23.37, Z:-3.06 [[ 9.86369550e-01 1.63690304e-01 1.67509955e-02 1.54602922e+02] [-1.63667932e-01 9.86511774e-01 -2.70714161e-03 -2.33738164e+01] [-1.69681871e-02 -7.13587542e-05 9.99856027e-01 -3.05996464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01401273899998 meters 0.02368401497018562 Centerline is valid? [True, True] Translation: X:154.63, Y:-23.38, Z:-3.06 [[ 9.86683381e-01 1.61807189e-01 1.65631813e-02 1.54631744e+02] [-1.61785059e-01 9.86822391e-01 -2.67634453e-03 -2.33797427e+01] [-1.67779700e-02 -3.89705942e-05 9.99859239e-01 -3.06208389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters 0.023570177964181368 Centerline is valid? [True, True] Translation: X:154.66, Y:-23.39, Z:-3.06 [[ 9.86760819e-01 1.61303836e-01 1.68570123e-02 1.54660454e+02] [-1.61280844e-01 9.86904794e-01 -2.72361095e-03 -2.33855286e+01] [-1.70755951e-02 -3.11605868e-05 9.99854201e-01 -3.06202015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07401273899998 meters 0.023403907149725373 Centerline is valid? [True, True] Translation: X:154.69, Y:-23.39, Z:-3.06 [[ 9.87163416e-01 1.58790745e-01 1.71431972e-02 1.54688683e+02] [-1.58766590e-01 9.87312260e-01 -2.76963826e-03 -2.33930938e+01] [-1.73654817e-02 1.23186057e-05 9.99849209e-01 -3.06154095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters 0.023504496248939973 Centerline is valid? [True, True] Translation: X:154.72, Y:-23.40, Z:-3.06 [[ 9.87327030e-01 1.57799491e-01 1.68717540e-02 1.54718937e+02] [-1.57775954e-01 9.87471174e-01 -2.72555324e-03 -2.33979296e+01] [-1.70904617e-02 2.90553031e-05 9.99853947e-01 -3.06207194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13401273899999 meters 0.023759556828422575 Centerline is valid? [True, True] Translation: X:154.75, Y:-23.40, Z:-3.06 [[ 9.87520901e-01 1.56680677e-01 1.59259201e-02 1.54749413e+02] [-1.56659559e-01 9.87649312e-01 -2.57275818e-03 -2.34021298e+01] [-1.61323256e-02 4.57048500e-05 9.99869865e-01 -3.06438046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters 0.023713768620155985 Centerline is valid? [True, True] Translation: X:154.78, Y:-23.41, Z:-3.06 [[ 9.87524674e-01 1.56601990e-01 1.64570495e-02 1.54778521e+02] [-1.56579428e-01 9.87661792e-01 -2.65860264e-03 -2.34072892e+01] [-1.66703415e-02 4.86003016e-05 9.99861039e-01 -3.06387734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194012739 meters 0.023679774358156977 Centerline is valid? [True, True] Translation: X:154.81, Y:-23.41, Z:-3.06 [[ 9.87621754e-01 1.55674108e-01 1.92053071e-02 1.54808946e+02] [-1.55643212e-01 9.87808466e-01 -3.10229793e-03 -2.34133267e+01] [-1.94541124e-02 7.47212417e-05 9.99810748e-01 -3.05854289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters 0.024373609109280995 Centerline is valid? [True, True] Translation: X:154.84, Y:-23.42, Z:-3.06 [[ 9.87883868e-01 1.54315364e-01 1.64994387e-02 1.54839346e+02] [-1.54292380e-01 9.88021640e-01 -2.66465988e-03 -2.34220426e+01] [-1.67130004e-02 8.66368460e-05 9.99860324e-01 -3.06494164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254012739 meters 0.0249076839468042 Centerline is valid? [True, True] Translation: X:154.87, Y:-23.43, Z:-3.07 [[ 9.88091340e-01 1.53204893e-01 1.42746000e-02 1.54869990e+02] [-1.53187538e-01 9.88194440e-01 -2.30789875e-03 -2.34305332e+01] [-1.44596618e-02 9.37239361e-05 9.99895449e-01 -3.06977238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters 0.025487260687046324 Centerline is valid? [True, True] Translation: X:154.90, Y:-23.44, Z:-3.07 [[ 9.88325580e-01 1.51739628e-01 1.36979054e-02 1.54899553e+02] [-1.51723502e-01 9.88420494e-01 -2.21496914e-03 -2.34410891e+01] [-1.38753890e-02 1.10816485e-04 9.99903726e-01 -3.07118017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314012739 meters 0.025532513681508804 Centerline is valid? [True, True] Translation: X:154.93, Y:-23.45, Z:-3.07 [[ 9.88337905e-01 1.51589074e-01 1.44546729e-02 1.54929047e+02] [-1.51571095e-01 9.88443594e-01 -2.33771436e-03 -2.34483960e+01] [-1.46420008e-02 1.19541114e-04 9.99892793e-01 -3.07044427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters 0.025627845099639463 Centerline is valid? [True, True] Translation: X:154.96, Y:-23.46, Z:-3.07 [[ 9.88367331e-01 1.51372546e-01 1.47095637e-02 1.54959594e+02] [-1.51353909e-01 9.88476776e-01 -2.37852499e-03 -2.34587576e+01] [-1.49001055e-02 1.24506428e-04 9.99888980e-01 -3.07055489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374012739 meters 0.026280108384799 Centerline is valid? [True, True] Translation: X:154.99, Y:-23.47, Z:-3.07 [[ 9.88501805e-01 1.50649348e-01 1.29982563e-02 1.54989553e+02] [-1.50634702e-01 9.88587254e-01 -2.10413164e-03 -2.34683344e+01] [-1.31668966e-02 1.21949455e-04 9.99913305e-01 -3.07486383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters 0.02574876988846236 Centerline is valid? [True, True] Translation: X:155.02, Y:-23.47, Z:-3.08 [[ 9.88312281e-01 1.51862512e-01 1.32895963e-02 1.55020009e+02] [-1.51847288e-01 9.88401622e-01 -2.15303127e-03 -2.34737855e+01] [-1.34624233e-02 1.09878082e-04 9.99909371e-01 -3.07546648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434012739 meters 0.024112401482779787 Centerline is valid? [True, True] Translation: X:155.05, Y:-23.48, Z:-3.07 [[ 9.87765530e-01 1.55172215e-01 1.55190679e-02 1.55051362e+02] [-1.55151856e-01 9.87887432e-01 -2.51467003e-03 -2.34783692e+01] [-1.57212990e-02 7.60921848e-05 9.99876410e-01 -3.07024713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters 0.02370927315818185 Centerline is valid? [True, True] Translation: X:155.08, Y:-23.48, Z:-3.07 [[ 9.87553717e-01 1.56438528e-01 1.62678452e-02 1.55082921e+02] [-1.56416331e-01 9.87687695e-01 -2.63586215e-03 -2.34836241e+01] [-1.64799009e-02 5.84987991e-05 9.99864196e-01 -3.06938003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49401273899997 meters 0.02362568301976588 Centerline is valid? [True, True] Translation: X:155.11, Y:-23.49, Z:-3.07 [[ 9.87386246e-01 1.57449644e-01 1.66736834e-02 1.55114316e+02] [-1.57426422e-01 9.87527016e-01 -2.70449117e-03 -2.34892329e+01] [-1.68915340e-02 4.54990683e-05 9.99857327e-01 -3.07022509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters 0.023843355035789198 Centerline is valid? [True, True] Translation: X:155.14, Y:-23.50, Z:-3.07 [[ 9.87536375e-01 1.56575992e-01 1.59958181e-02 1.55144751e+02] [-1.56554460e-01 9.87665913e-01 -2.59730031e-03 -2.34991594e+01] [-1.62051992e-02 6.07118650e-05 9.99868685e-01 -3.07238565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55401273899997 meters 0.024371235708218943 Centerline is valid? [True, True] Translation: X:155.17, Y:-23.51, Z:-3.07 [[ 9.87712366e-01 1.55513941e-01 1.54821079e-02 1.55174609e+02] [-1.55493596e-01 9.87833695e-01 -2.51664962e-03 -2.35090558e+01] [-1.56851219e-02 7.83573336e-05 9.99876978e-01 -3.07387848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters 0.025143678951596297 Centerline is valid? [True, True] Translation: X:155.20, Y:-23.52, Z:-3.07 [[ 9.87986389e-01 1.53744209e-01 1.56720352e-02 1.55204420e+02] [-1.53723100e-01 9.88110675e-01 -2.54996482e-03 -2.35216223e+01] [-1.58777476e-02 1.10176702e-04 9.99873935e-01 -3.07428634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61401273899997 meters 0.025310978942969162 Centerline is valid? [True, True] Translation: X:155.24, Y:-23.53, Z:-3.07 [[ 9.88057925e-01 1.53181758e-01 1.66398881e-02 1.55236595e+02] [-1.53157839e-01 9.88198023e-01 -2.71003534e-03 -2.35310741e+01] [-1.68586325e-02 1.29142595e-04 9.99857875e-01 -3.07273176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters 0.02537185939338226 Centerline is valid? [True, True] Translation: X:155.27, Y:-23.54, Z:-3.07 [[ 9.88046799e-01 1.53278830e-01 1.64049539e-02 1.55268226e+02] [-1.53255544e-01 9.88182971e-01 -2.67480167e-03 -2.35397052e+01] [-1.66210866e-02 1.28679096e-04 9.99861852e-01 -3.07332443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67401273899998 meters 0.025972896279774643 Centerline is valid? [True, True] Translation: X:155.30, Y:-23.55, Z:-3.08 [[ 9.88174804e-01 1.52592426e-01 1.50368933e-02 1.55297554e+02] [-1.52572742e-01 9.88289196e-01 -2.45440784e-03 -2.35506393e+01] [-1.52353233e-02 1.31163942e-04 9.99883927e-01 -3.07731886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters 0.02643990383569383 Centerline is valid? [True, True] Translation: X:155.33, Y:-23.56, Z:-3.08 [[ 9.88241281e-01 1.52221915e-01 1.44103769e-02 1.55328959e+02] [-1.52203769e-01 9.88346331e-01 -2.35413447e-03 -2.35587270e+01] [-1.46007940e-02 1.33139191e-04 9.99893394e-01 -3.07923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73401273899998 meters 0.026476813788439815 Centerline is valid? [True, True] Translation: X:155.36, Y:-23.57, Z:-3.08 [[ 9.88231797e-01 1.52317633e-01 1.40447374e-02 1.55359503e+02] [-1.52300375e-01 9.88331585e-01 -2.29653324e-03 -2.35695250e+01] [-1.42306600e-02 1.30488402e-04 9.99898731e-01 -3.08109832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters 0.02607523417026561 Centerline is valid? [True, True] Translation: X:155.39, Y:-23.58, Z:-3.08 [[ 9.88094072e-01 1.53188618e-01 1.42601917e-02 1.55390965e+02] [-1.53170880e-01 9.88196960e-01 -2.33434304e-03 -2.35768122e+01] [-1.44494729e-02 1.22304401e-04 9.99895593e-01 -3.08067610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79401273899998 meters 0.02439548183633417 Centerline is valid? [True, True] Translation: X:155.42, Y:-23.58, Z:-3.08 [[ 9.87548676e-01 1.56529186e-01 1.56916039e-02 1.55422315e+02] [-1.56508084e-01 9.87673330e-01 -2.57150676e-03 -2.35816347e+01] [-1.59006945e-02 8.36252289e-05 9.99873572e-01 -3.07680273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters 0.02391843608293492 Centerline is valid? [True, True] Translation: X:155.45, Y:-23.59, Z:-3.08 [[ 9.87319783e-01 1.57929011e-01 1.60646827e-02 1.55454081e+02] [-1.57907036e-01 9.87450466e-01 -2.63529933e-03 -2.35867101e+01] [-1.62792686e-02 6.51567353e-05 9.99867482e-01 -3.07613603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85401273899998 meters 0.023301894125741844 Centerline is valid? [True, True] Translation: X:155.49, Y:-23.59, Z:-3.08 [[ 9.86901342e-01 1.60510112e-01 1.61939719e-02 1.55485432e+02] [-1.60488086e-01 9.87034196e-01 -2.65911189e-03 -2.35910806e+01] [-1.64108184e-02 2.53415280e-05 9.99865333e-01 -3.07761773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters 0.023471394708158115 Centerline is valid? [True, True] Translation: X:155.52, Y:-23.59, Z:-3.08 [[ 9.86314250e-01 1.64234580e-01 1.45327978e-02 1.55517747e+02] [-1.64217217e-01 9.86421310e-01 -2.38831810e-03 -2.35947304e+01] [-1.47277059e-02 -3.09034269e-05 9.99891541e-01 -3.08223612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914012739 meters 0.024207347904312365 Centerline is valid? [True, True] Translation: X:155.55, Y:-23.60, Z:-3.08 [[ 9.85867458e-01 1.66983642e-01 1.34840039e-02 1.55548300e+02] [-1.66968918e-01 9.85959664e-01 -2.21837101e-03 -2.35978946e+01] [-1.36651157e-02 -6.43897561e-05 9.99906626e-01 -3.08420621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters 0.027463102233113237 Centerline is valid? [True, True] Translation: X:155.58, Y:-23.59, Z:-3.08 [[ 9.84783080e-01 1.73232291e-01 1.38873909e-02 1.55579607e+02] [-1.73217272e-01 9.84880983e-01 -2.28628471e-03 -2.35946518e+01] [-1.40734855e-02 -1.54041456e-04 9.99900952e-01 -3.08338778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974012739 meters 0.03256586518535434 Centerline is valid? [True, True] Translation: X:155.61, Y:-23.59, Z:-3.08 [[ 9.83675995e-01 1.79324427e-01 1.49762020e-02 1.55611103e+02] [-1.79307661e-01 9.83789958e-01 -2.46583190e-03 -2.35895226e+01] [-1.51756211e-02 -2.59768103e-04 9.99884810e-01 -3.08183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters 0.03533905474630343 Centerline is valid? [True, True] Translation: X:155.64, Y:-23.59, Z:-3.08 [[ 9.83128309e-01 1.82288564e-01 1.51528317e-02 1.55641456e+02] [-1.82271754e-01 9.83245027e-01 -2.49479742e-03 -2.35894999e+01] [-1.53537195e-02 -3.09227244e-04 9.99882077e-01 -3.08243523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034012739 meters 0.03385042961936012 Centerline is valid? [True, True] Translation: X:155.67, Y:-23.60, Z:-3.08 [[ 9.82712766e-01 1.84511246e-01 1.52059129e-02 1.55671411e+02] [-1.84494591e-01 9.82830342e-01 -2.50309257e-03 -2.35960241e+01] [-1.54066813e-02 -3.45587658e-04 9.99881250e-01 -3.08176352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters 0.038035972631910386 Centerline is valid? [True, True] Translation: X:155.70, Y:-23.59, Z:-3.08 [[ 9.81887878e-01 1.88889824e-01 1.47251048e-02 1.55701724e+02] [-1.88874694e-01 9.81998205e-01 -2.42407287e-03 -2.35888673e+01] [-1.49179092e-02 -4.01031909e-04 9.99888641e-01 -3.08329901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094012739 meters 0.04080484689747883 Centerline is valid? [True, True] Translation: X:155.73, Y:-23.58, Z:-3.08 [[ 9.81219008e-01 1.92302800e-01 1.51291560e-02 1.55732707e+02] [-1.92287240e-01 9.81335527e-01 -2.49021181e-03 -2.35841791e+01] [-1.53256530e-02 -4.65700492e-04 9.99882447e-01 -3.08233842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters 0.05212245547122212 Centerline is valid? [True, True] Translation: X:155.77, Y:-23.57, Z:-3.09 [[ 9.80589696e-01 1.95538634e-01 1.44391889e-02 1.55765374e+02] [-1.95524817e-01 9.80695875e-01 -2.37625958e-03 -2.35671759e+01] [-1.46251036e-02 -4.93084115e-04 9.99892926e-01 -3.08641927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154012739 meters 0.04495373553485555 Centerline is valid? [True, True] Translation: X:155.79, Y:-23.58, Z:-3.09 [[ 9.80445367e-01 1.96346056e-01 1.32328297e-02 1.55793160e+02] [-1.96334524e-01 9.80534554e-01 -2.17781065e-03 -2.35781268e+01] [-1.34028513e-02 -4.62836957e-04 9.99910071e-01 -3.08739767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters 0.05011801497431187 Centerline is valid? [True, True] Translation: X:155.82, Y:-23.57, Z:-3.09 [[ 9.80330234e-01 1.96992542e-01 1.21066745e-02 1.55822589e+02] [-1.96982941e-01 9.80404892e-01 -1.99218537e-03 -2.35681333e+01] [-1.22618886e-02 -4.31808815e-04 9.99924727e-01 -3.09226325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214012739 meters 0.04607373006022602 Centerline is valid? [True, True] Translation: X:155.85, Y:-23.58, Z:-3.09 [[ 9.80451973e-01 1.96339134e-01 1.28403062e-02 1.55851116e+02] [-1.96328296e-01 9.80535946e-01 -2.11159521e-03 -2.35754855e+01] [-1.30049706e-02 -4.50597743e-04 9.99915330e-01 -3.09009316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters 0.05144567055787694 Centerline is valid? [True, True] Translation: X:155.88, Y:-23.57, Z:-3.09 [[ 9.80884793e-01 1.93945283e-01 1.58192937e-02 1.55882418e+02] [-1.93928533e-01 9.81012212e-01 -2.60071987e-03 -2.35667669e+01] [-1.60233176e-02 -5.16805854e-04 9.99871485e-01 -3.08587864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27401273899997 meters 0.04358540442195943 Centerline is valid? [True, True] Translation: X:155.91, Y:-23.58, Z:-3.08 [[ 9.81116679e-01 1.92745256e-01 1.61036814e-02 1.55909186e+02] [-1.92727742e-01 9.81248699e-01 -2.64717965e-03 -2.35804745e+01] [-1.63119478e-02 -5.06434051e-04 9.99866823e-01 -3.08433792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters 0.039321102444213774 Centerline is valid? [True, True] Translation: X:155.94, Y:-23.59, Z:-3.09 [[ 9.81730064e-01 1.89750001e-01 1.41780850e-02 1.55937700e+02] [-1.89736123e-01 9.81832356e-01 -2.32996834e-03 -2.35892846e+01] [-1.43626141e-02 -4.02694905e-04 9.99896771e-01 -3.08853857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33401273899997 meters 0.04127279355479535 Centerline is valid? [True, True] Translation: X:155.97, Y:-23.59, Z:-3.09 [[ 9.82068053e-01 1.88045661e-01 1.34598772e-02 1.55965648e+02] [-1.88032995e-01 9.82160221e-01 -2.21187822e-03 -2.35894912e+01] [-1.36356900e-02 -3.58686070e-04 9.99906965e-01 -3.09247529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters 0.03697845060896221 Centerline is valid? [True, True] Translation: X:155.99, Y:-23.60, Z:-3.09 [[ 9.82681976e-01 1.84844555e-01 1.29855819e-02 1.55994319e+02] [-1.84832499e-01 9.82767723e-01 -2.13295813e-03 -2.35979471e+01] [-1.31560765e-02 -3.04138045e-04 9.99913409e-01 -3.09434599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39401273899998 meters 0.03503161391827549 Centerline is valid? [True, True] Translation: X:156.02, Y:-23.60, Z:-3.10 [[ 9.83160066e-01 1.82300871e-01 1.27545017e-02 1.56021754e+02] [-1.82289026e-01 9.83242758e-01 -2.09496729e-03 -2.36042221e+01] [-1.29226858e-02 -2.65317511e-04 9.99916463e-01 -3.09610566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters 0.03355859799294383 Centerline is valid? [True, True] Translation: X:156.05, Y:-23.61, Z:-3.10 [[ 9.83359006e-01 1.81251141e-01 1.23729675e-02 1.56050376e+02] [-1.81239921e-01 9.83436812e-01 -2.03145060e-03 -2.36105647e+01] [-1.25362345e-02 -2.44830417e-04 9.99921388e-01 -3.09669110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45401273899998 meters 0.03360608519152188 Centerline is valid? [True, True] Translation: X:156.08, Y:-23.61, Z:-3.10 [[ 9.83525950e-01 1.80369072e-01 1.19876173e-02 1.56078252e+02] [-1.80358478e-01 9.83598977e-01 -1.96797166e-03 -2.36132583e+01] [-1.21459694e-02 -2.26517221e-04 9.99926209e-01 -3.09834991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters 0.0320112375090652 Centerline is valid? [True, True] Translation: X:156.11, Y:-23.62, Z:-3.10 [[ 9.83414130e-01 1.80966591e-01 1.21549069e-02 1.56106756e+02] [-1.80955754e-01 9.83489215e-01 -1.99464532e-03 -2.36194087e+01] [-1.23151840e-02 -2.37937943e-04 9.99924137e-01 -3.09691650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51401273899998 meters 0.033981430334323146 Centerline is valid? [True, True] Translation: X:156.14, Y:-23.62, Z:-3.10 [[ 9.83202393e-01 1.82019032e-01 1.34953921e-02 1.56135841e+02] [-1.82005782e-01 9.83294968e-01 -2.21394110e-03 -2.36157843e+01] [-1.36729305e-02 -2.79487197e-04 9.99906482e-01 -3.09588289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters 0.03263833470057113 Centerline is valid? [True, True] Translation: X:156.16, Y:-23.62, Z:-3.10 [[ 9.83236560e-01 1.81812842e-01 1.37825315e-02 1.56164576e+02] [-1.81799015e-01 9.83333113e-01 -2.26012190e-03 -2.36202357e+01] [-1.39637388e-02 -2.83416171e-04 9.99902462e-01 -3.09547359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57401273899998 meters 0.038133781104684544 Centerline is valid? [True, True] Translation: X:156.19, Y:-23.61, Z:-3.10 [[ 9.83509824e-01 1.80338379e-01 1.36563448e-02 1.56194507e+02] [-1.80324669e-01 9.83604596e-01 -2.23885255e-03 -2.36110248e+01] [-1.38361946e-02 -2.60642382e-04 9.99904241e-01 -3.09908967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters 0.030684271152937138 Centerline is valid? [True, True] Translation: X:156.22, Y:-23.63, Z:-3.10 [[ 9.83775424e-01 1.78872692e-01 1.38013159e-02 1.56222059e+02] [-1.78858559e-01 9.83872197e-01 -2.26162985e-03 -2.36251029e+01] [-1.39832748e-02 -2.43547618e-04 9.99902200e-01 -3.09555217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63401273899999 meters 0.0280081121837673 Centerline is valid? [True, True] Translation: X:156.25, Y:-23.63, Z:-3.09 [[ 9.84370733e-01 1.75421162e-01 1.55459116e-02 1.56250838e+02] [-1.75402809e-01 9.84493457e-01 -2.54692216e-03 -2.36291532e+01] [-1.57516323e-02 -2.19680939e-04 9.99875911e-01 -3.09339629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters 0.0280081121837673 Centerline is valid? [True, True] Translation: X:156.28, Y:-23.63, Z:-3.09 [[ 9.84378957e-01 1.75374996e-01 1.55460308e-02 1.56278806e+02] [-1.75356650e-01 9.84501682e-01 -2.54619453e-03 -2.36336432e+01] [-1.57516323e-02 -2.19679562e-04 9.99875911e-01 -3.09397163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694012739 meters 0.024748026769568873 Centerline is valid? [True, True] Translation: X:156.31, Y:-23.64, Z:-3.09 [[ 9.85246565e-01 1.70166799e-01 1.82336906e-02 1.56306849e+02] [-1.70140686e-01 9.85415260e-01 -2.98534579e-03 -2.36406827e+01] [-1.84757637e-02 -1.60990955e-04 9.99829296e-01 -3.08942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters 0.023486067116181848 Centerline is valid? [True, True] Translation: X:156.34, Y:-23.65, Z:-3.09 [[ 9.85685751e-01 1.67491040e-01 1.92445361e-02 1.56335526e+02] [-1.67461460e-01 9.85873591e-01 -3.14986152e-03 -2.36455561e+01] [-1.95002535e-02 -1.17944497e-04 9.99809845e-01 -3.08862156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754012739 meters 0.022532743074187397 Centerline is valid? [True, True] Translation: X:156.36, Y:-23.65, Z:-3.09 [[ 9.86514250e-01 1.62593274e-01 1.87899196e-02 1.56363346e+02] [-1.62564199e-01 9.86693178e-01 -3.07479480e-03 -2.36511829e+01] [-1.90398264e-02 -2.12393401e-05 9.99818726e-01 -3.09016682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters 0.022409825277364768 Centerline is valid? [True, True] Translation: X:156.39, Y:-23.66, Z:-3.09 [[ 9.86895059e-01 1.60317511e-01 1.83422675e-02 1.56393311e+02] [-1.60289425e-01 9.87065497e-01 -3.00084750e-03 -2.36570783e+01] [-1.85861078e-02 2.14500561e-05 9.99827263e-01 -3.09111300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814012739 meters 0.023442343918107966 Centerline is valid? [True, True] Translation: X:156.42, Y:-23.67, Z:-3.10 [[ 9.87593191e-01 1.56152278e-01 1.66179329e-02 1.56422475e+02] [-1.56128635e-01 9.87732989e-01 -2.71874142e-03 -2.36658657e+01] [-1.68386183e-02 9.04753276e-05 9.99858216e-01 -3.09524274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters 0.02459515705808666 Centerline is valid? [True, True] Translation: X:156.45, Y:-23.67, Z:-3.10 [[ 9.88028872e-01 1.53492177e-01 1.54628490e-02 1.56450684e+02] [-1.53471380e-01 9.88149855e-01 -2.52982092e-03 -2.36736800e+01] [-1.56679197e-02 1.26431343e-04 9.99877243e-01 -3.09859595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874012739 meters 0.02467547563478278 Centerline is valid? [True, True] Translation: X:156.48, Y:-23.68, Z:-3.10 [[ 9.88110757e-01 1.52981480e-01 1.52904842e-02 1.56479738e+02] [-1.52961084e-01 9.88229047e-01 -2.50149658e-03 -2.36786701e+01] [-1.54931833e-02 1.32906640e-04 9.99879965e-01 -3.09971890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters 0.024980499874212702 Centerline is valid? [True, True] Translation: X:156.51, Y:-23.68, Z:-3.10 [[ 9.88172081e-01 1.52637147e-01 1.47594092e-02 1.56509993e+02] [-1.52618113e-01 9.88282289e-01 -2.41415842e-03 -2.36834267e+01] [-1.49549530e-02 1.33050765e-04 9.99888160e-01 -3.10112653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934012739 meters 0.025299338431639184 Centerline is valid? [True, True] Translation: X:156.54, Y:-23.69, Z:-3.10 [[ 9.88191919e-01 1.52528795e-01 1.45498555e-02 1.56538220e+02] [-1.52510283e-01 9.88299018e-01 -2.38001636e-03 -2.36883304e+01] [-1.47426290e-02 1.32910346e-04 9.99891313e-01 -3.10259246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters 0.0245555037941295 Centerline is valid? [True, True] Translation: X:156.57, Y:-23.69, Z:-3.10 [[ 9.87981164e-01 1.53874717e-01 1.46898389e-02 1.56567383e+02] [-1.53856001e-01 9.88090360e-01 -2.40254180e-03 -2.36915928e+01] [-1.48845786e-02 1.13546167e-04 9.99889212e-01 -3.10320738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99401273899997 meters 0.02395819080192717 Centerline is valid? [True, True] Translation: X:156.60, Y:-23.70, Z:-3.10 [[ 9.87806714e-01 1.55025360e-01 1.43189958e-02 1.56596375e+02] [-1.55007703e-01 9.87910486e-01 -2.34157928e-03 -2.36950643e+01] [-1.45088902e-02 9.34730919e-05 9.99894736e-01 -3.10453454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters 0.02326792427440687 Centerline is valid? [True, True] Translation: X:156.63, Y:-23.70, Z:-3.11 [[ 9.87350554e-01 1.57972490e-01 1.35490073e-02 1.56626125e+02] [-1.57956963e-01 9.87443512e-01 -2.21529911e-03 -2.36966840e+01] [-1.37288357e-02 4.71167542e-05 9.99905754e-01 -3.10740829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05401273899997 meters 0.02304647101904321 Centerline is valid? [True, True] Translation: X:156.66, Y:-23.70, Z:-3.11 [[ 9.87165983e-01 1.59095559e-01 1.38537218e-02 1.56655279e+02] [-1.59079436e-01 9.87263188e-01 -2.26517669e-03 -2.37000370e+01] [-1.40376491e-02 3.22631106e-05 9.99901467e-01 -3.10733697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters 0.022479681406297886 Centerline is valid? [True, True] Translation: X:156.68, Y:-23.70, Z:-3.10 [[ 9.86800489e-01 1.61134349e-01 1.61405181e-02 1.56684534e+02] [-1.61112751e-01 9.86932481e-01 -2.63813511e-03 -2.37020388e+01] [-1.63546958e-02 2.86973224e-06 9.99866253e-01 -3.10320578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11401273899997 meters 0.02221541412557861 Centerline is valid? [True, True] Translation: X:156.71, Y:-23.71, Z:-3.10 [[ 9.86688004e-01 1.61654272e-01 1.77392161e-02 1.56712922e+02] [-1.61628286e-01 9.86847453e-01 -2.89845736e-03 -2.37051696e+01] [-1.79744483e-02 -7.28598633e-06 9.99838447e-01 -3.10075839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters 0.022181715113525364 Centerline is valid? [True, True] Translation: X:156.74, Y:-23.71, Z:-3.10 [[ 9.86630877e-01 1.61945550e-01 1.82524098e-02 1.56741056e+02] [-1.61918101e-01 9.86799695e-01 -2.98162819e-03 -2.37096873e+01] [-1.84943338e-02 -1.36290879e-05 9.99828965e-01 -3.10156217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17401273899998 meters 0.022205530507963596 Centerline is valid? [True, True] Translation: X:156.77, Y:-23.71, Z:-3.10 [[ 9.86452876e-01 1.62899698e-01 1.93497036e-02 1.56769687e+02] [-1.62869047e-01 9.86642634e-01 -3.16013993e-03 -2.37149312e+01] [-1.96060284e-02 -3.41386474e-05 9.99807783e-01 -3.10000533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters 0.022013329812797026 Centerline is valid? [True, True] Translation: X:156.80, Y:-23.72, Z:-3.10 [[ 9.86658425e-01 1.61482311e-01 2.07030294e-02 1.56799065e+02] [-1.61446925e-01 9.86875607e-01 -3.38041633e-03 -2.37219404e+01] [-2.09771922e-02 -7.12418851e-06 9.99779954e-01 -3.09737851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23401273899998 meters 0.022007173380575454 Centerline is valid? [True, True] Translation: X:156.83, Y:-23.73, Z:-3.10 [[ 9.86839568e-01 1.60371009e-01 2.07076570e-02 1.56828549e+02] [-1.60335372e-01 9.87056807e-01 -3.38069848e-03 -2.37287115e+01] [-2.09817999e-02 1.60371290e-05 9.99779858e-01 -3.09827462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters 0.02243601168713515 Centerline is valid? [True, True] Translation: X:156.86, Y:-23.74, Z:-3.10 [[ 9.87275863e-01 1.57695072e-01 2.04605415e-02 1.56858352e+02] [-1.57659705e-01 9.87487853e-01 -3.34042161e-03 -2.37416636e+01] [-2.07313042e-02 7.21146875e-05 9.99785081e-01 -3.09982533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29401273899998 meters 0.02307037391486907 Centerline is valid? [True, True] Translation: X:156.89, Y:-23.75, Z:-3.10 [[ 9.87550422e-01 1.55921647e-01 2.07991474e-02 1.56888504e+02] [-1.55884637e-01 9.87769420e-01 -3.39896954e-03 -2.37509474e+01] [-2.10747347e-02 1.14386258e-04 9.99777897e-01 -3.09955348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters 0.02431853644418225 Centerline is valid? [True, True] Translation: X:156.92, Y:-23.76, Z:-3.10 [[ 9.88012416e-01 1.52872904e-01 2.14788320e-02 1.56918245e+02] [-1.52832702e-01 9.88245840e-01 -3.51064115e-03 -2.37593409e+01] [-2.17630483e-02 1.85889114e-04 9.99763140e-01 -3.09907869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35401273899998 meters 0.024924737000100526 Centerline is valid? [True, True] Translation: X:156.95, Y:-23.77, Z:-3.10 [[ 9.88152881e-01 1.52011517e-01 2.11277458e-02 1.56949346e+02] [-1.51972384e-01 9.88378701e-01 -3.45503648e-03 -2.37655830e+01] [-2.14074193e-02 2.03270354e-04 9.99770814e-01 -3.10094154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters 0.0266110814012361 Centerline is valid? [True, True] Translation: X:156.98, Y:-23.78, Z:-3.11 [[ 9.88499665e-01 1.49983467e-01 1.93228262e-02 1.56978522e+02] [-1.49950292e-01 9.88688478e-01 -3.16271161e-03 -2.37782859e+01] [-1.95786101e-02 2.28875945e-04 9.99808294e-01 -3.10507890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414012739 meters 0.028561510268750163 Centerline is valid? [True, True] Translation: X:157.01, Y:-23.79, Z:-3.11 [[ 9.89103880e-01 1.46120229e-01 1.79552994e-02 1.57009152e+02] [-1.46090899e-01 9.89266797e-01 -2.94153307e-03 -2.37898929e+01] [-1.81923990e-02 2.86375935e-04 9.99834464e-01 -3.10905713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters 0.030257270329160636 Centerline is valid? [True, True] Translation: X:157.04, Y:-23.80, Z:-3.11 [[ 9.89319380e-01 1.44661034e-01 1.78983352e-02 1.57039340e+02] [-1.44631637e-01 9.89481221e-01 -2.93296052e-03 -2.37991361e+01] [-1.81343516e-02 3.12969158e-04 9.99835510e-01 -3.10986462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474012739 meters 0.03197978091415732 Centerline is valid? [True, True] Translation: X:157.07, Y:-23.81, Z:-3.11 [[ 9.89778528e-01 1.41463429e-01 1.80710928e-02 1.57069526e+02] [-1.41432897e-01 9.89943411e-01 -2.96300494e-03 -2.38127948e+01] [-1.83085160e-02 3.76871659e-04 9.99832314e-01 -3.10960498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters 0.03365584767779037 Centerline is valid? [True, True] Translation: X:157.10, Y:-23.82, Z:-3.11 [[ 9.89900627e-01 1.40660973e-01 1.76419531e-02 1.57099850e+02] [-1.40631737e-01 9.90057748e-01 -2.89320842e-03 -2.38231680e+01] [-1.78735139e-02 3.82970325e-04 9.99840183e-01 -3.11014673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534012739 meters 0.03308377262616532 Centerline is valid? [True, True] Translation: X:157.13, Y:-23.83, Z:-3.11 [[ 9.89915952e-01 1.40607251e-01 1.72048927e-02 1.57132318e+02] [-1.40579394e-01 9.90065381e-01 -2.82400650e-03 -2.38287263e+01] [-1.74310444e-02 3.76875689e-04 9.99847997e-01 -3.11093664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters 0.03150846392400279 Centerline is valid? [True, True] Translation: X:157.16, Y:-23.83, Z:-3.11 [[ 9.89723398e-01 1.41944069e-01 1.73054144e-02 1.57164358e+02] [-1.41916030e-01 9.89874615e-01 -2.84389596e-03 -2.38336117e+01] [-1.75338645e-02 3.58754668e-04 9.99846206e-01 -3.11180952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594012739 meters 0.029465574284659544 Centerline is valid? [True, True] Translation: X:157.19, Y:-23.84, Z:-3.11 [[ 9.89172771e-01 1.45356091e-01 2.02196905e-02 1.57194267e+02] [-1.45318443e-01 9.89379342e-01 -3.32680615e-03 -2.38404948e+01] [-2.04885156e-02 3.52492115e-04 9.99790026e-01 -3.10815987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters 0.02769486837455286 Centerline is valid? [True, True] Translation: X:157.23, Y:-23.84, Z:-3.11 [[ 9.88794386e-01 1.47791803e-01 2.10533812e-02 1.57225916e+02] [-1.47751529e-01 9.89018445e-01 -3.46439623e-03 -2.38443166e+01] [-2.13341917e-02 3.14906284e-04 9.99772351e-01 -3.10610251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654012739 meters 0.02471891572051312 Centerline is valid? [True, True] Translation: X:157.26, Y:-23.84, Z:-3.11 [[ 9.87996473e-01 1.53073148e-01 2.07745151e-02 1.57256597e+02] [-1.53035031e-01 9.88214840e-01 -3.42179964e-03 -2.38434671e+01] [-2.10534697e-02 2.01497425e-04 9.99778331e-01 -3.10819061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters 0.022583520522531632 Centerline is valid? [True, True] Translation: X:157.29, Y:-23.84, Z:-3.11 [[ 9.86985782e-01 1.59715304e-01 1.87106209e-02 1.57290061e+02] [-1.59685575e-01 9.87163117e-01 -3.08194605e-03 -2.38408882e+01] [-1.89626688e-02 5.40206711e-05 9.99820191e-01 -3.11234263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714012739 meters 0.02223738318947531 Centerline is valid? [True, True] Translation: X:157.32, Y:-23.84, Z:-3.11 [[ 9.86536795e-01 1.62548404e-01 1.79768704e-02 1.57321542e+02] [-1.62521405e-01 9.86700571e-01 -2.96250147e-03 -2.38424201e+01] [-1.82193382e-02 9.90455181e-07 9.99834014e-01 -3.11410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters 0.02232925590213955 Centerline is valid? [True, True] Translation: X:157.35, Y:-23.84, Z:-3.11 [[ 9.86052001e-01 1.65401694e-01 1.85399823e-02 1.57353103e+02] [-1.65373421e-01 9.86226281e-01 -3.05848439e-03 -2.38414113e+01] [-1.87904963e-02 -5.01956507e-05 9.99823442e-01 -3.11293059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77401273899997 meters 0.022497217921119583 Centerline is valid? [True, True] Translation: X:157.38, Y:-23.85, Z:-3.11 [[ 9.85929838e-01 1.66107963e-01 1.87216344e-02 1.57383497e+02] [-1.66079253e-01 9.86107571e-01 -3.08887241e-03 -2.38456425e+01] [-1.89746317e-02 -6.38635756e-05 9.99819963e-01 -3.11403929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters 0.022431002726626976 Centerline is valid? [True, True] Translation: X:157.41, Y:-23.86, Z:-3.11 [[ 9.85951695e-01 1.65913980e-01 1.92822968e-02 1.57413680e+02] [-1.65883465e-01 9.86140227e-01 -3.18252160e-03 -2.38572970e+01] [-1.95430734e-02 -6.08016515e-05 9.99809014e-01 -3.11489835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83401273899997 meters 0.02222201129974224 Centerline is valid? [True, True] Translation: X:157.44, Y:-23.86, Z:-3.11 [[ 9.86048670e-01 1.65292744e-01 1.96552733e-02 1.57444240e+02] [-1.65260905e-01 9.86244547e-01 -3.24451955e-03 -2.38647291e+01] [-1.99212016e-02 -4.89940516e-05 9.99801552e-01 -3.11412636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters 0.022180094794654024 Centerline is valid? [True, True] Translation: X:157.48, Y:-23.87, Z:-3.12 [[ 9.86245932e-01 1.64082800e-01 1.98946561e-02 1.57476134e+02] [-1.64049870e-01 9.86446569e-01 -3.28721767e-03 -2.38688380e+01] [-2.01643911e-02 -2.17106890e-05 9.99796678e-01 -3.11522343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89401273899998 meters 0.02213913120493316 Centerline is valid? [True, True] Translation: X:157.51, Y:-23.88, Z:-3.12 [[ 9.86518678e-01 1.62295899e-01 2.09985405e-02 1.57508158e+02] [-1.62258728e-01 9.86742135e-01 -3.47337192e-03 -2.38804461e+01] [-2.12838587e-02 1.93497814e-05 9.99773473e-01 -3.11508242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters 0.022210576107705444 Centerline is valid? [True, True] Translation: X:157.54, Y:-23.89, Z:-3.12 [[ 9.86706877e-01 1.61137322e-01 2.10785001e-02 1.57540148e+02] [-1.61099516e-01 9.86931994e-01 -3.49070280e-03 -2.38914814e+01] [-2.13655287e-02 4.85642932e-05 9.99771730e-01 -3.11522476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95401273899998 meters 0.022579019286474124 Centerline is valid? [True, True] Translation: X:157.57, Y:-23.90, Z:-3.12 [[ 9.87007357e-01 1.59509919e-01 1.93148418e-02 1.57570815e+02] [-1.59477795e-01 9.87196323e-01 -3.20215248e-03 -2.39018265e+01] [-1.95783159e-02 8.02596860e-05 9.99808323e-01 -3.11834028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters 0.022821141673939425 Centerline is valid? [True, True] Translation: X:157.60, Y:-23.91, Z:-3.12 [[ 9.87081191e-01 1.59112581e-01 1.88124749e-02 1.57603459e+02] [-1.59081968e-01 9.87260441e-01 -3.12226906e-03 -2.39087154e+01] [-1.90696045e-02 8.92075332e-05 9.99818155e-01 -3.12113422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01401273899998 meters 0.02271183365546414 Centerline is valid? [True, True] Translation: X:157.63, Y:-23.92, Z:-3.12 [[ 9.86932903e-01 1.60091878e-01 1.82766180e-02 1.57634521e+02] [-1.60063088e-01 9.87102115e-01 -3.03683270e-03 -2.39194504e+01] [-1.85270605e-02 7.17382084e-05 9.99828357e-01 -3.12195078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters 0.022321567650179886 Centerline is valid? [True, True] Translation: X:157.67, Y:-23.93, Z:-3.12 [[ 9.86703508e-01 1.61435216e-01 1.88377078e-02 1.57666720e+02] [-1.61404833e-01 9.86883311e-01 -3.13227519e-03 -2.39252973e+01] [-1.90962790e-02 5.01298294e-05 9.99817648e-01 -3.12046048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07401273899998 meters 0.021985738942351438 Centerline is valid? [True, True] Translation: X:157.70, Y:-23.92, Z:-3.12 [[ 9.86263067e-01 1.63983944e-01 1.98602499e-02 1.57699694e+02] [-1.63950609e-01 9.86463008e-01 -3.30632782e-03 -2.39233020e+01] [-2.01335866e-02 4.80894801e-06 9.99797299e-01 -3.11853013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters 0.02209671693278205 Centerline is valid? [True, True] Translation: X:157.73, Y:-23.93, Z:-3.12 [[ 9.86024382e-01 1.65497884e-01 1.91407436e-02 1.57733076e+02] [-1.65467141e-01 9.86210145e-01 -3.18983721e-03 -2.39261519e+01] [-1.94047068e-02 -2.19068598e-05 9.99811711e-01 -3.12144234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13401273899999 meters 0.02241893039242099 Centerline is valid? [True, True] Translation: X:157.76, Y:-23.93, Z:-3.12 [[ 9.85715707e-01 1.67444119e-01 1.80834815e-02 1.57764469e+02] [-1.67416946e-01 9.85881567e-01 -3.01695619e-03 -2.39338001e+01] [-1.83333426e-02 -5.36201383e-05 9.99831929e-01 -3.12495320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters 0.022204489170058954 Centerline is valid? [True, True] Translation: X:157.80, Y:-23.94, Z:-3.12 [[ 9.85731590e-01 1.67284247e-01 1.86872242e-02 1.57795117e+02] [-1.67255133e-01 9.85908707e-01 -3.12122355e-03 -2.39403464e+01] [-1.89460286e-02 -4.88455185e-05 9.99820507e-01 -3.12365695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194012739 meters 0.022223426726359907 Centerline is valid? [True, True] Translation: X:157.83, Y:-23.95, Z:-3.12 [[ 9.85673198e-01 1.67575528e-01 1.91517556e-02 1.57827396e+02] [-1.67544947e-01 9.85859239e-01 -3.20177842e-03 -2.39451972e+01] [-1.94174749e-02 -5.28727022e-05 9.99811462e-01 -3.12376949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters 0.02233770109310108 Centerline is valid? [True, True] Translation: X:157.86, Y:-23.95, Z:-3.12 [[ 9.85483656e-01 1.68616434e-01 1.97601156e-02 1.57858097e+02] [-1.68584020e-01 9.85681740e-01 -3.30684739e-03 -2.39508596e+01] [-2.00347739e-02 -7.23956671e-05 9.99799281e-01 -3.12204424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254012739 meters 0.022517335932970037 Centerline is valid? [True, True] Translation: X:157.89, Y:-23.96, Z:-3.12 [[ 9.85293097e-01 1.69743348e-01 1.96139699e-02 1.57890359e+02] [-1.69711577e-01 9.85488299e-01 -3.28533785e-03 -2.39566891e+01] [-1.98870021e-02 -9.16970493e-05 9.99802230e-01 -3.12308408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters 0.023354593023333824 Centerline is valid? [True, True] Translation: X:157.92, Y:-23.96, Z:-3.12 [[ 9.84794473e-01 1.72554267e-01 2.01213861e-02 1.57921549e+02] [-1.72521332e-01 9.85000002e-01 -3.37444794e-03 -2.39565487e+01] [-2.04018407e-02 -1.48230656e-04 9.99791850e-01 -3.12254017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314012739 meters 0.023835082649112677 Centerline is valid? [True, True] Translation: X:157.95, Y:-23.96, Z:-3.12 [[ 9.84556231e-01 1.73846909e-01 2.06465345e-02 1.57953357e+02] [-1.73812477e-01 9.84772675e-01 -3.46442027e-03 -2.39598873e+01] [-2.09344218e-02 -1.77708730e-04 9.99780835e-01 -3.12287688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters 0.024620002026860398 Centerline is valid? [True, True] Translation: X:157.98, Y:-23.96, Z:-3.13 [[ 9.84375862e-01 1.75007639e-01 1.94033068e-02 1.57984606e+02] [-1.74977393e-01 9.84567058e-01 -3.25894655e-03 -2.39629861e+01] [-1.96741972e-02 -1.87111716e-04 9.99806427e-01 -3.12554950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374012739 meters 0.024390892798563026 Centerline is valid? [True, True] Translation: X:158.02, Y:-23.97, Z:-3.12 [[ 9.84452023e-01 1.74467094e-01 2.03825190e-02 1.58015202e+02] [-1.74433531e-01 9.84662988e-01 -3.42681382e-03 -2.39671504e+01] [-2.06677784e-02 -1.81860980e-04 9.99786382e-01 -3.12485981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters 0.024297811930215792 Centerline is valid? [True, True] Translation: X:158.05, Y:-23.97, Z:-3.12 [[ 9.84502791e-01 1.74118529e-01 2.09043631e-02 1.58045584e+02] [-1.74083076e-01 9.84724686e-01 -3.51789738e-03 -2.39718832e+01] [-2.11975735e-02 -1.75716039e-04 9.99775291e-01 -3.12472867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434012739 meters 0.023724386173144582 Centerline is valid? [True, True] Translation: X:158.08, Y:-23.98, Z:-3.13 [[ 9.84579211e-01 1.73630059e-01 2.13630534e-02 1.58076898e+02] [-1.73592845e-01 9.84810934e-01 -3.59845546e-03 -2.39786982e+01] [-2.16633686e-02 -1.65508773e-04 9.99765308e-01 -3.12504305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters 0.023819390152866375 Centerline is valid? [True, True] Translation: X:158.11, Y:-23.98, Z:-3.13 [[ 9.84546548e-01 1.73901009e-01 2.06526749e-02 1.58108509e+02] [-1.73866218e-01 9.84763125e-01 -3.48214621e-03 -2.39834547e+01] [-2.09435414e-02 -1.62467463e-04 9.99780647e-01 -3.12745797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49401273899997 meters 0.02425114011151702 Centerline is valid? [True, True] Translation: X:158.14, Y:-23.99, Z:-3.13 [[ 9.84382470e-01 1.74951197e-01 1.95762815e-02 1.58140498e+02] [-1.74920084e-01 9.84577092e-01 -3.30377987e-03 -2.39866450e+01] [-1.98523586e-02 -1.72101823e-04 9.99802908e-01 -3.13015563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters 0.025018766822963945 Centerline is valid? [True, True] Translation: X:158.17, Y:-23.99, Z:-3.13 [[ 9.84145717e-01 1.76328333e-01 1.91187564e-02 1.58171124e+02] [-1.76298854e-01 9.84331388e-01 -3.22986986e-03 -2.39859529e+01] [-1.93887096e-02 -1.91952257e-04 9.99812003e-01 -3.13193313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55401273899997 meters 0.025018766822963945 Centerline is valid? [True, True] Translation: X:158.20, Y:-23.99, Z:-3.13 [[ 9.84145717e-01 1.76328333e-01 1.91187564e-02 1.58200700e+02] [-1.76298854e-01 9.84331388e-01 -3.22986986e-03 -2.39909494e+01] [-1.93887096e-02 -1.91952257e-04 9.99812003e-01 -3.13254237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters 0.02515730765959805 Centerline is valid? [True, True] Translation: X:158.23, Y:-23.99, Z:-3.13 [[ 9.84120360e-01 1.76423555e-01 1.95409013e-02 1.58229682e+02] [-1.76392778e-01 9.84314325e-01 -3.30119163e-03 -2.39936682e+01] [-1.98167970e-02 -1.98103974e-04 9.99803608e-01 -3.13185921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61401273899997 meters 0.024815856713702247 Centerline is valid? [True, True] Translation: X:158.26, Y:-24.00, Z:-3.13 [[ 9.84133687e-01 1.76171107e-01 2.10861779e-02 1.58260449e+02] [-1.76135218e-01 9.84359537e-01 -3.56198786e-03 -2.39968540e+01] [-2.13838997e-02 -2.08546280e-04 9.99771317e-01 -3.12967558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters 0.024924141816426226 Centerline is valid? [True, True] Translation: X:158.29, Y:-24.00, Z:-3.13 [[ 9.84133093e-01 1.76091484e-01 2.17679698e-02 1.58289761e+02] [-1.76053216e-01 9.84373783e-01 -3.67713893e-03 -2.39992867e+01] [-2.20753316e-02 -2.13526993e-04 9.99756287e-01 -3.12824763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67401273899998 meters 0.025101038585306327 Centerline is valid? [True, True] Translation: X:158.32, Y:-24.00, Z:-3.13 [[ 9.84139084e-01 1.76032846e-01 2.19704565e-02 1.58319044e+02] [-1.75993853e-01 9.84384270e-01 -3.71112592e-03 -2.40012941e+01] [-2.22806519e-02 -2.14401229e-04 9.99751732e-01 -3.12887728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters 0.02469828961308964 Centerline is valid? [True, True] Translation: X:158.35, Y:-24.00, Z:-3.13 [[ 9.84269753e-01 1.75327154e-01 2.17587209e-02 1.58349765e+02] [-1.75288732e-01 9.84510208e-01 -3.67559583e-03 -2.40031816e+01] [-2.20661146e-02 -1.96280790e-04 9.99756494e-01 -3.13081895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73401273899998 meters 0.02470135632223555 Centerline is valid? [True, True] Translation: X:158.38, Y:-24.01, Z:-3.13 [[ 9.84328731e-01 1.75010460e-01 2.16399659e-02 1.58378649e+02] [-1.74972380e-01 9.84566556e-01 -3.65551600e-03 -2.40069735e+01] [-2.19457402e-02 -1.88166898e-04 9.99759146e-01 -3.13122547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters 0.023773487219494977 Centerline is valid? [True, True] Translation: X:158.41, Y:-24.01, Z:-3.13 [[ 9.84663267e-01 1.73242563e-01 2.06219644e-02 1.58408313e+02] [-1.73207598e-01 9.84879178e-01 -3.48332512e-03 -2.40124388e+01] [-2.09136035e-02 -1.41978636e-04 9.99781277e-01 -3.13342661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79401273899998 meters 0.02271581065040439 Centerline is valid? [True, True] Translation: X:158.44, Y:-24.02, Z:-3.14 [[ 9.85256814e-01 1.70030159e-01 1.89408183e-02 1.58436717e+02] [-1.70000070e-01 9.85438857e-01 -3.19933941e-03 -2.40205743e+01] [-1.92090025e-02 -6.77694731e-05 9.99815488e-01 -3.13715516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters 0.022455554624068987 Centerline is valid? [True, True] Translation: X:158.47, Y:-24.03, Z:-3.14 [[ 9.85529529e-01 1.68407871e-01 1.92441276e-02 1.58466616e+02] [-1.68376494e-01 9.85717398e-01 -3.25090447e-03 -2.40285753e+01] [-1.95167493e-02 -3.63963850e-05 9.99809529e-01 -3.13740355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85401273899998 meters 0.022355347014506095 Centerline is valid? [True, True] Translation: X:158.50, Y:-24.04, Z:-3.14 [[ 9.85752318e-01 1.66997786e-01 2.01024171e-02 1.58496181e+02] [-1.66963255e-01 9.85957271e-01 -3.39589505e-03 -2.40364056e+01] [-2.03872313e-02 -8.85356687e-06 9.99792159e-01 -3.13582713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters 0.022339901847033668 Centerline is valid? [True, True] Translation: X:158.53, Y:-24.04, Z:-3.14 [[ 9.86075129e-01 1.65003513e-01 2.07287213e-02 1.58525518e+02] [-1.64966355e-01 9.86292979e-01 -3.50170467e-03 -2.40443333e+01] [-2.10223858e-02 3.34022856e-05 9.99779005e-01 -3.13516400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914012739 meters 0.02263357921216627 Centerline is valid? [True, True] Translation: X:158.56, Y:-24.05, Z:-3.14 [[ 9.86268341e-01 1.64037150e-01 1.91461001e-02 1.58555628e+02] [-1.64005267e-01 9.86454161e-01 -3.23443705e-03 -2.40526038e+01] [-1.94173180e-02 4.99615992e-05 9.99811465e-01 -3.13967199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters 0.022974379769533235 Centerline is valid? [True, True] Translation: X:158.59, Y:-24.06, Z:-3.14 [[ 9.86397658e-01 1.63406875e-01 1.78284589e-02 1.58586160e+02] [-1.63379077e-01 9.86558761e-01 -3.01458953e-03 -2.40606201e+01] [-1.80814270e-02 6.07869052e-05 9.99836516e-01 -3.14308428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974012739 meters 0.023264907279089635 Centerline is valid? [True, True] Translation: X:158.62, Y:-24.07, Z:-3.15 [[ 9.86570733e-01 1.62434373e-01 1.71249532e-02 1.58616925e+02] [-1.62408580e-01 9.86719347e-01 -2.89559443e-03 -2.40699449e+01] [-1.73678667e-02 7.54693804e-05 9.99849164e-01 -3.14509500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters 0.023243118652775802 Centerline is valid? [True, True] Translation: X:158.65, Y:-24.08, Z:-3.14 [[ 9.86500500e-01 1.62813209e-01 1.75676417e-02 1.58646819e+02] [-1.62786065e-01 9.86656908e-01 -2.97383301e-03 -2.40760504e+01] [-1.78174144e-02 7.39204860e-05 9.99841255e-01 -3.14473059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034012739 meters 0.022439970360685315 Centerline is valid? [True, True] Translation: X:158.68, Y:-24.08, Z:-3.14 [[ 9.85811202e-01 1.66896824e-01 1.79366777e-02 1.58678133e+02] [-1.66869198e-01 9.85974366e-01 -3.03654471e-03 -2.40755502e+01] [-1.81918941e-02 3.80758993e-07 9.99834514e-01 -3.14340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters 0.023809827794269163 Centerline is valid? [True, True] Translation: X:158.71, Y:-24.07, Z:-3.15 [[ 9.84734815e-01 1.73100806e-01 1.82607786e-02 1.58709443e+02] [-1.73073237e-01 9.84904106e-01 -3.09145433e-03 -2.40706179e+01] [-1.85202491e-02 -1.16189354e-04 9.99828479e-01 -3.14502991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094012739 meters 0.024999327168836915 Centerline is valid? [True, True] Translation: X:158.74, Y:-24.07, Z:-3.14 [[ 9.84322439e-01 1.75297672e-01 1.94951854e-02 1.58738651e+02] [-1.75266690e-01 9.84515463e-01 -3.29993976e-03 -2.40703292e+01] [-1.97717832e-02 -1.68651863e-04 9.99804505e-01 -3.14397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters 0.025611384183283903 Centerline is valid? [True, True] Translation: X:158.77, Y:-24.07, Z:-3.14 [[ 9.83819556e-01 1.77892138e-01 2.12948069e-02 1.58768988e+02] [-1.77855792e-01 9.84049963e-01 -3.60395313e-03 -2.40718600e+01] [-2.15962689e-02 -2.41765178e-04 9.99766744e-01 -3.14084322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154012739 meters 0.027716456559206962 Centerline is valid? [True, True] Translation: X:158.80, Y:-24.07, Z:-3.14 [[ 9.83609259e-01 1.79029538e-01 2.14767435e-02 1.58799195e+02] [-1.78992850e-01 9.83843662e-01 -3.63425780e-03 -2.40706363e+01] [-2.17803975e-02 -2.69493902e-04 9.99762743e-01 -3.14049353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters 0.02791037946528794 Centerline is valid? [True, True] Translation: X:158.83, Y:-24.07, Z:-3.14 [[ 9.83508047e-01 1.79601716e-01 2.13341179e-02 1.58828627e+02] [-1.79565645e-01 9.83739369e-01 -3.61024633e-03 -2.40701524e+01] [-2.16356181e-02 -2.80168324e-04 9.99765883e-01 -3.14038833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214012739 meters 0.027712442239242744 Centerline is valid? [True, True] Translation: X:158.86, Y:-24.07, Z:-3.14 [[ 9.83619143e-01 1.79004702e-01 2.12296330e-02 1.58856044e+02] [-1.78968866e-01 9.83848182e-01 -3.59158406e-03 -2.40720615e+01] [-2.15296462e-02 -2.66692506e-04 9.99768175e-01 -3.14062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters 0.025741925006642824 Centerline is valid? [True, True] Translation: X:158.88, Y:-24.08, Z:-3.14 [[ 9.83959454e-01 1.76990972e-01 2.23156426e-02 1.58884602e+02] [-1.76950888e-01 9.84212447e-01 -3.77394051e-03 -2.40763975e+01] [-2.26312866e-02 -2.35368336e-04 9.99743852e-01 -3.13868590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27401273899997 meters 0.024744628300091664 Centerline is valid? [True, True] Translation: X:158.91, Y:-24.08, Z:-3.14 [[ 9.84268224e-01 1.75210768e-01 2.27431254e-02 1.58914277e+02] [-1.75168681e-01 9.84530927e-01 -3.84523638e-03 -2.40821092e+01] [-2.30650372e-02 -1.99139306e-04 9.99733947e-01 -3.13849583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters 0.023002618489245234 Centerline is valid? [True, True] Translation: X:158.94, Y:-24.09, Z:-3.14 [[ 9.85014845e-01 1.71027802e-01 2.22541367e-02 1.58943502e+02] [-1.70986444e-01 9.85266198e-01 -3.76227822e-03 -2.40890831e+01] [-2.25697029e-02 -9.92558191e-05 9.99745267e-01 -3.14123870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33401273899997 meters 0.022453291955788414 Centerline is valid? [True, True] Translation: X:158.97, Y:-24.09, Z:-3.15 [[ 9.85549219e-01 1.68138955e-01 2.05433206e-02 1.58973676e+02] [-1.68103093e-01 9.85763304e-01 -3.47261113e-03 -2.40942792e+01] [-2.08347328e-02 -3.09665487e-05 9.99782933e-01 -3.14541660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters 0.02243688001475404 Centerline is valid? [True, True] Translation: X:159.00, Y:-24.10, Z:-3.15 [[ 9.85813742e-01 1.66650494e-01 1.99719595e-02 1.59003891e+02] [-1.66616294e-01 9.86016031e-01 -3.37602914e-03 -2.41003009e+01] [-2.02552892e-02 4.82037923e-07 9.99794841e-01 -3.14724946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39401273899998 meters 0.02284921710462065 Centerline is valid? [True, True] Translation: X:159.03, Y:-24.11, Z:-3.15 [[ 9.86274781e-01 1.64086741e-01 1.83738441e-02 1.59033059e+02] [-1.64057351e-01 9.86445913e-01 -3.10590578e-03 -2.41060388e+01] [-1.86344414e-02 4.89123578e-05 9.99826363e-01 -3.15045312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters 0.022938739974762153 Centerline is valid? [True, True] Translation: X:159.06, Y:-24.11, Z:-3.15 [[ 9.86339326e-01 1.63770993e-01 1.77142883e-02 1.59061471e+02] [-1.63743627e-01 9.86498383e-01 -2.99426656e-03 -2.41086905e+01] [-1.79654907e-02 5.27610523e-05 9.99838606e-01 -3.15290090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45401273899998 meters 0.022970452826056687 Centerline is valid? [True, True] Translation: X:159.09, Y:-24.11, Z:-3.16 [[ 9.86300625e-01 1.64121338e-01 1.65910415e-02 1.59090976e+02] [-1.64097392e-01 9.86440158e-01 -2.80382355e-03 -2.41101346e+01] [-1.68262368e-02 4.28662779e-05 9.99858428e-01 -3.15561865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters 0.023128590105610695 Centerline is valid? [True, True] Translation: X:159.12, Y:-24.11, Z:-3.16 [[ 9.86371617e-01 1.63673988e-01 1.67886835e-02 1.59120574e+02] [-1.63649409e-01 9.86514482e-01 -2.83682544e-03 -2.41147686e+01] [-1.70265939e-02 5.07059669e-05 9.99855036e-01 -3.15603700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51401273899998 meters 0.02283162791269091 Centerline is valid? [True, True] Translation: X:159.15, Y:-24.11, Z:-3.15 [[ 9.86325101e-01 1.63774532e-01 1.84580165e-02 1.59149138e+02] [-1.63744848e-01 9.86497795e-01 -3.11847349e-03 -2.41147662e+01] [-1.87195192e-02 5.34235619e-05 9.99824773e-01 -3.15272344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters 0.022661097084419837 Centerline is valid? [True, True] Translation: X:159.18, Y:-24.12, Z:-3.15 [[ 9.86237374e-01 1.64184429e-01 1.94760225e-02 1.59177304e+02] [-1.64151484e-01 9.86429658e-01 -3.28926709e-03 -2.41164451e+01] [-1.97517726e-02 4.69801481e-05 9.99804914e-01 -3.15142282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57401273899998 meters 0.022764547732410184 Centerline is valid? [True, True] Translation: X:159.21, Y:-24.12, Z:-3.15 [[ 9.86362478e-01 1.63280277e-01 2.07029625e-02 1.59206821e+02] [-1.63242879e-01 9.86579721e-01 -3.49515080e-03 -2.41212074e+01] [-2.09958122e-02 6.78744122e-05 9.99779561e-01 -3.15044505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters 0.022915170955220842 Centerline is valid? [True, True] Translation: X:159.23, Y:-24.13, Z:-3.15 [[ 9.86467539e-01 1.62716590e-01 2.01272267e-02 1.59234632e+02] [-1.62681135e-01 9.86672846e-01 -3.39749436e-03 -2.41268965e+01] [-2.04118168e-02 7.71978061e-05 9.99791654e-01 -3.15237260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63401273899999 meters 0.02366058426770364 Centerline is valid? [True, True] Translation: X:159.26, Y:-24.13, Z:-3.16 [[ 9.86822834e-01 1.60785889e-01 1.81270931e-02 1.59262350e+02] [-1.60756815e-01 9.86989304e-01 -3.05930859e-03 -2.41337993e+01] [-1.83831406e-02 1.04941825e-04 9.99831010e-01 -3.15734904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters 0.024401693417387956 Centerline is valid? [True, True] Translation: X:159.29, Y:-24.14, Z:-3.16 [[ 9.87111892e-01 1.58986068e-01 1.82631639e-02 1.59290961e+02] [-1.58956260e-01 9.87280817e-01 -3.08162407e-03 -2.41415884e+01] [-1.85208066e-02 1.38863545e-04 9.99828466e-01 -3.15822787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694012739 meters 0.026236308080057093 Centerline is valid? [True, True] Translation: X:159.32, Y:-24.16, Z:-3.15 [[ 9.87745895e-01 1.54677569e-01 2.08061498e-02 1.59319886e+02] [-1.54637936e-01 9.87964973e-01 -3.51019727e-03 -2.41554076e+01] [-2.10986960e-02 2.49762891e-04 9.99777367e-01 -3.15394548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters 0.028315180862844923 Centerline is valid? [True, True] Translation: X:159.35, Y:-24.17, Z:-3.15 [[ 9.88093695e-01 1.52320106e-01 2.16664576e-02 1.59349801e+02] [-1.52276555e-01 9.88331163e-01 -3.65559019e-03 -2.41681147e+01] [-2.19704551e-02 3.12772096e-04 9.99758571e-01 -3.15298558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754012739 meters 0.03156253289432926 Centerline is valid? [True, True] Translation: X:159.38, Y:-24.18, Z:-3.15 [[ 9.88585026e-01 1.49188771e-01 2.10323022e-02 1.59378860e+02] [-1.49146957e-01 9.88808662e-01 -3.55171146e-03 -2.41840527e+01] [-2.13267980e-02 3.74264906e-04 9.99772488e-01 -3.15424029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters 0.031994180591707416 Centerline is valid? [True, True] Translation: X:159.41, Y:-24.20, Z:-3.16 [[ 9.88812217e-01 1.47836628e-01 1.98678176e-02 1.59409821e+02] [-1.47798988e-01 9.89011721e-01 -3.35784511e-03 -2.41961678e+01] [-2.01459169e-02 3.83834945e-04 9.99796977e-01 -3.15713347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814012739 meters 0.03203777632511065 Centerline is valid? [True, True] Translation: X:159.44, Y:-24.21, Z:-3.16 [[ 9.88747075e-01 1.48105214e-01 2.10729228e-02 1.59441674e+02] [-1.48062852e-01 9.88971527e-01 -3.56516832e-03 -2.42058511e+01] [-2.13685407e-02 4.04932696e-04 9.99771585e-01 -3.15540818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters 0.03155285708660886 Centerline is valid? [True, True] Translation: X:159.47, Y:-24.22, Z:-3.15 [[ 9.88590632e-01 1.48832168e-01 2.31850776e-02 1.59471649e+02] [-1.48780979e-01 9.88862376e-01 -3.92707291e-03 -2.42164398e+01] [-2.35113257e-02 4.32768948e-04 9.99723477e-01 -3.15173057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874012739 meters 0.03133484805569352 Centerline is valid? [True, True] Translation: X:159.50, Y:-24.22, Z:-3.15 [[ 9.88517026e-01 1.49417383e-01 2.25507387e-02 1.59503063e+02] [-1.49369037e-01 9.88774128e-01 -3.82277289e-03 -2.42234278e+01] [-2.28687757e-02 4.10493960e-04 9.99738391e-01 -3.15334285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters 0.02911976877807509 Centerline is valid? [True, True] Translation: X:159.53, Y:-24.23, Z:-3.16 [[ 9.88314597e-01 1.51043309e-01 2.04982102e-02 1.59534772e+02] [-1.51003679e-01 9.88527088e-01 -3.47650236e-03 -2.42305046e+01] [-2.07881385e-02 3.40572860e-04 9.99783845e-01 -3.15920603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934012739 meters 0.029652449961435408 Centerline is valid? [True, True] Translation: X:159.56, Y:-24.24, Z:-3.16 [[ 9.88197222e-01 1.51855805e-01 2.01510739e-02 1.59564917e+02] [-1.51817607e-01 9.88402606e-01 -3.42095366e-03 -2.42401136e+01] [-2.04368657e-02 3.21289075e-04 9.99791094e-01 -3.16085151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters 0.02777498545800084 Centerline is valid? [True, True] Translation: X:159.60, Y:-24.25, Z:-3.16 [[ 9.87954805e-01 1.53461348e-01 1.98725505e-02 1.59595973e+02] [-1.53424463e-01 9.88154609e-01 -3.37671199e-03 -2.42484839e+01] [-2.01553471e-02 2.87103456e-04 9.99796819e-01 -3.16056470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99401273899997 meters 0.02739446103875757 Centerline is valid? [True, True] Translation: X:159.63, Y:-24.26, Z:-3.16 [[ 9.87641666e-01 1.55655843e-01 1.83084177e-02 1.59626118e+02] [-1.55624860e-01 9.87811322e-01 -3.11374622e-03 -2.42580109e+01] [-1.85699351e-02 2.26020559e-04 9.99827538e-01 -3.16349184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters 0.02568661769105623 Centerline is valid? [True, True] Translation: X:159.66, Y:-24.26, Z:-3.17 [[ 9.87364193e-01 1.57462949e-01 1.78148930e-02 1.59658350e+02] [-1.57433860e-01 9.87524878e-01 -3.03245137e-03 -2.42621312e+01] [-1.80701488e-02 1.89466521e-04 9.99836704e-01 -3.16504262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05401273899997 meters 0.024219005292484663 Centerline is valid? [True, True] Translation: X:159.69, Y:-24.27, Z:-3.17 [[ 9.86784566e-01 1.61102943e-01 1.73799450e-02 1.59689273e+02] [-1.61075772e-01 9.86937600e-01 -2.96122926e-03 -2.42684023e+01] [-1.76299839e-02 1.22607268e-04 9.99844572e-01 -3.16702969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters 0.023526403836479456 Centerline is valid? [True, True] Translation: X:159.72, Y:-24.27, Z:-3.17 [[ 9.86511747e-01 1.62738987e-01 1.76237327e-02 1.59721266e+02] [-1.62711256e-01 9.86669151e-01 -3.00572748e-03 -2.42732804e+01] [-1.78779425e-02 9.76057720e-05 9.99840172e-01 -3.16753588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11401273899997 meters 0.022908819949052826 Centerline is valid? [True, True] Translation: X:159.75, Y:-24.28, Z:-3.17 [[ 9.85987281e-01 1.65827531e-01 1.81745020e-02 1.59752310e+02] [-1.65798506e-01 9.86154769e-01 -3.10282861e-03 -2.42766068e+01] [-1.84374062e-02 4.60442634e-05 9.99830016e-01 -3.16733498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters 0.022659664061935408 Centerline is valid? [True, True] Translation: X:159.78, Y:-24.28, Z:-3.17 [[ 9.85692021e-01 1.67525708e-01 1.86112018e-02 1.59783913e+02] [-1.67495518e-01 9.85867708e-01 -3.18032602e-03 -2.42806704e+01] [-1.88809692e-02 1.75290886e-05 9.99821738e-01 -3.16663364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17401273899998 meters 0.02292760332512104 Centerline is valid? [True, True] Translation: X:159.82, Y:-24.28, Z:-3.17 [[ 9.84963725e-01 1.71696805e-01 1.91485682e-02 1.59815853e+02] [-1.71665569e-01 9.85149838e-01 -3.27550833e-03 -2.42800100e+01] [-1.94266032e-02 -6.08929744e-05 9.99811284e-01 -3.16506027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters 0.023586993366988863 Centerline is valid? [True, True] Translation: X:159.85, Y:-24.28, Z:-3.17 [[ 9.84556196e-01 1.74100723e-01 1.83857322e-02 1.59846677e+02] [-1.74072338e-01 9.84727844e-01 -3.14545708e-03 -2.42794159e+01] [-1.86525688e-02 -1.03568122e-04 9.99826020e-01 -3.16711835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23401273899998 meters 0.027198291419787964 Centerline is valid? [True, True] Translation: X:159.88, Y:-24.27, Z:-3.17 [[ 9.83461582e-01 1.80267482e-01 1.75200566e-02 1.59877398e+02] [-1.80242678e-01 9.83617604e-01 -2.99766197e-03 -2.42698119e+01] [-1.77734170e-02 -2.09776534e-04 9.99842018e-01 -3.17037463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters 0.03450206177446981 Centerline is valid? [True, True] Translation: X:159.91, Y:-24.26, Z:-3.17 [[ 9.82365425e-01 1.85913683e-01 1.98563357e-02 1.59908447e+02] [-1.85882989e-01 9.82566017e-01 -3.39667672e-03 -2.42570502e+01] [-2.01416494e-02 -3.54177258e-04 9.99797074e-01 -3.16613880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29401273899998 meters 0.03305365618879441 Centerline is valid? [True, True] Translation: X:159.94, Y:-24.26, Z:-3.16 [[ 9.82134235e-01 1.87054487e-01 2.05660573e-02 1.59936390e+02] [-1.87021829e-01 9.82349462e-01 -3.51710363e-03 -2.42616097e+01] [-2.08609453e-02 -3.92033774e-04 9.99782310e-01 -3.16495008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters 0.03310740399225647 Centerline is valid? [True, True] Translation: X:159.97, Y:-24.26, Z:-3.17 [[ 9.81890154e-01 1.88458850e-01 1.93645923e-02 1.59965465e+02] [-1.88430190e-01 9.82081006e-01 -3.31061237e-03 -2.42593963e+01] [-1.96415125e-02 -3.98216112e-04 9.99807008e-01 -3.16768514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35401273899998 meters 0.03221380515908915 Centerline is valid? [True, True] Translation: X:159.99, Y:-24.26, Z:-3.17 [[ 9.81854552e-01 1.88617973e-01 1.96188604e-02 1.59994484e+02] [-1.88588614e-01 9.82050454e-01 -3.35274388e-03 -2.42621358e+01] [-1.98990986e-02 -4.07986865e-04 9.99801910e-01 -3.16822023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters 0.03340741213548938 Centerline is valid? [True, True] Translation: X:160.02, Y:-24.26, Z:-3.16 [[ 9.81774074e-01 1.88724991e-01 2.24175222e-02 1.60023559e+02] [-1.88686713e-01 9.82029866e-01 -3.82976654e-03 -2.42583166e+01] [-2.27374490e-02 -4.69923087e-04 9.99741360e-01 -3.16375685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414012739 meters 0.03203302349430746 Centerline is valid? [True, True] Translation: X:160.05, Y:-24.26, Z:-3.16 [[ 9.81795755e-01 1.88456447e-01 2.36909945e-02 1.60052397e+02] [-1.88413654e-01 9.82081425e-01 -4.04587315e-03 -2.42626098e+01] [-2.40289565e-02 -4.91485755e-04 9.99711142e-01 -3.16239605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters 0.03231720637009939 Centerline is valid? [True, True] Translation: X:160.08, Y:-24.26, Z:-3.16 [[ 9.82145860e-01 1.86571953e-01 2.40918090e-02 1.60081015e+02] [-1.86527163e-01 9.82441194e-01 -4.11309183e-03 -2.42621399e+01] [-2.44361732e-02 -4.54120670e-04 9.99701289e-01 -3.16149516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474012739 meters 0.03231720637009939 Centerline is valid? [True, True] Translation: X:160.11, Y:-24.27, Z:-3.16 [[ 9.82154155e-01 1.86528253e-01 2.40920402e-02 1.60108954e+02] [-1.86483483e-01 9.82449492e-01 -4.11173689e-03 -2.42668165e+01] [-2.44361678e-02 -4.54408093e-04 9.99701289e-01 -3.16207055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters 0.028860888681866224 Centerline is valid? [True, True] Translation: X:160.14, Y:-24.27, Z:-3.16 [[ 9.82914998e-01 1.82576420e-01 2.33228941e-02 1.60137255e+02] [-1.82533375e-01 9.83191605e-01 -3.97943274e-03 -2.42731754e+01] [-2.36574243e-02 -3.45762442e-04 9.99720064e-01 -3.16345124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534012739 meters 0.02734512179287609 Centerline is valid? [True, True] Translation: X:160.16, Y:-24.28, Z:-3.17 [[ 9.83353694e-01 1.80345175e-01 2.21614756e-02 1.60164331e+02] [-1.80305766e-01 9.83603345e-01 -3.78028909e-03 -2.42790014e+01] [-2.24798584e-02 -2.78480586e-04 9.99747257e-01 -3.16622380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters 0.025312245778333114 Centerline is valid? [True, True] Translation: X:160.19, Y:-24.29, Z:-3.17 [[ 9.83786050e-01 1.78149110e-01 2.06857985e-02 1.60192183e+02] [-1.78114312e-01 9.84003480e-01 -3.52746591e-03 -2.42867732e+01] [-2.09833127e-02 -2.14165017e-04 9.99779803e-01 -3.17073108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594012739 meters 0.02345747160351246 Centerline is valid? [True, True] Translation: X:160.22, Y:-24.30, Z:-3.18 [[ 9.84629838e-01 1.73672965e-01 1.84873950e-02 1.60219297e+02] [-1.73644397e-01 9.84803376e-01 -3.15174819e-03 -2.42956861e+01] [-1.87538224e-02 -1.06927250e-04 9.99824126e-01 -3.17559176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters 0.022778353487143223 Centerline is valid? [True, True] Translation: X:160.25, Y:-24.30, Z:-3.18 [[ 9.84949738e-01 1.71815635e-01 1.87989575e-02 1.60247803e+02] [-1.71785763e-01 9.85129120e-01 -3.20457019e-03 -2.43025910e+01] [-1.90699958e-02 -7.30526996e-05 9.99818148e-01 -3.17563911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654012739 meters 0.02251356665706408 Centerline is valid? [True, True] Translation: X:160.28, Y:-24.31, Z:-3.17 [[ 9.85246960e-01 1.69923025e-01 2.03615745e-02 1.60275284e+02] [-1.69887598e-01 9.85457337e-01 -3.46989451e-03 -2.43087619e+01] [-2.06550780e-02 -4.04759606e-05 9.99786660e-01 -3.17251743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters 0.02224025037909505 Centerline is valid? [True, True] Translation: X:160.30, Y:-24.31, Z:-3.17 [[ 9.85350467e-01 1.69197192e-01 2.13720979e-02 1.60304244e+02] [-1.69158017e-01 9.85582219e-01 -3.64083534e-03 -2.43128950e+01] [-2.16799788e-02 -2.77628944e-05 9.99764961e-01 -3.17148393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714012739 meters 0.022245206222092105 Centerline is valid? [True, True] Translation: X:160.33, Y:-24.32, Z:-3.17 [[ 9.85482169e-01 1.68459404e-01 2.11263780e-02 1.60332829e+02] [-1.68420966e-01 9.85708592e-01 -3.59846127e-03 -2.43172798e+01] [-2.14306470e-02 -1.19055754e-05 9.99770337e-01 -3.17318805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters 0.02238484097098388 Centerline is valid? [True, True] Translation: X:160.36, Y:-24.32, Z:-3.18 [[ 9.85709611e-01 1.67321893e-01 1.94922465e-02 1.60361642e+02] [-1.67288963e-01 9.85902320e-01 -3.31947207e-03 -2.43228153e+01] [-1.97728714e-02 1.11978340e-05 9.99804498e-01 -3.17764002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77401273899997 meters 0.022449861675961906 Centerline is valid? [True, True] Translation: X:160.39, Y:-24.33, Z:-3.18 [[ 9.85769628e-01 1.67053991e-01 1.87404378e-02 1.60391018e+02] [-1.67023512e-01 9.85947749e-01 -3.19103239e-03 -2.43284726e+01] [-1.90101672e-02 1.55290773e-05 9.99819290e-01 -3.18028269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters 0.022532761121743808 Centerline is valid? [True, True] Translation: X:160.42, Y:-24.33, Z:-3.18 [[ 9.85697884e-01 1.67613068e-01 1.74797368e-02 1.60420660e+02] [-1.67586646e-01 9.85852859e-01 -2.97598374e-03 -2.43317461e+01] [-1.77312623e-02 4.05039895e-06 9.99842789e-01 -3.18183882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83401273899997 meters 0.02246091728102185 Centerline is valid? [True, True] Translation: X:160.45, Y:-24.34, Z:-3.18 [[ 9.85794117e-01 1.67030676e-01 1.76270238e-02 1.60449310e+02] [-1.67003722e-01 9.85951699e-01 -3.00062921e-03 -2.43369162e+01] [-1.78805912e-02 1.42240555e-05 9.99840129e-01 -3.18308568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters 0.02295964129769862 Centerline is valid? [True, True] Translation: X:160.48, Y:-24.35, Z:-3.19 [[ 9.86347547e-01 1.63737629e-01 1.75643339e-02 1.60476311e+02] [-1.63710351e-01 9.86503920e-01 -2.98956119e-03 -2.43494443e+01] [-1.78167879e-02 7.32830844e-05 9.99841266e-01 -3.18610851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89401273899998 meters 0.023734914625322925 Centerline is valid? [True, True] Translation: X:160.50, Y:-24.36, Z:-3.19 [[ 9.86763020e-01 1.61221821e-01 1.75004961e-02 1.60504979e+02] [-1.61194358e-01 9.86918188e-01 -2.97798707e-03 -2.43600239e+01] [-1.77516744e-02 1.17586294e-04 9.99842420e-01 -3.18696670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters 0.023504937825939064 Centerline is valid? [True, True] Translation: X:160.53, Y:-24.36, Z:-3.19 [[ 9.86698209e-01 1.61594068e-01 1.77201046e-02 1.60534033e+02] [-1.61565970e-01 9.86857307e-01 -3.01541169e-03 -2.43645051e+01] [-1.79744873e-02 1.12335425e-04 9.99838440e-01 -3.18687102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95401273899998 meters 0.02250222464754738 Centerline is valid? [True, True] Translation: X:160.56, Y:-24.37, Z:-3.19 [[ 9.86058771e-01 1.65385179e-01 1.83260189e-02 1.60563238e+02] [-1.65355789e-01 9.86229051e-01 -3.11808658e-03 -2.43654411e+01] [-1.85893375e-02 4.43033120e-05 9.99827202e-01 -3.18571855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters 0.022363934151391436 Centerline is valid? [True, True] Translation: X:160.59, Y:-24.37, Z:-3.19 [[ 9.85611736e-01 1.68022998e-01 1.83787429e-02 1.60592460e+02] [-1.67993909e-01 9.85783076e-01 -3.12640136e-03 -2.43668638e+01] [-1.86427610e-02 -6.09898902e-06 9.99826209e-01 -3.18567648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01401273899998 meters 0.02310085357835021 Centerline is valid? [True, True] Translation: X:160.62, Y:-24.36, Z:-3.18 [[ 9.84814717e-01 1.72516930e-01 1.94392137e-02 1.60622044e+02] [-1.72485275e-01 9.85006548e-01 -3.30609496e-03 -2.43643780e+01] [-1.97181101e-02 -9.70871553e-05 9.99805574e-01 -3.18491952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters 0.023722798479618445 Centerline is valid? [True, True] Translation: X:160.65, Y:-24.37, Z:-3.18 [[ 9.84491784e-01 1.74199864e-01 2.07444878e-02 1.60650516e+02] [-1.74164210e-01 9.84710306e-01 -3.52705416e-03 -2.43671380e+01] [-2.10417233e-02 -1.40591500e-04 9.99778589e-01 -3.18266542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07401273899998 meters 0.023784541014694106 Centerline is valid? [True, True] Translation: X:160.68, Y:-24.37, Z:-3.18 [[ 9.84513916e-01 1.74085683e-01 2.06524600e-02 1.60677951e+02] [-1.74050341e-01 9.84730499e-01 -3.51043853e-03 -2.43719300e+01] [-2.09482244e-02 -1.38492119e-04 9.99780552e-01 -3.18291146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters 0.02353809421908369 Centerline is valid? [True, True] Translation: X:160.71, Y:-24.38, Z:-3.18 [[ 9.84572223e-01 1.73768607e-01 2.05428593e-02 1.60706713e+02] [-1.73733594e-01 9.84786502e-01 -3.49062303e-03 -2.43774687e+01] [-2.08368913e-02 -1.32214315e-04 9.99782880e-01 -3.18461842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13401273899999 meters 0.02314024657416351 Centerline is valid? [True, True] Translation: X:160.73, Y:-24.38, Z:-3.19 [[ 9.84956494e-01 1.71918350e-01 1.74581354e-02 1.60734526e+02] [-1.71892786e-01 9.85111199e-01 -2.96575245e-03 -2.43842175e+01] [-1.77080720e-02 -7.97903949e-05 9.99843197e-01 -3.19113679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters 0.02265523243607926 Centerline is valid? [True, True] Translation: X:160.76, Y:-24.39, Z:-3.19 [[ 9.85253428e-01 1.70239592e-01 1.71511948e-02 1.60762091e+02] [-1.70214674e-01 9.85402699e-01 -2.91304673e-03 -2.43911635e+01] [-1.73967496e-02 -4.92957634e-05 9.99848664e-01 -3.19293427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194012739 meters 0.022461591858075423 Centerline is valid? [True, True] Translation: X:160.79, Y:-24.40, Z:-3.19 [[ 9.85277043e-01 1.69876906e-01 1.92609831e-02 1.60790650e+02] [-1.69845431e-01 9.85465288e-01 -3.27038368e-03 -2.43962372e+01] [-1.95365930e-02 -4.91560169e-05 9.99809141e-01 -3.18904094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters 0.02245692872253415 Centerline is valid? [True, True] Translation: X:160.82, Y:-24.40, Z:-3.19 [[ 9.85146367e-01 1.70401315e-01 2.12138381e-02 1.60818777e+02] [-1.70363278e-01 9.85374745e-01 -3.60085630e-03 -2.43990679e+01] [-2.15171709e-02 -6.66884888e-05 9.99768477e-01 -3.18546450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254012739 meters 0.02261780626881489 Centerline is valid? [True, True] Translation: X:160.85, Y:-24.40, Z:-3.19 [[ 9.85063204e-01 1.71004758e-01 2.01954480e-02 1.60847384e+02] [-1.70970436e-01 9.85270200e-01 -3.42687079e-03 -2.44020278e+01] [-2.04839843e-02 -7.71402210e-05 9.99790178e-01 -3.18818394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters 0.022987007062600096 Centerline is valid? [True, True] Translation: X:160.88, Y:-24.40, Z:-3.19 [[ 9.84924949e-01 1.72014036e-01 1.82761331e-02 1.60875790e+02] [-1.71986115e-01 9.85094495e-01 -3.10044903e-03 -2.44040312e+01] [-1.85370389e-02 -8.95315260e-05 9.99828170e-01 -3.19321435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314012739 meters 0.023069708750450696 Centerline is valid? [True, True] Translation: X:160.90, Y:-24.41, Z:-3.19 [[ 9.84847520e-01 1.72447081e-01 1.83675323e-02 1.60904388e+02] [-1.72418972e-01 9.85018779e-01 -3.11507230e-03 -2.44070939e+01] [-1.86295493e-02 -9.90398049e-05 9.99826450e-01 -3.19389217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters 0.02353853020353916 Centerline is valid? [True, True] Translation: X:160.93, Y:-24.41, Z:-3.20 [[ 9.84762976e-01 1.72965199e-01 1.80255935e-02 1.60932643e+02] [-1.72938229e-01 9.84927931e-01 -3.05623639e-03 -2.44072882e+01] [-1.82825330e-02 -1.07645770e-04 9.99832855e-01 -3.19507181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374012739 meters 0.023742622429126475 Centerline is valid? [True, True] Translation: X:160.96, Y:-24.41, Z:-3.20 [[ 9.84629667e-01 1.73758158e-01 1.76782949e-02 1.60961367e+02] [-1.73732365e-01 9.84788347e-01 -2.99626173e-03 -2.44099981e+01] [-1.79300037e-02 -1.21083792e-04 9.99839237e-01 -3.19539289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters 0.025263111422519552 Centerline is valid? [True, True] Translation: X:160.99, Y:-24.41, Z:-3.20 [[ 9.84259879e-01 1.75912432e-01 1.69501586e-02 1.60990103e+02] [-1.75889051e-01 9.84405807e-01 -2.87212510e-03 -2.44061005e+01] [-1.71910771e-02 -1.54429824e-04 9.99852211e-01 -3.19806466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434012739 meters 0.02548606726878074 Centerline is valid? [True, True] Translation: X:161.02, Y:-24.41, Z:-3.20 [[ 9.83944983e-01 1.77746597e-01 1.60753553e-02 1.61019430e+02] [-1.77725828e-01 9.84076275e-01 -2.72297189e-03 -2.44064103e+01] [-1.63033748e-02 -1.77751302e-04 9.99867075e-01 -3.20129057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters 0.025879920063921324 Centerline is valid? [True, True] Translation: X:161.05, Y:-24.41, Z:-3.20 [[ 9.84038063e-01 1.77190557e-01 1.65104884e-02 1.61047922e+02] [-1.77168583e-01 9.84176547e-01 -2.79587314e-03 -2.44071895e+01] [-1.67446378e-02 -1.73894246e-04 9.99859784e-01 -3.20163781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49401273899997 meters 0.02317742616382929 Centerline is valid? [True, True] Translation: X:161.08, Y:-24.41, Z:-3.20 [[ 9.84665130e-01 1.73371437e-01 1.94146173e-02 1.61076165e+02] [-1.73340338e-01 9.84856501e-01 -3.28622270e-03 -2.44147495e+01] [-1.96903492e-02 -1.29507420e-04 9.99806118e-01 -3.19640361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters 0.022641365712254193 Centerline is valid? [True, True] Translation: X:161.10, Y:-24.42, Z:-3.20 [[ 9.85032825e-01 1.71192603e-01 2.00854635e-02 1.61103627e+02] [-1.71158885e-01 9.85237578e-01 -3.39873112e-03 -2.44205103e+01] [-2.03707911e-02 -8.99438274e-05 9.99792490e-01 -3.19520658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55401273899997 meters 0.02232871479471558 Centerline is valid? [True, True] Translation: X:161.13, Y:-24.43, Z:-3.20 [[ 9.85340550e-01 1.69480513e-01 1.95027163e-02 1.61131560e+02] [-1.69448413e-01 9.85533537e-01 -3.29887442e-03 -2.44265257e+01] [-1.97796759e-02 -5.41895937e-05 9.99804362e-01 -3.19596953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters 0.022254278416228256 Centerline is valid? [True, True] Translation: X:161.16, Y:-24.43, Z:-3.20 [[ 9.85774823e-01 1.67194736e-01 1.71440674e-02 1.61158946e+02] [-1.67169597e-01 9.85923892e-01 -2.89923239e-03 -2.44294754e+01] [-1.73874821e-02 -7.97654658e-06 9.99848826e-01 -3.20126481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61401273899997 meters 0.022418533778642755 Centerline is valid? [True, True] Translation: X:161.19, Y:-24.44, Z:-3.20 [[ 9.86349299e-01 1.63749071e-01 1.73580728e-02 1.61186907e+02] [-1.63722787e-01 9.86502022e-01 -2.93433388e-03 -2.44352480e+01] [-1.76042684e-02 5.23661141e-05 9.99845031e-01 -3.20261297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters 0.023017734986062955 Centerline is valid? [True, True] Translation: X:161.21, Y:-24.44, Z:-3.20 [[ 9.86736615e-01 1.61332393e-01 1.79641738e-02 1.61213486e+02] [-1.61303855e-01 9.86900121e-01 -3.03592406e-03 -2.44425890e+01] [-1.82186382e-02 9.79669518e-05 9.99834022e-01 -3.20247493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67401273899998 meters 0.025237621548650273 Centerline is valid? [True, True] Translation: X:161.24, Y:-24.45, Z:-3.20 [[ 9.87472547e-01 1.56842326e-01 1.72758162e-02 1.61240803e+02] [-1.56815266e-01 9.87623640e-01 -2.91841515e-03 -2.44532116e+01] [-1.75197355e-02 1.72743113e-04 9.99846503e-01 -3.20340004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters 0.025655423025250583 Centerline is valid? [True, True] Translation: X:161.27, Y:-24.46, Z:-3.21 [[ 9.87723472e-01 1.55400307e-01 1.59087393e-02 1.61269093e+02] [-1.55377182e-01 9.87851563e-01 -2.68701621e-03 -2.44583417e+01] [-1.61330361e-02 1.82173906e-04 9.99869838e-01 -3.20514228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73401273899998 meters 0.02599684722966548 Centerline is valid? [True, True] Translation: X:161.30, Y:-24.46, Z:-3.21 [[ 9.87843306e-01 1.54699150e-01 1.52897622e-02 1.61296988e+02] [-1.54677715e-01 9.87961608e-01 -2.58178503e-03 -2.44636971e+01] [-1.55050980e-02 1.85413571e-04 9.99879772e-01 -3.20603266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters 0.02540992310714728 Centerline is valid? [True, True] Translation: X:161.33, Y:-24.47, Z:-3.21 [[ 9.87716213e-01 1.55427020e-01 1.60973060e-02 1.61325846e+02] [-1.55403372e-01 9.87847361e-01 -2.71733121e-03 -2.44677387e+01] [-1.63240280e-02 1.82376459e-04 9.99866738e-01 -3.20531242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79401273899998 meters 0.023831403143642647 Centerline is valid? [True, True] Translation: X:161.35, Y:-24.47, Z:-3.20 [[ 9.87253686e-01 1.58099012e-01 1.82992508e-02 1.61353917e+02] [-1.58068928e-01 9.87423252e-01 -3.08804500e-03 -2.44676344e+01] [-1.85573226e-02 1.56140862e-04 9.99827786e-01 -3.20120109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters 0.022304686885332877 Centerline is valid? [True, True] Translation: X:161.38, Y:-24.46, Z:-3.20 [[ 9.86524367e-01 1.62454295e-01 1.94493255e-02 1.61383384e+02] [-1.62421180e-01 9.86716067e-01 -3.28087600e-03 -2.44634898e+01] [-1.97239543e-02 7.76817253e-05 9.99805461e-01 -3.19986878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85401273899998 meters 0.021876065770070955 Centerline is valid? [True, True] Translation: X:161.41, Y:-24.46, Z:-3.20 [[ 9.86117569e-01 1.64894406e-01 1.95441531e-02 1.61413243e+02] [-1.64861466e-01 9.86311226e-01 -3.29593586e-03 -2.44627621e+01] [-1.98200990e-02 2.81025427e-05 9.99803562e-01 -3.20079142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters 0.02262437622718036 Centerline is valid? [True, True] Translation: X:161.44, Y:-24.45, Z:-3.20 [[ 9.85099630e-01 1.70920702e-01 1.91005972e-02 1.61443102e+02] [-1.70890384e-01 9.85284784e-01 -3.22047027e-03 -2.44542454e+01] [-1.93699728e-02 -9.16243255e-05 9.99812380e-01 -3.20206735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914012739 meters 0.0234519703118738 Centerline is valid? [True, True] Translation: X:161.47, Y:-24.45, Z:-3.20 [[ 9.84666368e-01 1.73423794e-01 1.88767475e-02 1.61472365e+02] [-1.73394660e-01 9.84847282e-01 -3.18182968e-03 -2.44526730e+01] [-1.91425185e-02 -1.40086543e-04 9.99816755e-01 -3.20383866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters 0.02376797730857194 Centerline is valid? [True, True] Translation: X:161.50, Y:-24.45, Z:-3.21 [[ 9.84568280e-01 1.74085457e-01 1.78761403e-02 1.61501615e+02] [-1.74059453e-01 9.84730538e-01 -3.01235183e-03 -2.44519204e+01] [-1.81275879e-02 -1.45645137e-04 9.99835671e-01 -3.20580489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974012739 meters 0.023243547961968626 Centerline is valid? [True, True] Translation: X:161.53, Y:-24.46, Z:-3.21 [[ 9.84869176e-01 1.72364253e-01 1.79796996e-02 1.61528698e+02] [-1.72337676e-01 9.85033274e-01 -3.02894829e-03 -2.44578808e+01] [-1.82326847e-02 -1.15461824e-04 9.99833764e-01 -3.20601870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters 0.021773226124537505 Centerline is valid? [True, True] Translation: X:161.56, Y:-24.47, Z:-3.20 [[ 9.85753091e-01 1.66965812e-01 2.03288307e-02 1.61556262e+02] [-1.66930715e-01 9.85962686e-01 -3.42331428e-03 -2.44693676e+01] [-2.06150450e-02 -1.89636159e-05 9.99787487e-01 -3.20233869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034012739 meters 0.021718316162451932 Centerline is valid? [True, True] Translation: X:161.58, Y:-24.48, Z:-3.20 [[ 9.86132534e-01 1.64439592e-01 2.24108682e-02 1.61584720e+02] [-1.64396311e-01 9.86387155e-01 -3.77275015e-03 -2.44768840e+01] [-2.27261820e-02 3.61676177e-05 9.99741726e-01 -3.19927527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters 0.022528193514314652 Centerline is valid? [True, True] Translation: X:161.61, Y:-24.49, Z:-3.19 [[ 9.86690254e-01 1.60593346e-01 2.55366515e-02 1.61611196e+02] [-1.60535895e-01 9.87020647e-01 -4.29753295e-03 -2.44860031e+01] [-2.58953575e-02 1.40784670e-04 9.99664649e-01 -3.19358576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094012739 meters 0.023427238085002033 Centerline is valid? [True, True] Translation: X:161.64, Y:-24.49, Z:-3.19 [[ 9.87088420e-01 1.58183855e-01 2.51857049e-02 1.61639457e+02] [-1.58127222e-01 9.87409656e-01 -4.23717223e-03 -2.44942323e+01] [-2.55388604e-02 1.99918090e-04 9.99673810e-01 -3.19433256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters 0.024037828401730695 Centerline is valid? [True, True] Translation: X:161.67, Y:-24.50, Z:-3.20 [[ 9.87298863e-01 1.57030755e-01 2.41308304e-02 1.61667411e+02] [-1.56978437e-01 9.87593689e-01 -4.05910366e-03 -2.45015026e+01] [-2.44688600e-02 2.19528380e-04 9.99700569e-01 -3.19719637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154012739 meters 0.024315059571059568 Centerline is valid? [True, True] Translation: X:161.70, Y:-24.51, Z:-3.20 [[ 9.87641666e-01 1.55365458e-01 2.06279973e-02 1.61695814e+02] [-1.55326879e-01 9.87857037e-01 -3.46926376e-03 -2.45099689e+01] [-2.09165160e-02 2.22307008e-04 9.99781201e-01 -3.20401168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters 0.024707928999363915 Centerline is valid? [True, True] Translation: X:161.72, Y:-24.52, Z:-3.21 [[ 9.87684831e-01 1.55248056e-01 1.94091660e-02 1.61722935e+02] [-1.55213887e-01 9.87875497e-01 -3.26383835e-03 -2.45187964e+01] [-1.96805441e-02 2.11071528e-04 9.99806297e-01 -3.20738707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214012739 meters 0.024543624721792907 Centerline is valid? [True, True] Translation: X:161.75, Y:-24.53, Z:-3.21 [[ 9.87631911e-01 1.55649596e-01 1.88788864e-02 1.61750742e+02] [-1.55617355e-01 9.87812312e-01 -3.17400904e-03 -2.45279887e+01] [-1.91428296e-02 1.96870238e-04 9.99816740e-01 -3.20962314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters 0.0243187901100536 Centerline is valid? [True, True] Translation: X:161.78, Y:-24.53, Z:-3.21 [[ 9.87598486e-01 1.55871402e-01 1.87972274e-02 1.61778913e+02] [-1.55839496e-01 9.87777338e-01 -3.15939022e-03 -2.45324727e+01] [-1.90599339e-02 1.90858544e-04 9.99818325e-01 -3.21005924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27401273899997 meters 0.024137923118626538 Centerline is valid? [True, True] Translation: X:161.81, Y:-24.54, Z:-3.21 [[ 9.87503104e-01 1.56506850e-01 1.85263236e-02 1.61806733e+02] [-1.56475985e-01 9.87676858e-01 -3.11299995e-03 -2.45371498e+01] [-1.87852269e-02 1.75172375e-04 9.99823527e-01 -3.21050286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters 0.022998451946637605 Centerline is valid? [True, True] Translation: X:161.84, Y:-24.54, Z:-3.21 [[ 9.87079184e-01 1.59148373e-01 1.86139794e-02 1.61835749e+02] [-1.59117708e-01 9.87254668e-01 -3.12651369e-03 -2.45407795e+01] [-1.88743176e-02 1.24302845e-04 9.99821856e-01 -3.21137722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33401273899997 meters 0.022390954228913587 Centerline is valid? [True, True] Translation: X:161.86, Y:-24.54, Z:-3.21 [[ 9.86731739e-01 1.61319339e-01 1.83452000e-02 1.61863275e+02] [-1.61289944e-01 9.86902257e-01 -3.08052428e-03 -2.45427054e+01] [-1.86018674e-02 8.07548055e-05 9.99826967e-01 -3.21289207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters 0.022390954228913587 Centerline is valid? [True, True] Translation: X:161.89, Y:-24.55, Z:-3.21 [[ 9.86739035e-01 1.61274682e-01 1.83453814e-02 1.61891221e+02] [-1.61245300e-01 9.86909555e-01 -3.07944339e-03 -2.45473070e+01] [-1.86018685e-02 8.05004735e-05 9.99826967e-01 -3.21346737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39401273899998 meters 0.021980053391003205 Centerline is valid? [True, True] Translation: X:161.92, Y:-24.55, Z:-3.21 [[ 9.86542174e-01 1.62437885e-01 1.86674188e-02 1.61920190e+02] [-1.62407686e-01 9.86718770e-01 -3.13260104e-03 -2.45502148e+01] [-1.89283456e-02 5.87107399e-05 9.99820841e-01 -3.21335699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters 0.02179398127082781 Centerline is valid? [True, True] Translation: X:161.95, Y:-24.55, Z:-3.21 [[ 9.86084232e-01 1.65210533e-01 1.85301502e-02 1.61947404e+02] [-1.65181278e-01 9.86258323e-01 -3.10894397e-03 -2.45535298e+01] [-1.87891451e-02 4.84674106e-06 9.99823468e-01 -3.21399576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45401273899998 meters 0.021840805818094947 Centerline is valid? [True, True] Translation: X:161.98, Y:-24.56, Z:-3.22 [[ 9.85974824e-01 1.65901839e-01 1.81721409e-02 1.61975649e+02] [-1.65873841e-01 9.86142272e-01 -3.04779439e-03 -2.45585313e+01] [-1.84259510e-02 -9.23426087e-06 9.99830228e-01 -3.21573852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters 0.021984839604862104 Centerline is valid? [True, True] Translation: X:162.00, Y:-24.56, Z:-3.22 [[ 9.85893719e-01 1.66455478e-01 1.74971114e-02 1.62003682e+02] [-1.66429623e-01 9.86048971e-01 -2.93378667e-03 -2.45626023e+01] [-1.77413535e-02 -1.96358037e-05 9.99842610e-01 -3.21843945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51401273899998 meters 0.021786231910535567 Centerline is valid? [True, True] Translation: X:162.03, Y:-24.57, Z:-3.22 [[ 9.86057564e-01 1.65316897e-01 1.89948717e-02 1.62031765e+02] [-1.65286233e-01 9.86240500e-01 -3.18394521e-03 -2.45711854e+01] [-1.92598717e-02 -3.75252665e-08 9.99814511e-01 -3.21694452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters 0.02172824997452602 Centerline is valid? [True, True] Translation: X:162.06, Y:-24.58, Z:-3.22 [[ 9.86054492e-01 1.65243500e-01 1.97768765e-02 1.62060185e+02] [-1.65210264e-01 9.86252800e-01 -3.31405724e-03 -2.45779479e+01] [-2.00526263e-02 4.98036674e-07 9.99798926e-01 -3.21592299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57401273899998 meters 0.02174017278078058 Centerline is valid? [True, True] Translation: X:162.09, Y:-24.58, Z:-3.21 [[ 9.85889902e-01 1.66144062e-01 2.04267193e-02 1.62088476e+02] [-1.66108820e-01 9.86101491e-01 -3.42193660e-03 -2.45804639e+01] [-2.07113528e-02 -1.94055006e-05 9.99785497e-01 -3.21438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters 0.02184617365359301 Centerline is valid? [True, True] Translation: X:162.12, Y:-24.58, Z:-3.22 [[ 9.85723903e-01 1.67100324e-01 2.06365853e-02 1.62116931e+02] [-1.67064590e-01 9.85939897e-01 -3.45585399e-03 -2.45834014e+01] [-2.09239071e-02 -4.11247663e-05 9.99781070e-01 -3.21558819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63401273899999 meters 0.022072053933316255 Centerline is valid? [True, True] Translation: X:162.14, Y:-24.59, Z:-3.22 [[ 9.85555722e-01 1.68098562e-01 2.05619395e-02 1.62144293e+02] [-1.68063323e-01 9.85770191e-01 -3.44234911e-03 -2.45872367e+01] [-2.08480010e-02 -6.30810371e-05 9.99782655e-01 -3.21693978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters 0.022189704701274526 Centerline is valid? [True, True] Translation: X:162.17, Y:-24.59, Z:-3.22 [[ 9.85443327e-01 1.68820687e-01 2.00255975e-02 1.62172934e+02] [-1.68787438e-01 9.85646777e-01 -3.35128015e-03 -2.45929518e+01] [-2.03039311e-02 -7.75726461e-05 9.99793851e-01 -3.21808964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694012739 meters 0.022163674007741403 Centerline is valid? [True, True] Translation: X:162.20, Y:-24.60, Z:-3.22 [[ 9.85499108e-01 1.68538223e-01 1.96564253e-02 1.62201619e+02] [-1.68506151e-01 9.85695116e-01 -3.28857477e-03 -2.45965849e+01] [-1.99294929e-02 -7.13410620e-05 9.99801385e-01 -3.21852803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters 0.022037922029197948 Centerline is valid? [True, True] Translation: X:162.23, Y:-24.60, Z:-3.22 [[ 9.85617824e-01 1.67864946e-01 1.94644648e-02 1.62229330e+02] [-1.67833385e-01 9.85810000e-01 -3.25553974e-03 -2.45993981e+01] [-1.97347550e-02 -5.80690011e-05 9.99805249e-01 -3.21987951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754012739 meters 0.021920318643545832 Centerline is valid? [True, True] Translation: X:162.26, Y:-24.61, Z:-3.22 [[ 9.85637869e-01 1.67659641e-01 2.02048345e-02 1.62257738e+02] [-1.67625615e-01 9.85844938e-01 -3.37812237e-03 -2.46072368e+01] [-2.04852086e-02 -5.72424834e-05 9.99790154e-01 -3.21887970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters 0.02179921602590557 Centerline is valid? [True, True] Translation: X:162.29, Y:-24.61, Z:-3.22 [[ 9.85723901e-01 1.67061519e-01 2.09485232e-02 1.62286198e+02] [-1.67024828e-01 9.85946473e-01 -3.50145318e-03 -2.46141017e+01] [-2.12390807e-02 -4.74573999e-05 9.99774424e-01 -3.21831490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814012739 meters 0.021633277702518817 Centerline is valid? [True, True] Translation: X:162.31, Y:-24.62, Z:-3.22 [[ 9.85878909e-01 1.66023534e-01 2.18852108e-02 1.62314579e+02] [-1.65983257e-01 9.86121790e-01 -3.65694076e-03 -2.46200027e+01] [-2.21886215e-02 -2.72777941e-05 9.99753802e-01 -3.21687246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters 0.021659699368031787 Centerline is valid? [True, True] Translation: X:162.34, Y:-24.63, Z:-3.21 [[ 9.86235088e-01 1.63600623e-01 2.39830699e-02 1.62342484e+02] [-1.63551566e-01 9.86526652e-01 -4.00626941e-03 -2.46284445e+01] [-2.43153659e-02 2.86548302e-05 9.99704337e-01 -3.21490563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874012739 meters 0.02184751436485594 Centerline is valid? [True, True] Translation: X:162.37, Y:-24.64, Z:-3.22 [[ 9.86410389e-01 1.62540509e-01 2.39818286e-02 1.62370443e+02] [-1.62491168e-01 9.86701870e-01 -4.00501993e-03 -2.46371714e+01] [-2.43138931e-02 5.37579234e-05 9.99704372e-01 -3.21523755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters 0.022127216452392844 Centerline is valid? [True, True] Translation: X:162.40, Y:-24.65, Z:-3.22 [[ 9.86737102e-01 1.60873608e-01 2.16696574e-02 1.62399840e+02] [-1.60832932e-01 9.86975012e-01 -3.61844785e-03 -2.46477288e+01] [-2.19695232e-02 8.52622082e-05 9.99758637e-01 -3.22086265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934012739 meters 0.022387948201258476 Centerline is valid? [True, True] Translation: X:162.43, Y:-24.65, Z:-3.23 [[ 9.86745861e-01 1.61216436e-01 1.84896395e-02 1.62427686e+02] [-1.61186882e-01 9.86919073e-01 -3.08749548e-03 -2.46528614e+01] [-1.87455329e-02 6.62860489e-05 9.99824285e-01 -3.22774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters 0.023666478718589103 Centerline is valid? [True, True] Translation: X:162.46, Y:-24.66, Z:-3.22 [[ 9.86766146e-01 1.61106009e-01 1.83692074e-02 1.62455796e+02] [-1.61076831e-01 9.86937105e-01 -3.06676310e-03 -2.46596733e+01] [-1.86233263e-02 6.73242775e-05 9.99826569e-01 -3.22490762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99401273899997 meters 0.022617250057928775 Centerline is valid? [True, True] Translation: X:162.48, Y:-24.67, Z:-3.23 [[ 9.86917644e-01 1.59992689e-01 1.98973449e-02 1.62482469e+02] [-1.59958248e-01 9.87118195e-01 -3.32087954e-03 -2.46718646e+01] [-2.01723477e-02 9.46901648e-05 9.99796513e-01 -3.22573216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters 0.022802846827948614 Centerline is valid? [True, True] Translation: X:162.51, Y:-24.68, Z:-3.23 [[ 9.87022319e-01 1.59287203e-01 2.03599799e-02 1.62511155e+02] [-1.59251007e-01 9.87232280e-01 -3.39737164e-03 -2.46796849e+01] [-2.06411872e-02 1.10934332e-04 9.99786942e-01 -3.22579487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05401273899997 meters 0.02300823360896905 Centerline is valid? [True, True] Translation: X:162.54, Y:-24.69, Z:-3.23 [[ 9.87131104e-01 1.58608597e-01 2.03837358e-02 1.62541282e+02] [-1.58572181e-01 9.87341530e-01 -3.40087732e-03 -2.46872677e+01] [-2.06651173e-02 1.24818340e-04 9.99786446e-01 -3.22583519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters 0.02378344574122875 Centerline is valid? [True, True] Translation: X:162.57, Y:-24.70, Z:-3.23 [[ 9.87366833e-01 1.57163594e-01 2.01579455e-02 1.62568473e+02] [-1.57127679e-01 9.87572570e-01 -3.36321024e-03 -2.47001796e+01] [-2.04360083e-02 1.53351046e-04 9.99791151e-01 -3.22785281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11401273899997 meters 0.024439456036305058 Centerline is valid? [True, True] Translation: X:162.60, Y:-24.71, Z:-3.23 [[ 9.87513353e-01 1.56298416e-01 1.97023410e-02 1.62596954e+02] [-1.56263921e-01 9.87709865e-01 -3.28787023e-03 -2.47115937e+01] [-1.99740854e-02 1.68050697e-04 9.99800484e-01 -3.22933737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters 0.02473082161930405 Centerline is valid? [True, True] Translation: X:162.63, Y:-24.72, Z:-3.23 [[ 9.87576449e-01 1.55967428e-01 1.91551202e-02 1.62626175e+02] [-1.55934765e-01 9.87762184e-01 -3.19632383e-03 -2.47179130e+01] [-1.94192258e-02 1.69664974e-04 9.99811415e-01 -3.23066071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17401273899998 meters 0.02373104722838572 Centerline is valid? [True, True] Translation: X:162.66, Y:-24.72, Z:-3.23 [[ 9.87440112e-01 1.56835035e-01 1.90996581e-02 1.62657082e+02] [-1.56802719e-01 9.87624802e-01 -3.18725610e-03 -2.47223898e+01] [-1.93631695e-02 1.52346195e-04 9.99812505e-01 -3.23160822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters 0.023782330055361327 Centerline is valid? [True, True] Translation: X:162.69, Y:-24.73, Z:-3.23 [[ 9.87302566e-01 1.57620687e-01 1.97322790e-02 1.62686202e+02] [-1.57586342e-01 9.87499721e-01 -3.29330059e-03 -2.47298600e+01] [-2.00047123e-02 1.41946456e-04 9.99799876e-01 -3.23194518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23401273899998 meters 0.024071073861325374 Centerline is valid? [True, True] Translation: X:162.72, Y:-24.74, Z:-3.23 [[ 9.87311245e-01 1.57500639e-01 2.02497897e-02 1.62715372e+02] [-1.57464418e-01 9.87518874e-01 -3.38094965e-03 -2.47407209e+01] [-2.05295513e-02 1.49428252e-04 9.99789235e-01 -3.23084501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters 0.023445730346501093 Centerline is valid? [True, True] Translation: X:162.75, Y:-24.75, Z:-3.23 [[ 9.87368073e-01 1.57175512e-01 2.00036857e-02 1.62747913e+02] [-1.57140095e-01 9.87570673e-01 -3.34007459e-03 -2.47453897e+01] [-2.02800313e-02 1.54501946e-04 9.99794327e-01 -3.23162344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29401273899998 meters 0.023498869277500414 Centerline is valid? [True, True] Translation: X:162.78, Y:-24.75, Z:-3.23 [[ 9.87119135e-01 1.58860385e-01 1.89523621e-02 1.62778392e+02] [-1.58828833e-01 9.87301050e-01 -3.16818642e-03 -2.47522230e+01] [-1.92149863e-02 1.17195879e-04 9.99815368e-01 -3.23434132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters 0.02292884441328857 Centerline is valid? [True, True] Translation: X:162.81, Y:-24.76, Z:-3.24 [[ 9.86841411e-01 1.60578239e-01 1.89383071e-02 1.62807627e+02] [-1.60546987e-01 9.87023111e-01 -3.16910250e-03 -2.47554588e+01] [-1.92014357e-02 8.69134321e-05 9.99815632e-01 -3.23526654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35401273899998 meters 0.022203667269885298 Centerline is valid? [True, True] Translation: X:162.84, Y:-24.76, Z:-3.24 [[ 9.86320785e-01 1.63720664e-01 1.91534067e-02 1.62836391e+02] [-1.63689295e-01 9.86506738e-01 -3.20489147e-03 -2.47550012e+01] [-1.94196717e-02 2.58434285e-05 9.99811420e-01 -3.23567944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters 0.02480475669849586 Centerline is valid? [True, True] Translation: X:162.87, Y:-24.76, Z:-3.23 [[ 9.86130725e-01 1.64923728e-01 1.86106708e-02 1.62867200e+02] [-1.64894334e-01 9.86306324e-01 -3.11364718e-03 -2.47567053e+01] [-1.88693366e-02 1.66897867e-06 9.99821958e-01 -3.22968702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414012739 meters 0.022236403327242013 Centerline is valid? [True, True] Translation: X:162.90, Y:-24.76, Z:-3.24 [[ 9.85988000e-01 1.65677040e-01 1.94623025e-02 1.62896602e+02] [-1.65645041e-01 9.86180064e-01 -3.25613591e-03 -2.47587429e+01] [-1.97328017e-02 -1.33229541e-05 9.99805289e-01 -3.23634230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters 0.022132525507122854 Centerline is valid? [True, True] Translation: X:162.93, Y:-24.77, Z:-3.24 [[ 9.86107833e-01 1.64914792e-01 1.98608669e-02 1.62925655e+02] [-1.64881318e-01 9.86307818e-01 -3.32256700e-03 -2.47654316e+01] [-2.01368687e-02 1.72342798e-06 9.99797233e-01 -3.23546242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474012739 meters 0.022056140000013973 Centerline is valid? [True, True] Translation: X:162.96, Y:-24.77, Z:-3.23 [[ 9.86243719e-01 1.63974223e-01 2.08753627e-02 1.62955478e+02] [-1.63937037e-01 9.86464624e-01 -3.49203953e-03 -2.47721680e+01] [-2.11654113e-02 2.17569545e-05 9.99775987e-01 -3.23430195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters 0.02212849258942939 Centerline is valid? [True, True] Translation: X:162.99, Y:-24.78, Z:-3.24 [[ 9.86265356e-01 1.63933076e-01 2.01642071e-02 1.62986722e+02] [-1.63898371e-01 9.86471462e-01 -3.37308043e-03 -2.47767118e+01] [-2.04443743e-02 2.18716778e-05 9.99790992e-01 -3.23670205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534012739 meters 0.022298742115391415 Centerline is valid? [True, True] Translation: X:163.02, Y:-24.78, Z:-3.24 [[ 9.86424133e-01 1.63183016e-01 1.84047129e-02 1.63017902e+02] [-1.63153967e-01 9.86595815e-01 -3.07915830e-03 -2.47819706e+01] [-1.86604791e-02 3.45541409e-05 9.99825878e-01 -3.24071543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters 0.022756318307277066 Centerline is valid? [True, True] Translation: X:163.05, Y:-24.79, Z:-3.24 [[ 9.86674323e-01 1.61657452e-01 1.84566593e-02 1.63049000e+02] [-1.61627963e-01 9.86846930e-01 -3.08830458e-03 -2.47889719e+01] [-1.87131451e-02 6.40385838e-05 9.99824892e-01 -3.23992694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594012739 meters 0.022893717398193573 Centerline is valid? [True, True] Translation: X:163.08, Y:-24.79, Z:-3.24 [[ 9.86794076e-01 1.60871757e-01 1.89137558e-02 1.63079058e+02] [-1.60840635e-01 9.86975314e-01 -3.16527854e-03 -2.47947461e+01] [-1.91766140e-02 8.13776371e-05 9.99816109e-01 -3.23912011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters 0.02307510729396092 Centerline is valid? [True, True] Translation: X:163.11, Y:-24.80, Z:-3.24 [[ 9.86878655e-01 1.60273129e-01 1.95715082e-02 1.63108874e+02] [-1.60239682e-01 9.87072700e-01 -3.27560287e-03 -2.48001251e+01] [-1.98434926e-02 9.64903024e-05 9.99803094e-01 -3.23939790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654012739 meters 0.02299348011025773 Centerline is valid? [True, True] Translation: X:163.14, Y:-24.81, Z:-3.24 [[ 9.86847915e-01 1.60267098e-01 2.11104393e-02 1.63139478e+02] [-1.60228176e-01 9.87073678e-01 -3.53345463e-03 -2.48070176e+01] [-2.14038555e-02 1.04495148e-04 9.99770906e-01 -3.23857567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters 0.023257246162598225 Centerline is valid? [True, True] Translation: X:163.17, Y:-24.82, Z:-3.24 [[ 9.86931777e-01 1.59868147e-01 2.01951308e-02 1.63169849e+02] [-1.59832434e-01 9.87138371e-01 -3.38074724e-03 -2.48176299e+01] [-2.04758623e-02 1.08729972e-04 9.99790342e-01 -3.24145975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71401273899997 meters 0.023807122320328247 Centerline is valid? [True, True] Translation: X:163.20, Y:-24.83, Z:-3.24 [[ 9.87110132e-01 1.58821065e-01 1.97346546e-02 1.63201800e+02] [-1.58786683e-01 9.87307375e-01 -3.30716455e-03 -2.48265222e+01] [-2.00094174e-02 1.30935301e-04 9.99799783e-01 -3.24326868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters 0.02484277864864021 Centerline is valid? [True, True] Translation: X:163.23, Y:-24.84, Z:-3.24 [[ 9.87404735e-01 1.56890629e-01 2.04259809e-02 1.63231599e+02] [-1.56853298e-01 9.87615967e-01 -3.42710042e-03 -2.48379999e+01] [-2.07107048e-02 1.80052716e-04 9.99785494e-01 -3.24151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77401273899997 meters 0.024871506547300047 Centerline is valid? [True, True] Translation: X:163.26, Y:-24.84, Z:-3.24 [[ 9.87397772e-01 1.56921497e-01 2.05251999e-02 1.63263795e+02] [-1.56883741e-01 9.87611062e-01 -3.44698534e-03 -2.48448474e+01] [-2.08118206e-02 1.83475499e-04 9.99783394e-01 -3.24131647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters 0.024685669170428186 Centerline is valid? [True, True] Translation: X:163.30, Y:-24.85, Z:-3.24 [[ 9.87290634e-01 1.57655789e-01 2.00463280e-02 1.63295880e+02] [-1.57619850e-01 9.87494113e-01 -3.37028279e-03 -2.48509331e+01] [-2.03269755e-02 1.67749403e-04 9.99793372e-01 -3.24252066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83401273899997 meters 0.02383573263832485 Centerline is valid? [True, True] Translation: X:163.33, Y:-24.86, Z:-3.25 [[ 9.86894408e-01 1.60236008e-01 1.90748164e-02 1.63326383e+02] [-1.60203882e-01 9.87078725e-01 -3.21047080e-03 -2.48554148e+01] [-1.93427785e-02 1.12536028e-04 9.99812905e-01 -3.24594848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters 0.023755143236292076 Centerline is valid? [True, True] Translation: X:163.36, Y:-24.86, Z:-3.25 [[ 9.86817775e-01 1.60806290e-01 1.82213301e-02 1.63357759e+02] [-1.60777044e-01 9.86985981e-01 -3.06833375e-03 -2.48628393e+01] [-1.84776048e-02 9.83146985e-05 9.99829270e-01 -3.24782895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89401273899998 meters 0.023460150288730986 Centerline is valid? [True, True] Translation: X:163.39, Y:-24.87, Z:-3.25 [[ 9.86767516e-01 1.61067866e-01 1.86282688e-02 1.63388820e+02] [-1.61037286e-01 9.86943328e-01 -3.14000651e-03 -2.48693538e+01] [-1.88907997e-02 9.86105789e-05 9.99821548e-01 -3.24857304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters 0.023688231363066505 Centerline is valid? [True, True] Translation: X:163.42, Y:-24.88, Z:-3.25 [[ 9.86740051e-01 1.61338613e-01 1.77178754e-02 1.63420881e+02] [-1.61310944e-01 9.86899105e-01 -2.98931467e-03 -2.48788932e+01] [-1.79680473e-02 9.15893032e-05 9.99838557e-01 -3.25039572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95401273899998 meters 0.02362821996191488 Centerline is valid? [True, True] Translation: X:163.45, Y:-24.88, Z:-3.25 [[ 9.86610419e-01 1.62145792e-01 1.75676879e-02 1.63452274e+02] [-1.62118657e-01 9.86766809e-01 -2.96735073e-03 -2.48848425e+01] [-1.78163548e-02 7.95691671e-05 9.99841273e-01 -3.25142784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters 0.02317406668965058 Centerline is valid? [True, True] Translation: X:163.48, Y:-24.89, Z:-3.25 [[ 9.86424253e-01 1.63276456e-01 1.75497257e-02 1.63483172e+02] [-1.63249493e-01 9.86580354e-01 -2.96784510e-03 -2.48885558e+01] [-1.77987938e-02 6.25705605e-05 9.99841587e-01 -3.25141909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01401273899998 meters 0.02282779272225396 Centerline is valid? [True, True] Translation: X:163.51, Y:-24.89, Z:-3.25 [[ 9.86004859e-01 1.65629697e-01 1.90058420e-02 1.63513661e+02] [-1.65598500e-01 9.86188016e-01 -3.21459309e-03 -2.48925217e+01] [-1.92757657e-02 2.22654794e-05 9.99814205e-01 -3.25073813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters 0.02275644596253724 Centerline is valid? [True, True] Translation: X:163.55, Y:-24.90, Z:-3.25 [[ 9.85802967e-01 1.66760838e-01 1.95789088e-02 1.63545993e+02] [-1.66727951e-01 9.85997375e-01 -3.31168991e-03 -2.48973661e+01] [-1.98570128e-02 3.22386557e-07 9.99802830e-01 -3.24978843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07401273899998 meters 0.02331247124504238 Centerline is valid? [True, True] Translation: X:163.58, Y:-24.90, Z:-3.25 [[ 9.85133002e-01 1.70711528e-01 1.92494981e-02 1.63578432e+02] [-1.70680429e-01 9.85321049e-01 -3.25919465e-03 -2.48955245e+01] [-1.95233178e-02 -7.47723906e-05 9.99809399e-01 -3.25088593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters 0.026243749293536667 Centerline is valid? [True, True] Translation: X:163.61, Y:-24.89, Z:-3.25 [[ 9.84102733e-01 1.76654756e-01 1.83005038e-02 1.63609296e+02] [-1.76627658e-01 9.84272861e-01 -3.09939712e-03 -2.48885836e+01] [-1.85602125e-02 -1.82249952e-04 9.99827728e-01 -3.25383902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13401273899999 meters 0.027451373483351617 Centerline is valid? [True, True] Translation: X:163.64, Y:-24.89, Z:-3.25 [[ 9.83632760e-01 1.79259105e-01 1.82418987e-02 1.63639024e+02] [-1.79232627e-01 9.83801870e-01 -3.08958538e-03 -2.48889906e+01] [-1.85002503e-02 -2.30526014e-04 9.99828829e-01 -3.25444868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters 0.030501854321253612 Centerline is valid? [True, True] Translation: X:163.67, Y:-24.88, Z:-3.25 [[ 9.83263025e-01 1.81249200e-01 1.85081438e-02 1.63668016e+02] [-1.81222303e-01 9.83437163e-01 -3.13428486e-03 -2.48849506e+01] [-1.87696831e-02 -2.72262029e-04 9.99823797e-01 -3.25425037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194012739 meters 0.030625547373342256 Centerline is valid? [True, True] Translation: X:163.70, Y:-24.88, Z:-3.25 [[ 9.82822510e-01 1.83651385e-01 1.82231269e-02 1.63697079e+02] [-1.83625742e-01 9.82991389e-01 -3.08493416e-03 -2.48840339e+01] [-1.84797293e-02 -3.14292469e-04 9.99829186e-01 -3.25495052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters 0.030691143398734334 Centerline is valid? [True, True] Translation: X:163.73, Y:-24.89, Z:-3.26 [[ 9.82741960e-01 1.84132669e-01 1.77031272e-02 1.63725871e+02] [-1.84108562e-01 9.82901349e-01 -2.99609474e-03 -2.48869682e+01] [-1.79521065e-02 -3.14909275e-04 9.99838798e-01 -3.25637876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254012739 meters 0.030370822966089565 Centerline is valid? [True, True] Translation: X:163.75, Y:-24.89, Z:-3.26 [[ 9.82857485e-01 1.83430741e-01 1.85560794e-02 1.63754953e+02] [-1.83404147e-01 9.83032585e-01 -3.13950748e-03 -2.48891368e+01] [-1.88171128e-02 -3.17573488e-04 9.99822892e-01 -3.25582738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters 0.030370822966089565 Centerline is valid? [True, True] Translation: X:163.78, Y:-24.89, Z:-3.26 [[ 9.82866050e-01 1.83384824e-01 1.85562263e-02 1.63782899e+02] [-1.83358239e-01 9.83041151e-01 -3.13863900e-03 -2.48937737e+01] [-1.88171128e-02 -3.17575245e-04 9.99822892e-01 -3.25640275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314012739 meters 0.030145054787539104 Centerline is valid? [True, True] Translation: X:163.81, Y:-24.89, Z:-3.25 [[ 9.82920803e-01 1.82741413e-01 2.17317847e-02 1.63810845e+02] [-1.82704818e-01 9.83160947e-01 -3.67452494e-03 -2.48938046e+01] [-2.20373299e-02 -3.58734752e-04 9.99757084e-01 -3.24952093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters 0.03026594675685292 Centerline is valid? [True, True] Translation: X:163.84, Y:-24.90, Z:-3.25 [[ 9.82874622e-01 1.82889994e-01 2.25549986e-02 1.63839613e+02] [-1.82850645e-01 9.83133311e-01 -3.81228458e-03 -2.48965153e+01] [-2.28717992e-02 -3.77198298e-04 9.99738335e-01 -3.24812784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374012739 meters 0.03012655110351916 Centerline is valid? [True, True] Translation: X:163.87, Y:-24.90, Z:-3.25 [[ 9.82950547e-01 1.82553624e-01 2.19635299e-02 1.63868543e+02] [-1.82516251e-01 9.83195832e-01 -3.71129813e-03 -2.49005198e+01] [-2.22719620e-02 -3.60678618e-04 9.99751884e-01 -3.24998958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters 0.028981317587550633 Centerline is valid? [True, True] Translation: X:163.90, Y:-24.91, Z:-3.26 [[ 9.83444636e-01 1.80302827e-01 1.80980390e-02 1.63896155e+02] [-1.80277084e-01 9.83611115e-01 -3.05743474e-03 -2.49056848e+01] [-1.83526965e-02 -2.55843903e-04 9.99831542e-01 -3.25949776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434012739 meters 0.027834287158419724 Centerline is valid? [True, True] Translation: X:163.92, Y:-24.91, Z:-3.26 [[ 9.83678606e-01 1.79126357e-01 1.70337423e-02 1.63924330e+02] [-1.79103389e-01 9.83826052e-01 -2.87689402e-03 -2.49122450e+01] [-1.72735669e-02 -2.20861860e-04 9.99850776e-01 -3.26216619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters 0.02732386328807524 Centerline is valid? [True, True] Translation: X:163.95, Y:-24.92, Z:-3.26 [[ 9.84078093e-01 1.76808758e-01 1.81375027e-02 1.63951286e+02] [-1.76782340e-01 9.84245206e-01 -3.06238605e-03 -2.49175465e+01] [-1.83932068e-02 -1.92763154e-04 9.99830812e-01 -3.25969742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49401273899997 meters 0.02664967152506955 Centerline is valid? [True, True] Translation: X:163.98, Y:-24.92, Z:-3.26 [[ 9.84238352e-01 1.75885108e-01 1.84199721e-02 1.63980577e+02] [-1.75857721e-01 9.84410685e-01 -3.10890057e-03 -2.49204952e+01] [-1.86796267e-02 -1.79395145e-04 9.99825504e-01 -3.25868872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters 0.026990612781490262 Centerline is valid? [True, True] Translation: X:164.01, Y:-24.92, Z:-3.26 [[ 9.84185144e-01 1.76266857e-01 1.75953808e-02 1.64009487e+02] [-1.76241938e-01 9.84342401e-01 -2.96917513e-03 -2.49227135e+01] [-1.78432465e-02 -1.78825954e-04 9.99840781e-01 -3.26194671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55401273899997 meters 0.027405689423484425 Centerline is valid? [True, True] Translation: X:164.04, Y:-24.92, Z:-3.27 [[ 9.84109760e-01 1.76785146e-01 1.65829225e-02 1.64038132e+02] [-1.76763098e-01 9.84249450e-01 -2.79761161e-03 -2.49244499e+01] [-1.68163085e-02 -1.78091864e-04 9.99858580e-01 -3.26557030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters 0.026590836886821755 Centerline is valid? [True, True] Translation: X:164.07, Y:-24.93, Z:-3.26 [[ 9.84223259e-01 1.76042204e-01 1.77121024e-02 1.64066532e+02] [-1.76016947e-01 9.84382604e-01 -2.98723887e-03 -2.49308812e+01] [-1.79613656e-02 -1.77520215e-04 9.99838666e-01 -3.26414069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61401273899997 meters 0.026151982031461338 Centerline is valid? [True, True] Translation: X:164.09, Y:-24.94, Z:-3.26 [[ 9.84480666e-01 1.74466500e-01 1.89541075e-02 1.64093813e+02] [-1.74437303e-01 9.84663097e-01 -3.19574700e-03 -2.49354390e+01] [-1.92209610e-02 -1.60152252e-04 9.99815247e-01 -3.26230860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters 0.024062330166660113 Centerline is valid? [True, True] Translation: X:164.12, Y:-24.95, Z:-3.26 [[ 9.85395619e-01 1.69200676e-01 1.91469275e-02 1.64121852e+02] [-1.69169909e-01 9.85581619e-01 -3.22707172e-03 -2.49497239e+01] [-1.94168825e-02 -5.91416425e-05 9.99811473e-01 -3.26317063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67401273899998 meters 0.024164184110953783 Centerline is valid? [True, True] Translation: X:164.15, Y:-24.96, Z:-3.27 [[ 9.86333421e-01 1.63933549e-01 1.64977014e-02 1.64148901e+02] [-1.63909978e-01 9.86471383e-01 -2.78010158e-03 -2.49640859e+01] [-1.67302622e-02 3.79692361e-05 9.99860039e-01 -3.26884359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters 0.024546630797058978 Centerline is valid? [True, True] Translation: X:164.18, Y:-24.97, Z:-3.27 [[ 9.86680267e-01 1.61871827e-01 1.61109325e-02 1.64177794e+02] [-1.61849069e-01 9.86811789e-01 -2.71523684e-03 -2.49725744e+01] [-1.63379785e-02 7.15311887e-05 9.99866524e-01 -3.27033631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73401273899998 meters 0.025219863806008835 Centerline is valid? [True, True] Translation: X:164.21, Y:-24.98, Z:-3.27 [[ 9.86997622e-01 1.59887141e-01 1.64862510e-02 1.64207191e+02] [-1.59863041e-01 9.87135295e-01 -2.77800405e-03 -2.49807358e+01] [-1.67183274e-02 1.06341166e-04 9.99860233e-01 -3.26983943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters 0.02539556958077683 Centerline is valid? [True, True] Translation: X:164.24, Y:-24.99, Z:-3.27 [[ 9.87020627e-01 1.59816231e-01 1.57814379e-02 1.64235607e+02] [-1.59794141e-01 9.87146778e-01 -2.65908649e-03 -2.49865835e+01] [-1.60035608e-02 1.02791894e-04 9.99871930e-01 -3.27092547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79401273899998 meters 0.02560235915157997 Centerline is valid? [True, True] Translation: X:164.26, Y:-24.99, Z:-3.27 [[ 9.87033021e-01 1.59775073e-01 1.54188692e-02 1.64264323e+02] [-1.59753969e-01 9.87153441e-01 -2.59875871e-03 -2.49927821e+01] [-1.56360067e-02 1.01835108e-04 9.99877745e-01 -3.27267176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters 0.0257550779620809 Centerline is valid? [True, True] Translation: X:164.29, Y:-25.00, Z:-3.27 [[ 9.87103237e-01 1.59352794e-01 1.52933560e-02 1.64292598e+02] [-1.59331985e-01 9.87221695e-01 -2.57742183e-03 -2.49996098e+01] [-1.55086522e-02 1.07460651e-04 9.99879728e-01 -3.27370511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85401273899998 meters 0.025966020268708933 Centerline is valid? [True, True] Translation: X:164.32, Y:-25.01, Z:-3.27 [[ 9.87336045e-01 1.57766776e-01 1.66487106e-02 1.64322124e+02] [-1.57741895e-01 9.87476392e-01 -2.80550330e-03 -2.50111836e+01] [-1.68828239e-02 1.43775367e-04 9.99857465e-01 -3.27204320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters 0.02696611387649868 Centerline is valid? [True, True] Translation: X:164.35, Y:-25.02, Z:-3.27 [[ 9.87557025e-01 1.56383934e-01 1.65887661e-02 1.64351831e+02] [-1.56359033e-01 9.87696329e-01 -2.79556985e-03 -2.50224899e+01] [-1.68218456e-02 1.66981214e-04 9.99858489e-01 -3.27334674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914012739 meters 0.02992765925452944 Centerline is valid? [True, True] Translation: X:164.38, Y:-25.04, Z:-3.28 [[ 9.88014787e-01 1.53674387e-01 1.45245735e-02 1.64380582e+02] [-1.53654994e-01 9.88121525e-01 -2.44849987e-03 -2.50393296e+01] [-1.47283154e-02 1.87380818e-04 9.99891515e-01 -3.27894673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters 0.02924569378625879 Centerline is valid? [True, True] Translation: X:164.41, Y:-25.05, Z:-3.28 [[ 9.88152822e-01 1.52870093e-01 1.35917133e-02 1.64412197e+02] [-1.52853011e-01 9.88246275e-01 -2.29302763e-03 -2.50455198e+01] [-1.37824954e-02 1.88327416e-04 9.99904999e-01 -3.28035927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974012739 meters 0.030053958450425054 Centerline is valid? [True, True] Translation: X:164.44, Y:-25.05, Z:-3.28 [[ 9.88287092e-01 1.52031172e-01 1.32342769e-02 1.64442834e+02] [-1.52014871e-01 9.88375680e-01 -2.23494868e-03 -2.50543870e+01] [-1.34202193e-02 1.96964033e-04 9.99909925e-01 -3.28130631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters 0.03392644378643335 Centerline is valid? [True, True] Translation: X:164.47, Y:-25.07, Z:-3.27 [[ 9.88324122e-01 1.51744839e-01 1.37452925e-02 1.64474548e+02] [-1.51727198e-01 9.88419678e-01 -2.32328032e-03 -2.50650640e+01] [-1.39386634e-02 2.10619249e-04 9.99902830e-01 -3.27232391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034012739 meters 0.02919693539463326 Centerline is valid? [True, True] Translation: X:164.51, Y:-25.07, Z:-3.28 [[ 9.88109114e-01 1.53000517e-01 1.52059235e-02 1.64506239e+02] [-1.52979025e-01 9.88226085e-01 -2.57357650e-03 -2.50713610e+01] [-1.54206487e-02 2.16787053e-04 9.99881071e-01 -3.27839252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters 0.028051909492889618 Centerline is valid? [True, True] Translation: X:164.54, Y:-25.08, Z:-3.28 [[ 9.87604371e-01 1.56088985e-01 1.65479429e-02 1.64536981e+02] [-1.56063912e-01 9.87742980e-01 -2.80384785e-03 -2.50792805e+01] [-1.67827642e-02 1.86555690e-04 9.99859142e-01 -3.27630031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094012739 meters 0.026075143718214892 Centerline is valid? [True, True] Translation: X:164.57, Y:-25.08, Z:-3.28 [[ 9.87036984e-01 1.59687366e-01 1.60604548e-02 1.64568819e+02] [-1.59664181e-01 9.87167630e-01 -2.72390027e-03 -2.50816296e+01] [-1.62893335e-02 1.24310940e-04 9.99867312e-01 -3.27791910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters 0.025568798067454015 Centerline is valid? [True, True] Translation: X:164.60, Y:-25.09, Z:-3.28 [[ 9.86815442e-01 1.61089646e-01 1.56655640e-02 1.64600313e+02] [-1.61067716e-01 9.86939773e-01 -2.65992733e-03 -2.50864476e+01] [-1.58894549e-02 1.01640752e-04 9.99873749e-01 -3.27961250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154012739 meters 0.02551276732190955 Centerline is valid? [True, True] Translation: X:164.63, Y:-25.09, Z:-3.28 [[ 9.86677814e-01 1.61876360e-01 1.62152609e-02 1.64630853e+02] [-1.61852959e-01 9.86811043e-01 -2.75392362e-03 -2.50939468e+01] [-1.64471936e-02 9.27473783e-05 9.99864731e-01 -3.28082211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters 0.025757010571193693 Centerline is valid? [True, True] Translation: X:164.66, Y:-25.10, Z:-3.28 [[ 9.86849821e-01 1.60675682e-01 1.76282948e-02 1.64662620e+02] [-1.60647780e-01 9.87007249e-01 -2.99689377e-03 -2.51049754e+01] [-1.78807827e-02 1.25537667e-04 9.99840118e-01 -3.27879137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21401273899997 meters 0.026573950795182093 Centerline is valid? [True, True] Translation: X:164.69, Y:-25.12, Z:-3.28 [[ 9.87102448e-01 1.59127267e-01 1.75291323e-02 1.64692555e+02] [-1.59099373e-01 9.87258066e-01 -2.98346520e-03 -2.51150135e+01] [-1.77805279e-02 1.56111848e-04 9.99841902e-01 -3.27931212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters 0.02772657229262662 Centerline is valid? [True, True] Translation: X:164.72, Y:-25.13, Z:-3.28 [[ 9.87430613e-01 1.57228877e-01 1.61202962e-02 1.64722659e+02] [-1.57204998e-01 9.87562175e-01 -2.74586894e-03 -2.51286059e+01] [-1.63515247e-02 1.77163921e-04 9.99866289e-01 -3.28268691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27401273899997 meters 0.027542088907604546 Centerline is valid? [True, True] Translation: X:164.75, Y:-25.14, Z:-3.29 [[ 9.87268104e-01 1.58503274e-01 1.33567507e-02 1.64754682e+02] [-1.58486977e-01 9.87358443e-01 -2.27662935e-03 -2.51381995e+01] [-1.35487537e-02 1.30772500e-04 9.99908203e-01 -3.28754891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters 0.02657873574121806 Centerline is valid? [True, True] Translation: X:164.79, Y:-25.14, Z:-3.29 [[ 9.86893273e-01 1.60815732e-01 1.34152193e-02 1.64786054e+02] [-1.60799468e-01 9.86984443e-01 -2.28939060e-03 -2.51415655e+01] [-1.36087828e-02 1.02224057e-04 9.99907391e-01 -3.28802994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33401273899997 meters 0.02555881577872492 Centerline is valid? [True, True] Translation: X:164.82, Y:-25.14, Z:-3.29 [[ 9.86468414e-01 1.63335567e-01 1.41972293e-02 1.64818764e+02] [-1.63317571e-01 9.86570569e-01 -2.42566910e-03 -2.51441410e+01] [-1.44027666e-02 7.41889449e-05 9.99896272e-01 -3.28703253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters 0.024576894381107436 Centerline is valid? [True, True] Translation: X:164.85, Y:-25.14, Z:-3.28 [[ 9.85561213e-01 1.68542630e-01 1.62011305e-02 1.64851304e+02] [-1.68519882e-01 9.85694365e-01 -2.76902701e-03 -2.51444727e+01] [-1.64360622e-02 -1.16698914e-06 9.99864919e-01 -3.28334966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39401273899998 meters 0.025187237860137473 Centerline is valid? [True, True] Translation: X:164.88, Y:-25.15, Z:-3.29 [[ 9.84932632e-01 1.72321399e-01 1.45961223e-02 1.64882976e+02] [-1.72303318e-01 9.85040777e-01 -2.49682778e-03 -2.51473776e+01] [-1.48080325e-02 -5.57531487e-05 9.99890354e-01 -3.28632660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters 0.025544817623590066 Centerline is valid? [True, True] Translation: X:164.91, Y:-25.15, Z:-3.29 [[ 9.84696098e-01 1.73767802e-01 1.33546046e-02 1.64914403e+02] [-1.73752772e-01 9.84786650e-01 -2.28649580e-03 -2.51506263e+01] [-1.35487557e-02 -6.88960865e-05 9.99908209e-01 -3.28952692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45401273899998 meters 0.02637686364800826 Centerline is valid? [True, True] Translation: X:164.95, Y:-25.15, Z:-3.29 [[ 9.84088148e-01 1.77099028e-01 1.43684138e-02 1.64945920e+02] [-1.77081935e-01 9.84193030e-01 -2.46342849e-03 -2.51501795e+01] [-1.45775635e-02 -1.20155738e-04 9.99893734e-01 -3.28797846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters 0.027194162159156928 Centerline is valid? [True, True] Translation: X:164.98, Y:-25.15, Z:-3.29 [[ 9.83732626e-01 1.78904536e-01 1.62261399e-02 1.64975884e+02] [-1.78882983e-01 9.83866424e-01 -2.78189172e-03 -2.51515917e+01] [-1.64620473e-02 -1.65942661e-04 9.99864478e-01 -3.28522105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51401273899998 meters 0.027983072641014014 Centerline is valid? [True, True] Translation: X:165.01, Y:-25.15, Z:-3.28 [[ 9.83331655e-01 1.80854087e-01 1.87258007e-02 1.65006969e+02] [-1.80825730e-01 9.83509912e-01 -3.21068552e-03 -2.51510431e+01] [-1.89976762e-02 -2.28937881e-04 9.99819502e-01 -3.28085202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters 0.027667660144543874 Centerline is valid? [True, True] Translation: X:165.04, Y:-25.15, Z:-3.28 [[ 9.83284776e-01 1.81128686e-01 1.85323538e-02 1.65038141e+02] [-1.81100962e-01 9.83459376e-01 -3.17748079e-03 -2.51539967e+01] [-1.88013500e-02 -2.31858602e-04 9.99823212e-01 -3.28206146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57401273899998 meters 0.02866303038495498 Centerline is valid? [True, True] Translation: X:165.07, Y:-25.16, Z:-3.29 [[ 9.83321131e-01 1.81058978e-01 1.72394844e-02 1.65069037e+02] [-1.81034969e-01 9.83472217e-01 -2.95623772e-03 -2.51550639e+01] [-1.74898073e-02 -2.14018503e-04 9.99847019e-01 -3.28526365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters 0.028564807921370422 Centerline is valid? [True, True] Translation: X:165.10, Y:-25.16, Z:-3.29 [[ 9.83484457e-01 1.80319811e-01 1.55912957e-02 1.65097643e+02] [-1.80300076e-01 9.83608018e-01 -2.67393009e-03 -2.51585356e+01] [-1.58178860e-02 -1.81343115e-04 9.99874873e-01 -3.29056530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63401273899999 meters 0.027243946738464586 Centerline is valid? [True, True] Translation: X:165.13, Y:-25.16, Z:-3.29 [[ 9.83556517e-01 1.79761372e-01 1.73904471e-02 1.65127713e+02] [-1.79736741e-01 9.83710228e-01 -2.98197579e-03 -2.51622766e+01] [-1.76432048e-02 -1.92760562e-04 9.99844328e-01 -3.28674588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters 0.027955550708609167 Centerline is valid? [True, True] Translation: X:165.16, Y:-25.16, Z:-3.29 [[ 9.83545368e-01 1.79844233e-01 1.71627868e-02 1.65157804e+02] [-1.79820255e-01 9.83695082e-01 -2.94297367e-03 -2.51625064e+01] [-1.74122258e-02 -1.91668565e-04 9.99848377e-01 -3.28814250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694012739 meters 0.028434892968839862 Centerline is valid? [True, True] Translation: X:165.19, Y:-25.16, Z:-3.29 [[ 9.83483980e-01 1.80340139e-01 1.53849414e-02 1.65187715e+02] [-1.80320933e-01 9.83604291e-01 -2.63800539e-03 -2.51622624e+01] [-1.56084327e-02 -1.79790955e-04 9.99878165e-01 -3.29339180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters 0.02781204096904587 Centerline is valid? [True, True] Translation: X:165.22, Y:-25.17, Z:-3.29 [[ 9.83537858e-01 1.80092442e-01 1.48321869e-02 1.65216938e+02] [-1.80074568e-01 9.83649675e-01 -2.54290218e-03 -2.51661166e+01] [-1.50476333e-02 -1.69859093e-04 9.99886764e-01 -3.29448506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754012739 meters 0.0266107022221091 Centerline is valid? [True, True] Translation: X:165.25, Y:-25.17, Z:-3.29 [[ 9.84000917e-01 1.77484751e-01 1.55357519e-02 1.65245601e+02] [-1.77464821e-01 9.84123541e-01 -2.66323146e-03 -2.51667916e+01] [-1.57617821e-02 -1.36427216e-04 9.99875766e-01 -3.29352704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters 0.025772017485226235 Centerline is valid? [True, True] Translation: X:165.27, Y:-25.17, Z:-3.29 [[ 9.84374367e-01 1.75332189e-01 1.63012212e-02 1.65274683e+02] [-1.75309966e-01 9.84509325e-01 -2.79352480e-03 -2.51724027e+01] [-1.65384991e-02 -1.07892327e-04 9.99863224e-01 -3.29331323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814012739 meters 0.02481619104869986 Centerline is valid? [True, True] Translation: X:165.30, Y:-25.18, Z:-3.29 [[ 9.84948484e-01 1.72003748e-01 1.70644488e-02 1.65302657e+02] [-1.71978903e-01 9.85096294e-01 -2.92391888e-03 -2.51806076e+01] [-1.73130502e-02 -5.48157210e-05 9.99850116e-01 -3.29351719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters 0.02511185378207944 Centerline is valid? [True, True] Translation: X:165.33, Y:-25.20, Z:-3.29 [[ 9.86262078e-01 1.64148333e-01 1.85051122e-02 1.65331605e+02] [-1.64117746e-01 9.86435663e-01 -3.16995399e-03 -2.51997507e+01] [-1.87744453e-02 8.93880990e-05 9.99823741e-01 -3.29166421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874012739 meters 0.02944651613363257 Centerline is valid? [True, True] Translation: X:165.36, Y:-25.22, Z:-3.29 [[ 9.87559921e-01 1.56140119e-01 1.85920972e-02 1.65358876e+02] [-1.56107815e-01 9.87734885e-01 -3.18531395e-03 -2.52183956e+01] [-1.88614183e-02 2.43316723e-04 9.99822078e-01 -3.29086674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters 0.031735393519532355 Centerline is valid? [True, True] Translation: X:165.39, Y:-25.23, Z:-3.29 [[ 9.88007678e-01 1.53332822e-01 1.81624321e-02 1.65389535e+02] [-1.53301524e-01 9.88174560e-01 -3.11140764e-03 -2.52298297e+01] [-1.84247343e-02 2.89766113e-04 9.99830208e-01 -3.29275099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934012739 meters 0.03271375371605504 Centerline is valid? [True, True] Translation: X:165.42, Y:-25.24, Z:-3.30 [[ 9.88416172e-01 1.50820359e-01 1.69319118e-02 1.65419621e+02] [-1.50792748e-01 9.88561136e-01 -2.90308833e-03 -2.52420123e+01] [-1.71760748e-02 3.16249939e-04 9.99852430e-01 -3.29621819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters 0.034293850456244446 Centerline is valid? [True, True] Translation: X:165.45, Y:-25.25, Z:-3.30 [[ 9.88353978e-01 1.51335904e-01 1.59329613e-02 1.65450478e+02] [-1.51311487e-01 9.88482352e-01 -2.73398603e-03 -2.52516669e+01] [-1.61632013e-02 2.91305904e-04 9.99869324e-01 -3.29807185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99401273899997 meters 0.03119473521104725 Centerline is valid? [True, True] Translation: X:165.48, Y:-25.25, Z:-3.30 [[ 9.87757077e-01 1.55390235e-01 1.37779761e-02 1.65481272e+02] [-1.55372329e-01 9.87853145e-01 -2.36718417e-03 -2.52528825e+01] [-1.39784543e-02 1.97486677e-04 9.99902277e-01 -3.30213808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters 0.028004554504473592 Centerline is valid? [True, True] Translation: X:165.51, Y:-25.25, Z:-3.30 [[ 9.87307599e-01 1.58261324e-01 1.33063093e-02 1.65514110e+02] [-1.58244895e-01 9.87397251e-01 -2.28523379e-03 -2.52534637e+01] [-1.35002774e-02 1.50573159e-04 9.99908856e-01 -3.30203821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05401273899997 meters 0.02618580012722807 Centerline is valid? [True, True] Translation: X:165.54, Y:-25.26, Z:-3.30 [[ 9.86480286e-01 1.63265288e-01 1.41806778e-02 1.65544126e+02] [-1.63247096e-01 9.86582200e-01 -2.43884599e-03 -2.52583640e+01] [-1.43885832e-02 9.09190164e-05 9.99896475e-01 -3.30313772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters 0.025399197920340913 Centerline is valid? [True, True] Translation: X:165.57, Y:-25.26, Z:-3.30 [[ 9.86177843e-01 1.65023129e-01 1.48535524e-02 1.65573490e+02] [-1.65003363e-01 9.86289695e-01 -2.55499717e-03 -2.52620855e+01] [-1.50715392e-02 6.87955116e-05 9.99886416e-01 -3.30260852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11401273899997 meters 0.02427012844934099 Centerline is valid? [True, True] Translation: X:165.60, Y:-25.26, Z:-3.30 [[ 9.85621519e-01 1.68136965e-01 1.67386728e-02 1.65604708e+02] [-1.68112307e-01 9.85763643e-01 -2.87955609e-03 -2.52637256e+01] [-1.69845349e-02 2.41755511e-05 9.99855752e-01 -3.29864883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters 0.02420371134742676 Centerline is valid? [True, True] Translation: X:165.64, Y:-25.27, Z:-3.30 [[ 9.85326215e-01 1.69763610e-01 1.76795743e-02 1.65636752e+02] [-1.69736366e-01 9.85484813e-01 -3.04127015e-03 -2.52680533e+01] [-1.79392490e-02 -4.22348589e-06 9.99839079e-01 -3.29691141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17401273899998 meters 0.02420371134742676 Centerline is valid? [True, True] Translation: X:165.67, Y:-25.27, Z:-3.30 [[ 9.85298353e-01 1.69925297e-01 1.76790765e-02 1.65667936e+02] [-1.69898027e-01 9.85456947e-01 -3.04416099e-03 -2.52735719e+01] [-1.79392487e-02 -4.23340528e-06 9.99839079e-01 -3.29755478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters 0.024092733579999265 Centerline is valid? [True, True] Translation: X:165.70, Y:-25.28, Z:-3.29 [[ 9.84790166e-01 1.72530632e-01 2.05307107e-02 1.65699179e+02] [-1.72494338e-01 9.85004151e-01 -3.53912284e-03 -2.52776773e+01] [-2.08334424e-02 -5.61379838e-05 9.99782959e-01 -3.29336766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23401273899998 meters 0.024388978803813736 Centerline is valid? [True, True] Translation: X:165.73, Y:-25.28, Z:-3.29 [[ 9.84560656e-01 1.73868635e-01 2.02487585e-02 1.65730857e+02] [-1.73833604e-01 9.84768851e-01 -3.49104068e-03 -2.52819618e+01] [-2.05473291e-02 -8.27733515e-05 9.99788878e-01 -3.29415489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters 0.025537392408200358 Centerline is valid? [True, True] Translation: X:165.76, Y:-25.28, Z:-3.30 [[ 9.84129921e-01 1.76684433e-01 1.64593108e-02 1.65762657e+02] [-1.76661642e-01 9.84267544e-01 -2.84005274e-03 -2.52843371e+01] [-1.67021586e-02 -1.12748000e-04 9.99860503e-01 -3.30215542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29401273899998 meters 0.026300337100467207 Centerline is valid? [True, True] Translation: X:165.79, Y:-25.29, Z:-3.31 [[ 9.83871308e-01 1.78278027e-01 1.46353932e-02 1.65792139e+02] [-1.78260138e-01 9.83980147e-01 -2.52842255e-03 -2.52882113e+01] [-1.48516986e-02 -1.21264811e-04 9.99889700e-01 -3.30616238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters 0.028494812761017084 Centerline is valid? [True, True] Translation: X:165.82, Y:-25.29, Z:-3.31 [[ 9.83347256e-01 1.81166025e-01 1.43890820e-02 1.65821404e+02] [-1.81149042e-01 9.83452513e-01 -2.48583365e-03 -2.52891893e+01] [-1.46013275e-02 -1.62130721e-04 9.99893382e-01 -3.30679907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35401273899998 meters 0.02912264587052236 Centerline is valid? [True, True] Translation: X:165.85, Y:-25.29, Z:-3.31 [[ 9.83026484e-01 1.82838872e-01 1.51287471e-02 1.65850140e+02] [-1.82820304e-01 9.83142873e-01 -2.61309008e-03 -2.52914058e+01] [-1.53514943e-02 -1.97105394e-04 9.99882139e-01 -3.30557551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters 0.032151600132237924 Centerline is valid? [True, True] Translation: X:165.88, Y:-25.29, Z:-3.31 [[ 9.82074127e-01 1.87856012e-01 1.55089543e-02 1.65880383e+02] [-1.87837137e-01 9.82196538e-01 -2.67796542e-03 -2.52871086e+01] [-1.57359132e-02 -2.83197028e-04 9.99876143e-01 -3.30618455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414012739 meters 0.03456151031021765 Centerline is valid? [True, True] Translation: X:165.91, Y:-25.29, Z:-3.31 [[ 9.81565531e-01 1.90536874e-01 1.49936310e-02 1.65910388e+02] [-1.90519553e-01 9.81679989e-01 -2.58841145e-03 -2.52875748e+01] [-1.52121353e-02 -3.15884421e-04 9.99884239e-01 -3.30753529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters 0.03833384185183567 Centerline is valid? [True, True] Translation: X:165.94, Y:-25.28, Z:-3.31 [[ 9.80527403e-01 1.95787637e-01 1.52712884e-02 1.65941349e+02] [-1.95770312e-01 9.80646234e-01 -2.63592066e-03 -2.52839287e+01] [-1.54918122e-02 -4.05072453e-04 9.99879913e-01 -3.30633033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474012739 meters 0.04154059182558154 Centerline is valid? [True, True] Translation: X:165.97, Y:-25.28, Z:-3.31 [[ 9.80047744e-01 1.98110435e-01 1.60833874e-02 1.65970647e+02] [-1.98091531e-01 9.80179595e-01 -2.77599409e-03 -2.52807154e+01] [-1.63145615e-02 -4.65376082e-04 9.99866800e-01 -3.30654033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters 0.04425146281422446 Centerline is valid? [True, True] Translation: X:166.00, Y:-25.28, Z:-3.31 [[ 9.79273181e-01 2.01791529e-01 1.74417616e-02 1.66002230e+02] [-2.01769895e-01 9.79428329e-01 -3.00963209e-03 -2.52755612e+01] [-1.76902737e-02 -5.71970426e-04 9.99843351e-01 -3.30580953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534012739 meters 0.04564047146875147 Centerline is valid? [True, True] Translation: X:166.03, Y:-25.28, Z:-3.31 [[ 9.78985277e-01 2.03250794e-01 1.66415891e-02 1.66031099e+02] [-2.03231311e-01 9.79126544e-01 -2.87147266e-03 -2.52760591e+01] [-1.68778507e-02 -5.70962513e-04 9.99857396e-01 -3.30811736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters 0.04574955917692028 Centerline is valid? [True, True] Translation: X:166.06, Y:-25.28, Z:-3.31 [[ 9.78525535e-01 2.05566072e-01 1.51778560e-02 1.66060888e+02] [-2.05550154e-01 9.78643081e-01 -2.61822678e-03 -2.52757747e+01] [-1.53919223e-02 -5.57808879e-04 9.99881382e-01 -3.31079860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594012739 meters 0.0481726102247669 Centerline is valid? [True, True] Translation: X:166.09, Y:-25.27, Z:-3.31 [[ 9.78461797e-01 2.05772727e-01 1.64346195e-02 1.66089120e+02] [-2.05754103e-01 9.78599619e-01 -2.83444312e-03 -2.52734923e+01] [-1.66661634e-02 -6.08096072e-04 9.99860925e-01 -3.30962526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters 0.04522971538248222 Centerline is valid? [True, True] Translation: X:166.12, Y:-25.28, Z:-3.30 [[ 9.78629559e-01 2.04644309e-01 2.01219677e-02 1.66117520e+02] [-2.04616182e-01 9.78836138e-01 -3.46889762e-03 -2.52771850e+01] [-2.04059993e-02 -7.22514453e-04 9.99791515e-01 -3.30373780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654012739 meters 0.04819364106295865 Centerline is valid? [True, True] Translation: X:166.15, Y:-25.28, Z:-3.30 [[ 9.78860033e-01 2.03474453e-01 2.07649338e-02 1.66146330e+02] [-2.03444259e-01 9.79079990e-01 -3.57870109e-03 -2.52756280e+01] [-2.10587054e-02 -7.21459102e-04 9.99777981e-01 -3.30328733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters 0.046925944694713353 Centerline is valid? [True, True] Translation: X:166.18, Y:-25.28, Z:-3.31 [[ 9.79391358e-01 2.01031243e-01 1.94681094e-02 1.66175289e+02] [-2.01004238e-01 9.79584629e-01 -3.35431604e-03 -2.52762066e+01] [-1.97449831e-02 -6.27984364e-04 9.99804852e-01 -3.30667813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71401273899997 meters 0.044198255961727974 Centerline is valid? [True, True] Translation: X:166.20, Y:-25.28, Z:-3.31 [[ 9.79519578e-01 2.00520943e-01 1.82413576e-02 1.66203926e+02] [-2.00497156e-01 9.79689245e-01 -3.14238612e-03 -2.52813260e+01] [-1.85009761e-02 -5.79311595e-04 9.99828674e-01 -3.30912715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters 0.045003574898668554 Centerline is valid? [True, True] Translation: X:166.23, Y:-25.28, Z:-3.31 [[ 9.79418950e-01 2.01111466e-01 1.71084281e-02 1.66233754e+02] [-2.01090645e-01 9.79568206e-01 -2.94647713e-03 -2.52789039e+01] [-1.73514425e-02 -5.54509297e-04 9.99849299e-01 -3.31261065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77401273899997 meters 0.0436966490853146 Centerline is valid? [True, True] Translation: X:166.26, Y:-25.28, Z:-3.31 [[ 9.79394112e-01 2.01184215e-01 1.76659135e-02 1.66261961e+02] [-2.01162043e-01 9.79553256e-01 -3.04163544e-03 -2.52827425e+01] [-1.79166321e-02 -5.74751401e-04 9.99839319e-01 -3.31264146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters 0.049532655597592755 Centerline is valid? [True, True] Translation: X:166.29, Y:-25.28, Z:-3.30 [[ 9.79295739e-01 2.01861613e-01 1.52231939e-02 1.66291387e+02] [-2.01845236e-01 9.79413923e-01 -2.62066123e-03 -2.52761279e+01] [-1.54388189e-02 -5.06326784e-04 9.99880686e-01 -3.30228590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83401273899997 meters 0.04649505745238638 Centerline is valid? [True, True] Translation: X:166.32, Y:-25.27, Z:-3.32 [[ 9.79206158e-01 2.02217902e-01 1.62240490e-02 1.66319410e+02] [-2.02199376e-01 9.79340401e-01 -2.79139246e-03 -2.52747298e+01] [-1.64533362e-02 -5.47143893e-04 9.99864485e-01 -3.31644987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters 0.04481806857807305 Centerline is valid? [True, True] Translation: X:166.35, Y:-25.28, Z:-3.32 [[ 9.79530113e-01 2.00729295e-01 1.51164572e-02 1.66347957e+02] [-2.00713056e-01 9.79646626e-01 -2.59941953e-03 -2.52764447e+01] [-1.53305659e-02 -4.87860611e-04 9.99882361e-01 -3.31907457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89401273899998 meters 0.0433777548353205 Centerline is valid? [True, True] Translation: X:166.38, Y:-25.28, Z:-3.32 [[ 9.79978141e-01 1.98452999e-01 1.61012392e-02 1.66375802e+02] [-1.98434282e-01 9.80110287e-01 -2.76794446e-03 -2.52813721e+01] [-1.63302970e-02 -4.82512772e-04 9.99866535e-01 -3.31791181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters 0.034347787074661164 Centerline is valid? [True, True] Translation: X:166.40, Y:-25.30, Z:-3.31 [[ 9.81315989e-01 1.91525979e-01 1.83501602e-02 1.66404250e+02] [-1.91500475e-01 9.81487455e-01 -3.15349889e-03 -2.52955827e+01] [-1.86144290e-02 -4.19485507e-04 9.99826649e-01 -3.31414986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95401273899998 meters 0.03249833357078728 Centerline is valid? [True, True] Translation: X:166.43, Y:-25.30, Z:-3.32 [[ 9.82014482e-01 1.87839193e-01 1.90786638e-02 1.66431934e+02] [-1.87810928e-01 9.82199728e-01 -3.27869192e-03 -2.53016523e+01] [-1.93549253e-02 -3.63458620e-04 9.99812610e-01 -3.31502611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters 0.028609348547577844 Centerline is valid? [True, True] Translation: X:166.46, Y:-25.31, Z:-3.32 [[ 9.83208844e-01 1.81483600e-01 1.90806923e-02 1.66459680e+02] [-1.81454149e-01 9.83393942e-01 -3.27808577e-03 -2.53127303e+01] [-1.93587560e-02 -2.39227869e-04 9.99812573e-01 -3.31509697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01401273899998 meters 0.024768465387513545 Centerline is valid? [True, True] Translation: X:166.49, Y:-25.33, Z:-3.32 [[ 9.84487594e-01 1.74476895e-01 1.84929769e-02 1.66486286e+02] [-1.74448001e-01 9.84661263e-01 -3.17672505e-03 -2.53266342e+01] [-1.87635831e-02 -9.86164456e-05 9.99823944e-01 -3.31736896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters 0.023959386098314737 Centerline is valid? [True, True] Translation: X:166.51, Y:-25.34, Z:-3.32 [[ 9.85198678e-01 1.70498881e-01 1.77115008e-02 1.66513403e+02] [-1.70471748e-01 9.85357870e-01 -3.04170643e-03 -2.53368219e+01] [-1.79707742e-02 -2.26253496e-05 9.99838512e-01 -3.32013302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07401273899998 meters 0.025124362289571104 Centerline is valid? [True, True] Translation: X:166.54, Y:-25.35, Z:-3.33 [[ 9.86360682e-01 1.63897882e-01 1.51687161e-02 1.66538946e+02] [-1.63877208e-01 9.86477307e-01 -2.60448035e-03 -2.53520610e+01] [-1.53904631e-02 8.31501676e-05 9.99881556e-01 -3.32517007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters 0.02591861011208649 Centerline is valid? [True, True] Translation: X:166.57, Y:-25.36, Z:-3.33 [[ 9.86701027e-01 1.61933573e-01 1.40925809e-02 1.66565361e+02] [-1.61915539e-01 9.86801655e-01 -2.41894440e-03 -2.53603499e+01] [-1.42982905e-02 1.04967091e-04 9.99897769e-01 -3.32792784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13401273899999 meters 0.026158454335326337 Centerline is valid? [True, True] Translation: X:166.59, Y:-25.37, Z:-3.33 [[ 9.86909664e-01 1.60567098e-01 1.50838281e-02 1.66593997e+02] [-1.60546294e-01 9.87024918e-01 -2.58807075e-03 -2.53652802e+01] [-1.53036732e-02 1.32539335e-04 9.99882883e-01 -3.32505689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters 0.026174305019298322 Centerline is valid? [True, True] Translation: X:166.62, Y:-25.37, Z:-3.32 [[ 9.86933312e-01 1.60301445e-01 1.63121076e-02 1.66621309e+02] [-1.60277091e-01 9.87068096e-01 -2.79799592e-03 -2.53703441e+01] [-1.65496837e-02 1.46978229e-04 9.99863034e-01 -3.32315677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194012739 meters 0.02625071861171421 Centerline is valid? [True, True] Translation: X:166.65, Y:-25.38, Z:-3.32 [[ 9.86969196e-01 1.59928322e-01 1.77408541e-02 1.66649186e+02] [-1.59899476e-01 9.87128616e-01 -3.04187298e-03 -2.53764365e+01] [-1.79989864e-02 1.65481650e-04 9.99837991e-01 -3.32117642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters 0.026707578081906824 Centerline is valid? [True, True] Translation: X:166.68, Y:-25.39, Z:-3.32 [[ 9.87158116e-01 1.58697571e-01 1.82738764e-02 1.66678098e+02] [-1.58666772e-01 9.87327222e-01 -3.13233718e-03 -2.53854623e+01] [-1.85393899e-02 1.92655085e-04 9.99828112e-01 -3.32163905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254012739 meters 0.026798969509855948 Centerline is valid? [True, True] Translation: X:166.71, Y:-25.39, Z:-3.33 [[ 9.87183428e-01 1.58817030e-01 1.56853328e-02 1.66706980e+02] [-1.58794360e-01 9.87308019e-01 -2.68832956e-03 -2.53908576e+01] [-1.59132074e-02 1.63132019e-04 9.99873364e-01 -3.32742907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters 0.02694559787370244 Centerline is valid? [True, True] Translation: X:166.73, Y:-25.40, Z:-3.33 [[ 9.87156917e-01 1.59100743e-01 1.44282927e-02 1.66734462e+02] [-1.59081592e-01 9.87262342e-01 -2.47277863e-03 -2.53962898e+01] [-1.46379310e-02 1.45744745e-04 9.99892849e-01 -3.32987791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314012739 meters 0.026896421764249376 Centerline is valid? [True, True] Translation: X:166.76, Y:-25.40, Z:-3.33 [[ 9.87103636e-01 1.59565046e-01 1.28611268e-02 1.66762678e+02] [-1.59549878e-01 9.87187409e-01 -2.20348422e-03 -2.54047022e+01] [-1.30479415e-02 1.23076069e-04 9.99914864e-01 -3.33288702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters 0.02718913626514042 Centerline is valid? [True, True] Translation: X:166.79, Y:-25.41, Z:-3.33 [[ 9.87178992e-01 1.59113542e-01 1.26695770e-02 1.66790079e+02] [-1.59098793e-01 9.87260282e-01 -2.17008656e-03 -2.54126635e+01] [-1.28534603e-02 1.26549464e-04 9.99917383e-01 -3.33439584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374012739 meters 0.028744175814512968 Centerline is valid? [True, True] Translation: X:166.82, Y:-25.43, Z:-3.33 [[ 9.87564614e-01 1.56592676e-01 1.39595126e-02 1.66816867e+02] [-1.56574530e-01 9.87663254e-01 -2.39021841e-03 -2.54254836e+01] [-1.41615884e-02 1.74790986e-04 9.99899704e-01 -3.33271590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters 0.029010806859200596 Centerline is valid? [True, True] Translation: X:166.85, Y:-25.43, Z:-3.33 [[ 9.87717861e-01 1.55399442e-01 1.62616137e-02 1.66846018e+02] [-1.55374667e-01 9.87851691e-01 -2.78367461e-03 -2.54334068e+01] [-1.64966441e-02 2.22842318e-04 9.99863896e-01 -3.32849220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434012739 meters 0.032829242741005606 Centerline is valid? [True, True] Translation: X:166.87, Y:-25.44, Z:-3.31 [[ 9.87666033e-01 1.55475820e-01 1.85223377e-02 1.66874818e+02] [-1.55443701e-01 9.87839666e-01 -3.17015906e-03 -2.54409556e+01] [-1.87899830e-02 2.51877708e-04 9.99823421e-01 -3.31044156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters 0.028041535537998045 Centerline is valid? [True, True] Translation: X:166.90, Y:-25.45, Z:-3.32 [[ 9.87421286e-01 1.56857047e-01 1.98763816e-02 1.66903427e+02] [-1.56820344e-01 9.87621288e-01 -3.40166416e-03 -2.54462511e+01] [-2.01639126e-02 2.41854591e-04 9.99796658e-01 -3.32160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49401273899997 meters 0.0255493380546475 Centerline is valid? [True, True] Translation: X:166.93, Y:-25.45, Z:-3.33 [[ 9.86736107e-01 1.61498750e-01 1.64319665e-02 1.66932815e+02] [-1.61474312e-01 9.86872909e-01 -2.81203643e-03 -2.54475682e+01] [-1.66704030e-02 1.21397384e-04 9.99861032e-01 -3.32878735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters 0.024772124840548148 Centerline is valid? [True, True] Translation: X:166.96, Y:-25.45, Z:-3.33 [[ 9.86333323e-01 1.64058930e-01 1.52066707e-02 1.66961927e+02] [-1.64038305e-01 9.86450537e-01 -2.60235753e-03 -2.54491592e+01] [-1.54275684e-02 7.23154705e-05 9.99880985e-01 -3.33240446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55401273899997 meters 0.024285669657753226 Centerline is valid? [True, True] Translation: X:166.99, Y:-25.45, Z:-3.34 [[ 9.85958416e-01 1.66375737e-01 1.43218603e-02 1.66989569e+02] [-1.66357695e-01 9.86062429e-01 -2.45040518e-03 -2.54518122e+01] [-1.45299363e-02 3.34459429e-05 9.99894434e-01 -3.33555858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters 0.02410865269245721 Centerline is valid? [True, True] Translation: X:167.02, Y:-25.46, Z:-3.34 [[ 9.85896218e-01 1.66718057e-01 1.46197197e-02 1.67016811e+02] [-1.66699307e-01 9.86004609e-01 -2.50051663e-03 -2.54580468e+01] [-1.48319922e-02 2.81527586e-05 9.99890000e-01 -3.33579179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61401273899997 meters 0.02392673196613896 Centerline is valid? [True, True] Translation: X:167.04, Y:-25.47, Z:-3.33 [[ 9.85917405e-01 1.66453378e-01 1.61289545e-02 1.67043577e+02] [-1.66430537e-01 9.86049325e-01 -2.75763179e-03 -2.54692356e+01] [-1.63629618e-02 3.44466198e-05 9.99866117e-01 -3.33332727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters 0.023892463571613592 Centerline is valid? [True, True] Translation: X:167.07, Y:-25.48, Z:-3.33 [[ 9.85902817e-01 1.66551997e-01 1.60021345e-02 1.67072135e+02] [-1.66529543e-01 9.86032673e-01 -2.73493398e-03 -2.54755566e+01] [-1.62341361e-02 3.15509750e-05 9.99868217e-01 -3.33383989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67401273899998 meters 0.024119627896467953 Centerline is valid? [True, True] Translation: X:167.10, Y:-25.48, Z:-3.34 [[ 9.85909297e-01 1.66608717e-01 1.49797758e-02 1.67099638e+02] [-1.66589052e-01 9.86023090e-01 -2.55989046e-03 -2.54820846e+01] [-1.51969049e-02 2.83531454e-05 9.99884520e-01 -3.33770683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters 0.02404037665719695 Centerline is valid? [True, True] Translation: X:167.13, Y:-25.49, Z:-3.34 [[ 9.85916567e-01 1.66582336e-01 1.47934937e-02 1.67129084e+02] [-1.66563160e-01 9.86027548e-01 -2.52771176e-03 -2.54877457e+01] [-1.50078644e-02 2.80618519e-05 9.99887375e-01 -3.33738624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73401273899998 meters 0.02428886465774268 Centerline is valid? [True, True] Translation: X:167.16, Y:-25.49, Z:-3.34 [[ 9.85910568e-01 1.66699642e-01 1.38412838e-02 1.67157826e+02] [-1.66682872e-01 9.86007722e-01 -2.36462289e-03 -2.54949106e+01] [-1.40417945e-02 2.42017683e-05 9.99901409e-01 -3.34060709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters 0.02422457757279497 Centerline is valid? [True, True] Translation: X:167.19, Y:-25.50, Z:-3.34 [[ 9.85824745e-01 1.67286912e-01 1.28320352e-02 1.67187235e+02] [-1.67272549e-01 9.85908256e-01 -2.19214614e-03 -2.54985453e+01] [-1.30179268e-02 1.46246776e-05 9.99915263e-01 -3.34152852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79401273899998 meters 0.024689997378231354 Centerline is valid? [True, True] Translation: X:167.22, Y:-25.50, Z:-3.35 [[ 9.85476485e-01 1.69424901e-01 1.14586489e-02 1.67215127e+02] [-1.69413591e-01 9.85543100e-01 -1.95760835e-03 -2.55000400e+01] [-1.16246600e-02 -1.20738649e-05 9.99932431e-01 -3.34628044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters 0.02483208746413317 Centerline is valid? [True, True] Translation: X:167.24, Y:-25.50, Z:-3.35 [[ 9.85332926e-01 1.70238790e-01 1.17379625e-02 1.67242416e+02] [-1.70226989e-01 9.85402838e-01 -2.00460142e-03 -2.55030883e+01] [-1.19078825e-02 -2.29182297e-05 9.99929098e-01 -3.34758583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85401273899998 meters 0.024580074769392453 Centerline is valid? [True, True] Translation: X:167.27, Y:-25.50, Z:-3.34 [[ 9.85126824e-01 1.71361451e-01 1.26646253e-02 1.67271565e+02] [-1.71347818e-01 9.85208227e-01 -2.16190852e-03 -2.55044951e+01] [-1.28477608e-02 -4.03018389e-05 9.99917463e-01 -3.34350534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters 0.024887902916217706 Centerline is valid? [True, True] Translation: X:167.30, Y:-25.50, Z:-3.35 [[ 9.85003333e-01 1.72035800e-01 1.31193783e-02 1.67299429e+02] [-1.72021238e-01 9.85090697e-01 -2.23896015e-03 -2.55044255e+01] [-1.33089588e-02 -5.14284819e-05 9.99911431e-01 -3.34512119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914012739 meters 0.02495960137514429 Centerline is valid? [True, True] Translation: X:167.33, Y:-25.51, Z:-3.34 [[ 9.84910824e-01 1.72500875e-01 1.39326033e-02 1.67328360e+02] [-1.72484512e-01 9.85009362e-01 -2.37674738e-03 -2.55070673e+01] [-1.41337357e-02 -6.22740677e-05 9.99900112e-01 -3.34413330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters 0.02389369438050702 Centerline is valid? [True, True] Translation: X:167.36, Y:-25.52, Z:-3.34 [[ 9.85088621e-01 1.71328602e-01 1.57136509e-02 1.67356754e+02] [-1.71307650e-01 9.85213940e-01 -2.67981398e-03 -2.55150581e+01] [-1.59404367e-02 -5.20143650e-05 9.99872942e-01 -3.33789449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974012739 meters 0.023573825736721215 Centerline is valid? [True, True] Translation: X:167.39, Y:-25.52, Z:-3.34 [[ 9.85518188e-01 1.68809763e-01 1.60363663e-02 1.67385154e+02] [-1.68787622e-01 9.85648651e-01 -2.73400268e-03 -2.55196773e+01] [-1.62677491e-02 -1.23307701e-05 9.99867671e-01 -3.33803323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters 0.02357054624942812 Centerline is valid? [True, True] Translation: X:167.41, Y:-25.52, Z:-3.34 [[ 9.85724257e-01 1.67624446e-01 1.58030048e-02 1.67413954e+02] [-1.67602803e-01 9.85850924e-01 -2.69360638e-03 -2.55245929e+01] [-1.60309212e-02 6.52525440e-06 9.99871497e-01 -3.33986511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034012739 meters 0.02382734875004349 Centerline is valid? [True, True] Translation: X:167.44, Y:-25.53, Z:-3.34 [[ 9.85808395e-01 1.67193319e-01 1.51063714e-02 1.67443228e+02] [-1.67173496e-01 9.85924132e-01 -2.57453047e-03 -2.55287397e+01] [-1.53241804e-02 1.26088240e-05 9.99882578e-01 -3.34246959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters 0.02388474669186857 Centerline is valid? [True, True] Translation: X:167.47, Y:-25.53, Z:-3.34 [[ 9.85738646e-01 1.67622691e-01 1.48981711e-02 1.67471415e+02] [-1.67603464e-01 9.85851223e-01 -2.53875815e-03 -2.55320141e+01] [-1.51129337e-02 5.56693102e-06 9.99885793e-01 -3.34369846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094012739 meters 0.02388474669186857 Centerline is valid? [True, True] Translation: X:167.50, Y:-25.54, Z:-3.34 [[ 9.85746024e-01 1.67579288e-01 1.48982506e-02 1.67499352e+02] [-1.67560063e-01 9.85858602e-01 -2.53829173e-03 -2.55366797e+01] [-1.51129336e-02 5.75916662e-06 9.99885793e-01 -3.34427375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters 0.02364728151699718 Centerline is valid? [True, True] Translation: X:167.53, Y:-25.54, Z:-3.34 [[ 9.85621374e-01 1.68318483e-01 1.48120181e-02 1.67528056e+02] [-1.68299574e-01 9.85732666e-01 -2.52295504e-03 -2.55385561e+01] [-1.50253500e-02 -6.17792455e-06 9.99887113e-01 -3.34334057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154012739 meters 0.024162607398871373 Centerline is valid? [True, True] Translation: X:167.56, Y:-25.54, Z:-3.35 [[ 9.85157090e-01 1.71098308e-01 1.38158260e-02 1.67557082e+02] [-1.71082138e-01 9.85253961e-01 -2.35273152e-03 -2.55352430e+01] [-1.40146457e-02 -4.58309036e-05 9.99901789e-01 -3.34528834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters 0.02528380166136513 Centerline is valid? [True, True] Translation: X:167.59, Y:-25.53, Z:-3.35 [[ 9.84541137e-01 1.74664873e-01 1.30741140e-02 1.67586392e+02] [-1.74650717e-01 9.84627937e-01 -2.22559881e-03 -2.55334716e+01] [-1.32618719e-02 -9.22098186e-05 9.99912053e-01 -3.34778559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21401273899997 meters 0.025943248258891455 Centerline is valid? [True, True] Translation: X:167.62, Y:-25.54, Z:-3.35 [[ 9.84288035e-01 1.76117726e-01 1.26337066e-02 1.67615086e+02] [-1.76104635e-01 9.84369105e-01 -2.15004592e-03 -2.55362886e+01] [-1.28148917e-02 -1.08589821e-04 9.99917880e-01 -3.34862196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters 0.02684890280472102 Centerline is valid? [True, True] Translation: X:167.64, Y:-25.54, Z:-3.35 [[ 9.84098841e-01 1.77145367e-01 1.29995983e-02 1.67642950e+02] [-1.77131603e-01 9.84184689e-01 -2.21183337e-03 -2.55375877e+01] [-1.31858217e-02 -1.25977036e-04 9.99913055e-01 -3.34936847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27401273899997 meters 0.027512509086481472 Centerline is valid? [True, True] Translation: X:167.67, Y:-25.54, Z:-3.34 [[ 9.83665409e-01 1.79302619e-01 1.59038766e-02 1.67671876e+02] [-1.79282326e-01 9.83793949e-01 -2.70435574e-03 -2.55400877e+01] [-1.61310356e-02 -1.91102780e-04 9.99869868e-01 -3.34353544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters 0.028020345494667913 Centerline is valid? [True, True] Translation: X:167.70, Y:-25.54, Z:-3.34 [[ 9.83471767e-01 1.80318762e-01 1.63837408e-02 1.67701092e+02] [-1.80297379e-01 9.83608204e-01 -2.78514670e-03 -2.55419684e+01] [-1.66173960e-02 -2.14832372e-04 9.99861898e-01 -3.34200460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33401273899997 meters 0.030469196064128123 Centerline is valid? [True, True] Translation: X:167.73, Y:-25.54, Z:-3.34 [[ 9.82828199e-01 1.83901876e-01 1.51271637e-02 1.67731439e+02] [-1.83884082e-01 9.82944574e-01 -2.57083588e-03 -2.55370327e+01] [-1.53419450e-02 -2.54954620e-04 9.99882273e-01 -3.34475062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters 0.03953358268862292 Centerline is valid? [True, True] Translation: X:167.76, Y:-25.52, Z:-3.35 [[ 9.82098170e-01 1.87872412e-01 1.36799253e-02 1.67762539e+02] [-1.87858251e-01 9.82193400e-01 -2.32445539e-03 -2.55237477e+01] [-1.38730334e-02 -2.87043461e-04 9.99903724e-01 -3.35149413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39401273899998 meters 0.03512377196751464 Centerline is valid? [True, True] Translation: X:167.79, Y:-25.53, Z:-3.35 [[ 9.81926988e-01 1.88783817e-01 1.34186906e-02 1.67789609e+02] [-1.88770282e-01 9.82018627e-01 -2.27967567e-03 -2.55347628e+01] [-1.36077700e-02 -2.94574944e-04 9.99907367e-01 -3.35096497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters 0.035120599263176136 Centerline is valid? [True, True] Translation: X:167.82, Y:-25.54, Z:-3.35 [[ 9.81979017e-01 1.88485678e-01 1.37970626e-02 1.67817743e+02] [-1.88471345e-01 9.82075893e-01 -2.34352897e-03 -2.55360325e+01] [-1.39914842e-02 -2.99054674e-04 9.99902070e-01 -3.35043725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45401273899998 meters 0.03455492286291944 Centerline is valid? [True, True] Translation: X:167.85, Y:-25.54, Z:-3.35 [[ 9.82138318e-01 1.87633588e-01 1.40698577e-02 1.67846363e+02] [-1.87618618e-01 9.82239049e-01 -2.38834392e-03 -2.55389887e+01] [-1.42680972e-02 -2.94083174e-04 9.99898162e-01 -3.34977204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters 0.03363804965203476 Centerline is valid? [True, True] Translation: X:167.88, Y:-25.54, Z:-3.35 [[ 9.82298244e-01 1.86794684e-01 1.40679371e-02 1.67875124e+02] [-1.86779641e-01 9.82398934e-01 -2.38736195e-03 -2.55432106e+01] [-1.42662729e-02 -2.82502785e-04 9.99898192e-01 -3.34922781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51401273899998 meters 0.033413918012508766 Centerline is valid? [True, True] Translation: X:167.90, Y:-25.55, Z:-3.35 [[ 9.82421708e-01 1.86138639e-01 1.41419717e-02 1.67902845e+02] [-1.86123378e-01 9.82523451e-01 -2.39932060e-03 -2.55465342e+01] [-1.43414251e-02 -2.75006898e-04 9.99897119e-01 -3.34902082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters 0.033672283690752834 Centerline is valid? [True, True] Translation: X:167.93, Y:-25.55, Z:-3.35 [[ 9.82264208e-01 1.86985794e-01 1.39046337e-02 1.67932221e+02] [-1.86971138e-01 9.82362577e-01 -2.35819278e-03 -2.55476979e+01] [-1.41003404e-02 -2.83396826e-04 9.99900545e-01 -3.34959782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57401273899998 meters 0.03426134264149501 Centerline is valid? [True, True] Translation: X:167.96, Y:-25.55, Z:-3.35 [[ 9.82247694e-01 1.87125737e-01 1.31691086e-02 1.67959821e+02] [-1.87112610e-01 9.82335933e-01 -2.23295349e-03 -2.55490138e+01] [-1.33543316e-02 -2.70792856e-04 9.99910790e-01 -3.35240406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters 0.03462178329182881 Centerline is valid? [True, True] Translation: X:167.99, Y:-25.55, Z:-3.36 [[ 9.82169755e-01 1.87581945e-01 1.24734124e-02 1.67989218e+02] [-1.87570214e-01 9.82248922e-01 -2.11422849e-03 -2.55504451e+01] [-1.26485869e-02 -2.63109356e-04 9.99919969e-01 -3.35506473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63401273899999 meters 0.034340659542329954 Centerline is valid? [True, True] Translation: X:168.02, Y:-25.55, Z:-3.36 [[ 9.82130613e-01 1.87814681e-01 1.20459249e-02 1.68017436e+02] [-1.87803765e-01 9.82204449e-01 -2.04123795e-03 -2.55545176e+01] [-1.22149355e-02 -2.57507775e-04 9.99925362e-01 -3.35515049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters 0.035404172192602244 Centerline is valid? [True, True] Translation: X:168.05, Y:-25.55, Z:-3.36 [[ 9.81868810e-01 1.89233463e-01 1.11506172e-02 1.68046491e+02] [-1.89224206e-01 9.81932091e-01 -1.88906357e-03 -2.55534156e+01] [-1.13066229e-02 -2.55154091e-04 9.99936046e-01 -3.35634641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694012739 meters 0.036823368534265384 Centerline is valid? [True, True] Translation: X:168.07, Y:-25.55, Z:-3.36 [[ 9.81669226e-01 1.90262463e-01 1.12127510e-02 1.68074849e+02] [-1.90253174e-01 9.81733224e-01 -1.89914557e-03 -2.55525971e+01] [-1.13692663e-02 -2.68928703e-04 9.99935332e-01 -3.35653518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters 0.036882207669671485 Centerline is valid? [True, True] Translation: X:168.10, Y:-25.55, Z:-3.36 [[ 9.81565348e-01 1.90759088e-01 1.18506262e-02 1.68104323e+02] [-1.90748748e-01 9.81636840e-01 -2.00729017e-03 -2.55535221e+01] [-1.20159201e-02 -2.90205638e-04 9.99927764e-01 -3.35517997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754012739 meters 0.03757111462808379 Centerline is valid? [True, True] Translation: X:168.13, Y:-25.55, Z:-3.35 [[ 9.81382773e-01 1.91662669e-01 1.23803624e-02 1.68134176e+02] [-1.91651484e-01 9.81460810e-01 -2.09476849e-03 -2.55502695e+01] [-1.25523294e-02 -3.16945109e-04 9.99921166e-01 -3.35487171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters 0.036188897603892364 Centerline is valid? [True, True] Translation: X:168.16, Y:-25.55, Z:-3.35 [[ 9.81824296e-01 1.89322758e-01 1.33396106e-02 1.68162916e+02] [-1.89309601e-01 9.81914862e-01 -2.25372047e-03 -2.55490177e+01] [-1.35250425e-02 -3.12558844e-04 9.99908484e-01 -3.35480361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814012739 meters 0.03366757968936548 Centerline is valid? [True, True] Translation: X:168.19, Y:-25.55, Z:-3.35 [[ 9.82263878e-01 1.86940258e-01 1.45262937e-02 1.68191723e+02] [-1.86924404e-01 9.82371237e-01 -2.45359771e-03 -2.55539916e+01] [-1.47288893e-02 -3.05238394e-04 9.99891477e-01 -3.35321270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters 0.02895235263033997 Centerline is valid? [True, True] Translation: X:168.22, Y:-25.56, Z:-3.35 [[ 9.83576915e-01 1.79818200e-01 1.55521030e-02 1.68219949e+02] [-1.79799163e-01 9.83699837e-01 -2.62523729e-03 -2.55606595e+01] [-1.57706666e-02 -2.14132305e-04 9.99875612e-01 -3.35250543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874012739 meters 0.02589034197947475 Centerline is valid? [True, True] Translation: X:168.25, Y:-25.57, Z:-3.35 [[ 9.84375795e-01 1.75438804e-01 1.50173449e-02 1.68247605e+02] [-1.75420548e-01 9.84490328e-01 -2.53473970e-03 -2.55701967e+01] [-1.52291225e-02 -1.39214458e-04 9.99884020e-01 -3.35403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters 0.023743281088411214 Centerline is valid? [True, True] Translation: X:168.27, Y:-25.59, Z:-3.36 [[ 9.86164360e-01 1.65214546e-01 1.35649498e-02 1.68273910e+02] [-1.65198689e-01 9.86257651e-01 -2.28904729e-03 -2.55879444e+01] [-1.37567194e-02 1.64649361e-05 9.99905372e-01 -3.35854580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934012739 meters 0.02472976212948769 Centerline is valid? [True, True] Translation: X:168.30, Y:-25.60, Z:-3.36 [[ 9.87121030e-01 1.59443290e-01 1.30349020e-02 1.68301178e+02] [-1.59428152e-01 9.87207085e-01 -2.19905010e-03 -2.55999535e+01] [-1.32187713e-02 9.25982718e-05 9.99912624e-01 -3.35922211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters 0.02954603515022903 Centerline is valid? [True, True] Translation: X:168.33, Y:-25.62, Z:-3.36 [[ 9.88378978e-01 1.51456555e-01 1.29579092e-02 1.68327634e+02] [-1.51440917e-01 9.88463896e-01 -2.18533460e-03 -2.56164964e+01] [-1.31394087e-02 1.97581121e-04 9.99913655e-01 -3.36041200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99401273899997 meters 0.031043505696747832 Centerline is valid? [True, True] Translation: X:168.36, Y:-25.62, Z:-3.36 [[ 9.88706521e-01 1.49266968e-01 1.33711194e-02 1.68355415e+02] [-1.49250123e-01 9.88796904e-01 -2.25456936e-03 -2.56235422e+01] [-1.35578542e-02 2.33466206e-04 9.99908061e-01 -3.35975791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters 0.03135143860679218 Centerline is valid? [True, True] Translation: X:168.38, Y:-25.63, Z:-3.36 [[ 9.88993483e-01 1.47257752e-01 1.43890676e-02 1.68383460e+02] [-1.47238042e-01 9.89098112e-01 -2.42548273e-03 -2.56288918e+01] [-1.45893708e-02 2.80168461e-04 9.99893530e-01 -3.35646814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05401273899997 meters 0.0323789367068656 Centerline is valid? [True, True] Translation: X:168.41, Y:-25.64, Z:-3.36 [[ 9.89139626e-01 1.46308231e-01 1.40250477e-02 1.68410860e+02] [-1.46289418e-01 9.89239010e-01 -2.36354525e-03 -2.56358804e+01] [-1.42199304e-02 2.86160192e-04 9.99898851e-01 -3.35842323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters 0.03481475326048719 Centerline is valid? [True, True] Translation: X:168.44, Y:-25.65, Z:-3.36 [[ 9.89545498e-01 1.43701719e-01 1.22279527e-02 1.68438097e+02] [-1.43687229e-01 9.89621007e-01 -2.05993656e-03 -2.56465920e+01] [-1.23970553e-02 2.81400315e-04 9.99923114e-01 -3.36284697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11401273899997 meters 0.03591378043369023 Centerline is valid? [True, True] Translation: X:168.47, Y:-25.65, Z:-3.36 [[ 9.89802251e-01 1.41901322e-01 1.24707060e-02 1.68465693e+02] [-1.41886113e-01 9.89880760e-01 -2.10046891e-03 -2.56546626e+01] [-1.26425713e-02 3.09628851e-04 9.99920032e-01 -3.36312625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters 0.042287797914562775 Centerline is valid? [True, True] Translation: X:168.49, Y:-25.67, Z:-3.36 [[ 9.90424747e-01 1.37327373e-01 1.41425923e-02 1.68492125e+02] [-1.37307360e-01 9.90525628e-01 -2.38113532e-03 -2.56722530e+01] [-1.43355952e-02 4.16453338e-04 9.99897153e-01 -3.36139004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17401273899998 meters 0.04231998172896933 Centerline is valid? [True, True] Translation: X:168.52, Y:-25.68, Z:-3.36 [[ 9.90907815e-01 1.33758791e-01 1.45013189e-02 1.68521458e+02] [-1.33737374e-01 9.91013802e-01 -2.44111703e-03 -2.56789548e+01] [-1.46975280e-02 4.79553637e-04 9.99891871e-01 -3.36038076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters 0.05039292195538901 Centerline is valid? [True, True] Translation: X:168.55, Y:-25.70, Z:-3.36 [[ 9.91839687e-01 1.26645893e-01 1.46578888e-02 1.68548366e+02] [-1.26623239e-01 9.91947815e-01 -2.46719057e-03 -2.57014579e+01] [-1.48523203e-02 5.91028173e-04 9.99889524e-01 -3.35946392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23401273899998 meters 0.052965971768556115 Centerline is valid? [True, True] Translation: X:168.58, Y:-25.71, Z:-3.36 [[ 9.92135447e-01 1.24193791e-01 1.55935116e-02 1.68578125e+02] [-1.24167849e-01 9.92257757e-01 -2.62473749e-03 -2.57149726e+01] [-1.57987590e-02 6.67882307e-04 9.99874969e-01 -3.35836936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters 0.05468846955881916 Centerline is valid? [True, True] Translation: X:168.61, Y:-25.73, Z:-3.36 [[ 9.92311903e-01 1.22705161e-01 1.61409823e-02 1.68608123e+02] [-1.22677165e-01 9.92442911e-01 -2.71705251e-03 -2.57269196e+01] [-1.63523998e-02 7.16033603e-04 9.99866034e-01 -3.35755541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29401273899998 meters 0.05520529019474426 Centerline is valid? [True, True] Translation: X:168.64, Y:-25.74, Z:-3.36 [[ 9.92400180e-01 1.22104951e-01 1.52401932e-02 1.68638196e+02] [-1.22079905e-01 9.92516957e-01 -2.56653712e-03 -2.57392897e+01] [-1.54395370e-02 6.86510564e-04 9.99880568e-01 -3.35921729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters 0.05441256152865589 Centerline is valid? [True, True] Translation: X:168.67, Y:-25.75, Z:-3.37 [[ 9.92231479e-01 1.23798847e-01 1.22693507e-02 1.68667997e+02] [-1.23782730e-01 9.92307191e-01 -2.06733921e-03 -2.57525536e+01] [-1.24308992e-02 5.32545310e-04 9.99922592e-01 -3.36564474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35401273899998 meters 0.05397234332570423 Centerline is valid? [True, True] Translation: X:168.70, Y:-25.76, Z:-3.37 [[ 9.92109296e-01 1.24814973e-01 1.18476753e-02 1.68698078e+02] [-1.24800023e-01 9.92179909e-01 -1.99573534e-03 -2.57621353e+01] [-1.20041230e-02 5.01397433e-04 9.99927822e-01 -3.36728621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters 0.05202495151243599 Centerline is valid? [True, True] Translation: X:168.73, Y:-25.77, Z:-3.36 [[ 9.91726583e-01 1.27572641e-01 1.42690725e-02 1.68726821e+02] [-1.27551189e-01 9.91829068e-01 -2.40722561e-03 -2.57712455e+01] [-1.44595770e-02 5.67272464e-04 9.99895294e-01 -3.36238271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414012739 meters 0.049669152879709834 Centerline is valid? [True, True] Translation: X:168.76, Y:-25.78, Z:-3.36 [[ 9.91458489e-01 1.29493964e-01 1.55363105e-02 1.68757668e+02] [-1.29468769e-01 9.91580036e-01 -2.62090944e-03 -2.57767241e+01] [-1.57448873e-02 5.87055912e-04 9.99875869e-01 -3.36053671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters 0.0458781385889682 Centerline is valid? [True, True] Translation: X:168.79, Y:-25.79, Z:-3.36 [[ 9.90942496e-01 1.33415244e-01 1.52755332e-02 1.68787379e+02] [-1.33391347e-01 9.91060092e-01 -2.57731179e-03 -2.57852651e+01] [-1.54828240e-02 5.16343834e-04 9.99880001e-01 -3.36263489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474012739 meters 0.04518496227048871 Centerline is valid? [True, True] Translation: X:168.82, Y:-25.79, Z:-3.37 [[ 9.90783751e-01 1.34781236e-01 1.34750617e-02 1.68818490e+02] [-1.34762778e-01 9.90875284e-01 -2.27269585e-03 -2.57940650e+01] [-1.36584223e-02 4.35813380e-04 9.99906624e-01 -3.36645158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters 0.041909032485944325 Centerline is valid? [True, True] Translation: X:168.85, Y:-25.80, Z:-3.37 [[ 9.90318768e-01 1.38250412e-01 1.24724219e-02 1.68849040e+02] [-1.38234839e-01 9.90397240e-01 -2.10635784e-03 -2.58007917e+01] [-1.26438571e-02 3.61842467e-04 9.99919998e-01 -3.36828587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534012739 meters 0.039269900605447196 Centerline is valid? [True, True] Translation: X:168.88, Y:-25.81, Z:-3.37 [[ 9.89900118e-01 1.41074847e-01 1.39872515e-02 1.68879634e+02] [-1.41055537e-01 9.89998866e-01 -2.36255466e-03 -2.58056662e+01] [-1.41806602e-02 3.65713865e-04 9.99899383e-01 -3.36609052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters 0.032319748631940044 Centerline is valid? [True, True] Translation: X:168.91, Y:-25.81, Z:-3.36 [[ 9.88821570e-01 1.48209680e-01 1.63031747e-02 1.68910602e+02] [-1.48184404e-01 9.88955912e-01 -2.75426669e-03 -2.58061516e+01] [-1.65313300e-02 3.07602084e-04 9.99863301e-01 -3.36333564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594012739 meters 0.028698165029648833 Centerline is valid? [True, True] Translation: X:168.94, Y:-25.81, Z:-3.36 [[ 9.88137093e-01 1.52691744e-01 1.64413105e-02 1.68942072e+02] [-1.52666661e-01 9.88273837e-01 -2.77749450e-03 -2.58070618e+01] [-1.66726175e-02 2.34505360e-04 9.99860975e-01 -3.36288079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters 0.02395104048280597 Centerline is valid? [True, True] Translation: X:168.97, Y:-25.80, Z:-3.36 [[ 9.86934313e-01 1.60397485e-01 1.52744221e-02 1.68973704e+02] [-1.60376751e-01 9.87052500e-01 -2.58079160e-03 -2.58041248e+01] [-1.54906090e-02 9.74095967e-05 9.99880009e-01 -3.36433282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654012739 meters 0.023370077981785347 Centerline is valid? [True, True] Translation: X:169.00, Y:-25.81, Z:-3.37 [[ 9.86500900e-01 1.63075545e-01 1.49110745e-02 1.69002952e+02] [-1.63056091e-01 9.86613584e-01 -2.51946045e-03 -2.58079763e+01] [-1.51223311e-02 5.41084826e-05 9.99885650e-01 -3.36674121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters 0.022982518429429766 Centerline is valid? [True, True] Translation: X:169.03, Y:-25.81, Z:-3.37 [[ 9.85937982e-01 1.66445777e-01 1.49029911e-02 1.69032520e+02] [-1.66426730e-01 9.86050609e-01 -2.51797382e-03 -2.58109941e+01] [-1.51142095e-02 2.30995799e-06 9.99885774e-01 -3.36782222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71401273899997 meters 0.02305992905059851 Centerline is valid? [True, True] Translation: X:169.06, Y:-25.82, Z:-3.37 [[ 9.85798862e-01 1.67285859e-01 1.46984567e-02 1.69061107e+02] [-1.67267429e-01 9.85908435e-01 -2.48308896e-03 -2.58155214e+01] [-1.49067181e-02 -1.07467882e-05 9.99888889e-01 -3.36967618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters 0.023453330225941753 Centerline is valid? [True, True] Translation: X:169.09, Y:-25.82, Z:-3.37 [[ 9.85537938e-01 1.68982853e-01 1.26399249e-02 1.69089819e+02] [-1.68969364e-01 9.85618991e-01 -2.13526780e-03 -2.58195221e+01] [-1.28189736e-02 -3.13726473e-05 9.99917833e-01 -3.37341954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77401273899997 meters 0.0238502747188933 Centerline is valid? [True, True] Translation: X:169.12, Y:-25.82, Z:-3.37 [[ 9.85336583e-01 1.70187362e-01 1.21687784e-02 1.69118497e+02] [-1.70174959e-01 9.85411721e-01 -2.05516859e-03 -2.58244265e+01] [-1.23410206e-02 -4.57885607e-05 9.99923846e-01 -3.37363108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters 0.02416454222133659 Centerline is valid? [True, True] Translation: X:169.15, Y:-25.83, Z:-3.37 [[ 9.84984217e-01 1.72135507e-01 1.32461235e-02 1.69146258e+02] [-1.72120995e-01 9.85073277e-01 -2.23642040e-03 -2.58313277e+01] [-1.34333697e-02 -7.70971628e-05 9.99909765e-01 -3.37203621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83401273899997 meters 0.024239110248768472 Centerline is valid? [True, True] Translation: X:169.17, Y:-25.84, Z:-3.37 [[ 9.84886085e-01 1.72650474e-01 1.38279925e-02 1.69174592e+02] [-1.72634720e-01 9.84983150e-01 -2.33397526e-03 -2.58367764e+01] [-1.40233015e-02 -8.84918516e-05 9.99901665e-01 -3.37145557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters 0.02582538497348441 Centerline is valid? [True, True] Translation: X:169.20, Y:-25.84, Z:-3.37 [[ 9.84377704e-01 1.75541623e-01 1.36262319e-02 1.69203353e+02] [-1.75526611e-01 9.84472002e-01 -2.29929944e-03 -2.58371196e+01] [-1.38182665e-02 -1.28387193e-04 9.99904515e-01 -3.37293832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89401273899998 meters 0.02838430648615647 Centerline is valid? [True, True] Translation: X:169.23, Y:-25.84, Z:-3.38 [[ 9.83995055e-01 1.77708467e-01 1.31693467e-02 1.69231504e+02] [-1.77694646e-01 9.84083166e-01 -2.22169950e-03 -2.58363268e+01] [-1.33545472e-02 -1.53981072e-04 9.99910812e-01 -3.37594370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters 0.03135823279870451 Centerline is valid? [True, True] Translation: X:169.26, Y:-25.84, Z:-3.37 [[ 9.83123211e-01 1.82459111e-01 1.33201184e-02 1.69261115e+02] [-1.82445420e-01 9.83213417e-01 -2.24619443e-03 -2.58360473e+01] [-1.35063578e-02 -2.21908714e-04 9.99908760e-01 -3.37469924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95401273899998 meters 0.033085451018380875 Centerline is valid? [True, True] Translation: X:169.29, Y:-25.84, Z:-3.37 [[ 9.82787697e-01 1.84272403e-01 1.31158066e-02 1.69290073e+02] [-1.84259294e-01 9.82875181e-01 -2.21138032e-03 -2.58369353e+01] [-1.32986971e-02 -2.43391894e-04 9.99911539e-01 -3.37491840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters 0.033085451018380875 Centerline is valid? [True, True] Translation: X:169.32, Y:-25.84, Z:-3.38 [[ 9.82799894e-01 1.84207332e-01 1.31158786e-02 1.69317207e+02] [-1.84194224e-01 9.82887379e-01 -2.21095316e-03 -2.58413677e+01] [-1.32987053e-02 -2.42944545e-04 9.99911539e-01 -3.37547683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01401273899998 meters 0.03606128006506852 Centerline is valid? [True, True] Translation: X:169.35, Y:-25.84, Z:-3.38 [[ 9.82604437e-01 1.85189570e-01 1.39048166e-02 1.69346368e+02] [-1.85174951e-01 9.82702777e-01 -2.34284509e-03 -2.58371666e+01] [-1.40981724e-02 -2.72733750e-04 9.99900579e-01 -3.37671484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters 0.0358050807835182 Centerline is valid? [True, True] Translation: X:169.38, Y:-25.84, Z:-3.38 [[ 9.82646697e-01 1.84925435e-01 1.44240055e-02 1.69375223e+02] [-1.84909689e-01 9.82752515e-01 -2.42939005e-03 -2.58411812e+01] [-1.46244837e-02 -2.79906264e-04 9.99893017e-01 -3.37673382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07401273899998 meters 0.03379514036962712 Centerline is valid? [True, True] Translation: X:169.40, Y:-25.85, Z:-3.38 [[ 9.83013808e-01 1.82919689e-01 1.49746950e-02 1.69403066e+02] [-1.82902495e-01 9.83127825e-01 -2.52146909e-03 -2.58474908e+01] [-1.51832657e-02 -2.60270153e-04 9.99884694e-01 -3.37611121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters 0.02900288557807606 Centerline is valid? [True, True] Translation: X:169.43, Y:-25.86, Z:-3.37 [[ 9.83350104e-01 1.80992644e-01 1.62553386e-02 1.69430372e+02] [-1.80972132e-01 9.83484418e-01 -2.73635740e-03 -2.58590107e+01] [-1.64821328e-02 -2.50965958e-04 9.99864129e-01 -3.37285513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13401273899999 meters 0.026397489465419335 Centerline is valid? [True, True] Translation: X:169.46, Y:-25.87, Z:-3.37 [[ 9.84139596e-01 1.76595320e-01 1.68329438e-02 1.69457907e+02] [-1.76572695e-01 9.84283526e-01 -2.83272146e-03 -2.58664982e+01] [-1.70686347e-02 -1.84444917e-04 9.99854303e-01 -3.37252693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters 0.024965835983391717 Centerline is valid? [True, True] Translation: X:169.49, Y:-25.88, Z:-3.37 [[ 9.84497585e-01 1.74654094e-01 1.61385175e-02 1.69486849e+02] [-1.74633046e-01 9.84629842e-01 -2.71527583e-03 -2.58752877e+01] [-1.63647000e-02 -1.45135972e-04 9.99866079e-01 -3.37421754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194012739 meters 0.02406862318118835 Centerline is valid? [True, True] Translation: X:169.52, Y:-25.88, Z:-3.38 [[ 9.84888369e-01 1.72561189e-01 1.47491225e-02 1.69515455e+02] [-1.72543380e-01 9.84998795e-01 -2.48120369e-03 -2.58840459e+01] [-1.49560273e-02 -1.01154780e-04 9.99888147e-01 -3.37730747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters 0.024055105351314582 Centerline is valid? [True, True] Translation: X:169.54, Y:-25.89, Z:-3.38 [[ 9.85036118e-01 1.71711729e-01 1.47962545e-02 1.69543493e+02] [-1.71693714e-01 9.85147235e-01 -2.48882940e-03 -2.58885273e+01] [-1.50038504e-02 -8.88370402e-05 9.99887432e-01 -3.37910239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254012739 meters 0.023718520732533485 Centerline is valid? [True, True] Translation: X:169.57, Y:-25.90, Z:-3.38 [[ 9.85237796e-01 1.70579879e-01 1.44564793e-02 1.69571593e+02] [-1.70562569e-01 9.85343849e-01 -2.43109004e-03 -2.58972611e+01] [-1.46592980e-02 -7.05324436e-05 9.99892544e-01 -3.38018727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters 0.02365744473073486 Centerline is valid? [True, True] Translation: X:169.60, Y:-25.91, Z:-3.38 [[ 9.85302467e-01 1.70228881e-01 1.41836766e-02 1.69600849e+02] [-1.70212186e-01 9.85404548e-01 -2.38488449e-03 -2.59051315e+01] [-1.43826357e-02 -6.44020316e-05 9.99896562e-01 -3.38059716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314012739 meters 0.0242482669609446 Centerline is valid? [True, True] Translation: X:169.63, Y:-25.91, Z:-3.38 [[ 9.85018577e-01 1.71847758e-01 1.43788658e-02 1.69628761e+02] [-1.71830777e-01 9.85123515e-01 -2.41742068e-03 -2.59096956e+01] [-1.45803872e-02 -8.95274124e-05 9.99893696e-01 -3.37996252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters 0.02533202466626221 Centerline is valid? [True, True] Translation: X:169.66, Y:-25.91, Z:-3.38 [[ 9.84612296e-01 1.74190981e-01 1.40046146e-02 1.69656365e+02] [-1.74175116e-01 9.84711880e-01 -2.35406699e-03 -2.59100805e+01] [-1.42005676e-02 -1.21412070e-04 9.99899159e-01 -3.38109969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374012739 meters 0.029268942429416675 Centerline is valid? [True, True] Translation: X:169.69, Y:-25.91, Z:-3.39 [[ 9.83512891e-01 1.80420169e-01 1.22863731e-02 1.69686568e+02] [-1.80408449e-01 9.83589614e-01 -2.06475357e-03 -2.59061891e+01] [-1.24572722e-02 -1.85853771e-04 9.99922388e-01 -3.38550975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters 0.03177171672553061 Centerline is valid? [True, True] Translation: X:169.71, Y:-25.91, Z:-3.39 [[ 9.82971767e-01 1.83365740e-01 1.19795904e-02 1.69714647e+02] [-1.83354820e-01 9.83044739e-01 -2.01297283e-03 -2.59063455e+01] [-1.21455836e-02 -2.17820186e-04 9.99926216e-01 -3.38693021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434012739 meters 0.035168263334707565 Centerline is valid? [True, True] Translation: X:169.75, Y:-25.90, Z:-3.38 [[ 9.82136301e-01 1.87650241e-01 1.39883477e-02 1.69745320e+02] [-1.87635803e-01 9.82235861e-01 -2.34925933e-03 -2.59039844e+01] [-1.41806958e-02 -3.17421981e-04 9.99899398e-01 -3.38346224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters 0.03707249682444528 Centerline is valid? [True, True] Translation: X:169.77, Y:-25.91, Z:-3.38 [[ 9.81872648e-01 1.88939842e-01 1.50943320e-02 1.69773544e+02] [-1.88923186e-01 9.81988597e-01 -2.53484875e-03 -2.59051355e+01] [-1.53013958e-02 -3.62770635e-04 9.99882861e-01 -3.38212320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49401273899997 meters 0.03827043841493966 Centerline is valid? [True, True] Translation: X:169.80, Y:-25.91, Z:-3.38 [[ 9.81547347e-01 1.90566623e-01 1.57850701e-02 1.69802730e+02] [-1.90548639e-01 9.81674180e-01 -2.64952493e-03 -2.59077107e+01] [-1.60007067e-02 -4.07189449e-04 9.99871898e-01 -3.38005667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters 0.038915424298544166 Centerline is valid? [True, True] Translation: X:169.83, Y:-25.91, Z:-3.38 [[ 9.81482584e-01 1.90841459e-01 1.64764644e-02 1.69830522e+02] [-1.90821916e-01 9.81620778e-01 -2.76480757e-03 -2.59089547e+01] [-1.67012797e-02 -4.30460034e-04 9.99860431e-01 -3.37919884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55401273899997 meters 0.03811740308635406 Centerline is valid? [True, True] Translation: X:169.86, Y:-25.91, Z:-3.38 [[ 9.81584800e-01 1.90306301e-01 1.65768843e-02 1.69859184e+02] [-1.90286459e-01 9.81724672e-01 -2.78065267e-03 -2.59132087e+01] [-1.68031120e-02 -4.24910221e-04 9.99858727e-01 -3.37987447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters 0.03875998660304175 Centerline is valid? [True, True] Translation: X:169.89, Y:-25.92, Z:-3.38 [[ 9.81730714e-01 1.89595484e-01 1.60734847e-02 1.69886575e+02] [-1.89576745e-01 9.81862206e-01 -2.69553456e-03 -2.59152147e+01] [-1.62930083e-02 -4.00869841e-04 9.99867180e-01 -3.38165133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61401273899997 meters 0.03615588358767673 Centerline is valid? [True, True] Translation: X:169.91, Y:-25.92, Z:-3.38 [[ 9.82208213e-01 1.87146793e-01 1.55917779e-02 1.69914833e+02] [-1.87128867e-01 9.82331897e-01 -2.61382941e-03 -2.59208910e+01] [-1.58054706e-02 -3.50347017e-04 9.99875024e-01 -3.38319673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters 0.035267935646639326 Centerline is valid? [True, True] Translation: X:169.94, Y:-25.93, Z:-3.38 [[ 9.82415421e-01 1.86057741e-01 1.55710836e-02 1.69943185e+02] [-1.86039737e-01 9.82538756e-01 -2.60964713e-03 -2.59250746e+01] [-1.57847381e-02 -3.33082712e-04 9.99875358e-01 -3.38242881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67401273899998 meters 0.03100642642384617 Centerline is valid? [True, True] Translation: X:169.97, Y:-25.93, Z:-3.38 [[ 9.82793833e-01 1.83969179e-01 1.64809932e-02 1.69970766e+02] [-1.83948729e-01 9.82931961e-01 -2.76134640e-03 -2.59337967e+01] [-1.67076976e-02 -3.17823531e-04 9.99860366e-01 -3.38063078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters 0.03012051397680486 Centerline is valid? [True, True] Translation: X:170.00, Y:-25.94, Z:-3.38 [[ 9.83037734e-01 1.82620350e-01 1.69298784e-02 1.69998337e+02] [-1.82598585e-01 9.83183460e-01 -2.83573092e-03 -2.59374719e+01] [-1.71630386e-02 -3.03741340e-04 9.99852658e-01 -3.37946639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73401273899998 meters 0.031094859481573735 Centerline is valid? [True, True] Translation: X:170.03, Y:-25.94, Z:-3.38 [[ 9.83062166e-01 1.82510139e-01 1.66980802e-02 1.70026328e+02] [-1.82488968e-01 9.83203926e-01 -2.79586862e-03 -2.59380448e+01] [-1.69278924e-02 -2.98702762e-04 9.99856668e-01 -3.38054917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters 0.030426531536667637 Centerline is valid? [True, True] Translation: X:170.06, Y:-25.94, Z:-3.38 [[ 9.83100196e-01 1.82294331e-01 1.68160814e-02 1.70055816e+02] [-1.82272846e-01 9.83243962e-01 -2.81454646e-03 -2.59388637e+01] [-1.70473863e-02 -2.98133832e-04 9.99854638e-01 -3.38162128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79401273899998 meters 0.03191291706867515 Centerline is valid? [True, True] Translation: X:170.08, Y:-25.94, Z:-3.38 [[ 9.83205491e-01 1.81670766e-01 1.73981330e-02 1.70084320e+02] [-1.81647684e-01 9.83359367e-01 -2.91114770e-03 -2.59378761e+01] [-1.76374875e-02 -2.98074168e-04 9.99844403e-01 -3.38163102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters 0.029385946651422242 Centerline is valid? [True, True] Translation: X:170.11, Y:-25.94, Z:-3.38 [[ 9.83440265e-01 1.80428405e-01 1.70538905e-02 1.70112481e+02] [-1.80406063e-01 9.83588083e-01 -2.85230843e-03 -2.59434953e+01] [-1.72886409e-02 -2.71550289e-04 9.99850503e-01 -3.38107471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85401273899998 meters 0.02918563147031215 Centerline is valid? [True, True] Translation: X:170.14, Y:-25.95, Z:-3.38 [[ 9.83574376e-01 1.79795784e-01 1.59663124e-02 1.70140613e+02] [-1.79776127e-01 9.83703927e-01 -2.66975630e-03 -2.59465217e+01] [-1.61861352e-02 -2.44457937e-04 9.99868966e-01 -3.38334500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters 0.029055048962174944 Centerline is valid? [True, True] Translation: X:170.17, Y:-25.95, Z:-3.39 [[ 9.83666562e-01 1.79355258e-01 1.52245256e-02 1.70168748e+02] [-1.79337345e-01 9.83784346e-01 -2.54492859e-03 -2.59491113e+01] [-1.54340963e-02 -2.26964834e-04 9.99880861e-01 -3.38528435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914012739 meters 0.028082467720191337 Centerline is valid? [True, True] Translation: X:170.20, Y:-25.95, Z:-3.39 [[ 9.83867956e-01 1.78281112e-01 1.48219252e-02 1.70197697e+02] [-1.78264029e-01 9.83979574e-01 -2.47649549e-03 -2.59505852e+01] [-1.50259840e-02 -2.05671547e-04 9.99887082e-01 -3.38663123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters 0.027370027738011542 Centerline is valid? [True, True] Translation: X:170.23, Y:-25.95, Z:-3.39 [[ 9.83927251e-01 1.77918023e-01 1.52427434e-02 1.70226426e+02] [-1.77899925e-01 9.84045291e-01 -2.54604633e-03 -2.59525965e+01] [-1.54525374e-02 -2.06558540e-04 9.99880581e-01 -3.38590620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974012739 meters 0.027489615124175727 Centerline is valid? [True, True] Translation: X:170.25, Y:-25.95, Z:-3.39 [[ 9.83961472e-01 1.77683497e-01 1.57606048e-02 1.70254805e+02] [-1.77664130e-01 9.84087664e-01 -2.63178342e-03 -2.59537083e+01] [-1.59774412e-02 -2.10520646e-04 9.99872330e-01 -3.38544878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters 0.02694988553381312 Centerline is valid? [True, True] Translation: X:170.28, Y:-25.95, Z:-3.39 [[ 9.84162588e-01 1.76546579e-01 1.59782913e-02 1.70283596e+02] [-1.76526540e-01 9.84292267e-01 -2.66708150e-03 -2.59529209e+01] [-1.61981726e-02 -1.95750643e-04 9.99868782e-01 -3.38628496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034012739 meters 0.026218913549106913 Centerline is valid? [True, True] Translation: X:170.31, Y:-25.96, Z:-3.39 [[ 9.84310623e-01 1.75714178e-01 1.60350946e-02 1.70312274e+02] [-1.75693899e-01 9.84441209e-01 -2.67578539e-03 -2.59568070e+01] [-1.62557813e-02 -1.83464312e-04 9.99867849e-01 -3.38667341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters 0.026217850809383225 Centerline is valid? [True, True] Translation: X:170.34, Y:-25.96, Z:-3.39 [[ 9.84401191e-01 1.75195617e-01 1.61490464e-02 1.70339545e+02] [-1.75174992e-01 9.84533628e-01 -2.69404840e-03 -2.59595334e+01] [-1.63712647e-02 -1.76884618e-04 9.99865966e-01 -3.38744867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094012739 meters 0.025249931861331513 Centerline is valid? [True, True] Translation: X:170.37, Y:-25.96, Z:-3.39 [[ 9.84698600e-01 1.73494566e-01 1.63799714e-02 1.70368254e+02] [-1.73473128e-01 9.84834815e-01 -2.73151825e-03 -2.59645487e+01] [-1.66054697e-02 -1.51762693e-04 9.99862108e-01 -3.38848624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters 0.023531601738880876 Centerline is valid? [True, True] Translation: X:170.39, Y:-25.98, Z:-3.39 [[ 9.85495270e-01 1.68957167e-01 1.58917946e-02 1.70394715e+02] [-1.68936409e-01 9.85623392e-01 -2.64941823e-03 -2.59757467e+01] [-1.61109627e-02 -7.37135825e-05 9.99870207e-01 -3.39097050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154012739 meters 0.023027089891421 Centerline is valid? [True, True] Translation: X:170.42, Y:-25.98, Z:-3.39 [[ 9.85943853e-01 1.66333289e-01 1.57465850e-02 1.70422166e+02] [-1.66312589e-01 9.86069590e-01 -2.62422007e-03 -2.59839609e+01] [-1.59637238e-02 -3.15216821e-05 9.99872571e-01 -3.39217341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters 0.023049344990669688 Centerline is valid? [True, True] Translation: X:170.45, Y:-25.99, Z:-3.39 [[ 9.86442784e-01 1.63422110e-01 1.49615674e-02 1.70450090e+02] [-1.63403099e-01 9.86556239e-01 -2.49273041e-03 -2.59907840e+01] [-1.51677950e-02 1.41694426e-05 9.99884962e-01 -3.39375075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21401273899997 meters 0.023124128646688998 Centerline is valid? [True, True] Translation: X:170.48, Y:-26.00, Z:-3.39 [[ 9.86516439e-01 1.63006022e-01 1.46408018e-02 1.70478956e+02] [-1.62987781e-01 9.86625074e-01 -2.43861407e-03 -2.59956051e+01] [-1.48424909e-02 1.94610729e-05 9.99889844e-01 -3.39443203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters 0.02330224866546666 Centerline is valid? [True, True] Translation: X:170.51, Y:-26.00, Z:-3.40 [[ 9.86547449e-01 1.62887402e-01 1.38501189e-02 1.70505946e+02] [-1.62871074e-01 9.86644664e-01 -2.30638361e-03 -2.60018997e+01] [-1.40408268e-02 1.95731203e-05 9.99901423e-01 -3.39616495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27401273899997 meters 0.023126071164449126 Centerline is valid? [True, True] Translation: X:170.53, Y:-26.01, Z:-3.40 [[ 9.86606981e-01 1.62510117e-01 1.40401863e-02 1.70533937e+02] [-1.62493312e-01 9.86706877e-01 -2.33712426e-03 -2.60080104e+01] [-1.42333547e-02 2.43867333e-05 9.99898700e-01 -3.39618290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters 0.023018496107784187 Centerline is valid? [True, True] Translation: X:170.56, Y:-26.02, Z:-3.39 [[ 9.86869692e-01 1.60729020e-01 1.59496995e-02 1.70561494e+02] [-1.60707114e-01 9.86998571e-01 -2.65410904e-03 -2.60153467e+01] [-1.61689229e-02 5.60295950e-05 9.99869273e-01 -3.39387089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33401273899997 meters 0.02332403566167467 Centerline is valid? [True, True] Translation: X:170.59, Y:-26.02, Z:-3.39 [[ 9.87014923e-01 1.59752732e-01 1.67513395e-02 1.70588717e+02] [-1.59728442e-01 9.87157059e-01 -2.78671355e-03 -2.60217341e+01] [-1.69813881e-02 7.48625033e-05 9.99855803e-01 -3.39254379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters 0.023836265973001425 Centerline is valid? [True, True] Translation: X:170.62, Y:-26.03, Z:-3.39 [[ 9.87428730e-01 1.57249446e-01 1.60348197e-02 1.70616498e+02] [-1.57226874e-01 9.87558909e-01 -2.66661176e-03 -2.60304931e+01] [-1.62546522e-02 1.11984493e-04 9.99867878e-01 -3.39312532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39401273899998 meters 0.02437268900892711 Centerline is valid? [True, True] Translation: X:170.64, Y:-26.04, Z:-3.39 [[ 9.87601179e-01 1.56212336e-01 1.55440279e-02 1.70644124e+02] [-1.56191009e-01 9.87723489e-01 -2.58415567e-03 -2.60379260e+01] [-1.57568784e-02 1.24277787e-04 9.99875845e-01 -3.39487201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters 0.024595950733105 Centerline is valid? [True, True] Translation: X:170.67, Y:-26.04, Z:-3.40 [[ 9.87528147e-01 1.56741344e-01 1.48428203e-02 1.70671728e+02] [-1.56721962e-01 9.87639681e-01 -2.46735726e-03 -2.60414249e+01] [-1.50460952e-02 1.10388823e-04 9.99886795e-01 -3.39736320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45401273899998 meters 0.02415391186026518 Centerline is valid? [True, True] Translation: X:170.70, Y:-26.04, Z:-3.40 [[ 9.87349979e-01 1.57871611e-01 1.47164308e-02 1.70700481e+02] [-1.57852696e-01 9.87459643e-01 -2.44541113e-03 -2.60441580e+01] [-1.49179425e-02 9.14483462e-05 9.99888717e-01 -3.39845156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters 0.023449871562129833 Centerline is valid? [True, True] Translation: X:170.73, Y:-26.05, Z:-3.40 [[ 9.87105898e-01 1.59503350e-01 1.34397652e-02 1.70729592e+02] [-1.59487733e-01 9.87197385e-01 -2.23276106e-03 -2.60471026e+01] [-1.36238339e-02 6.04939282e-05 9.99907189e-01 -3.40019911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51401273899998 meters 0.02372088611829507 Centerline is valid? [True, True] Translation: X:170.76, Y:-26.05, Z:-3.40 [[ 9.87047096e-01 1.59931461e-01 1.26474485e-02 1.70756459e+02] [-1.59917673e-01 9.87128120e-01 -2.10066021e-03 -2.60521778e+01] [-1.28206137e-02 5.09000305e-05 9.99917811e-01 -3.40300037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters 0.02359810224388223 Centerline is valid? [True, True] Translation: X:170.78, Y:-26.06, Z:-3.40 [[ 9.86909753e-01 1.60791231e-01 1.24626989e-02 1.70784109e+02] [-1.60777921e-01 9.86988439e-01 -2.06921033e-03 -2.60556808e+01] [-1.26332506e-02 3.83970388e-05 9.99920197e-01 -3.40401316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57401273899998 meters 0.02325667956614685 Centerline is valid? [True, True] Translation: X:170.81, Y:-26.06, Z:-3.40 [[ 9.86725914e-01 1.61849174e-01 1.32972271e-02 1.70811670e+02] [-1.61834129e-01 9.86815507e-01 -2.20690972e-03 -2.60586645e+01] [-1.34790964e-02 2.56698395e-05 9.99909153e-01 -3.40256606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters 0.02261530015299706 Centerline is valid? [True, True] Translation: X:170.84, Y:-26.06, Z:-3.40 [[ 9.86426734e-01 1.63407894e-01 1.61294131e-02 1.70839512e+02] [-1.63385984e-01 9.86558594e-01 -2.67585606e-03 -2.60616014e+01] [-1.63498671e-02 4.21593466e-06 9.99866332e-01 -3.39768079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63401273899999 meters 0.022557958760601 Centerline is valid? [True, True] Translation: X:170.87, Y:-26.07, Z:-3.40 [[ 9.86312752e-01 1.64037732e-01 1.66966148e-02 1.70868356e+02] [-1.64014364e-01 9.86454065e-01 -2.76879007e-03 -2.60650988e+01] [-1.69246296e-02 -7.59169346e-06 9.99856768e-01 -3.39652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters 0.02248109635149738 Centerline is valid? [True, True] Translation: X:170.90, Y:-26.07, Z:-3.40 [[ 9.86156316e-01 1.64929142e-01 1.71493158e-02 1.70896589e+02] [-1.64904637e-01 9.86305418e-01 -2.84309061e-03 -2.60693200e+01] [-1.73833716e-02 -2.42699537e-05 9.99848897e-01 -3.39603122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694012739 meters 0.0225184173700638 Centerline is valid? [True, True] Translation: X:170.93, Y:-26.07, Z:-3.40 [[ 9.86129921e-01 1.65079684e-01 1.72184946e-02 1.70925441e+02] [-1.65055018e-01 9.86280233e-01 -2.85373044e-03 -2.60743148e+01] [-1.74533538e-02 -2.78499663e-05 9.99847678e-01 -3.39576051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters 0.02297157140930534 Centerline is valid? [True, True] Translation: X:170.95, Y:-26.08, Z:-3.40 [[ 9.85828374e-01 1.66950265e-01 1.64324912e-02 1.70953722e+02] [-1.66928072e-01 9.85965317e-01 -2.72276395e-03 -2.60763814e+01] [-1.66564326e-02 -5.88661107e-05 9.99861270e-01 -3.39702911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754012739 meters 0.023522114718468115 Centerline is valid? [True, True] Translation: X:170.98, Y:-26.08, Z:-3.40 [[ 9.85568061e-01 1.68589978e-01 1.52648757e-02 1.70982407e+02] [-1.68571037e-01 9.85686265e-01 -2.52841714e-03 -2.60780770e+01] [-1.54726441e-02 -8.12887492e-05 9.99880288e-01 -3.40002439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters 0.02524228718964135 Centerline is valid? [True, True] Translation: X:171.01, Y:-26.07, Z:-3.40 [[ 9.84940468e-01 1.72355804e-01 1.36290449e-02 1.71012186e+02] [-1.72341074e-01 9.85034751e-01 -2.25684863e-03 -2.60744002e+01] [-1.38140638e-02 -1.25982693e-04 9.99904573e-01 -3.40466498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814012739 meters 0.026318625857034254 Centerline is valid? [True, True] Translation: X:171.04, Y:-26.07, Z:-3.40 [[ 9.84676217e-01 1.73818034e-01 1.41435272e-02 1.71040421e+02] [-1.73802327e-01 9.84777776e-01 -2.34164707e-03 -2.60742911e+01] [-1.43352517e-02 -1.52413751e-04 9.99897233e-01 -3.40437926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters 0.0274211358476636 Centerline is valid? [True, True] Translation: X:171.07, Y:-26.07, Z:-3.40 [[ 9.84421993e-01 1.75058033e-01 1.63714497e-02 1.71069256e+02] [-1.75037177e-01 9.84558097e-01 -2.70942938e-03 -2.60723867e+01] [-1.65929508e-02 -1.98390479e-04 9.99862308e-01 -3.40008484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874012739 meters 0.027225510320360042 Centerline is valid? [True, True] Translation: X:171.10, Y:-26.08, Z:-3.40 [[ 9.84324193e-01 1.75540344e-01 1.70724888e-02 1.71098197e+02] [-1.75517765e-01 9.84472214e-01 -2.82379934e-03 -2.60755825e+01] [-1.73030816e-02 -2.16991078e-04 9.99850267e-01 -3.39891570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters 0.027225510320360042 Centerline is valid? [True, True] Translation: X:171.13, Y:-26.08, Z:-3.40 [[ 9.84336197e-01 1.75473012e-01 1.70726064e-02 1.71125338e+02] [-1.75450434e-01 9.84484218e-01 -2.82308835e-03 -2.60799320e+01] [-1.73030874e-02 -2.16528161e-04 9.99850267e-01 -3.39947404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934012739 meters 0.026520493678333337 Centerline is valid? [True, True] Translation: X:171.15, Y:-26.08, Z:-3.40 [[ 9.84454906e-01 1.74755170e-01 1.75831697e-02 1.71154741e+02] [-1.74731131e-01 9.84611896e-01 -2.90618067e-03 -2.60814741e+01] [-1.78204682e-02 -2.11323305e-04 9.99841181e-01 -3.40061535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters 0.02550840008347966 Centerline is valid? [True, True] Translation: X:171.18, Y:-26.09, Z:-3.40 [[ 9.84698705e-01 1.73343677e-01 1.79005479e-02 1.71183479e+02] [-1.73318545e-01 9.84861378e-01 -2.95776901e-03 -2.60860757e+01] [-1.81422689e-02 -1.89985608e-04 9.99835397e-01 -3.40096500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99401273899997 meters 0.02392347216205768 Centerline is valid? [True, True] Translation: X:171.21, Y:-26.09, Z:-3.40 [[ 9.85267228e-01 1.70080629e-01 1.79184184e-02 1.71211484e+02] [-1.70054923e-01 9.85430141e-01 -2.95986120e-03 -2.60924555e+01] [-1.81607646e-02 -1.30861011e-04 9.99835071e-01 -3.40132370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters 0.02328006343217745 Centerline is valid? [True, True] Translation: X:171.24, Y:-26.10, Z:-3.40 [[ 9.85624962e-01 1.68059776e-01 1.73016277e-02 1.71238880e+02] [-1.68035511e-01 9.85776802e-01 -2.85723957e-03 -2.60983862e+01] [-1.75357302e-02 -9.11212003e-05 9.99846233e-01 -3.40328728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05401273899997 meters 0.022629235220033187 Centerline is valid? [True, True] Translation: X:171.27, Y:-26.11, Z:-3.41 [[ 9.86260410e-01 1.64376492e-01 1.64551970e-02 1.71267067e+02] [-1.64354050e-01 9.86397672e-01 -2.71627860e-03 -2.61059024e+01] [-1.66778603e-02 -2.55202086e-05 9.99860914e-01 -3.40549072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters 0.02254133940000116 Centerline is valid? [True, True] Translation: X:171.29, Y:-26.11, Z:-3.41 [[ 9.86533715e-01 1.62746358e-01 1.62742678e-02 1.71294238e+02] [-1.62724197e-01 9.86667939e-01 -2.68569635e-03 -2.61115940e+01] [-1.64943856e-02 1.31283805e-06 9.99863958e-01 -3.40669027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11401273899997 meters 0.022804550010093 Centerline is valid? [True, True] Translation: X:171.32, Y:-26.12, Z:-3.41 [[ 9.86845630e-01 1.60921061e-01 1.54956594e-02 1.71322286e+02] [-1.60900759e-01 9.86967280e-01 -2.55629161e-03 -2.61186982e+01] [-1.57050699e-02 2.94018590e-05 9.99876667e-01 -3.40976051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters 0.02302243486524008 Centerline is valid? [True, True] Translation: X:171.35, Y:-26.12, Z:-3.41 [[ 9.86999791e-01 1.60050392e-01 1.46725717e-02 1.71350707e+02] [-1.60032102e-01 9.87108844e-01 -2.41990831e-03 -2.61243921e+01] [-1.48707326e-02 4.03665063e-05 9.99889424e-01 -3.41120220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17401273899998 meters 0.023583599544205237 Centerline is valid? [True, True] Translation: X:171.38, Y:-26.13, Z:-3.41 [[ 9.87244776e-01 1.58616757e-01 1.37286604e-02 1.71377599e+02] [-1.58600614e-01 9.87340226e-01 -2.26370922e-03 -2.61299698e+01] [-1.39139209e-02 5.74611367e-05 9.99903195e-01 -3.41381810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters 0.02371474355511532 Centerline is valid? [True, True] Translation: X:171.41, Y:-26.13, Z:-3.41 [[ 9.87423754e-01 1.57537429e-01 1.32773465e-02 1.71405749e+02] [-1.57522243e-01 9.87513014e-01 -2.18847042e-03 -2.61347463e+01] [-1.34563185e-02 6.94702770e-05 9.99909457e-01 -3.41357266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23401273899998 meters 0.0247401702411291 Centerline is valid? [True, True] Translation: X:171.43, Y:-26.14, Z:-3.42 [[ 9.87783099e-01 1.55268758e-01 1.32725883e-02 1.71432020e+02] [-1.55253385e-01 9.87872260e-01 -2.18716169e-03 -2.61446442e+01] [-1.34512197e-02 9.98270853e-05 9.99909523e-01 -3.41513838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters 0.025167642008354578 Centerline is valid? [True, True] Translation: X:171.46, Y:-26.15, Z:-3.41 [[ 9.87950637e-01 1.54118861e-01 1.41744771e-02 1.71458505e+02] [-1.54101225e-01 9.88052307e-01 -2.33468025e-03 -2.61525568e+01] [-1.43649431e-02 1.22244557e-04 9.99896811e-01 -3.41415126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29401273899998 meters 0.025175450670127757 Centerline is valid? [True, True] Translation: X:171.49, Y:-26.16, Z:-3.41 [[ 9.88296706e-01 1.51708097e-01 1.59459992e-02 1.71486334e+02] [-1.51685482e-01 9.88425325e-01 -2.62525945e-03 -2.61601063e+01] [-1.61597026e-02 1.75758678e-04 9.99869408e-01 -3.41095194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters 0.026063855870076744 Centerline is valid? [True, True] Translation: X:171.51, Y:-26.17, Z:-3.41 [[ 9.88459839e-01 1.50625067e-01 1.61007809e-02 1.71514241e+02] [-1.50601882e-01 9.88590942e-01 -2.64987713e-03 -2.61686708e+01] [-1.63162241e-02 1.94489221e-04 9.99866863e-01 -3.41138358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35401273899998 meters 0.02736949303206563 Centerline is valid? [True, True] Translation: X:171.54, Y:-26.18, Z:-3.41 [[ 9.88524686e-01 1.50055337e-01 1.73879388e-02 1.71541741e+02] [-1.50028220e-01 9.88677575e-01 -2.86100403e-03 -2.61812054e+01] [-1.76203741e-02 2.19491607e-04 9.99844725e-01 -3.40974060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters 0.02641156075341843 Centerline is valid? [True, True] Translation: X:171.57, Y:-26.19, Z:-3.41 [[ 9.88378925e-01 1.50958178e-01 1.78529906e-02 1.71570814e+02] [-1.50929750e-01 9.88540128e-01 -2.93692618e-03 -2.61852899e+01] [-1.80917506e-02 2.08248537e-04 9.99836309e-01 -3.40874074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414012739 meters 0.024122604030260546 Centerline is valid? [True, True] Translation: X:171.60, Y:-26.18, Z:-3.41 [[ 9.87823290e-01 1.54756300e-01 1.59886103e-02 1.71600482e+02] [-1.54734014e-01 9.87952667e-01 -2.62914999e-03 -2.61822004e+01] [-1.62028677e-02 1.23153748e-04 9.99868717e-01 -3.41209253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters 0.023525696538966155 Centerline is valid? [True, True] Translation: X:171.63, Y:-26.18, Z:-3.42 [[ 9.87441520e-01 1.57348089e-01 1.41712455e-02 1.71629989e+02] [-1.57330854e-01 9.87543201e-01 -2.32995499e-03 -2.61819585e+01] [-1.43613311e-02 7.11201435e-05 9.99896868e-01 -3.41593707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474012739 meters 0.02301372383429733 Centerline is valid? [True, True] Translation: X:171.66, Y:-26.18, Z:-3.42 [[ 9.86540779e-01 1.62952912e-01 1.35513881e-02 1.71659036e+02] [-1.62937687e-01 9.86633847e-01 -2.22750459e-03 -2.61792360e+01] [-1.37332365e-02 -1.05077212e-05 9.99905695e-01 -3.41670553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters 0.02287240581139527 Centerline is valid? [True, True] Translation: X:171.69, Y:-26.18, Z:-3.41 [[ 9.86248206e-01 1.64566532e-01 1.52424525e-02 1.71688088e+02] [-1.64547479e-01 9.86365984e-01 -2.50435814e-03 -2.61820126e+01] [-1.54467702e-02 -3.81884172e-05 9.99880691e-01 -3.41307381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534012739 meters 0.022430655384918945 Centerline is valid? [True, True] Translation: X:171.72, Y:-26.18, Z:-3.41 [[ 9.86211916e-01 1.64365895e-01 1.92330172e-02 1.71715598e+02] [-1.64335546e-01 9.86399438e-01 -3.15881598e-03 -2.61849675e+01] [-1.94906390e-02 -4.54064192e-05 9.99810038e-01 -3.40762412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters 0.022323607296910228 Centerline is valid? [True, True] Translation: X:171.74, Y:-26.19, Z:-3.41 [[ 9.86417329e-01 1.63078434e-01 1.96539140e-02 1.71742298e+02] [-1.63046510e-01 9.86613107e-01 -3.22671154e-03 -2.61916162e+01] [-1.99170162e-02 -2.16179143e-05 9.99801636e-01 -3.40811918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594012739 meters 0.022658301364861612 Centerline is valid? [True, True] Translation: X:171.77, Y:-26.20, Z:-3.41 [[ 9.87133456e-01 1.58764286e-01 1.90116037e-02 1.71769377e+02] [-1.58733635e-01 9.87316513e-01 -3.12019044e-03 -2.62045502e+01] [-1.92658451e-02 6.22634028e-05 9.99814394e-01 -3.41117495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters 0.02332862413347531 Centerline is valid? [True, True] Translation: X:171.80, Y:-26.21, Z:-3.41 [[ 9.87560706e-01 1.56139211e-01 1.85580003e-02 1.71796269e+02] [-1.56109557e-01 9.87735053e-01 -3.04490466e-03 -2.62133625e+01] [-1.88058164e-02 1.09946979e-04 9.99823149e-01 -3.41213474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654012739 meters 0.026227831254693523 Centerline is valid? [True, True] Translation: X:171.82, Y:-26.23, Z:-3.41 [[ 9.88463091e-01 1.50428237e-01 1.76652976e-02 1.71823982e+02] [-1.50400474e-01 9.88620909e-01 -2.89736874e-03 -2.62291888e+01] [-1.79001287e-02 2.07072919e-04 9.99839758e-01 -3.41413050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters 0.02847607168028185 Centerline is valid? [True, True] Translation: X:171.85, Y:-26.24, Z:-3.42 [[ 9.88892393e-01 1.47686658e-01 1.67477159e-02 1.71852037e+02] [-1.47661318e-01 9.89034171e-01 -2.74646887e-03 -2.62415003e+01] [-1.69696801e-02 2.42972375e-04 9.99855975e-01 -3.41625104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71401273899997 meters 0.03128656321130953 Centerline is valid? [True, True] Translation: X:171.88, Y:-26.26, Z:-3.42 [[ 9.89591619e-01 1.43229066e-01 1.39234140e-02 1.71880954e+02] [-1.43211115e-01 9.89689529e-01 -2.28304642e-03 -2.62562108e+01] [-1.41068556e-02 2.65295965e-04 9.99900458e-01 -3.42271504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters 0.032763114239289404 Centerline is valid? [True, True] Translation: X:171.91, Y:-26.27, Z:-3.43 [[ 9.89864957e-01 1.41409627e-01 1.30646509e-02 1.71910159e+02] [-1.41393661e-01 9.89951131e-01 -2.14245583e-03 -2.62657420e+01] [-1.32363298e-02 2.73483123e-04 9.99912359e-01 -3.42512475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77401273899997 meters 0.035155674066698187 Centerline is valid? [True, True] Translation: X:171.94, Y:-26.28, Z:-3.43 [[ 9.90208405e-01 1.38933168e-01 1.35974332e-02 1.71938278e+02] [-1.38915640e-01 9.90301708e-01 -2.22975050e-03 -2.62809668e+01] [-1.37753477e-02 3.19021540e-04 9.99905065e-01 -3.42519546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters 0.03790114635159846 Centerline is valid? [True, True] Translation: X:171.97, Y:-26.29, Z:-3.42 [[ 9.90327520e-01 1.37963220e-01 1.47496711e-02 1.71968227e+02] [-1.37942497e-01 9.90437287e-01 -2.41815490e-03 -2.62935577e+01] [-1.49422407e-02 3.60158887e-04 9.99888294e-01 -3.42411134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83401273899997 meters 0.03628665828451596 Centerline is valid? [True, True] Translation: X:172.00, Y:-26.30, Z:-3.42 [[ 9.90370176e-01 1.37611421e-01 1.51661462e-02 1.71999640e+02] [-1.37589433e-01 9.90486221e-01 -2.48874560e-03 -2.63001179e+01] [-1.53643387e-02 3.78077953e-04 9.99881890e-01 -3.42263003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters 0.03565936553078023 Centerline is valid? [True, True] Translation: X:172.03, Y:-26.31, Z:-3.42 [[ 9.90230997e-01 1.38649434e-01 1.47954771e-02 1.72030880e+02] [-1.38628589e-01 9.90341460e-01 -2.43026773e-03 -2.63069438e+01] [-1.49895297e-02 3.55450326e-04 9.99887588e-01 -3.42433351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89401273899998 meters 0.034796254403214176 Centerline is valid? [True, True] Translation: X:172.06, Y:-26.31, Z:-3.43 [[ 9.90083608e-01 1.39713799e-01 1.46459545e-02 1.72062077e+02] [-1.39693455e-01 9.90191870e-01 -2.40807006e-03 -2.63145232e+01] [-1.48387457e-02 3.38246701e-04 9.99889843e-01 -3.42555961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters 0.03415000091630836 Centerline is valid? [True, True] Translation: X:172.09, Y:-26.33, Z:-3.43 [[ 9.89922941e-01 1.40798783e-01 1.51087351e-02 1.72092494e+02] [-1.40777219e-01 9.90038176e-01 -2.48675527e-03 -2.63250004e+01] [-1.53083566e-02 3.34730389e-04 9.99882764e-01 -3.42506688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95401273899998 meters 0.03317851701872971 Centerline is valid? [True, True] Translation: X:172.12, Y:-26.33, Z:-3.42 [[ 9.89736027e-01 1.42011291e-01 1.59809503e-02 1.72123862e+02] [-1.41987277e-01 9.89864981e-01 -2.63314046e-03 -2.63341670e+01] [-1.61929187e-02 3.37022364e-04 9.99868829e-01 -3.42299645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters 0.03307783698423612 Centerline is valid? [True, True] Translation: X:172.15, Y:-26.34, Z:-3.42 [[ 9.89619877e-01 1.42819395e-01 1.59724574e-02 1.72154526e+02] [-1.42795465e-01 9.89748712e-01 -2.63464010e-03 -2.63424612e+01] [-1.61849968e-02 3.26497729e-04 9.99868961e-01 -3.42347522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01401273899998 meters 0.03210270799138427 Centerline is valid? [True, True] Translation: X:172.19, Y:-26.35, Z:-3.42 [[ 9.89531272e-01 1.43463020e-01 1.56915286e-02 1.72186011e+02] [-1.43439988e-01 9.89655629e-01 -2.58941805e-03 -2.63485320e+01] [-1.59006953e-02 3.11517469e-04 9.99873527e-01 -3.42460269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters 0.03120154103443905 Centerline is valid? [True, True] Translation: X:172.22, Y:-26.35, Z:-3.43 [[ 9.89426208e-01 1.44309880e-01 1.45064404e-02 1.72217855e+02] [-1.44290255e-01 9.89532507e-01 -2.39597231e-03 -2.63542379e+01] [-1.47003568e-02 2.77499807e-04 9.99891905e-01 -3.42770864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07401273899998 meters 0.030894830246548113 Centerline is valid? [True, True] Translation: X:172.25, Y:-26.36, Z:-3.43 [[ 9.89356117e-01 1.44882545e-01 1.35470489e-02 1.72249846e+02] [-1.44865459e-01 9.89448828e-01 -2.23938765e-03 -2.63600590e+01] [-1.37285599e-02 2.53052411e-04 9.99905727e-01 -3.43015170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters 0.03250166232121401 Centerline is valid? [True, True] Translation: X:172.28, Y:-26.37, Z:-3.44 [[ 9.89483866e-01 1.44226892e-01 1.09673616e-02 1.72279608e+02] [-1.44215634e-01 9.89544622e-01 -1.81465801e-03 -2.63709779e+01] [-1.11144161e-02 2.13909823e-04 9.99938210e-01 -3.43553548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13401273899999 meters 0.03524634114135146 Centerline is valid? [True, True] Translation: X:172.31, Y:-26.38, Z:-3.44 [[ 9.89656003e-01 1.43037776e-01 1.10086625e-02 1.72309506e+02] [-1.43026340e-01 9.89717203e-01 -1.82323373e-03 -2.63817979e+01] [-1.11562540e-02 2.29845493e-04 9.99937741e-01 -3.43701276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters 0.03603568894096196 Centerline is valid? [True, True] Translation: X:172.34, Y:-26.39, Z:-3.43 [[ 9.89912893e-01 1.41102529e-01 1.27491089e-02 1.72340850e+02] [-1.41087001e-01 9.89994944e-01 -2.11386416e-03 -2.63903545e+01] [-1.29198249e-02 2.93807851e-04 9.99916492e-01 -3.43394456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194012739 meters 0.036122274511176125 Centerline is valid? [True, True] Translation: X:172.37, Y:-26.40, Z:-3.43 [[ 9.89910707e-01 1.40983154e-01 1.41613217e-02 1.72373494e+02] [-1.40963947e-01 9.90011940e-01 -2.35050550e-03 -2.63970579e+01] [-1.43512593e-02 3.30554767e-04 9.99896961e-01 -3.43218348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters 0.03536531052954113 Centerline is valid? [True, True] Translation: X:172.41, Y:-26.40, Z:-3.43 [[ 9.89905025e-01 1.40826001e-01 1.60024428e-02 1.72405573e+02] [-1.40801398e-01 9.90034289e-01 -2.65952918e-03 -2.64029807e+01] [-1.62174980e-02 3.79514983e-04 9.99868416e-01 -3.42890071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254012739 meters 0.03632384549326855 Centerline is valid? [True, True] Translation: X:172.44, Y:-26.41, Z:-3.43 [[ 9.89935376e-01 1.40400344e-01 1.77678147e-02 1.72435664e+02] [-1.40369874e-01 9.90094721e-01 -2.95677391e-03 -2.64118389e+01] [-1.80069516e-02 4.32949183e-04 9.99837768e-01 -3.42583295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters 0.036509519821336656 Centerline is valid? [True, True] Translation: X:172.47, Y:-26.42, Z:-3.43 [[ 9.89903474e-01 1.40772154e-01 1.65623654e-02 1.72467445e+02] [-1.40745694e-01 9.90041939e-01 -2.75835250e-03 -2.64211175e+01] [-1.67857356e-02 3.99421105e-04 9.99859030e-01 -3.42848706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314012739 meters 0.036608411461327005 Centerline is valid? [True, True] Translation: X:172.50, Y:-26.43, Z:-3.43 [[ 9.89897527e-01 1.40880191e-01 1.59893003e-02 1.72499395e+02] [-1.40855499e-01 9.90026577e-01 -2.66573333e-03 -2.64291294e+01] [-1.62053812e-02 3.86621953e-04 9.99868609e-01 -3.43027826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters 0.037174904747239924 Centerline is valid? [True, True] Translation: X:172.53, Y:-26.44, Z:-3.43 [[ 9.89911924e-01 1.40829127e-01 1.55415743e-02 1.72530208e+02] [-1.40805747e-01 9.90033844e-01 -2.59391349e-03 -2.64369386e+01] [-1.57519831e-02 3.79402910e-04 9.99875858e-01 -3.43118592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374012739 meters 0.03911909455410684 Centerline is valid? [True, True] Translation: X:172.56, Y:-26.45, Z:-3.43 [[ 9.90124381e-01 1.39266050e-01 1.60834330e-02 1.72560029e+02] [-1.39240753e-01 9.90254911e-01 -2.68758181e-03 -2.64485678e+01] [-1.63009874e-02 4.21570950e-04 9.99867041e-01 -3.43121701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters 0.04048085029435644 Centerline is valid? [True, True] Translation: X:172.59, Y:-26.46, Z:-3.43 [[ 9.90262355e-01 1.38293270e-01 1.59825091e-02 1.72590772e+02] [-1.38268146e-01 9.90391227e-01 -2.67174236e-03 -2.64594329e+01] [-1.61984207e-02 4.35853977e-04 9.99868702e-01 -3.43156172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434012739 meters 0.04049646112749954 Centerline is valid? [True, True] Translation: X:172.62, Y:-26.47, Z:-3.43 [[ 9.90436546e-01 1.36967707e-01 1.65920353e-02 1.72621252e+02] [-1.36940399e-01 9.90575398e-01 -2.77637053e-03 -2.64712645e+01] [-1.68159350e-02 4.77698913e-04 9.99858488e-01 -3.43082587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters 0.03948612309982362 Centerline is valid? [True, True] Translation: X:172.65, Y:-26.48, Z:-3.43 [[ 9.90355794e-01 1.37499332e-01 1.70098571e-02 1.72652943e+02] [-1.37470656e-01 9.90501742e-01 -2.84935502e-03 -2.64769314e+01] [-1.72400775e-02 4.83519037e-04 9.99851262e-01 -3.43084276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49401273899997 meters 0.03667418845470562 Centerline is valid? [True, True] Translation: X:172.68, Y:-26.48, Z:-3.43 [[ 9.89960012e-01 1.40460451e-01 1.58125242e-02 1.72683576e+02] [-1.40436022e-01 9.90086208e-01 -2.65036704e-03 -2.64822765e+01] [-1.60280339e-02 4.03109381e-04 9.99871462e-01 -3.43327134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters 0.035535736691981075 Centerline is valid? [True, True] Translation: X:172.71, Y:-26.49, Z:-3.43 [[ 9.89705404e-01 1.42296739e-01 1.53248788e-02 1.72713914e+02] [-1.42274014e-01 9.89823978e-01 -2.56865037e-03 -2.64897050e+01] [-1.55344430e-02 3.61875139e-04 9.99879268e-01 -3.43492840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55401273899997 meters 0.03669033168871924 Centerline is valid? [True, True] Translation: X:172.74, Y:-26.50, Z:-3.44 [[ 9.89478229e-01 1.43867055e-01 1.53331607e-02 1.72744059e+02] [-1.43844476e-01 9.89596966e-01 -2.57116457e-03 -2.65008504e+01] [-1.55435552e-02 3.38520906e-04 9.99879134e-01 -3.43638861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters 0.031930396122997695 Centerline is valid? [True, True] Translation: X:172.78, Y:-26.50, Z:-3.43 [[ 9.89066895e-01 1.46604398e-01 1.59319650e-02 1.72776033e+02] [-1.46580322e-01 9.89195155e-01 -2.67483881e-03 -2.65029722e+01] [-1.61519657e-02 3.10281955e-04 9.99869500e-01 -3.43444456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61401273899997 meters 0.027736180535492642 Centerline is valid? [True, True] Translation: X:172.81, Y:-26.50, Z:-3.44 [[ 9.88455610e-01 1.50762675e-01 1.50373547e-02 1.72808505e+02] [-1.50741702e-01 9.88569959e-01 -2.52506441e-03 -2.65022823e+01] [-1.52461626e-02 2.29157634e-04 9.99883744e-01 -3.43595242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters 0.028224662011224554 Centerline is valid? [True, True] Translation: X:172.84, Y:-26.51, Z:-3.44 [[ 9.88036647e-01 1.53526715e-01 1.45990444e-02 1.72838595e+02] [-1.53507247e-01 9.88144481e-01 -2.45155333e-03 -2.65093280e+01] [-1.48023440e-02 1.81165426e-04 9.99890423e-01 -3.43868531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67401273899998 meters 0.02609685207057895 Centerline is valid? [True, True] Translation: X:172.87, Y:-26.51, Z:-3.44 [[ 9.87549800e-01 1.56621368e-01 1.46676395e-02 1.72870425e+02] [-1.56602023e-01 9.87658710e-01 -2.46546567e-03 -2.65108033e+01] [-1.48727666e-02 1.37788111e-04 9.99889385e-01 -3.43922894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters 0.02265678071001552 Centerline is valid? [True, True] Translation: X:172.90, Y:-26.51, Z:-3.44 [[ 9.86472416e-01 1.63198777e-01 1.54380117e-02 1.72903896e+02] [-1.63178112e-01 9.86593208e-01 -2.59741492e-03 -2.65050552e+01] [-1.56549324e-02 4.31325680e-05 9.99877453e-01 -3.43703064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73401273899998 meters 0.022437019128940344 Centerline is valid? [True, True] Translation: X:172.94, Y:-26.51, Z:-3.44 [[ 9.86034132e-01 1.65857163e-01 1.51027252e-02 1.72935848e+02] [-1.65837656e-01 9.86149787e-01 -2.54369341e-03 -2.65069132e+01] [-1.53154390e-02 3.56796846e-06 9.99882712e-01 -3.43891230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters 0.02282601610756351 Centerline is valid? [True, True] Translation: X:172.97, Y:-26.51, Z:-3.44 [[ 9.85446805e-01 1.69460861e-01 1.33270795e-02 1.72968734e+02] [-1.69445987e-01 9.85536917e-01 -2.24560164e-03 -2.65071084e+01] [-1.35148704e-02 -4.52991803e-05 9.99908669e-01 -3.44225755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79401273899998 meters 0.02282601610756351 Centerline is valid? [True, True] Translation: X:173.00, Y:-26.51, Z:-3.44 [[ 9.85418882e-01 1.69623186e-01 1.33267073e-02 1.72999935e+02] [-1.69608298e-01 9.85508992e-01 -2.24780757e-03 -2.65125183e+01] [-1.35148702e-02 -4.52881193e-05 9.99908669e-01 -3.44290094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters 0.02347753502380685 Centerline is valid? [True, True] Translation: X:173.03, Y:-26.51, Z:-3.45 [[ 9.85146626e-01 1.71233628e-01 1.28518179e-02 1.73030476e+02] [-1.71219878e-01 9.85230451e-01 -2.17080680e-03 -2.65137248e+01] [-1.30337174e-02 -6.19236857e-05 9.99915056e-01 -3.44528056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85401273899998 meters 0.024365440236307802 Centerline is valid? [True, True] Translation: X:173.06, Y:-26.51, Z:-3.44 [[ 9.84443460e-01 1.75080016e-01 1.47669558e-02 1.73061782e+02] [-1.75062287e-01 9.84554199e-01 -2.49484751e-03 -2.65110251e+01] [-1.49756663e-02 -1.29100737e-04 9.99887850e-01 -3.44060995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters 0.02705273909840957 Centerline is valid? [True, True] Translation: X:173.09, Y:-26.51, Z:-3.44 [[ 9.84026976e-01 1.77268966e-01 1.63286266e-02 1.73092612e+02] [-1.77247589e-01 9.84162426e-01 -2.75873349e-03 -2.65064165e+01] [-1.65590586e-02 -1.79541518e-04 9.99862873e-01 -3.43923419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914012739 meters 0.02714807188675406 Centerline is valid? [True, True] Translation: X:173.12, Y:-26.51, Z:-3.44 [[ 9.83459467e-01 1.80250202e-01 1.78140798e-02 1.73123560e+02] [-1.80225252e-01 9.83620761e-01 -3.00943677e-03 -2.65064665e+01] [-1.80647504e-02 -2.50887938e-04 9.99836788e-01 -3.43555044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters 0.02996869211179104 Centerline is valid? [True, True] Translation: X:173.15, Y:-26.50, Z:-3.44 [[ 9.83260070e-01 1.81326291e-01 1.79000305e-02 1.73153322e+02] [-1.81301277e-01 9.83422952e-01 -3.02400749e-03 -2.65042161e+01] [-1.81516329e-02 -2.71912572e-04 9.99835209e-01 -3.43622289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974012739 meters 0.028570703058242886 Centerline is valid? [True, True] Translation: X:173.18, Y:-26.51, Z:-3.44 [[ 9.83158310e-01 1.81801414e-01 1.86543245e-02 1.73182205e+02] [-1.81774342e-01 9.83335223e-01 -3.15097228e-03 -2.65098813e+01] [-1.89163056e-02 -2.92972975e-04 9.99821028e-01 -3.43512295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters 0.02797787035144039 Centerline is valid? [True, True] Translation: X:173.21, Y:-26.51, Z:-3.43 [[ 9.83094451e-01 1.82087469e-01 1.92212063e-02 1.73212775e+02] [-1.82058790e-01 9.83282288e-01 -3.24623878e-03 -2.65122224e+01] [-1.94909711e-02 -3.08030236e-04 9.99809986e-01 -3.43338640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034012739 meters 0.027665462809537248 Centerline is valid? [True, True] Translation: X:173.24, Y:-26.52, Z:-3.43 [[ 9.83173871e-01 1.81702912e-01 1.87933600e-02 1.73243360e+02] [-1.81675426e-01 9.83353429e-01 -3.17398051e-03 -2.65155783e+01] [-1.90572365e-02 -2.93716983e-04 9.99818351e-01 -3.43488799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters 0.02956572516110901 Centerline is valid? [True, True] Translation: X:173.27, Y:-26.51, Z:-3.44 [[ 9.83358051e-01 1.80781322e-01 1.80293401e-02 1.73273517e+02] [-1.80755869e-01 9.83523281e-01 -3.04501917e-03 -2.65109355e+01] [-1.82827584e-02 -2.64564924e-04 9.99832821e-01 -3.43843399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094012739 meters 0.027462086327337504 Centerline is valid? [True, True] Translation: X:173.30, Y:-26.52, Z:-3.44 [[ 9.83393915e-01 1.80636366e-01 1.75189090e-02 1.73302301e+02] [-1.80612323e-01 9.83549916e-01 -2.95816120e-03 -2.65177002e+01] [-1.77650730e-02 -2.55093129e-04 9.99842156e-01 -3.43955979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters 0.028184752969257442 Centerline is valid? [True, True] Translation: X:173.33, Y:-26.52, Z:-3.44 [[ 9.83333650e-01 1.81118970e-01 1.58382757e-02 1.73331172e+02] [-1.81099385e-01 9.83461164e-01 -2.67414358e-03 -2.65157380e+01] [-1.60606672e-02 -2.38726608e-04 9.99870991e-01 -3.44272266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154012739 meters 0.028675432779867133 Centerline is valid? [True, True] Translation: X:173.36, Y:-26.52, Z:-3.44 [[ 9.83255641e-01 1.81631813e-01 1.47725775e-02 1.73360898e+02] [-1.81614843e-01 9.83366580e-01 -2.49357091e-03 -2.65153638e+01] [-1.49797708e-02 -2.31101668e-04 9.99887770e-01 -3.44480155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters 0.029210116766473542 Centerline is valid? [True, True] Translation: X:173.39, Y:-26.51, Z:-3.44 [[ 9.83134953e-01 1.82238303e-01 1.53252734e-02 1.73389776e+02] [-1.82220124e-01 9.83254361e-01 -2.58615170e-03 -2.65111674e+01] [-1.55399378e-02 -2.50037082e-04 9.99879217e-01 -3.44409797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21401273899997 meters 0.028268707861211793 Centerline is valid? [True, True] Translation: X:173.42, Y:-26.52, Z:-3.44 [[ 9.83256838e-01 1.81408141e-01 1.72359117e-02 1.73417984e+02] [-1.81385040e-01 9.83407858e-01 -2.90736243e-03 -2.65152673e+01] [-1.74773502e-02 -2.67652539e-04 9.99847224e-01 -3.44134912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters 0.027412641272716295 Centerline is valid? [True, True] Translation: X:173.45, Y:-26.52, Z:-3.44 [[ 9.83471366e-01 1.80108155e-01 1.85775480e-02 1.73446018e+02] [-1.80081103e-01 9.83646777e-01 -3.13270627e-03 -2.65200895e+01] [-1.88379712e-02 -2.64538430e-04 9.99822515e-01 -3.43960078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27401273899997 meters 0.02617761946950345 Centerline is valid? [True, True] Translation: X:173.47, Y:-26.52, Z:-3.44 [[ 9.83892633e-01 1.77719810e-01 1.92602285e-02 1.73474200e+02] [-1.77690294e-01 9.84081103e-01 -3.24687156e-03 -2.65234068e+01] [-1.95306603e-02 -2.27782646e-04 9.99809233e-01 -3.43851263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters 0.025438744588853885 Centerline is valid? [True, True] Translation: X:173.50, Y:-26.53, Z:-3.44 [[ 9.84021792e-01 1.77063878e-01 1.86947938e-02 1.73502950e+02] [-1.77035967e-01 9.84199339e-01 -3.15068991e-03 -2.65270690e+01] [-1.89572771e-02 -2.09303373e-04 9.99820273e-01 -3.44002141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33401273899997 meters 0.0257686903116048 Centerline is valid? [True, True] Translation: X:173.53, Y:-26.53, Z:-3.45 [[ 9.84063829e-01 1.77118707e-01 1.57271963e-02 1.73531778e+02] [-1.77098972e-01 9.84189480e-01 -2.64995334e-03 -2.65262637e+01] [-1.59478974e-02 -1.77547058e-04 9.99872808e-01 -3.44522541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters 0.025901808959790842 Centerline is valid? [True, True] Translation: X:173.56, Y:-26.53, Z:-3.45 [[ 9.83882156e-01 1.78176272e-01 1.51366699e-02 1.73560941e+02] [-1.78158126e-01 9.83998568e-01 -2.54977690e-03 -2.65276767e+01] [-1.53487712e-02 -1.88040744e-04 9.99882183e-01 -3.44637450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39401273899998 meters 0.028543766089396367 Centerline is valid? [True, True] Translation: X:173.59, Y:-26.52, Z:-3.45 [[ 9.83376127e-01 1.80829131e-01 1.64990616e-02 1.73590335e+02] [-1.80807959e-01 9.83514495e-01 -2.77840894e-03 -2.65192314e+01] [-1.67294835e-02 -2.50940642e-04 9.99860021e-01 -3.44648694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters 0.02808391480867502 Centerline is valid? [True, True] Translation: X:173.62, Y:-26.52, Z:-3.45 [[ 9.83358224e-01 1.80869678e-01 1.71102936e-02 1.73618750e+02] [-1.80846933e-01 9.83507037e-01 -2.88027274e-03 -2.65213960e+01] [-1.73490481e-02 -2.62004220e-04 9.99849460e-01 -3.44555053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45401273899998 meters 0.02634033831862074 Centerline is valid? [True, True] Translation: X:173.65, Y:-26.53, Z:-3.45 [[ 9.83784588e-01 1.78589814e-01 1.65397091e-02 1.73647446e+02] [-1.78568259e-01 9.83923591e-01 -2.78299102e-03 -2.65259552e+01] [-1.67708238e-02 -2.15603377e-04 9.99859337e-01 -3.44693832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters 0.02554773704408986 Centerline is valid? [True, True] Translation: X:173.67, Y:-26.53, Z:-3.45 [[ 9.84199378e-01 1.76328866e-01 1.61156911e-02 1.73674705e+02] [-1.76308111e-01 9.84331296e-01 -2.71092462e-03 -2.65313008e+01] [-1.63411934e-02 -1.73236724e-04 9.99866459e-01 -3.44893053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51401273899998 meters 0.024154296740154735 Centerline is valid? [True, True] Translation: X:173.70, Y:-26.54, Z:-3.45 [[ 9.84644783e-01 1.73851844e-01 1.58173437e-02 1.73702519e+02] [-1.73831547e-01 9.84771811e-01 -2.65973349e-03 -2.65384381e+01] [-1.60388737e-02 -1.30660610e-04 9.99871360e-01 -3.44994459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters 0.022687275999346473 Centerline is valid? [True, True] Translation: X:173.73, Y:-26.55, Z:-3.45 [[ 9.85561582e-01 1.68725546e-01 1.41441969e-02 1.73729745e+02] [-1.68708795e-01 9.85663070e-01 -2.37781699e-03 -2.65485321e+01] [-1.43426110e-02 -4.27653330e-05 9.99897139e-01 -3.45378166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57401273899998 meters 0.022911827026198667 Centerline is valid? [True, True] Translation: X:173.76, Y:-26.56, Z:-3.46 [[ 9.86759945e-01 1.61612799e-01 1.36423493e-02 1.73756895e+02] [-1.61596544e-01 9.86854244e-01 -2.29282943e-03 -2.65616147e+01] [-1.38335608e-02 5.79157441e-05 9.99904310e-01 -3.45542904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters 0.024177046947334916 Centerline is valid? [True, True] Translation: X:173.78, Y:-26.57, Z:-3.45 [[ 9.87379834e-01 1.57768235e-01 1.37930572e-02 1.73784053e+02] [-1.57751252e-01 9.87476162e-01 -2.31755924e-03 -2.65710018e+01] [-1.39859525e-02 1.12439208e-04 9.99902185e-01 -3.45447028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63401273899999 meters 0.025632323113797265 Centerline is valid? [True, True] Translation: X:173.81, Y:-26.58, Z:-3.45 [[ 9.87895050e-01 1.54489057e-01 1.40178888e-02 1.73812499e+02] [-1.54471201e-01 9.87994487e-01 -2.35426800e-03 -2.65801050e+01] [-1.42133055e-02 1.60409586e-04 9.99898973e-01 -3.45449054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters 0.028121250730026123 Centerline is valid? [True, True] Translation: X:173.84, Y:-26.59, Z:-3.46 [[ 9.88694111e-01 1.49358124e-01 1.32704915e-02 1.73840960e+02] [-1.49341665e-01 9.88783142e-01 -2.22830484e-03 -2.65918833e+01] [-1.34544537e-02 2.21274578e-04 9.99909460e-01 -3.45612276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694012739 meters 0.029484870717277033 Centerline is valid? [True, True] Translation: X:173.87, Y:-26.60, Z:-3.46 [[ 9.89005359e-01 1.47263160e-01 1.34892925e-02 1.73870208e+02] [-1.47245959e-01 9.89097314e-01 -2.26500066e-03 -2.66009684e+01] [-1.36757741e-02 2.53853974e-04 9.99906450e-01 -3.45692045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters 0.032855878930278644 Centerline is valid? [True, True] Translation: X:173.90, Y:-26.62, Z:-3.45 [[ 9.89639036e-01 1.42807660e-01 1.48509470e-02 1.73898859e+02] [-1.42786310e-01 9.89750399e-01 -2.49357397e-03 -2.66153302e+01] [-1.50548322e-02 3.47226219e-04 9.99886609e-01 -3.45459510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754012739 meters 0.03627032633386383 Centerline is valid? [True, True] Translation: X:173.93, Y:-26.63, Z:-3.45 [[ 9.89906987e-01 1.40925999e-01 1.49673066e-02 1.73928636e+02] [-1.40904107e-01 9.90020060e-01 -2.51255801e-03 -2.66283051e+01] [-1.51720186e-02 3.78243757e-04 9.99884827e-01 -3.45459105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters 0.03787763458424073 Centerline is valid? [True, True] Translation: X:173.96, Y:-26.64, Z:-3.46 [[ 9.90372350e-01 1.37704799e-01 1.41420077e-02 1.73958444e+02] [-1.37684886e-01 9.90473232e-01 -2.37686959e-03 -2.66407072e+01] [-1.43345865e-02 4.06845208e-04 9.99897172e-01 -3.45523629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814012739 meters 0.04207225056643364 Centerline is valid? [True, True] Translation: X:173.99, Y:-26.66, Z:-3.46 [[ 9.90518136e-01 1.36604077e-01 1.45996321e-02 1.73987067e+02] [-1.36582729e-01 9.90625628e-01 -2.45415129e-03 -2.66554001e+01] [-1.47980167e-02 4.36823767e-04 9.99890408e-01 -3.45548650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters 0.03953800190060103 Centerline is valid? [True, True] Translation: X:174.02, Y:-26.66, Z:-3.45 [[ 9.90605968e-01 1.35784977e-01 1.61943409e-02 1.74018714e+02] [-1.35758603e-01 9.90738206e-01 -2.72210212e-03 -2.66611843e+01] [-1.64139728e-02 4.98009521e-04 9.99865158e-01 -3.45298744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874012739 meters 0.041475818876210734 Centerline is valid? [True, True] Translation: X:174.05, Y:-26.68, Z:-3.45 [[ 9.90747982e-01 1.34247604e-01 1.99001636e-02 1.74047165e+02] [-1.34207383e-01 9.90947608e-01 -3.34915843e-03 -2.66776204e+01] [-2.01696361e-02 6.47423086e-04 9.99796363e-01 -3.44714397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters 0.04437698691617271 Centerline is valid? [True, True] Translation: X:174.08, Y:-26.69, Z:-3.45 [[ 9.90832113e-01 1.33609356e-01 2.00065710e-02 1.74076946e+02] [-1.33568564e-01 9.91033853e-01 -3.36754920e-03 -2.66900496e+01] [-2.02771253e-02 6.64426931e-04 9.99794177e-01 -3.44705129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934012739 meters 0.04518127988444798 Centerline is valid? [True, True] Translation: X:174.11, Y:-26.70, Z:-3.45 [[ 9.90898400e-01 1.33571019e-01 1.67076151e-02 1.74106946e+02] [-1.33542531e-01 9.91039087e-01 -2.81432845e-03 -2.67019973e+01] [-1.69338123e-02 5.57536352e-04 9.99856457e-01 -3.45292869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters 0.0433697424006292 Centerline is valid? [True, True] Translation: X:174.14, Y:-26.71, Z:-3.46 [[ 9.90926942e-01 1.33598292e-01 1.46728156e-02 1.74138722e+02] [-1.33576298e-01 9.91035446e-01 -2.47329554e-03 -2.67080508e+01] [-1.48717084e-02 4.90914797e-04 9.99889290e-01 -3.45687886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99401273899997 meters 0.046192740333187605 Centerline is valid? [True, True] Translation: X:174.17, Y:-26.72, Z:-3.46 [[ 9.91006496e-01 1.33138427e-01 1.34269581e-02 1.74168089e+02] [-1.33119935e-01 9.91097346e-01 -2.26573610e-03 -2.67207183e+01] [-1.36090791e-02 4.57963404e-04 9.99907287e-01 -3.46078339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters 0.04349569913981946 Centerline is valid? [True, True] Translation: X:174.20, Y:-26.73, Z:-3.46 [[ 9.91182800e-01 1.31833064e-01 1.32928501e-02 1.74198817e+02] [-1.31814813e-01 9.91271820e-01 -2.24378968e-03 -2.67284729e+01] [-1.34726333e-02 4.71811195e-04 9.99909129e-01 -3.45935847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05401273899997 meters 0.04312543513918613 Centerline is valid? [True, True] Translation: X:174.23, Y:-26.74, Z:-3.46 [[ 9.91078953e-01 1.32364484e-01 1.55612478e-02 1.74229710e+02] [-1.32339490e-01 9.91200961e-01 -2.62963157e-03 -2.67395192e+01] [-1.57723936e-02 5.46804913e-04 9.99875459e-01 -3.45538131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters 0.04375652847071468 Centerline is valid? [True, True] Translation: X:174.26, Y:-26.75, Z:-3.46 [[ 9.90986345e-01 1.33004951e-01 1.59920636e-02 1.74259448e+02] [-1.32978592e-01 9.91115218e-01 -2.70524973e-03 -2.67494683e+01] [-1.62097892e-02 5.54263448e-04 9.99868459e-01 -3.45545541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11401273899997 meters 0.04202410306016283 Centerline is valid? [True, True] Translation: X:174.29, Y:-26.76, Z:-3.46 [[ 9.90829228e-01 1.34177019e-01 1.59363952e-02 1.74291244e+02] [-1.34150951e-01 9.90957234e-01 -2.69850663e-03 -2.67565370e+01] [-1.61543637e-02 5.35876668e-04 9.99869366e-01 -3.45637599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters 0.04130450735711623 Centerline is valid? [True, True] Translation: X:174.32, Y:-26.77, Z:-3.46 [[ 9.90569316e-01 1.36225946e-01 1.46602462e-02 1.74320085e+02] [-1.36204064e-01 9.90677685e-01 -2.48548142e-03 -2.67676384e+01] [-1.48621658e-02 4.65256505e-04 9.99889444e-01 -3.46019403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17401273899998 meters 0.04125321051159161 Centerline is valid? [True, True] Translation: X:174.35, Y:-26.78, Z:-3.46 [[ 9.90480149e-01 1.37004270e-01 1.33755397e-02 1.74351263e+02] [-1.36986139e-01 9.90570371e-01 -2.26678859e-03 -2.67757780e+01] [-1.35599731e-02 4.12945557e-04 9.99907974e-01 -3.46250873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters 0.038315282144457403 Centerline is valid? [True, True] Translation: X:174.38, Y:-26.78, Z:-3.46 [[ 9.90143354e-01 1.39477888e-01 1.27301786e-02 1.74382594e+02] [-1.39461631e-01 9.90225119e-01 -2.16032095e-03 -2.67821124e+01] [-1.29070596e-02 3.63655972e-04 9.99916634e-01 -3.46378580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23401273899998 meters 0.03710740337215274 Centerline is valid? [True, True] Translation: X:174.41, Y:-26.79, Z:-3.46 [[ 9.89868691e-01 1.41323140e-01 1.37019839e-02 1.74413623e+02] [-1.41304487e-01 9.89963452e-01 -2.32496116e-03 -2.67887255e+01] [-1.38930341e-02 3.65254452e-04 9.99903420e-01 -3.46308747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters 0.03639637553885031 Centerline is valid? [True, True] Translation: X:174.44, Y:-26.80, Z:-3.46 [[ 9.89611636e-01 1.43004635e-01 1.47812195e-02 1.74443968e+02] [-1.42983068e-01 9.89721949e-01 -2.51119564e-03 -2.67961768e+01] [-1.49884100e-02 3.71644317e-04 9.99887598e-01 -3.46157019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29401273899998 meters 0.03396386852033154 Centerline is valid? [True, True] Translation: X:174.47, Y:-26.80, Z:-3.46 [[ 9.89230082e-01 1.45626105e-01 1.47269361e-02 1.74474229e+02] [-1.45604959e-01 9.89339642e-01 -2.50374597e-03 -2.68037562e+01] [-1.49345524e-02 3.32465908e-04 9.99888418e-01 -3.46257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters 0.03201668938848755 Centerline is valid? [True, True] Translation: X:174.51, Y:-26.81, Z:-3.46 [[ 9.89023275e-01 1.47090507e-01 1.40479520e-02 1.74505921e+02] [-1.47071422e-01 9.89122993e-01 -2.38775201e-03 -2.68090148e+01] [-1.42463680e-02 2.95490022e-04 9.99898472e-01 -3.46405193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35401273899998 meters 0.029449033356191066 Centerline is valid? [True, True] Translation: X:174.54, Y:-26.82, Z:-3.47 [[ 9.88361929e-01 1.51532620e-01 1.33626859e-02 1.74535593e+02] [-1.51515716e-01 9.88452232e-01 -2.27433418e-03 -2.68162578e+01] [-1.35530126e-02 2.23208384e-04 9.99908129e-01 -3.46563341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters 0.027517302701976304 Centerline is valid? [True, True] Translation: X:174.57, Y:-26.82, Z:-3.47 [[ 9.87917643e-01 1.54369087e-01 1.37446394e-02 1.74566817e+02] [-1.54351483e-01 9.88013233e-01 -2.33887902e-03 -2.68205985e+01] [-1.39409363e-02 1.89114365e-04 9.99902803e-01 -3.46506699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414012739 meters 0.025320898419975275 Centerline is valid? [True, True] Translation: X:174.60, Y:-26.82, Z:-3.46 [[ 9.87451574e-01 1.57295062e-01 1.40589274e-02 1.74598690e+02] [-1.57276910e-01 9.87551639e-01 -2.39449303e-03 -2.68231403e+01] [-1.42605587e-02 1.53301252e-04 9.99898301e-01 -3.46416419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters 0.023630818075844932 Centerline is valid? [True, True] Translation: X:174.63, Y:-26.83, Z:-3.46 [[ 9.86931124e-01 1.60508487e-01 1.42822307e-02 1.74630857e+02] [-1.60490055e-01 9.87034454e-01 -2.43498671e-03 -2.68260155e+01] [-1.44878898e-02 1.11008175e-04 9.99895039e-01 -3.46438171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474012739 meters 0.0217284488048134 Centerline is valid? [True, True] Translation: X:174.66, Y:-26.82, Z:-3.46 [[ 9.85810214e-01 1.67102044e-01 1.59727770e-02 1.74663147e+02] [-1.67079804e-01 9.85939606e-01 -2.72629409e-03 -2.68245947e+01] [-1.62037628e-02 1.88801113e-05 9.99868710e-01 -3.46260771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters 0.02170217362582178 Centerline is valid? [True, True] Translation: X:174.70, Y:-26.83, Z:-3.46 [[ 9.85300337e-01 1.70041011e-01 1.64104069e-02 1.74695967e+02] [-1.70017896e-01 9.85436986e-01 -2.80374732e-03 -2.68264432e+01] [-1.66481739e-02 -2.75296703e-05 9.99861409e-01 -3.46214625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534012739 meters 0.022585100829863678 Centerline is valid? [True, True] Translation: X:174.73, Y:-26.83, Z:-3.46 [[ 9.84585157e-01 1.74169142e-01 1.60368074e-02 1.74727471e+02] [-1.74147565e-01 9.84715747e-01 -2.74302463e-03 -2.68260009e+01] [-1.62694470e-02 -9.20296230e-05 9.99867640e-01 -3.46349757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters 0.02311898658774471 Centerline is valid? [True, True] Translation: X:174.76, Y:-26.83, Z:-3.47 [[ 9.84348828e-01 1.75560851e-01 1.53549058e-02 1.74759762e+02] [-1.75541205e-01 9.84468575e-01 -2.62856931e-03 -2.68304519e+01] [-1.55778961e-02 -1.07989544e-04 9.99878651e-01 -3.46549743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594012739 meters 0.023962390514565852 Centerline is valid? [True, True] Translation: X:174.79, Y:-26.83, Z:-3.47 [[ 9.84256066e-01 1.76193215e-01 1.39981276e-02 1.74790083e+02] [-1.76176916e-01 9.84355596e-01 -2.39878942e-03 -2.68345660e+01] [-1.42017857e-02 -1.05123921e-04 9.99899144e-01 -3.46951214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters 0.023965049037063143 Centerline is valid? [True, True] Translation: X:174.82, Y:-26.84, Z:-3.47 [[ 9.84160196e-01 1.76679964e-01 1.45910411e-02 1.74822208e+02] [-1.76662296e-01 9.84268346e-01 -2.50124752e-03 -2.68406109e+01] [-1.48034202e-02 -1.16058563e-04 9.99890417e-01 -3.46811591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654012739 meters 0.02381067118021081 Centerline is valid? [True, True] Translation: X:174.85, Y:-26.85, Z:-3.47 [[ 9.84028385e-01 1.77317610e-01 1.57035618e-02 1.74854672e+02] [-1.77297185e-01 9.84153671e-01 -2.69453463e-03 -2.68466557e+01] [-1.59325065e-02 -1.32698752e-04 9.99873061e-01 -3.46631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters 0.024303498499352805 Centerline is valid? [True, True] Translation: X:174.89, Y:-26.85, Z:-3.47 [[ 9.83862943e-01 1.78213399e-01 1.59277658e-02 1.74887365e+02] [-1.78192456e-01 9.83991851e-01 -2.73598221e-03 -2.68521752e+01] [-1.61603805e-02 -1.46376213e-04 9.99869402e-01 -3.46710378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71401273899997 meters 0.024303498499352805 Centerline is valid? [True, True] Translation: X:174.92, Y:-26.86, Z:-3.47 [[ 9.83831317e-01 1.78387950e-01 1.59272779e-02 1.74919361e+02] [-1.78366984e-01 9.83960222e-01 -2.73881909e-03 -2.68578778e+01] [-1.61603803e-02 -1.46364533e-04 9.99869402e-01 -3.46776416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters 0.0245554029877603 Centerline is valid? [True, True] Translation: X:174.95, Y:-26.86, Z:-3.47 [[ 9.83799487e-01 1.78619203e-01 1.52888774e-02 1.74950808e+02] [-1.78599871e-01 9.83918269e-01 -2.63174486e-03 -2.68627770e+01] [-1.55130860e-02 -1.41482283e-04 9.99879655e-01 -3.47006916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77401273899997 meters 0.02521235630068074 Centerline is valid? [True, True] Translation: X:174.98, Y:-26.87, Z:-3.47 [[ 9.83665060e-01 1.79488940e-01 1.36664116e-02 1.74981891e+02] [-1.79473547e-01 9.83759982e-01 -2.35457658e-03 -2.68672188e+01] [-1.38670893e-02 -1.36644667e-04 9.99903838e-01 -3.47415464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters 0.025684721887967513 Centerline is valid? [True, True] Translation: X:175.01, Y:-26.87, Z:-3.47 [[ 9.83530875e-01 1.80176385e-01 1.42649249e-02 1.75013058e+02] [-1.80159644e-01 9.83634306e-01 -2.46064240e-03 -2.68717605e+01] [-1.44748192e-02 -1.49846021e-04 9.99895223e-01 -3.47370367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83401273899997 meters 0.025778837089036444 Centerline is valid? [True, True] Translation: X:175.04, Y:-26.88, Z:-3.47 [[ 9.83455795e-01 1.80494104e-01 1.53810790e-02 1.75044442e+02] [-1.80474673e-01 9.83576052e-01 -2.65355486e-03 -2.68763339e+01] [-1.56074120e-02 -1.66241312e-04 9.99878183e-01 -3.47204180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters 0.024718062336039143 Centerline is valid? [True, True] Translation: X:175.08, Y:-26.88, Z:-3.47 [[ 9.83487185e-01 1.80178101e-01 1.69943836e-02 1.75076124e+02] [-1.80154334e-01 9.83633987e-01 -2.93188117e-03 -2.68838375e+01] [-1.72445140e-02 -1.78144289e-04 9.99851286e-01 -3.46899919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89401273899998 meters 0.024467322358687964 Centerline is valid? [True, True] Translation: X:175.11, Y:-26.89, Z:-3.47 [[ 9.83610097e-01 1.79598877e-01 1.59818941e-02 1.75107773e+02] [-1.79577743e-01 9.83739914e-01 -2.75955553e-03 -2.68917109e+01] [-1.62176402e-02 -1.55665793e-04 9.99868473e-01 -3.47129604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters 0.023529009670430343 Centerline is valid? [True, True] Translation: X:175.14, Y:-26.90, Z:-3.48 [[ 9.84033738e-01 1.77459287e-01 1.36309728e-02 1.75138361e+02] [-1.77443678e-01 9.84128138e-01 -2.35578485e-03 -2.69035298e+01] [-1.38326798e-02 -1.00558171e-04 9.99904319e-01 -3.47631071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95401273899998 meters 0.023645980681850715 Centerline is valid? [True, True] Translation: X:175.17, Y:-26.91, Z:-3.48 [[ 9.84159672e-01 1.76724848e-01 1.40736985e-02 1.75168461e+02] [-1.76708098e-01 9.84260291e-01 -2.43481017e-03 -2.69096411e+01] [-1.42824740e-02 -9.06945103e-05 9.99897996e-01 -3.47810969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters 0.022957503915034854 Centerline is valid? [True, True] Translation: X:175.20, Y:-26.92, Z:-3.48 [[ 9.84281993e-01 1.75931685e-01 1.53948441e-02 1.75199659e+02] [-1.75911503e-01 9.84402375e-01 -2.66602241e-03 -2.69175657e+01] [-1.56237589e-02 -8.40123189e-05 9.99877938e-01 -3.47581319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01401273899998 meters 0.022419377249676384 Centerline is valid? [True, True] Translation: X:175.23, Y:-26.93, Z:-3.47 [[ 9.84251184e-01 1.75937700e-01 1.71910551e-02 1.75230898e+02] [-1.75912484e-01 9.84401299e-01 -2.98003987e-03 -2.69262627e+01] [-1.74471983e-02 -9.10134223e-05 9.99847782e-01 -3.47112221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters 0.022721747067840675 Centerline is valid? [True, True] Translation: X:175.26, Y:-26.93, Z:-3.47 [[ 9.84099554e-01 1.76836073e-01 1.66454278e-02 1.75262463e+02] [-1.76812515e-01 9.84240313e-01 -2.88815742e-03 -2.69307725e+01] [-1.68938315e-02 -1.00885524e-04 9.99857284e-01 -3.47226447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07401273899998 meters 0.02363927268677943 Centerline is valid? [True, True] Translation: X:175.29, Y:-26.93, Z:-3.48 [[ 9.83727631e-01 1.79038862e-01 1.50011253e-02 1.75294608e+02] [-1.79019948e-01 9.83841995e-01 -2.60531676e-03 -2.69330993e+01] [-1.52251900e-02 -1.22578583e-04 9.99884083e-01 -3.47622551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters 0.024482559474346074 Centerline is valid? [True, True] Translation: X:175.33, Y:-26.94, Z:-3.48 [[ 9.83569594e-01 1.79875536e-01 1.53507517e-02 1.75326069e+02] [-1.79855790e-01 9.83689368e-01 -2.66866675e-03 -2.69370094e+01] [-1.55803991e-02 -1.36102095e-04 9.99878609e-01 -3.47791938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13401273899999 meters 0.024101047842820855 Centerline is valid? [True, True] Translation: X:175.36, Y:-26.94, Z:-3.48 [[ 9.83478807e-01 1.80269259e-01 1.65054580e-02 1.75358352e+02] [-1.80246431e-01 9.83617289e-01 -2.87264353e-03 -2.69446977e+01] [-1.67529032e-02 -1.49865868e-04 9.99859649e-01 -3.47561988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters 0.02412548161708236 Centerline is valid? [True, True] Translation: X:175.39, Y:-26.95, Z:-3.47 [[ 9.83306493e-01 1.81033063e-01 1.83131183e-02 1.75391202e+02] [-1.81005021e-01 9.83476995e-01 -3.19117717e-03 -2.69504698e+01] [-1.85882391e-02 -1.76861133e-04 9.99827208e-01 -3.47248765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194012739 meters 0.02442946312035388 Centerline is valid? [True, True] Translation: X:175.42, Y:-26.96, Z:-3.47 [[ 9.83204363e-01 1.81590583e-01 1.82767998e-02 1.75422452e+02] [-1.81562683e-01 9.83374205e-01 -3.18836000e-03 -2.69554853e+01] [-1.85519096e-02 -1.83575354e-04 9.99827882e-01 -3.47298734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters 0.025202231540832554 Centerline is valid? [True, True] Translation: X:175.45, Y:-26.96, Z:-3.47 [[ 9.82944400e-01 1.83055654e-01 1.76333106e-02 1.75454074e+02] [-1.83029866e-01 9.83102531e-01 -3.07913543e-03 -2.69614600e+01] [-1.78990055e-02 -2.00803547e-04 9.99839780e-01 -3.47466646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254012739 meters 0.026265464551527527 Centerline is valid? [True, True] Translation: X:175.49, Y:-26.96, Z:-3.48 [[ 9.82609731e-01 1.84920071e-01 1.68132369e-02 1.75486328e+02] [-1.84896853e-01 9.82753539e-01 -2.93857348e-03 -2.69648639e+01] [-1.70666693e-02 -2.21243703e-04 9.99854329e-01 -3.47599540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters 0.02824191696627536 Centerline is valid? [True, True] Translation: X:175.52, Y:-26.96, Z:-3.48 [[ 9.82173779e-01 1.87313782e-01 1.57548292e-02 1.75517368e+02] [-1.87293656e-01 9.82300101e-01 -2.75659546e-03 -2.69649204e+01] [-1.59923186e-02 -2.43323770e-04 9.99872085e-01 -3.47822325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314012739 meters 0.03337414471253668 Centerline is valid? [True, True] Translation: X:175.55, Y:-26.96, Z:-3.48 [[ 9.80853450e-01 1.94217931e-01 1.43494006e-02 1.75550072e+02] [-1.94201968e-01 9.80958353e-01 -2.51105534e-03 -2.69559965e+01] [-1.45638564e-02 -3.23704542e-04 9.99893889e-01 -3.48104171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters 0.03619591263902115 Centerline is valid? [True, True] Translation: X:175.58, Y:-26.95, Z:-3.48 [[ 9.80065312e-01 1.98119571e-01 1.48532595e-02 1.75581460e+02] [-1.98102910e-01 9.80177780e-01 -2.59947556e-03 -2.69541425e+01] [-1.50738419e-02 -3.94818098e-04 9.99886305e-01 -3.48096563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374012739 meters 0.04344997168761175 Centerline is valid? [True, True] Translation: X:175.61, Y:-26.94, Z:-3.48 [[ 9.78688468e-01 2.04639385e-01 1.70764385e-02 1.75613665e+02] [-2.04618354e-01 9.78837268e-01 -2.98855133e-03 -2.69434332e+01] [-1.73266298e-02 -5.69292019e-04 9.99849721e-01 -3.47845798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters 0.04505693801516539 Centerline is valid? [True, True] Translation: X:175.64, Y:-26.94, Z:-3.48 [[ 9.78269053e-01 2.06577337e-01 1.77612737e-02 1.75644106e+02] [-2.06554903e-01 9.78430074e-01 -3.10848408e-03 -2.69435087e+01] [-1.80203067e-02 -6.27744370e-04 9.99837424e-01 -3.47830468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434012739 meters 0.045495801165267385 Centerline is valid? [True, True] Translation: X:175.67, Y:-26.94, Z:-3.48 [[ 9.77983047e-01 2.07902446e-01 1.80480585e-02 1.75674071e+02] [-2.07879514e-01 9.78149341e-01 -3.15824465e-03 -2.69448471e+01] [-1.83103033e-02 -6.63111896e-04 9.99832132e-01 -3.47825014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters 0.048123388727184774 Centerline is valid? [True, True] Translation: X:175.70, Y:-26.94, Z:-3.48 [[ 9.77915039e-01 2.08356073e-01 1.64293602e-02 1.75702701e+02] [-2.08337137e-01 9.78052848e-01 -2.87480795e-03 -2.69392617e+01] [-1.66677662e-02 -6.11527947e-04 9.99860896e-01 -3.48237923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49401273899997 meters 0.04689572701403263 Centerline is valid? [True, True] Translation: X:175.73, Y:-26.94, Z:-3.48 [[ 9.77982863e-01 2.08144002e-01 1.50197829e-02 1.75730944e+02] [-2.08128167e-01 9.78098034e-01 -2.62709790e-03 -2.69430215e+01] [-1.52376348e-02 -5.56783156e-04 9.99883745e-01 -3.48484499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters 0.04769307069046344 Centerline is valid? [True, True] Translation: X:175.76, Y:-26.94, Z:-3.48 [[ 9.77922268e-01 2.08442840e-01 1.48195833e-02 1.75759680e+02] [-2.08427468e-01 9.78034394e-01 -2.59145407e-03 -2.69394895e+01] [-1.50342322e-02 -5.54567579e-04 9.99886826e-01 -3.48446655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55401273899997 meters 0.04927175206268918 Centerline is valid? [True, True] Translation: X:175.79, Y:-26.94, Z:-3.48 [[ 9.77834280e-01 2.08737443e-01 1.63951261e-02 1.75788013e+02] [-2.08718688e-01 9.77971521e-01 -2.86587709e-03 -2.69373663e+01] [-1.66321823e-02 -6.19616364e-04 9.99861484e-01 -3.48238125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters 0.04589941480346267 Centerline is valid? [True, True] Translation: X:175.82, Y:-26.94, Z:-3.48 [[ 9.77732317e-01 2.09088791e-01 1.79274466e-02 1.75816324e+02] [-2.09066447e-01 9.77896420e-01 -3.13255403e-03 -2.69431050e+01] [-1.81861678e-02 -6.85228253e-04 9.99834383e-01 -3.48001346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61401273899997 meters 0.047314681700566845 Centerline is valid? [True, True] Translation: X:175.84, Y:-26.94, Z:-3.48 [[ 9.77755984e-01 2.08999971e-01 1.76705605e-02 1.75844022e+02] [-2.08978261e-01 9.77915414e-01 -3.08691152e-03 -2.69418944e+01] [-1.79254779e-02 -6.74516811e-04 9.99839098e-01 -3.48177611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters 0.04986325101068067 Centerline is valid? [True, True] Translation: X:175.87, Y:-26.94, Z:-3.49 [[ 9.77791030e-01 2.08945407e-01 1.63254206e-02 1.75872689e+02] [-2.08926891e-01 9.77927108e-01 -2.85058799e-03 -2.69415980e+01] [-1.65606886e-02 -6.23540009e-04 9.99862668e-01 -3.48560237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67401273899998 meters 0.048996040133727735 Centerline is valid? [True, True] Translation: X:175.90, Y:-26.94, Z:-3.49 [[ 9.77729228e-01 2.09294805e-01 1.55319467e-02 1.75901469e+02] [-2.09278104e-01 9.77852404e-01 -2.71117297e-03 -2.69412268e+01] [-1.57553859e-02 -5.99703300e-04 9.99875696e-01 -3.48768387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters 0.0525362525534307 Centerline is valid? [True, True] Translation: X:175.93, Y:-26.94, Z:-3.49 [[ 9.77689606e-01 2.09360007e-01 1.70710674e-02 1.75929368e+02] [-2.09339859e-01 9.77838407e-01 -2.97878432e-03 -2.69383900e+01] [-1.73163836e-02 -6.61328369e-04 9.99849841e-01 -3.48609982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73401273899998 meters 0.04565427105235107 Centerline is valid? [True, True] Translation: X:175.96, Y:-26.95, Z:-3.48 [[ 9.77707102e-01 2.09100654e-01 1.91243198e-02 1.75956895e+02] [-2.09075353e-01 9.77893845e-01 -3.33526493e-03 -2.69517549e+01] [-1.93989607e-02 -7.37511705e-04 9.99811550e-01 -3.48222197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters 0.04637323680087964 Centerline is valid? [True, True] Translation: X:175.99, Y:-26.95, Z:-3.48 [[ 9.78019957e-01 2.07512788e-01 2.03815286e-02 1.75985338e+02] [-2.07483723e-01 9.78232015e-01 -3.55372205e-03 -2.69528199e+01] [-2.06753066e-02 -7.53224348e-04 9.99785959e-01 -3.47962407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79401273899998 meters 0.04477072220163869 Centerline is valid? [True, True] Translation: X:176.01, Y:-26.96, Z:-3.48 [[ 9.78199042e-01 2.06829960e-01 1.86547895e-02 1.76014183e+02] [-2.06805504e-01 9.78376670e-01 -3.25182330e-03 -2.69572668e+01] [-1.89239853e-02 -6.76982709e-04 9.99820696e-01 -3.48325044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters 0.04659065422472712 Centerline is valid? [True, True] Translation: X:176.04, Y:-26.96, Z:-3.49 [[ 9.78123310e-01 2.07336095e-01 1.69273142e-02 1.76042793e+02] [-2.07316046e-01 9.78269571e-01 -2.95000328e-03 -2.69561562e+01] [-1.71711186e-02 -6.23836888e-04 9.99852371e-01 -3.48795653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85401273899998 meters 0.051579867149643376 Centerline is valid? [True, True] Translation: X:176.07, Y:-26.95, Z:-3.49 [[ 9.77963622e-01 2.07967614e-01 1.83473479e-02 1.76071780e+02] [-2.07944193e-01 9.78135469e-01 -3.19631540e-03 -2.69540502e+01] [-1.86109219e-02 -6.89344274e-04 9.99826564e-01 -3.48666864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters 0.048780229559864455 Centerline is valid? [True, True] Translation: X:176.10, Y:-26.96, Z:-3.48 [[ 9.77875461e-01 2.08297916e-01 1.92758945e-02 1.76099806e+02] [-2.08272163e-01 9.78065152e-01 -3.35632450e-03 -2.69589806e+01] [-1.95521961e-02 -7.32564859e-04 9.99808569e-01 -3.48428814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914012739 meters 0.04793157558642065 Centerline is valid? [True, True] Translation: X:176.13, Y:-26.96, Z:-3.49 [[ 9.77900481e-01 2.08250529e-01 1.85031464e-02 1.76127351e+02] [-2.08226805e-01 9.78075265e-01 -3.22098377e-03 -2.69619971e+01] [-1.87682414e-02 -7.03049488e-04 9.99823614e-01 -3.48664465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters 0.05087203843354115 Centerline is valid? [True, True] Translation: X:176.16, Y:-26.96, Z:-3.49 [[ 9.77888946e-01 2.08418320e-01 1.71759706e-02 1.76155449e+02] [-2.08397923e-01 9.78039556e-01 -2.98880135e-03 -2.69606606e+01] [-1.74216996e-02 -6.56720797e-04 9.99848015e-01 -3.49071168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974012739 meters 0.05117196684513246 Centerline is valid? [True, True] Translation: X:176.19, Y:-26.96, Z:-3.49 [[ 9.77594728e-01 2.09953532e-01 1.51017387e-02 1.76185008e+02] [-2.09937961e-01 9.77711180e-01 -2.62694427e-03 -2.69640182e+01] [-1.53166750e-02 -6.02341358e-04 9.99882511e-01 -3.49386329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters 0.053810029411129674 Centerline is valid? [True, True] Translation: X:176.21, Y:-26.96, Z:-3.50 [[ 9.77348105e-01 2.11118582e-01 1.48198014e-02 1.76213299e+02] [-2.11103723e-01 9.77460267e-01 -2.57774307e-03 -2.69624641e+01] [-1.50299765e-02 -6.09162942e-04 9.99886858e-01 -3.49523198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034012739 meters 0.05533074363362858 Centerline is valid? [True, True] Translation: X:176.24, Y:-26.96, Z:-3.50 [[ 9.76782395e-01 2.13665029e-01 1.56015589e-02 1.76244690e+02] [-2.13648904e-01 9.76906745e-01 -2.71254839e-03 -2.69579273e+01] [-1.58208449e-02 -6.83686450e-04 9.99874609e-01 -3.49629099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters 0.0519527871350075 Centerline is valid? [True, True] Translation: X:176.27, Y:-26.96, Z:-3.50 [[ 9.76676420e-01 2.14123542e-01 1.59461264e-02 1.76272888e+02] [-2.14106759e-01 9.76806332e-01 -2.77240899e-03 -2.69648259e+01] [-1.61699152e-02 -7.06426945e-04 9.99869009e-01 -3.49624878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094012739 meters 0.05490263226939565 Centerline is valid? [True, True] Translation: X:176.30, Y:-26.96, Z:-3.50 [[ 9.76724558e-01 2.13910745e-01 1.58534322e-02 1.76301070e+02] [-2.13894139e-01 9.76852959e-01 -2.75557805e-03 -2.69634222e+01] [-1.60759199e-02 -6.99515484e-04 9.99870529e-01 -3.49744509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters 0.05751300412642794 Centerline is valid? [True, True] Translation: X:176.33, Y:-26.96, Z:-3.50 [[ 9.76886957e-01 2.13239709e-01 1.48559620e-02 1.76330548e+02] [-2.13225063e-01 9.76999698e-01 -2.58136936e-03 -2.69579197e+01] [-1.50647208e-02 -6.45957370e-04 9.99886312e-01 -3.49853405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154012739 meters 0.05836803590144993 Centerline is valid? [True, True] Translation: X:176.36, Y:-26.96, Z:-3.50 [[ 9.76760808e-01 2.13760723e-01 1.56421860e-02 1.76359425e+02] [-2.13744566e-01 9.76885806e-01 -2.71712525e-03 -2.69570510e+01] [-1.58614442e-02 -6.89450809e-04 9.99873962e-01 -3.49741337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters 0.05484883841115629 Centerline is valid? [True, True] Translation: X:176.39, Y:-26.96, Z:-3.49 [[ 9.76208178e-01 2.16058924e-01 1.83339613e-02 1.76389619e+02] [-2.16037168e-01 9.76379953e-01 -3.18274596e-03 -2.69581547e+01] [-1.85885729e-02 -8.53794436e-04 9.99826853e-01 -3.49239617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21401273899997 meters 0.05647210323987776 Centerline is valid? [True, True] Translation: X:176.42, Y:-26.96, Z:-3.49 [[ 9.75903737e-01 2.17335853e-01 1.94170756e-02 1.76420088e+02] [-2.17311712e-01 9.76096440e-01 -3.37027544e-03 -2.69563564e+01] [-1.96854201e-02 -9.30493537e-04 9.99805790e-01 -3.49157087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters 0.058461759635212926 Centerline is valid? [True, True] Translation: X:176.45, Y:-26.95, Z:-3.49 [[ 9.75670456e-01 2.18369159e-01 1.95466576e-02 1.76448809e+02] [-2.18344911e-01 9.75865765e-01 -3.39230984e-03 -2.69525101e+01] [-1.98156899e-02 -9.58136725e-04 9.99803191e-01 -3.49135202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27401273899997 meters 0.060005140265181334 Centerline is valid? [True, True] Translation: X:176.48, Y:-26.94, Z:-3.49 [[ 9.75331524e-01 2.19884906e-01 1.94691243e-02 1.76480559e+02] [-2.19861173e-01 9.75525323e-01 -3.37767992e-03 -2.69436237e+01] [-1.97353246e-02 -9.86146801e-04 9.99804753e-01 -3.49261677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters 0.06056001365244411 Centerline is valid? [True, True] Translation: X:176.51, Y:-26.94, Z:-3.49 [[ 9.75374322e-01 2.19714036e-01 1.92529080e-02 1.76509310e+02] [-2.19690801e-01 9.75563836e-01 -3.33984223e-03 -2.69427107e+01] [-1.95162510e-02 -9.72090443e-04 9.99809067e-01 -3.49421126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33401273899997 meters 0.059946928352883365 Centerline is valid? [True, True] Translation: X:176.54, Y:-26.94, Z:-3.50 [[ 9.75719928e-01 2.18243261e-01 1.84526669e-02 1.76538400e+02] [-2.18221722e-01 9.75893978e-01 -3.19745697e-03 -2.69405200e+01] [-1.87056700e-02 -9.06950270e-04 9.99824622e-01 -3.49551355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters 0.05811958302855203 Centerline is valid? [True, True] Translation: X:176.57, Y:-26.94, Z:-3.50 [[ 9.75945762e-01 2.17201382e-01 1.87997385e-02 1.76567356e+02] [-2.17178849e-01 9.76126396e-01 -3.25669183e-03 -2.69436097e+01] [-1.90582789e-02 -9.04550981e-04 9.99817965e-01 -3.49543130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39401273899998 meters 0.05903425716656968 Centerline is valid? [True, True] Translation: X:176.60, Y:-26.94, Z:-3.50 [[ 9.76210457e-01 2.15961990e-01 1.93277607e-02 1.76596192e+02] [-2.15937949e-01 9.76401351e-01 -3.34722118e-03 -2.69432660e+01] [-1.95945242e-02 -9.06004687e-04 9.99807598e-01 -3.49535869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters 0.0549808524243954 Centerline is valid? [True, True] Translation: X:176.63, Y:-26.95, Z:-3.50 [[ 9.77044922e-01 2.12134707e-01 1.95470548e-02 1.76625853e+02] [-2.12109372e-01 9.77240074e-01 -3.38424832e-03 -2.69473951e+01] [-1.98200818e-02 -8.39550874e-04 9.99803210e-01 -3.49629335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45401273899998 meters 0.05256415236772223 Centerline is valid? [True, True] Translation: X:176.65, Y:-26.95, Z:-3.50 [[ 9.77319293e-01 2.10911394e-01 1.90626054e-02 1.76654196e+02] [-2.10887068e-01 9.77504861e-01 -3.30031374e-03 -2.69530742e+01] [-1.93298632e-02 -7.94596665e-04 9.99812845e-01 -3.49722602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters 0.05212562330919607 Centerline is valid? [True, True] Translation: X:176.68, Y:-26.95, Z:-3.50 [[ 9.77489366e-01 2.10192950e-01 1.82609958e-02 1.76683276e+02] [-2.10170513e-01 9.77659636e-01 -3.16091444e-03 -2.69537301e+01] [-1.85174405e-02 -7.48162615e-04 9.99828258e-01 -3.49946793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51401273899998 meters 0.050891343769397704 Centerline is valid? [True, True] Translation: X:176.71, Y:-26.96, Z:-3.50 [[ 9.77606971e-01 2.09681919e-01 1.78354588e-02 1.76712226e+02] [-2.09660483e-01 9.77769384e-01 -3.08438175e-03 -2.69575591e+01] [-1.80857047e-02 -7.24077811e-04 9.99836178e-01 -3.50093251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters 0.04968831625068313 Centerline is valid? [True, True] Translation: X:176.74, Y:-26.96, Z:-3.50 [[ 9.77862318e-01 2.08470257e-01 1.80399080e-02 1.76740662e+02] [-2.08448176e-01 9.78028447e-01 -3.11669127e-03 -2.69614430e+01] [-1.82932806e-02 -7.12690956e-04 9.99832410e-01 -3.50133161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57401273899998 meters 0.049870749593797205 Centerline is valid? [True, True] Translation: X:176.77, Y:-26.96, Z:-3.50 [[ 9.78490369e-01 2.05445508e-01 1.86746199e-02 1.76769675e+02] [-2.05421361e-01 9.78668318e-01 -3.22293442e-03 -2.69624959e+01] [-1.89383962e-02 -6.82555545e-04 9.99820420e-01 -3.50064345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters 0.049870749593797205 Centerline is valid? [True, True] Translation: X:176.80, Y:-26.97, Z:-3.50 [[ 9.78527129e-01 2.05270341e-01 1.86746982e-02 1.76796780e+02] [-2.05246171e-01 9.78705076e-01 -3.22248088e-03 -2.69669713e+01] [-1.89385016e-02 -6.79625324e-04 9.99820420e-01 -3.50120152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63401273899999 meters 0.0450899248020245 Centerline is valid? [True, True] Translation: X:176.83, Y:-26.98, Z:-3.50 [[ 9.79007259e-01 2.02917584e-01 1.92156377e-02 1.76825376e+02] [-2.02891613e-01 9.79195600e-01 -3.31204738e-03 -2.69769580e+01] [-1.94879405e-02 -6.56173298e-04 9.99809877e-01 -3.50105516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters 0.038287021339357186 Centerline is valid? [True, True] Translation: X:176.85, Y:-26.99, Z:-3.50 [[ 9.80372221e-01 1.96275622e-01 1.86061228e-02 1.76854282e+02] [-1.96250085e-01 9.80548633e-01 -3.20653621e-03 -2.69881574e+01] [-1.88735732e-02 -5.07854149e-04 9.99821749e-01 -3.50340769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694012739 meters 0.03481103651931474 Centerline is valid? [True, True] Translation: X:176.88, Y:-27.00, Z:-3.51 [[ 9.81105958e-01 1.92649852e-01 1.78082630e-02 1.76882720e+02] [-1.92625862e-01 9.81267476e-01 -3.06898362e-03 -2.69980344e+01] [-1.80659085e-02 -4.19333896e-04 9.99836710e-01 -3.50622199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters 0.03317530026675336 Centerline is valid? [True, True] Translation: X:176.91, Y:-27.01, Z:-3.51 [[ 9.81796710e-01 1.89169947e-01 1.70279348e-02 1.76909794e+02] [-1.89147495e-01 9.81944304e-01 -2.93422166e-03 -2.70055833e+01] [-1.72755501e-02 -3.39982035e-04 9.99850709e-01 -3.50855288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754012739 meters 0.028950210646531922 Centerline is valid? [True, True] Translation: X:176.94, Y:-27.02, Z:-3.51 [[ 9.82980909e-01 1.82954175e-01 1.66223438e-02 1.76937489e+02] [-1.82931909e-01 9.83121416e-01 -2.86323141e-03 -2.70177431e+01] [-1.68656223e-02 -2.26255266e-04 9.99857740e-01 -3.50896050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters 0.024777382601297845 Centerline is valid? [True, True] Translation: X:176.96, Y:-27.03, Z:-3.51 [[ 9.83851160e-01 1.78135203e-01 1.74569474e-02 1.76964033e+02] [-1.78109892e-01 9.84006009e-01 -3.00662424e-03 -2.70321584e+01] [-1.77133268e-02 -1.51184277e-04 9.99843095e-01 -3.50689376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814012739 meters 0.024307028724127763 Centerline is valid? [True, True] Translation: X:176.99, Y:-27.04, Z:-3.51 [[ 9.84191865e-01 1.76266191e-01 1.72221833e-02 1.76991537e+02] [-1.76241284e-01 9.84342530e-01 -2.96538402e-03 -2.70391294e+01] [-1.74752245e-02 -1.16752873e-04 9.99847290e-01 -3.50869644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters 0.02339299223698683 Centerline is valid? [True, True] Translation: X:177.02, Y:-27.05, Z:-3.51 [[ 9.84539981e-01 1.74338470e-01 1.69446975e-02 1.77018827e+02] [-1.74314087e-01 9.84685783e-01 -2.91682281e-03 -2.70497197e+01] [-1.71937172e-02 -8.19708111e-05 9.99852174e-01 -3.51003437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874012739 meters 0.02288411009590156 Centerline is valid? [True, True] Translation: X:177.05, Y:-27.06, Z:-3.51 [[ 9.84922590e-01 1.72180495e-01 1.67740380e-02 1.77046200e+02] [-1.72156300e-01 9.85065417e-01 -2.88667471e-03 -2.70595588e+01] [-1.70205539e-02 -4.46051999e-05 9.99855139e-01 -3.51049636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters 0.022672323074299002 Centerline is valid? [True, True] Translation: X:177.07, Y:-27.07, Z:-3.51 [[ 9.85556214e-01 1.68406902e-01 1.78343822e-02 1.77071983e+02] [-1.68378950e-01 9.85717563e-01 -3.06825215e-03 -2.70728498e+01] [-1.80963786e-02 2.10004220e-05 9.99836247e-01 -3.50914543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934012739 meters 0.022811489183442876 Centerline is valid? [True, True] Translation: X:177.10, Y:-27.09, Z:-3.51 [[ 9.85903369e-01 1.66248985e-01 1.88632437e-02 1.77098060e+02] [-1.66217343e-01 9.86083805e-01 -3.24405129e-03 -2.70863441e+01] [-1.91400593e-02 6.29228558e-05 9.99816810e-01 -3.50703305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters 0.02306889261462974 Centerline is valid? [True, True] Translation: X:177.12, Y:-27.09, Z:-3.51 [[ 9.86019432e-01 1.65672543e-01 1.78406309e-02 1.77124890e+02] [-1.65644163e-01 9.86180817e-01 -3.06718901e-03 -2.70949566e+01] [-1.81022370e-02 6.91115993e-05 9.99836139e-01 -3.50965722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99401273899997 meters 0.0233127242978784 Centerline is valid? [True, True] Translation: X:177.15, Y:-27.10, Z:-3.51 [[ 9.86162834e-01 1.64985329e-01 1.62082063e-02 1.77152751e+02] [-1.64961826e-01 9.86296018e-01 -2.78564719e-03 -2.71027309e+01] [-1.64456803e-02 7.33664061e-05 9.99864758e-01 -3.51268272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters 0.023597693986473278 Centerline is valid? [True, True] Translation: X:177.18, Y:-27.11, Z:-3.52 [[ 9.86267005e-01 1.64513759e-01 1.45814413e-02 1.77180807e+02] [-1.64494695e-01 9.86374786e-01 -2.50547141e-03 -2.71103511e+01] [-1.47949506e-02 7.24940417e-05 9.99890546e-01 -3.51582960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05401273899997 meters 0.023521809722332847 Centerline is valid? [True, True] Translation: X:177.21, Y:-27.12, Z:-3.52 [[ 9.86252931e-01 1.64578344e-01 1.48028574e-02 1.77208248e+02] [-1.64558710e-01 9.86364012e-01 -2.54315937e-03 -2.71188549e+01] [-1.50195547e-02 7.22592720e-05 9.99887198e-01 -3.51622727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters 0.022728229898830096 Centerline is valid? [True, True] Translation: X:177.24, Y:-27.12, Z:-3.51 [[ 9.85715347e-01 1.67440768e-01 1.81340329e-02 1.77236055e+02] [-1.67411838e-01 9.85882137e-01 -3.11263515e-03 -2.71231018e+01] [-1.83992011e-02 3.23204684e-05 9.99830720e-01 -3.51053321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11401273899997 meters 0.022627876652918478 Centerline is valid? [True, True] Translation: X:177.26, Y:-27.12, Z:-3.51 [[ 9.85304018e-01 1.69821462e-01 1.83484019e-02 1.77264468e+02] [-1.69792276e-01 9.85474845e-01 -3.14832201e-03 -2.71241829e+01] [-1.86165412e-02 -1.33625993e-05 9.99826697e-01 -3.51047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters 0.023008554065403218 Centerline is valid? [True, True] Translation: X:177.29, Y:-27.12, Z:-3.51 [[ 9.84912773e-01 1.72137015e-01 1.77673404e-02 1.77293894e+02] [-1.72110048e-01 9.85073015e-01 -3.04737701e-03 -2.71246515e+01] [-1.80266940e-02 -5.65372769e-05 9.99837504e-01 -3.51271854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17401273899998 meters 0.024094857774302068 Centerline is valid? [True, True] Translation: X:177.32, Y:-27.12, Z:-3.52 [[ 9.84387122e-01 1.75236264e-01 1.65603709e-02 1.77322367e+02] [-1.75213285e-01 9.84526404e-01 -2.83978640e-03 -2.71221272e+01] [-1.68017560e-02 -1.06147825e-04 9.99858835e-01 -3.51589589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters 0.024305552443645337 Centerline is valid? [True, True] Translation: X:177.35, Y:-27.13, Z:-3.52 [[ 9.84297177e-01 1.75688655e-01 1.71044850e-02 1.77350194e+02] [-1.75664235e-01 9.84445774e-01 -2.93156688e-03 -2.71257040e+01] [-1.73534810e-02 -1.19113260e-04 9.99849410e-01 -3.51580842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23401273899998 meters 0.023326310679902165 Centerline is valid? [True, True] Translation: X:177.38, Y:-27.13, Z:-3.51 [[ 9.84593976e-01 1.73949454e-01 1.77845349e-02 1.77378754e+02] [-1.73922794e-01 9.84754578e-01 -3.04679062e-03 -2.71326581e+01] [-1.80433897e-02 -9.32843064e-05 9.99837200e-01 -3.51396544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters 0.02294788802579832 Centerline is valid? [True, True] Translation: X:177.41, Y:-27.14, Z:-3.51 [[ 9.84984944e-01 1.71729394e-01 1.77108978e-02 1.77405812e+02] [-1.71702611e-01 9.85144158e-01 -3.03333923e-03 -2.71390345e+01] [-1.79687010e-02 -5.32139208e-05 9.99838548e-01 -3.51474244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29401273899998 meters 0.022628348348793043 Centerline is valid? [True, True] Translation: X:177.43, Y:-27.15, Z:-3.52 [[ 9.85506879e-01 1.68737922e-01 1.74271348e-02 1.77433513e+02] [-1.68711541e-01 9.85660953e-01 -2.98366847e-03 -2.71474561e+01] [-1.76807043e-02 2.67038583e-07 9.99843684e-01 -3.51643933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters 0.02365505025327904 Centerline is valid? [True, True] Translation: X:177.46, Y:-27.16, Z:-3.52 [[ 9.86441298e-01 1.63230910e-01 1.70069376e-02 1.77460519e+02] [-1.63204981e-01 9.86587888e-01 -2.91094615e-03 -2.71619519e+01] [-1.72539951e-02 9.58605692e-05 9.99851134e-01 -3.51800516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35401273899998 meters 0.02455382635275155 Centerline is valid? [True, True] Translation: X:177.49, Y:-27.17, Z:-3.52 [[ 9.86819198e-01 1.60944801e-01 1.68713343e-02 1.77487150e+02] [-1.60918962e-01 9.86963400e-01 -2.88697380e-03 -2.71713226e+01] [-1.71160329e-02 1.34003585e-04 9.99853501e-01 -3.51808589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters 0.03326168170295699 Centerline is valid? [True, True] Translation: X:177.52, Y:-27.18, Z:-3.51 [[ 9.87260866e-01 1.58393388e-01 1.50836744e-02 1.77515348e+02] [-1.58372450e-01 9.87376073e-01 -2.58024832e-03 -2.71810324e+01] [-1.53019534e-02 1.58539733e-04 9.99882906e-01 -3.50781273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414012739 meters 0.02634899466083406 Centerline is valid? [True, True] Translation: X:177.54, Y:-27.19, Z:-3.52 [[ 9.87408947e-01 1.57495224e-01 1.47927265e-02 1.77542470e+02] [-1.57474995e-01 9.87519734e-01 -2.52984913e-03 -2.71877424e+01] [-1.50065485e-02 1.68511143e-04 9.99887381e-01 -3.52183069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters 0.026604767509742572 Centerline is valid? [True, True] Translation: X:177.57, Y:-27.19, Z:-3.52 [[ 9.87487853e-01 1.57029801e-01 1.44700055e-02 1.77570961e+02] [-1.57010408e-01 9.87593850e-01 -2.47376277e-03 -2.71941342e+01] [-1.46789429e-02 1.70869226e-04 9.99892244e-01 -3.52362274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474012739 meters 0.02564315414467385 Centerline is valid? [True, True] Translation: X:177.60, Y:-27.20, Z:-3.52 [[ 9.87278936e-01 1.58158875e-01 1.63117123e-02 1.77599147e+02] [-1.58134399e-01 9.87413662e-01 -2.78772748e-03 -2.71989737e+01] [-1.65473114e-02 1.72821786e-04 9.99863069e-01 -3.51968966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters 0.0252011693633267 Centerline is valid? [True, True] Translation: X:177.63, Y:-27.20, Z:-3.52 [[ 9.87064342e-01 1.59424794e-01 1.69623095e-02 1.77626758e+02] [-1.59398527e-01 9.87210064e-01 -2.89809938e-03 -2.72023342e+01] [-1.72073915e-02 1.56843407e-04 9.99851930e-01 -3.51902619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534012739 meters 0.023763705932446602 Centerline is valid? [True, True] Translation: X:177.65, Y:-27.20, Z:-3.52 [[ 9.86456293e-01 1.63305442e-01 1.53399889e-02 1.77654774e+02] [-1.63284442e-01 9.86575555e-01 -2.62011127e-03 -2.72008883e+01] [-1.55619365e-02 7.98437206e-05 9.99878903e-01 -3.52351817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters 0.023302199813084613 Centerline is valid? [True, True] Translation: X:177.68, Y:-27.20, Z:-3.53 [[ 9.86117604e-01 1.65401729e-01 1.46403590e-02 1.77683744e+02] [-1.65382845e-01 9.86226275e-01 -2.49968797e-03 -2.72021607e+01] [-1.48521594e-02 4.37221023e-05 9.99889700e-01 -3.52573817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594012739 meters 0.023239012065812175 Centerline is valid? [True, True] Translation: X:177.71, Y:-27.20, Z:-3.53 [[ 9.85875341e-01 1.66902024e-01 1.39114060e-02 1.77712267e+02] [-1.66885127e-01 9.85973485e-01 -2.37498779e-03 -2.72033837e+01] [-1.41126677e-02 1.98351411e-05 9.99900411e-01 -3.52782734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters 0.023108680144609508 Centerline is valid? [True, True] Translation: X:177.74, Y:-27.20, Z:-3.53 [[ 9.85606623e-01 1.68468457e-01 1.40699926e-02 1.77739744e+02] [-1.68451342e-01 9.85707045e-01 -2.40133338e-03 -2.72007598e+01] [-1.42734397e-02 -3.33905163e-06 9.99898129e-01 -3.52767911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654012739 meters 0.023135759346596764 Centerline is valid? [True, True] Translation: X:177.77, Y:-27.20, Z:-3.53 [[ 9.85527854e-01 1.68942421e-01 1.39035209e-02 1.77768243e+02] [-1.68925783e-01 9.85625922e-01 -2.37097877e-03 -2.72024023e+01] [-1.41042295e-02 -1.19975433e-05 9.99900530e-01 -3.52822681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters 0.023192182750991303 Centerline is valid? [True, True] Translation: X:177.80, Y:-27.21, Z:-3.53 [[ 9.85543833e-01 1.68821210e-01 1.42391253e-02 1.77795962e+02] [-1.68803761e-01 9.85646691e-01 -2.42718049e-03 -2.72059407e+01] [-1.44445063e-02 -1.15251540e-05 9.99895673e-01 -3.52743931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71401273899997 meters 0.023115699113794717 Centerline is valid? [True, True] Translation: X:177.82, Y:-27.21, Z:-3.53 [[ 9.85581859e-01 1.68538466e-01 1.49393779e-02 1.77823497e+02] [-1.68519245e-01 9.85695077e-01 -2.54533948e-03 -2.72096990e+01] [-1.51546588e-02 -8.93225147e-06 9.99885162e-01 -3.52629130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters 0.023098612129241122 Centerline is valid? [True, True] Translation: X:177.85, Y:-27.21, Z:-3.52 [[ 9.85544551e-01 1.68663293e-01 1.59572058e-02 1.77851601e+02] [-1.68641396e-01 9.85673726e-01 -2.71771751e-03 -2.72112816e+01] [-1.61869777e-02 -1.26137813e-05 9.99868982e-01 -3.52418430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77401273899997 meters 0.023091041986741397 Centerline is valid? [True, True] Translation: X:177.88, Y:-27.21, Z:-3.52 [[ 9.85499783e-01 1.68769342e-01 1.75239062e-02 1.77880406e+02] [-1.68742972e-01 9.85655573e-01 -2.98339251e-03 -2.72124534e+01] [-1.77760410e-02 -1.69033399e-05 9.99841994e-01 -3.52248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters 0.023007021520267144 Centerline is valid? [True, True] Translation: X:177.91, Y:-27.22, Z:-3.52 [[ 9.85661159e-01 1.67591863e-01 1.96226008e-02 1.77909574e+02] [-1.67558585e-01 9.85856464e-01 -3.33967188e-03 -2.72154842e+01] [-1.99047697e-02 3.84962731e-06 9.99801880e-01 -3.51985532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83401273899997 meters 0.02352752344206971 Centerline is valid? [True, True] Translation: X:177.94, Y:-27.22, Z:-3.52 [[ 9.86243293e-01 1.64347476e-01 1.77221305e-02 1.77936308e+02] [-1.64319821e-01 9.86402506e-01 -3.01549984e-03 -2.72232667e+01] [-1.79767437e-02 6.19191959e-05 9.99838403e-01 -3.52372416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters 0.024167807481416555 Centerline is valid? [True, True] Translation: X:177.96, Y:-27.23, Z:-3.53 [[ 9.86608519e-01 1.62322305e-01 1.59718293e-02 1.77964619e+02] [-1.62299592e-01 9.86737788e-01 -2.71680181e-03 -2.72296630e+01] [-1.62010051e-02 8.81984307e-05 9.99868751e-01 -3.52790583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89401273899998 meters 0.024999922788407753 Centerline is valid? [True, True] Translation: X:177.99, Y:-27.24, Z:-3.53 [[ 9.86984175e-01 1.60134993e-01 1.47993921e-02 1.77992233e+02] [-1.60115254e-01 9.87095117e-01 -2.51683422e-03 -2.72359347e+01] [-1.50114409e-02 1.14467123e-04 9.99887315e-01 -3.53001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters 0.02573384166349103 Centerline is valid? [True, True] Translation: X:178.02, Y:-27.24, Z:-3.53 [[ 9.87229444e-01 1.58595302e-01 1.50185067e-02 1.78020147e+02] [-1.58574810e-01 9.87343664e-01 -2.55315428e-03 -2.72431384e+01] [-1.52333457e-02 1.38992233e-04 9.99883956e-01 -3.53010115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95401273899998 meters 0.02655496742638663 Centerline is valid? [True, True] Translation: X:178.05, Y:-27.25, Z:-3.53 [[ 9.87475228e-01 1.56953189e-01 1.60739147e-02 1.78046190e+02] [-1.56929510e-01 9.87606028e-01 -2.73186111e-03 -2.72535706e+01] [-1.63034694e-02 1.75173610e-04 9.99867074e-01 -3.52760231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters 0.02740792366781462 Centerline is valid? [True, True] Translation: X:178.07, Y:-27.26, Z:-3.53 [[ 9.87834468e-01 1.54528626e-01 1.74346763e-02 1.78074420e+02] [-1.54500416e-01 9.87988284e-01 -2.96168817e-03 -2.72614573e+01] [-1.76829215e-02 2.31992918e-04 9.99843618e-01 -3.52556288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01401273899998 meters 0.027733028169300206 Centerline is valid? [True, True] Translation: X:178.10, Y:-27.27, Z:-3.53 [[ 9.87996220e-01 1.53437546e-01 1.78994106e-02 1.78102607e+02] [-1.53407648e-01 9.88158314e-01 -3.03976442e-03 -2.72681944e+01] [-1.81538654e-02 2.57369269e-04 9.99835172e-01 -3.52511625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters 0.029367040463932147 Centerline is valid? [True, True] Translation: X:178.13, Y:-27.28, Z:-3.53 [[ 9.88128516e-01 1.52522234e-01 1.84120373e-02 1.78129028e+02] [-1.52490457e-01 9.88300000e-01 -3.12594381e-03 -2.72785400e+01] [-1.86733924e-02 2.81174236e-04 9.99825597e-01 -3.52561854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07401273899998 meters 0.029458566748446702 Centerline is valid? [True, True] Translation: X:178.16, Y:-27.29, Z:-3.53 [[ 9.88285344e-01 1.51462331e-01 1.87414365e-02 1.78156334e+02] [-1.51429241e-01 9.88462983e-01 -3.18058656e-03 -2.72902454e+01] [-1.90069553e-02 3.05325582e-04 9.99819305e-01 -3.52528142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters 0.03003220526949869 Centerline is valid? [True, True] Translation: X:178.18, Y:-27.30, Z:-3.53 [[ 9.88230799e-01 1.51818453e-01 1.87362202e-02 1.78183406e+02] [-1.51785461e-01 9.88408351e-01 -3.17884119e-03 -2.72973050e+01] [-1.90016433e-02 2.97542949e-04 9.99819408e-01 -3.52606620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13401273899999 meters 0.028040563360286024 Centerline is valid? [True, True] Translation: X:178.21, Y:-27.30, Z:-3.53 [[ 9.88088663e-01 1.52748261e-01 1.86752196e-02 1.78212882e+02] [-1.52715670e-01 9.88265092e-01 -3.16737874e-03 -2.72989110e+01] [-1.89398792e-02 2.77652332e-04 9.99820586e-01 -3.52626403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters 0.0261814838548613 Centerline is valid? [True, True] Translation: X:178.24, Y:-27.30, Z:-3.53 [[ 9.87529373e-01 1.56490735e-01 1.72159211e-02 1.78240385e+02] [-1.56463617e-01 9.87679408e-01 -2.91938235e-03 -2.73018215e+01] [-1.74606670e-02 1.89310547e-04 9.99847533e-01 -3.52933471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194012739 meters 0.024865278010030786 Centerline is valid? [True, True] Translation: X:178.27, Y:-27.31, Z:-3.53 [[ 9.87187398e-01 1.58692012e-01 1.66698993e-02 1.78269023e+02] [-1.58666917e-01 9.87328124e-01 -2.82580062e-03 -2.73050386e+01] [-1.69070924e-02 1.44633234e-04 9.99857054e-01 -3.53061073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters 0.02350391724270408 Centerline is valid? [True, True] Translation: X:178.30, Y:-27.30, Z:-3.53 [[ 9.86501047e-01 1.62874314e-01 1.69600189e-02 1.78296912e+02] [-1.62848968e-01 9.86646823e-01 -2.87418866e-03 -2.73049444e+01] [-1.72016803e-02 7.34685422e-05 9.99852037e-01 -3.52999236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254012739 meters 0.023044808394168975 Centerline is valid? [True, True] Translation: X:178.33, Y:-27.31, Z:-3.53 [[ 9.86130458e-01 1.65062605e-01 1.73509839e-02 1.78326276e+02] [-1.65036435e-01 9.86283091e-01 -2.93935480e-03 -2.73057765e+01] [-1.75981595e-02 3.50427745e-05 9.99845140e-01 -3.53079857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters 0.023091445077914555 Centerline is valid? [True, True] Translation: X:178.35, Y:-27.30, Z:-3.53 [[ 9.85429176e-01 1.69169128e-01 1.76392884e-02 1.78354914e+02] [-1.69142753e-01 9.85587036e-01 -2.98739603e-03 -2.73025953e+01] [-1.78904292e-02 -3.96905933e-05 9.99839953e-01 -3.53098203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314012739 meters 0.023261618860218148 Centerline is valid? [True, True] Translation: X:178.38, Y:-27.30, Z:-3.53 [[ 9.85221783e-01 1.70345163e-01 1.79043151e-02 1.78383069e+02] [-1.70318208e-01 9.85384454e-01 -3.03095529e-03 -2.73037281e+01] [-1.81589423e-02 -6.32676949e-05 9.99835111e-01 -3.53137020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters 0.023341103524658787 Centerline is valid? [True, True] Translation: X:178.41, Y:-27.31, Z:-3.53 [[ 9.85190217e-01 1.70540136e-01 1.77847796e-02 1.78411554e+02] [-1.70513590e-01 9.85350728e-01 -3.00969791e-03 -2.73061718e+01] [-1.80375198e-02 -6.74216872e-05 9.99837308e-01 -3.53111397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374012739 meters 0.022805558439926304 Centerline is valid? [True, True] Translation: X:178.44, Y:-27.31, Z:-3.53 [[ 9.85400161e-01 1.69136977e-01 1.94732232e-02 1.78439616e+02] [-1.69104906e-01 9.85592553e-01 -3.29391579e-03 -2.73089086e+01] [-1.97497867e-02 -4.71924345e-05 9.99804953e-01 -3.52711855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters 0.02269227501274912 Centerline is valid? [True, True] Translation: X:178.47, Y:-27.31, Z:-3.53 [[ 9.85571027e-01 1.67984034e-01 2.07633191e-02 1.78467484e+02] [-1.67947354e-01 9.85789716e-01 -3.51036690e-03 -2.73139246e+01] [-2.10579521e-02 -2.74285952e-05 9.99778256e-01 -3.52571608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434012739 meters 0.023013748852609584 Centerline is valid? [True, True] Translation: X:178.49, Y:-27.32, Z:-3.53 [[ 9.86185435e-01 1.64261798e-01 2.13623222e-02 1.78493811e+02] [-1.64222131e-01 9.86416777e-01 -3.61009805e-03 -2.73222777e+01] [-2.16651542e-02 5.20600390e-05 9.99765282e-01 -3.52720323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters 0.02342141461950662 Centerline is valid? [True, True] Translation: X:178.52, Y:-27.33, Z:-3.53 [[ 9.86559897e-01 1.62103064e-01 2.05467061e-02 1.78522046e+02] [-1.62065926e-01 9.86773828e-01 -3.47101306e-03 -2.73298841e+01] [-2.08376137e-02 9.44413331e-05 9.99782869e-01 -3.52996534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49401273899997 meters 0.025151263239191767 Centerline is valid? [True, True] Translation: X:178.55, Y:-27.34, Z:-3.53 [[ 9.87223808e-01 1.58236848e-01 1.87150628e-02 1.78548211e+02] [-1.58205356e-01 9.87401172e-01 -3.16080906e-03 -2.73390817e+01] [-1.89794314e-02 1.59602782e-04 9.99819862e-01 -3.53347436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters 0.025151263239191767 Centerline is valid? [True, True] Translation: X:178.58, Y:-27.34, Z:-3.53 [[ 9.87230761e-01 1.58193443e-01 1.87152287e-02 1.78576153e+02] [-1.58161962e-01 9.87408127e-01 -3.15982647e-03 -2.73437082e+01] [-1.89794327e-02 1.59440600e-04 9.99819862e-01 -3.53404967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55401273899997 meters 0.0254723647188655 Centerline is valid? [True, True] Translation: X:178.60, Y:-27.35, Z:-3.54 [[ 9.87523595e-01 1.56448835e-01 1.79139885e-02 1.78604186e+02] [-1.56419719e-01 9.87686047e-01 -3.02378344e-03 -2.73485771e+01] [-1.81664639e-02 1.83956438e-04 9.99834959e-01 -3.53539896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters 0.026288297475953973 Centerline is valid? [True, True] Translation: X:178.63, Y:-27.36, Z:-3.54 [[ 9.87854138e-01 1.54458600e-01 1.69335103e-02 1.78632014e+02] [-1.54432306e-01 9.87999240e-01 -2.85751507e-03 -2.73554476e+01] [-1.71716631e-02 2.07727040e-04 9.99852535e-01 -3.53773021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61401273899997 meters 0.02825817318171147 Centerline is valid? [True, True] Translation: X:178.66, Y:-27.36, Z:-3.54 [[ 9.88216940e-01 1.52208328e-01 1.61215474e-02 1.78659134e+02] [-1.52184207e-01 9.88348405e-01 -2.71980212e-03 -2.73642456e+01] [-1.63476822e-02 2.34309625e-04 9.99866340e-01 -3.53994437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters 0.031238655153502257 Centerline is valid? [True, True] Translation: X:178.69, Y:-27.37, Z:-3.54 [[ 9.88589159e-01 1.49688025e-01 1.68810747e-02 1.78686136e+02] [-1.49661229e-01 9.88733236e-01 -2.84684437e-03 -2.73736833e+01] [-1.71170181e-02 2.87917097e-04 9.99853452e-01 -3.53963897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67401273899998 meters 0.029459502915037895 Centerline is valid? [True, True] Translation: X:178.72, Y:-27.38, Z:-3.54 [[ 9.88268401e-01 1.51560028e-01 1.88447953e-02 1.78715169e+02] [-1.51526998e-01 9.88448014e-01 -3.17674545e-03 -2.73769158e+01] [-1.91085681e-02 2.83981884e-04 9.99817374e-01 -3.53595895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters 0.027673808681808985 Centerline is valid? [True, True] Translation: X:178.74, Y:-27.38, Z:-3.54 [[ 9.88097094e-01 1.52645899e-01 1.90620936e-02 1.78743677e+02] [-1.52612321e-01 9.88280911e-01 -3.21251072e-03 -2.73786089e+01] [-1.93290798e-02 2.65162160e-04 9.99813141e-01 -3.53588557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73401273899998 meters 0.027204590671085657 Centerline is valid? [True, True] Translation: X:178.77, Y:-27.38, Z:-3.54 [[ 9.87985775e-01 1.53343878e-01 1.92292241e-02 1.78772413e+02] [-1.53309859e-01 9.88172855e-01 -3.23976700e-03 -2.73812966e+01] [-1.94985957e-02 2.52814087e-04 9.99809852e-01 -3.53663582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters 0.026698564169524472 Centerline is valid? [True, True] Translation: X:178.80, Y:-27.38, Z:-3.54 [[ 9.87951254e-01 1.53563428e-01 1.92508043e-02 1.78801478e+02] [-1.53529391e-01 9.88138762e-01 -3.24249079e-03 -2.73832432e+01] [-1.95203939e-02 2.47858584e-04 9.99809428e-01 -3.53756593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79401273899998 meters 0.02719501744961932 Centerline is valid? [True, True] Translation: X:178.83, Y:-27.39, Z:-3.54 [[ 9.87989878e-01 1.53397458e-01 1.85801038e-02 1.78829159e+02] [-1.53365735e-01 9.88164542e-01 -3.12890907e-03 -2.73878364e+01] [-1.88401664e-02 2.41779224e-04 9.99822479e-01 -3.53969672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters 0.02712935501646644 Centerline is valid? [True, True] Translation: X:178.86, Y:-27.39, Z:-3.54 [[ 9.87939469e-01 1.53712148e-01 1.86596308e-02 1.78857974e+02] [-1.53680231e-01 9.88115641e-01 -3.14115033e-03 -2.73922811e+01] [-1.89207060e-02 2.35650026e-04 9.99820960e-01 -3.54014003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85401273899998 meters 0.026217234497109665 Centerline is valid? [True, True] Translation: X:178.89, Y:-27.40, Z:-3.54 [[ 9.87832110e-01 1.54491528e-01 1.78910704e-02 1.78886549e+02] [-1.54462327e-01 9.87994091e-01 -3.01097830e-03 -2.73951496e+01] [-1.81414425e-02 2.10844678e-04 9.99835408e-01 -3.54071598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters 0.026497903786573223 Centerline is valid? [True, True] Translation: X:178.91, Y:-27.40, Z:-3.54 [[ 9.87812717e-01 1.54712524e-01 1.70314646e-02 1.78913642e+02] [-1.54686108e-01 9.87959512e-01 -2.86558294e-03 -2.74004464e+01] [-1.72697390e-02 1.96128300e-04 9.99850848e-01 -3.54293516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914012739 meters 0.026625267546771282 Centerline is valid? [True, True] Translation: X:178.94, Y:-27.41, Z:-3.55 [[ 9.87844771e-01 1.54588797e-01 1.62792079e-02 1.78942328e+02] [-1.54564662e-01 9.87978881e-01 -2.73805444e-03 -2.74063957e+01] [-1.65067862e-02 1.88582490e-04 9.99863736e-01 -3.54527460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters 0.027818556281743772 Centerline is valid? [True, True] Translation: X:178.97, Y:-27.42, Z:-3.54 [[ 9.88188338e-01 1.52175765e-01 1.80650536e-02 1.78970154e+02] [-1.52145657e-01 9.88353415e-01 -3.03749402e-03 -2.74159853e+01] [-1.83168904e-02 2.53096717e-04 9.99832200e-01 -3.54350799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974012739 meters 0.029282568962036494 Centerline is valid? [True, True] Translation: X:179.00, Y:-27.43, Z:-3.54 [[ 9.88614141e-01 1.48963434e-01 2.12596944e-02 1.78998911e+02] [-1.48921017e-01 9.88842637e-01 -3.57351536e-03 -2.74259324e+01] [-2.15548154e-02 3.66812502e-04 9.99767601e-01 -3.53834529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters 0.031302761308673314 Centerline is valid? [True, True] Translation: X:179.03, Y:-27.44, Z:-3.54 [[ 9.88845855e-01 1.47437833e-01 2.11177712e-02 1.79026092e+02] [-1.47395644e-01 9.89071245e-01 -3.54914489e-03 -2.74358276e+01] [-2.14102585e-02 3.96889727e-04 9.99770695e-01 -3.53883296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034012739 meters 0.031115950653801447 Centerline is valid? [True, True] Translation: X:179.06, Y:-27.44, Z:-3.54 [[ 9.89108975e-01 1.45803438e-01 2.01194485e-02 1.79055547e+02] [-1.45764819e-01 9.89313494e-01 -3.38068217e-03 -2.74429220e+01] [-2.03973569e-02 4.11155317e-04 9.99791868e-01 -3.54136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters 0.03521459583471791 Centerline is valid? [True, True] Translation: X:179.08, Y:-27.46, Z:-3.55 [[ 9.89699473e-01 1.41979928e-01 1.83481266e-02 1.79082590e+02] [-1.41947155e-01 9.89869436e-01 -3.08294634e-03 -2.74605714e+01] [-1.85999662e-02 4.46725992e-04 9.99826906e-01 -3.54601325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094012739 meters 0.03593360941451083 Centerline is valid? [True, True] Translation: X:179.11, Y:-27.47, Z:-3.55 [[ 9.89927806e-01 1.40349544e-01 1.85726706e-02 1.79111969e+02] [-1.40315655e-01 9.90101899e-01 -3.12187895e-03 -2.74700035e+01] [-1.88269907e-02 4.84398348e-04 9.99822639e-01 -3.54636782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters 0.036803612360905756 Centerline is valid? [True, True] Translation: X:179.14, Y:-27.48, Z:-3.54 [[ 9.90073985e-01 1.39059477e-01 2.03952363e-02 1.79141007e+02] [-1.39018335e-01 9.90283873e-01 -3.42825159e-03 -2.74839483e+01] [-2.06738045e-02 5.58910914e-04 9.99786118e-01 -3.54351698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154012739 meters 0.03759924358014844 Centerline is valid? [True, True] Translation: X:179.17, Y:-27.49, Z:-3.54 [[ 9.90017819e-01 1.39347968e-01 2.11390973e-02 1.79170857e+02] [-1.39303811e-01 9.90243310e-01 -3.55445380e-03 -2.74941470e+01] [-2.14281556e-02 5.74215771e-04 9.99770226e-01 -3.54278975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters 0.037039673403248374 Centerline is valid? [True, True] Translation: X:179.20, Y:-27.50, Z:-3.54 [[ 9.89924030e-01 1.39982833e-01 2.13359064e-02 1.79202041e+02] [-1.39937925e-01 9.90153767e-01 -3.59088922e-03 -2.75012869e+01] [-2.16284909e-02 5.69005065e-04 9.99765915e-01 -3.54326469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21401273899997 meters 0.034903606329850866 Centerline is valid? [True, True] Translation: X:179.23, Y:-27.51, Z:-3.55 [[ 9.89630779e-01 1.42277575e-01 1.96980464e-02 1.79233317e+02] [-1.42239692e-01 9.89826682e-01 -3.31823564e-03 -2.75074303e+01] [-1.99697624e-02 4.81984083e-04 9.99800468e-01 -3.54716959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters 0.034303787647460664 Centerline is valid? [True, True] Translation: X:179.27, Y:-27.51, Z:-3.55 [[ 9.89485343e-01 1.43315152e-01 1.94813362e-02 1.79265014e+02] [-1.43278236e-01 9.89676996e-01 -3.28493057e-03 -2.75149443e+01] [-1.97510106e-02 4.59139168e-04 9.99804824e-01 -3.54811444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27401273899997 meters 0.03375264063525332 Centerline is valid? [True, True] Translation: X:179.29, Y:-27.53, Z:-3.55 [[ 9.89256813e-01 1.44612351e-01 2.14062181e-02 1.79294829e+02] [-1.44567998e-01 9.89488271e-01 -3.61336934e-03 -2.75255130e+01] [-2.17037395e-02 4.79896158e-04 9.99764331e-01 -3.54574972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters 0.032220884938312586 Centerline is valid? [True, True] Translation: X:179.33, Y:-27.53, Z:-3.55 [[ 9.89010200e-01 1.46266486e-01 2.15624454e-02 1.79327052e+02] [-1.46221806e-01 9.89245123e-01 -3.64293200e-03 -2.75304724e+01] [-2.18633828e-02 4.49997208e-04 9.99760866e-01 -3.54585164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33401273899997 meters 0.030763589797261032 Centerline is valid? [True, True] Translation: X:179.36, Y:-27.53, Z:-3.55 [[ 9.88715992e-01 1.48362789e-01 2.07164337e-02 1.79358886e+02] [-1.48321980e-01 9.88932926e-01 -3.50125093e-03 -2.75345360e+01] [-2.10066187e-02 3.89040331e-04 9.99779261e-01 -3.54758261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters 0.028277305605192368 Centerline is valid? [True, True] Translation: X:179.39, Y:-27.54, Z:-3.55 [[ 9.88213885e-01 1.52074076e-01 1.75155204e-02 1.79389526e+02] [-1.52045439e-01 9.88369063e-01 -2.96300956e-03 -2.75394568e+01] [-1.77623954e-02 2.64932203e-04 9.99842201e-01 -3.55377482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39401273899998 meters 0.02765659418552549 Centerline is valid? [True, True] Translation: X:179.42, Y:-27.55, Z:-3.55 [[ 9.87780809e-01 1.54705234e-01 1.88511204e-02 1.79417778e+02] [-1.54672530e-01 9.87960645e-01 -3.18947194e-03 -2.75476799e+01] [-1.91175931e-02 2.34748679e-04 9.99817215e-01 -3.55173573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters 0.02638498845685178 Centerline is valid? [True, True] Translation: X:179.45, Y:-27.55, Z:-3.55 [[ 9.87615640e-01 1.55501631e-01 2.08468331e-02 1.79448580e+02] [-1.55461819e-01 9.87835606e-01 -3.52687034e-03 -2.75509978e+01] [-2.11416781e-02 2.42305714e-04 9.99776460e-01 -3.54890200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45401273899998 meters 0.025719434435748485 Centerline is valid? [True, True] Translation: X:179.48, Y:-27.56, Z:-3.55 [[ 9.87437423e-01 1.56447158e-01 2.21725488e-02 1.79478701e+02] [-1.56402359e-01 9.87686302e-01 -3.75115511e-03 -2.75554969e+01] [-2.24863802e-02 2.36192003e-04 9.99747121e-01 -3.54721668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters 0.023967366523050978 Centerline is valid? [True, True] Translation: X:179.51, Y:-27.56, Z:-3.55 [[ 9.86983069e-01 1.59645003e-01 1.94395185e-02 1.79510009e+02] [-1.59611188e-01 9.87174479e-01 -3.28876693e-03 -2.75593075e+01] [-1.97152318e-02 1.43192629e-04 9.99805626e-01 -3.55437744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51401273899998 meters 0.023508692590009317 Centerline is valid? [True, True] Translation: X:179.54, Y:-27.56, Z:-3.56 [[ 9.86700766e-01 1.61633444e-01 1.72112645e-02 1.79538826e+02] [-1.61607234e-01 9.86850861e-01 -2.91217067e-03 -2.75640535e+01] [-1.74556553e-02 9.19761882e-05 9.99847634e-01 -3.55891149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters 0.02259708326356694 Centerline is valid? [True, True] Translation: X:179.57, Y:-27.57, Z:-3.56 [[ 9.86051920e-01 1.65538518e-01 1.72803562e-02 1.79567480e+02] [-1.65512689e-01 9.86203325e-01 -2.92426403e-03 -2.75669746e+01] [-1.75260230e-02 2.33579454e-05 9.99846407e-01 -3.55856322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57401273899998 meters 0.022433348566456842 Centerline is valid? [True, True] Translation: X:179.60, Y:-27.57, Z:-3.56 [[ 9.85709892e-01 1.67466109e-01 1.81964654e-02 1.79596062e+02] [-1.67437813e-01 9.85877833e-01 -3.07839714e-03 -2.75703239e+01] [-1.84550191e-02 -1.23698647e-05 9.99829692e-01 -3.55690216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters 0.02252433511700113 Centerline is valid? [True, True] Translation: X:179.62, Y:-27.57, Z:-3.56 [[ 9.85417531e-01 1.69100194e-01 1.89053945e-02 1.79624815e+02] [-1.69069970e-01 9.85598865e-01 -3.19737958e-03 -2.75733812e+01] [-1.91738128e-02 -4.55805733e-05 9.99816165e-01 -3.55707440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63401273899999 meters 0.0234723580863835 Centerline is valid? [True, True] Translation: X:179.65, Y:-27.57, Z:-3.56 [[ 9.84867946e-01 1.72384885e-01 1.78488344e-02 1.79652564e+02] [-1.72358497e-01 9.85029665e-01 -3.01792535e-03 -2.75725882e+01] [-1.81018761e-02 -1.04140341e-04 9.99836142e-01 -3.56044780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters 0.025995843654148528 Centerline is valid? [True, True] Translation: X:179.68, Y:-27.57, Z:-3.56 [[ 9.84171844e-01 1.76440392e-01 1.65701360e-02 1.79681531e+02] [-1.76418243e-01 9.84311313e-01 -2.80057668e-03 -2.75701743e+01] [-1.68043072e-02 -1.67025577e-04 9.99858784e-01 -3.56345572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694012739 meters 0.026723153343956682 Centerline is valid? [True, True] Translation: X:179.71, Y:-27.57, Z:-3.56 [[ 9.83818533e-01 1.78395211e-01 1.66205685e-02 1.79710030e+02] [-1.78373224e-01 9.83958895e-01 -2.80806089e-03 -2.75740476e+01] [-1.68549008e-02 -2.02042042e-04 9.99857926e-01 -3.56352103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters 0.02736343141679813 Centerline is valid? [True, True] Translation: X:179.74, Y:-27.58, Z:-3.56 [[ 9.83621673e-01 1.79499585e-01 1.63799402e-02 1.79738236e+02] [-1.79478396e-01 9.83758025e-01 -2.76663952e-03 -2.75775760e+01] [-1.66105083e-02 -2.18518802e-04 9.99862012e-01 -3.56390949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754012739 meters 0.02964205593766294 Centerline is valid? [True, True] Translation: X:179.77, Y:-27.57, Z:-3.56 [[ 9.83339999e-01 1.80986936e-01 1.69167074e-02 1.79766594e+02] [-1.80964569e-01 9.83485468e-01 -2.85649709e-03 -2.75741706e+01] [-1.71543246e-02 -2.52416822e-04 9.99852822e-01 -3.56480228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters 0.0283905501349654 Centerline is valid? [True, True] Translation: X:179.79, Y:-27.58, Z:-3.56 [[ 9.83283053e-01 1.81180852e-01 1.81090059e-02 1.79794555e+02] [-1.81155274e-01 9.83449756e-01 -3.05668548e-03 -2.75793424e+01] [-1.83631103e-02 -2.74954905e-04 9.99831346e-01 -3.56250271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814012739 meters 0.028874656728648532 Centerline is valid? [True, True] Translation: X:179.82, Y:-27.58, Z:-3.56 [[ 9.83223395e-01 1.81235210e-01 2.06289625e-02 1.79822159e+02] [-1.81202065e-01 9.83439728e-01 -3.48035490e-03 -2.75835218e+01] [-2.09181041e-02 -3.16044245e-04 9.99781143e-01 -3.55817865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters 0.027763125805663546 Centerline is valid? [True, True] Translation: X:179.85, Y:-27.59, Z:-3.56 [[ 9.83297351e-01 1.80826473e-01 2.06907254e-02 1.79850251e+02] [-1.80793067e-01 9.83514967e-01 -3.48944769e-03 -2.75899704e+01] [-2.09806226e-02 -3.09575016e-04 9.99779835e-01 -3.55914067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874012739 meters 0.027902632435257493 Centerline is valid? [True, True] Translation: X:179.88, Y:-27.59, Z:-3.56 [[ 9.83378966e-01 1.80463880e-01 1.99649122e-02 1.79877719e+02] [-1.80432721e-01 9.83581569e-01 -3.36610392e-03 -2.75932178e+01] [-2.02445798e-02 -2.92167636e-04 9.99795015e-01 -3.56111839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters 0.02693106456337277 Centerline is valid? [True, True] Translation: X:179.91, Y:-27.60, Z:-3.57 [[ 9.83799798e-01 1.78430185e-01 1.73385831e-02 1.79905161e+02] [-1.78406386e-01 9.83952550e-01 -2.92237982e-03 -2.75996588e+01] [-1.75817839e-02 -2.18277268e-04 9.99845405e-01 -3.56801444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934012739 meters 0.027128827128156587 Centerline is valid? [True, True] Translation: X:179.93, Y:-27.61, Z:-3.57 [[ 9.83984832e-01 1.77457984e-01 1.68081349e-02 1.79932896e+02] [-1.77435489e-01 9.84128358e-01 -2.83224509e-03 -2.76050636e+01] [-1.70439667e-02 -1.95473425e-04 9.99854722e-01 -3.57006408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters 0.02482095065741946 Centerline is valid? [True, True] Translation: X:179.96, Y:-27.62, Z:-3.57 [[ 9.84342626e-01 1.75267984e-01 1.87277285e-02 1.79960453e+02] [-1.75239686e-01 9.84520748e-01 -3.15433997e-03 -2.76157547e+01] [-1.89906920e-02 -1.76889969e-04 9.99819645e-01 -3.56548009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99401273899997 meters 0.024294924810041953 Centerline is valid? [True, True] Translation: X:179.99, Y:-27.62, Z:-3.56 [[ 9.84566168e-01 1.73866866e-01 1.99943350e-02 1.79988377e+02] [-1.73834343e-01 9.84769154e-01 -3.36663739e-03 -2.76200150e+01] [-2.02751511e-02 -1.61024814e-04 9.99794425e-01 -3.56375812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters 0.024059378179480135 Centerline is valid? [True, True] Translation: X:180.02, Y:-27.62, Z:-3.56 [[ 9.84647110e-01 1.73317090e-01 2.07666935e-02 1.80016263e+02] [-1.73281911e-01 9.84866063e-01 -3.49538201e-03 -2.76243208e+01] [-2.10582211e-02 -1.56774546e-04 9.99778239e-01 -3.56336782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05401273899997 meters 0.024850487198618394 Centerline is valid? [True, True] Translation: X:180.04, Y:-27.63, Z:-3.57 [[ 9.84611835e-01 1.73749062e-01 1.87296231e-02 1.80044199e+02] [-1.73720543e-01 9.84789948e-01 -3.15151429e-03 -2.76281980e+01] [-1.89923172e-02 -1.50702034e-04 9.99819618e-01 -3.56836293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters 0.02462142203329028 Centerline is valid? [True, True] Translation: X:180.07, Y:-27.63, Z:-3.57 [[ 9.84606810e-01 1.73987036e-01 1.66715481e-02 1.80072629e+02] [-1.73964492e-01 9.84747933e-01 -2.80422989e-03 -2.76347992e+01] [-1.69051722e-02 -1.39193537e-04 9.99857088e-01 -3.57284651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11401273899997 meters 0.024297345642044985 Centerline is valid? [True, True] Translation: X:180.10, Y:-27.64, Z:-3.57 [[ 9.84830464e-01 1.72748092e-01 1.63417634e-02 1.80100339e+02] [-1.72726272e-01 9.84966031e-01 -2.74803263e-03 -2.76390829e+01] [-1.65707992e-02 -1.16305617e-04 9.99862688e-01 -3.57398341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters 0.02369024361836362 Centerline is valid? [True, True] Translation: X:180.13, Y:-27.64, Z:-3.57 [[ 9.84994047e-01 1.71646171e-01 1.80088932e-02 1.80129045e+02] [-1.71619510e-01 9.85158657e-01 -3.02714782e-03 -2.76447505e+01] [-1.82612154e-02 -1.08954852e-04 9.99833244e-01 -3.57086436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17401273899998 meters 0.023122183998485545 Centerline is valid? [True, True] Translation: X:180.16, Y:-27.65, Z:-3.57 [[ 9.85127371e-01 1.70698346e-01 1.96504007e-02 1.80157318e+02] [-1.70666434e-01 9.85323330e-01 -3.30208068e-03 -2.76509864e+01] [-1.99256579e-02 -1.00693756e-04 9.99801459e-01 -3.56737242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters 0.023756214364771416 Centerline is valid? [True, True] Translation: X:180.19, Y:-27.65, Z:-3.57 [[ 9.84853664e-01 1.72184279e-01 2.03920390e-02 1.80186414e+02] [-1.72150251e-01 9.85064747e-01 -3.42573162e-03 -2.76535021e+01] [-2.06773358e-02 -1.36650299e-04 9.99786192e-01 -3.56657682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23401273899998 meters 0.024633106473828253 Centerline is valid? [True, True] Translation: X:180.21, Y:-27.65, Z:-3.57 [[ 9.84598475e-01 1.73767299e-01 1.92553389e-02 1.80214434e+02] [-1.73737278e-01 9.84786728e-01 -3.23393955e-03 -2.76528090e+01] [-1.95243551e-02 -1.61238218e-04 9.99809369e-01 -3.56906644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters 0.026720088656032506 Centerline is valid? [True, True] Translation: X:180.24, Y:-27.65, Z:-3.58 [[ 9.84061497e-01 1.77053546e-01 1.65834684e-02 1.80243940e+02] [-1.77031760e-01 9.84201201e-01 -2.78436288e-03 -2.76488651e+01] [-1.68144509e-02 -1.95816289e-04 9.99858608e-01 -3.57574595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29401273899998 meters 0.027257937907676798 Centerline is valid? [True, True] Translation: X:180.27, Y:-27.65, Z:-3.58 [[ 9.83938369e-01 1.77765406e-01 1.62710062e-02 1.80272115e+02] [-1.77744542e-01 9.84072873e-01 -2.73116455e-03 -2.76534641e+01] [-1.64973623e-02 -2.04784939e-04 9.99863888e-01 -3.57737819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters 0.02615684110460897 Centerline is valid? [True, True] Translation: X:180.30, Y:-27.66, Z:-3.57 [[ 9.84014399e-01 1.77187529e-01 1.78953283e-02 1.80300389e+02] [-1.77162213e-01 9.84177084e-01 -3.00288820e-03 -2.76607660e+01] [-1.81442464e-02 -2.15490739e-04 9.99835356e-01 -3.57422032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35401273899998 meters 0.026710240204156643 Centerline is valid? [True, True] Translation: X:180.33, Y:-27.66, Z:-3.58 [[ 9.84199414e-01 1.76158248e-01 1.78825672e-02 1.80327835e+02] [-1.76132812e-01 9.84361840e-01 -2.99990970e-03 -2.76630613e+01] [-1.81313756e-02 -1.97197476e-04 9.99835594e-01 -3.57519586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters 0.025041406580594373 Centerline is valid? [True, True] Translation: X:180.36, Y:-27.67, Z:-3.58 [[ 9.84442463e-01 1.74823342e-01 1.76021544e-02 1.80355789e+02] [-1.74798504e-01 9.84599802e-01 -2.95180002e-03 -2.76719839e+01] [-1.78471213e-02 -1.70952975e-04 9.99840713e-01 -3.57608825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414012739 meters 0.025041406580594373 Centerline is valid? [True, True] Translation: X:180.38, Y:-27.68, Z:-3.58 [[ 9.84450583e-01 1.74777597e-01 1.76022913e-02 1.80383738e+02] [-1.74752766e-01 9.84607923e-01 -2.95098303e-03 -2.76765781e+01] [-1.78471212e-02 -1.70952139e-04 9.99840713e-01 -3.57666356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters 0.02320964605582017 Centerline is valid? [True, True] Translation: X:180.41, Y:-27.69, Z:-3.58 [[ 9.85254026e-01 1.70208341e-01 1.74248585e-02 1.80409485e+02] [-1.70183308e-01 9.85408095e-01 -2.92044359e-03 -2.76926198e+01] [-1.76676805e-02 -8.80412587e-05 9.99843910e-01 -3.57757057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474012739 meters 0.022438080372106622 Centerline is valid? [True, True] Translation: X:180.44, Y:-27.70, Z:-3.58 [[ 9.85755624e-01 1.67189409e-01 1.82634100e-02 1.80436913e+02] [-1.67161411e-01 9.85924794e-01 -3.05983115e-03 -2.77036097e+01] [-1.85179201e-02 -3.66916197e-05 9.99828528e-01 -3.57659921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters 0.022350186988889277 Centerline is valid? [True, True] Translation: X:180.46, Y:-27.72, Z:-3.57 [[ 9.86460241e-01 1.62703220e-01 2.05877271e-02 1.80463463e+02] [-1.62666686e-01 9.86675053e-01 -3.44814430e-03 -2.77163683e+01] [-2.08744209e-02 5.25199092e-05 9.99782104e-01 -3.57291154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534012739 meters 0.02264608750536908 Centerline is valid? [True, True] Translation: X:180.49, Y:-27.73, Z:-3.57 [[ 9.86672384e-01 1.61422657e-01 2.05020061e-02 1.80491478e+02] [-1.61386165e-01 9.86885363e-01 -3.43306930e-03 -2.77253610e+01] [-2.07873049e-02 7.85745311e-05 9.99783918e-01 -3.57371748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters 0.023096313962192416 Centerline is valid? [True, True] Translation: X:180.52, Y:-27.74, Z:-3.58 [[ 9.87019072e-01 1.59544275e-01 1.84112855e-02 1.80522527e+02] [-1.59514529e-01 9.87190768e-01 -3.08248358e-03 -2.77371551e+01] [-1.86672437e-02 1.05602531e-04 9.99825746e-01 -3.57788938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594012739 meters 0.02324312996086928 Centerline is valid? [True, True] Translation: X:180.55, Y:-27.74, Z:-3.58 [[ 9.87097109e-01 1.59141805e-01 1.76969688e-02 1.80551915e+02] [-1.59114199e-01 9.87255728e-01 -2.96622061e-03 -2.77434449e+01] [-1.79434835e-02 1.12108775e-04 9.99838996e-01 -3.57878534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters 0.023658977568676336 Centerline is valid? [True, True] Translation: X:180.58, Y:-27.75, Z:-3.58 [[ 9.87167487e-01 1.58732972e-01 1.74412055e-02 1.80581879e+02] [-1.58706090e-01 9.87321543e-01 -2.92356484e-03 -2.77495085e+01] [-1.76841441e-02 1.18022624e-04 9.99843616e-01 -3.57986829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654012739 meters 0.023578658103390295 Centerline is valid? [True, True] Translation: X:180.61, Y:-27.76, Z:-3.58 [[ 9.87295435e-01 1.57884984e-01 1.78900830e-02 1.80612658e+02] [-1.57856557e-01 9.87457499e-01 -2.99900629e-03 -2.77581554e+01] [-1.81391946e-02 1.36838318e-04 9.99835462e-01 -3.57998508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters 0.024195637222659855 Centerline is valid? [True, True] Translation: X:180.64, Y:-27.77, Z:-3.58 [[ 9.87264083e-01 1.58045454e-01 1.82006850e-02 1.80642738e+02] [-1.58016053e-01 9.87431828e-01 -3.05141083e-03 -2.77685234e+01] [-1.84541972e-02 1.36547915e-04 9.99829697e-01 -3.58066310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71401273899997 meters 0.02727035715930048 Centerline is valid? [True, True] Translation: X:180.67, Y:-27.77, Z:-3.57 [[ 9.87042569e-01 1.59367892e-01 1.86772939e-02 1.80674131e+02] [-1.59337130e-01 9.87219257e-01 -3.13330785e-03 -2.77729430e+01] [-1.89379329e-02 1.16721830e-04 9.99820654e-01 -3.57020021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters 0.02288098636639087 Centerline is valid? [True, True] Translation: X:180.70, Y:-27.78, Z:-3.58 [[ 9.86865867e-01 1.60352655e-01 1.95649315e-02 1.80704587e+02] [-1.60319083e-01 9.87059783e-01 -3.28270947e-03 -2.77768020e+01] [-1.98381483e-02 1.02962047e-04 9.99803199e-01 -3.57782556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77401273899997 meters 0.022732990048705163 Centerline is valid? [True, True] Translation: X:180.73, Y:-27.78, Z:-3.58 [[ 9.86730611e-01 1.61135040e-01 1.99549631e-02 1.80734271e+02] [-1.61100266e-01 9.86932364e-01 -3.34863224e-03 -2.77812805e+01] [-2.02337808e-02 8.94480850e-05 9.99795272e-01 -3.57844710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters 0.022509035356251813 Centerline is valid? [True, True] Translation: X:180.77, Y:-27.79, Z:-3.58 [[ 9.86632204e-01 1.61711013e-01 2.01604123e-02 1.80765502e+02] [-1.61675615e-01 9.86838154e-01 -3.38431996e-03 -2.77859590e+01] [-2.04423459e-02 7.96319927e-05 9.99791030e-01 -3.57900170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83401273899997 meters 0.022361981692367208 Centerline is valid? [True, True] Translation: X:180.80, Y:-27.79, Z:-3.58 [[ 9.86486488e-01 1.62575879e-01 2.03345038e-02 1.80796693e+02] [-1.62540040e-01 9.86696042e-01 -3.41404228e-03 -2.77896271e+01] [-2.06190153e-02 6.27355157e-05 9.99787404e-01 -3.57826852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters 0.022180309724119558 Centerline is valid? [True, True] Translation: X:180.83, Y:-27.79, Z:-3.58 [[ 9.86477519e-01 1.62686828e-01 1.98771227e-02 1.80828256e+02] [-1.62652596e-01 9.86677755e-01 -3.33772176e-03 -2.77934828e+01] [-2.01553182e-02 5.95218656e-05 9.99796859e-01 -3.57987404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89401273899998 meters 0.02226566415357813 Centerline is valid? [True, True] Translation: X:180.86, Y:-27.80, Z:-3.58 [[ 9.86559867e-01 1.62266450e-01 1.92153350e-02 1.80859536e+02] [-1.62234371e-01 9.86746976e-01 -3.22704425e-03 -2.77982401e+01] [-1.94843147e-02 6.62845578e-05 9.99810161e-01 -3.58183478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters 0.022730972637022166 Centerline is valid? [True, True] Translation: X:180.89, Y:-27.81, Z:-3.58 [[ 9.86778440e-01 1.61045674e-01 1.82373651e-02 1.80889944e+02] [-1.61016566e-01 9.86946951e-01 -3.06295547e-03 -2.78083270e+01] [-1.84925876e-02 8.59405077e-05 9.99828994e-01 -3.58458954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95401273899998 meters 0.02319976145411838 Centerline is valid? [True, True] Translation: X:180.92, Y:-27.82, Z:-3.59 [[ 9.86954221e-01 1.59981577e-01 1.80903717e-02 1.80920252e+02] [-1.59952702e-01 9.87119994e-01 -3.04136693e-03 -2.78170286e+01] [-1.83439303e-02 1.08086106e-04 9.99831730e-01 -3.58525199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters 0.024166708688700928 Centerline is valid? [True, True] Translation: X:180.95, Y:-27.82, Z:-3.59 [[ 9.87346830e-01 1.57570208e-01 1.78288320e-02 1.80951732e+02] [-1.57541719e-01 9.87507775e-01 -3.00016176e-03 -2.78248972e+01] [-1.80788463e-02 1.53415366e-04 9.99836553e-01 -3.58583424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01401273899998 meters 0.024573110178411423 Centerline is valid? [True, True] Translation: X:180.98, Y:-27.83, Z:-3.59 [[ 9.87478023e-01 1.56778116e-01 1.75435327e-02 1.80982974e+02] [-1.56750354e-01 9.87633836e-01 -2.95508125e-03 -2.78314656e+01] [-1.77898786e-02 1.68122823e-04 9.99841733e-01 -3.58669677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters 0.024675523903429485 Centerline is valid? [True, True] Translation: X:181.01, Y:-27.84, Z:-3.59 [[ 9.87474238e-01 1.56827225e-01 1.73161844e-02 1.81014442e+02] [-1.56800134e-01 9.87626039e-01 -2.91968313e-03 -2.78390557e+01] [-1.75598004e-02 1.67931845e-04 9.99845801e-01 -3.58782054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07401273899998 meters 0.02437687273223282 Centerline is valid? [True, True] Translation: X:181.05, Y:-27.85, Z:-3.59 [[ 9.87400345e-01 1.57346097e-01 1.68156106e-02 1.81046539e+02] [-1.57320581e-01 9.87543508e-01 -2.83793808e-03 -2.78464713e+01] [-1.70526856e-02 1.56739409e-04 9.99854580e-01 -3.58944328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters 0.0238930523160055 Centerline is valid? [True, True] Translation: X:181.08, Y:-27.85, Z:-3.59 [[ 9.87137789e-01 1.59063655e-01 1.60542816e-02 1.81076751e+02] [-1.59040573e-01 9.87268321e-01 -2.71258360e-03 -2.78533435e+01] [-1.62813571e-02 1.24411633e-04 9.99867442e-01 -3.59195346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13401273899999 meters 0.02359821719973677 Centerline is valid? [True, True] Translation: X:181.11, Y:-27.86, Z:-3.59 [[ 9.86904172e-01 1.60575098e-01 1.53555580e-02 1.81106739e+02] [-1.60554121e-01 9.87023621e-01 -2.59728466e-03 -2.78573906e+01] [-1.55733577e-02 9.78729442e-05 9.99878723e-01 -3.59447296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters 0.022651588468257797 Centerline is valid? [True, True] Translation: X:181.14, Y:-27.86, Z:-3.60 [[ 9.86390084e-01 1.63720001e-01 1.51777451e-02 1.81136824e+02] [-1.63699861e-01 9.86506847e-01 -2.56837863e-03 -2.78601343e+01] [-1.53934444e-02 4.88284448e-05 9.99881513e-01 -3.59548759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194012739 meters 0.022258514824889965 Centerline is valid? [True, True] Translation: X:181.17, Y:-27.86, Z:-3.59 [[ 9.86172986e-01 1.64968861e-01 1.57517130e-02 1.81167176e+02] [-1.64947325e-01 9.86298775e-01 -2.66575223e-03 -2.78648386e+01] [-1.59756613e-02 3.06899306e-05 9.99872381e-01 -3.59488986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters 0.02204387666064429 Centerline is valid? [True, True] Translation: X:181.20, Y:-27.87, Z:-3.59 [[ 9.85682748e-01 1.67767591e-01 1.68391375e-02 1.81197637e+02] [-1.67743386e-01 9.85826575e-01 -2.84978329e-03 -2.78673166e+01] [-1.70785705e-02 -1.56717147e-05 9.99854150e-01 -3.59204119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254012739 meters 0.022328429828572565 Centerline is valid? [True, True] Translation: X:181.23, Y:-27.87, Z:-3.59 [[ 9.85247667e-01 1.70219206e-01 1.76764509e-02 1.81227258e+02] [-1.70192929e-01 9.85406220e-01 -2.99145868e-03 -2.78680644e+01] [-1.79276884e-02 -6.10792633e-05 9.99839284e-01 -3.59186826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters 0.023270334788675816 Centerline is valid? [True, True] Translation: X:181.26, Y:-27.87, Z:-3.59 [[ 9.84733491e-01 1.73163566e-01 1.77294014e-02 1.81256255e+02] [-1.73137602e-01 9.84893074e-01 -3.00074105e-03 -2.78674044e+01] [-1.79811836e-02 -1.14695831e-04 9.99838319e-01 -3.59199098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314012739 meters 0.026706046510686875 Centerline is valid? [True, True] Translation: X:181.29, Y:-27.86, Z:-3.60 [[ 9.83735869e-01 1.78804845e-01 1.71045920e-02 1.81286289e+02] [-1.78781541e-01 9.83884538e-01 -2.89440161e-03 -2.78605849e+01] [-1.73464766e-02 -2.10658632e-04 9.99849516e-01 -3.59546501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters 0.027291091394160836 Centerline is valid? [True, True] Translation: X:181.32, Y:-27.86, Z:-3.60 [[ 9.83504563e-01 1.80087201e-01 1.69521269e-02 1.81315417e+02] [-1.80064511e-01 9.83650622e-01 -2.86804346e-03 -2.78617586e+01] [-1.71914681e-02 -2.31742596e-04 9.99852189e-01 -3.59612060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374012739 meters 0.02810000814463754 Centerline is valid? [True, True] Translation: X:181.34, Y:-27.86, Z:-3.60 [[ 9.83364404e-01 1.80852217e-01 1.69388614e-02 1.81343262e+02] [-1.80829689e-01 9.83510252e-01 -2.86502916e-03 -2.78619787e+01] [-1.71776907e-02 -2.45681352e-04 9.99852422e-01 -3.59636384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters 0.02857493204463821 Centerline is valid? [True, True] Translation: X:181.37, Y:-27.86, Z:-3.60 [[ 9.83332547e-01 1.81001107e-01 1.71959656e-02 1.81371550e+02] [-1.80977930e-01 9.83482860e-01 -2.90748090e-03 -2.78624758e+01] [-1.74381947e-02 -2.53069657e-04 9.99847911e-01 -3.59640315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434012739 meters 0.027905782378974762 Centerline is valid? [True, True] Translation: X:181.40, Y:-27.86, Z:-3.60 [[ 9.83438948e-01 1.80382505e-01 1.76064610e-02 1.81400115e+02] [-1.80358129e-01 9.83596508e-01 -2.97580681e-03 -2.78645980e+01] [-1.78544370e-02 -2.48944037e-04 9.99840566e-01 -3.59635949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters 0.026767100209794864 Centerline is valid? [True, True] Translation: X:181.43, Y:-27.87, Z:-3.60 [[ 9.83578111e-01 1.79651424e-01 1.73050796e-02 1.81428275e+02] [-1.79627776e-01 9.83730304e-01 -2.92408983e-03 -2.78690964e+01] [-1.75488481e-02 -2.32402201e-04 9.99845980e-01 -3.59667069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49401273899997 meters 0.02606828244260173 Centerline is valid? [True, True] Translation: X:181.46, Y:-27.87, Z:-3.60 [[ 9.83676166e-01 1.79148046e-01 1.69463568e-02 1.81456936e+02] [-1.79125307e-01 9.83822103e-01 -2.86268419e-03 -2.78723319e+01] [-1.71850446e-02 -2.19567155e-04 9.99852302e-01 -3.59822738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters 0.025460318941643027 Centerline is valid? [True, True] Translation: X:181.49, Y:-27.87, Z:-3.60 [[ 9.84037035e-01 1.77185353e-01 1.66272194e-02 1.81485510e+02] [-1.77163195e-01 9.84177483e-01 -2.80800459e-03 -2.78708869e+01] [-1.68616722e-02 -1.82550804e-04 9.99857815e-01 -3.59972512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55401273899997 meters 0.024767199146360608 Centerline is valid? [True, True] Translation: X:181.51, Y:-27.87, Z:-3.60 [[ 9.84302048e-01 1.75677086e-01 1.69422636e-02 1.81513302e+02] [-1.75653876e-01 9.84447833e-01 -2.86013077e-03 -2.78736768e+01] [-1.71812341e-02 -1.60741690e-04 9.99852379e-01 -3.59961319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters 0.023840577981010826 Centerline is valid? [True, True] Translation: X:181.54, Y:-27.88, Z:-3.60 [[ 9.84581038e-01 1.74042563e-01 1.75888034e-02 1.81542192e+02] [-1.74017307e-01 9.84738121e-01 -2.96813897e-03 -2.78778037e+01] [-1.78369477e-02 -1.38382855e-04 9.99840899e-01 -3.59921659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61401273899997 meters 0.02228160609072034 Centerline is valid? [True, True] Translation: X:181.57, Y:-27.88, Z:-3.60 [[ 9.85334695e-01 1.69628876e-01 1.84819925e-02 1.81569720e+02] [-1.69600230e-01 9.85508011e-01 -3.11793647e-03 -2.78832553e+01] [-1.87430437e-02 -6.23391972e-05 9.99824332e-01 -3.59854503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters 0.021932615522140295 Centerline is valid? [True, True] Translation: X:181.60, Y:-27.89, Z:-3.60 [[ 9.85863249e-01 1.66533218e-01 1.84483614e-02 1.81598080e+02] [-1.66504154e-01 9.86035845e-01 -3.11113343e-03 -2.78908877e+01] [-1.87088527e-02 -4.57670188e-06 9.99824974e-01 -3.59924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67401273899998 meters 0.023123929647493987 Centerline is valid? [True, True] Translation: X:181.63, Y:-27.90, Z:-3.60 [[ 9.86946291e-01 1.60009121e-01 1.82784117e-02 1.81625135e+02] [-1.59979488e-01 9.87115529e-01 -3.08157569e-03 -2.79029703e+01] [-1.85359842e-02 1.17178765e-04 9.99828187e-01 -3.59993094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters 0.024719131129926863 Centerline is valid? [True, True] Translation: X:181.65, Y:-27.91, Z:-3.60 [[ 9.87456369e-01 1.56866353e-01 1.79684700e-02 1.81653301e+02] [-1.56837209e-01 9.87619824e-01 -3.02863469e-03 -2.79117743e+01] [-1.82211081e-02 1.72519941e-04 9.99833967e-01 -3.60108668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73401273899998 meters 0.025443589980859986 Centerline is valid? [True, True] Translation: X:181.68, Y:-27.92, Z:-3.60 [[ 9.87890465e-01 1.54104415e-01 1.80072062e-02 1.81683467e+02] [-1.54074689e-01 9.88054543e-01 -3.03492594e-03 -2.79179523e+01] [-1.82597973e-02 2.23719706e-04 9.99833251e-01 -3.60112115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters 0.02930925241272295 Centerline is valid? [True, True] Translation: X:181.71, Y:-27.93, Z:-3.60 [[ 9.88626971e-01 1.49372231e-01 1.74542026e-02 1.81712203e+02] [-1.49343567e-01 9.88780990e-01 -2.94165990e-03 -2.79321455e+01] [-1.76977860e-02 3.01531448e-04 9.99843336e-01 -3.60354727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79401273899998 meters 0.03143881716054006 Centerline is valid? [True, True] Translation: X:181.74, Y:-27.94, Z:-3.61 [[ 9.88912519e-01 1.47537025e-01 1.68777112e-02 1.81741587e+02] [-1.47509948e-01 9.89056480e-01 -2.84493859e-03 -2.79423220e+01] [-1.71127434e-02 3.23765083e-04 9.99853514e-01 -3.60535439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters 0.03288152537455307 Centerline is valid? [True, True] Translation: X:181.77, Y:-27.95, Z:-3.60 [[ 9.89192917e-01 1.45619962e-01 1.70938385e-02 1.81771730e+02] [-1.45591898e-01 9.89340536e-01 -2.88153978e-03 -2.79508371e+01] [-1.73312371e-02 3.61674340e-04 9.99849737e-01 -3.60465411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85401273899998 meters 0.031872236988761675 Centerline is valid? [True, True] Translation: X:181.80, Y:-27.95, Z:-3.60 [[ 9.89276038e-01 1.44934486e-01 1.80807974e-02 1.81803503e+02] [-1.44902971e-01 9.89441175e-01 -3.04807590e-03 -2.79547469e+01] [-1.83316568e-02 3.95427183e-04 9.99831883e-01 -3.60291727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters 0.03397854658670502 Centerline is valid? [True, True] Translation: X:181.83, Y:-27.96, Z:-3.60 [[ 9.89368763e-01 1.44164134e-01 1.91351384e-02 1.81833075e+02] [-1.44128623e-01 9.89553693e-01 -3.22934408e-03 -2.79640477e+01] [-1.94008025e-02 4.37091011e-04 9.99811691e-01 -3.60125706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914012739 meters 0.03430967097726883 Centerline is valid? [True, True] Translation: X:181.86, Y:-27.97, Z:-3.60 [[ 9.89449697e-01 1.43485448e-01 2.00305811e-02 1.81864594e+02] [-1.43446338e-01 9.89652313e-01 -3.38329847e-03 -2.79717840e+01] [-2.03087651e-02 4.74290121e-04 9.99793643e-01 -3.60053862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters 0.033434151593249556 Centerline is valid? [True, True] Translation: X:181.90, Y:-27.98, Z:-3.60 [[ 9.89436202e-01 1.43413086e-01 2.11822804e-02 1.81896451e+02] [-1.43369252e-01 9.89662786e-01 -3.58158152e-03 -2.79791678e+01] [-2.14769603e-02 5.06858720e-04 9.99769215e-01 -3.59898422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974012739 meters 0.036216590162093804 Centerline is valid? [True, True] Translation: X:181.93, Y:-27.99, Z:-3.60 [[ 9.89427580e-01 1.43552396e-01 2.06342911e-02 1.81927188e+02] [-1.43510749e-01 9.89642595e-01 -3.49283490e-03 -2.79898316e+01] [-2.09219782e-02 4.94664617e-04 9.99780989e-01 -3.60089246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters 0.03469186029496982 Centerline is valid? [True, True] Translation: X:181.96, Y:-27.99, Z:-3.61 [[ 9.89484572e-01 1.43608816e-01 1.72275872e-02 1.81960097e+02] [-1.43579752e-01 9.89634446e-01 -2.91866119e-03 -2.79947537e+01] [-1.74681592e-02 4.14437509e-04 9.99847334e-01 -3.60801366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034012739 meters 0.03319981938603851 Centerline is valid? [True, True] Translation: X:181.99, Y:-28.00, Z:-3.61 [[ 9.89434313e-01 1.44116794e-01 1.58142307e-02 1.81992315e+02] [-1.44092325e-01 9.89560614e-01 -2.68187966e-03 -2.79992276e+01] [-1.60356438e-02 3.74834472e-04 9.99871351e-01 -3.61061963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters 0.03366336890617204 Centerline is valid? [True, True] Translation: X:182.02, Y:-28.01, Z:-3.61 [[ 9.89276460e-01 1.45277266e-01 1.50533213e-02 1.82022340e+02] [-1.45255180e-01 9.89390923e-01 -2.55611024e-03 -2.80067513e+01] [-1.52649642e-02 3.42126797e-04 9.99883425e-01 -3.61216908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094012739 meters 0.0298870316441027 Centerline is valid? [True, True] Translation: X:182.05, Y:-28.01, Z:-3.61 [[ 9.88663036e-01 1.49343853e-01 1.55503924e-02 1.82054036e+02] [-1.49320756e-01 9.88785280e-01 -2.64244175e-03 -2.80078126e+01] [-1.57706316e-02 2.90488127e-04 9.99875594e-01 -3.61148481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters 0.02856318484227061 Centerline is valid? [True, True] Translation: X:182.08, Y:-28.01, Z:-3.61 [[ 9.88266153e-01 1.51848072e-01 1.64976718e-02 1.82084512e+02] [-1.51822416e-01 9.88403810e-01 -2.80388414e-03 -2.80109346e+01] [-1.67321260e-02 2.66267405e-04 9.99859973e-01 -3.61089997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154012739 meters 0.0269197540961925 Centerline is valid? [True, True] Translation: X:182.12, Y:-28.01, Z:-3.61 [[ 9.87877465e-01 1.54227414e-01 1.76640611e-02 1.82115228e+02] [-1.54198378e-01 9.88035347e-01 -3.00237740e-03 -2.80130296e+01] [-1.79157656e-02 2.42211420e-04 9.99839470e-01 -3.60978094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters 0.024265375467221437 Centerline is valid? [True, True] Translation: X:182.15, Y:-28.01, Z:-3.61 [[ 9.87266304e-01 1.57903182e-01 1.92828737e-02 1.82146734e+02] [-1.57869280e-01 9.87454580e-01 -3.27752854e-03 -2.80119629e+01] [-1.95584941e-02 1.91620110e-04 9.99808696e-01 -3.60641129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21401273899997 meters 0.023603285651910524 Centerline is valid? [True, True] Translation: X:182.18, Y:-28.01, Z:-3.61 [[ 9.87036493e-01 1.59317175e-01 1.94164575e-02 1.82177568e+02] [-1.59283074e-01 9.87227436e-01 -3.30022663e-03 -2.80147793e+01] [-1.96942423e-02 1.64731085e-04 9.99806036e-01 -3.60654227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters 0.022749456094325105 Centerline is valid? [True, True] Translation: X:182.21, Y:-28.02, Z:-3.61 [[ 9.86680388e-01 1.61705502e-01 1.76958427e-02 1.82207013e+02] [-1.61677557e-01 9.86839054e-01 -3.00802055e-03 -2.80150950e+01] [-1.79493621e-02 1.06934264e-04 9.99838892e-01 -3.61107917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27401273899997 meters 0.022555926371753153 Centerline is valid? [True, True] Translation: X:182.24, Y:-28.02, Z:-3.61 [[ 9.86577008e-01 1.62451229e-01 1.65953206e-02 1.82236865e+02] [-1.62426761e-01 9.86716570e-01 -2.82080442e-03 -2.80184336e+01] [-1.68331210e-02 8.74166179e-05 9.99858309e-01 -3.61445466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters 0.022655951200576348 Centerline is valid? [True, True] Translation: X:182.27, Y:-28.02, Z:-3.62 [[ 9.86520360e-01 1.62849954e-01 1.60459527e-02 1.82266393e+02] [-1.62827138e-01 9.86650843e-01 -2.72705647e-03 -2.80236311e+01] [-1.62758537e-02 7.75801826e-05 9.99867537e-01 -3.61652382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33401273899997 meters 0.022655951200576348 Centerline is valid? [True, True] Translation: X:182.30, Y:-28.03, Z:-3.62 [[ 9.86524138e-01 1.62827055e-01 1.60460159e-02 1.82295147e+02] [-1.62804241e-01 9.86654623e-01 -2.72668443e-03 -2.80284722e+01] [-1.62758537e-02 7.75805692e-05 9.99867537e-01 -3.61711607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters 0.022407350759005355 Centerline is valid? [True, True] Translation: X:182.32, Y:-28.04, Z:-3.61 [[ 9.86518730e-01 1.62741455e-01 1.72050762e-02 1.82323446e+02] [-1.62715221e-01 9.86668745e-01 -2.92319526e-03 -2.80352155e+01] [-1.74514360e-02 8.42590933e-05 9.99847709e-01 -3.61441164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39401273899998 meters 0.021868991495393977 Centerline is valid? [True, True] Translation: X:182.35, Y:-28.04, Z:-3.61 [[ 9.86312681e-01 1.63877735e-01 1.82039548e-02 1.82353584e+02] [-1.63848568e-01 9.86480655e-01 -3.09245956e-03 -2.80379927e+01] [-1.84646345e-02 6.74401570e-05 9.99829512e-01 -3.61192410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters 0.021474667813666234 Centerline is valid? [True, True] Translation: X:182.38, Y:-28.04, Z:-3.61 [[ 9.85931698e-01 1.66066935e-01 1.89857622e-02 1.82383885e+02] [-1.66035623e-01 9.86114482e-01 -3.22479354e-03 -2.80384952e+01] [-1.92576666e-02 2.71133197e-05 9.99814554e-01 -3.61091944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45401273899998 meters 0.021914558771073286 Centerline is valid? [True, True] Translation: X:182.41, Y:-28.04, Z:-3.61 [[ 9.85059786e-01 1.71149522e-01 1.91065315e-02 1.82412324e+02] [-1.71118774e-01 9.85245064e-01 -3.24487763e-03 -2.80351924e+01] [-1.93799751e-02 -7.30877800e-05 9.99812188e-01 -3.61233632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters 0.022538244330393198 Centerline is valid? [True, True] Translation: X:182.44, Y:-28.04, Z:-3.61 [[ 9.84621644e-01 1.73682268e-01 1.88331653e-02 1.82441367e+02] [-1.73652878e-01 9.84801734e-01 -3.19733329e-03 -2.80376268e+01] [-1.91022540e-02 -1.22269812e-04 9.99817528e-01 -3.61348394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51401273899998 meters 0.025453658328901015 Centerline is valid? [True, True] Translation: X:182.47, Y:-28.03, Z:-3.62 [[ 9.83804201e-01 1.78305713e-01 1.83403068e-02 1.82469844e+02] [-1.78278660e-01 9.83975116e-01 -3.11277728e-03 -2.80331867e+01] [-1.86014314e-02 -2.07321960e-04 9.99826957e-01 -3.61552879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters 0.02616554405689684 Centerline is valid? [True, True] Translation: X:182.50, Y:-28.04, Z:-3.62 [[ 9.83558610e-01 1.79685075e-01 1.80481308e-02 1.82498325e+02] [-1.79659131e-01 9.83724159e-01 -3.06205152e-03 -2.80360956e+01] [-1.83045872e-02 -2.30804360e-04 9.99832430e-01 -3.61637171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57401273899998 meters 0.027506973792912497 Centerline is valid? [True, True] Translation: X:182.53, Y:-28.04, Z:-3.62 [[ 9.83401217e-01 1.80578521e-01 1.77043640e-02 1.82526442e+02] [-1.80553714e-01 9.83560541e-01 -3.00292320e-03 -2.80378243e+01] [-1.79555773e-02 -2.43510357e-04 9.99838756e-01 -3.61743920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters 0.026615807054538594 Centerline is valid? [True, True] Translation: X:182.55, Y:-28.04, Z:-3.62 [[ 9.83374635e-01 1.80749600e-01 1.74329801e-02 1.82554551e+02] [-1.80725594e-01 9.83529116e-01 -2.95584252e-03 -2.80434388e+01] [-1.76801109e-02 -2.43885142e-04 9.99843665e-01 -3.61757804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63401273899999 meters 0.027393425546584353 Centerline is valid? [True, True] Translation: X:182.58, Y:-28.04, Z:-3.62 [[ 9.83488948e-01 1.80195034e-01 1.67104637e-02 1.82583011e+02] [-1.80172909e-01 9.83630875e-01 -2.83260099e-03 -2.80428915e+01] [-1.69473487e-02 -2.24941095e-04 9.99856358e-01 -3.62068598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters 0.027281504823918664 Centerline is valid? [True, True] Translation: X:182.61, Y:-28.05, Z:-3.62 [[ 9.83533257e-01 1.79986240e-01 1.63489093e-02 1.82610918e+02] [-1.79965049e-01 9.83669104e-01 -2.77038101e-03 -2.80453290e+01] [-1.65805474e-02 -2.17470397e-04 9.99862510e-01 -3.62206461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694012739 meters 0.02637290654014115 Centerline is valid? [True, True] Translation: X:182.64, Y:-28.05, Z:-3.62 [[ 9.83662138e-01 1.79214065e-01 1.70621603e-02 1.82640200e+02] [-1.79190891e-01 9.83810080e-01 -2.88993478e-03 -2.80476144e+01] [-1.73038423e-02 -2.14664289e-04 9.99850254e-01 -3.62154687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters 0.02538326752634848 Centerline is valid? [True, True] Translation: X:182.67, Y:-28.05, Z:-3.62 [[ 9.83737064e-01 1.78715657e-01 1.79471976e-02 1.82668407e+02] [-1.78689950e-01 9.83900740e-01 -3.03895275e-03 -2.80521995e+01] [-1.82013694e-02 -2.17453388e-04 9.99834318e-01 -3.62002228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754012739 meters 0.025351819280353377 Centerline is valid? [True, True] Translation: X:182.70, Y:-28.06, Z:-3.62 [[ 9.83825912e-01 1.78131810e-01 1.88582329e-02 1.82696276e+02] [-1.78103337e-01 9.84006611e-01 -3.19227442e-03 -2.80551189e+01] [-1.91252714e-02 -2.18071911e-04 9.99817071e-01 -3.61864413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters 0.024017997488895097 Centerline is valid? [True, True] Translation: X:182.72, Y:-28.06, Z:-3.62 [[ 9.84158726e-01 1.76293810e-01 1.87642046e-02 1.82724343e+02] [-1.76265312e-01 9.84337574e-01 -3.17499155e-03 -2.80635636e+01] [-1.90300430e-02 -1.82782741e-04 9.99818896e-01 -3.61990327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814012739 meters 0.02349936506690758 Centerline is valid? [True, True] Translation: X:182.75, Y:-28.07, Z:-3.62 [[ 9.84474270e-01 1.74609281e-01 1.79446688e-02 1.82751180e+02] [-1.74582953e-01 9.84637790e-01 -3.03552750e-03 -2.80704044e+01] [-1.81990303e-02 -1.44434561e-04 9.99834374e-01 -3.62227661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters 0.022254712637690216 Centerline is valid? [True, True] Translation: X:182.78, Y:-28.08, Z:-3.63 [[ 9.85074462e-01 1.71335296e-01 1.65082305e-02 1.82779027e+02] [-1.71312570e-01 9.85212774e-01 -2.79160964e-03 -2.80798742e+01] [-1.67424209e-02 -7.81240386e-05 9.99859833e-01 -3.62549071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874012739 meters 0.021859832050653324 Centerline is valid? [True, True] Translation: X:182.81, Y:-28.09, Z:-3.63 [[ 9.85350212e-01 1.69763936e-01 1.62839348e-02 1.82807104e+02] [-1.69741621e-01 9.85484756e-01 -2.75291943e-03 -2.80878907e+01] [-1.65149159e-02 -5.14717511e-05 9.99863618e-01 -3.62652024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters 0.02165398994044621 Centerline is valid? [True, True] Translation: X:182.83, Y:-28.10, Z:-3.63 [[ 9.85647794e-01 1.67996472e-01 1.66015775e-02 1.82834284e+02] [-1.67973042e-01 9.85787596e-01 -2.80581543e-03 -2.80971311e+01] [-1.68369962e-02 -2.30716678e-05 9.99858247e-01 -3.62664042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934012739 meters 0.021325353546416664 Centerline is valid? [True, True] Translation: X:182.86, Y:-28.11, Z:-3.62 [[ 9.86239765e-01 1.64359654e-01 1.78053648e-02 1.82860992e+02] [-1.64332125e-01 9.86400478e-01 -3.00836204e-03 -2.81128102e+01] [-1.80576737e-02 4.09728329e-05 9.99836946e-01 -3.62360844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters 0.02162031455101306 Centerline is valid? [True, True] Translation: X:182.89, Y:-28.12, Z:-3.62 [[ 9.86500842e-01 1.62744521e-01 1.81744321e-02 1.82889182e+02] [-1.62715581e-01 9.86668240e-01 -3.06980487e-03 -2.81233564e+01] [-1.84317288e-02 7.11018101e-05 9.99830119e-01 -3.62335333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99401273899997 meters 0.02285479461992683 Centerline is valid? [True, True] Translation: X:182.92, Y:-28.14, Z:-3.62 [[ 9.87050919e-01 1.59221606e-01 1.94669618e-02 1.82916637e+02] [-1.59187728e-01 9.87242857e-01 -3.28762344e-03 -2.81418981e+01] [-1.97420797e-02 1.46150309e-04 9.99805095e-01 -3.62164952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters 0.02367027663878942 Centerline is valid? [True, True] Translation: X:182.95, Y:-28.15, Z:-3.62 [[ 9.87275273e-01 1.57730362e-01 2.02155632e-02 1.82945664e+02] [-1.57693515e-01 9.87482202e-01 -3.41405111e-03 -2.81545041e+01] [-2.05010084e-02 1.82745014e-04 9.99789816e-01 -3.62059209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05401273899997 meters 0.024381315982202702 Centerline is valid? [True, True] Translation: X:182.98, Y:-28.17, Z:-3.62 [[ 9.87423401e-01 1.56813395e-01 2.01143500e-02 1.82976210e+02] [-1.56776721e-01 9.87628229e-01 -3.39720245e-03 -2.81657878e+01] [-2.03982268e-02 2.01015355e-04 9.99791914e-01 -3.62116772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters 0.024459832105674668 Centerline is valid? [True, True] Translation: X:183.01, Y:-28.17, Z:-3.62 [[ 9.87415595e-01 1.56966858e-01 1.92833790e-02 1.83006934e+02] [-1.56933124e-01 9.87603852e-01 -3.25981720e-03 -2.81746831e+01] [-1.95560226e-02 1.92593440e-04 9.99808744e-01 -3.62315677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11401273899997 meters 0.022256019239878095 Centerline is valid? [True, True] Translation: X:183.04, Y:-28.18, Z:-3.63 [[ 9.86720777e-01 1.61461863e-01 1.76684601e-02 1.83037346e+02] [-1.61434210e-01 9.86878948e-01 -2.98972897e-03 -2.81781513e+01] [-1.79193586e-02 9.77337776e-05 9.99839431e-01 -3.62631264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters 0.021052424517480368 Centerline is valid? [True, True] Translation: X:183.07, Y:-28.18, Z:-3.63 [[ 9.86044969e-01 1.65494531e-01 1.80797885e-02 1.83066880e+02] [-1.65466248e-01 9.86210707e-01 -3.05960878e-03 -2.81791880e+01] [-1.83368295e-02 2.53170755e-05 9.99831866e-01 -3.62574674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17401273899998 meters 0.02264130065182898 Centerline is valid? [True, True] Translation: X:183.10, Y:-28.18, Z:-3.62 [[ 9.84639284e-01 1.73471844e-01 1.98242005e-02 1.83097281e+02] [-1.73439464e-01 9.84838820e-01 -3.35432447e-03 -2.81750137e+01] [-2.01055231e-02 -1.35499053e-04 9.99797854e-01 -3.62280833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters 0.025054600537479974 Centerline is valid? [True, True] Translation: X:183.13, Y:-28.18, Z:-3.62 [[ 9.83958090e-01 1.77222436e-01 2.04618138e-02 1.83127719e+02] [-1.77188768e-01 9.84170798e-01 -3.46126687e-03 -2.81753326e+01] [-2.07513338e-02 -2.19862054e-04 9.99784644e-01 -3.62199967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23401273899998 meters 0.027999106944538533 Centerline is valid? [True, True] Translation: X:183.16, Y:-28.18, Z:-3.62 [[ 9.83312669e-01 1.80781911e-01 2.03493391e-02 1.83157301e+02] [-1.80749384e-01 9.83523164e-01 -3.44177648e-03 -2.81753898e+01] [-2.06362573e-02 -2.93788094e-04 9.99787007e-01 -3.62260659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters 0.03758051501347613 Centerline is valid? [True, True] Translation: X:183.19, Y:-28.16, Z:-3.63 [[ 9.81659431e-01 1.89755455e-01 1.83746625e-02 1.83189331e+02] [-1.89730518e-01 9.81831288e-01 -3.10699777e-03 -2.81640176e+01] [-1.86303883e-02 -4.36220557e-04 9.99826344e-01 -3.62653118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29401273899998 meters 0.04286792661088255 Centerline is valid? [True, True] Translation: X:183.22, Y:-28.16, Z:-3.63 [[ 9.80710996e-01 1.94687392e-01 1.74000558e-02 1.83220585e+02] [-1.94665809e-01 9.80865214e-01 -2.94199128e-03 -2.81586730e+01] [-1.76398781e-02 -5.01952738e-04 9.99844279e-01 -3.62971515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters 0.04912745443600378 Centerline is valid? [True, True] Translation: X:183.25, Y:-28.15, Z:-3.63 [[ 9.79722548e-01 1.99663068e-01 1.66849900e-02 1.83252899e+02] [-1.99643946e-01 9.79864448e-01 -2.82088652e-03 -2.81522562e+01] [-1.69122554e-02 -5.67371127e-04 9.99856817e-01 -3.63246451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35401273899998 meters 0.059786796027144457 Centerline is valid? [True, True] Translation: X:183.29, Y:-28.14, Z:-3.63 [[ 9.77966034e-01 2.08126420e-01 1.63042662e-02 1.83286566e+02] [-2.08109334e-01 9.78101685e-01 -2.75647452e-03 -2.81367712e+01] [-1.65209254e-02 -6.97331521e-04 9.99863277e-01 -3.63462305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters 0.06466166182649563 Centerline is valid? [True, True] Translation: X:183.32, Y:-28.13, Z:-3.63 [[ 9.77371876e-01 2.10890963e-01 1.64078748e-02 1.83316913e+02] [-2.10874048e-01 9.77509305e-01 -2.77395543e-03 -2.81318358e+01] [-1.66238524e-02 -7.48808958e-04 9.99861534e-01 -3.63493789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414012739 meters 0.0684088123097427 Centerline is valid? [True, True] Translation: X:183.35, Y:-28.12, Z:-3.63 [[ 9.76748047e-01 2.13696716e-01 1.72327014e-02 1.83349289e+02] [-2.13678501e-01 9.76899695e-01 -2.91294531e-03 -2.81236965e+01] [-1.74571076e-02 -8.37044152e-04 9.99847263e-01 -3.63299959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters 0.0687269334053553 Centerline is valid? [True, True] Translation: X:183.38, Y:-28.12, Z:-3.63 [[ 9.76749138e-01 2.13644059e-01 1.78139506e-02 1.83378071e+02] [-2.13624579e-01 9.76911188e-01 -3.01157731e-03 -2.81233885e+01] [-1.80460533e-02 -8.63942159e-04 9.99836783e-01 -3.63280873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474012739 meters 0.06275938720969895 Centerline is valid? [True, True] Translation: X:183.41, Y:-28.13, Z:-3.63 [[ 9.76854660e-01 2.13141070e-01 1.80515321e-02 1.83406085e+02] [-2.13121043e-01 9.77021048e-01 -3.04834023e-03 -2.81318264e+01] [-1.82864534e-02 -8.69376003e-04 9.99832411e-01 -3.63283242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters 0.06873718179390288 Centerline is valid? [True, True] Translation: X:183.44, Y:-28.12, Z:-3.64 [[ 9.76969709e-01 2.12663790e-01 1.74441866e-02 1.83435747e+02] [-2.12645026e-01 9.77125079e-01 -2.94505183e-03 -2.81213195e+01] [-1.76714581e-02 -8.32193073e-04 9.99843501e-01 -3.63501908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534012739 meters 0.06865535247267016 Centerline is valid? [True, True] Translation: X:183.47, Y:-28.12, Z:-3.64 [[ 9.77029129e-01 2.12385192e-01 1.75103178e-02 1.83465473e+02] [-2.12366256e-01 9.77185673e-01 -2.95529992e-03 -2.81214528e+01] [-1.77384936e-02 -8.31186534e-04 9.99842315e-01 -3.63557765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters 0.06638820907870537 Centerline is valid? [True, True] Translation: X:183.50, Y:-28.12, Z:-3.63 [[ 9.77539839e-01 2.09959064e-01 1.82497657e-02 1.83496332e+02] [-2.09938104e-01 9.77709832e-01 -3.07844296e-03 -2.81212179e+01] [-1.84893224e-02 -8.22020573e-04 9.99828720e-01 -3.63484711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594012739 meters 0.06347654610200625 Centerline is valid? [True, True] Translation: X:183.53, Y:-28.13, Z:-3.63 [[ 9.77977123e-01 2.07875842e-01 1.86649827e-02 1.83525413e+02] [-2.07853547e-01 9.78154892e-01 -3.14805172e-03 -2.81270759e+01] [-1.89116481e-02 -8.00860302e-04 9.99820838e-01 -3.63452902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters 0.0615395457838362 Centerline is valid? [True, True] Translation: X:183.55, Y:-28.13, Z:-3.63 [[ 9.78437182e-01 2.05682815e-01 1.88483592e-02 1.83554851e+02] [-2.05659681e-01 9.78618410e-01 -3.17856468e-03 -2.81319794e+01] [-1.90991275e-02 -7.66321679e-04 9.99817301e-01 -3.63451445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654012739 meters 0.05511913493940196 Centerline is valid? [True, True] Translation: X:183.58, Y:-28.14, Z:-3.63 [[ 9.79511805e-01 2.00389356e-01 2.00182142e-02 1.83584451e+02] [-2.00362161e-01 9.79716086e-01 -3.37562276e-03 -2.81395856e+01] [-2.02886053e-02 -7.04430301e-04 9.99793917e-01 -3.63256185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters 0.051560217973577585 Centerline is valid? [True, True] Translation: X:183.61, Y:-28.15, Z:-3.63 [[ 9.80057806e-01 1.97632904e-01 2.06865419e-02 1.83613766e+02] [-1.97603259e-01 9.80275873e-01 -3.48782107e-03 -2.81471411e+01] [-2.09678261e-02 -6.69461843e-04 9.99779927e-01 -3.63104657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71401273899997 meters 0.04379368835660454 Centerline is valid? [True, True] Translation: X:183.64, Y:-28.16, Z:-3.63 [[ 9.81241722e-01 1.91668095e-01 2.06887725e-02 1.83642546e+02] [-1.91637122e-01 9.81459651e-01 -3.48797771e-03 -2.81595136e+01] [-2.09737295e-02 -5.42187573e-04 9.99779880e-01 -3.63255138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters 0.040714997150784686 Centerline is valid? [True, True] Translation: X:183.67, Y:-28.17, Z:-3.64 [[ 9.81812740e-01 1.88825868e-01 1.97112969e-02 1.83670541e+02] [-1.88797184e-01 9.82010479e-01 -3.32300524e-03 -2.81683314e+01] [-1.99841695e-02 -4.58868477e-04 9.99800191e-01 -3.63596912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77401273899997 meters 0.03731651159048479 Centerline is valid? [True, True] Translation: X:183.70, Y:-28.18, Z:-3.64 [[ 9.82362183e-01 1.86105724e-01 1.81438806e-02 1.83698525e+02] [-1.86080978e-01 9.82529654e-01 -3.05756651e-03 -2.81778772e+01] [-1.83959314e-02 -3.72593344e-04 9.99830711e-01 -3.64009101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters 0.028520013659115145 Centerline is valid? [True, True] Translation: X:183.73, Y:-28.20, Z:-3.64 [[ 9.83286904e-01 1.81352817e-01 1.60629932e-02 1.83725190e+02] [-1.81332795e-01 9.83418066e-01 -2.70642478e-03 -2.81976114e+01] [-1.62874555e-02 -2.51555410e-04 9.99867319e-01 -3.64434684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83401273899997 meters 0.02688661882623672 Centerline is valid? [True, True] Translation: X:183.75, Y:-28.21, Z:-3.65 [[ 9.83684655e-01 1.79189546e-01 1.59876832e-02 1.83752787e+02] [-1.79169430e-01 9.83814546e-01 -2.69345729e-03 -2.82057505e+01] [-1.62115547e-02 -2.14991485e-04 9.99868561e-01 -3.64507710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters 0.02771940232240013 Centerline is valid? [True, True] Translation: X:183.78, Y:-28.21, Z:-3.65 [[ 9.84022377e-01 1.77313216e-01 1.61240619e-02 1.83780043e+02] [-1.77292514e-01 9.84154454e-01 -2.71580867e-03 -2.82091614e+01] [-1.63501161e-02 -1.86258975e-04 9.99866311e-01 -3.64789027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89401273899998 meters 0.024271217345256356 Centerline is valid? [True, True] Translation: X:183.81, Y:-28.22, Z:-3.65 [[ 9.84417885e-01 1.75128038e-01 1.58618479e-02 1.83807053e+02] [-1.75107743e-01 9.84545656e-01 -2.67022359e-03 -2.82215205e+01] [-1.60843444e-02 -1.48916523e-04 9.99870627e-01 -3.64736426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters 0.024406070418608535 Centerline is valid? [True, True] Translation: X:183.83, Y:-28.23, Z:-3.65 [[ 9.84393945e-01 1.75228049e-01 1.62385900e-02 1.83834720e+02] [-1.75206804e-01 9.84527860e-01 -2.73296037e-03 -2.82260418e+01] [-1.64662356e-02 -1.54801814e-04 9.99864410e-01 -3.64745218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95401273899998 meters 0.026027639135380424 Centerline is valid? [True, True] Translation: X:183.86, Y:-28.23, Z:-3.65 [[ 9.83888695e-01 1.78009553e-01 1.66022739e-02 1.83864273e+02] [-1.77987762e-01 9.84028737e-01 -2.79290679e-03 -2.82265648e+01] [-1.68342788e-02 -2.07092166e-04 9.99858272e-01 -3.64677688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters 0.026849215930131183 Centerline is valid? [True, True] Translation: X:183.89, Y:-28.23, Z:-3.65 [[ 9.83498679e-01 1.80137395e-01 1.67590803e-02 1.83893352e+02] [-1.80115513e-01 9.83641428e-01 -2.81849554e-03 -2.82287111e+01] [-1.69926422e-02 -2.46583707e-04 9.99855584e-01 -3.64663439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01401273899998 meters 0.03017115515030781 Centerline is valid? [True, True] Translation: X:183.92, Y:-28.23, Z:-3.65 [[ 9.83115049e-01 1.82194640e-01 1.70268300e-02 1.83922202e+02] [-1.82172375e-01 9.83262442e-01 -2.86270797e-03 -2.82259458e+01] [-1.72634125e-02 -2.87446780e-04 9.99850935e-01 -3.64738423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters 0.030664530186004325 Centerline is valid? [True, True] Translation: X:183.95, Y:-28.23, Z:-3.65 [[ 9.82731685e-01 1.84179350e-01 1.77876962e-02 1.83951179e+02] [-1.84155397e-01 9.82892595e-01 -2.98945421e-03 -2.82293543e+01] [-1.80339906e-02 -3.37868887e-04 9.99837317e-01 -3.64635618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07401273899998 meters 0.029226314519712377 Centerline is valid? [True, True] Translation: X:183.98, Y:-28.24, Z:-3.65 [[ 9.82887761e-01 1.83299299e-01 1.82487247e-02 1.83979483e+02] [-1.83273953e-01 9.83057098e-01 -3.06604661e-03 -2.82371825e+01] [-1.85015425e-02 -3.30936234e-04 9.99828777e-01 -3.64596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters 0.0302150669320209 Centerline is valid? [True, True] Translation: X:184.01, Y:-28.24, Z:-3.65 [[ 9.83165387e-01 1.81741656e-01 1.88624560e-02 1.84007638e+02] [-1.81714308e-01 9.83346263e-01 -3.16820706e-03 -2.82400381e+01] [-1.91241208e-02 -3.12706628e-04 9.99817068e-01 -3.64646902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13401273899999 meters 0.024514925452455604 Centerline is valid? [True, True] Translation: X:184.03, Y:-28.26, Z:-3.65 [[ 9.84111322e-01 1.76452517e-01 1.97336146e-02 1.84034039e+02] [-1.76421541e-01 9.84309129e-01 -3.31352292e-03 -2.82566288e+01] [-2.00086565e-02 -2.20559280e-04 9.99799782e-01 -3.64578270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters 0.023042824995781 Centerline is valid? [True, True] Translation: X:184.06, Y:-28.27, Z:-3.65 [[ 9.84613355e-01 1.73622124e-01 1.97964310e-02 1.84060778e+02] [-1.73590398e-01 9.84812333e-01 -3.32310559e-03 -2.82661851e+01] [-2.00727340e-02 -1.64496173e-04 9.99798509e-01 -3.64645132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194012739 meters 0.021470348019369024 Centerline is valid? [True, True] Translation: X:184.09, Y:-28.28, Z:-3.65 [[ 9.85392625e-01 1.69345208e-01 1.79881689e-02 1.84088088e+02] [-1.69318321e-01 9.85556795e-01 -3.01842477e-03 -2.82793749e+01] [-1.82395179e-02 -7.13930518e-05 9.99833644e-01 -3.64903456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters 0.021470348019369024 Centerline is valid? [True, True] Translation: X:184.12, Y:-28.28, Z:-3.65 [[ 9.85400691e-01 1.69298252e-01 1.79883127e-02 1.84116034e+02] [-1.69271373e-01 9.85564862e-01 -3.01756767e-03 -2.82839746e+01] [-1.82395178e-02 -7.13931167e-05 9.99833644e-01 -3.64960985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254012739 meters 0.021471537584278437 Centerline is valid? [True, True] Translation: X:184.14, Y:-28.29, Z:-3.65 [[ 9.85583045e-01 1.68370634e-01 1.66550523e-02 1.84143599e+02] [-1.68347472e-01 9.85723758e-01 -2.79316893e-03 -2.82906756e+01] [-1.68875684e-02 -5.09360076e-05 9.99857394e-01 -3.65254513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters 0.02152683013545729 Centerline is valid? [True, True] Translation: X:184.17, Y:-28.30, Z:-3.66 [[ 9.85670179e-01 1.67957608e-01 1.56377807e-02 1.84170614e+02] [-1.67937148e-01 9.85794218e-01 -2.62190727e-03 -2.82967657e+01] [-1.58560030e-02 -4.18284738e-05 9.99874285e-01 -3.65533181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314012739 meters 0.0215444995598818 Centerline is valid? [True, True] Translation: X:184.20, Y:-28.30, Z:-3.66 [[ 9.85686780e-01 1.67831589e-01 1.59414089e-02 1.84198381e+02] [-1.67810327e-01 9.85815681e-01 -2.67176283e-03 -2.83024323e+01] [-1.61636971e-02 -4.16117282e-05 9.99869358e-01 -3.65586300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters 0.02149124059377579 Centerline is valid? [True, True] Translation: X:184.23, Y:-28.31, Z:-3.65 [[ 9.85430019e-01 1.69045602e-01 1.87419927e-02 1.84227029e+02] [-1.69016452e-01 9.85608228e-01 -3.14007784e-03 -2.83069813e+01] [-1.90030786e-02 -7.33781355e-05 9.99819423e-01 -3.65066615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374012739 meters 0.021600032480541934 Centerline is valid? [True, True] Translation: X:184.25, Y:-28.31, Z:-3.65 [[ 9.85236398e-01 1.69976752e-01 2.04241081e-02 1.84254569e+02] [-1.69942356e-01 9.85448067e-01 -3.42083997e-03 -2.83113804e+01] [-2.07083611e-02 -1.00585003e-04 9.99785554e-01 -3.64875319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters 0.02163160013521323 Centerline is valid? [True, True] Translation: X:184.28, Y:-28.32, Z:-3.65 [[ 9.85276000e-01 1.69736767e-01 2.05093827e-02 1.84283150e+02] [-1.69702056e-01 9.85489432e-01 -3.43389660e-03 -2.83179521e+01] [-2.07946384e-02 -9.71484968e-05 9.99783763e-01 -3.64922963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434012739 meters 0.021434003734432504 Centerline is valid? [True, True] Translation: X:184.31, Y:-28.32, Z:-3.65 [[ 9.85346591e-01 1.69382216e-01 2.00439634e-02 1.84310978e+02] [-1.69349020e-01 9.85550433e-01 -3.35447268e-03 -2.83247508e+01] [-2.03225248e-02 -8.91073443e-05 9.99793472e-01 -3.65084729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters 0.02095198710367628 Centerline is valid? [True, True] Translation: X:184.34, Y:-28.34, Z:-3.65 [[ 9.85897820e-01 1.66236325e-01 1.92606616e-02 1.84337216e+02] [-1.66205089e-01 9.86085941e-01 -3.22249011e-03 -2.83358908e+01] [-1.95283625e-02 -2.41740002e-05 9.99809303e-01 -3.65242616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49401273899997 meters 0.020896814797218787 Centerline is valid? [True, True] Translation: X:184.37, Y:-28.34, Z:-3.65 [[ 9.86257330e-01 1.64084718e-01 1.93050277e-02 1.84365194e+02] [-1.64052950e-01 9.86446250e-01 -3.22873166e-03 -2.83449972e+01] [-1.95731577e-02 1.73135309e-05 9.99808427e-01 -3.65299192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters 0.021152546163459268 Centerline is valid? [True, True] Translation: X:184.39, Y:-28.35, Z:-3.65 [[ 9.86580135e-01 1.62121612e-01 1.93964161e-02 1.84392422e+02] [-1.62089181e-01 9.86770784e-01 -3.24308039e-03 -2.83539808e+01] [-1.96655901e-02 5.56094824e-05 9.99806612e-01 -3.65333442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55401273899997 meters 0.021789018343574298 Centerline is valid? [True, True] Translation: X:184.42, Y:-28.37, Z:-3.65 [[ 9.87004302e-01 1.59484863e-01 1.96744848e-02 1.84420317e+02] [-1.59450986e-01 9.87200368e-01 -3.28886045e-03 -2.83655142e+01] [-1.99471821e-02 1.09003406e-04 9.99801029e-01 -3.65346761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters 0.02183676925273001 Centerline is valid? [True, True] Translation: X:184.45, Y:-28.37, Z:-3.65 [[ 9.87018052e-01 1.59370193e-01 1.99124772e-02 1.84449636e+02] [-1.59335477e-01 9.87218886e-01 -3.32816961e-03 -2.83718409e+01] [-2.01883846e-02 1.12199424e-04 9.99796187e-01 -3.65347162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61401273899997 meters 0.02126627392989444 Centerline is valid? [True, True] Translation: X:184.48, Y:-28.38, Z:-3.65 [[ 9.86686652e-01 1.61485972e-01 1.92803412e-02 1.84477810e+02] [-1.61453838e-01 9.86875005e-01 -3.22207602e-03 -2.83753512e+01] [-1.95476070e-02 6.62943044e-05 9.99808925e-01 -3.65456167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters 0.021000123175787172 Centerline is valid? [True, True] Translation: X:184.51, Y:-28.38, Z:-3.66 [[ 9.86430505e-01 1.63113128e-01 1.86806152e-02 1.84507139e+02] [-1.63083260e-01 9.86607372e-01 -3.12149188e-03 -2.83774282e+01] [-1.89395890e-02 3.26391803e-05 9.99820629e-01 -3.65591732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67401273899998 meters 0.020815284770965826 Centerline is valid? [True, True] Translation: X:184.53, Y:-28.38, Z:-3.66 [[ 9.86184868e-01 1.64592671e-01 1.86723959e-02 1.84534722e+02] [-1.64563111e-01 9.86361624e-01 -3.11925531e-03 -2.83790331e+01] [-1.89311413e-02 3.37481108e-06 9.99820790e-01 -3.65683637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters 0.021074649493200467 Centerline is valid? [True, True] Translation: X:184.56, Y:-28.38, Z:-3.66 [[ 9.85882752e-01 1.66390669e-01 1.86907890e-02 1.84563514e+02] [-1.66361395e-01 9.86059909e-01 -3.12121757e-03 -2.83806819e+01] [-1.89495792e-02 -3.22711577e-05 9.99820440e-01 -3.65727434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73401273899998 meters 0.021827004845688346 Centerline is valid? [True, True] Translation: X:184.59, Y:-28.38, Z:-3.65 [[ 9.85302287e-01 1.69690857e-01 1.96065558e-02 1.84591823e+02] [-1.69659316e-01 9.85497338e-01 -3.27318507e-03 -2.83798061e+01] [-1.98776381e-02 -1.01358122e-04 9.99802415e-01 -3.65486478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters 0.021991305878909958 Centerline is valid? [True, True] Translation: X:184.62, Y:-28.38, Z:-3.65 [[ 9.85168541e-01 1.70371552e-01 2.04078553e-02 1.84620536e+02] [-1.70337551e-01 9.85379886e-01 -3.40572617e-03 -2.83839507e+01] [-2.06897289e-02 -1.21009814e-04 9.99785937e-01 -3.65371136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79401273899998 meters 0.022030291922284756 Centerline is valid? [True, True] Translation: X:184.65, Y:-28.39, Z:-3.65 [[ 9.85181145e-01 1.70046509e-01 2.24119597e-02 1.84648063e+02] [-1.70005443e-01 9.85436030e-01 -3.73904113e-03 -2.83890601e+01] [-2.27213635e-02 -1.26522318e-04 9.99741828e-01 -3.65088442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters 0.022039933275280022 Centerline is valid? [True, True] Translation: X:184.68, Y:-28.39, Z:-3.65 [[ 9.85124726e-01 1.70246224e-01 2.33558789e-02 1.84676780e+02] [-1.70201714e-01 9.85401545e-01 -3.89518275e-03 -2.83947328e+01] [-2.36780593e-02 -1.37969770e-04 9.99719626e-01 -3.65032476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85401273899998 meters 0.022421728931771433 Centerline is valid? [True, True] Translation: X:184.71, Y:-28.40, Z:-3.65 [[ 9.84966146e-01 1.71145945e-01 2.34682162e-02 1.84705274e+02] [-1.71101286e-01 9.85245675e-01 -3.91283780e-03 -2.83977227e+01] [-2.37916249e-02 -1.61429223e-04 9.99716926e-01 -3.65067580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters 0.023594231414329248 Centerline is valid? [True, True] Translation: X:184.73, Y:-28.40, Z:-3.65 [[ 9.84624880e-01 1.73292483e-01 2.19900030e-02 1.84734210e+02] [-1.73253830e-01 9.84870385e-01 -3.66543040e-03 -2.83969543e+01] [-2.22924942e-02 -2.00778267e-04 9.99751471e-01 -3.65417736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914012739 meters 0.024349314993730983 Centerline is valid? [True, True] Translation: X:184.76, Y:-28.40, Z:-3.66 [[ 9.84381021e-01 1.74826689e-01 2.07275983e-02 1.84762984e+02] [-1.74792706e-01 9.84599197e-01 -3.45410929e-03 -2.83982427e+01] [-2.10122472e-02 -2.22873375e-04 9.99779194e-01 -3.65686719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters 0.027827590734992524 Centerline is valid? [True, True] Translation: X:184.79, Y:-28.39, Z:-3.66 [[ 9.83671681e-01 1.79022572e-01 1.84646303e-02 1.84792364e+02] [-1.78996358e-01 9.83844927e-01 -3.07622843e-03 -2.83935991e+01] [-1.87170472e-02 -2.79102779e-04 9.99824782e-01 -3.66197424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974012739 meters 0.028540945265494222 Centerline is valid? [True, True] Translation: X:184.82, Y:-28.40, Z:-3.66 [[ 9.83319664e-01 1.80999428e-01 1.79344567e-02 1.84821527e+02] [-1.80975039e-01 9.83483153e-01 -2.98716334e-03 -2.83956010e+01] [-1.81789109e-02 -3.08352555e-04 9.99834702e-01 -3.66376177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters 0.032463944675321696 Centerline is valid? [True, True] Translation: X:184.85, Y:-28.39, Z:-3.67 [[ 9.82577652e-01 1.85071065e-01 1.70252233e-02 1.84851464e+02] [-1.85049712e-01 9.82725072e-01 -2.83490675e-03 -2.83890479e+01] [-1.72557730e-02 -3.64996639e-04 9.99851041e-01 -3.66709489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034012739 meters 0.035111204199209704 Centerline is valid? [True, True] Translation: X:184.88, Y:-28.39, Z:-3.67 [[ 9.82315512e-01 1.86432627e-01 1.72948010e-02 1.84879699e+02] [-1.86410813e-01 9.82467668e-01 -2.87922253e-03 -2.83865198e+01] [-1.75283639e-02 -3.95632962e-04 9.99846288e-01 -3.66751909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters 0.034978995611410144 Centerline is valid? [True, True] Translation: X:184.91, Y:-28.39, Z:-3.67 [[ 9.82167063e-01 1.87161058e-01 1.78493512e-02 1.84908126e+02] [-1.87137962e-01 9.82329150e-01 -2.97041399e-03 -2.83888432e+01] [-1.80898838e-02 -4.22848416e-04 9.99836275e-01 -3.66624989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094012739 meters 0.03452478918354085 Centerline is valid? [True, True] Translation: X:184.94, Y:-28.39, Z:-3.66 [[ 9.82211228e-01 1.86814713e-01 1.90096675e-02 1.84937400e+02] [-1.86788470e-01 9.82395066e-01 -3.16255353e-03 -2.83911895e+01] [-1.92658150e-02 -4.44491120e-04 9.99814298e-01 -3.66453635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters 0.03217749754469158 Centerline is valid? [True, True] Translation: X:184.97, Y:-28.39, Z:-3.67 [[ 9.82598891e-01 1.84814508e-01 1.85207108e-02 1.84966684e+02] [-1.84789258e-01 9.82773342e-01 -3.08041814e-03 -2.83939427e+01] [-1.87709668e-02 -3.95612963e-04 9.99823732e-01 -3.66691412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154012739 meters 0.03211475305270448 Centerline is valid? [True, True] Translation: X:184.99, Y:-28.40, Z:-3.67 [[ 9.82856969e-01 1.83647891e-01 1.62981552e-02 1.84994714e+02] [-1.83628199e-01 9.82992036e-01 -2.70947375e-03 -2.83962652e+01] [-1.65185460e-02 -3.29775727e-04 9.99863505e-01 -3.67200032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters 0.032004454681462666 Centerline is valid? [True, True] Translation: X:185.02, Y:-28.40, Z:-3.68 [[ 9.83366737e-01 1.81112403e-01 1.37170600e-02 1.85022342e+02] [-1.81098216e-01 9.83462373e-01 -2.27974737e-03 -2.83970886e+01] [-1.39031029e-02 -2.42307371e-04 9.99903318e-01 -3.67929774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21401273899997 meters 0.02801104016128997 Centerline is valid? [True, True] Translation: X:185.05, Y:-28.41, Z:-3.68 [[ 9.83653090e-01 1.79454547e-01 1.49219342e-02 1.85049727e+02] [-1.79437583e-01 9.83766237e-01 -2.47896782e-03 -2.84062716e+01] [-1.51245571e-02 -2.39111461e-04 9.99885589e-01 -3.67582860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters 0.026824490364946257 Centerline is valid? [True, True] Translation: X:185.08, Y:-28.41, Z:-3.67 [[ 9.83885780e-01 1.77977452e-01 1.71113362e-02 1.85077115e+02] [-1.77954938e-01 9.84034534e-01 -2.84175511e-03 -2.84107402e+01] [-1.73439141e-02 -2.49084335e-04 9.99849552e-01 -3.67129973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27401273899997 meters 0.026345195371447593 Centerline is valid? [True, True] Translation: X:185.10, Y:-28.41, Z:-3.67 [[ 9.84056567e-01 1.76726021e-01 2.00146487e-02 1.85104833e+02] [-1.76694988e-01 9.84260048e-01 -3.32251247e-03 -2.84128619e+01] [-2.02867935e-02 -2.66947904e-04 9.99794166e-01 -3.66606192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters 0.026786095523322048 Centerline is valid? [True, True] Translation: X:185.13, Y:-28.42, Z:-3.66 [[ 9.84134271e-01 1.76331146e-01 1.96739494e-02 1.85133797e+02] [-1.76301105e-01 9.84330870e-01 -3.26480203e-03 -2.84172502e+01] [-1.99413620e-02 -2.55535450e-04 9.99801119e-01 -3.66383372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33401273899997 meters 0.026677961607147634 Centerline is valid? [True, True] Translation: X:185.16, Y:-28.42, Z:-3.67 [[ 9.83984748e-01 1.77200405e-01 1.93399227e-02 1.85161943e+02] [-1.77171560e-01 9.84174753e-01 -3.20847572e-03 -2.84157440e+01] [-1.96024068e-02 -2.69393106e-04 9.99807818e-01 -3.66932796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters 0.02750409111333019 Centerline is valid? [True, True] Translation: X:185.19, Y:-28.42, Z:-3.67 [[ 9.83834797e-01 1.78015157e-01 1.94858121e-02 1.85190404e+02] [-1.77986059e-01 9.84027703e-01 -3.23150993e-03 -2.84175064e+01] [-1.97498367e-02 -2.88930982e-04 9.99804911e-01 -3.66980370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39401273899998 meters 0.028253373774564515 Centerline is valid? [True, True] Translation: X:185.22, Y:-28.42, Z:-3.67 [[ 9.83699022e-01 1.78749194e-01 1.96204186e-02 1.85218022e+02] [-1.78719856e-01 9.83894624e-01 -3.25291323e-03 -2.84192855e+01] [-1.98858800e-02 -3.06670813e-04 9.99802209e-01 -3.66998749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters 0.028213675694220036 Centerline is valid? [True, True] Translation: X:185.25, Y:-28.42, Z:-3.67 [[ 9.83702406e-01 1.78717512e-01 1.97389666e-02 1.85245938e+02] [-1.78687835e-01 9.83900379e-01 -3.27141481e-03 -2.84199894e+01] [-2.00058358e-02 -3.09014579e-04 9.99799815e-01 -3.66971354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45401273899998 meters 0.027628758311673975 Centerline is valid? [True, True] Translation: X:185.27, Y:-28.42, Z:-3.67 [[ 9.83839215e-01 1.77995407e-01 1.94430965e-02 1.85274195e+02] [-1.77966498e-01 9.84031275e-01 -3.22103563e-03 -2.84233156e+01] [-1.97059446e-02 -2.91238640e-04 9.99805777e-01 -3.67115529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters 0.026424400349095756 Centerline is valid? [True, True] Translation: X:185.30, Y:-28.43, Z:-3.67 [[ 9.84106289e-01 1.76599255e-01 1.86417584e-02 1.85302554e+02] [-1.76572446e-01 9.84282804e-01 -3.08745514e-03 -2.84278889e+01] [-1.88940045e-02 -2.53236851e-04 9.99821460e-01 -3.67372232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51401273899998 meters 0.023971635435724465 Centerline is valid? [True, True] Translation: X:185.33, Y:-28.43, Z:-3.68 [[ 9.84712226e-01 1.73276212e-01 1.78097081e-02 1.85330564e+02] [-1.73251213e-01 9.84873251e-01 -2.94886785e-03 -2.84332912e+01] [-1.80512738e-02 -1.81767305e-04 9.99837046e-01 -3.67517793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters 0.023075174118307135 Centerline is valid? [True, True] Translation: X:185.36, Y:-28.44, Z:-3.67 [[ 9.84931015e-01 1.72000512e-01 1.80754057e-02 1.85359415e+02] [-1.71974563e-01 9.85096847e-01 -2.99199336e-03 -2.84365579e+01] [-1.83206495e-02 -1.61602944e-04 9.99832150e-01 -3.67434327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57401273899998 meters 0.02282213439116347 Centerline is valid? [True, True] Translation: X:185.39, Y:-28.44, Z:-3.67 [[ 9.85123183e-01 1.70757197e-01 1.93466675e-02 1.85387772e+02] [-1.70727248e-01 9.85313127e-01 -3.20146389e-03 -2.84357086e+01] [-1.96091984e-02 -1.49167004e-04 9.99807710e-01 -3.67283991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters 0.022724059527851018 Centerline is valid? [True, True] Translation: X:185.42, Y:-28.44, Z:-3.67 [[ 9.85152796e-01 1.70548269e-01 1.96788578e-02 1.85415834e+02] [-1.70517276e-01 9.85349312e-01 -3.25466353e-03 -2.84376795e+01] [-1.99456262e-02 -1.49244359e-04 9.99801055e-01 -3.67276105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63401273899999 meters 0.022695847964908356 Centerline is valid? [True, True] Translation: X:185.44, Y:-28.44, Z:-3.67 [[ 9.85155369e-01 1.70563610e-01 1.94152891e-02 1.85443671e+02] [-1.70533470e-01 9.85346656e-01 -3.20978170e-03 -2.84390655e+01] [-1.96782622e-02 -1.48822960e-04 9.99806353e-01 -3.67381573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters 0.023057285094621984 Centerline is valid? [True, True] Translation: X:185.47, Y:-28.44, Z:-3.68 [[ 9.85287952e-01 1.70144986e-01 1.60728191e-02 1.85471961e+02] [-1.70124290e-01 9.85419033e-01 -2.65629382e-03 -2.84373859e+01] [-1.62904169e-02 -1.17162637e-04 9.99867295e-01 -3.68228106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694012739 meters 0.022857779707431528 Centerline is valid? [True, True] Translation: X:185.50, Y:-28.44, Z:-3.69 [[ 9.85461509e-01 1.69289204e-01 1.43798099e-02 1.85499816e+02] [-1.69272558e-01 9.85566414e-01 -2.37580305e-03 -2.84411579e+01] [-1.45744555e-02 -9.28447325e-05 9.99893783e-01 -3.68585690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters 0.02143280304520271 Centerline is valid? [True, True] Translation: X:185.53, Y:-28.45, Z:-3.68 [[ 9.85945900e-01 1.66405884e-01 1.48244328e-02 1.85528287e+02] [-1.66387879e-01 9.86057341e-01 -2.44836472e-03 -2.84480948e+01] [-1.50251631e-02 -5.26507753e-05 9.99887114e-01 -3.68399663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754012739 meters 0.020916195367660036 Centerline is valid? [True, True] Translation: X:185.56, Y:-28.45, Z:-3.68 [[ 9.86175917e-01 1.64854322e-01 1.67365565e-02 1.85555614e+02] [-1.64831163e-01 9.86317926e-01 -2.76337608e-03 -2.84528370e+01] [-1.69631202e-02 -3.35311413e-05 9.99856115e-01 -3.68124564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters 0.020675752895076283 Centerline is valid? [True, True] Translation: X:185.58, Y:-28.46, Z:-3.68 [[ 9.86404516e-01 1.63327719e-01 1.81710344e-02 1.85583667e+02] [-1.63300195e-01 9.86571871e-01 -2.99837223e-03 -2.84580647e+01] [-1.84167487e-02 -9.72555018e-06 9.99830397e-01 -3.67926300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814012739 meters 0.020885868181875208 Centerline is valid? [True, True] Translation: X:185.61, Y:-28.47, Z:-3.68 [[ 9.86934648e-01 1.60101900e-01 1.80936839e-02 1.85611482e+02] [-1.60074083e-01 9.87100491e-01 -2.98475585e-03 -2.84664575e+01] [-1.83381494e-02 4.94291095e-05 9.99831841e-01 -3.68050350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters 0.021193758057691237 Centerline is valid? [True, True] Translation: X:185.64, Y:-28.47, Z:-3.68 [[ 9.87167324e-01 1.58734520e-01 1.74363384e-02 1.85639915e+02] [-1.58708489e-01 9.87321299e-01 -2.87550004e-03 -2.84727149e+01] [-1.76717094e-02 7.13047686e-05 9.99843841e-01 -3.68224965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874012739 meters 0.021481068338604817 Centerline is valid? [True, True] Translation: X:185.67, Y:-28.48, Z:-3.68 [[ 9.87315502e-01 1.57776528e-01 1.77388692e-02 1.85668079e+02] [-1.57749447e-01 9.87474840e-01 -2.92451509e-03 -2.84775823e+01] [-1.79781069e-02 8.91222705e-05 9.99838377e-01 -3.68187256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters 0.021663987555997834 Centerline is valid? [True, True] Translation: X:185.70, Y:-28.48, Z:-3.68 [[ 9.87505778e-01 1.56478251e-01 1.86251498e-02 1.85696006e+02] [-1.56448183e-01 9.87681398e-01 -3.06969912e-03 -2.84823329e+01] [-1.88760551e-02 1.17474785e-04 9.99821824e-01 -3.67929605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934012739 meters 0.022216411357899184 Centerline is valid? [True, True] Translation: X:185.72, Y:-28.49, Z:-3.68 [[ 9.87616949e-01 1.55757576e-01 1.87706901e-02 1.85722849e+02] [-1.55726927e-01 9.87795303e-01 -3.09254797e-03 -2.84882575e+01] [-1.90232873e-02 1.31150916e-04 9.99819032e-01 -3.67980865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters 0.02312663322716065 Centerline is valid? [True, True] Translation: X:185.75, Y:-28.50, Z:-3.68 [[ 9.87994431e-01 1.53212957e-01 1.98190272e-02 1.85750732e+02] [-1.53178302e-01 9.88193176e-01 -3.26402422e-03 -2.84964853e+01] [-2.00851183e-02 1.88992811e-04 9.99798256e-01 -3.67897471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99401273899997 meters 0.02396899649582754 Centerline is valid? [True, True] Translation: X:185.78, Y:-28.50, Z:-3.68 [[ 9.88294228e-01 1.51195462e-01 2.03580573e-02 1.85778630e+02] [-1.51158488e-01 9.88503858e-01 -3.35182845e-03 -2.85038111e+01] [-2.06307995e-02 2.35299553e-04 9.99787135e-01 -3.67862031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters 0.02538730446247158 Centerline is valid? [True, True] Translation: X:185.81, Y:-28.51, Z:-3.68 [[ 9.88604681e-01 1.49133969e-01 2.04900963e-02 1.85805334e+02] [-1.49096091e-01 9.88816960e-01 -3.37259130e-03 -2.85126062e+01] [-2.07639227e-02 2.79166279e-04 9.99784368e-01 -3.67878877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05401273899997 meters 0.026797190736033937 Centerline is valid? [True, True] Translation: X:185.83, Y:-28.52, Z:-3.68 [[ 9.88882725e-01 1.47268184e-01 2.05678962e-02 1.85833128e+02] [-1.47229639e-01 9.89096548e-01 -3.38419466e-03 -2.85220653e+01] [-2.08420193e-02 3.18367699e-04 9.99782731e-01 -3.67830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters 0.029451051641668474 Centerline is valid? [True, True] Translation: X:185.86, Y:-28.54, Z:-3.68 [[ 9.89402507e-01 1.43803276e-01 2.00822502e-02 1.85860407e+02] [-1.43765834e-01 9.89606221e-01 -3.30337580e-03 -2.85359983e+01] [-2.03485560e-02 3.81226845e-04 9.99792874e-01 -3.67977567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11401273899997 meters 0.030946419102458787 Centerline is valid? [True, True] Translation: X:185.89, Y:-28.55, Z:-3.68 [[ 9.89610665e-01 1.42456534e-01 1.94130655e-02 1.85887102e+02] [-1.42421300e-01 9.89800980e-01 -3.19265916e-03 -2.85450131e+01] [-1.96698864e-02 3.94655526e-04 9.99806451e-01 -3.68179192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters 0.030946419102458787 Centerline is valid? [True, True] Translation: X:185.92, Y:-28.55, Z:-3.68 [[ 9.89617037e-01 1.42412241e-01 1.94132463e-02 1.85915067e+02] [-1.42377021e-01 9.89807354e-01 -3.19155929e-03 -2.85495230e+01] [-1.96698911e-02 3.94421275e-04 9.99806451e-01 -3.68236733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17401273899998 meters 0.03153990151451964 Centerline is valid? [True, True] Translation: X:185.94, Y:-28.56, Z:-3.69 [[ 9.89698975e-01 1.42050661e-01 1.78198781e-02 1.85942595e+02] [-1.42020940e-01 9.89859321e-01 -2.92886412e-03 -2.85588739e+01] [-1.80552195e-02 3.67897993e-04 9.99836924e-01 -3.68522070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters 0.029898952033287633 Centerline is valid? [True, True] Translation: X:185.97, Y:-28.56, Z:-3.69 [[ 9.89441651e-01 1.43922358e-01 1.70755354e-02 1.85971032e+02] [-1.43895360e-01 9.89588931e-01 -2.80578086e-03 -2.85625732e+01] [-1.73015755e-02 3.19066136e-04 9.99850266e-01 -3.68681142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23401273899998 meters 0.0261111565525526 Centerline is valid? [True, True] Translation: X:186.00, Y:-28.56, Z:-3.69 [[ 9.88689085e-01 1.49127010e-01 1.59695780e-02 1.85999769e+02] [-1.49104086e-01 9.88818027e-01 -2.62333513e-03 -2.85627029e+01] [-1.61822167e-02 2.12533476e-04 9.99869037e-01 -3.68926450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters 0.024580474166019675 Centerline is valid? [True, True] Translation: X:186.03, Y:-28.57, Z:-3.69 [[ 9.88372843e-01 1.51169874e-01 1.63337672e-02 1.86028622e+02] [-1.51146180e-01 9.88507782e-01 -2.68262926e-03 -2.85654105e+01] [-1.65515887e-02 1.82651403e-04 9.99862996e-01 -3.68901387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29401273899998 meters 0.02213090000269885 Centerline is valid? [True, True] Translation: X:186.06, Y:-28.57, Z:-3.68 [[ 9.87850785e-01 1.54282758e-01 1.86455553e-02 1.86057349e+02] [-1.54252454e-01 9.88026725e-01 -3.06133739e-03 -2.85667819e+01] [-1.88946185e-02 1.48021898e-04 9.99821470e-01 -3.68474323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters 0.021697007123673166 Centerline is valid? [True, True] Translation: X:186.09, Y:-28.57, Z:-3.68 [[ 9.87619885e-01 1.55666545e-01 1.93620403e-02 1.86085025e+02] [-1.55634151e-01 9.87809653e-01 -3.17802101e-03 -2.85710807e+01] [-1.96207218e-02 1.25282039e-04 9.99807487e-01 -3.68404941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35401273899998 meters 0.02093526140325063 Centerline is valid? [True, True] Translation: X:186.11, Y:-28.57, Z:-3.68 [[ 9.87384761e-01 1.57154090e-01 1.93371753e-02 1.86113613e+02] [-1.57122087e-01 9.87574090e-01 -3.17278079e-03 -2.85734049e+01] [-1.95955088e-02 9.44580543e-05 9.99807985e-01 -3.68418798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters 0.020877569036934534 Centerline is valid? [True, True] Translation: X:186.14, Y:-28.58, Z:-3.69 [[ 9.87185270e-01 1.58472658e-01 1.87525982e-02 1.86141005e+02] [-1.58442815e-01 9.87363364e-01 -3.07603821e-03 -2.85774603e+01] [-1.90030964e-02 6.54051773e-05 9.99819423e-01 -3.68608193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414012739 meters 0.020815156404904164 Centerline is valid? [True, True] Translation: X:186.17, Y:-28.58, Z:-3.69 [[ 9.87225515e-01 1.58267822e-01 1.83596955e-02 1.86168756e+02] [-1.58239206e-01 9.87396218e-01 -3.01026829e-03 -2.85813455e+01] [-1.86047225e-02 6.65900341e-05 9.99826915e-01 -3.68773845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters 0.020776950188976417 Centerline is valid? [True, True] Translation: X:186.20, Y:-28.59, Z:-3.69 [[ 9.87226495e-01 1.58248708e-01 1.84714506e-02 1.86195662e+02] [-1.58219762e-01 9.87399282e-01 -3.02732611e-03 -2.85850747e+01] [-1.87177675e-02 6.61080102e-05 9.99824805e-01 -3.68822809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474012739 meters 0.020643991430635847 Centerline is valid? [True, True] Translation: X:186.22, Y:-28.59, Z:-3.69 [[ 9.87129115e-01 1.58729272e-01 1.95225248e-02 1.86224492e+02] [-1.58697076e-01 9.87322143e-01 -3.19737383e-03 -2.85885466e+01] [-1.97825378e-02 5.80531956e-05 9.99804305e-01 -3.68723593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters 0.02071154810919721 Centerline is valid? [True, True] Translation: X:186.25, Y:-28.59, Z:-3.69 [[ 9.87106898e-01 1.58893795e-01 1.93063147e-02 1.86251371e+02] [-1.58862356e-01 9.87295680e-01 -3.16109887e-03 -2.85922087e+01] [-1.95633201e-02 5.32958519e-05 9.99808619e-01 -3.68730053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534012739 meters 0.02098446681580953 Centerline is valid? [True, True] Translation: X:186.28, Y:-28.60, Z:-3.69 [[ 9.87245786e-01 1.58162717e-01 1.81744871e-02 1.86279546e+02] [-1.58134760e-01 9.87413060e-01 -2.97433915e-03 -2.85972909e+01] [-1.84161555e-02 6.23856347e-05 9.99830406e-01 -3.68983522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters 0.02153965280365228 Centerline is valid? [True, True] Translation: X:186.31, Y:-28.60, Z:-3.69 [[ 9.87479405e-01 1.56766193e-01 1.75722928e-02 1.86306290e+02] [-1.56739850e-01 9.87635739e-01 -2.87500681e-03 -2.86038776e+01] [-1.78057283e-02 8.47314630e-05 9.99841462e-01 -3.69209811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594012739 meters 0.02200236553732651 Centerline is valid? [True, True] Translation: X:186.33, Y:-28.61, Z:-3.69 [[ 9.87748129e-01 1.55069097e-01 1.75273602e-02 1.86334407e+02] [-1.55042641e-01 9.87903620e-01 -2.86659289e-03 -2.86093737e+01] [-1.77598626e-02 1.13983534e-04 9.99842275e-01 -3.69288345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters 0.024027377300608915 Centerline is valid? [True, True] Translation: X:186.36, Y:-28.62, Z:-3.70 [[ 9.88444194e-01 1.50628042e-01 1.70078799e-02 1.86362145e+02] [-1.50602487e-01 9.88590490e-01 -2.78084062e-03 -2.86191953e+01] [-1.72327009e-02 1.87276751e-04 9.99851488e-01 -3.69532489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654012739 meters 0.02557911640545268 Centerline is valid? [True, True] Translation: X:186.39, Y:-28.63, Z:-3.70 [[ 9.88842277e-01 1.48074959e-01 1.62714097e-02 1.86389426e+02] [-1.48051235e-01 9.88976116e-01 -2.65972704e-03 -2.86275932e+01] [-1.64858746e-02 2.21048238e-04 9.99864074e-01 -3.69660253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters 0.028297606359016146 Centerline is valid? [True, True] Translation: X:186.42, Y:-28.64, Z:-3.70 [[ 9.89389288e-01 1.44523754e-01 1.48903271e-02 1.86416249e+02] [-1.44503498e-01 9.89501298e-01 -2.43305773e-03 -2.86386637e+01] [-1.50856326e-02 2.55536902e-04 9.99886173e-01 -3.69901721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71401273899997 meters 0.03068342622467388 Centerline is valid? [True, True] Translation: X:186.44, Y:-28.65, Z:-3.70 [[ 9.89492212e-01 1.43823661e-01 1.48296250e-02 1.86442719e+02] [-1.43803497e-01 9.89603297e-01 -2.42273824e-03 -2.86482234e+01] [-1.50238929e-02 2.64728685e-04 9.99887100e-01 -3.70040055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters 0.02909594037843633 Centerline is valid? [True, True] Translation: X:186.47, Y:-28.65, Z:-3.70 [[ 9.89506915e-01 1.43657121e-01 1.54498159e-02 1.86471408e+02] [-1.43635232e-01 9.89627483e-01 -2.52304902e-03 -2.86508739e+01] [-1.56520164e-02 2.77436568e-04 9.99877461e-01 -3.69922927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77401273899997 meters 0.028753427350340286 Centerline is valid? [True, True] Translation: X:186.50, Y:-28.66, Z:-3.70 [[ 9.89344966e-01 1.44557354e-01 1.73121284e-02 1.86498836e+02] [-1.44530022e-01 9.89496379e-01 -2.82627688e-03 -2.86570259e+01] [-1.75388475e-02 2.94040507e-04 9.99846139e-01 -3.69725817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters 0.02878207409555777 Centerline is valid? [True, True] Translation: X:186.53, Y:-28.66, Z:-3.70 [[ 9.89226347e-01 1.45331993e-01 1.76024505e-02 1.86526530e+02] [-1.45303877e-01 9.89382904e-01 -2.87262724e-03 -2.86619011e+01] [-1.78330483e-02 2.83974245e-04 9.99840938e-01 -3.69823250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83401273899997 meters 0.027431363421013155 Centerline is valid? [True, True] Translation: X:186.56, Y:-28.66, Z:-3.70 [[ 9.89092353e-01 1.46349432e-01 1.66781322e-02 1.86555443e+02] [-1.46324354e-01 9.89232925e-01 -2.72080244e-03 -2.86646047e+01] [-1.68967454e-02 2.50707977e-04 9.99857208e-01 -3.70033337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters 0.027556702882564094 Centerline is valid? [True, True] Translation: X:186.58, Y:-28.67, Z:-3.70 [[ 9.89110121e-01 1.46264577e-01 1.63658785e-02 1.86583623e+02] [-1.46240429e-01 9.89245476e-01 -2.66912614e-03 -2.86697341e+01] [-1.65802699e-02 2.46706587e-04 9.99862507e-01 -3.70102493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89401273899998 meters 0.028785454420472263 Centerline is valid? [True, True] Translation: X:186.61, Y:-28.68, Z:-3.70 [[ 9.89149427e-01 1.45977212e-01 1.65549086e-02 1.86610638e+02] [-1.45952475e-01 9.89287920e-01 -2.69922041e-03 -2.86777748e+01] [-1.67715957e-02 2.53702437e-04 9.99859315e-01 -3.70134975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters 0.02882171797681006 Centerline is valid? [True, True] Translation: X:186.64, Y:-28.69, Z:-3.70 [[ 9.89332005e-01 1.44585223e-01 1.78128359e-02 1.86638000e+02] [-1.44556379e-01 9.89492307e-01 -2.90318898e-03 -2.86871548e+01] [-1.80454223e-02 2.97258711e-04 9.99837124e-01 -3.70034764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95401273899998 meters 0.02878661613129285 Centerline is valid? [True, True] Translation: X:186.67, Y:-28.69, Z:-3.70 [[ 9.89511058e-01 1.43286249e-01 1.83552983e-02 1.86666392e+02] [-1.43255414e-01 9.89681233e-01 -2.99073483e-03 -2.86941555e+01] [-1.85944254e-02 3.29869332e-04 9.99827054e-01 -3.70072983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters 0.032145799551301146 Centerline is valid? [True, True] Translation: X:186.69, Y:-28.71, Z:-3.70 [[ 9.90005566e-01 1.39862909e-01 1.80927226e-02 1.86693007e+02] [-1.39832394e-01 9.90170802e-01 -2.94707674e-03 -2.87092675e+01] [-1.83270724e-02 3.87673657e-04 9.99831970e-01 -3.70181498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01401273899998 meters 0.032407922121579974 Centerline is valid? [True, True] Translation: X:186.72, Y:-28.72, Z:-3.70 [[ 9.90242910e-01 1.38223574e-01 1.76980837e-02 1.86721574e+02] [-1.38194125e-01 9.90400968e-01 -2.88215298e-03 -2.87165410e+01] [-1.79265807e-02 4.08260360e-04 9.99839223e-01 -3.70234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters 0.035610103360463094 Centerline is valid? [True, True] Translation: X:186.75, Y:-28.73, Z:-3.70 [[ 9.90408462e-01 1.37012125e-01 1.78537649e-02 1.86749154e+02] [-1.36981968e-01 9.90569276e-01 -2.90701226e-03 -2.87285706e+01] [-1.80836869e-02 4.33485699e-04 9.99836383e-01 -3.70331974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07401273899998 meters 0.03727928996010755 Centerline is valid? [True, True] Translation: X:186.78, Y:-28.74, Z:-3.70 [[ 9.90443158e-01 1.36598271e-01 1.90594379e-02 1.86776971e+02] [-1.36563825e-01 9.90626413e-01 -3.10344248e-03 -2.87404832e+01] [-1.93047075e-02 4.70953643e-04 9.99813536e-01 -3.70235600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters 0.03296909950881308 Centerline is valid? [True, True] Translation: X:186.81, Y:-28.74, Z:-3.70 [[ 9.90227911e-01 1.38131491e-01 1.91930979e-02 1.86808112e+02] [-1.38096852e-01 9.90413799e-01 -3.12496893e-03 -2.87421719e+01] [-1.94407656e-02 4.43925059e-04 9.99810912e-01 -3.70194964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13401273899999 meters 0.0333806253450485 Centerline is valid? [True, True] Translation: X:186.84, Y:-28.75, Z:-3.70 [[ 9.89969598e-01 1.40034866e-01 1.87198014e-02 1.86837013e+02] [-1.40002250e-01 9.90146494e-01 -3.04813870e-03 -2.87506449e+01] [-1.89621915e-02 3.96750320e-04 9.99820123e-01 -3.70312141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters 0.028678667938840736 Centerline is valid? [True, True] Translation: X:186.87, Y:-28.75, Z:-3.70 [[ 9.89417768e-01 1.43974330e-01 1.79964690e-02 1.86867288e+02] [-1.43944837e-01 9.89581375e-01 -2.93038271e-03 -2.87529475e+01] [-1.82308704e-02 3.08873931e-04 9.99833756e-01 -3.70397513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194012739 meters 0.027947116121763788 Centerline is valid? [True, True] Translation: X:186.90, Y:-28.76, Z:-3.70 [[ 9.89130899e-01 1.45818429e-01 1.88957634e-02 1.86895350e+02] [-1.45786254e-01 9.89311327e-01 -3.07660927e-03 -2.87594037e+01] [-1.91424191e-02 2.88426738e-04 9.99816726e-01 -3.70341559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters 0.026422005833119315 Centerline is valid? [True, True] Translation: X:186.92, Y:-28.77, Z:-3.70 [[ 9.88838510e-01 1.47681731e-01 1.97106113e-02 1.86923417e+02] [-1.47647106e-01 9.89034902e-01 -3.20855752e-03 -2.87682773e+01] [-1.99683278e-02 2.62530529e-04 9.99800579e-01 -3.70338926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254012739 meters 0.025792612641214817 Centerline is valid? [True, True] Translation: X:186.95, Y:-28.78, Z:-3.70 [[ 9.88738459e-01 1.48358923e-01 1.96440719e-02 1.86953188e+02] [-1.48324674e-01 9.88933551e-01 -3.19727187e-03 -2.87753608e+01] [-1.99010256e-02 2.47565102e-04 9.99801924e-01 -3.70479601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters 0.025228257912538497 Centerline is valid? [True, True] Translation: X:186.98, Y:-28.78, Z:-3.71 [[ 9.88618813e-01 1.49174537e-01 1.94884672e-02 1.86983259e+02] [-1.49140986e-01 9.88810854e-01 -3.17194563e-03 -2.87825458e+01] [-1.97435814e-02 2.29315898e-04 9.99805050e-01 -3.70539048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314012739 meters 0.02352104705009101 Centerline is valid? [True, True] Translation: X:187.01, Y:-28.79, Z:-3.71 [[ 9.88182182e-01 1.52153305e-01 1.85835151e-02 1.87011299e+02] [-1.52123324e-01 9.88356892e-01 -3.02470572e-03 -2.87882857e+01] [-1.88273642e-02 1.61974209e-04 9.99822736e-01 -3.70625813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters 0.022318072845899522 Centerline is valid? [True, True] Translation: X:187.04, Y:-28.79, Z:-3.71 [[ 9.87765072e-01 1.54899942e-01 1.80602093e-02 1.87041106e+02] [-1.54872095e-01 9.87930158e-01 -2.93890740e-03 -2.87907444e+01] [-1.82974621e-02 1.05927614e-04 9.99832582e-01 -3.70772762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374012739 meters 0.021166352515903483 Centerline is valid? [True, True] Translation: X:187.07, Y:-28.79, Z:-3.71 [[ 9.86818127e-01 1.60837628e-01 1.79231880e-02 1.87069545e+02] [-1.60811188e-01 9.86980880e-01 -2.91626665e-03 -2.87884919e+01] [-1.81588893e-02 -4.42436357e-06 9.99835114e-01 -3.70898846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters 0.02161697952791291 Centerline is valid? [True, True] Translation: X:187.10, Y:-28.79, Z:-3.71 [[ 9.86311108e-01 1.63875995e-01 1.83045295e-02 1.87097814e+02] [-1.63848961e-01 9.86480945e-01 -2.97721450e-03 -2.87878970e+01] [-1.85449636e-02 -6.27184070e-05 9.99828025e-01 -3.70898511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434012739 meters 0.022595732310668647 Centerline is valid? [True, True] Translation: X:187.13, Y:-28.79, Z:-3.71 [[ 9.85897055e-01 1.66336416e-01 1.84172229e-02 1.87127033e+02] [-1.66309497e-01 9.86069057e-01 -2.99447174e-03 -2.87885292e+01] [-1.86587433e-02 -1.10718198e-04 9.99825904e-01 -3.70965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters 0.023502132495214406 Centerline is valid? [True, True] Translation: X:187.16, Y:-28.79, Z:-3.71 [[ 9.85538457e-01 1.68454150e-01 1.83615952e-02 1.87155378e+02] [-1.68427776e-01 9.85709479e-01 -2.98459986e-03 -2.87910760e+01] [-1.86019667e-02 -1.51164709e-04 9.99826957e-01 -3.71082016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49401273899997 meters 0.02392898397570765 Centerline is valid? [True, True] Translation: X:187.18, Y:-28.79, Z:-3.71 [[ 9.85545682e-01 1.68463686e-01 1.78799950e-02 1.87183085e+02] [-1.68438693e-01 9.85707849e-01 -2.90552801e-03 -2.87943017e+01] [-1.81139274e-02 -1.48152413e-04 9.99835918e-01 -3.71250232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters 0.02269897902203268 Centerline is valid? [True, True] Translation: X:187.21, Y:-28.80, Z:-3.71 [[ 9.85792340e-01 1.67011273e-01 1.79080264e-02 1.87211465e+02] [-1.66985981e-01 9.85954979e-01 -2.90901183e-03 -2.88014591e+01] [-1.81423456e-02 -1.22707781e-04 9.99835407e-01 -3.71256815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55401273899997 meters 0.022262781677693196 Centerline is valid? [True, True] Translation: X:187.24, Y:-28.81, Z:-3.71 [[ 9.86014143e-01 1.65632585e-01 1.84920528e-02 1.87238495e+02] [-1.65605391e-01 9.86187526e-01 -3.00296902e-03 -2.88066579e+01] [-1.87340213e-02 -1.01413710e-04 9.99824498e-01 -3.71239354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters 0.021831532382829283 Centerline is valid? [True, True] Translation: X:187.27, Y:-28.81, Z:-3.71 [[ 9.86195484e-01 1.64430151e-01 1.95241836e-02 1.87266199e+02] [-1.64399625e-01 9.86388726e-01 -3.16933304e-03 -2.88128277e+01] [-1.97795685e-02 -8.41865404e-05 9.99804362e-01 -3.71030496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61401273899997 meters 0.02151222146896555 Centerline is valid? [True, True] Translation: X:187.29, Y:-28.82, Z:-3.71 [[ 9.86337281e-01 1.63394166e-01 2.10027455e-02 1.87293204e+02] [-1.63358634e-01 9.86560866e-01 -3.40804218e-03 -2.88177155e+01] [-2.12773410e-02 -6.95007679e-05 9.99773609e-01 -3.70783537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters 0.021551410255724105 Centerline is valid? [True, True] Translation: X:187.32, Y:-28.82, Z:-3.71 [[ 9.86349366e-01 1.63344420e-01 2.08213715e-02 1.87321445e+02] [-1.63309513e-01 9.86569103e-01 -3.37743537e-03 -2.88220374e+01] [-2.10934071e-02 -6.89968218e-05 9.99777507e-01 -3.70942249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67401273899998 meters 0.021536770073336365 Centerline is valid? [True, True] Translation: X:187.35, Y:-28.83, Z:-3.71 [[ 9.86433724e-01 1.62992722e-01 1.95417728e-02 1.87348435e+02] [-1.62961922e-01 9.86627270e-01 -3.16903945e-03 -2.88290918e+01] [-1.97969763e-02 -5.85174688e-05 9.99804019e-01 -3.71250099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters 0.021650684851834332 Centerline is valid? [True, True] Translation: X:187.38, Y:-28.84, Z:-3.71 [[ 9.86484265e-01 1.62703598e-01 1.93993447e-02 1.87375706e+02] [-1.62673211e-01 9.86674990e-01 -3.14484218e-03 -2.88352677e+01] [-1.96525254e-02 -5.34163759e-05 9.99806869e-01 -3.71293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73401273899998 meters 0.0216211100535861 Centerline is valid? [True, True] Translation: X:187.40, Y:-28.84, Z:-3.71 [[ 9.86542054e-01 1.62394404e-01 1.90481832e-02 1.87403325e+02] [-1.62365070e-01 9.86725927e-01 -3.08684268e-03 -2.88418371e+01] [-1.92966222e-02 -4.74594862e-05 9.99813802e-01 -3.71442155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters 0.021666899493971933 Centerline is valid? [True, True] Translation: X:187.43, Y:-28.85, Z:-3.72 [[ 9.86580073e-01 1.62229257e-01 1.84777624e-02 1.87430365e+02] [-1.62201640e-01 9.86753093e-01 -2.99361052e-03 -2.88472952e+01] [-1.87186404e-02 -4.36868872e-05 9.99824790e-01 -3.71593909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79401273899998 meters 0.02181934718536573 Centerline is valid? [True, True] Translation: X:187.46, Y:-28.85, Z:-3.72 [[ 9.86529629e-01 1.62597325e-01 1.79276472e-02 1.87457153e+02] [-1.62571406e-01 9.86692509e-01 -2.90353755e-03 -2.88525894e+01] [-1.81611827e-02 -5.00969920e-05 9.99835071e-01 -3.71771761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters 0.022363815922367147 Centerline is valid? [True, True] Translation: X:187.48, Y:-28.86, Z:-3.72 [[ 9.86282789e-01 1.64082073e-01 1.79814683e-02 1.87484160e+02] [-1.64056267e-01 9.86446687e-01 -2.91102084e-03 -2.88569332e+01] [-1.82154062e-02 -7.88828081e-05 9.99834083e-01 -3.71849372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85401273899998 meters 0.02333054135809581 Centerline is valid? [True, True] Translation: X:187.51, Y:-28.86, Z:-3.72 [[ 9.85898350e-01 1.66278158e-01 1.88684360e-02 1.87513269e+02] [-1.66250167e-01 9.86078880e-01 -3.05350115e-03 -2.88578899e+01] [-1.91134968e-02 -1.26438894e-04 9.99817312e-01 -3.71687249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters 0.026374183116869277 Centerline is valid? [True, True] Translation: X:187.54, Y:-28.85, Z:-3.71 [[ 9.84810741e-01 1.72426964e-01 2.04143606e-02 1.87543449e+02] [-1.72395538e-01 9.85022269e-01 -3.30270922e-03 -2.88537385e+01] [-2.06780759e-02 -2.66801154e-04 9.99786150e-01 -3.71399569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914012739 meters 0.030725424116852026 Centerline is valid? [True, True] Translation: X:187.57, Y:-28.85, Z:-3.71 [[ 9.84298381e-01 1.75299064e-01 2.06624239e-02 1.87572688e+02] [-1.75267517e-01 9.84515174e-01 -3.34207367e-03 -2.88487220e+01] [-2.09283322e-02 -3.31854032e-04 9.99780923e-01 -3.71434584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters 0.03027990650164325 Centerline is valid? [True, True] Translation: X:187.60, Y:-28.85, Z:-3.71 [[ 9.83873843e-01 1.77668011e-01 2.06479859e-02 1.87601550e+02] [-1.77637060e-01 9.84090408e-01 -3.33828269e-03 -2.88517258e+01] [-2.09125909e-02 -3.83398490e-04 9.99781234e-01 -3.71482656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974012739 meters 0.03887680047484705 Centerline is valid? [True, True] Translation: X:187.63, Y:-28.84, Z:-3.72 [[ 9.82944503e-01 1.82767523e-01 2.03994109e-02 1.87633668e+02] [-1.82738429e-01 9.83156038e-01 -3.29713979e-03 -2.88373856e+01] [-2.06584141e-02 -4.86850859e-04 9.99786474e-01 -3.71609573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters 0.03616137478367091 Centerline is valid? [True, True] Translation: X:187.66, Y:-28.84, Z:-3.72 [[ 9.82679601e-01 1.84226797e-01 2.00322180e-02 1.87661445e+02] [-1.84199049e-01 9.82883629e-01 -3.23755757e-03 -2.88434102e+01] [-2.02857840e-02 -5.08433721e-04 9.99794093e-01 -3.71752824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034012739 meters 0.03616137478367091 Centerline is valid? [True, True] Translation: X:187.69, Y:-28.85, Z:-3.72 [[ 9.82692459e-01 1.84158175e-01 2.00324062e-02 1.87688607e+02] [-1.84130436e-01 9.82896489e-01 -3.23639286e-03 -2.88476638e+01] [-2.02857899e-02 -5.08196836e-04 9.99794093e-01 -3.71808673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters 0.037913525679799095 Centerline is valid? [True, True] Translation: X:187.72, Y:-28.85, Z:-3.72 [[ 9.82502316e-01 1.85227038e-01 1.94972842e-02 1.87717136e+02] [-1.85200998e-01 9.82695618e-01 -3.14857451e-03 -2.88457830e+01] [-1.97430969e-02 -5.17434757e-04 9.99804952e-01 -3.71937791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094012739 meters 0.03844049692319747 Centerline is valid? [True, True] Translation: X:187.75, Y:-28.85, Z:-3.72 [[ 9.82492965e-01 1.85270139e-01 1.95588618e-02 1.87745460e+02] [-1.85243966e-01 9.82687491e-01 -3.15736402e-03 -2.88474280e+01] [-1.98052141e-02 -5.21073202e-04 9.99803722e-01 -3.72024550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters 0.03544278113217473 Centerline is valid? [True, True] Translation: X:187.77, Y:-28.85, Z:-3.72 [[ 9.82444300e-01 1.85536026e-01 1.94828107e-02 1.87773757e+02] [-1.85510140e-01 9.82637322e-01 -3.14347718e-03 -2.88540458e+01] [-1.97277652e-02 -5.25967703e-04 9.99805250e-01 -3.72062659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154012739 meters 0.040392305196493145 Centerline is valid? [True, True] Translation: X:187.80, Y:-28.84, Z:-3.72 [[ 9.82259172e-01 1.86608423e-01 1.85530584e-02 1.87803031e+02] [-1.86585155e-01 9.82434234e-01 -2.99266148e-03 -2.88439813e+01] [-1.87856155e-02 -5.22156083e-04 9.99823398e-01 -3.72364471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters 0.0389741010481646 Centerline is valid? [True, True] Translation: X:187.83, Y:-28.85, Z:-3.73 [[ 9.82168905e-01 1.87145483e-01 1.79111711e-02 1.87831474e+02] [-1.87123921e-01 9.82332073e-01 -2.88726309e-03 -2.88471436e+01] [-1.81350561e-02 -5.15828539e-04 9.99835413e-01 -3.72554230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21401273899997 meters 0.04765285501042258 Centerline is valid? [True, True] Translation: X:187.86, Y:-28.83, Z:-3.73 [[ 9.82117225e-01 1.87463412e-01 1.74134013e-02 1.87861449e+02] [-1.87443095e-01 9.82271455e-01 -2.80624282e-03 -2.88332797e+01] [-1.76307549e-02 -5.07962424e-04 9.99844437e-01 -3.72791750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters 0.042014122405976906 Centerline is valid? [True, True] Translation: X:187.89, Y:-28.84, Z:-3.73 [[ 9.82142414e-01 1.87322789e-01 1.75057487e-02 1.87889312e+02] [-1.87302253e-01 9.82298281e-01 -2.82003920e-03 -2.88419979e+01] [-1.77241245e-02 -5.09186068e-04 9.99842786e-01 -3.72763800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27401273899997 meters 0.039774807915933554 Centerline is valid? [True, True] Translation: X:187.92, Y:-28.85, Z:-3.73 [[ 9.82207930e-01 1.86933251e-01 1.79872962e-02 1.87917871e+02] [-1.86911519e-01 9.82372482e-01 -2.89676587e-03 -2.88452950e+01] [-1.82117267e-02 -5.16806456e-04 9.99834019e-01 -3.72677155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters 0.03899370529480719 Centerline is valid? [True, True] Translation: X:187.95, Y:-28.84, Z:-3.72 [[ 9.82454488e-01 1.85504188e-01 1.92711061e-02 1.87946876e+02] [-1.85478988e-01 9.82643333e-01 -3.10254295e-03 -2.88420808e+01] [-1.95121587e-02 -5.26278026e-04 9.99809481e-01 -3.72476656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33401273899997 meters 0.03741565975918742 Centerline is valid? [True, True] Translation: X:187.98, Y:-28.85, Z:-3.72 [[ 9.82660896e-01 1.84354950e-01 1.97690656e-02 1.87975701e+02] [-1.84328222e-01 9.82859596e-01 -3.18150884e-03 -2.88461240e+01] [-2.00167427e-02 -5.17652386e-04 9.99799511e-01 -3.72482336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters 0.03407672179809984 Centerline is valid? [True, True] Translation: X:188.00, Y:-28.85, Z:-3.72 [[ 9.83211947e-01 1.81320563e-01 2.04235504e-02 1.88004352e+02] [-1.81291402e-01 9.83423932e-01 -3.28583739e-03 -2.88499978e+01] [-2.06807981e-02 -4.71939513e-04 9.99786018e-01 -3.72427420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39401273899998 meters 0.032907145092125785 Centerline is valid? [True, True] Translation: X:188.03, Y:-28.85, Z:-3.72 [[ 9.83545956e-01 1.79483819e-01 2.05648108e-02 1.88032088e+02] [-1.79453873e-01 9.83760828e-01 -3.30756092e-03 -2.88521260e+01] [-2.08245090e-02 -4.37296771e-04 9.99783051e-01 -3.72418949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters 0.03096783351690184 Centerline is valid? [True, True] Translation: X:188.06, Y:-28.86, Z:-3.72 [[ 9.83963246e-01 1.77195767e-01 2.04448126e-02 1.88061142e+02] [-1.77165701e-01 9.84175548e-01 -3.28700033e-03 -2.88560310e+01] [-2.07037272e-02 -3.87832056e-04 9.99785580e-01 -3.72495167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45401273899998 meters 0.026656163896028724 Centerline is valid? [True, True] Translation: X:188.09, Y:-28.87, Z:-3.73 [[ 9.84870612e-01 1.72189771e-01 1.95079490e-02 1.88089834e+02] [-1.72161474e-01 9.85063759e-01 -3.13340152e-03 -2.88658994e+01] [-1.97561133e-02 -2.72522193e-04 9.99804792e-01 -3.72688971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters 0.02480112915463632 Centerline is valid? [True, True] Translation: X:188.12, Y:-28.87, Z:-3.73 [[ 9.85486564e-01 1.68524810e-01 2.03867987e-02 1.88116669e+02] [-1.68493128e-01 9.85697390e-01 -3.27428781e-03 -2.88748676e+01] [-2.06470130e-02 -2.08268827e-04 9.99786806e-01 -3.72572925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51401273899998 meters 0.022853291554707653 Centerline is valid? [True, True] Translation: X:188.14, Y:-28.89, Z:-3.72 [[ 9.86138577e-01 1.64451369e-01 2.20557167e-02 1.88144691e+02] [-1.64413298e-01 9.86385183e-01 -3.54094616e-03 -2.88853495e+01] [-2.23377456e-02 -1.34389514e-04 9.99750472e-01 -3.72338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters 0.02198330723802471 Centerline is valid? [True, True] Translation: X:188.17, Y:-28.90, Z:-3.72 [[ 9.87354101e-01 1.56923690e-01 2.25129752e-02 1.88170695e+02] [-1.56882085e-01 9.87610730e-01 -3.61346739e-03 -2.88995499e+01] [-2.28010945e-02 3.58893521e-05 9.99740021e-01 -3.72350032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57401273899998 meters 0.022765952868885775 Centerline is valid? [True, True] Translation: X:188.20, Y:-28.91, Z:-3.73 [[ 9.87897145e-01 1.53641134e-01 2.12986466e-02 1.88197088e+02] [-1.53603159e-01 9.88126708e-01 -3.41735315e-03 -2.89101238e+01] [-2.15708076e-02 1.04454010e-04 9.99767318e-01 -3.72700902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters 0.025464939931112027 Centerline is valid? [True, True] Translation: X:188.22, Y:-28.93, Z:-3.73 [[ 9.88899153e-01 1.47218769e-01 2.01270837e-02 1.88224489e+02] [-1.47183549e-01 9.89103928e-01 -3.22827503e-03 -2.89273655e+01] [-2.03830402e-02 2.30062831e-04 9.99792218e-01 -3.73009035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63401273899999 meters 0.026581221185766956 Centerline is valid? [True, True] Translation: X:188.25, Y:-28.94, Z:-3.73 [[ 9.89263047e-01 1.44731973e-01 2.02800333e-02 1.88252122e+02] [-1.44695704e-01 9.89470856e-01 -3.25232097e-03 -2.89351087e+01] [-2.05372167e-02 2.82967277e-04 9.99789049e-01 -3.72995264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters 0.02860649570041049 Centerline is valid? [True, True] Translation: X:188.28, Y:-28.94, Z:-3.73 [[ 9.89586148e-01 1.42501435e-01 2.03124848e-02 1.88279578e+02] [-1.42464599e-01 9.89794541e-01 -3.25655367e-03 -2.89440303e+01] [-2.05692502e-02 3.28830398e-04 9.99788377e-01 -3.73038846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694012739 meters 0.03228055492511438 Centerline is valid? [True, True] Translation: X:188.31, Y:-28.96, Z:-3.73 [[ 9.90296107e-01 1.37414651e-01 2.07565344e-02 1.88307420e+02] [-1.37375085e-01 9.90513512e-01 -3.32701235e-03 -2.89621794e+01] [-2.10168080e-02 4.43296711e-04 9.99779024e-01 -3.73209750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters 0.03374924149447985 Centerline is valid? [True, True] Translation: X:188.34, Y:-28.97, Z:-3.73 [[ 9.90669635e-01 1.34723447e-01 2.05734589e-02 1.88336710e+02] [-1.34683995e-01 9.90883115e-01 -3.29767388e-03 -2.89749440e+01] [-2.08301670e-02 4.95989751e-04 9.99782906e-01 -3.73296869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754012739 meters 0.03658050223191054 Centerline is valid? [True, True] Translation: X:188.37, Y:-28.99, Z:-3.73 [[ 9.91189945e-01 1.31029512e-01 1.93328873e-02 1.88365259e+02] [-1.30993969e-01 9.91378321e-01 -3.09904166e-03 -2.89919357e+01] [-1.95722713e-02 5.39247303e-04 9.99808299e-01 -3.73450105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters 0.038489330163589325 Centerline is valid? [True, True] Translation: X:188.39, Y:-29.00, Z:-3.74 [[ 9.91319574e-01 1.30057724e-01 1.92481148e-02 1.88394630e+02] [-1.30022305e-01 9.91506268e-01 -3.08562511e-03 -2.90029469e+01] [-1.94859359e-02 5.56156308e-04 9.99809976e-01 -3.73590860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814012739 meters 0.0364688384169082 Centerline is valid? [True, True] Translation: X:188.43, Y:-29.01, Z:-3.74 [[ 9.91345435e-01 1.29895903e-01 1.90074676e-02 1.88426399e+02] [-1.29861306e-01 9.91527482e-01 -3.04852382e-03 -2.90093055e+01] [-1.92424172e-02 5.53805606e-04 9.99814694e-01 -3.73680172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters 0.03848275156044581 Centerline is valid? [True, True] Translation: X:188.46, Y:-29.03, Z:-3.74 [[ 9.91368161e-01 1.29613707e-01 1.97346538e-02 1.88455477e+02] [-1.29576285e-01 9.91564393e-01 -3.16868961e-03 -2.90274011e+01] [-1.99788856e-02 5.84194873e-04 9.99800231e-01 -3.73657204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874012739 meters 0.03869591124614049 Centerline is valid? [True, True] Translation: X:188.49, Y:-29.04, Z:-3.74 [[ 9.91317767e-01 1.29977408e-01 1.98735491e-02 1.88485537e+02] [-1.29939466e-01 9.91516784e-01 -3.19418464e-03 -2.90373391e+01] [-2.01201294e-02 5.84093619e-04 9.99797399e-01 -3.73644704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters 0.03744404076893928 Centerline is valid? [True, True] Translation: X:188.52, Y:-29.05, Z:-3.73 [[ 9.91014920e-01 1.32093468e-01 2.09938982e-02 1.88515923e+02] [-1.32051529e-01 9.91237098e-01 -3.37767546e-03 -2.90467049e+01] [-2.12560996e-02 5.75050415e-04 9.99773898e-01 -3.73464658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934012739 meters 0.03659019810362954 Centerline is valid? [True, True] Translation: X:188.55, Y:-29.05, Z:-3.74 [[ 9.90770007e-01 1.33963957e-01 2.06990586e-02 1.88546607e+02] [-1.33923530e-01 9.90986063e-01 -3.33336537e-03 -2.90534456e+01] [-2.09590294e-02 5.30507435e-04 9.99780195e-01 -3.73602060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters 0.03311351502303955 Centerline is valid? [True, True] Translation: X:188.58, Y:-29.06, Z:-3.74 [[ 9.90515840e-01 1.36164735e-01 1.83721366e-02 1.88578424e+02] [-1.36133221e-01 9.90686115e-01 -2.96106595e-03 -2.90577832e+01] [-1.86042134e-02 4.31924611e-04 9.99826833e-01 -3.74127945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99401273899997 meters 0.03388462521517134 Centerline is valid? [True, True] Translation: X:188.61, Y:-29.07, Z:-3.74 [[ 9.90396269e-01 1.37145572e-01 1.75020634e-02 1.88608614e+02] [-1.37117072e-01 9.90550824e-01 -2.82384002e-03 -2.90660208e+01] [-1.77239605e-02 3.96888929e-04 9.99842840e-01 -3.74335204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters 0.03180589373550331 Centerline is valid? [True, True] Translation: X:188.64, Y:-29.07, Z:-3.74 [[ 9.90105361e-01 1.39185149e-01 1.78569081e-02 1.88640605e+02] [-1.39155783e-01 9.90266307e-01 -2.88272320e-03 -2.90688573e+01] [-1.80843267e-02 3.69307661e-04 9.99836397e-01 -3.74344875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05401273899997 meters 0.031183906088401925 Centerline is valid? [True, True] Translation: X:188.67, Y:-29.07, Z:-3.74 [[ 9.89943680e-01 1.40288975e-01 1.81800212e-02 1.88672387e+02] [-1.40258663e-01 9.90110537e-01 -2.93816170e-03 -2.90741701e+01] [-1.84124222e-02 3.58709149e-04 9.99830413e-01 -3.74378090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters 0.029682314150632192 Centerline is valid? [True, True] Translation: X:188.70, Y:-29.08, Z:-3.74 [[ 9.89764645e-01 1.41521638e-01 1.83731675e-02 1.88704358e+02] [-1.41490873e-01 9.89935104e-01 -2.97029545e-03 -2.90783285e+01] [-1.86086045e-02 3.40257914e-04 9.99826787e-01 -3.74447902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11401273899997 meters 0.029026863254791053 Centerline is valid? [True, True] Translation: X:188.74, Y:-29.08, Z:-3.74 [[ 9.89503735e-01 1.43364092e-01 1.81410116e-02 1.88735402e+02] [-1.43334351e-01 9.89669967e-01 -2.93592525e-03 -2.90840471e+01] [-1.83745206e-02 3.04878876e-04 9.99831128e-01 -3.74477156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters 0.028931018452972128 Centerline is valid? [True, True] Translation: X:188.77, Y:-29.09, Z:-3.75 [[ 9.89438995e-01 1.43847613e-01 1.78420403e-02 1.88767324e+02] [-1.43818896e-01 9.89599807e-01 -2.88906291e-03 -2.90893434e+01] [-1.80720645e-02 2.92528968e-04 9.99836644e-01 -3.74552568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17401273899998 meters 0.028877595655146044 Centerline is valid? [True, True] Translation: X:188.80, Y:-29.10, Z:-3.74 [[ 9.89347518e-01 1.44313433e-01 1.91081562e-02 1.88798447e+02] [-1.44280515e-01 9.89531980e-01 -3.09746806e-03 -2.90950145e+01] [-1.93551378e-02 3.07537722e-04 9.99812624e-01 -3.74463431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters 0.028636392327862175 Centerline is valid? [True, True] Translation: X:188.83, Y:-29.10, Z:-3.75 [[ 9.89290889e-01 1.44700581e-01 1.91122814e-02 1.88830408e+02] [-1.44667665e-01 9.89475442e-01 -3.10104520e-03 -2.91006328e+01] [-1.93598561e-02 3.02906635e-04 9.99812535e-01 -3.74509730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23401273899998 meters 0.027798385478008683 Centerline is valid? [True, True] Translation: X:188.86, Y:-29.10, Z:-3.75 [[ 9.89175547e-01 1.45493328e-01 1.90637976e-02 1.88862150e+02] [-1.45460666e-01 9.89359190e-01 -3.09627861e-03 -2.91042659e+01] [-1.93114312e-02 2.89730395e-04 9.99813475e-01 -3.74612334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters 0.026691972019328235 Centerline is valid? [True, True] Translation: X:188.89, Y:-29.11, Z:-3.74 [[ 9.88947299e-01 1.46972498e-01 1.95531296e-02 1.88893250e+02] [-1.46938359e-01 9.89140542e-01 -3.17915189e-03 -2.91067614e+01] [-1.98080411e-02 2.70908895e-04 9.99803765e-01 -3.74479362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29401273899998 meters 0.026432605622625345 Centerline is valid? [True, True] Translation: X:188.92, Y:-29.11, Z:-3.74 [[ 9.88843851e-01 1.47470706e-01 2.09816457e-02 1.88924288e+02] [-1.47431497e-01 9.89066384e-01 -3.41194777e-03 -2.91114502e+01] [-2.12554028e-02 2.80528135e-04 9.99774039e-01 -3.74276090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters 0.025214966015888494 Centerline is valid? [True, True] Translation: X:188.96, Y:-29.11, Z:-3.74 [[ 9.88530422e-01 1.49414465e-01 2.19754845e-02 1.88955570e+02] [-1.49371922e-01 9.88774623e-01 -3.57410435e-03 -2.91145291e+01] [-2.22628243e-02 2.50590534e-04 9.99752121e-01 -3.74091818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35401273899998 meters 0.025009153527622795 Centerline is valid? [True, True] Translation: X:188.99, Y:-29.12, Z:-3.74 [[ 9.88398753e-01 1.50361185e-01 2.14340613e-02 1.88986387e+02] [-1.50320920e-01 9.88631106e-01 -3.48672312e-03 -2.91192715e+01] [-2.17146475e-02 2.24284982e-04 9.99764184e-01 -3.74350125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters 0.024182416141744243 Centerline is valid? [True, True] Translation: X:189.02, Y:-29.12, Z:-3.75 [[ 9.88301111e-01 1.51148544e-01 2.03723454e-02 1.89018183e+02] [-1.51112275e-01 9.88511041e-01 -3.31698985e-03 -2.91228051e+01] [-2.06396465e-02 1.99673296e-04 9.99786960e-01 -3.74622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414012739 meters 0.02467809476594511 Centerline is valid? [True, True] Translation: X:189.05, Y:-29.13, Z:-3.75 [[ 9.88246635e-01 1.51613481e-01 1.95433056e-02 1.89047706e+02] [-1.51580132e-01 9.88439840e-01 -3.18520010e-03 -2.91323356e+01] [-1.98003012e-02 1.85386427e-04 9.99803938e-01 -3.74934981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters 0.024848621031184168 Centerline is valid? [True, True] Translation: X:189.08, Y:-29.14, Z:-3.75 [[ 9.88301304e-01 1.51205574e-01 1.99350563e-02 1.89078303e+02] [-1.51170753e-01 9.88502319e-01 -3.25098006e-03 -2.91402344e+01] [-2.01974157e-02 1.99350361e-04 9.99795992e-01 -3.74826873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474012739 meters 0.02463081153141758 Centerline is valid? [True, True] Translation: X:189.11, Y:-29.15, Z:-3.74 [[ 9.88336337e-01 1.50756430e-01 2.15356235e-02 1.89108614e+02] [-1.50715674e-01 9.88570912e-01 -3.51252926e-03 -2.91477117e+01] [-2.18190273e-02 2.25804290e-04 9.99761911e-01 -3.74477268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters 0.02494388508953964 Centerline is valid? [True, True] Translation: X:189.14, Y:-29.15, Z:-3.75 [[ 9.88292455e-01 1.51073692e-01 2.13251830e-02 1.89139920e+02] [-1.51033787e-01 9.88522480e-01 -3.47890385e-03 -2.91546194e+01] [-2.16059936e-02 2.17351285e-04 9.99766540e-01 -3.74556302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534012739 meters 0.023857382616696624 Centerline is valid? [True, True] Translation: X:189.17, Y:-29.16, Z:-3.75 [[ 9.88111318e-01 1.52355700e-01 2.05855510e-02 1.89171645e+02] [-1.52318720e-01 9.88325708e-01 -3.36175274e-03 -2.91577139e+01] [-2.08574115e-02 1.86221140e-04 9.99782443e-01 -3.74851483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters 0.02284872724116649 Centerline is valid? [True, True] Translation: X:189.20, Y:-29.16, Z:-3.75 [[ 9.87741410e-01 1.54935308e-01 1.90251727e-02 1.89203173e+02] [-1.54904144e-01 9.87924610e-01 -3.10987196e-03 -2.91615332e+01] [-1.92772653e-02 1.24671211e-04 9.99814168e-01 -3.75261788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594012739 meters 0.02274864889993878 Centerline is valid? [True, True] Translation: X:189.23, Y:-29.17, Z:-3.75 [[ 9.87574483e-01 1.56097021e-01 1.81758053e-02 1.89233668e+02] [-1.56068714e-01 9.87741722e-01 -2.97428412e-03 -2.91655935e+01] [-1.84172782e-02 1.00652532e-04 9.99830382e-01 -3.75397179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters 0.022472996006112772 Centerline is valid? [True, True] Translation: X:189.26, Y:-29.17, Z:-3.76 [[ 9.87359034e-01 1.57580245e-01 1.70471242e-02 1.89263899e+02] [-1.57555563e-01 9.87506183e-01 -2.78981563e-03 -2.91692384e+01] [-1.72737604e-02 6.86804218e-05 9.99850795e-01 -3.75708288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654012739 meters 0.022349740516679074 Centerline is valid? [True, True] Translation: X:189.29, Y:-29.17, Z:-3.76 [[ 9.87332591e-01 1.57760708e-01 1.69089817e-02 1.89293917e+02] [-1.57736450e-01 9.87477369e-01 -2.76720817e-03 -2.91747658e+01] [-1.71337934e-02 6.49920673e-05 9.99853204e-01 -3.75823569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters 0.022490074560736473 Centerline is valid? [True, True] Translation: X:189.32, Y:-29.18, Z:-3.76 [[ 9.87341451e-01 1.57693788e-01 1.70155388e-02 1.89323129e+02] [-1.57669213e-01 9.87488058e-01 -2.78468327e-03 -2.91813831e+01] [-1.72417687e-02 6.66066070e-05 9.99851347e-01 -3.75916059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71401273899997 meters 0.022417224322028605 Centerline is valid? [True, True] Translation: X:189.35, Y:-29.19, Z:-3.76 [[ 9.87384499e-01 1.57238843e-01 1.86493136e-02 1.89353374e+02] [-1.57209246e-01 9.87560600e-01 -3.05179281e-03 -2.91876560e+01] [-1.88971877e-02 8.14483909e-05 9.99821429e-01 -3.75633599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters 0.02245182591430519 Centerline is valid? [True, True] Translation: X:189.38, Y:-29.19, Z:-3.75 [[ 9.87407672e-01 1.57001957e-01 1.94029819e-02 1.89384754e+02] [-1.56969874e-01 9.87598287e-01 -3.17510813e-03 -2.91931537e+01] [-1.96608499e-02 8.94425022e-05 9.99806703e-01 -3.75497478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77401273899997 meters 0.022663311439331642 Centerline is valid? [True, True] Translation: X:189.42, Y:-29.20, Z:-3.76 [[ 9.87448139e-01 1.56754742e-01 1.93422748e-02 1.89415010e+02] [-1.56722803e-01 9.87637556e-01 -3.16560045e-03 -2.92021084e+01] [-1.95993799e-02 9.44907554e-05 9.99807909e-01 -3.75608843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters 0.022497696136259907 Centerline is valid? [True, True] Translation: X:189.44, Y:-29.21, Z:-3.76 [[ 9.87412917e-01 1.57065119e-01 1.86085956e-02 1.89444440e+02] [-1.57035578e-01 9.87588245e-01 -3.04735501e-03 -2.92077581e+01] [-1.88562634e-02 8.67861316e-05 9.99822201e-01 -3.75775599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83401273899997 meters 0.022285503597840886 Centerline is valid? [True, True] Translation: X:189.47, Y:-29.21, Z:-3.76 [[ 9.87276643e-01 1.57986922e-01 1.80267036e-02 1.89474676e+02] [-1.57959349e-01 9.87441202e-01 -2.95229351e-03 -2.92117260e+01] [-1.82667337e-02 6.72440548e-05 9.99833147e-01 -3.75918720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters 0.02193320429855611 Centerline is valid? [True, True] Translation: X:189.51, Y:-29.21, Z:-3.76 [[ 9.86550168e-01 1.62409462e-01 1.84914506e-02 1.89506770e+02] [-1.62381225e-01 9.86723450e-01 -3.02838748e-03 -2.92075367e+01] [-1.87377867e-02 -1.50082251e-05 9.99824432e-01 -3.75872951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89401273899998 meters 0.022251056493296152 Centerline is valid? [True, True] Translation: X:189.54, Y:-29.21, Z:-3.76 [[ 9.86083894e-01 1.65116311e-01 1.93689973e-02 1.89535877e+02] [-1.65085847e-01 9.86274099e-01 -3.17239032e-03 -2.92061202e+01] [-1.96269538e-02 -6.93043231e-05 9.99807370e-01 -3.75775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters 0.02348383188642541 Centerline is valid? [True, True] Translation: X:189.57, Y:-29.20, Z:-3.76 [[ 9.85383395e-01 1.69177406e-01 1.99642310e-02 1.89566334e+02] [-1.69145889e-01 9.85585603e-01 -3.26912000e-03 -2.92005381e+01] [-2.02295199e-02 -1.55531044e-04 9.99795350e-01 -3.75678404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95401273899998 meters 0.02348383188642541 Centerline is valid? [True, True] Translation: X:189.60, Y:-29.21, Z:-3.76 [[ 9.85387474e-01 1.69153629e-01 1.99643889e-02 1.89595118e+02] [-1.69122127e-01 9.85589684e-01 -3.26815526e-03 -2.92052060e+01] [-2.02295161e-02 -1.56020656e-04 9.99795350e-01 -3.75737630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters 0.02436267902534468 Centerline is valid? [True, True] Translation: X:189.62, Y:-29.20, Z:-3.76 [[ 9.85127595e-01 1.70805327e-01 1.86858714e-02 1.89623386e+02] [-1.70778035e-01 9.85304780e-01 -3.05848188e-03 -2.92041064e+01] [-1.89336834e-02 -1.78141494e-04 9.99820726e-01 -3.76041674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01401273899998 meters 0.02536447179422198 Centerline is valid? [True, True] Translation: X:189.65, Y:-29.20, Z:-3.76 [[ 9.85039475e-01 1.71482913e-01 1.70541417e-02 1.89651829e+02] [-1.71460298e-01 9.85187079e-01 -2.79045727e-03 -2.92038104e+01] [-1.72800358e-02 -1.75397647e-04 9.99850674e-01 -3.76441845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters 0.02462166876843199 Centerline is valid? [True, True] Translation: X:189.68, Y:-29.21, Z:-3.77 [[ 9.85338560e-01 1.69920044e-01 1.53330188e-02 1.89679317e+02] [-1.69901586e-01 9.85457843e-01 -2.50802566e-03 -2.92070243e+01] [-1.55362075e-02 -1.33849828e-04 9.99879297e-01 -3.76902857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07401273899998 meters 0.023671463857361665 Centerline is valid? [True, True] Translation: X:189.71, Y:-29.21, Z:-3.77 [[ 9.85766864e-01 1.67416025e-01 1.53481278e-02 1.89706303e+02] [-1.67397241e-01 9.85886335e-01 -2.50958388e-03 -2.92129588e+01] [-1.55516540e-02 -9.53696250e-05 9.99879061e-01 -3.76974495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters 0.02211151754503078 Centerline is valid? [True, True] Translation: X:189.73, Y:-29.22, Z:-3.77 [[ 9.86882976e-01 1.60558985e-01 1.68167685e-02 1.89733784e+02] [-1.60535458e-01 9.87026247e-01 -2.74858802e-03 -2.92218845e+01] [-1.70399024e-02 1.28470945e-05 9.99854810e-01 -3.76559259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13401273899999 meters 0.02262903348861642 Centerline is valid? [True, True] Translation: X:189.76, Y:-29.23, Z:-3.76 [[ 9.87417070e-01 1.57137618e-01 1.77566794e-02 1.89761296e+02] [-1.57110850e-01 9.87576713e-01 -2.90127101e-03 -2.92288890e+01] [-1.79919818e-02 7.49975299e-05 9.99838128e-01 -3.76461148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters 0.023398215828787716 Centerline is valid? [True, True] Translation: X:189.79, Y:-29.24, Z:-3.76 [[ 9.87854289e-01 1.54273818e-01 1.85335731e-02 1.89790003e+02] [-1.54244166e-01 9.88028123e-01 -3.02749206e-03 -2.92352584e+01] [-1.87787542e-02 1.32025492e-04 9.99823655e-01 -3.76381305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194012739 meters 0.025819545921231243 Centerline is valid? [True, True] Translation: X:189.82, Y:-29.25, Z:-3.77 [[ 9.88604312e-01 1.49472766e-01 1.78719649e-02 1.89818089e+02] [-1.49444416e-01 9.88765820e-01 -2.91898128e-03 -2.92465031e+01] [-1.81074963e-02 2.14852121e-04 9.99836023e-01 -3.76658987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters 0.028467861234572726 Centerline is valid? [True, True] Translation: X:189.85, Y:-29.26, Z:-3.77 [[ 9.89147067e-01 1.46012972e-01 1.63796194e-02 1.89846315e+02] [-1.45988688e-01 9.89282643e-01 -2.67502155e-03 -2.92588420e+01] [-1.65946610e-02 2.54750560e-04 9.99862267e-01 -3.77023033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254012739 meters 0.029053073784600134 Centerline is valid? [True, True] Translation: X:189.88, Y:-29.27, Z:-3.77 [[ 9.89386817e-01 1.44402378e-01 1.61765223e-02 1.89875768e+02] [-1.44378477e-01 9.89519012e-01 -2.64185293e-03 -2.92659569e+01] [-1.63884662e-02 2.78272810e-04 9.99865661e-01 -3.76969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters 0.029980161526963586 Centerline is valid? [True, True] Translation: X:189.91, Y:-29.27, Z:-3.77 [[ 9.89512707e-01 1.43560334e-01 1.59697757e-02 1.89905469e+02] [-1.43536935e-01 9.89641525e-01 -2.60787435e-03 -2.92734577e+01] [-1.61787404e-02 2.88272161e-04 9.99869074e-01 -3.77005411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314012739 meters 0.03570177816907852 Centerline is valid? [True, True] Translation: X:189.93, Y:-29.28, Z:-3.76 [[ 9.89373787e-01 1.44694229e-01 1.42509348e-02 1.89934642e+02] [-1.44675701e-01 9.89476388e-01 -2.32804724e-03 -2.92800092e+01] [-1.44378185e-02 2.41544933e-04 9.99895740e-01 -3.76480054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters 0.028758883537504987 Centerline is valid? [True, True] Translation: X:189.96, Y:-29.28, Z:-3.77 [[ 9.89169776e-01 1.45970598e-01 1.53537557e-02 1.89964931e+02] [-1.45949239e-01 9.89288900e-01 -2.50855503e-03 -2.92809807e+01] [-1.55554753e-02 2.40517854e-04 9.99878977e-01 -3.77293033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374012739 meters 0.026872849624985387 Centerline is valid? [True, True] Translation: X:190.00, Y:-29.28, Z:-3.77 [[ 9.88857860e-01 1.47772930e-01 1.79803711e-02 1.89995693e+02] [-1.47743941e-01 9.89021284e-01 -2.93742800e-03 -2.92846848e+01] [-1.82170420e-02 2.48207882e-04 9.99834025e-01 -3.76836400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters 0.026014525817219105 Centerline is valid? [True, True] Translation: X:190.03, Y:-29.29, Z:-3.77 [[ 9.88743226e-01 1.48398384e-01 1.90984876e-02 1.90026564e+02] [-1.48365793e-01 9.88927630e-01 -3.12006994e-03 -2.92889629e+01] [-1.93500354e-02 2.51385756e-04 9.99812739e-01 -3.76694116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434012739 meters 0.0260314923737691 Centerline is valid? [True, True] Translation: X:190.06, Y:-29.30, Z:-3.77 [[ 9.88637510e-01 1.49046715e-01 1.95179489e-02 1.90057348e+02] [-1.49012795e-01 9.88830125e-01 -3.18904913e-03 -2.92962018e+01] [-1.97752532e-02 2.44389472e-04 9.99804421e-01 -3.76684995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters 0.02610228633877665 Centerline is valid? [True, True] Translation: X:190.09, Y:-29.31, Z:-3.77 [[ 9.88556106e-01 1.49711788e-01 1.85258073e-02 1.90087431e+02] [-1.49681315e-01 9.88729656e-01 -3.02855236e-03 -2.93050184e+01] [-1.87704251e-02 2.20926730e-04 9.99823796e-01 -3.76942531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49401273899997 meters 0.025895362550623694 Centerline is valid? [True, True] Translation: X:190.12, Y:-29.31, Z:-3.77 [[ 9.88655450e-01 1.49021069e-01 1.87915642e-02 1.90118965e+02] [-1.48989536e-01 9.88833992e-01 -3.07491680e-03 -2.93125051e+01] [-1.90399648e-02 2.40286831e-04 9.99818695e-01 -3.76879002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters 0.03404504302876891 Centerline is valid? [True, True] Translation: X:190.15, Y:-29.32, Z:-3.76 [[ 9.88753609e-01 1.48428251e-01 1.83127204e-02 1.90149675e+02] [-1.48398145e-01 9.88923148e-01 -2.99961675e-03 -2.93205656e+01] [-1.85551010e-02 2.48308143e-04 9.99827808e-01 -3.75956931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55401273899997 meters 0.026976446187560593 Centerline is valid? [True, True] Translation: X:190.18, Y:-29.33, Z:-3.77 [[ 9.88746180e-01 1.48478632e-01 1.83054010e-02 1.90180782e+02] [-1.48448506e-01 9.88915585e-01 -3.00125868e-03 -2.93290509e+01] [-1.85481191e-02 2.50073616e-04 9.99827938e-01 -3.76980829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters 0.0267336373049777 Centerline is valid? [True, True] Translation: X:190.21, Y:-29.34, Z:-3.77 [[ 9.88668919e-01 1.49123982e-01 1.71990113e-02 1.90211934e+02] [-1.49097435e-01 9.88818480e-01 -2.82278586e-03 -2.93368798e+01] [-1.74276453e-02 2.26472163e-04 9.99848101e-01 -3.77239982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61401273899997 meters 0.025228501979657463 Centerline is valid? [True, True] Translation: X:190.24, Y:-29.34, Z:-3.77 [[ 9.88329887e-01 1.51455978e-01 1.62825385e-02 1.90242580e+02] [-1.51432451e-01 9.88463988e-01 -2.67540033e-03 -2.93431623e+01] [-1.64999083e-02 1.78473386e-04 9.99863851e-01 -3.77498333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters 0.027152808498195725 Centerline is valid? [True, True] Translation: X:190.27, Y:-29.34, Z:-3.77 [[ 9.87718872e-01 1.55400633e-01 1.61886975e-02 1.90272272e+02] [-1.55377898e-01 9.87851523e-01 -2.66050295e-03 -2.93434306e+01] [-1.64054733e-02 1.12463196e-04 9.99865415e-01 -3.76785264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67401273899998 meters 0.022337927988106285 Centerline is valid? [True, True] Translation: X:190.30, Y:-29.34, Z:-3.77 [[ 9.87211764e-01 1.58559563e-01 1.64862955e-02 1.90302320e+02] [-1.58536427e-01 9.87349412e-01 -2.70925222e-03 -2.93430290e+01] [-1.67073121e-02 6.09272737e-05 9.99860421e-01 -3.77494773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters 0.02199140339446527 Centerline is valid? [True, True] Translation: X:190.33, Y:-29.34, Z:-3.78 [[ 9.86650031e-01 1.62066013e-01 1.60101174e-02 1.90332686e+02] [-1.62044661e-01 9.86779918e-01 -2.63063597e-03 -2.93420128e+01] [-1.62247990e-02 1.16301462e-06 9.99868369e-01 -3.77559328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73401273899998 meters 0.022430528623588013 Centerline is valid? [True, True] Translation: X:190.36, Y:-29.34, Z:-3.78 [[ 9.86020342e-01 1.65915987e-01 1.53547908e-02 1.90362153e+02] [-1.65896819e-01 9.86139890e-01 -2.52265443e-03 -2.93402937e+01] [-1.55605204e-02 -5.99223600e-05 9.99878926e-01 -3.77762741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters 0.025041719684618907 Centerline is valid? [True, True] Translation: X:190.39, Y:-29.33, Z:-3.78 [[ 9.84964775e-01 1.72067476e-01 1.54005119e-02 1.90392312e+02] [-1.72048953e-01 9.85085153e-01 -2.52964144e-03 -2.93346889e+01] [-1.56060846e-02 -1.58034233e-04 9.99878205e-01 -3.77842720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79401273899998 meters 0.025998581689210133 Centerline is valid? [True, True] Translation: X:190.42, Y:-29.34, Z:-3.78 [[ 9.84665646e-01 1.73753616e-01 1.55963476e-02 1.90421573e+02] [-1.73734842e-01 9.84789138e-01 -2.56105303e-03 -2.93361361e+01] [-1.58041059e-02 -1.87848057e-04 9.99875090e-01 -3.77814824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters 0.026577510362805434 Centerline is valid? [True, True] Translation: X:190.45, Y:-29.34, Z:-3.78 [[ 9.84545827e-01 1.74498429e-01 1.48261053e-02 1.90450917e+02] [-1.74481558e-01 9.84657434e-01 -2.43390760e-03 -2.93374728e+01] [-1.50233479e-02 -1.90588395e-04 9.99887125e-01 -3.77930668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85401273899998 meters 0.026416573806566868 Centerline is valid? [True, True] Translation: X:190.48, Y:-29.34, Z:-3.78 [[ 9.84699020e-01 1.73608805e-01 1.50938074e-02 1.90478635e+02] [-1.73591225e-01 9.84814678e-01 -2.47718733e-03 -2.93413016e+01] [-1.52946646e-02 -1.80868589e-04 9.99883013e-01 -3.77991371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters 0.025326082700902055 Centerline is valid? [True, True] Translation: X:190.51, Y:-29.35, Z:-3.78 [[ 9.84953793e-01 1.72080436e-01 1.59483240e-02 1.90506482e+02] [-1.72060628e-01 9.85082888e-01 -2.61625396e-03 -2.93471333e+01] [-1.61606272e-02 -1.67189370e-04 9.99869395e-01 -3.77943311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914012739 meters 0.023549815968617726 Centerline is valid? [True, True] Translation: X:190.53, Y:-29.35, Z:-3.78 [[ 9.85465746e-01 1.68940035e-01 1.77912257e-02 1.90534131e+02] [-1.68914890e-01 9.85626322e-01 -2.91762354e-03 -2.93548174e+01] [-1.80284038e-02 -1.29984864e-04 9.99837467e-01 -3.77770777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters 0.023041889158224527 Centerline is valid? [True, True] Translation: X:190.56, Y:-29.36, Z:-3.78 [[ 9.85732827e-01 1.67336160e-01 1.81494736e-02 1.90561020e+02] [-1.67309735e-01 9.85899893e-01 -2.97550228e-03 -2.93600446e+01] [-1.83914732e-02 -1.03533358e-04 9.99830857e-01 -3.77738437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974012739 meters 0.022252904890781227 Centerline is valid? [True, True] Translation: X:190.59, Y:-29.37, Z:-3.78 [[ 9.86273057e-01 1.64195174e-01 1.74757550e-02 1.90588759e+02] [-1.64170200e-01 9.86427870e-01 -2.86401980e-03 -2.93675660e+01] [-1.77088301e-02 -4.42926347e-05 9.99843185e-01 -3.77891485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters 0.02230538410365663 Centerline is valid? [True, True] Translation: X:190.62, Y:-29.37, Z:-3.78 [[ 9.86325463e-01 1.63977756e-01 1.65340978e-02 1.90616679e+02] [-1.63955382e-01 9.86464036e-01 -2.70899974e-03 -2.93712020e+01] [-1.67545085e-02 -3.88988943e-05 9.99859633e-01 -3.78126092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034012739 meters 0.02250106245760358 Centerline is valid? [True, True] Translation: X:190.64, Y:-29.37, Z:-3.78 [[ 9.86205113e-01 1.64783779e-01 1.56773969e-02 1.90644439e+02] [-1.64763779e-01 9.86329714e-01 -2.56778390e-03 -2.93726428e+01] [-1.58862115e-02 -5.07055435e-05 9.99873805e-01 -3.78372818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters 0.02340318937868078 Centerline is valid? [True, True] Translation: X:190.67, Y:-29.37, Z:-3.78 [[ 9.85825284e-01 1.67086073e-01 1.51906050e-02 1.90672951e+02] [-1.67067584e-01 9.85942309e-01 -2.48709420e-03 -2.93691821e+01] [-1.53926190e-02 -8.60173270e-05 9.99881523e-01 -3.78467895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094012739 meters 0.023365399829911693 Centerline is valid? [True, True] Translation: X:190.70, Y:-29.37, Z:-3.78 [[ 9.85738649e-01 1.67560736e-01 1.55793673e-02 1.90701811e+02] [-1.67541362e-01 9.85861750e-01 -2.54977450e-03 -2.93720615e+01] [-1.57863444e-02 -9.67771614e-05 9.99875383e-01 -3.78396053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters 0.023463254473378933 Centerline is valid? [True, True] Translation: X:190.73, Y:-29.37, Z:-3.78 [[ 9.85692862e-01 1.67670520e-01 1.72098240e-02 1.90730228e+02] [-1.67646912e-01 9.85843083e-01 -2.81573614e-03 -2.93735033e+01] [-1.74383019e-02 -1.09722838e-04 9.99847935e-01 -3.78156732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154012739 meters 0.022929894069713026 Centerline is valid? [True, True] Translation: X:190.76, Y:-29.38, Z:-3.78 [[ 9.85792951e-01 1.67010825e-01 1.78785608e-02 1.90758961e+02] [-1.66985258e-01 9.85955057e-01 -2.92401506e-03 -2.93772148e+01] [-1.81157996e-02 -1.02982660e-04 9.99835890e-01 -3.78057558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters 0.022775334702190314 Centerline is valid? [True, True] Translation: X:190.79, Y:-29.38, Z:-3.78 [[ 9.85850995e-01 1.66591259e-01 1.85787065e-02 1.90787599e+02] [-1.66563594e-01 9.86026035e-01 -3.03759455e-03 -2.93803096e+01] [-1.88251250e-02 -9.99205132e-05 9.99822787e-01 -3.78048796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21401273899997 meters 0.022323524937960335 Centerline is valid? [True, True] Translation: X:190.82, Y:-29.39, Z:-3.78 [[ 9.86050330e-01 1.65304783e-01 1.94698656e-02 1.90816431e+02] [-1.65274167e-01 9.86242527e-01 -3.18231836e-03 -2.93850121e+01] [-1.97280619e-02 -7.99397499e-05 9.99805380e-01 -3.78011658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters 0.022089270414141486 Centerline is valid? [True, True] Translation: X:190.84, Y:-29.39, Z:-3.78 [[ 9.86278878e-01 1.63975566e-01 1.91308516e-02 1.90844119e+02] [-1.63945775e-01 9.86464399e-01 -3.12599735e-03 -2.93916321e+01] [-1.93844912e-02 -5.33171358e-05 9.99812102e-01 -3.78109332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27401273899997 meters 0.02209277380983167 Centerline is valid? [True, True] Translation: X:190.87, Y:-29.40, Z:-3.79 [[ 9.86970655e-01 1.60093058e-01 1.60977866e-02 1.90871172e+02] [-1.60071459e-01 9.87101926e-01 -2.62971898e-03 -2.94023892e+01] [-1.63111560e-02 1.86592652e-05 9.99866964e-01 -3.78715416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters 0.022291838826312978 Centerline is valid? [True, True] Translation: X:190.90, Y:-29.41, Z:-3.79 [[ 9.87238111e-01 1.58533357e-01 1.51025202e-02 1.90899678e+02] [-1.58514171e-01 9.87353621e-01 -2.46670061e-03 -2.94091368e+01] [-1.53025823e-02 4.12573784e-05 9.99882908e-01 -3.78861971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33401273899997 meters 0.0224935979542881 Centerline is valid? [True, True] Translation: X:190.93, Y:-29.42, Z:-3.79 [[ 9.87292608e-01 1.58170301e-01 1.53447686e-02 1.90926984e+02] [-1.58150461e-01 9.87411846e-01 -2.50557148e-03 -2.94154730e+01] [-1.55479133e-02 4.69499791e-05 9.99879123e-01 -3.78955414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters 0.0219653873216929 Centerline is valid? [True, True] Translation: X:190.96, Y:-29.42, Z:-3.78 [[ 9.87087685e-01 1.58983208e-01 1.95509995e-02 1.90955154e+02] [-1.58951193e-01 9.87281286e-01 -3.19071295e-03 -2.94189763e+01] [-1.98096057e-02 4.18587723e-05 9.99803770e-01 -3.78021202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39401273899998 meters 0.021682052865551263 Centerline is valid? [True, True] Translation: X:190.98, Y:-29.42, Z:-3.78 [[ 9.86825637e-01 1.60312065e-01 2.17991650e-02 1.90983826e+02] [-1.60272618e-01 9.87066382e-01 -3.55617286e-03 -2.94206235e+01] [-2.20873203e-02 1.55133120e-05 9.99756045e-01 -3.77631677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters 0.021788480142753683 Centerline is valid? [True, True] Translation: X:191.01, Y:-29.42, Z:-3.78 [[ 9.86442910e-01 1.62472076e-01 2.30913271e-02 1.91012231e+02] [-1.62428433e-01 9.86713141e-01 -3.76577180e-03 -2.94218300e+01] [-2.33963487e-02 -3.59691781e-05 9.99726267e-01 -3.77515254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45401273899998 meters 0.021777552110128523 Centerline is valid? [True, True] Translation: X:191.04, Y:-29.43, Z:-3.78 [[ 9.86403648e-01 1.62826293e-01 2.22585158e-02 1.91040933e+02] [-1.62785859e-01 9.86654750e-01 -3.62872976e-03 -2.94263506e+01] [-2.25523230e-02 -4.39793395e-05 9.99745663e-01 -3.77754062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters 0.021800973524321924 Centerline is valid? [True, True] Translation: X:191.07, Y:-29.43, Z:-3.78 [[ 9.86454402e-01 1.62728977e-01 2.06637985e-02 1.91069850e+02] [-1.62694123e-01 9.86670806e-01 -3.36806467e-03 -2.94306650e+01] [-2.09364484e-02 -3.94363587e-05 9.99780808e-01 -3.78141194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51401273899998 meters 0.021979115978337224 Centerline is valid? [True, True] Translation: X:191.10, Y:-29.43, Z:-3.79 [[ 9.86467847e-01 1.63021505e-01 1.74692615e-02 1.91096918e+02] [-1.62996653e-01 9.86622515e-01 -2.84673603e-03 -2.94343787e+01] [-1.76996459e-02 -3.92175817e-05 9.99843348e-01 -3.78841635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters 0.022185050502242662 Centerline is valid? [True, True] Translation: X:191.12, Y:-29.44, Z:-3.79 [[ 9.86427741e-01 1.63326709e-01 1.68729897e-02 1.91124082e+02] [-1.63303587e-01 9.86572037e-01 -2.74850206e-03 -2.94393489e+01] [-1.70953236e-02 -4.42210616e-05 9.99853863e-01 -3.78980532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57401273899998 meters 0.022189818522386606 Centerline is valid? [True, True] Translation: X:191.15, Y:-29.44, Z:-3.79 [[ 9.86341683e-01 1.63835212e-01 1.69737467e-02 1.91152655e+02] [-1.63811907e-01 9.86487719e-01 -2.76387743e-03 -2.94444852e+01] [-1.71972131e-02 -5.43742892e-05 9.99852116e-01 -3.78854364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters 0.02284336274160935 Centerline is valid? [True, True] Translation: X:191.18, Y:-29.44, Z:-3.79 [[ 9.85888257e-01 1.66424709e-01 1.80876124e-02 1.91181580e+02] [-1.66398696e-01 9.86054159e-01 -2.94434230e-03 -2.94429490e+01] [-1.83253768e-02 -1.06962621e-04 9.99832070e-01 -3.78602786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63401273899999 meters 0.02526496996747696 Centerline is valid? [True, True] Translation: X:191.21, Y:-29.44, Z:-3.79 [[ 9.85137237e-01 1.70989096e-01 1.63509129e-02 1.91211584e+02] [-1.70968482e-01 9.85272906e-01 -2.66073587e-03 -2.94360286e+01] [-1.65650683e-02 -1.74300775e-04 9.99862775e-01 -3.79064971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters 0.027190579045880053 Centerline is valid? [True, True] Translation: X:191.24, Y:-29.44, Z:-3.79 [[ 9.84674227e-01 1.73696819e-01 1.56869703e-02 1.91240729e+02] [-1.73678200e-01 9.84799152e-01 -2.55198903e-03 -2.94358325e+01] [-1.58917874e-02 -2.11606928e-04 9.99873695e-01 -3.79305437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694012739 meters 0.029075696689493367 Centerline is valid? [True, True] Translation: X:191.27, Y:-29.44, Z:-3.79 [[ 9.84303911e-01 1.75796008e-01 1.55426935e-02 1.91269027e+02] [-1.75778002e-01 9.84426586e-01 -2.52784105e-03 -2.94367861e+01] [-1.57450251e-02 -2.43899777e-04 9.99876010e-01 -3.79407281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters 0.030969841902731218 Centerline is valid? [True, True] Translation: X:191.30, Y:-29.44, Z:-3.79 [[ 9.83951014e-01 1.77714316e-01 1.60631159e-02 1.91297187e+02] [-1.77695355e-01 9.84082080e-01 -2.61149574e-03 -2.94367284e+01] [-1.62715247e-02 -2.84757199e-04 9.99867569e-01 -3.79407660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754012739 meters 0.031006590655473787 Centerline is valid? [True, True] Translation: X:191.33, Y:-29.44, Z:-3.79 [[ 9.83945736e-01 1.77736577e-01 1.61399244e-02 1.91325546e+02] [-1.77717452e-01 9.84078059e-01 -2.62307680e-03 -2.94396270e+01] [-1.63491622e-02 -2.87381025e-04 9.99866302e-01 -3.79425197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters 0.031219569252818952 Centerline is valid? [True, True] Translation: X:191.35, Y:-29.44, Z:-3.80 [[ 9.83958114e-01 1.77693895e-01 1.58527467e-02 1.91352215e+02] [-1.77675456e-01 9.84085768e-01 -2.57537542e-03 -2.94426739e+01] [-1.60580909e-02 -2.82582460e-04 9.99871021e-01 -3.79542318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814012739 meters 0.031511295256041155 Centerline is valid? [True, True] Translation: X:191.38, Y:-29.45, Z:-3.80 [[ 9.83898756e-01 1.78038385e-01 1.56707356e-02 1.91380305e+02] [-1.78020433e-01 9.84023501e-01 -2.54441170e-03 -2.94470104e+01] [-1.58733751e-02 -2.86267626e-04 9.99873969e-01 -3.79583977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters 0.031511295256041155 Centerline is valid? [True, True] Translation: X:191.41, Y:-29.45, Z:-3.80 [[ 9.83910762e-01 1.77972012e-01 1.56708338e-02 1.91407461e+02] [-1.77954061e-01 9.84035508e-01 -2.54380656e-03 -2.94512784e+01] [-1.58733833e-02 -2.85809872e-04 9.99873969e-01 -3.79639816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874012739 meters 0.033073195620166876 Centerline is valid? [True, True] Translation: X:191.44, Y:-29.45, Z:-3.80 [[ 9.83654617e-01 1.79362255e-01 1.58989209e-02 1.91435064e+02] [-1.79343978e-01 9.83783047e-01 -2.57966139e-03 -2.94530594e+01] [-1.61037827e-02 -3.13879884e-04 9.99870276e-01 -3.79635900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters 0.036418021425296696 Centerline is valid? [True, True] Translation: X:191.46, Y:-29.45, Z:-3.80 [[ 9.83075196e-01 1.82465523e-01 1.64162190e-02 1.91464451e+02] [-1.82446487e-01 9.83212180e-01 -2.66253094e-03 -2.94500042e+01] [-1.66264466e-02 -3.77613371e-04 9.99861700e-01 -3.79583373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934012739 meters 0.03958386821737777 Centerline is valid? [True, True] Translation: X:191.49, Y:-29.45, Z:-3.80 [[ 9.82603888e-01 1.85039159e-01 1.58148255e-02 1.91493492e+02] [-1.85021832e-01 9.82731064e-01 -2.56453337e-03 -2.94484216e+01] [-1.60162594e-02 -4.06167542e-04 9.99871649e-01 -3.79738992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters 0.0405090546694681 Centerline is valid? [True, True] Translation: X:191.52, Y:-29.45, Z:-3.80 [[ 9.81750688e-01 1.89557137e-01 1.52865422e-02 1.91523719e+02] [-1.89541509e-01 9.81869582e-01 -2.47800925e-03 -2.94506846e+01] [-1.54791151e-02 -4.64646981e-04 9.99880083e-01 -3.79693661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99401273899997 meters 0.04232560748135167 Centerline is valid? [True, True] Translation: X:191.55, Y:-29.45, Z:-3.80 [[ 9.81504992e-01 1.90788880e-01 1.57338504e-02 1.91552191e+02] [-1.90772483e-01 9.81630967e-01 -2.55046049e-03 -2.94511103e+01] [-1.59314343e-02 -4.98296006e-04 9.99872962e-01 -3.79686553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters 0.04575228262462479 Centerline is valid? [True, True] Translation: X:191.58, Y:-29.45, Z:-3.80 [[ 9.81365004e-01 1.91398071e-01 1.70149061e-02 1.91581091e+02] [-1.91379006e-01 9.81512341e-01 -2.75701049e-03 -2.94490198e+01] [-1.72280268e-02 -5.50662208e-04 9.99851435e-01 -3.79615286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05401273899997 meters 0.041056556566987125 Centerline is valid? [True, True] Translation: X:191.61, Y:-29.46, Z:-3.79 [[ 9.81720616e-01 1.89342968e-01 1.93358037e-02 1.91608565e+02] [-1.89317973e-01 9.81910840e-01 -3.13176349e-03 -2.94593805e+01] [-1.95790126e-02 -5.86098379e-04 9.99808141e-01 -3.79354778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters 0.03899864110843816 Centerline is valid? [True, True] Translation: X:191.64, Y:-29.47, Z:-3.79 [[ 9.82181197e-01 1.86945024e-01 1.92783414e-02 1.91637040e+02] [-1.86919733e-01 9.82370230e-01 -3.12157549e-03 -2.94666163e+01] [-1.95220317e-02 -5.37549670e-04 9.99809282e-01 -3.79405558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11401273899997 meters 0.035123795106918036 Centerline is valid? [True, True] Translation: X:191.66, Y:-29.47, Z:-3.80 [[ 9.83157350e-01 1.81861124e-01 1.81150935e-02 1.91664776e+02] [-1.81837955e-01 9.83324139e-01 -2.93182937e-03 -2.94740316e+01] [-1.83461945e-02 -4.11561973e-04 9.99831610e-01 -3.79565886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters 0.03213308454955662 Centerline is valid? [True, True] Translation: X:191.69, Y:-29.48, Z:-3.80 [[ 9.83720569e-01 1.78765836e-01 1.83471673e-02 1.91692965e+02] [-1.78741544e-01 9.83891583e-01 -2.96873435e-03 -2.94824131e+01] [-1.85823318e-02 -3.58995976e-04 9.99827269e-01 -3.79576060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17401273899998 meters 0.028279213552653948 Centerline is valid? [True, True] Translation: X:191.72, Y:-29.49, Z:-3.79 [[ 9.84321171e-01 1.75368875e-01 1.89100566e-02 1.91720234e+02] [-1.75342455e-01 9.84502750e-01 -3.05914866e-03 -2.94935505e+01] [-1.91534822e-02 -3.04550952e-04 9.99816509e-01 -3.79461602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters 0.024851570802395882 Centerline is valid? [True, True] Translation: X:191.75, Y:-29.50, Z:-3.79 [[ 9.85325700e-01 1.69519226e-01 1.99122395e-02 1.91747697e+02] [-1.69488757e-01 9.85526860e-01 -3.22025843e-03 -2.95024525e+01] [-2.01699425e-02 -2.01897325e-04 9.99796546e-01 -3.79294224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23401273899998 meters 0.02355166262055362 Centerline is valid? [True, True] Translation: X:191.78, Y:-29.51, Z:-3.79 [[ 9.85673002e-01 1.67488714e-01 1.99063777e-02 1.91775825e+02] [-1.67457868e-01 9.85873980e-01 -3.21835900e-03 -2.95072310e+01] [-2.01642186e-02 -1.61229984e-04 9.99796668e-01 -3.79335392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters 0.022122261515703474 Centerline is valid? [True, True] Translation: X:191.80, Y:-29.51, Z:-3.80 [[ 9.86217991e-01 1.64340441e-01 1.91387970e-02 1.91804627e+02] [-1.64311351e-01 9.86403675e-01 -3.09339815e-03 -2.95118548e+01] [-1.93869501e-02 -9.39566838e-05 9.99812051e-01 -3.79514733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29401273899998 meters 0.02206145475991973 Centerline is valid? [True, True] Translation: X:191.83, Y:-29.52, Z:-3.80 [[ 9.86460322e-01 1.62942941e-01 1.85911484e-02 1.91831524e+02] [-1.62915261e-01 9.86635492e-01 -3.00400811e-03 -2.95169856e+01] [-1.88321687e-02 -6.54469842e-05 9.99822657e-01 -3.79770583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters 0.02177805078393035 Centerline is valid? [True, True] Translation: X:191.86, Y:-29.52, Z:-3.80 [[ 9.86806346e-01 1.60899161e-01 1.80193016e-02 1.91859893e+02] [-1.60872839e-01 9.86970850e-01 -2.91041966e-03 -2.95247029e+01] [-1.82528095e-02 -2.67956170e-05 9.99833403e-01 -3.79869537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35401273899998 meters 0.021679035983790566 Centerline is valid? [True, True] Translation: X:191.89, Y:-29.53, Z:-3.80 [[ 9.87367070e-01 1.57404511e-01 1.81683803e-02 1.91887029e+02] [-1.57377175e-01 9.87534211e-01 -2.93364605e-03 -2.95326657e+01] [-1.84036662e-02 3.72971395e-05 9.99830637e-01 -3.79882830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters 0.021814227381407234 Centerline is valid? [True, True] Translation: X:191.92, Y:-29.54, Z:-3.80 [[ 9.87536563e-01 1.56293615e-01 1.85430146e-02 1.91915357e+02] [-1.56264966e-01 9.87710637e-01 -2.99299951e-03 -2.95384507e+01] [-1.87829195e-02 5.80729122e-05 9.99823584e-01 -3.79842174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414012739 meters 0.02204484859314061 Centerline is valid? [True, True] Translation: X:191.94, Y:-29.55, Z:-3.80 [[ 9.87739370e-01 1.55014543e-01 1.84777544e-02 1.91943428e+02] [-1.54985888e-01 9.87912185e-01 -2.98157169e-03 -2.95479687e+01] [-1.87165857e-02 8.12245707e-05 9.99824826e-01 -3.79922661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters 0.022390876221628817 Centerline is valid? [True, True] Translation: X:191.97, Y:-29.55, Z:-3.80 [[ 9.87830290e-01 1.54525025e-01 1.77012593e-02 1.91970829e+02] [-1.54498664e-01 9.87988871e-01 -2.85548689e-03 -2.95544579e+01] [-1.79298913e-02 8.59155465e-05 9.99839243e-01 -3.80103337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474012739 meters 0.022234037413923394 Centerline is valid? [True, True] Translation: X:192.00, Y:-29.56, Z:-3.80 [[ 9.87869917e-01 1.54346417e-01 1.70355495e-02 1.91998911e+02] [-1.54321992e-01 9.88016789e-01 -2.74707669e-03 -2.95583263e+01] [-1.72554104e-02 8.47944851e-05 9.99851111e-01 -3.80187015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters 0.021916721476024133 Centerline is valid? [True, True] Translation: X:192.03, Y:-29.56, Z:-3.80 [[ 9.87624036e-01 1.55948845e-01 1.66949284e-02 1.92026891e+02] [-1.55925629e-01 9.87765131e-01 -2.69136818e-03 -2.95626108e+01] [-1.69103839e-02 5.48926981e-05 9.99857008e-01 -3.80356373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534012739 meters 0.021678547423450493 Centerline is valid? [True, True] Translation: X:192.06, Y:-29.57, Z:-3.80 [[ 9.87476343e-01 1.56810317e-01 1.73492386e-02 1.92055141e+02] [-1.56785394e-01 9.87628737e-01 -2.79599049e-03 -2.95675492e+01] [-1.75730468e-02 4.08672591e-05 9.99845581e-01 -3.80282063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters 0.021537088565956965 Centerline is valid? [True, True] Translation: X:192.08, Y:-29.57, Z:-3.80 [[ 9.87356031e-01 1.57429198e-01 1.85503787e-02 1.92082331e+02] [-1.57400830e-01 9.87530276e-01 -2.98860678e-03 -2.95723318e+01] [-1.87895545e-02 3.09739209e-05 9.99823460e-01 -3.80127804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594012739 meters 0.021567125513758573 Centerline is valid? [True, True] Translation: X:192.11, Y:-29.58, Z:-3.80 [[ 9.87450883e-01 1.56817075e-01 1.86858019e-02 1.92109657e+02] [-1.56788206e-01 9.87627664e-01 -3.00916440e-03 -2.95767650e+01] [-1.89265033e-02 4.16886756e-05 9.99820877e-01 -3.80162554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters 0.02213608999172122 Centerline is valid? [True, True] Translation: X:192.14, Y:-29.59, Z:-3.80 [[ 9.87904929e-01 1.53972058e-01 1.83427827e-02 1.92137849e+02] [-1.53943768e-01 9.88075198e-01 -2.95287936e-03 -2.95850641e+01] [-1.85787095e-02 9.34069986e-05 9.99827397e-01 -3.80178944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654012739 meters 0.0230302624682503 Centerline is valid? [True, True] Translation: X:192.17, Y:-29.59, Z:-3.80 [[ 9.88169138e-01 1.52276717e-01 1.82635179e-02 1.92165122e+02] [-1.52248398e-01 9.88337891e-01 -2.93926410e-03 -2.95928882e+01] [-1.84981083e-02 1.23898729e-04 9.99828888e-01 -3.80239907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters 0.023372112909255692 Centerline is valid? [True, True] Translation: X:192.19, Y:-29.60, Z:-3.80 [[ 9.88427123e-01 1.50573757e-01 1.84218766e-02 1.92193908e+02] [-1.50544670e-01 9.88598766e-01 -2.96362091e-03 -2.95971278e+01] [-1.86580880e-02 1.56007962e-04 9.99825911e-01 -3.80236745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71401273899997 meters 0.024068908656878774 Centerline is valid? [True, True] Translation: X:192.22, Y:-29.60, Z:-3.80 [[ 9.88642996e-01 1.49094753e-01 1.88621690e-02 1.92222094e+02] [-1.49064007e-01 9.88822896e-01 -3.03352722e-03 -2.96015013e+01] [-1.91036276e-02 1.87404948e-04 9.99817491e-01 -3.80311664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters 0.025844290742426414 Centerline is valid? [True, True] Translation: X:192.25, Y:-29.61, Z:-3.80 [[ 9.89089136e-01 1.46111783e-01 1.88156145e-02 1.92251141e+02] [-1.46080667e-01 9.89268056e-01 -3.02511776e-03 -2.96092406e+01] [-1.90556917e-02 2.43513603e-04 9.99818394e-01 -3.80441323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77401273899997 meters 0.029865562935346427 Centerline is valid? [True, True] Translation: X:192.28, Y:-29.62, Z:-3.81 [[ 9.89587041e-01 1.42771958e-01 1.82662642e-02 1.92278848e+02] [-1.42742071e-01 9.89755565e-01 -2.93635430e-03 -2.96230141e+01] [-1.84983657e-02 2.98413783e-04 9.99828846e-01 -3.80563830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters 0.029483980469511614 Centerline is valid? [True, True] Translation: X:192.31, Y:-29.63, Z:-3.81 [[ 9.89787674e-01 1.41307964e-01 1.87728410e-02 1.92308188e+02] [-1.41276137e-01 9.89965629e-01 -3.01757556e-03 -2.96264080e+01] [-1.90108748e-02 3.34604646e-04 9.99819221e-01 -3.80507410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83401273899997 meters 0.03054808087600155 Centerline is valid? [True, True] Translation: X:192.34, Y:-29.63, Z:-3.80 [[ 9.89951000e-01 1.40089328e-01 1.92872486e-02 1.92337899e+02] [-1.40055511e-01 9.90138801e-01 -3.09978116e-03 -2.96320398e+01] [-1.95312995e-02 3.67346004e-04 9.99809178e-01 -3.80449396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters 0.031111013457095243 Centerline is valid? [True, True] Translation: X:192.37, Y:-29.64, Z:-3.80 [[ 9.90080368e-01 1.39054383e-01 2.01182150e-02 1.92367603e+02] [-1.39017375e-01 9.90284664e-01 -3.23333126e-03 -2.96377501e+01] [-2.03723686e-02 4.04476361e-04 9.99792380e-01 -3.80439436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89401273899998 meters 0.03245205264085096 Centerline is valid? [True, True] Translation: X:192.40, Y:-29.65, Z:-3.81 [[ 9.90247690e-01 1.37858844e-01 2.01109747e-02 1.92396240e+02] [-1.37821616e-01 9.90451793e-01 -3.23216691e-03 -2.96474521e+01] [-2.03645338e-02 4.28918775e-04 9.99792529e-01 -3.80512218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters 0.03402088092833574 Centerline is valid? [True, True] Translation: X:192.43, Y:-29.66, Z:-3.81 [[ 9.90392785e-01 1.36943118e-01 1.92019391e-02 1.92425395e+02] [-1.36909013e-01 9.90578821e-01 -3.08583776e-03 -2.96556389e+01] [-1.94436184e-02 4.27272923e-04 9.99810864e-01 -3.80683913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95401273899998 meters 0.034142869074121986 Centerline is valid? [True, True] Translation: X:192.46, Y:-29.66, Z:-3.81 [[ 9.90428389e-01 1.36790892e-01 1.84352249e-02 1.92455745e+02] [-1.36759426e-01 9.90599859e-01 -2.96284463e-03 -2.96611422e+01] [-1.86672213e-02 4.13294667e-04 9.99825667e-01 -3.80943139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters 0.03287297345291816 Centerline is valid? [True, True] Translation: X:192.49, Y:-29.67, Z:-3.81 [[ 9.90412311e-01 1.36959336e-01 1.80442306e-02 1.92486201e+02] [-1.36929219e-01 9.90576589e-01 -2.90000540e-03 -2.96650284e+01] [-1.82713752e-02 4.01418655e-04 9.99832984e-01 -3.81066003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01401273899998 meters 0.03569318437434902 Centerline is valid? [True, True] Translation: X:192.52, Y:-29.68, Z:-3.81 [[ 9.90568181e-01 1.35621744e-01 1.95300054e-02 1.92515190e+02] [-1.35586203e-01 9.90760581e-01 -3.13875144e-03 -2.96781718e+01] [-1.97752425e-02 4.61148028e-04 9.99804344e-01 -3.80880697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters 0.03785735316162394 Centerline is valid? [True, True] Translation: X:192.55, Y:-29.69, Z:-3.81 [[ 9.90818511e-01 1.33697055e-01 2.00941657e-02 1.92545601e+02] [-1.33659000e-01 9.91022115e-01 -3.23111001e-03 -2.96877188e+01] [-2.03457524e-02 5.15677511e-04 9.99792871e-01 -3.80819200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07401273899998 meters 0.04425371747106426 Centerline is valid? [True, True] Translation: X:192.57, Y:-29.70, Z:-3.81 [[ 9.91568223e-01 1.28180986e-01 1.90287660e-02 1.92572704e+02] [-1.28145815e-01 9.91750613e-01 -3.06131954e-03 -2.97049422e+01] [-1.92641933e-02 5.97050448e-04 9.99814250e-01 -3.81183349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters 0.04700963031658459 Centerline is valid? [True, True] Translation: X:192.60, Y:-29.72, Z:-3.82 [[ 9.91980372e-01 1.25131561e-01 1.78054527e-02 1.92601884e+02] [-1.25100272e-01 9.92139967e-01 -2.86474305e-03 -2.97172377e+01] [-1.80239711e-02 6.14301885e-04 9.99837366e-01 -3.81560782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13401273899999 meters 0.050482951425151724 Centerline is valid? [True, True] Translation: X:192.63, Y:-29.73, Z:-3.82 [[ 9.92297132e-01 1.22726182e-01 1.68726229e-02 1.92629630e+02] [-1.22697738e-01 9.92440374e-01 -2.71470223e-03 -2.97312186e+01] [-1.70782372e-02 6.23558573e-04 9.99853962e-01 -3.81793867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters 0.05268948537905054 Centerline is valid? [True, True] Translation: X:192.66, Y:-29.75, Z:-3.82 [[ 9.92680834e-01 1.19609661e-01 1.66820658e-02 1.92658642e+02] [-1.19581400e-01 9.92820769e-01 -2.68505971e-03 -2.97475581e+01] [-1.68834605e-02 6.70542535e-04 9.99857239e-01 -3.81729444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194012739 meters 0.054257684516898226 Centerline is valid? [True, True] Translation: X:192.69, Y:-29.76, Z:-3.82 [[ 9.92725223e-01 1.19169280e-01 1.71847199e-02 1.92688057e+02] [-1.19139227e-01 9.92873706e-01 -2.76577959e-03 -2.97588384e+01] [-1.73918525e-02 6.98284923e-04 9.99848506e-01 -3.81623565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters 0.0504571181585373 Centerline is valid? [True, True] Translation: X:192.72, Y:-29.77, Z:-3.81 [[ 9.92619369e-01 1.19557726e-01 2.03159657e-02 1.92719720e+02] [-1.19515731e-01 9.92826911e-01 -3.27322332e-03 -2.97663948e+01] [-2.05615766e-02 8.20987378e-04 9.99788251e-01 -3.81125183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254012739 meters 0.05286053411866917 Centerline is valid? [True, True] Translation: X:192.75, Y:-29.78, Z:-3.81 [[ 9.92419386e-01 1.21007832e-01 2.14678275e-02 1.92749383e+02] [-1.20961198e-01 9.92651198e-01 -3.46245332e-03 -2.97783061e+01] [-2.17290486e-02 8.39431666e-04 9.99763544e-01 -3.80985185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters 0.04816204852079029 Centerline is valid? [True, True] Translation: X:192.78, Y:-29.78, Z:-3.81 [[ 9.92111680e-01 1.23468436e-01 2.16785675e-02 1.92780693e+02] [-1.23421400e-01 9.92348180e-01 -3.49954503e-03 -2.97804363e+01] [-2.19447704e-02 7.96340345e-04 9.99758867e-01 -3.81021400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314012739 meters 0.04295793551513112 Centerline is valid? [True, True] Translation: X:192.81, Y:-29.78, Z:-3.81 [[ 9.91379774e-01 1.29335042e-01 2.09425773e-02 1.92809677e+02] [-1.29292432e-01 9.91600742e-01 -3.38169187e-03 -2.97839959e+01] [-2.12040464e-02 6.44824171e-04 9.99774961e-01 -3.81261772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters 0.04243125989483885 Centerline is valid? [True, True] Translation: X:192.84, Y:-29.78, Z:-3.81 [[ 9.91010825e-01 1.32257383e-01 2.01377786e-02 1.92842052e+02] [-1.32218593e-01 9.91215250e-01 -3.25151951e-03 -2.97841496e+01] [-2.03909107e-02 5.59702296e-04 9.99791927e-01 -3.80563240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374012739 meters 0.034274435261854544 Centerline is valid? [True, True] Translation: X:192.87, Y:-29.79, Z:-3.82 [[ 9.90471990e-01 1.36420064e-01 1.88362249e-02 1.92870981e+02] [-1.36386865e-01 9.90650982e-01 -3.04205275e-03 -2.97888824e+01] [-1.90751217e-02 4.44054385e-04 9.99817955e-01 -3.81782064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters 0.03505113285819823 Centerline is valid? [True, True] Translation: X:192.90, Y:-29.80, Z:-3.82 [[ 9.90138476e-01 1.38962834e-01 1.77518681e-02 1.92901023e+02] [-1.38933766e-01 9.90297527e-01 -2.86635230e-03 -2.97974873e+01] [-1.79779475e-02 3.71751803e-04 9.99838315e-01 -3.82010096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43401273899997 meters 0.030420002347360094 Centerline is valid? [True, True] Translation: X:192.93, Y:-29.80, Z:-3.82 [[ 9.89757144e-01 1.41696382e-01 1.74049447e-02 1.92934013e+02] [-1.41668816e-01 9.89910114e-01 -2.81291378e-03 -2.97969634e+01] [-1.76279105e-02 3.18363600e-04 9.99844566e-01 -3.82047166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters 0.026250710731263924 Centerline is valid? [True, True] Translation: X:192.97, Y:-29.80, Z:-3.82 [[ 9.89012091e-01 1.46521487e-01 1.96605460e-02 1.92966411e+02] [-1.46487192e-01 9.89207452e-01 -3.18115560e-03 -2.97972392e+01] [-1.99144662e-02 2.66183188e-04 9.99801652e-01 -3.81772166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49401273899997 meters 0.025655433224532006 Centerline is valid? [True, True] Translation: X:193.00, Y:-29.80, Z:-3.82 [[ 9.88722274e-01 1.48295439e-01 2.08980149e-02 1.92997392e+02] [-1.48257068e-01 9.88943073e-01 -3.38223072e-03 -2.98019641e+01] [-2.11685165e-02 2.45808442e-04 9.99775892e-01 -3.81700504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters 0.025139347707132553 Centerline is valid? [True, True] Translation: X:193.03, Y:-29.81, Z:-3.82 [[ 9.88561006e-01 1.49403526e-01 2.06330837e-02 1.93028791e+02] [-1.49366321e-01 9.88776283e-01 -3.34134438e-03 -2.98095965e+01] [-2.09007124e-02 2.21234961e-04 9.99781532e-01 -3.81948367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55401273899997 meters 0.025042578210440942 Centerline is valid? [True, True] Translation: X:193.06, Y:-29.82, Z:-3.82 [[ 9.88622482e-01 1.49131063e-01 1.96345422e-02 1.93060928e+02] [-1.49097259e-01 9.88817414e-01 -3.18264999e-03 -2.98183121e+01] [-1.98896092e-02 2.18982915e-04 9.99802158e-01 -3.82196219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters 0.026551145576402146 Centerline is valid? [True, True] Translation: X:193.09, Y:-29.83, Z:-3.82 [[ 9.88907489e-01 1.47338105e-01 1.88005433e-02 1.93089733e+02] [-1.47306720e-01 9.89086155e-01 -3.05102795e-03 -2.98336724e+01] [-1.90448897e-02 2.47738023e-04 9.99818599e-01 -3.82280294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61401273899997 meters 0.026456988896083104 Centerline is valid? [True, True] Translation: X:193.12, Y:-29.84, Z:-3.82 [[ 9.88906762e-01 1.47236416e-01 1.96176917e-02 1.93121533e+02] [-1.47202186e-01 9.89101294e-01 -3.18552237e-03 -2.98415694e+01] [-1.98729092e-02 2.62417508e-04 9.99802480e-01 -3.82188289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters 0.026542630592802412 Centerline is valid? [True, True] Translation: X:193.15, Y:-29.85, Z:-3.82 [[ 9.88869710e-01 1.47397654e-01 2.02639823e-02 1.93152844e+02] [-1.47361083e-01 9.89077276e-01 -3.29445081e-03 -2.98498461e+01] [-2.05282387e-02 2.71660237e-04 9.99789237e-01 -3.82198221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67401273899998 meters 0.02586878525628742 Centerline is valid? [True, True] Translation: X:193.18, Y:-29.86, Z:-3.82 [[ 9.88718405e-01 1.48374613e-01 2.05156080e-02 1.93183758e+02] [-1.48337287e-01 9.88931195e-01 -3.33785392e-03 -2.98610372e+01] [-2.07837775e-02 2.56967982e-04 9.99783961e-01 -3.82231716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters 0.02532220533835879 Centerline is valid? [True, True] Translation: X:193.21, Y:-29.87, Z:-3.82 [[ 9.88531056e-01 1.49690063e-01 1.99809133e-02 1.93214553e+02] [-1.49654860e-01 9.88732944e-01 -3.25410134e-03 -2.98680698e+01] [-2.02428938e-02 2.26539463e-04 9.99795066e-01 -3.82326423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73401273899998 meters 0.023374753729254204 Centerline is valid? [True, True] Translation: X:193.25, Y:-29.87, Z:-3.82 [[ 9.87990368e-01 1.53293337e-01 1.93954994e-02 1.93245645e+02] [-1.53260803e-01 9.88180717e-01 -3.16168279e-03 -2.98722457e+01] [-1.96509234e-02 1.51142334e-04 9.99806891e-01 -3.82384682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters 0.023374753729254204 Centerline is valid? [True, True] Translation: X:193.28, Y:-29.88, Z:-3.82 [[ 9.87962305e-01 1.53474135e-01 1.93952183e-02 1.93277690e+02] [-1.53441602e-01 9.88152654e-01 -3.16340602e-03 -2.98776718e+01] [-1.96509374e-02 1.49292536e-04 9.99806891e-01 -3.82450706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79401273899998 meters 0.02281409932260407 Centerline is valid? [True, True] Translation: X:193.31, Y:-29.88, Z:-3.83 [[ 9.87716531e-01 1.55008620e-01 1.97074326e-02 1.93308305e+02] [-1.54975261e-01 9.87913110e-01 -3.21810422e-03 -2.98830041e+01] [-1.99680649e-02 1.24410229e-04 9.99800611e-01 -3.82547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters 0.022594882430983655 Centerline is valid? [True, True] Translation: X:193.34, Y:-29.89, Z:-3.83 [[ 9.87607565e-01 1.55673490e-01 1.99264308e-02 1.93340268e+02] [-1.55639459e-01 9.87808560e-01 -3.25691912e-03 -2.98905579e+01] [-2.01905149e-02 1.15219052e-04 9.99796144e-01 -3.82604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85401273899998 meters 0.0225141831734779 Centerline is valid? [True, True] Translation: X:193.37, Y:-29.90, Z:-3.82 [[ 9.87555125e-01 1.55854442e-01 2.10776555e-02 1.93371933e+02] [-1.55816317e-01 9.87780025e-01 -3.44924874e-03 -2.99020499e+01] [-2.13576678e-02 1.22080627e-04 9.99771892e-01 -3.82445963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters 0.02336299166835908 Centerline is valid? [True, True] Translation: X:193.40, Y:-29.91, Z:-3.82 [[ 9.87544835e-01 1.55960621e-01 2.07721705e-02 1.93402256e+02] [-1.55923536e-01 9.87763266e-01 -3.40306185e-03 -2.99119610e+01] [-2.10487306e-02 1.21805870e-04 9.99778444e-01 -3.82491709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914012739 meters 0.030120775102484537 Centerline is valid? [True, True] Translation: X:193.44, Y:-29.92, Z:-3.82 [[ 9.87465716e-01 1.56566566e-01 1.99592248e-02 1.93435220e+02] [-1.56532384e-01 9.87667403e-01 -3.27322125e-03 -2.99163016e+01] [-2.02255527e-02 1.07928719e-04 9.99795437e-01 -3.81793104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters 0.022778504767875785 Centerline is valid? [True, True] Translation: X:193.47, Y:-29.93, Z:-3.83 [[ 9.87552542e-01 1.56022546e-01 1.99233800e-02 1.93465667e+02] [-1.55988297e-01 9.87753486e-01 -3.27128865e-03 -2.99260099e+01] [-2.01897829e-02 1.22755311e-04 9.99796158e-01 -3.82748926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974012739 meters 0.022907516948277362 Centerline is valid? [True, True] Translation: X:193.50, Y:-29.93, Z:-3.83 [[ 9.87494217e-01 1.56411932e-01 1.97605287e-02 1.93496938e+02] [-1.56378245e-01 9.87691902e-01 -3.24819633e-03 -2.99336721e+01] [-2.00253708e-02 1.17458295e-04 9.99799465e-01 -3.82869447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters 0.02201157948387003 Centerline is valid? [True, True] Translation: X:193.53, Y:-29.94, Z:-3.83 [[ 9.87148150e-01 1.58628489e-01 1.93786548e-02 1.93528628e+02] [-1.58596475e-01 9.87338340e-01 -3.18763369e-03 -2.99389820e+01] [-1.96389384e-02 7.32803663e-05 9.99807135e-01 -3.82989221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034012739 meters 0.02168894460290421 Centerline is valid? [True, True] Translation: X:193.56, Y:-29.94, Z:-3.83 [[ 9.86849250e-01 1.60459424e-01 1.95276789e-02 1.93560005e+02] [-1.60427208e-01 9.87042437e-01 -3.21552744e-03 -2.99438010e+01] [-1.97906094e-02 4.04698547e-05 9.99804146e-01 -3.83051066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters 0.02158759291557203 Centerline is valid? [True, True] Translation: X:193.59, Y:-29.95, Z:-3.83 [[ 9.86515074e-01 1.62516829e-01 1.93981724e-02 1.93591836e+02] [-1.62485366e-01 9.86705772e-01 -3.19774943e-03 -2.99478275e+01] [-1.96599768e-02 2.70886583e-06 9.99806724e-01 -3.83146794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094012739 meters 0.022109447867640096 Centerline is valid? [True, True] Translation: X:193.62, Y:-29.95, Z:-3.84 [[ 9.85921137e-01 1.66231868e-01 1.80687093e-02 1.93623561e+02] [-1.66205139e-01 9.86086691e-01 -2.98158235e-03 -2.99494495e+01] [-1.83129478e-02 -6.35072837e-05 9.99832302e-01 -3.83594597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters 0.022644465443931127 Centerline is valid? [True, True] Translation: X:193.66, Y:-29.95, Z:-3.84 [[ 9.85586885e-01 1.68296555e-01 1.71686456e-02 1.93655081e+02] [-1.68272696e-01 9.85736405e-01 -2.83534969e-03 -2.99537857e+01] [-1.74009386e-02 -9.45308206e-05 9.99848588e-01 -3.83725936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154012739 meters 0.025725345997442247 Centerline is valid? [True, True] Translation: X:193.69, Y:-29.95, Z:-3.84 [[ 9.84663265e-01 1.73505350e-01 1.82797207e-02 1.93687003e+02] [-1.73479138e-01 9.84832907e-01 -3.02214071e-03 -2.99512616e+01] [-1.85268281e-02 -1.95359258e-04 9.99828345e-01 -3.83649620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters 0.026917796176285914 Centerline is valid? [True, True] Translation: X:193.72, Y:-29.95, Z:-3.83 [[ 9.83995111e-01 1.77069056e-01 2.00042742e-02 1.93719534e+02] [-1.77038332e-01 9.84198389e-01 -3.31064624e-03 -2.99541571e+01] [-2.02743874e-02 -2.83863616e-04 9.99794413e-01 -3.83315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21401273899997 meters 0.028894873532978548 Centerline is valid? [True, True] Translation: X:193.75, Y:-29.96, Z:-3.83 [[ 9.83245324e-01 1.81002594e-01 2.16030910e-02 1.93751948e+02] [-1.80967630e-01 9.83482541e-01 -3.57889239e-03 -2.99554082e+01] [-2.18940517e-02 -3.90530976e-04 9.99760220e-01 -3.83126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters 0.04154160643453833 Centerline is valid? [True, True] Translation: X:193.78, Y:-29.94, Z:-3.83 [[ 9.81639811e-01 1.89460252e-01 2.20928462e-02 1.93784992e+02] [-1.89425798e-01 9.81888213e-01 -3.66104622e-03 -2.99381706e+01] [-2.23863280e-02 -5.91126302e-04 9.99749220e-01 -3.83006008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27401273899997 meters 0.043695506220765325 Centerline is valid? [True, True] Translation: X:193.82, Y:-29.94, Z:-3.83 [[ 9.80975296e-01 1.93021273e-01 2.07426241e-02 1.93815348e+02] [-1.92991694e-01 9.81194369e-01 -3.43747193e-03 -2.99375825e+01] [-2.10160512e-02 -6.31079114e-04 9.99778939e-01 -3.83405390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters 0.046979303303345724 Centerline is valid? [True, True] Translation: X:193.85, Y:-29.93, Z:-3.84 [[ 9.79949943e-01 1.98437678e-01 1.79052531e-02 1.93847040e+02] [-1.98416543e-01 9.80113295e-01 -2.96707249e-03 -2.99322346e+01] [-1.81379555e-02 -6.45115893e-04 9.99835286e-01 -3.83995142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33401273899997 meters 0.04612465615738028 Centerline is valid? [True, True] Translation: X:193.88, Y:-29.93, Z:-3.84 [[ 9.79526186e-01 2.00534268e-01 1.77329705e-02 1.93876881e+02] [-2.00513881e-01 9.79686454e-01 -2.93855877e-03 -2.99346984e+01] [-1.79620327e-02 -6.77311473e-04 9.99838440e-01 -3.84065112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters 0.06134678997886346 Centerline is valid? [True, True] Translation: X:193.91, Y:-29.91, Z:-3.84 [[ 9.78783975e-01 2.04030564e-01 1.88005142e-02 1.93910253e+02] [-2.04008300e-01 9.78964203e-01 -3.11496796e-03 -2.99125251e+01] [-1.90405791e-02 -7.86580234e-04 9.99818402e-01 -3.84042682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39401273899998 meters 0.05561212846708454 Centerline is valid? [True, True] Translation: X:193.94, Y:-29.92, Z:-3.84 [[ 9.78503919e-01 2.05317144e-01 1.93636249e-02 1.93939167e+02] [-2.05293782e-01 9.78695137e-01 -3.20805485e-03 -2.99215231e+01] [-1.96097542e-02 -8.36137563e-04 9.99807361e-01 -3.83982257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters 0.0542322308625329 Centerline is valid? [True, True] Translation: X:193.97, Y:-29.92, Z:-3.84 [[ 9.78369963e-01 2.05939162e-01 1.95263165e-02 1.93968045e+02] [-2.05915539e-01 9.78564422e-01 -3.23457623e-03 -2.99237529e+01] [-1.97738845e-02 -8.56159752e-04 9.99804111e-01 -3.83973493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45401273899998 meters 0.052047364693699485 Centerline is valid? [True, True] Translation: X:194.00, Y:-29.92, Z:-3.84 [[ 9.78080073e-01 2.07300341e-01 1.96453288e-02 1.93998614e+02] [-2.07276721e-01 9.78276943e-01 -3.25336780e-03 -2.99220937e+01] [-1.98929965e-02 -8.89965119e-04 9.99801719e-01 -3.84040817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters 0.05952240555165864 Centerline is valid? [True, True] Translation: X:194.03, Y:-29.91, Z:-3.84 [[ 9.77926331e-01 2.08011765e-01 1.97786701e-02 1.94028166e+02] [-2.07987978e-01 9.78125900e-01 -3.27498599e-03 -2.99123422e+01] [-2.00272651e-02 -9.11030566e-04 9.99799019e-01 -3.84128543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51401273899998 meters 0.05661401843938952 Centerline is valid? [True, True] Translation: X:194.06, Y:-29.91, Z:-3.84 [[ 9.77917441e-01 2.08043333e-01 1.98859103e-02 1.94057008e+02] [-2.08019327e-01 9.78119179e-01 -3.29108117e-03 -2.99116648e+01] [-2.01354777e-02 -9.18247999e-04 9.99796839e-01 -3.84108913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters 0.0565202157385146 Centerline is valid? [True, True] Translation: X:194.09, Y:-29.91, Z:-3.84 [[ 9.78089849e-01 2.07267394e-01 1.95057596e-02 1.94086103e+02] [-2.07244165e-01 9.78283927e-01 -3.22705661e-03 -2.99108801e+01] [-1.97510347e-02 -8.86103538e-04 9.99804537e-01 -3.84310373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57401273899998 meters 0.05157036564743661 Centerline is valid? [True, True] Translation: X:194.12, Y:-29.91, Z:-3.85 [[ 9.78576487e-01 2.05045459e-01 1.85585254e-02 1.94116231e+02] [-2.05024049e-01 9.78752123e-01 -3.06948378e-03 -2.99128756e+01] [-1.87935799e-02 -8.01219369e-04 9.99823064e-01 -3.84574172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters 0.05778001901962268 Centerline is valid? [True, True] Translation: X:194.15, Y:-29.91, Z:-3.85 [[ 9.79022125e-01 2.02859796e-01 1.90678044e-02 1.94146563e+02] [-2.02836784e-01 9.79207483e-01 -3.15349456e-03 -2.99057650e+01] [-1.93110540e-02 -7.80311175e-04 9.99813220e-01 -3.84579889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63401273899999 meters 0.04713333672713352 Centerline is valid? [True, True] Translation: X:194.17, Y:-29.92, Z:-3.84 [[ 9.79588583e-01 1.99980334e-01 2.03487942e-02 1.94174208e+02] [-1.99953518e-01 9.79799606e-01 -3.36478574e-03 -2.99221429e+01] [-2.06106316e-02 -7.72707308e-04 9.99787280e-01 -3.84403833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters 0.04059017961535178 Centerline is valid? [True, True] Translation: X:194.20, Y:-29.93, Z:-3.84 [[ 9.80905631e-01 1.93169229e-01 2.25785739e-02 1.94203762e+02] [-1.93134416e-01 9.81165206e-01 -3.73318186e-03 -2.99278673e+01] [-2.28744470e-02 -6.98800575e-04 9.99738101e-01 -3.84052531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694012739 meters 0.03796146649430458 Centerline is valid? [True, True] Translation: X:194.23, Y:-29.93, Z:-3.84 [[ 9.81553775e-01 1.89812715e-01 2.28761990e-02 1.94232785e+02] [-1.89776076e-01 9.81820115e-01 -3.78196373e-03 -2.99318866e+01] [-2.31781771e-02 -6.29154506e-04 9.99731152e-01 -3.84000648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters 0.03310184581875937 Centerline is valid? [True, True] Translation: X:194.26, Y:-29.94, Z:-3.84 [[ 9.82962483e-01 1.82434341e-01 2.24157866e-02 1.94261517e+02] [-1.82397255e-01 9.83217937e-01 -3.70534365e-03 -2.99382974e+01] [-2.27155854e-02 -4.46364155e-04 9.99741868e-01 -3.84173251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754012739 meters 0.02883614608045864 Centerline is valid? [True, True] Translation: X:194.29, Y:-29.95, Z:-3.84 [[ 9.83726049e-01 1.78357216e-01 2.17201534e-02 1.94288863e+02] [-1.78321409e-01 9.83965745e-01 -3.58999475e-03 -2.99491255e+01] [-2.20121884e-02 -3.41597006e-04 9.99757644e-01 -3.84368565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters 0.024155544001660985 Centerline is valid? [True, True] Translation: X:194.32, Y:-29.96, Z:-3.85 [[ 9.85080428e-01 1.70811273e-01 2.09776031e-02 1.94316125e+02] [-1.70776180e-01 9.85303750e-01 -3.46633256e-03 -2.99619366e+01] [-2.12613997e-02 -1.67858575e-04 9.99773937e-01 -3.84511105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814012739 meters 0.02290581128410122 Centerline is valid? [True, True] Translation: X:194.34, Y:-29.97, Z:-3.85 [[ 9.85587682e-01 1.67875503e-01 2.08503492e-02 1.94344369e+02] [-1.67840188e-01 9.85808199e-01 -3.44479678e-03 -2.99693753e+01] [-2.11327422e-02 -1.04377270e-04 9.99776673e-01 -3.84553518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters 0.02232628396349427 Centerline is valid? [True, True] Translation: X:194.37, Y:-29.98, Z:-3.85 [[ 9.86082133e-01 1.64908966e-01 2.11437942e-02 1.94372840e+02] [-1.64871989e-01 9.86308791e-01 -3.49226867e-03 -2.99768280e+01] [-2.14302165e-02 -4.23556718e-05 9.99770346e-01 -3.84526849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874012739 meters 0.022570902113746273 Centerline is valid? [True, True] Translation: X:194.40, Y:-29.99, Z:-3.84 [[ 9.86857980e-01 1.59963168e-01 2.28716604e-02 1.94401374e+02] [-1.59918585e-01 9.87122981e-01 -3.77709120e-03 -2.99878203e+01] [-2.31813371e-02 6.98490309e-05 9.99731274e-01 -3.84315633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters 0.02316419549915747 Centerline is valid? [True, True] Translation: X:194.43, Y:-30.00, Z:-3.84 [[ 9.87200974e-01 1.57802715e-01 2.30768131e-02 1.94430446e+02] [-1.57756742e-01 9.87470652e-01 -3.81076124e-03 -2.99964454e+01] [-2.33890241e-02 1.21464363e-04 9.99726432e-01 -3.84356490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93401273899997 meters 0.023615404887593536 Centerline is valid? [True, True] Translation: X:194.46, Y:-30.00, Z:-3.85 [[ 9.87419107e-01 1.56533917e-01 2.23749950e-02 1.94459416e+02] [-1.56490367e-01 9.87672573e-01 -3.69510040e-03 -3.00039027e+01] [-2.26775774e-02 1.47141555e-04 9.99742820e-01 -3.84509123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters 0.023352123476746336 Centerline is valid? [True, True] Translation: X:194.49, Y:-30.01, Z:-3.85 [[ 9.87364945e-01 1.56891981e-01 2.22569429e-02 1.94489737e+02] [-1.56848980e-01 9.87615759e-01 -3.67560477e-03 -3.00080582e+01] [-2.25579805e-02 1.38184508e-04 9.99745527e-01 -3.84582998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99401273899997 meters 0.023366168668621446 Centerline is valid? [True, True] Translation: X:194.52, Y:-30.01, Z:-3.85 [[ 9.87278862e-01 1.57477678e-01 2.19369346e-02 1.94518370e+02] [-1.57436050e-01 9.87522539e-01 -3.62273470e-03 -3.00139570e+01] [-2.22337172e-02 1.22985051e-04 9.99752793e-01 -3.84655416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters 0.02318197761174789 Centerline is valid? [True, True] Translation: X:194.55, Y:-30.02, Z:-3.85 [[ 9.87245422e-01 1.57950006e-01 1.99567528e-02 1.94547905e+02] [-1.57915656e-01 9.87447105e-01 -3.29550486e-03 -3.00196521e+01] [-2.02267628e-02 1.01988378e-04 9.99795413e-01 -3.85117767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05401273899997 meters 0.02342930959612448 Centerline is valid? [True, True] Translation: X:194.58, Y:-30.03, Z:-3.85 [[ 9.87282917e-01 1.57776218e-01 1.94706724e-02 1.94577054e+02] [-1.57743487e-01 9.87474888e-01 -3.21524404e-03 -3.00256648e+01] [-1.97340890e-02 1.02983758e-04 9.99805259e-01 -3.85359715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters 0.02294945903549685 Centerline is valid? [True, True] Translation: X:194.61, Y:-30.03, Z:-3.86 [[ 9.87088817e-01 1.59059245e-01 1.88633010e-02 1.94606215e+02] [-1.59028763e-01 9.87269037e-01 -3.11474242e-03 -3.00281008e+01] [-1.91185816e-02 7.47199957e-05 9.99817220e-01 -3.85645618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11401273899997 meters 0.022844641823372053 Centerline is valid? [True, True] Translation: X:194.63, Y:-30.03, Z:-3.86 [[ 9.86910689e-01 1.60262992e-01 1.79740114e-02 1.94634360e+02] [-1.60235522e-01 9.87074349e-01 -2.96752149e-03 -3.00323626e+01] [-1.82172694e-02 4.86035758e-05 9.99834051e-01 -3.85863783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters 0.0226951415513805 Centerline is valid? [True, True] Translation: X:194.66, Y:-30.03, Z:-3.86 [[ 9.86553792e-01 1.62591267e-01 1.66040830e-02 1.94663034e+02] [-1.62568164e-01 9.86693509e-01 -2.74081223e-03 -3.00333606e+01] [-1.68287731e-02 4.66340091e-06 9.99858386e-01 -3.86140809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17401273899998 meters 0.022756441250691272 Centerline is valid? [True, True] Translation: X:194.69, Y:-30.04, Z:-3.86 [[ 9.86477984e-01 1.63071698e-01 1.63953859e-02 1.94690857e+02] [-1.63049247e-01 9.86614221e-01 -2.70587127e-03 -3.00358707e+01] [-1.66171719e-02 -3.97288661e-06 9.99861925e-01 -3.86338905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters 0.022791155628187554 Centerline is valid? [True, True] Translation: X:194.72, Y:-30.04, Z:-3.86 [[ 9.86385949e-01 1.63597781e-01 1.66891055e-02 1.94719432e+02] [-1.63574611e-01 9.86527124e-01 -2.75327954e-03 -3.00385610e+01] [-1.69146857e-02 -1.41176960e-05 9.99856936e-01 -3.86262701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23401273899998 meters 0.022755448934595083 Centerline is valid? [True, True] Translation: X:194.75, Y:-30.04, Z:-3.86 [[ 9.86154933e-01 1.64774837e-01 1.86467474e-02 1.94747855e+02] [-1.64746141e-01 9.86331208e-01 -3.07528953e-03 -3.00420716e+01] [-1.88985992e-02 -3.92677351e-05 9.99821405e-01 -3.86005651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters 0.022834058945034697 Centerline is valid? [True, True] Translation: X:194.78, Y:-30.05, Z:-3.86 [[ 9.86088065e-01 1.65058281e-01 1.96492248e-02 1.94775813e+02] [-1.65026492e-01 9.86283814e-01 -3.23963539e-03 -3.00462078e+01] [-1.99144410e-02 -4.80768383e-05 9.99801687e-01 -3.85864506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29401273899998 meters 0.022702516413200237 Centerline is valid? [True, True] Translation: X:194.80, Y:-30.05, Z:-3.86 [[ 9.86006443e-01 1.65465789e-01 2.03068030e-02 1.94804702e+02] [-1.65431951e-01 9.86215529e-01 -3.34671432e-03 -3.00491841e+01] [-2.05806512e-02 -5.95121668e-05 9.99788194e-01 -3.85842089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters 0.022829423830978208 Centerline is valid? [True, True] Translation: X:194.83, Y:-30.05, Z:-3.86 [[ 9.86014719e-01 1.65555120e-01 1.91435821e-02 1.94832484e+02] [-1.65525077e-01 9.86200537e-01 -3.15437978e-03 -3.00546207e+01] [-1.94016346e-02 -5.84780124e-05 9.99811769e-01 -3.86062267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35401273899998 meters 0.022903853978901594 Centerline is valid? [True, True] Translation: X:194.86, Y:-30.06, Z:-3.86 [[ 9.86048036e-01 1.65493659e-01 1.79198140e-02 1.94860967e+02] [-1.65467339e-01 9.86210853e-01 -2.95191030e-03 -3.00600504e+01] [-1.81612375e-02 -5.44185882e-05 9.99835070e-01 -3.86312214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters 0.023133839511476545 Centerline is valid? [True, True] Translation: X:194.89, Y:-30.06, Z:-3.86 [[ 9.85896157e-01 1.66411535e-01 1.77754900e-02 1.94889410e+02] [-1.66385797e-01 9.86056386e-01 -2.92753171e-03 -3.00638179e+01] [-1.80148105e-02 -7.13468212e-05 9.99837718e-01 -3.86338882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414012739 meters 0.023087605559783286 Centerline is valid? [True, True] Translation: X:194.92, Y:-30.07, Z:-3.86 [[ 9.85761989e-01 1.67093002e-01 1.87944199e-02 1.94918083e+02] [-1.67064371e-01 9.85941135e-01 -3.09438204e-03 -3.00679795e+01] [-1.90472412e-02 -8.95537366e-05 9.99818581e-01 -3.86176099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters 0.022973847623622062 Centerline is valid? [True, True] Translation: X:194.95, Y:-30.08, Z:-3.86 [[ 9.85760130e-01 1.66940679e-01 2.01934514e-02 1.94945209e+02] [-1.66907617e-01 9.85966937e-01 -3.32365195e-03 -3.00752338e+01] [-2.04649282e-02 -9.41172670e-05 9.99790567e-01 -3.86106149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474012739 meters 0.022752292907893858 Centerline is valid? [True, True] Translation: X:194.97, Y:-30.08, Z:-3.86 [[ 9.85959474e-01 1.65755234e-01 2.02266509e-02 1.94973373e+02] [-1.65721839e-01 9.86166922e-01 -3.32788269e-03 -3.00837352e+01] [-2.04984680e-02 -7.08403044e-05 9.99789882e-01 -3.86159552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters 0.022597669805729987 Centerline is valid? [True, True] Translation: X:195.00, Y:-30.09, Z:-3.86 [[ 9.86136258e-01 1.64679884e-01 2.03915872e-02 1.95002428e+02] [-1.64645722e-01 9.86347065e-01 -3.35450801e-03 -3.00911542e+01] [-2.06656022e-02 -4.93856293e-05 9.99786442e-01 -3.86222895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534012739 meters 0.022491895483639644 Centerline is valid? [True, True] Translation: X:195.03, Y:-30.10, Z:-3.86 [[ 9.86161385e-01 1.64519775e-01 2.04686524e-02 1.95031361e+02] [-1.64485326e-01 9.86373784e-01 -3.36692485e-03 -3.00976656e+01] [-2.07436679e-02 -4.64616835e-05 9.99784826e-01 -3.86055841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters 0.02280113573933762 Centerline is valid? [True, True] Translation: X:195.06, Y:-30.10, Z:-3.86 [[ 9.85956615e-01 1.65750477e-01 2.04042554e-02 1.95060019e+02] [-1.65716518e-01 9.86167721e-01 -3.35583738e-03 -3.01007950e+01] [-2.06782497e-02 -7.26120884e-05 9.99786179e-01 -3.86096589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594012739 meters 0.02389555142927986 Centerline is valid? [True, True] Translation: X:195.09, Y:-30.10, Z:-3.86 [[ 9.85388667e-01 1.69266514e-01 1.89214625e-02 1.95089447e+02] [-1.69237967e-01 9.85570306e-01 -3.11155382e-03 -3.01003249e+01] [-1.91751134e-02 -1.36139979e-04 9.99816131e-01 -3.86468955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters 0.025228267837539488 Centerline is valid? [True, True] Translation: X:195.12, Y:-30.10, Z:-3.87 [[ 9.85000660e-01 1.71607707e-01 1.80137154e-02 1.95117207e+02] [-1.71582239e-01 9.85165349e-01 -2.96150358e-03 -3.00994666e+01] [-1.82547050e-02 -1.73750646e-04 9.99833354e-01 -3.86765426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654012739 meters 0.025228267837539488 Centerline is valid? [True, True] Translation: X:195.15, Y:-30.10, Z:-3.87 [[ 9.85008639e-01 1.71561882e-01 1.80139322e-02 1.95145171e+02] [-1.71536431e-01 9.85173330e-01 -2.96018395e-03 -3.01039710e+01] [-1.82547003e-02 -1.74238877e-04 9.99833354e-01 -3.86822957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters 0.02699253434164589 Centerline is valid? [True, True] Translation: X:195.17, Y:-30.10, Z:-3.87 [[ 9.84524645e-01 1.74364588e-01 1.75560253e-02 1.95174055e+02] [-1.74340873e-01 9.84681137e-01 -2.88415215e-03 -3.01025270e+01] [-1.77899810e-02 -2.21213910e-04 9.99841721e-01 -3.86940595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71401273899997 meters 0.030144483186343263 Centerline is valid? [True, True] Translation: X:195.20, Y:-30.10, Z:-3.87 [[ 9.83779095e-01 1.78466205e-01 1.81247510e-02 1.95203399e+02] [-1.78441645e-01 9.83945994e-01 -2.97644440e-03 -3.00974392e+01] [-1.83649709e-02 -3.06046614e-04 9.99831303e-01 -3.86892287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters 0.029968792126799825 Centerline is valid? [True, True] Translation: X:195.23, Y:-30.10, Z:-3.87 [[ 9.83585351e-01 1.79483969e-01 1.85839367e-02 1.95231696e+02] [-1.79458347e-01 9.83760841e-01 -3.05098452e-03 -3.00997315e+01] [-1.88297520e-02 -3.34138884e-04 9.99822649e-01 -3.86908569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77401273899997 meters 0.031039300570753763 Centerline is valid? [True, True] Translation: X:195.26, Y:-30.10, Z:-3.87 [[ 9.83702678e-01 1.78878445e-01 1.82083270e-02 1.95259399e+02] [-1.78853768e-01 9.83871130e-01 -2.98804016e-03 -3.01011035e+01] [-1.84491433e-02 -3.17284804e-04 9.99829750e-01 -3.87085996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters 0.029397792608601737 Centerline is valid? [True, True] Translation: X:195.29, Y:-30.11, Z:-3.87 [[ 9.83934116e-01 1.77628765e-01 1.79353535e-02 1.95287352e+02] [-1.77604635e-01 9.84097524e-01 -2.94213846e-03 -3.01075692e+01] [-1.81727454e-02 -2.90531506e-04 9.99834820e-01 -3.87261391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83401273899997 meters 0.02642180477363238 Centerline is valid? [True, True] Translation: X:195.32, Y:-30.12, Z:-3.88 [[ 9.84666491e-01 1.73618650e-01 1.69843115e-02 1.95315315e+02] [-1.73596428e-01 9.84812938e-01 -2.78533621e-03 -3.01171901e+01] [-1.72099561e-02 -2.05788585e-04 9.99851877e-01 -3.87558892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters 0.025574000103393935 Centerline is valid? [True, True] Translation: X:195.34, Y:-30.12, Z:-3.88 [[ 9.85083155e-01 1.71223964e-01 1.71327696e-02 1.95343175e+02] [-1.71201001e-01 9.85232118e-01 -2.80908030e-03 -3.01224354e+01] [-1.73607367e-02 -1.65969606e-04 9.99849277e-01 -3.87555152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89401273899998 meters 0.024182502268539942 Centerline is valid? [True, True] Translation: X:195.37, Y:-30.13, Z:-3.87 [[ 9.85419475e-01 1.69234185e-01 1.75570388e-02 1.95371503e+02] [-1.69209770e-01 9.85575858e-01 -2.87776144e-03 -3.01289121e+01] [-1.77908092e-02 -1.35020327e-04 9.99841722e-01 -3.87335436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters 0.024864203052436872 Centerline is valid? [True, True] Translation: X:195.40, Y:-30.13, Z:-3.87 [[ 9.85260966e-01 1.70157762e-01 1.75261285e-02 1.95399927e+02] [-1.70133593e-01 9.85416822e-01 -2.87186973e-03 -3.01304313e+01] [-1.77592128e-02 -1.52242075e-04 9.99842281e-01 -3.87411307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95401273899998 meters 0.025800798191994462 Centerline is valid? [True, True] Translation: X:195.43, Y:-30.13, Z:-3.87 [[ 9.85012928e-01 1.71576649e-01 1.76347532e-02 1.95427809e+02] [-1.71552426e-01 9.85170757e-01 -2.88858623e-03 -3.01310248e+01] [-1.78688571e-02 -1.79989910e-04 9.99840323e-01 -3.87449999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters 0.02711403303902493 Centerline is valid? [True, True] Translation: X:195.46, Y:-30.13, Z:-3.87 [[ 9.84544032e-01 1.74131636e-01 1.87409056e-02 1.95457665e+02] [-1.74104765e-01 9.84722354e-01 -3.06856547e-03 -3.01276473e+01] [-1.89889230e-02 -2.41743137e-04 9.99819665e-01 -3.87289609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01401273899998 meters 0.027830161261418348 Centerline is valid? [True, True] Translation: X:195.49, Y:-30.13, Z:-3.87 [[ 9.84355699e-01 1.75114153e-01 1.94651083e-02 1.95486463e+02] [-1.75085375e-01 9.84548099e-01 -3.18617946e-03 -3.01281725e+01] [-1.97222805e-02 -2.71721879e-04 9.99805460e-01 -3.87233855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters 0.028122495638381068 Centerline is valid? [True, True] Translation: X:195.51, Y:-30.13, Z:-3.87 [[ 9.84261794e-01 1.75314898e-01 2.22127532e-02 1.95514674e+02] [-1.75277500e-01 9.84512360e-01 -3.63471844e-03 -3.01300844e+01] [-2.25059504e-02 -3.15881369e-04 9.99746659e-01 -3.86690879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07401273899998 meters 0.02764983765953372 Centerline is valid? [True, True] Translation: X:195.54, Y:-30.13, Z:-3.87 [[ 9.84323034e-01 1.74829081e-01 2.33014409e-02 1.95543478e+02] [-1.74787824e-01 9.84598745e-01 -3.81146605e-03 -3.01345997e+01] [-2.36089246e-02 -3.21094311e-04 9.99721219e-01 -3.86530960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters 0.027559671049539616 Centerline is valid? [True, True] Translation: X:195.57, Y:-30.14, Z:-3.87 [[ 9.84410082e-01 1.74336953e-01 2.33113311e-02 1.95571391e+02] [-1.74295550e-01 9.84686006e-01 -3.81194537e-03 -3.01377026e+01] [-2.36189044e-02 -3.10543814e-04 9.99720987e-01 -3.86568737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13401273899999 meters 0.027402203813723332 Centerline is valid? [True, True] Translation: X:195.60, Y:-30.14, Z:-3.87 [[ 9.84536641e-01 1.74026413e-01 2.00601663e-02 1.95600500e+02] [-1.73995710e-01 9.84740950e-01 -3.27929201e-03 -3.01394678e+01] [-2.03247507e-02 -2.61799738e-04 9.99793397e-01 -3.87275312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters 0.0264875597377948 Centerline is valid? [True, True] Translation: X:195.63, Y:-30.14, Z:-3.88 [[ 9.84696067e-01 1.73318385e-01 1.82864047e-02 1.95628648e+02] [-1.73292764e-01 9.84865822e-01 -2.98856608e-03 -3.01449364e+01] [-1.85276284e-02 -2.26072345e-04 9.99828323e-01 -3.87641683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194012739 meters 0.02603671370855176 Centerline is valid? [True, True] Translation: X:195.66, Y:-30.15, Z:-3.88 [[ 9.84908920e-01 1.72197640e-01 1.73894445e-02 1.95657380e+02] [-1.72174311e-01 9.85062401e-01 -2.84118232e-03 -3.01471841e+01] [-1.76189329e-02 -1.95709820e-04 9.99844755e-01 -3.87799062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters 0.025882864757388276 Centerline is valid? [True, True] Translation: X:195.69, Y:-30.15, Z:-3.88 [[ 9.84910333e-01 1.72115746e-01 1.81053915e-02 1.95685135e+02] [-1.72090458e-01 9.85076712e-01 -2.95728778e-03 -3.01497573e+01] [-1.83441953e-02 -2.03101819e-04 9.99831710e-01 -3.87739860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254012739 meters 0.026688957072621453 Centerline is valid? [True, True] Translation: X:195.71, Y:-30.15, Z:-3.88 [[ 9.84803608e-01 1.72603050e-01 1.92364596e-02 1.95713565e+02] [-1.72574625e-01 9.84991439e-01 -3.14052688e-03 -3.01495123e+01] [-1.94898126e-02 -2.26922610e-04 9.99810030e-01 -3.87607952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters 0.02701530778534224 Centerline is valid? [True, True] Translation: X:195.74, Y:-30.15, Z:-3.88 [[ 9.84675652e-01 1.73256819e-01 1.98981351e-02 1.95742446e+02] [-1.73226564e-01 9.84876648e-01 -3.24730266e-03 -3.01513288e+01] [-2.01598259e-02 -2.49345700e-04 9.99796739e-01 -3.87526675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314012739 meters 0.02743251007430605 Centerline is valid? [True, True] Translation: X:195.77, Y:-30.15, Z:-3.88 [[ 9.84534515e-01 1.74010053e-01 2.03049239e-02 1.95771632e+02] [-1.73978728e-01 9.84743839e-01 -3.31272070e-03 -3.01531169e+01] [-2.05715954e-02 -2.71136973e-04 9.99788346e-01 -3.87513117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters 0.027732750646563848 Centerline is valid? [True, True] Translation: X:195.80, Y:-30.15, Z:-3.88 [[ 9.84494917e-01 1.74324664e-01 1.95107646e-02 1.95800434e+02] [-1.74295821e-01 9.84688194e-01 -3.18226890e-03 -3.01544616e+01] [-1.97667675e-02 -2.67717184e-04 9.99804583e-01 -3.87777878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374012739 meters 0.02751814571598465 Centerline is valid? [True, True] Translation: X:195.83, Y:-30.16, Z:-3.88 [[ 9.84554690e-01 1.74053882e-01 1.89026333e-02 1.95828439e+02] [-1.74026776e-01 9.84736097e-01 -3.08223946e-03 -3.01592214e+01] [-1.91505811e-02 -2.54931005e-04 9.99816578e-01 -3.88017523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters 0.02655841458554933 Centerline is valid? [True, True] Translation: X:195.86, Y:-30.17, Z:-3.88 [[ 9.84893179e-01 1.72283983e-01 1.74256969e-02 1.95856796e+02] [-1.72260690e-01 9.85047302e-01 -2.84033112e-03 -3.01670672e+01] [-1.76544792e-02 -2.04339809e-04 9.99844127e-01 -3.88343416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43401273899997 meters 0.025459345345615367 Centerline is valid? [True, True] Translation: X:195.88, Y:-30.17, Z:-3.88 [[ 9.85105325e-01 1.71030822e-01 1.77751483e-02 1.95884732e+02] [-1.71006412e-01 9.85265661e-01 -2.89557253e-03 -3.01748084e+01] [-1.80084754e-02 -1.87220406e-04 9.99837817e-01 -3.88335897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters 0.024974546420034917 Centerline is valid? [True, True] Translation: X:195.91, Y:-30.18, Z:-3.88 [[ 9.85363596e-01 1.69511157e-01 1.80152968e-02 1.95911854e+02] [-1.69485844e-01 9.85528255e-01 -2.93382730e-03 -3.01811776e+01] [-1.82519004e-02 -1.62451156e-04 9.99833407e-01 -3.88338493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49401273899997 meters 0.023798837808919178 Centerline is valid? [True, True] Translation: X:195.94, Y:-30.19, Z:-3.88 [[ 9.85737803e-01 1.67191362e-01 1.91841687e-02 1.95939807e+02] [-1.67162242e-01 9.85924456e-01 -3.12292921e-03 -3.01902111e+01] [-1.94362679e-02 -1.28479286e-04 9.99811090e-01 -3.88192681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters 0.023762088532942514 Centerline is valid? [True, True] Translation: X:195.97, Y:-30.19, Z:-3.88 [[ 9.85846260e-01 1.66592745e-01 1.88151470e-02 1.95967130e+02] [-1.66564642e-01 9.86025783e-01 -3.06201369e-03 -3.01947764e+01] [-1.90623293e-02 -1.15263486e-04 9.99818291e-01 -3.88304788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55401273899997 meters 0.023745694857589674 Centerline is valid? [True, True] Translation: X:195.99, Y:-30.20, Z:-3.89 [[ 9.85915317e-01 1.66330009e-01 1.74732788e-02 1.95994639e+02] [-1.66305746e-01 9.86070138e-01 -2.84273661e-03 -3.02006929e+01] [-1.77027109e-02 -1.03209110e-04 9.99843289e-01 -3.88702644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters 0.02364412506981714 Centerline is valid? [True, True] Translation: X:196.02, Y:-30.21, Z:-3.89 [[ 9.85881518e-01 1.66552012e-01 1.72643983e-02 1.96022859e+02] [-1.66528383e-01 9.86032665e-01 -2.80750917e-03 -3.02073054e+01] [-1.74908570e-02 -1.07140931e-04 9.99847018e-01 -3.88816224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61401273899997 meters 0.023716178203345227 Centerline is valid? [True, True] Translation: X:196.05, Y:-30.21, Z:-3.89 [[ 9.85836950e-01 1.66825108e-01 1.71723779e-02 1.96051310e+02] [-1.66801785e-01 9.85986496e-01 -2.79171807e-03 -3.02129581e+01] [-1.73974614e-02 -1.12204458e-04 9.99848646e-01 -3.88840286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters 0.024057491147593434 Centerline is valid? [True, True] Translation: X:196.08, Y:-30.22, Z:-3.89 [[ 9.85721610e-01 1.67553193e-01 1.66983459e-02 1.96078803e+02] [-1.67531257e-01 9.85863029e-01 -2.71391201e-03 -3.02175912e+01] [-1.69170064e-02 -1.22333146e-04 9.99856890e-01 -3.88947000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67401273899998 meters 0.024572942427596823 Centerline is valid? [True, True] Translation: X:196.11, Y:-30.22, Z:-3.89 [[ 9.85659195e-01 1.68021724e-01 1.56413563e-02 1.96106532e+02] [-1.68002551e-01 9.85783285e-01 -2.54125637e-03 -3.02207650e+01] [-1.58459738e-02 -1.22975037e-04 9.99874437e-01 -3.89234736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters 0.025078394313438272 Centerline is valid? [True, True] Translation: X:196.13, Y:-30.22, Z:-3.89 [[ 9.85507742e-01 1.68923739e-01 1.54680702e-02 1.96134620e+02] [-1.68905114e-01 9.85629115e-01 -2.51213987e-03 -3.02247648e+01] [-1.56701403e-02 -1.36902851e-04 9.99877206e-01 -3.89314155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73401273899998 meters 0.02451295669552 Centerline is valid? [True, True] Translation: X:196.16, Y:-30.23, Z:-3.89 [[ 9.85515624e-01 1.68654842e-01 1.77341336e-02 1.96163021e+02] [-1.68630334e-01 9.85675160e-01 -2.87919522e-03 -3.02305609e+01] [-1.79656852e-02 -1.53020985e-04 9.99838592e-01 -3.88915905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters 0.02395923700406151 Centerline is valid? [True, True] Translation: X:196.19, Y:-30.24, Z:-3.88 [[ 9.85606263e-01 1.67866871e-01 2.00251832e-02 1.96190229e+02] [-1.67835479e-01 9.85809662e-01 -3.25007361e-03 -3.02361227e+01] [-2.02865987e-02 -1.57643314e-04 9.99794193e-01 -3.88392352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79401273899998 meters 0.02327054567414555 Centerline is valid? [True, True] Translation: X:196.22, Y:-30.24, Z:-3.88 [[ 9.85760346e-01 1.66676386e-01 2.22603577e-02 1.96218372e+02] [-1.66637324e-01 9.86011643e-01 -3.61141883e-03 -3.02437013e+01] [-2.25509101e-02 -1.49412950e-04 9.99745685e-01 -3.88053085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters 0.023185823563409893 Centerline is valid? [True, True] Translation: X:196.25, Y:-30.25, Z:-3.88 [[ 9.85881282e-01 1.66051850e-01 2.15611131e-02 1.96246405e+02] [-1.66015076e-01 9.86117014e-01 -3.49697639e-03 -3.02497312e+01] [-2.18424599e-02 -1.31866270e-04 9.99761416e-01 -3.88290743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85401273899998 meters 0.022660647068682198 Centerline is valid? [True, True] Translation: X:196.27, Y:-30.26, Z:-3.89 [[ 9.86306939e-01 1.63806635e-01 1.91313651e-02 1.96272616e+02] [-1.63777276e-01 9.86492464e-01 -3.10210855e-03 -3.02586869e+01] [-1.93810935e-02 -7.36516753e-05 9.99812166e-01 -3.88917021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters 0.02241526512634152 Centerline is valid? [True, True] Translation: X:196.30, Y:-30.26, Z:-3.89 [[ 9.86553899e-01 1.62419162e-01 1.82049279e-02 1.96299283e+02] [-1.62392360e-01 9.86721852e-01 -2.95086876e-03 -3.02649544e+01] [-1.84424778e-02 -4.51501164e-05 9.99829922e-01 -3.89123948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914012739 meters 0.02230896360885787 Centerline is valid? [True, True] Translation: X:196.33, Y:-30.27, Z:-3.89 [[ 9.86656762e-01 1.61808793e-01 1.80651159e-02 1.96327016e+02] [-1.61782318e-01 9.86822129e-01 -2.92713276e-03 -3.02710517e+01] [-1.83006920e-02 -3.45410019e-05 9.99832528e-01 -3.89137092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters 0.022540433763885183 Centerline is valid? [True, True] Translation: X:196.36, Y:-30.27, Z:-3.89 [[ 9.86469720e-01 1.62951024e-01 1.80126141e-02 1.96355901e+02] [-1.62924909e-01 9.86634157e-01 -2.91778879e-03 -3.02749924e+01] [-1.82473170e-02 -5.63932315e-05 9.99833502e-01 -3.89138789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974012739 meters 0.022792682783915198 Centerline is valid? [True, True] Translation: X:196.38, Y:-30.28, Z:-3.89 [[ 9.86315040e-01 1.63940124e-01 1.75008047e-02 1.96384791e+02] [-1.63915642e-01 9.86470289e-01 -2.83408863e-03 -3.02776566e+01] [-1.77286447e-02 -7.33513952e-05 9.99842833e-01 -3.89288826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters 0.023793895422953106 Centerline is valid? [True, True] Translation: X:196.41, Y:-30.28, Z:-3.90 [[ 9.85939168e-01 1.66245413e-01 1.69239519e-02 1.96412560e+02] [-1.66222870e-01 9.86084403e-01 -2.73990091e-03 -3.02766027e+01] [-1.71439410e-02 -1.11772248e-04 9.99853026e-01 -3.89597760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034012739 meters 0.023640582314903232 Centerline is valid? [True, True] Translation: X:196.44, Y:-30.28, Z:-3.90 [[ 9.85860504e-01 1.66651034e-01 1.75071120e-02 1.96440887e+02] [-1.66626990e-01 9.86015932e-01 -2.83351367e-03 -3.02813408e+01] [-1.77344993e-02 -1.23708153e-04 9.99842724e-01 -3.89601658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters 0.02361440463244197 Centerline is valid? [True, True] Translation: X:196.47, Y:-30.29, Z:-3.89 [[ 9.85888332e-01 1.66334252e-01 1.88974409e-02 1.96468288e+02] [-1.66306197e-01 9.86069420e-01 -3.05755671e-03 -3.02854885e+01] [-1.91427650e-02 -1.28352043e-04 9.99816752e-01 -3.89414086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094012739 meters 0.022581124114374646 Centerline is valid? [True, True] Translation: X:196.50, Y:-30.29, Z:-3.89 [[ 9.86156030e-01 1.64420886e-01 2.14954915e-02 1.96496466e+02] [-1.64384162e-01 9.86390268e-01 -3.47646891e-03 -3.02942415e+01] [-2.17745477e-02 -1.05177585e-04 9.99762901e-01 -3.89026202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters 0.02205716199204598 Centerline is valid? [True, True] Translation: X:196.52, Y:-30.30, Z:-3.89 [[ 9.86520404e-01 1.62228915e-01 2.14306329e-02 1.96524416e+02] [-1.62191918e-01 9.86753148e-01 -3.46493501e-03 -3.03018670e+01] [-2.17088571e-02 -5.76463702e-05 9.99764333e-01 -3.89135983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154012739 meters 0.022280738692955313 Centerline is valid? [True, True] Translation: X:196.55, Y:-30.32, Z:-3.90 [[ 9.87518034e-01 1.56521750e-01 1.75804959e-02 1.96551397e+02] [-1.56495961e-01 9.87674511e-01 -2.84172174e-03 -3.03164207e+01] [-1.78085989e-02 5.49748647e-05 9.99841413e-01 -3.89911003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters 0.02327336295448017 Centerline is valid? [True, True] Translation: X:196.58, Y:-30.33, Z:-3.90 [[ 9.88030114e-01 1.53440978e-01 1.58858563e-02 1.96580142e+02] [-1.53419532e-01 9.88157809e-01 -2.56723408e-03 -3.03266371e+01] [-1.60916519e-02 9.93039378e-05 9.99870516e-01 -3.90250630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21401273899997 meters 0.024664438210306096 Centerline is valid? [True, True] Translation: X:196.61, Y:-30.34, Z:-3.90 [[ 9.88528267e-01 1.50208135e-01 1.57918209e-02 1.96607972e+02] [-1.50186535e-01 9.88654385e-01 -2.55171353e-03 -3.03372097e+01] [-1.59959411e-02 1.50722096e-04 9.99872045e-01 -3.90312658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters 0.027695524843248723 Centerline is valid? [True, True] Translation: X:196.64, Y:-30.35, Z:-3.90 [[ 9.89378070e-01 1.44211205e-01 1.82801018e-02 1.96636351e+02] [-1.44181253e-01 9.89546890e-01 -2.95294871e-03 -3.03537258e+01] [-1.85148662e-02 2.85934718e-04 9.99828544e-01 -3.89894153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27401273899997 meters 0.02927456198934805 Centerline is valid? [True, True] Translation: X:196.67, Y:-30.36, Z:-3.90 [[ 9.89633841e-01 1.42235892e-01 1.98446739e-02 1.96665998e+02] [-1.42200196e-01 9.89832727e-01 -3.20565641e-03 -3.03643360e+01] [-2.00988671e-02 3.50509556e-04 9.99797936e-01 -3.89604738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters 0.03143794119947736 Centerline is valid? [True, True] Translation: X:196.70, Y:-30.38, Z:-3.90 [[ 9.89921673e-01 1.40091214e-01 2.07251744e-02 1.96695263e+02] [-1.40051738e-01 9.90138515e-01 -3.35127015e-03 -3.03779285e+01] [-2.09902769e-02 4.14898260e-04 9.99779594e-01 -3.89573349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33401273899997 meters 0.03492460009636803 Centerline is valid? [True, True] Translation: X:196.72, Y:-30.39, Z:-3.90 [[ 9.89991088e-01 1.39754873e-01 1.96525174e-02 1.96724712e+02] [-1.39719254e-01 9.90186050e-01 -3.18071133e-03 -3.03907619e+01] [-1.99041685e-02 4.03040789e-04 9.99801811e-01 -3.89852300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters 0.029892477113054615 Centerline is valid? [True, True] Translation: X:196.76, Y:-30.39, Z:-3.90 [[ 9.89826878e-01 1.41239187e-01 1.71535418e-02 1.96756947e+02] [-1.41212256e-01 9.89975447e-01 -2.77734154e-03 -3.03919254e+01] [-1.73738547e-02 3.26796977e-04 9.99849010e-01 -3.90394504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39401273899998 meters 0.02905043620088308 Centerline is valid? [True, True] Translation: X:196.79, Y:-30.40, Z:-3.91 [[ 9.89538772e-01 1.43315623e-01 1.65424224e-02 1.96787511e+02] [-1.43290821e-01 9.89676994e-01 -2.68113811e-03 -3.03971205e+01] [-1.67559038e-02 2.82712833e-04 9.99859570e-01 -3.90527818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters 0.027879090462630658 Centerline is valid? [True, True] Translation: X:196.82, Y:-30.40, Z:-3.91 [[ 9.89236236e-01 1.45441072e-01 1.60799321e-02 1.96817696e+02] [-1.45417868e-01 9.89366886e-01 -2.60920297e-03 -3.04000884e+01] [-1.62884376e-02 2.42808682e-04 9.99867305e-01 -3.90534883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45401273899998 meters 0.02455112320628333 Centerline is valid? [True, True] Translation: X:196.85, Y:-30.40, Z:-3.90 [[ 9.88474034e-01 1.50436978e-01 1.69646893e-02 1.96849196e+02] [-1.50411881e-01 9.88619587e-01 -2.75301771e-03 -3.03976506e+01] [-1.71857798e-02 1.69595693e-04 9.99852299e-01 -3.90426872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters 0.023563324888519515 Centerline is valid? [True, True] Translation: X:196.88, Y:-30.40, Z:-3.90 [[ 9.88165568e-01 1.52301128e-01 1.82531078e-02 1.96879801e+02] [-1.52272392e-01 9.88334126e-01 -2.96210136e-03 -3.04010390e+01] [-1.84913008e-02 1.47602176e-04 9.99829010e-01 -3.90314362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51401273899998 meters 0.0229113075585317 Centerline is valid? [True, True] Translation: X:196.91, Y:-30.41, Z:-3.90 [[ 9.87990682e-01 1.53118671e-01 2.07143549e-02 1.96909680e+02] [-1.53081841e-01 9.88207797e-01 -3.36151079e-03 -3.04086222e+01] [-2.09847971e-02 1.50149735e-04 9.99779784e-01 -3.89972821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters 0.023021859483455358 Centerline is valid? [True, True] Translation: X:196.94, Y:-30.42, Z:-3.90 [[ 9.88001740e-01 1.52967652e-01 2.12945821e-02 1.96940535e+02] [-1.52928694e-01 9.88231184e-01 -3.45569961e-03 -3.04158109e+01] [-2.15725803e-02 1.57684602e-04 9.99767272e-01 -3.89902857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57401273899998 meters 0.023021859483455358 Centerline is valid? [True, True] Translation: X:196.97, Y:-30.42, Z:-3.90 [[ 9.87976787e-01 1.53128747e-01 2.12944729e-02 1.96971779e+02] [-1.53089812e-01 9.88206235e-01 -3.45637187e-03 -3.04210221e+01] [-2.15726008e-02 1.54848316e-04 9.99767272e-01 -3.89967193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters 0.022782546683653628 Centerline is valid? [True, True] Translation: X:197.00, Y:-30.43, Z:-3.90 [[ 9.87863387e-01 1.53855405e-01 2.13176818e-02 1.97003182e+02] [-1.53816478e-01 9.88093363e-01 -3.46371109e-03 -3.04278392e+01] [-2.15967706e-02 1.42662635e-04 9.99766752e-01 -3.89976818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63401273899999 meters 0.022323935945605174 Centerline is valid? [True, True] Translation: X:197.04, Y:-30.43, Z:-3.90 [[ 9.87681699e-01 1.55028746e-01 2.12355812e-02 1.97035092e+02] [-1.54990312e-01 9.87909952e-01 -3.45392067e-03 -3.04345261e+01] [-2.15142990e-02 1.20064872e-04 9.99768533e-01 -3.90017691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters 0.02180492137576924 Centerline is valid? [True, True] Translation: X:197.07, Y:-30.44, Z:-3.90 [[ 9.87338706e-01 1.57165771e-01 2.14755627e-02 1.97065013e+02] [-1.57126894e-01 9.87572232e-01 -3.49641883e-03 -3.04424925e+01] [-2.17581868e-02 7.77611907e-05 9.99763260e-01 -3.90080183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694012739 meters 0.021573491881607808 Centerline is valid? [True, True] Translation: X:197.10, Y:-30.45, Z:-3.90 [[ 9.87098437e-01 1.58730157e-01 2.10098382e-02 1.97096021e+02] [-1.58693291e-01 9.87322002e-01 -3.42109031e-03 -3.04473946e+01] [-2.12865057e-02 4.28325190e-05 9.99773416e-01 -3.90245819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters 0.021668672238866277 Centerline is valid? [True, True] Translation: X:197.13, Y:-30.45, Z:-3.91 [[ 9.86518208e-01 1.62514914e-01 1.92543064e-02 1.97125435e+02] [-1.62484664e-01 9.86706087e-01 -3.13567000e-03 -3.04513833e+01] [-1.95079345e-02 -3.51339697e-05 9.99809702e-01 -3.90676530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754012739 meters 0.021893222362962886 Centerline is valid? [True, True] Translation: X:197.16, Y:-30.46, Z:-3.91 [[ 9.86175144e-01 1.64630142e-01 1.88547483e-02 1.97155836e+02] [-1.64601521e-01 9.86355367e-01 -3.07059975e-03 -3.04562679e+01] [-1.91029955e-02 -7.53711034e-05 9.99817518e-01 -3.90821625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters 0.022845441868157134 Centerline is valid? [True, True] Translation: X:197.19, Y:-30.46, Z:-3.91 [[ 9.85774451e-01 1.67000941e-01 1.89582841e-02 1.97185284e+02] [-1.66972443e-01 9.85956729e-01 -3.08747398e-03 -3.04596003e+01] [-1.92076588e-02 -1.21958049e-04 9.99815508e-01 -3.90840373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814012739 meters 0.025299048749846197 Centerline is valid? [True, True] Translation: X:197.22, Y:-30.46, Z:-3.91 [[ 9.84929934e-01 1.71760415e-01 2.02826113e-02 1.97215219e+02] [-1.71728809e-01 9.85138725e-01 -3.30288917e-03 -3.04611468e+01] [-2.05484915e-02 -2.29994283e-04 9.99788831e-01 -3.90703189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters 0.02632636463296423 Centerline is valid? [True, True] Translation: X:197.24, Y:-30.46, Z:-3.91 [[ 9.84593114e-01 1.73720040e-01 1.99436227e-02 1.97244484e+02] [-1.73689893e-01 9.84795043e-01 -3.24722325e-03 -3.04640555e+01] [-2.02044885e-02 -2.66812054e-04 9.99795833e-01 -3.90807005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874012739 meters 0.0293106258172487 Centerline is valid? [True, True] Translation: X:197.27, Y:-30.46, Z:-3.91 [[ 9.83871156e-01 1.77983442e-01 1.78729405e-02 1.97274402e+02] [-1.77959939e-01 9.84033431e-01 -2.90972201e-03 -3.04623420e+01] [-1.81054533e-02 -3.17875856e-04 9.99836032e-01 -3.91246706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters 0.031920749973421536 Centerline is valid? [True, True] Translation: X:197.30, Y:-30.46, Z:-3.92 [[ 9.83683146e-01 1.79076608e-01 1.72926827e-02 1.97302632e+02] [-1.79054785e-01 9.83835078e-01 -2.81471413e-03 -3.04616124e+01] [-1.75171973e-02 -3.27550735e-04 9.99846508e-01 -3.91510578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93401273899997 meters 0.032365303643127966 Centerline is valid? [True, True] Translation: X:197.33, Y:-30.46, Z:-3.92 [[ 9.83666095e-01 1.79198789e-01 1.69943666e-02 1.97330806e+02] [-1.79177748e-01 9.83812832e-01 -2.76515207e-03 -3.04645705e+01] [-1.72147878e-02 -3.25025999e-04 9.99851762e-01 -3.91667709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters 0.03048253311029306 Centerline is valid? [True, True] Translation: X:197.36, Y:-30.47, Z:-3.91 [[ 9.84047858e-01 1.76997503e-01 1.79359371e-02 1.97358076e+02] [-1.76973722e-01 9.84211254e-01 -2.91715847e-03 -3.04702933e+01] [-1.81690809e-02 -3.03565992e-04 9.99834883e-01 -3.91457753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99401273899997 meters 0.028183033847302523 Centerline is valid? [True, True] Translation: X:197.39, Y:-30.48, Z:-3.91 [[ 9.84348319e-01 1.75256810e-01 1.85320789e-02 1.97386081e+02] [-1.75231135e-01 9.84522712e-01 -3.01300910e-03 -3.04778916e+01] [-1.87733030e-02 -2.81546778e-04 9.99823726e-01 -3.91344094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters 0.024980646330602457 Centerline is valid? [True, True] Translation: X:197.41, Y:-30.49, Z:-3.91 [[ 9.85046264e-01 1.71229858e-01 1.90838440e-02 1.97414106e+02] [-1.71201893e-01 9.85231085e-01 -3.10176544e-03 -3.04880630e+01] [-1.93331112e-02 -2.11807767e-04 9.99813076e-01 -3.91376604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05401273899997 meters 0.02446434165910182 Centerline is valid? [True, True] Translation: X:197.44, Y:-30.49, Z:-3.91 [[ 9.85395188e-01 1.69201354e-01 1.91631192e-02 1.97442939e+02] [-1.69172783e-01 9.85581489e-01 -3.11414057e-03 -3.04940387e+01] [-1.94137323e-02 -1.73219063e-04 9.99811521e-01 -3.91426751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters 0.023270456267591947 Centerline is valid? [True, True] Translation: X:197.47, Y:-30.50, Z:-3.91 [[ 9.85727579e-01 1.67228829e-01 1.93819407e-02 1.97471423e+02] [-1.67199212e-01 9.85918100e-01 -3.15006225e-03 -3.05014970e+01] [-1.96357873e-02 -1.35541981e-04 9.99807190e-01 -3.91378544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11401273899997 meters 0.022354553778998303 Centerline is valid? [True, True] Translation: X:197.50, Y:-30.51, Z:-3.91 [[ 9.86181210e-01 1.64499157e-01 1.96633985e-02 1.97500672e+02] [-1.64468141e-01 9.86377220e-01 -3.19532983e-03 -3.05056237e+01] [-1.99211574e-02 -8.28283541e-05 9.99801551e-01 -3.91389634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters 0.0222224889304006 Centerline is valid? [True, True] Translation: X:197.53, Y:-30.51, Z:-3.91 [[ 9.86319505e-01 1.63688716e-01 1.94894306e-02 1.97528920e+02] [-1.63658092e-01 9.86512037e-01 -3.16684545e-03 -3.05086977e+01] [-1.97449348e-02 -6.60815863e-05 9.99805048e-01 -3.91496629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17401273899998 meters 0.022099901323730277 Centerline is valid? [True, True] Translation: X:197.56, Y:-30.51, Z:-3.92 [[ 9.86326409e-01 1.63603553e-01 1.98517795e-02 1.97558995e+02] [-1.63571777e-01 9.86526164e-01 -3.22500929e-03 -3.05131484e+01] [-2.01119229e-02 -6.62790110e-05 9.99797733e-01 -3.91534697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters 0.022015278460002757 Centerline is valid? [True, True] Translation: X:197.59, Y:-30.52, Z:-3.92 [[ 9.86339106e-01 1.63518841e-01 1.99187477e-02 1.97588768e+02] [-1.63486833e-01 9.86540209e-01 -3.23588858e-03 -3.05177611e+01] [-2.01797743e-02 -6.47695392e-05 9.99796366e-01 -3.91546582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23401273899998 meters 0.022030377362975955 Centerline is valid? [True, True] Translation: X:197.62, Y:-30.52, Z:-3.92 [[ 9.86379800e-01 1.63357717e-01 1.92131634e-02 1.97618951e+02] [-1.63327906e-01 9.86566902e-01 -3.12126328e-03 -3.05197632e+01] [-1.94649535e-02 -5.92946966e-05 9.99810538e-01 -3.91732586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters 0.022111287448150198 Centerline is valid? [True, True] Translation: X:197.65, Y:-30.52, Z:-3.92 [[ 9.86389637e-01 1.63335901e-01 1.88909154e-02 1.97648357e+02] [-1.63307078e-01 9.86570514e-01 -3.06892650e-03 -3.05229074e+01] [-1.91384860e-02 -5.78628949e-05 9.99816841e-01 -3.91890508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29401273899998 meters 0.022066524869535066 Centerline is valid? [True, True] Translation: X:197.68, Y:-30.53, Z:-3.92 [[ 9.86454742e-01 1.62917213e-01 1.91056022e-02 1.97677603e+02] [-1.62887657e-01 9.86639741e-01 -3.10358288e-03 -3.05274070e+01] [-1.93559734e-02 -5.05227150e-05 9.99812654e-01 -3.91968408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters 0.021842229651164672 Centerline is valid? [True, True] Translation: X:197.71, Y:-30.54, Z:-3.92 [[ 9.86967793e-01 1.59721236e-01 1.95883167e-02 1.97706792e+02] [-1.59689547e-01 9.87162158e-01 -3.18150475e-03 -3.05376802e+01] [-1.98449989e-02 1.19933018e-05 9.99803069e-01 -3.92075841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35401273899998 meters 0.022188993185634404 Centerline is valid? [True, True] Translation: X:197.74, Y:-30.55, Z:-3.92 [[ 9.87390301e-01 1.57063200e-01 1.97874731e-02 1.97735635e+02] [-1.57030329e-01 9.87588551e-01 -3.21383728e-03 -3.05465425e+01] [-2.00466575e-02 6.60783353e-05 9.99799043e-01 -3.92094325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters 0.024231586401951572 Centerline is valid? [True, True] Translation: X:197.76, Y:-30.56, Z:-3.92 [[ 9.88205207e-01 1.51880674e-01 1.95634712e-02 1.97764761e+02] [-1.51847507e-01 9.88398822e-01 -3.17847409e-03 -3.05597913e+01] [-1.98192607e-02 1.70320308e-04 9.99803565e-01 -3.92150148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414012739 meters 0.02528334373434163 Centerline is valid? [True, True] Translation: X:197.80, Y:-30.57, Z:-3.92 [[ 9.88588125e-01 1.49311428e-01 1.99904109e-02 1.97795472e+02] [-1.49276208e-01 9.88790192e-01 -3.25098991e-03 -3.05694908e+01] [-2.02517322e-02 2.29797281e-04 9.99794886e-01 -3.92183806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters 0.02946637263095355 Centerline is valid? [True, True] Translation: X:197.82, Y:-30.59, Z:-3.92 [[ 9.89493525e-01 1.43163608e-01 2.01679226e-02 1.97822527e+02] [-1.43126412e-01 9.89698969e-01 -3.28329983e-03 -3.05878282e+01] [-2.04302212e-02 3.62241527e-04 9.99791216e-01 -3.92261381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474012739 meters 0.03186182350714738 Centerline is valid? [True, True] Translation: X:197.85, Y:-30.60, Z:-3.92 [[ 9.89842505e-01 1.40741012e-01 2.00943663e-02 1.97851848e+02] [-1.40703564e-01 9.90046361e-01 -3.27250336e-03 -3.05979355e+01] [-2.03549297e-02 4.11913974e-04 9.99792732e-01 -3.92303450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters 0.03255328760284167 Centerline is valid? [True, True] Translation: X:197.88, Y:-30.60, Z:-3.92 [[ 9.89989489e-01 1.39756780e-01 1.97193966e-02 1.97883566e+02] [-1.39720513e-01 9.90185772e-01 -3.21185617e-03 -3.06038298e+01] [-1.99747446e-02 4.24499632e-04 9.99800395e-01 -3.92321161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534012739 meters 0.032318492553806366 Centerline is valid? [True, True] Translation: X:197.91, Y:-30.61, Z:-3.92 [[ 9.89890178e-01 1.40571276e-01 1.88984399e-02 1.97914712e+02] [-1.40538057e-01 9.90070483e-01 -3.08115066e-03 -3.06094543e+01] [-1.91439088e-02 3.94050754e-04 9.99816661e-01 -3.92456918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters 0.030800518493184617 Centerline is valid? [True, True] Translation: X:197.95, Y:-30.61, Z:-3.93 [[ 9.89728317e-01 1.41844904e-01 1.78292462e-02 1.97946330e+02] [-1.41815494e-01 9.89888832e-01 -2.90959406e-03 -3.06134385e+01] [-1.80616828e-02 3.51244273e-04 9.99836813e-01 -3.92730197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594012739 meters 0.030680632504390782 Centerline is valid? [True, True] Translation: X:197.98, Y:-30.62, Z:-3.93 [[ 9.89584969e-01 1.43001778e-01 1.64948555e-02 1.97977474e+02] [-1.42976724e-01 9.89722384e-01 -2.69435976e-03 -3.06189064e+01] [-1.67106259e-02 3.07917504e-04 9.99860320e-01 -3.93047935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters 0.029389414343260426 Centerline is valid? [True, True] Translation: X:198.01, Y:-30.62, Z:-3.93 [[ 9.89337387e-01 1.44687014e-01 1.66493995e-02 1.98010168e+02] [-1.44661679e-01 9.89477431e-01 -2.72242636e-03 -3.06203914e+01] [-1.68681048e-02 2.84868089e-04 9.99857683e-01 -3.93080883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654012739 meters 0.028088043034837373 Centerline is valid? [True, True] Translation: X:198.04, Y:-30.62, Z:-3.93 [[ 9.89187136e-01 1.45539126e-01 1.80879309e-02 1.98042527e+02] [-1.45509306e-01 9.89352452e-01 -2.96094465e-03 -3.06223701e+01] [-1.83262720e-02 2.96966090e-04 9.99832016e-01 -3.92855525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters 0.0277643317300539 Centerline is valid? [True, True] Translation: X:198.07, Y:-30.63, Z:-3.92 [[ 9.88944658e-01 1.46906871e-01 2.01701583e-02 1.98073161e+02] [-1.46869994e-01 9.89150280e-01 -3.30566966e-03 -3.06274203e+01] [-2.04369433e-02 3.06733317e-04 9.99791097e-01 -3.92495454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71401273899997 meters 0.028028760021371925 Centerline is valid? [True, True] Translation: X:198.10, Y:-30.63, Z:-3.93 [[ 9.88965816e-01 1.46821524e-01 1.97497948e-02 1.98104255e+02] [-1.46786090e-01 9.89162953e-01 -3.23986992e-03 -3.06333768e+01] [-2.00114479e-02 3.05125446e-04 9.99799704e-01 -3.92652084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters 0.029848629157338494 Centerline is valid? [True, True] Translation: X:198.14, Y:-30.64, Z:-3.93 [[ 9.89130208e-01 1.45903024e-01 1.82685247e-02 1.98135818e+02] [-1.45872514e-01 9.89298851e-01 -2.99878760e-03 -3.06396217e+01] [-1.85105626e-02 3.01315777e-04 9.99828619e-01 -3.92772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77401273899997 meters 0.03128038581523228 Centerline is valid? [True, True] Translation: X:198.17, Y:-30.65, Z:-3.94 [[ 9.89566252e-01 1.43247852e-01 1.54494562e-02 1.98165405e+02] [-1.43225667e-01 9.89686800e-01 -2.53877928e-03 -3.06485449e+01] [-1.56537975e-02 2.99531640e-04 9.99877427e-01 -3.93734119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters 0.03200180284404663 Centerline is valid? [True, True] Translation: X:198.20, Y:-30.66, Z:-3.94 [[ 9.89726374e-01 1.42133170e-01 1.54875993e-02 1.98197238e+02] [-1.42110742e-01 9.89847494e-01 -2.54477243e-03 -3.06557903e+01] [-1.56920580e-02 3.17674154e-04 9.99876822e-01 -3.93775355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83401273899997 meters 0.03338921983344975 Centerline is valid? [True, True] Translation: X:198.23, Y:-30.66, Z:-3.93 [[ 9.89927360e-01 1.40473668e-01 1.76343794e-02 1.98228240e+02] [-1.40444268e-01 9.90084336e-01 -2.90091205e-03 -3.06648427e+01] [-1.78670246e-02 3.95044710e-04 9.99840294e-01 -3.93356504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters 0.03398440928342773 Centerline is valid? [True, True] Translation: X:198.26, Y:-30.67, Z:-3.93 [[ 9.89983441e-01 1.40009423e-01 1.81699864e-02 1.98259734e+02] [-1.39978073e-01 9.90150083e-01 -2.99216416e-03 -3.06719228e+01] [-1.84099447e-02 4.18793293e-04 9.99830435e-01 -3.93355895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89401273899998 meters 0.034525155183085424 Centerline is valid? [True, True] Translation: X:198.29, Y:-30.68, Z:-3.93 [[ 9.90059591e-01 1.39520053e-01 1.77809149e-02 1.98290917e+02] [-1.39489900e-01 9.90219156e-01 -2.93099879e-03 -3.06789018e+01] [-1.80159356e-02 4.21605430e-04 9.99837611e-01 -3.93464407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters 0.036153654217225877 Centerline is valid? [True, True] Translation: X:198.32, Y:-30.69, Z:-3.94 [[ 9.90172583e-01 1.38841196e-01 1.67743328e-02 1.98320413e+02] [-1.38814215e-01 9.90314572e-01 -2.76795457e-03 -3.06883917e+01] [-1.69961723e-02 4.12236894e-04 9.99855470e-01 -3.93677278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95401273899998 meters 0.03542242999953395 Centerline is valid? [True, True] Translation: X:198.35, Y:-30.69, Z:-3.94 [[ 9.90126618e-01 1.39097123e-01 1.73571295e-02 1.98352728e+02] [-1.39068251e-01 9.90278653e-01 -2.86533576e-03 -3.06946846e+01] [-1.75869548e-02 4.23219560e-04 9.99845248e-01 -3.93617788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters 0.03601452108376163 Centerline is valid? [True, True] Translation: X:198.38, Y:-30.71, Z:-3.93 [[ 9.90068680e-01 1.39104455e-01 2.03459863e-02 1.98383096e+02] [-1.39064691e-01 9.90277588e-01 -3.36323447e-03 -3.07069905e+01] [-2.06160151e-02 5.00424808e-04 9.99787342e-01 -3.93116941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01401273899998 meters 0.03691396806125096 Centerline is valid? [True, True] Translation: X:198.41, Y:-30.72, Z:-3.93 [[ 9.90169837e-01 1.38328828e-01 2.07081895e-02 1.98414167e+02] [-1.38287389e-01 9.90386215e-01 -3.42680853e-03 -3.07164338e+01] [-2.09831318e-02 5.29440992e-04 9.99779690e-01 -3.93165209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters 0.03642007530621981 Centerline is valid? [True, True] Translation: X:198.44, Y:-30.72, Z:-3.94 [[ 9.90346836e-01 1.37265590e-01 1.92692261e-02 1.98444945e+02] [-1.37229453e-01 9.90534144e-01 -3.19160379e-03 -3.07238380e+01] [-1.95249237e-02 5.16489363e-04 9.99809237e-01 -3.93510940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07401273899998 meters 0.04072692742984005 Centerline is valid? [True, True] Translation: X:198.47, Y:-30.74, Z:-3.95 [[ 9.90646802e-01 1.35677438e-01 1.45102419e-02 1.98472963e+02] [-1.35656749e-01 9.90752977e-01 -2.40526634e-03 -3.07426121e+01] [-1.47024058e-02 4.14357156e-04 9.99891828e-01 -3.94508843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters 0.03774537577618732 Centerline is valid? [True, True] Translation: X:198.50, Y:-30.75, Z:-3.94 [[ 9.90500043e-01 1.36655250e-01 1.53299553e-02 1.98503337e+02] [-1.36632260e-01 9.90618576e-01 -2.54206078e-03 -3.07539338e+01] [-1.55335245e-02 4.23344877e-04 9.99879258e-01 -3.94273205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13401273899999 meters 0.03862039439102991 Centerline is valid? [True, True] Translation: X:198.53, Y:-30.76, Z:-3.94 [[ 9.90250591e-01 1.38291697e-01 1.67084886e-02 1.98532804e+02] [-1.38264566e-01 9.90391446e-01 -2.77379967e-03 -3.07646352e+01] [-1.69315377e-02 4.36564830e-04 9.99856556e-01 -3.94122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters 0.03631368686912049 Centerline is valid? [True, True] Translation: X:198.57, Y:-30.77, Z:-3.94 [[ 9.89952818e-01 1.40307379e-01 1.75287923e-02 1.98565139e+02] [-1.40277778e-01 9.90107903e-01 -2.91309692e-03 -3.07701472e+01] [-1.77641247e-02 4.24928476e-04 9.99842115e-01 -3.94014214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194012739 meters 0.0343691512548311 Centerline is valid? [True, True] Translation: X:198.60, Y:-30.78, Z:-3.94 [[ 9.89562397e-01 1.43008490e-01 1.77435611e-02 1.98595458e+02] [-1.42978573e-01 9.89721388e-01 -2.94986981e-03 -3.07750929e+01] [-1.79830384e-02 3.82131181e-04 9.99838219e-01 -3.94009506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters 0.02630877744563172 Centerline is valid? [True, True] Translation: X:198.63, Y:-30.77, Z:-3.94 [[ 9.88379563e-01 1.50949608e-01 1.78900886e-02 1.98627237e+02] [-1.50920482e-01 9.88541430e-01 -2.97489679e-03 -3.07707534e+01] [-1.81341532e-02 2.40346398e-04 9.99835534e-01 -3.93927673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254012739 meters 0.021862168005059846 Centerline is valid? [True, True] Translation: X:198.66, Y:-30.76, Z:-3.94 [[ 9.86854732e-01 1.60494462e-01 1.89542976e-02 1.98660207e+02] [-1.60463521e-01 9.87036738e-01 -3.15207931e-03 -3.07637464e+01] [-1.92144794e-02 6.91710562e-05 9.99815382e-01 -3.93749097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters 0.021339507621673925 Centerline is valid? [True, True] Translation: X:198.69, Y:-30.76, Z:-3.94 [[ 9.86160600e-01 1.64671827e-01 1.92473639e-02 1.98691783e+02] [-1.64640705e-01 9.86348412e-01 -3.20143277e-03 -3.07630970e+01] [-1.95117926e-02 -1.17726967e-05 9.99809627e-01 -3.93800584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314012739 meters 0.02179784614792244 Centerline is valid? [True, True] Translation: X:198.72, Y:-30.76, Z:-3.94 [[ 9.85649066e-01 1.67768357e-01 1.87001810e-02 1.98724815e+02] [-1.67739483e-01 9.85826442e-01 -3.11322038e-03 -3.07643836e+01] [-1.89574328e-02 -6.82159331e-05 9.99820289e-01 -3.93965828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters 0.022551152596423638 Centerline is valid? [True, True] Translation: X:198.76, Y:-30.77, Z:-3.94 [[ 9.85191868e-01 1.70510923e-01 1.79724428e-02 1.98756232e+02] [-1.70484646e-01 9.85355780e-01 -2.99551998e-03 -3.07657629e+01] [-1.82200193e-02 -1.12863629e-04 9.99833995e-01 -3.94156019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374012739 meters 0.024127669650817012 Centerline is valid? [True, True] Translation: X:198.79, Y:-30.76, Z:-3.94 [[ 9.84576233e-01 1.74080225e-01 1.74847363e-02 1.98788017e+02] [-1.74055863e-01 9.84731459e-01 -2.91726379e-03 -3.07638893e+01] [-1.77256078e-02 -1.71052269e-04 9.99842874e-01 -3.94157011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters 0.0254847324588853 Centerline is valid? [True, True] Translation: X:198.82, Y:-30.76, Z:-3.94 [[ 9.84085822e-01 1.76662171e-01 1.91199328e-02 1.98819871e+02] [-1.76633516e-01 9.84271518e-01 -3.19061397e-03 -3.07611771e+01] [-1.93828661e-02 -2.37382994e-04 9.99812106e-01 -3.93934573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43401273899997 meters 0.027196511094069203 Centerline is valid? [True, True] Translation: X:198.85, Y:-30.76, Z:-3.94 [[ 9.83763941e-01 1.78369286e-01 1.98218881e-02 1.98849616e+02] [-1.78338834e-01 9.83963576e-01 -3.30775432e-03 -3.07606281e+01] [-2.00940177e-02 -2.80962998e-04 9.99798055e-01 -3.93909897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters 0.027196511094069203 Centerline is valid? [True, True] Translation: X:198.88, Y:-30.77, Z:-3.94 [[ 9.83763941e-01 1.78369281e-01 1.98219267e-02 1.98879204e+02] [-1.78338834e-01 9.83963577e-01 -3.30752302e-03 -3.07655653e+01] [-2.00940144e-02 -2.81197424e-04 9.99798055e-01 -3.93970822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49401273899997 meters 0.02772860051731236 Centerline is valid? [True, True] Translation: X:198.91, Y:-30.77, Z:-3.94 [[ 9.83371450e-01 1.80488300e-01 2.01138111e-02 1.98910186e+02] [-1.80457393e-01 9.83577076e-01 -3.35622738e-03 -3.07668918e+01] [-2.03892433e-02 -3.29267727e-04 9.99792064e-01 -3.94015303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters 0.030968276356111286 Centerline is valid? [True, True] Translation: X:198.94, Y:-30.76, Z:-3.94 [[ 9.82855250e-01 1.83355450e-01 1.93994171e-02 1.98940893e+02] [-1.83327257e-01 9.83046611e-01 -3.23702990e-03 -3.07629934e+01] [-1.96640583e-02 -3.74910094e-04 9.99806573e-01 -3.94188203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55401273899997 meters 0.03643845812387789 Centerline is valid? [True, True] Translation: X:198.97, Y:-30.75, Z:-3.95 [[ 9.81758744e-01 1.89421256e-01 1.64120984e-02 1.98973485e+02] [-1.89401927e-01 9.81895825e-01 -2.73841180e-03 -3.07511316e+01] [-1.66336843e-02 -4.20023344e-04 9.99861562e-01 -3.94711030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters 0.03866451064659873 Centerline is valid? [True, True] Translation: X:199.00, Y:-30.75, Z:-3.95 [[ 9.81321902e-01 1.91753794e-01 1.54210171e-02 1.99003487e+02] [-1.91737018e-01 9.81442966e-01 -2.57296737e-03 -3.07484143e+01] [-1.56282250e-02 -4.31870595e-04 9.99877779e-01 -3.94895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61401273899997 meters 0.04070373914710781 Centerline is valid? [True, True] Translation: X:199.03, Y:-30.74, Z:-3.95 [[ 9.80892542e-01 1.93811851e-01 1.69347808e-02 1.99034017e+02] [-1.93791940e-01 9.81038585e-01 -2.82464567e-03 -3.07426570e+01] [-1.71611232e-02 -5.11150148e-04 9.99852606e-01 -3.94767673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters 0.04258234591383375 Centerline is valid? [True, True] Translation: X:199.06, Y:-30.74, Z:-3.95 [[ 9.80861555e-01 1.93822161e-01 1.85358957e-02 1.99061695e+02] [-1.93798327e-01 9.81036521e-01 -3.09077334e-03 -3.07402859e+01] [-1.87834510e-02 -5.60604819e-04 9.99823418e-01 -3.94584177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67401273899998 meters 0.04041093481337229 Centerline is valid? [True, True] Translation: X:199.09, Y:-30.74, Z:-3.94 [[ 9.80960615e-01 1.93228629e-01 1.94671402e-02 1.99089926e+02] [-1.93202256e-01 9.81153588e-01 -3.24435202e-03 -3.07439238e+01] [-1.97271561e-02 -5.78513851e-04 9.99805233e-01 -3.94437743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters 0.03798960336543111 Centerline is valid? [True, True] Translation: X:199.12, Y:-30.74, Z:-3.94 [[ 9.81399704e-01 1.90939171e-01 1.99212208e-02 1.99119587e+02] [-1.90911101e-01 9.81601719e-01 -3.31906859e-03 -3.07446793e+01] [-2.01884448e-02 -5.45849270e-04 9.99796044e-01 -3.94493154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73401273899998 meters 0.03616133108884676 Centerline is valid? [True, True] Translation: X:199.15, Y:-30.75, Z:-3.95 [[ 9.81792329e-01 1.88978649e-01 1.92585937e-02 1.99148184e+02] [-1.88952052e-01 9.81981075e-01 -3.20802181e-03 -3.07488760e+01] [-1.95178222e-02 -4.89339593e-04 9.99809389e-01 -3.94625537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters 0.03381243325084134 Centerline is valid? [True, True] Translation: X:199.18, Y:-30.75, Z:-3.95 [[ 9.82609080e-01 1.84714837e-01 1.89690378e-02 1.99176738e+02] [-1.84688256e-01 9.82792079e-01 -3.15889414e-03 -3.07502902e+01] [-1.92261147e-02 -3.99400445e-04 9.99815081e-01 -3.94695430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79401273899998 meters 0.030570778468490104 Centerline is valid? [True, True] Translation: X:199.20, Y:-30.76, Z:-3.95 [[ 9.82856820e-01 1.83393196e-01 1.89580499e-02 1.99204533e+02] [-1.83366413e-01 9.83039570e-01 -3.15640670e-03 -3.07563646e+01] [-1.92153767e-02 -3.73973749e-04 9.99815298e-01 -3.94747127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters 0.02988646314672275 Centerline is valid? [True, True] Translation: X:199.23, Y:-30.76, Z:-3.95 [[ 9.82996727e-01 1.82728987e-01 1.80984250e-02 1.99233248e+02] [-1.82704480e-01 9.83163261e-01 -3.01245555e-03 -3.07585466e+01] [-1.83441695e-02 -3.45429392e-04 9.99831672e-01 -3.94873715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85401273899998 meters 0.03089359096963797 Centerline is valid? [True, True] Translation: X:199.26, Y:-30.75, Z:-3.95 [[ 9.83159104e-01 1.81913973e-01 1.74780672e-02 1.99262196e+02] [-1.81891003e-01 9.83314397e-01 -2.90841110e-03 -3.07546033e+01] [-1.77155158e-02 -3.19672325e-04 9.99843017e-01 -3.95117109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters 0.030666139382485327 Centerline is valid? [True, True] Translation: X:199.29, Y:-30.75, Z:-3.95 [[ 9.83312732e-01 1.80938521e-01 1.89029806e-02 1.99291066e+02] [-1.80911496e-01 9.83494354e-01 -3.14427162e-03 -3.07531110e+01] [-1.91598945e-02 -3.27964175e-04 9.99816379e-01 -3.94914223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914012739 meters 0.030494449858256764 Centerline is valid? [True, True] Translation: X:199.32, Y:-30.75, Z:-3.95 [[ 9.83297161e-01 1.80943726e-01 1.96484602e-02 1.99319539e+02] [-1.80914552e-01 9.83493391e-01 -3.26709554e-03 -3.07549191e+01] [-1.99152912e-02 -3.42166603e-04 9.99801612e-01 -3.94767089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters 0.03107208082680039 Centerline is valid? [True, True] Translation: X:199.35, Y:-30.76, Z:-3.95 [[ 9.83222239e-01 1.81325689e-01 1.98752093e-02 1.99347965e+02] [-1.81295944e-01 9.83423036e-01 -3.30342667e-03 -3.07553687e+01] [-2.01447348e-02 -3.55292270e-04 9.99797011e-01 -3.94724836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974012739 meters 0.03193479574644714 Centerline is valid? [True, True] Translation: X:199.38, Y:-30.75, Z:-3.95 [[ 9.83103875e-01 1.82017053e-01 1.94052565e-02 1.99377522e+02] [-1.81988854e-01 9.83295307e-01 -3.22424106e-03 -3.07507305e+01] [-1.96679645e-02 -3.61776518e-04 9.99806501e-01 -3.94889731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters 0.03197543139015417 Centerline is valid? [True, True] Translation: X:199.41, Y:-30.75, Z:-3.95 [[ 9.83129357e-01 1.81923546e-01 1.89865732e-02 1.99405758e+02] [-1.81896548e-01 9.83312615e-01 -3.15386433e-03 -3.07509703e+01] [-1.92434991e-02 -3.52935508e-04 9.99814764e-01 -3.95043691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034012739 meters 0.0296616148271027 Centerline is valid? [True, True] Translation: X:199.43, Y:-30.75, Z:-3.95 [[ 9.83319247e-01 1.80842627e-01 1.94731062e-02 1.99434803e+02] [-1.80814043e-01 9.83511986e-01 -3.23332644e-03 -3.07534753e+01] [-1.97367566e-02 -3.41618925e-04 9.99805153e-01 -3.95043403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters 0.02795334281340441 Centerline is valid? [True, True] Translation: X:199.46, Y:-30.76, Z:-3.95 [[ 9.83603916e-01 1.79242163e-01 1.98892732e-02 1.99463061e+02] [-1.79212036e-01 9.83804933e-01 -3.30147162e-03 -3.07582124e+01] [-2.01589280e-02 -3.17056733e-04 9.99796738e-01 -3.94986952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094012739 meters 0.026656087012653474 Centerline is valid? [True, True] Translation: X:199.49, Y:-30.76, Z:-3.95 [[ 9.83984721e-01 1.77133158e-01 1.99477589e-02 1.99491157e+02] [-1.77102440e-01 9.84186856e-01 -3.31022551e-03 -3.07622245e+01] [-2.02186728e-02 -2.75585440e-04 9.99795544e-01 -3.95021982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters 0.02426111327924743 Centerline is valid? [True, True] Translation: X:199.52, Y:-30.77, Z:-3.95 [[ 9.84873783e-01 1.72223433e-01 1.90452217e-02 1.99518670e+02] [-1.72194529e-01 9.85057897e-01 -3.15960465e-03 -3.07650780e+01] [-1.93048040e-02 -1.67671200e-04 9.99813631e-01 -3.95324312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154012739 meters 0.022530864143561098 Centerline is valid? [True, True] Translation: X:199.55, Y:-30.77, Z:-3.95 [[ 9.85388504e-01 1.69298943e-01 1.86377181e-02 1.99547133e+02] [-1.69270760e-01 9.85564740e-01 -3.09091631e-03 -3.07714567e+01] [-1.88919667e-02 -1.09067320e-04 9.99821525e-01 -3.95497572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters 0.02114009331470059 Centerline is valid? [True, True] Translation: X:199.57, Y:-30.78, Z:-3.96 [[ 9.86549157e-01 1.62440086e-01 1.82750795e-02 1.99573891e+02] [-1.62411826e-01 9.86718409e-01 -3.03000020e-03 -3.07828890e+01] [-1.85245508e-02 2.11551195e-05 9.99828406e-01 -3.95700488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21401273899997 meters 0.022193213746604774 Centerline is valid? [True, True] Translation: X:199.60, Y:-30.79, Z:-3.96 [[ 9.87208197e-01 1.58444961e-01 1.77530115e-02 1.99601758e+02] [-1.58417659e-01 9.87367807e-01 -2.94270062e-03 -3.07931551e+01] [-1.79950081e-02 9.26676601e-05 9.99838072e-01 -3.95819134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters 0.02352250388317707 Centerline is valid? [True, True] Translation: X:199.63, Y:-30.80, Z:-3.96 [[ 9.87858614e-01 1.54407685e-01 1.71355353e-02 1.99629526e+02] [-1.54381654e-01 9.88007207e-01 -2.83965596e-03 -3.08015060e+01] [-1.73684971e-02 1.59766322e-04 9.99849144e-01 -3.95856224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27401273899997 meters 0.029280661630014526 Centerline is valid? [True, True] Translation: X:199.66, Y:-30.82, Z:-3.96 [[ 9.89037696e-01 1.46762926e-01 1.62812495e-02 1.99655876e+02] [-1.46738402e-01 9.89171656e-01 -2.69731879e-03 -3.08181499e+01] [-1.65008169e-02 2.78665434e-04 9.99863813e-01 -3.96057171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters 0.04129264251652716 Centerline is valid? [True, True] Translation: X:199.68, Y:-30.84, Z:-3.96 [[ 9.90157700e-01 1.38740723e-01 1.84049020e-02 1.99681638e+02] [-1.38708012e-01 9.90328630e-01 -3.04833340e-03 -3.08428225e+01] [-1.86498294e-02 4.65423432e-04 9.99825968e-01 -3.95817234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33401273899997 meters 0.03786910437789429 Centerline is valid? [True, True] Translation: X:199.71, Y:-30.84, Z:-3.96 [[ 9.90639361e-01 1.35090186e-01 1.96035051e-02 1.99712773e+02] [-1.35052355e-01 9.90833143e-01 -3.24714976e-03 -3.08444994e+01] [-1.98624606e-02 5.69254843e-04 9.99802560e-01 -3.95626204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters 0.05001432466695651 Centerline is valid? [True, True] Translation: X:199.74, Y:-30.87, Z:-3.95 [[ 9.91013232e-01 1.32217434e-01 2.02811037e-02 1.99739198e+02] [-1.32176335e-01 9.91220525e-01 -3.35963223e-03 -3.08690067e+01] [-2.05472482e-02 6.48758029e-04 9.99788673e-01 -3.95496137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39401273899998 meters 0.042602118100932715 Centerline is valid? [True, True] Translation: X:199.77, Y:-30.87, Z:-3.95 [[ 9.91338997e-01 1.29691484e-01 2.06666976e-02 1.99771328e+02] [-1.29648258e-01 9.91554138e-01 -3.42352211e-03 -3.08665898e+01] [-2.09361512e-02 7.14469620e-04 9.99780559e-01 -3.95458721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters 0.04736832060342254 Centerline is valid? [True, True] Translation: X:199.80, Y:-30.88, Z:-3.96 [[ 9.91875754e-01 1.25691711e-01 1.95980271e-02 1.99799265e+02] [-1.25652052e-01 9.92069060e-01 -3.24693681e-03 -3.08839262e+01] [-1.98507094e-02 7.58025571e-04 9.99802668e-01 -3.95624768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45401273899998 meters 0.05208478884222755 Centerline is valid? [True, True] Translation: X:199.83, Y:-30.90, Z:-3.96 [[ 9.92123044e-01 1.24063133e-01 1.73264357e-02 1.99827639e+02] [-1.24031892e-01 9.92274080e-01 -2.87037875e-03 -3.09042203e+01] [-1.75486812e-02 6.98738311e-04 9.99845766e-01 -3.96220420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters 0.04900314628684745 Centerline is valid? [True, True] Translation: X:199.86, Y:-30.91, Z:-3.96 [[ 9.92031273e-01 1.24748340e-01 1.76580228e-02 1.99859480e+02] [-1.24715951e-01 9.92188167e-01 -2.92800951e-03 -3.09103116e+01] [-1.78853456e-02 7.02439894e-04 9.99839798e-01 -3.96220792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51401273899998 meters 0.047151541108395416 Centerline is valid? [True, True] Translation: X:199.89, Y:-30.92, Z:-3.96 [[ 9.91771365e-01 1.26619433e-01 1.88965319e-02 1.99890058e+02] [-1.26582613e-01 9.91951109e-01 -3.13685290e-03 -3.09174067e+01] [-1.91416223e-02 7.19068486e-04 9.99816524e-01 -3.95980491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters 0.04076114026943464 Centerline is valid? [True, True] Translation: X:199.92, Y:-30.92, Z:-3.96 [[ 9.90881432e-01 1.33082857e-01 2.10461629e-02 1.99921246e+02] [-1.33038626e-01 9.91104694e-01 -3.49422723e-03 -3.09195348e+01] [-2.13239726e-02 6.62412290e-04 9.99772399e-01 -3.95591702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57401273899998 meters 0.03643111539864358 Centerline is valid? [True, True] Translation: X:199.95, Y:-30.92, Z:-3.96 [[ 9.90289431e-01 1.37443080e-01 2.08864216e-02 1.99952023e+02] [-1.37400481e-01 9.90509506e-01 -3.46793888e-03 -3.09212004e+01] [-2.11648434e-02 5.64458841e-04 9.99775840e-01 -3.95685855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters 0.028832610085389843 Centerline is valid? [True, True] Translation: X:199.98, Y:-30.92, Z:-3.96 [[ 9.88823133e-01 1.47866530e-01 1.90866840e-02 1.99981576e+02] [-1.47832890e-01 9.89007276e-01 -3.16934096e-03 -3.09204223e+01] [-1.93455088e-02 3.12277988e-04 9.99812809e-01 -3.96077409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63401273899999 meters 0.024790115644857422 Centerline is valid? [True, True] Translation: X:200.01, Y:-30.92, Z:-3.96 [[ 9.88031049e-01 1.53230673e-01 1.77484210e-02 2.00013159e+02] [-1.53202455e-01 9.88190429e-01 -2.94686476e-03 -3.09193087e+01] [-1.79903699e-02 1.92492202e-04 9.99838142e-01 -3.96395369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters 0.02191991449930467 Centerline is valid? [True, True] Translation: X:200.04, Y:-30.92, Z:-3.97 [[ 9.87197085e-01 1.58578531e-01 1.71687106e-02 2.00044057e+02] [-1.58552930e-01 9.87346363e-01 -2.85086706e-03 -3.09169559e+01] [-1.74035503e-02 9.22182730e-05 9.99848542e-01 -3.96572480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694012739 meters 0.021044329458819632 Centerline is valid? [True, True] Translation: X:200.07, Y:-30.91, Z:-3.97 [[ 9.86356045e-01 1.63733693e-01 1.71181140e-02 2.00073613e+02] [-1.63709020e-01 9.86504576e-01 -2.84237088e-03 -3.09145898e+01] [-1.73524896e-02 1.20004109e-06 9.99849434e-01 -3.96619696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters 0.02294130936542229 Centerline is valid? [True, True] Translation: X:200.10, Y:-30.91, Z:-3.97 [[ 9.85020495e-01 1.71510566e-01 1.78535637e-02 2.00102871e+02] [-1.71485018e-01 9.85182270e-01 -2.96360547e-03 -3.09094324e+01] [-1.80973040e-02 -1.42406560e-04 9.99836220e-01 -3.96562785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754012739 meters 0.026157243089291127 Centerline is valid? [True, True] Translation: X:200.13, Y:-30.91, Z:-3.96 [[ 9.83967908e-01 1.77336048e-01 1.89494389e-02 2.00133391e+02] [-1.77308371e-01 9.84150322e-01 -3.14425690e-03 -3.09051769e+01] [-1.92066865e-02 -2.66046247e-04 9.99815499e-01 -3.96375578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters 0.028298052446564775 Centerline is valid? [True, True] Translation: X:200.16, Y:-30.90, Z:-3.96 [[ 9.83456121e-01 1.80089185e-01 1.95433940e-02 2.00161799e+02] [-1.80060298e-01 9.83650231e-01 -3.24233956e-03 -3.09040621e+01] [-1.98077743e-02 -3.30290673e-04 9.99803752e-01 -3.96294326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814012739 meters 0.030103237626485892 Centerline is valid? [True, True] Translation: X:200.19, Y:-30.90, Z:-3.96 [[ 9.82965834e-01 1.82763343e-01 1.93837475e-02 2.00191258e+02] [-1.82735469e-01 9.83156862e-01 -3.21468512e-03 -3.09045822e+01] [-1.96447909e-02 -3.82172538e-04 9.99806949e-01 -3.96376635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters 0.035315629540321136 Centerline is valid? [True, True] Translation: X:200.22, Y:-30.90, Z:-3.97 [[ 9.81967794e-01 1.88143058e-01 1.84781196e-02 2.00221300e+02] [-1.88118696e-01 9.82141523e-01 -3.06357146e-03 -3.08989667e+01] [-1.87245182e-02 -4.67751245e-04 9.99824571e-01 -3.96617354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874012739 meters 0.0413955247923946 Centerline is valid? [True, True] Translation: X:200.25, Y:-30.89, Z:-3.97 [[ 9.81546181e-01 1.90333336e-01 1.84476339e-02 2.00250797e+02] [-1.90309441e-01 9.81719391e-01 -3.05846211e-03 -3.08927886e+01] [-1.86925273e-02 -5.08737106e-04 9.99825150e-01 -3.96786809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters 0.03965678074747523 Centerline is valid? [True, True] Translation: X:200.28, Y:-30.89, Z:-3.97 [[ 9.80991714e-01 1.93103846e-01 1.91353509e-02 2.00280186e+02] [-1.93078681e-01 9.81178151e-01 -3.17150564e-03 -3.08942215e+01] [-1.93876181e-02 -5.83407552e-04 9.99811872e-01 -3.96704691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93401273899997 meters 0.042665015294221426 Centerline is valid? [True, True] Translation: X:200.31, Y:-30.89, Z:-3.97 [[ 9.80848137e-01 1.93818451e-01 1.92701791e-02 2.00309002e+02] [-1.93793087e-01 9.81037229e-01 -3.19285628e-03 -3.08915155e+01] [-1.95235976e-02 -6.02720367e-04 9.99809215e-01 -3.96705902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters 0.04212219790737624 Centerline is valid? [True, True] Translation: X:200.34, Y:-30.89, Z:-3.97 [[ 9.80822852e-01 1.94002767e-01 1.86938460e-02 2.00337824e+02] [-1.93978953e-01 9.81000805e-01 -3.09625838e-03 -3.08946128e+01] [-1.89393606e-02 -5.89331698e-04 9.99820461e-01 -3.96917718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99401273899997 meters 0.040954817527114884 Centerline is valid? [True, True] Translation: X:200.37, Y:-30.90, Z:-3.97 [[ 9.81293074e-01 1.91636265e-01 1.84240560e-02 2.00365576e+02] [-1.91612732e-01 9.81465870e-01 -3.05073692e-03 -3.08965281e+01] [-1.86672140e-02 -5.36616688e-04 9.99825608e-01 -3.97066807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters 0.03913099027902983 Centerline is valid? [True, True] Translation: X:200.39, Y:-30.90, Z:-3.97 [[ 9.81684611e-01 1.89611135e-01 1.85186793e-02 2.00394567e+02] [-1.89587017e-01 9.81859138e-01 -3.06544684e-03 -3.09011007e+01] [-1.87639773e-02 -5.01599182e-04 9.99823815e-01 -3.97076674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05401273899997 meters 0.03336379726375949 Centerline is valid? [True, True] Translation: X:200.42, Y:-30.91, Z:-3.97 [[ 9.82406921e-01 1.85854673e-01 1.82943085e-02 2.00423798e+02] [-1.85830539e-01 9.82577151e-01 -3.02539123e-03 -3.09092334e+01] [-1.85378526e-02 -4.27475916e-04 9.99828068e-01 -3.97116068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters 0.03335237887385 Centerline is valid? [True, True] Translation: X:200.45, Y:-30.91, Z:-3.97 [[ 9.82819994e-01 1.83687710e-01 1.79912336e-02 2.00451909e+02] [-1.83664016e-01 9.82984578e-01 -2.97474048e-03 -3.09110213e+01] [-1.82315284e-02 -3.80707792e-04 9.99833719e-01 -3.97239840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11401273899997 meters 0.029886038510941126 Centerline is valid? [True, True] Translation: X:200.48, Y:-30.92, Z:-3.97 [[ 9.83225575e-01 1.81511466e-01 1.79180470e-02 2.00480073e+02] [-1.81487623e-01 9.83388770e-01 -2.96152859e-03 -3.09180127e+01] [-1.81579576e-02 -3.40053107e-04 9.99835073e-01 -3.97337843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters 0.027106118607533685 Centerline is valid? [True, True] Translation: X:200.51, Y:-30.92, Z:-3.97 [[ 9.83966174e-01 1.77436253e-01 1.80815971e-02 2.00507572e+02] [-1.77411301e-01 9.84132259e-01 -2.98769216e-03 -3.09207305e+01] [-1.83248079e-02 -2.68091638e-04 9.99832051e-01 -3.97440957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17401273899998 meters 0.025219410673174947 Centerline is valid? [True, True] Translation: X:200.54, Y:-30.93, Z:-3.98 [[ 9.84490795e-01 1.74495903e-01 1.81398368e-02 2.00535171e+02] [-1.74470311e-01 9.84657876e-01 -2.99618275e-03 -3.09266130e+01] [-1.83843548e-02 -2.15148629e-04 9.99830970e-01 -3.97532904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters 0.02180638890655625 Centerline is valid? [True, True] Translation: X:200.56, Y:-30.94, Z:-3.98 [[ 9.85732010e-01 1.67326568e-01 1.82817982e-02 2.00562381e+02] [-1.67299355e-01 9.85901523e-01 -3.01874542e-03 -3.09382528e+01] [-1.85291690e-02 -8.28590736e-05 9.99828317e-01 -3.97555116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23401273899998 meters 0.02121076558431871 Centerline is valid? [True, True] Translation: X:200.59, Y:-30.95, Z:-3.98 [[ 9.86476432e-01 1.62891975e-01 1.81783739e-02 2.00589560e+02] [-1.62864332e-01 9.86643910e-01 -3.00081011e-03 -3.09479589e+01] [-1.84243898e-02 -3.80277629e-07 9.99830257e-01 -3.97609939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters 0.021778483281409498 Centerline is valid? [True, True] Translation: X:200.62, Y:-30.96, Z:-3.98 [[ 9.87195894e-01 1.58477252e-01 1.81446296e-02 2.00616167e+02] [-1.58448981e-01 9.87362625e-01 -2.99439505e-03 -3.09587336e+01] [-1.83898727e-02 8.10564221e-05 9.99830889e-01 -3.97700107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29401273899998 meters 0.026470913135090833 Centerline is valid? [True, True] Translation: X:200.64, Y:-30.98, Z:-3.98 [[ 9.88593590e-01 1.49581145e-01 1.75555063e-02 2.00641672e+02] [-1.49553295e-01 9.88749425e-01 -2.89611096e-03 -3.09786204e+01] [-1.77912003e-02 2.37592934e-04 9.99841696e-01 -3.97881286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters 0.028454431630216194 Centerline is valid? [True, True] Translation: X:200.67, Y:-30.99, Z:-3.98 [[ 9.89172300e-01 1.45777058e-01 1.69472884e-02 2.00669542e+02] [-1.45750555e-01 9.89317423e-01 -2.79520289e-03 -3.09889711e+01] [-1.71737241e-02 2.94860578e-04 9.99852477e-01 -3.97987099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35401273899998 meters 0.03296340549952971 Centerline is valid? [True, True] Translation: X:200.70, Y:-31.00, Z:-3.98 [[ 9.89904916e-01 1.40758885e-01 1.65889566e-02 2.00696280e+02] [-1.40732799e-01 9.90043836e-01 -2.73537703e-03 -3.10048159e+01] [-1.68088228e-02 3.73152880e-04 9.99858652e-01 -3.98009995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters 0.03296340549952971 Centerline is valid? [True, True] Translation: X:200.73, Y:-31.01, Z:-3.98 [[ 9.89908124e-01 1.40736329e-01 1.65888983e-02 2.00725064e+02] [-1.40710233e-01 9.90047042e-01 -2.73573028e-03 -3.10095183e+01] [-1.68088063e-02 3.73893884e-04 9.99858652e-01 -3.98069233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414012739 meters 0.03490542884555403 Centerline is valid? [True, True] Translation: X:200.75, Y:-31.02, Z:-3.98 [[ 9.89991487e-01 1.40126889e-01 1.67723244e-02 2.00753101e+02] [-1.40100134e-01 9.90133478e-01 -2.76554332e-03 -3.10197152e+01] [-1.69943669e-02 3.88059452e-04 9.99855510e-01 -3.98195702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters 0.03290388600432009 Centerline is valid? [True, True] Translation: X:200.78, Y:-31.02, Z:-3.98 [[ 9.89998560e-01 1.40009304e-01 1.73276284e-02 2.00783509e+02] [-1.39980734e-01 9.90150106e-01 -2.85686471e-03 -3.10243130e+01] [-1.75569408e-02 4.02757806e-04 9.99845784e-01 -3.98115143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474012739 meters 0.031833187620471 Centerline is valid? [True, True] Translation: X:200.81, Y:-31.03, Z:-3.98 [[ 9.89755545e-01 1.41441063e-01 1.94521552e-02 2.00812890e+02] [-1.41405332e-01 9.89946588e-01 -3.20714262e-03 -3.10339364e+01] [-1.97102163e-02 4.23648723e-04 9.99805645e-01 -3.97776580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters 0.03184225252969058 Centerline is valid? [True, True] Translation: X:200.84, Y:-31.04, Z:-3.98 [[ 9.89594505e-01 1.42470099e-01 2.01242768e-02 2.00842766e+02] [-1.42432069e-01 9.89799018e-01 -3.31795862e-03 -3.10414357e+01] [-2.03916993e-02 4.17091238e-04 9.99791981e-01 -3.97754790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534012739 meters 0.029174969851469508 Centerline is valid? [True, True] Translation: X:200.87, Y:-31.05, Z:-3.98 [[ 9.89278462e-01 1.44771157e-01 1.92207508e-02 2.00872954e+02] [-1.44736895e-01 9.89465102e-01 -3.16921702e-03 -3.10453230e+01] [-1.94770733e-02 3.53286349e-04 9.99810241e-01 -3.98070973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters 0.027135470829021315 Centerline is valid? [True, True] Translation: X:200.90, Y:-31.05, Z:-3.98 [[ 9.89115734e-01 1.45976489e-01 1.84642487e-02 2.00902862e+02] [-1.45945081e-01 9.89288009e-01 -3.04448104e-03 -3.10485571e+01] [-1.87108825e-02 3.16577817e-04 9.99824886e-01 -3.98257452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594012739 meters 0.0257000935804579 Centerline is valid? [True, True] Translation: X:200.93, Y:-31.05, Z:-3.98 [[ 9.88670916e-01 1.49108968e-01 1.72144172e-02 2.00932098e+02] [-1.49082143e-01 9.88820741e-01 -2.83840234e-03 -3.10531369e+01] [-1.74452041e-02 2.39883639e-04 9.99847792e-01 -3.98430890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters 0.02519597957685387 Centerline is valid? [True, True] Translation: X:200.96, Y:-31.06, Z:-3.99 [[ 9.88342205e-01 1.51289960e-01 1.70596917e-02 2.00961206e+02] [-1.51263940e-01 9.88489407e-01 -2.81283662e-03 -3.10573178e+01] [-1.72888785e-02 1.99528960e-04 9.99850516e-01 -3.98564428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654012739 meters 0.023739032572939474 Centerline is valid? [True, True] Translation: X:200.99, Y:-31.06, Z:-3.99 [[ 9.88071724e-01 1.53003430e-01 1.74418353e-02 2.00990821e+02] [-1.52976491e-01 9.88225642e-01 -2.87627837e-03 -3.10587844e+01] [-1.76765493e-02 1.73778564e-04 9.99843742e-01 -3.98543461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters 0.023064107060920398 Centerline is valid? [True, True] Translation: X:201.02, Y:-31.06, Z:-3.99 [[ 9.87806483e-01 1.54613963e-01 1.82448804e-02 2.01019136e+02] [-1.54584769e-01 9.87974949e-01 -3.00826177e-03 -3.10640820e+01] [-1.84906040e-02 1.51199873e-04 9.99829023e-01 -3.98518550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71401273899997 meters 0.022939840074766946 Centerline is valid? [True, True] Translation: X:201.05, Y:-31.07, Z:-3.99 [[ 9.87765871e-01 1.54830541e-01 1.86034189e-02 2.01047874e+02] [-1.54800240e-01 9.87941031e-01 -3.06667129e-03 -3.10703761e+01] [-1.88538953e-02 1.49339522e-04 9.99822238e-01 -3.98530097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters 0.02240464912883966 Centerline is valid? [True, True] Translation: X:201.08, Y:-31.08, Z:-3.99 [[ 9.87549971e-01 1.56171772e-01 1.88529210e-02 2.01077556e+02] [-1.56140906e-01 9.87729903e-01 -3.10732135e-03 -3.10759198e+01] [-1.91068697e-02 1.24922947e-04 9.99817439e-01 -3.98538382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77401273899997 meters 0.022044251623892456 Centerline is valid? [True, True] Translation: X:201.11, Y:-31.08, Z:-3.99 [[ 9.87316578e-01 1.57739994e-01 1.80019137e-02 2.01106767e+02] [-1.57712116e-01 9.87480676e-01 -2.96687588e-03 -3.10791544e+01] [-1.82445369e-02 9.01258463e-05 9.99833551e-01 -3.98759905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters 0.02177368282997092 Centerline is valid? [True, True] Translation: X:201.14, Y:-31.08, Z:-3.99 [[ 9.87028358e-01 1.59655495e-01 1.68861640e-02 2.01136462e+02] [-1.59631253e-01 9.87172792e-01 -2.78260629e-03 -3.10822516e+01] [-1.71138201e-02 5.09518041e-05 9.99853547e-01 -3.99027847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83401273899997 meters 0.021537741924870395 Centerline is valid? [True, True] Translation: X:201.16, Y:-31.08, Z:-3.99 [[ 9.86478158e-01 1.63048940e-01 1.66098631e-02 2.01163957e+02] [-1.63025970e-01 9.86617982e-01 -2.73679877e-03 -3.10836296e+01] [-1.68338217e-02 -8.04682431e-06 9.99858301e-01 -3.99219768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters 0.02153282736658766 Centerline is valid? [True, True] Translation: X:201.19, Y:-31.09, Z:-3.99 [[ 9.86308133e-01 1.64004595e-01 1.72846423e-02 2.01191753e+02] [-1.63979887e-01 9.86459575e-01 -2.84685438e-03 -3.10867801e+01] [-1.75174981e-02 -2.64580650e-05 9.99846557e-01 -3.99117023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89401273899998 meters 0.02157386774213906 Centerline is valid? [True, True] Translation: X:201.22, Y:-31.09, Z:-3.99 [[ 9.86186100e-01 1.64696642e-01 1.76633176e-02 2.01220329e+02] [-1.64670970e-01 9.86344268e-01 -2.90811581e-03 -3.10915109e+01] [-1.79010690e-02 -4.06922506e-05 9.99839762e-01 -3.99073047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters 0.021598128408282014 Centerline is valid? [True, True] Translation: X:201.25, Y:-31.10, Z:-3.99 [[ 9.86252453e-01 1.64315522e-01 1.75073897e-02 2.01247049e+02] [-1.64290256e-01 9.86407830e-01 -2.88164471e-03 -3.10982410e+01] [-1.77429253e-02 -3.42643708e-05 9.99842581e-01 -3.99245063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95401273899998 meters 0.021576832299616443 Centerline is valid? [True, True] Translation: X:201.27, Y:-31.11, Z:-3.99 [[ 9.86410937e-01 1.63365039e-01 1.74735955e-02 2.01274450e+02] [-1.63339740e-01 9.86565692e-01 -2.87501700e-03 -3.11067076e+01] [-1.77085271e-02 -1.81843239e-05 9.99843192e-01 -3.99285013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters 0.021440914505618237 Centerline is valid? [True, True] Translation: X:201.30, Y:-31.12, Z:-3.99 [[ 9.86652856e-01 1.61719675e-01 1.90496358e-02 2.01302900e+02] [-1.61689318e-01 9.86836738e-01 -3.13331210e-03 -3.11177368e+01] [-1.93055987e-02 1.13686964e-05 9.99813629e-01 -3.98998970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01401273899998 meters 0.021276858288556036 Centerline is valid? [True, True] Translation: X:201.33, Y:-31.12, Z:-3.99 [[ 9.86345601e-01 1.63367507e-01 2.08185559e-02 2.01331862e+02] [-1.63331629e-01 9.86565283e-01 -3.42369506e-03 -3.11213565e+01] [-2.10981850e-02 -2.33820851e-05 9.99777408e-01 -3.98580028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters 0.02147127993622676 Centerline is valid? [True, True] Translation: X:201.36, Y:-31.12, Z:-3.99 [[ 9.86024033e-01 1.65282322e-01 2.09370417e-02 2.01361751e+02] [-1.65246483e-01 9.86246293e-01 -3.44241307e-03 -3.11234117e+01] [-2.12180497e-02 -6.54704721e-05 9.99774870e-01 -3.98647299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07401273899998 meters 0.0222859699882068 Centerline is valid? [True, True] Translation: X:201.39, Y:-31.12, Z:-3.99 [[ 9.85589774e-01 1.67913389e-01 2.04423750e-02 2.01390426e+02] [-1.67879799e-01 9.85801745e-01 -3.36058436e-03 -3.11237170e+01] [-2.07164161e-02 -1.19704240e-04 9.99785385e-01 -3.98746908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters 0.02560645523635877 Centerline is valid? [True, True] Translation: X:201.42, Y:-31.12, Z:-3.99 [[ 9.84602161e-01 1.73841444e-01 1.83776078e-02 2.01419768e+02] [-1.73815348e-01 9.84773631e-01 -3.02013189e-03 -3.11185302e+01] [-1.86228077e-02 -2.20681915e-04 9.99826556e-01 -3.99288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13401273899999 meters 0.02750353581090508 Centerline is valid? [True, True] Translation: X:201.45, Y:-31.12, Z:-4.00 [[ 9.84169438e-01 1.76413283e-01 1.69962023e-02 2.01448330e+02] [-1.76391355e-01 9.84316154e-01 -2.79260353e-03 -3.11190685e+01] [-1.72222888e-02 -2.49588105e-04 9.99851654e-01 -3.99643441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters 0.028476382785071256 Centerline is valid? [True, True] Translation: X:201.48, Y:-31.12, Z:-4.00 [[ 9.83790244e-01 1.78591623e-01 1.61798522e-02 2.01477284e+02] [-1.78572061e-01 9.83923247e-01 -2.65751742e-03 -3.11211875e+01] [-1.63943431e-02 -2.74829838e-04 9.99865566e-01 -3.99820674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194012739 meters 0.030441335333710795 Centerline is valid? [True, True] Translation: X:201.51, Y:-31.12, Z:-4.00 [[ 9.83255829e-01 1.81491803e-01 1.63920808e-02 2.01506977e+02] [-1.81472140e-01 9.83392403e-01 -2.69155093e-03 -3.11193030e+01] [-1.66083421e-02 -3.28222847e-04 9.99862018e-01 -3.99769660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters 0.030201165249315477 Centerline is valid? [True, True] Translation: X:201.54, Y:-31.12, Z:-4.00 [[ 9.83156689e-01 1.81966108e-01 1.70663394e-02 2.01535142e+02] [-1.81944881e-01 9.83304740e-01 -2.80141279e-03 -3.11226373e+01] [-1.72911746e-02 -3.50905373e-04 9.99850435e-01 -3.99731127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254012739 meters 0.0317883425660186 Centerline is valid? [True, True] Translation: X:201.56, Y:-31.12, Z:-3.99 [[ 9.82990805e-01 1.82737918e-01 1.83284234e-02 2.01563297e+02] [-1.82713592e-01 9.83161584e-01 -3.00733572e-03 -3.11204271e+01] [-1.85693560e-02 -3.92668702e-04 9.99827498e-01 -3.99482951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters 0.034112607609243326 Centerline is valid? [True, True] Translation: X:201.59, Y:-31.12, Z:-3.99 [[ 9.82842150e-01 1.83489881e-01 1.87822255e-02 2.01591902e+02] [-1.83464498e-01 9.83021510e-01 -3.08052541e-03 -3.11183250e+01] [-1.90285769e-02 -4.18201339e-04 9.99818853e-01 -3.99445173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314012739 meters 0.03471927524704313 Centerline is valid? [True, True] Translation: X:201.62, Y:-31.12, Z:-4.00 [[ 9.82445931e-01 1.85621649e-01 1.85632908e-02 2.01621003e+02] [-1.85597254e-01 9.82621187e-01 -3.04350019e-03 -3.11168096e+01] [-1.88056224e-02 -4.55221425e-04 9.99823055e-01 -3.99550396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters 0.03629715976879415 Centerline is valid? [True, True] Translation: X:201.65, Y:-31.12, Z:-4.00 [[ 9.82269237e-01 1.86580350e-01 1.83008113e-02 2.01649492e+02] [-1.86556827e-01 9.82439593e-01 -2.99937394e-03 -3.11167695e+01] [-1.85390659e-02 -4.67948539e-04 9.99828027e-01 -3.99619986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374012739 meters 0.03710942102755703 Centerline is valid? [True, True] Translation: X:201.68, Y:-31.12, Z:-4.00 [[ 9.82132706e-01 1.87326508e-01 1.80035424e-02 2.01678834e+02] [-1.87303888e-01 9.82297589e-01 -2.94956036e-03 -3.11175546e+01] [-1.82373671e-02 -4.75273790e-04 9.99833572e-01 -3.99736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters 0.037889543246872034 Centerline is valid? [True, True] Translation: X:201.71, Y:-31.11, Z:-4.00 [[ 9.82018030e-01 1.87944687e-01 1.78152822e-02 2.01708557e+02] [-1.87922655e-01 9.82179496e-01 -2.91787945e-03 -3.11147902e+01] [-1.80462048e-02 -4.82484899e-04 9.99837038e-01 -3.99956113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43401273899997 meters 0.03720474494912629 Centerline is valid? [True, True] Translation: X:201.74, Y:-31.12, Z:-4.00 [[ 9.82106058e-01 1.87464207e-01 1.80239390e-02 2.01737367e+02] [-1.87441590e-01 9.82271317e-01 -2.95118956e-03 -3.11177285e+01] [-1.82576407e-02 -4.80054642e-04 9.99833200e-01 -3.99938359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters 0.03260806873359599 Centerline is valid? [True, True] Translation: X:201.77, Y:-31.12, Z:-4.00 [[ 9.82610222e-01 1.84652969e-01 1.95046928e-02 2.01765445e+02] [-1.84625950e-01 9.82803676e-01 -3.19263539e-03 -3.11240557e+01] [-1.97588134e-02 -4.63956262e-04 9.99804668e-01 -3.99566131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49401273899997 meters 0.033612993663831234 Centerline is valid? [True, True] Translation: X:201.79, Y:-31.12, Z:-4.00 [[ 9.82898690e-01 1.83083883e-01 1.97600006e-02 2.01793552e+02] [-1.83055854e-01 9.83097197e-01 -3.23342417e-03 -3.11233151e+01] [-2.00179891e-02 -4.39055419e-04 9.99799524e-01 -3.99520092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters 0.03286397922441997 Centerline is valid? [True, True] Translation: X:201.82, Y:-31.13, Z:-3.99 [[ 9.83101909e-01 1.81921599e-01 2.03756971e-02 2.01822037e+02] [-1.81891574e-01 9.83312945e-01 -3.33287051e-03 -3.11254483e+01] [-2.06420078e-02 -4.29616261e-04 9.99786839e-01 -3.99460823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55401273899997 meters 0.030893101028369823 Centerline is valid? [True, True] Translation: X:201.85, Y:-31.13, Z:-3.99 [[ 9.83365705e-01 1.80487190e-01 2.04025474e-02 2.01850455e+02] [-1.80456797e-01 9.83577253e-01 -3.33629696e-03 -3.11277155e+01] [-2.06696404e-02 -4.00978357e-04 9.99786280e-01 -3.99496853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters 0.03017666158935466 Centerline is valid? [True, True] Translation: X:201.88, Y:-31.13, Z:-4.00 [[ 9.83597425e-01 1.79276435e-01 1.99014003e-02 2.01877929e+02] [-1.79247288e-01 9.83798671e-01 -3.25341171e-03 -3.11302760e+01] [-2.01622312e-02 -3.67224648e-04 9.99796654e-01 -3.99622983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61401273899997 meters 0.027792215020452433 Centerline is valid? [True, True] Translation: X:201.91, Y:-31.13, Z:-4.00 [[ 9.84144773e-01 1.76346138e-01 1.90027557e-02 2.01906922e+02] [-1.76319039e-01 9.84328173e-01 -3.10540863e-03 -3.11300475e+01] [-1.92525747e-02 -2.94375964e-04 9.99814609e-01 -3.99828836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters 0.026770870463613188 Centerline is valid? [True, True] Translation: X:201.94, Y:-31.13, Z:-4.00 [[ 9.84382452e-01 1.74996795e-01 1.91653243e-02 2.01936135e+02] [-1.74968993e-01 9.84568966e-01 -3.13104936e-03 -3.11316930e+01] [-1.94175071e-02 -2.71187439e-04 9.99811426e-01 -3.99849151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67401273899998 meters 0.02456461316123762 Centerline is valid? [True, True] Translation: X:201.96, Y:-31.13, Z:-4.00 [[ 9.85048245e-01 1.71258289e-01 1.87230537e-02 2.01964270e+02] [-1.71231096e-01 9.85226147e-01 -3.05791639e-03 -3.11346514e+01] [-1.89701356e-02 -1.93773826e-04 9.99820032e-01 -4.00031939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters 0.02306806045176709 Centerline is valid? [True, True] Translation: X:201.99, Y:-31.14, Z:-4.00 [[ 9.85534646e-01 1.68465832e-01 1.84587101e-02 2.01991943e+02] [-1.68438928e-01 9.85707484e-01 -3.01387241e-03 -3.11418615e+01] [-1.87026232e-02 -1.38889661e-04 9.99825081e-01 -4.00154166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73401273899998 meters 0.021885864155697713 Centerline is valid? [True, True] Translation: X:202.02, Y:-31.15, Z:-4.00 [[ 9.86168161e-01 1.64763532e-01 1.80370688e-02 2.02019547e+02] [-1.64737239e-01 9.86333095e-01 -2.94419417e-03 -3.11500487e+01] [-1.82756537e-02 -6.79063569e-05 9.99832984e-01 -4.00275000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters 0.022176185828151253 Centerline is valid? [True, True] Translation: X:202.05, Y:-31.16, Z:-4.00 [[ 9.87531677e-01 1.56422465e-01 1.76974123e-02 2.02046439e+02] [-1.56395826e-01 9.87690238e-01 -2.88792874e-03 -3.11638189e+01] [-1.79312983e-02 8.41196874e-05 9.99839218e-01 -4.00418812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79401273899998 meters 0.023507044783325822 Centerline is valid? [True, True] Translation: X:202.07, Y:-31.17, Z:-4.00 [[ 9.88141551e-01 1.52488083e-01 1.79905700e-02 2.02073953e+02] [-1.52459918e-01 9.88305297e-01 -2.93489181e-03 -3.11733729e+01] [-1.82277116e-02 1.57247725e-04 9.99833849e-01 -4.00449764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters 0.02670416156779768 Centerline is valid? [True, True] Translation: X:202.10, Y:-31.19, Z:-4.00 [[ 9.89086779e-01 1.46169966e-01 1.84847389e-02 2.02101241e+02] [-1.46139145e-01 9.89259452e-01 -3.01458575e-03 -3.11863918e+01] [-1.87268445e-02 2.80342962e-04 9.99824598e-01 -4.00413372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85401273899998 meters 0.02878792715913251 Centerline is valid? [True, True] Translation: X:202.13, Y:-31.20, Z:-4.00 [[ 9.89350757e-01 1.44307825e-01 1.89824215e-02 2.02127817e+02] [-1.44274992e-01 9.89532792e-01 -3.09506847e-03 -3.11959517e+01] [-1.92303712e-02 3.23419610e-04 9.99815027e-01 -4.00396724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters 0.028454223029770555 Centerline is valid? [True, True] Translation: X:202.16, Y:-31.20, Z:-4.00 [[ 9.89398600e-01 1.43990584e-01 1.88976806e-02 2.02155689e+02] [-1.43958009e-01 9.89579004e-01 -3.08011179e-03 -3.12018201e+01] [-1.91442551e-02 3.26985815e-04 9.99816678e-01 -4.00418761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914012739 meters 0.02817333016260659 Centerline is valid? [True, True] Translation: X:202.18, Y:-31.21, Z:-4.01 [[ 9.89352877e-01 1.44391686e-01 1.82188448e-02 2.02184003e+02] [-1.44361492e-01 9.89520564e-01 -2.96864204e-03 -3.12066357e+01] [-1.84565688e-02 3.06934926e-04 9.99829616e-01 -4.00572157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters 0.02831213250199447 Centerline is valid? [True, True] Translation: X:202.21, Y:-31.21, Z:-4.01 [[ 9.89349841e-01 1.44535895e-01 1.72124328e-02 2.02211586e+02] [-1.44508979e-01 9.89499516e-01 -2.80392492e-03 -3.12113433e+01] [-1.74369617e-02 2.86711587e-04 9.99847924e-01 -4.00753741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974012739 meters 0.02852060870195057 Centerline is valid? [True, True] Translation: X:202.24, Y:-31.22, Z:-4.01 [[ 9.89404038e-01 1.44258121e-01 1.64086649e-02 2.02239845e+02] [-1.44233639e-01 9.89540054e-01 -2.67203767e-03 -3.12165945e+01] [-1.66224943e-02 2.77043414e-04 9.99861798e-01 -4.00973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters 0.028582080283374726 Centerline is valid? [True, True] Translation: X:202.27, Y:-31.22, Z:-4.01 [[ 9.89390508e-01 1.44216443e-01 1.75510651e-02 2.02267924e+02] [-1.44188441e-01 9.89546123e-01 -2.85717901e-03 -3.12225747e+01] [-1.77796406e-02 2.96205072e-04 9.99841886e-01 -4.00864670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034012739 meters 0.027692578944373134 Centerline is valid? [True, True] Translation: X:202.30, Y:-31.23, Z:-4.00 [[ 9.89166650e-01 1.45335749e-01 2.06605544e-02 2.02295180e+02] [-1.45297213e-01 9.89382340e-01 -3.36224156e-03 -3.12288623e+01] [-2.09298415e-02 3.23896250e-04 9.99780894e-01 -4.00311432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters 0.02701156969667407 Centerline is valid? [True, True] Translation: X:202.32, Y:-31.23, Z:-4.00 [[ 9.88998132e-01 1.46402511e-01 2.11896149e-02 2.02323236e+02] [-1.46362249e-01 9.89225055e-01 -3.44704070e-03 -3.12322479e+01] [-2.14659534e-02 3.07757133e-04 9.99769533e-01 -4.00195209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094012739 meters 0.0258218388272576 Centerline is valid? [True, True] Translation: X:202.35, Y:-31.23, Z:-4.00 [[ 9.88761488e-01 1.48035112e-01 2.08883862e-02 2.02351930e+02] [-1.47996376e-01 9.88982070e-01 -3.39686268e-03 -3.12341569e+01] [-2.11610944e-02 2.67281539e-04 9.99776043e-01 -4.00318116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters 0.02392533052542319 Centerline is valid? [True, True] Translation: X:202.38, Y:-31.23, Z:-4.01 [[ 9.88300568e-01 1.51250095e-01 1.96314817e-02 2.02379817e+02] [-1.51216531e-01 9.88495510e-01 -3.19162352e-03 -3.12340101e+01] [-1.98883649e-02 1.85678775e-04 9.99802190e-01 -4.00656288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154012739 meters 0.023224714297580273 Centerline is valid? [True, True] Translation: X:202.41, Y:-31.24, Z:-4.01 [[ 9.88106753e-01 1.52527750e-01 1.95020375e-02 2.02408767e+02] [-1.52494898e-01 9.88299176e-01 -3.16946220e-03 -3.12371553e+01] [-1.97572786e-02 1.57805782e-04 9.99804793e-01 -4.00819749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters 0.022471278457535153 Centerline is valid? [True, True] Translation: X:202.44, Y:-31.24, Z:-4.01 [[ 9.87837140e-01 1.54126828e-01 2.05597919e-02 2.02436459e+02] [-1.54090682e-01 9.88051063e-01 -3.34037210e-03 -3.12403363e+01] [-2.08289652e-02 1.31671254e-04 9.99783045e-01 -4.00651496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21401273899997 meters 0.022680333135114094 Centerline is valid? [True, True] Translation: X:202.46, Y:-31.25, Z:-4.01 [[ 9.87850857e-01 1.54020267e-01 2.06988521e-02 2.02464011e+02] [-1.53983632e-01 9.88067680e-01 -3.36177725e-03 -3.12460704e+01] [-2.09696485e-02 1.33650120e-04 9.99780104e-01 -4.00657862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters 0.022629946658608884 Centerline is valid? [True, True] Translation: X:202.49, Y:-31.25, Z:-4.01 [[ 9.87886354e-01 1.53797753e-01 2.06591918e-02 2.02492063e+02] [-1.53761236e-01 9.88102339e-01 -3.35408295e-03 -3.12513453e+01] [-2.09292462e-02 1.36869907e-04 9.99780950e-01 -4.00751299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27401273899997 meters 0.022629946658608884 Centerline is valid? [True, True] Translation: X:202.52, Y:-31.26, Z:-4.01 [[ 9.87893093e-01 1.53754443e-01 2.06593387e-02 2.02520033e+02] [-1.53717936e-01 9.88109079e-01 -3.35317839e-03 -3.12557941e+01] [-2.09292462e-02 1.36870881e-04 9.99780950e-01 -4.00808828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters 0.02383482164783962 Centerline is valid? [True, True] Translation: X:202.55, Y:-31.27, Z:-4.01 [[ 9.88259286e-01 1.51541359e-01 1.94627609e-02 2.02546617e+02] [-1.51508546e-01 9.88450903e-01 -3.15814718e-03 -3.12667976e+01] [-1.97165735e-02 1.72293690e-04 9.99805595e-01 -4.01199488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33401273899997 meters 0.026554853626441655 Centerline is valid? [True, True] Translation: X:202.57, Y:-31.28, Z:-4.01 [[ 9.88869568e-01 1.47536820e-01 1.92318309e-02 2.02573770e+02] [-1.47504043e-01 9.89056533e-01 -3.11960278e-03 -3.12799676e+01] [-1.94816243e-02 2.48107427e-04 9.99810184e-01 -4.01288053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters 0.02753846187239523 Centerline is valid? [True, True] Translation: X:202.60, Y:-31.29, Z:-4.01 [[ 9.89020961e-01 1.46540187e-01 1.90659940e-02 2.02600883e+02] [-1.46507804e-01 9.89204682e-01 -3.09187093e-03 -3.12870860e+01] [-1.93132539e-02 2.64608232e-04 9.99813447e-01 -4.01336578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39401273899998 meters 0.02746115979221865 Centerline is valid? [True, True] Translation: X:202.63, Y:-31.29, Z:-4.01 [[ 9.89007626e-01 1.46631256e-01 1.90575358e-02 2.02628865e+02] [-1.46598940e-01 9.89191188e-01 -3.08943438e-03 -3.12923720e+01] [-1.93045541e-02 2.61659617e-04 9.99813615e-01 -4.01398162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters 0.02665311705189987 Centerline is valid? [True, True] Translation: X:202.66, Y:-31.30, Z:-4.02 [[ 9.88848714e-01 1.47778120e-01 1.84349935e-02 2.02656773e+02] [-1.47748094e-01 9.89020512e-01 -2.98774817e-03 -3.12954873e+01] [-1.86741106e-02 2.30695774e-04 9.99825597e-01 -4.01594399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45401273899998 meters 0.02371325762924122 Centerline is valid? [True, True] Translation: X:202.69, Y:-31.29, Z:-4.02 [[ 9.88191668e-01 1.52265460e-01 1.71013852e-02 2.02685996e+02] [-1.52240309e-01 9.88339624e-01 -2.77068425e-03 -3.12915125e+01] [-1.73238561e-02 1.34446927e-04 9.99849922e-01 -4.01828013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters 0.022569352377162705 Centerline is valid? [True, True] Translation: X:202.71, Y:-31.29, Z:-4.02 [[ 9.87863428e-01 1.54460311e-01 1.63664213e-02 2.02714996e+02] [-1.54437584e-01 9.87998990e-01 -2.65114301e-03 -3.12901384e+01] [-1.65795041e-02 9.13766518e-05 9.99862546e-01 -4.02036550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51401273899998 meters 0.02156969031891066 Centerline is valid? [True, True] Translation: X:202.74, Y:-31.29, Z:-4.02 [[ 9.87310628e-01 1.57836660e-01 1.74731835e-02 2.02744812e+02] [-1.57811298e-01 9.87465234e-01 -2.82959966e-03 -3.12869148e+01] [-1.77007758e-02 3.62280519e-05 9.99843328e-01 -4.02100940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters 0.021505120381905104 Centerline is valid? [True, True] Translation: X:202.77, Y:-31.29, Z:-4.02 [[ 9.87239953e-01 1.58200122e-01 1.81658036e-02 2.02771958e+02] [-1.58172786e-01 9.87407069e-01 -2.94099893e-03 -3.12908169e+01] [-1.84023093e-02 3.01358961e-05 9.99830663e-01 -4.02121064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57401273899998 meters 0.021718388457358476 Centerline is valid? [True, True] Translation: X:202.80, Y:-31.30, Z:-4.02 [[ 9.87360986e-01 1.57504599e-01 1.76233933e-02 2.02799717e+02] [-1.57478784e-01 9.87518253e-01 -2.85180981e-03 -3.12968848e+01] [-1.78525957e-02 4.04552012e-05 9.99840629e-01 -4.02269119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters 0.022135485568765448 Centerline is valid? [True, True] Translation: X:202.83, Y:-31.30, Z:-4.03 [[ 9.87668170e-01 1.55778122e-01 1.56449245e-02 2.02828568e+02] [-1.55757571e-01 9.87792070e-01 -2.53108794e-03 -3.13009313e+01] [-1.58482205e-02 6.30595554e-05 9.99874407e-01 -4.02658062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63401273899999 meters 0.02273346950345302 Centerline is valid? [True, True] Translation: X:202.86, Y:-31.31, Z:-4.03 [[ 9.87807780e-01 1.54926601e-01 1.52819741e-02 2.02856135e+02] [-1.54906899e-01 9.87925980e-01 -2.47180768e-03 -3.13063865e+01] [-1.54804080e-02 7.43876413e-05 9.99880169e-01 -4.02968991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters 0.024031733026058374 Centerline is valid? [True, True] Translation: X:202.88, Y:-31.32, Z:-4.03 [[ 9.88244914e-01 1.52000180e-01 1.63687127e-02 2.02883839e+02] [-1.51977197e-01 9.88380458e-01 -2.64622218e-03 -3.13151709e+01] [-1.65807420e-02 1.27444529e-04 9.99862522e-01 -4.02760845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694012739 meters 0.025005174201863514 Centerline is valid? [True, True] Translation: X:202.91, Y:-31.32, Z:-4.02 [[ 9.88480565e-01 1.50293182e-01 1.78362403e-02 2.02911619e+02] [-1.50265630e-01 9.88641457e-01 -2.88263456e-03 -3.13214761e+01] [-1.80668869e-02 1.69254354e-04 9.99836766e-01 -4.02486402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters 0.024702861109105915 Centerline is valid? [True, True] Translation: X:202.94, Y:-31.32, Z:-4.02 [[ 9.88661603e-01 1.48976763e-01 1.88191244e-02 2.02940319e+02] [-1.48945868e-01 9.88840676e-01 -3.04064793e-03 -3.13237759e+01] [-1.90621016e-02 2.03141026e-04 9.99818281e-01 -4.02220177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754012739 meters 0.025657622303305285 Centerline is valid? [True, True] Translation: X:202.97, Y:-31.33, Z:-4.02 [[ 9.88920476e-01 1.47242623e-01 1.88653886e-02 2.02967932e+02] [-1.47211278e-01 9.89100376e-01 -3.04724475e-03 -3.13311406e+01] [-1.91084473e-02 2.36284766e-04 9.99817389e-01 -4.02246155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters 0.02629301030250265 Centerline is valid? [True, True] Translation: X:203.00, Y:-31.34, Z:-4.02 [[ 9.89031559e-01 1.46453565e-01 1.91814700e-02 2.02995767e+02] [-1.46421029e-01 9.89217513e-01 -3.09739421e-03 -3.13379671e+01] [-1.94282704e-02 2.54850043e-04 9.99811221e-01 -4.02275544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814012739 meters 0.026164400024834004 Centerline is valid? [True, True] Translation: X:203.02, Y:-31.34, Z:-4.02 [[ 9.89232117e-01 1.44936698e-01 2.03266486e-02 2.03024424e+02] [-1.44899861e-01 9.89440884e-01 -3.28132337e-03 -3.13417993e+01] [-2.05876013e-02 3.00661908e-04 9.99788008e-01 -4.02087719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters 0.02706469557066862 Centerline is valid? [True, True] Translation: X:203.05, Y:-31.35, Z:-4.02 [[ 9.89250295e-01 1.44703589e-01 2.10885237e-02 2.03051886e+02] [-1.44663909e-01 9.89474998e-01 -3.40323812e-03 -3.13466108e+01] [-2.13590277e-02 3.15906059e-04 9.99771820e-01 -4.01995203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874012739 meters 0.027257737537322767 Centerline is valid? [True, True] Translation: X:203.08, Y:-31.35, Z:-4.02 [[ 9.89171016e-01 1.45121810e-01 2.19171402e-02 2.03079532e+02] [-1.45079082e-01 9.89413745e-01 -3.53559275e-03 -3.13502645e+01] [-2.21982114e-02 3.17587275e-04 9.99753539e-01 -4.01936625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters 0.02640763982877064 Centerline is valid? [True, True] Translation: X:203.11, Y:-31.35, Z:-4.02 [[ 9.88936620e-01 1.46627037e-01 2.24693830e-02 2.03107179e+02] [-1.46582547e-01 9.89191806e-01 -3.62334986e-03 -3.13531383e+01] [-2.27578106e-02 2.89643974e-04 9.99740966e-01 -4.01885376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93401273899997 meters 0.02602974960853802 Centerline is valid? [True, True] Translation: X:203.14, Y:-31.36, Z:-4.03 [[ 9.88986620e-01 1.46719762e-01 1.94621794e-02 2.03135641e+02] [-1.46686422e-01 9.89178068e-01 -3.13743168e-03 -3.13574867e+01] [-1.97118842e-02 2.48040490e-04 9.99805671e-01 -4.02544549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters 0.026406266029879104 Centerline is valid? [True, True] Translation: X:203.16, Y:-31.36, Z:-4.03 [[ 9.89096072e-01 1.46208126e-01 1.76676064e-02 2.03163946e+02] [-1.46180583e-01 9.89253825e-01 -2.84740199e-03 -3.13628759e+01] [-1.78940605e-02 2.33693120e-04 9.99839861e-01 -4.02947153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99401273899997 meters 0.02678777083661937 Centerline is valid? [True, True] Translation: X:203.19, Y:-31.37, Z:-4.03 [[ 9.89141028e-01 1.45942549e-01 1.73435835e-02 2.03192065e+02] [-1.45915981e-01 9.89293039e-01 -2.79439949e-03 -3.13670934e+01] [-1.75657082e-02 2.33349191e-04 9.99845684e-01 -4.03061486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters 0.025742304700250747 Centerline is valid? [True, True] Translation: X:203.22, Y:-31.37, Z:-4.03 [[ 9.89107656e-01 1.46017009e-01 1.85762624e-02 2.03221070e+02] [-1.45986560e-01 9.89282049e-01 -2.99209603e-03 -3.13685142e+01] [-1.88140599e-02 2.47620450e-04 9.99822969e-01 -4.02880021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05401273899997 meters 0.025379412511059168 Centerline is valid? [True, True] Translation: X:203.25, Y:-31.37, Z:-4.02 [[ 9.88916666e-01 1.46792053e-01 2.22692935e-02 2.03249420e+02] [-1.46748517e-01 9.89167335e-01 -3.58564929e-03 -3.13689213e+01] [-2.25544026e-02 2.77922538e-04 9.99745578e-01 -4.02231526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters 0.0253967863296811 Centerline is valid? [True, True] Translation: X:203.28, Y:-31.37, Z:-4.02 [[ 9.88865139e-01 1.47213945e-01 2.17667526e-02 2.03276924e+02] [-1.47172482e-01 9.89104639e-01 -3.50346016e-03 -3.13709093e+01] [-2.20453542e-02 2.60982605e-04 9.99756938e-01 -4.02472647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11401273899997 meters 0.025627883940307964 Centerline is valid? [True, True] Translation: X:203.31, Y:-31.38, Z:-4.03 [[ 9.88935454e-01 1.47041178e-01 1.96357046e-02 2.03305631e+02] [-1.47007424e-01 9.89130343e-01 -3.15941465e-03 -3.13751947e+01] [-1.98868353e-02 2.37862809e-04 9.99802209e-01 -4.02950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters 0.026843446687734734 Centerline is valid? [True, True] Translation: X:203.33, Y:-31.38, Z:-4.03 [[ 9.89113834e-01 1.46057021e-01 1.79212380e-02 2.03333108e+02] [-1.46028756e-01 9.89276145e-01 -2.88284263e-03 -3.13816318e+01] [-1.81501126e-02 2.34443441e-04 9.99835246e-01 -4.03333977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17401273899998 meters 0.02734641278508798 Centerline is valid? [True, True] Translation: X:203.36, Y:-31.39, Z:-4.03 [[ 9.89403386e-01 1.44083033e-01 1.79170328e-02 2.03361760e+02] [-1.44054480e-01 9.89565565e-01 -2.88097517e-03 -3.13865928e+01] [-1.81451783e-02 2.69417753e-04 9.99835326e-01 -4.03366624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters 0.031371062075920685 Centerline is valid? [True, True] Translation: X:203.39, Y:-31.40, Z:-4.03 [[ 9.90079650e-01 1.39034288e-01 2.02917095e-02 2.03388507e+02] [-1.38996624e-01 9.90287483e-01 -3.26173271e-03 -3.13999299e+01] [-2.05481186e-02 4.08896066e-04 9.99788782e-01 -4.02943502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23401273899998 meters 0.03721273098765648 Centerline is valid? [True, True] Translation: X:203.42, Y:-31.42, Z:-4.03 [[ 9.90968087e-01 1.32372496e-01 2.14423046e-02 2.03416305e+02] [-1.32328901e-01 9.91199874e-01 -3.44568675e-03 -3.14176315e+01] [-2.17097238e-02 5.77129009e-04 9.99764150e-01 -4.02818294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters 0.04094933216188667 Centerline is valid? [True, True] Translation: X:203.44, Y:-31.43, Z:-4.03 [[ 9.91425674e-01 1.28937686e-01 2.12180807e-02 2.03444871e+02] [-1.28894213e-01 9.91652488e-01 -3.40957066e-03 -3.14306002e+01] [-2.14805847e-02 6.45448061e-04 9.99769057e-01 -4.02948389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29401273899998 meters 0.044260386709298806 Centerline is valid? [True, True] Translation: X:203.47, Y:-31.44, Z:-4.03 [[ 9.91843258e-01 1.25830013e-01 2.03410563e-02 2.03474772e+02] [-1.25789403e-01 9.92051582e-01 -3.26886660e-03 -3.14432676e+01] [-2.05906986e-02 6.83513969e-04 9.99787755e-01 -4.03142527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters 0.046419394174571325 Centerline is valid? [True, True] Translation: X:203.51, Y:-31.45, Z:-4.03 [[ 9.92108130e-01 1.23842439e-01 1.96088846e-02 2.03505089e+02] [-1.23804305e-01 9.92301649e-01 -3.15157933e-03 -3.14541589e+01] [-1.98482278e-02 6.99043152e-04 9.99802760e-01 -4.03276066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35401273899998 meters 0.04309460553805451 Centerline is valid? [True, True] Translation: X:203.54, Y:-31.46, Z:-4.03 [[ 9.92315438e-01 1.22205369e-01 1.93886364e-02 2.03537029e+02] [-1.22167718e-01 9.92504569e-01 -3.11906696e-03 -3.14601352e+01] [-1.96244769e-02 7.26432831e-04 9.99807158e-01 -4.03375477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters 0.04873413540152215 Centerline is valid? [True, True] Translation: X:203.57, Y:-31.48, Z:-4.03 [[ 9.92190802e-01 1.23229070e-01 1.92875403e-02 2.03565852e+02] [-1.23191988e-01 9.92378003e-01 -3.10365192e-03 -3.14764833e+01] [-1.95229909e-02 7.03344462e-04 9.99809161e-01 -4.03446758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414012739 meters 0.045149885897798586 Centerline is valid? [True, True] Translation: X:203.60, Y:-31.48, Z:-4.03 [[ 9.91741007e-01 1.26711034e-01 1.98516554e-02 2.03595761e+02] [-1.26672381e-01 9.91939455e-01 -3.19766158e-03 -3.14826294e+01] [-2.00968193e-02 6.56595663e-04 9.99797823e-01 -4.03381686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters 0.0398485499681357 Centerline is valid? [True, True] Translation: X:203.63, Y:-31.48, Z:-4.03 [[ 9.91457511e-01 1.28819702e-01 2.04325057e-02 2.03627849e+02] [-1.28779201e-01 9.91667830e-01 -3.29123727e-03 -3.14829222e+01] [-2.06862348e-02 6.31840147e-04 9.99785817e-01 -4.03368664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474012739 meters 0.039647122987313876 Centerline is valid? [True, True] Translation: X:203.66, Y:-31.49, Z:-4.03 [[ 9.91146360e-01 1.31172039e-01 2.05618615e-02 2.03657993e+02] [-1.31131514e-01 9.91359446e-01 -3.31279924e-03 -3.14906538e+01] [-2.08187423e-02 5.87160874e-04 9.99783094e-01 -4.03381715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters 0.033626611746385836 Centerline is valid? [True, True] Translation: X:203.69, Y:-31.49, Z:-4.03 [[ 9.90520835e-01 1.35791295e-01 2.07171474e-02 2.03689127e+02] [-1.35751154e-01 9.90737342e-01 -3.33830124e-03 -3.14932591e+01] [-2.09785638e-02 4.94280259e-04 9.99779804e-01 -4.03497748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534012739 meters 0.03233670385087664 Centerline is valid? [True, True] Translation: X:203.72, Y:-31.50, Z:-4.04 [[ 9.90214531e-01 1.38077607e-01 2.02424802e-02 2.03718581e+02] [-1.38039757e-01 9.90421317e-01 -3.26205038e-03 -3.14991794e+01] [-2.04990000e-02 4.35862633e-04 9.99789778e-01 -4.03685712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters 0.028746144105735304 Centerline is valid? [True, True] Translation: X:203.75, Y:-31.50, Z:-4.04 [[ 9.89779987e-01 1.41308819e-01 1.91675346e-02 2.03749235e+02] [-1.41275484e-01 9.89965502e-01 -3.08902876e-03 -3.15040903e+01] [-1.94117051e-02 3.49556125e-04 9.99811514e-01 -4.04084019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594012739 meters 0.02900264652115063 Centerline is valid? [True, True] Translation: X:203.78, Y:-31.51, Z:-4.04 [[ 9.89627824e-01 1.42482711e-01 1.83152143e-02 2.03778976e+02] [-1.42452472e-01 9.89797242e-01 -2.95186507e-03 -3.15140019e+01] [-1.85489383e-02 3.12200246e-04 9.99827905e-01 -4.04429897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters 0.028199946181876843 Centerline is valid? [True, True] Translation: X:203.81, Y:-31.53, Z:-4.05 [[ 9.89465562e-01 1.43761429e-01 1.70456244e-02 2.03808002e+02] [-1.43735377e-01 9.89612337e-01 -2.75012843e-03 -3.15277731e+01] [-1.72639226e-02 2.71098124e-04 9.99850931e-01 -4.04720389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654012739 meters 0.026810177873541247 Centerline is valid? [True, True] Translation: X:203.84, Y:-31.53, Z:-4.05 [[ 9.89235481e-01 1.45308202e-01 1.72826486e-02 2.03837747e+02] [-1.45281649e-01 9.89386408e-01 -2.78885555e-03 -3.15332144e+01] [-1.75044612e-02 2.47983178e-04 9.99846754e-01 -4.04675676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters 0.02521528510301991 Centerline is valid? [True, True] Translation: X:203.87, Y:-31.54, Z:-4.05 [[ 9.88870342e-01 1.47776240e-01 1.72519562e-02 2.03867838e+02] [-1.47750156e-01 9.89020799e-01 -2.78390280e-03 -3.15370891e+01] [-1.74739382e-02 2.03939685e-04 9.99847298e-01 -4.04686285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71401273899997 meters 0.02245745739864797 Centerline is valid? [True, True] Translation: X:203.90, Y:-31.54, Z:-4.05 [[ 9.87718146e-01 1.55250408e-01 1.76117885e-02 2.03897033e+02] [-1.55224409e-01 9.87875147e-01 -2.84205730e-03 -3.15365128e+01] [-1.78394788e-02 7.33720931e-05 9.99840861e-01 -4.04663962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters 0.022015907560066245 Centerline is valid? [True, True] Translation: X:203.93, Y:-31.54, Z:-4.05 [[ 9.87009963e-01 1.59643022e-01 1.80398987e-02 2.03926529e+02] [-1.59616490e-01 9.87174810e-01 -2.91043851e-03 -3.15363114e+01] [-1.82731648e-02 -6.83350406e-06 9.99833032e-01 -4.04654734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77401273899997 meters 0.024708218865633326 Centerline is valid? [True, True] Translation: X:203.96, Y:-31.53, Z:-4.05 [[ 9.85487482e-01 1.68721869e-01 1.86374189e-02 2.03956882e+02] [-1.68695179e-01 9.85663684e-01 -3.00641732e-03 -3.15268551e+01] [-1.88774754e-02 -1.81256083e-04 9.99821788e-01 -4.04516051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters 0.027231456984828768 Centerline is valid? [True, True] Translation: X:203.99, Y:-31.52, Z:-4.05 [[ 9.84802405e-01 1.72656233e-01 1.88161702e-02 2.03986418e+02] [-1.72629767e-01 9.84982110e-01 -3.03411084e-03 -3.15248400e+01] [-1.90574492e-02 -2.60231432e-04 9.99818356e-01 -4.04589613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83401273899997 meters 0.029681645530168936 Centerline is valid? [True, True] Translation: X:204.02, Y:-31.52, Z:-4.05 [[ 9.84080734e-01 1.76681407e-01 1.92038635e-02 2.04016201e+02] [-1.76654624e-01 9.84268033e-01 -3.09567200e-03 -3.15248716e+01] [-1.94486966e-02 -3.46060103e-04 9.99810796e-01 -4.04614015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters 0.03561829791600858 Centerline is valid? [True, True] Translation: X:204.05, Y:-31.52, Z:-4.04 [[ 9.82773755e-01 1.83683852e-01 2.03957882e-02 2.04047158e+02] [-1.83655157e-01 9.82985238e-01 -3.28728456e-03 -3.15178913e+01] [-2.06525798e-02 -5.15134696e-04 9.99786580e-01 -4.04390768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89401273899998 meters 0.038379018700587346 Centerline is valid? [True, True] Translation: X:204.08, Y:-31.52, Z:-4.04 [[ 9.82228252e-01 1.86509397e-01 2.10215363e-02 2.04077271e+02] [-1.86479567e-01 9.82452998e-01 -3.38782329e-03 -3.15156197e+01] [-2.12845322e-02 -5.92471229e-04 9.99773283e-01 -4.04321578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters 0.04308193866022716 Centerline is valid? [True, True] Translation: X:204.11, Y:-31.51, Z:-4.04 [[ 9.81324425e-01 1.91131899e-01 2.17018407e-02 2.04109437e+02] [-1.91101258e-01 9.81564101e-01 -3.49638331e-03 -3.15051294e+01] [-2.19700182e-02 -7.16162724e-04 9.99758374e-01 -4.04282179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95401273899998 meters 0.04491575373179826 Centerline is valid? [True, True] Translation: X:204.14, Y:-31.50, Z:-4.04 [[ 9.81003705e-01 1.92753379e-01 2.18601369e-02 2.04140127e+02] [-1.92722698e-01 9.81246941e-01 -3.52160183e-03 -3.15030792e+01] [-2.21289931e-02 -7.58240133e-04 9.99754836e-01 -4.04337519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters 0.0460163706345523 Centerline is valid? [True, True] Translation: X:204.17, Y:-31.50, Z:-4.04 [[ 9.80786616e-01 1.93833665e-01 2.20482370e-02 2.04169722e+02] [-1.93802740e-01 9.81034090e-01 -3.55132877e-03 -3.15016593e+01] [-2.23184392e-02 -7.89913003e-04 9.99750601e-01 -4.04358182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01401273899998 meters 0.04792560938847497 Centerline is valid? [True, True] Translation: X:204.20, Y:-31.49, Z:-4.05 [[ 9.80609050e-01 1.94832048e-01 2.11273446e-02 2.04199928e+02] [-1.94803904e-01 9.80836309e-01 -3.40202631e-03 -3.14908524e+01] [-2.13852905e-02 -7.79631419e-04 9.99771005e-01 -4.04606711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters 0.04780112240461503 Centerline is valid? [True, True] Translation: X:204.23, Y:-31.49, Z:-4.05 [[ 9.80698087e-01 1.94474649e-01 2.02699980e-02 2.04229534e+02] [-1.94448690e-01 9.80907264e-01 -3.26280521e-03 -3.14881886e+01] [-2.05175211e-02 -7.41647725e-04 9.99789218e-01 -4.04827489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07401273899998 meters 0.0425855276810331 Centerline is valid? [True, True] Translation: X:204.26, Y:-31.49, Z:-4.05 [[ 9.81180565e-01 1.91981999e-01 2.06787671e-02 2.04258752e+02] [-1.91954502e-01 9.81398193e-01 -3.32514889e-03 -3.14895276e+01] [-2.09324734e-02 -7.06810981e-04 9.99780642e-01 -4.04981910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters 0.0441967201702882 Centerline is valid? [True, True] Translation: X:204.29, Y:-31.49, Z:-4.05 [[ 9.81556302e-01 1.89958958e-01 2.15132411e-02 2.04287588e+02] [-1.89928786e-01 9.81791787e-01 -3.45592795e-03 -3.14868835e+01] [-2.17780079e-02 -6.93795904e-04 9.99762590e-01 -4.04799822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13401273899999 meters 0.04256818008802014 Centerline is valid? [True, True] Translation: X:204.32, Y:-31.49, Z:-4.05 [[ 9.81940290e-01 1.87878297e-01 2.22488813e-02 2.04315581e+02] [-1.87845524e-01 9.82192087e-01 -3.57270726e-03 -3.14873458e+01] [-2.25239093e-02 -6.71167568e-04 9.99746079e-01 -4.04648598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters 0.038728104164260826 Centerline is valid? [True, True] Translation: X:204.35, Y:-31.48, Z:-4.05 [[ 9.82773170e-01 1.83467585e-01 2.22832027e-02 2.04345692e+02] [-1.83433603e-01 9.83025594e-01 -3.57703059e-03 -3.14847974e+01] [-2.25612277e-02 -5.72078462e-04 9.99745299e-01 -4.04720694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194012739 meters 0.038728104164260826 Centerline is valid? [True, True] Translation: X:204.37, Y:-31.49, Z:-4.05 [[ 9.82806150e-01 1.83290824e-01 2.22833032e-02 2.04372841e+02] [-1.83256811e-01 9.83058569e-01 -3.57640429e-03 -3.14889476e+01] [-2.25613142e-02 -5.68654957e-04 9.99745299e-01 -4.04776478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters 0.036713268847519014 Centerline is valid? [True, True] Translation: X:204.40, Y:-31.49, Z:-4.05 [[ 9.83219647e-01 1.81134219e-01 2.16684102e-02 2.04402250e+02] [-1.81101615e-01 9.83458253e-01 -3.47399412e-03 -3.14913084e+01] [-2.19392361e-02 -5.08484822e-04 9.99759177e-01 -4.04957381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254012739 meters 0.0297560598134133 Centerline is valid? [True, True] Translation: X:204.43, Y:-31.50, Z:-4.05 [[ 9.84135672e-01 1.76288705e-01 1.99817960e-02 2.04430811e+02] [-1.76260010e-01 9.84338435e-01 -3.20216788e-03 -3.14986194e+01] [-2.02333559e-02 -3.70623927e-04 9.99795216e-01 -4.05391803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters 0.029352032735200685 Centerline is valid? [True, True] Translation: X:204.46, Y:-31.50, Z:-4.05 [[ 9.84661497e-01 1.73312202e-01 2.01151183e-02 2.04459043e+02] [-1.73282511e-01 9.84866886e-01 -3.22302987e-03 -3.14990180e+01] [-2.03693043e-02 -3.12004795e-04 9.99792476e-01 -4.05398259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314012739 meters 0.023732106886009015 Centerline is valid? [True, True] Translation: X:204.49, Y:-31.51, Z:-4.05 [[ 9.86010310e-01 1.65390975e-01 2.07242541e-02 2.04486551e+02] [-1.65357747e-01 9.86228068e-01 -3.31876699e-03 -3.15099958e+01] [-2.09877352e-02 -1.54577496e-04 9.99779721e-01 -4.05361052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters 0.02215305911287675 Centerline is valid? [True, True] Translation: X:204.51, Y:-31.52, Z:-4.05 [[ 9.86772357e-01 1.60775881e-01 2.07709467e-02 2.04513892e+02] [-1.60741490e-01 9.86990939e-01 -3.32575911e-03 -3.15205924e+01] [-2.10354380e-02 -5.69857648e-05 9.99778729e-01 -4.05408096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374012739 meters 0.02255326334887942 Centerline is valid? [True, True] Translation: X:204.54, Y:-31.53, Z:-4.06 [[ 9.87917212e-01 1.53639893e-01 2.03559577e-02 2.04540767e+02] [-1.53605364e-01 9.88126902e-01 -3.25841811e-03 -3.15326559e+01] [-2.06148925e-02 9.22630402e-05 9.99787486e-01 -4.05673290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters 0.022997134185189578 Centerline is valid? [True, True] Translation: X:204.57, Y:-31.54, Z:-4.06 [[ 9.88277958e-01 1.51305620e-01 2.03294554e-02 2.04568851e+02] [-1.51270707e-01 9.88487021e-01 -3.25317859e-03 -3.15375221e+01] [-2.05876270e-02 1.39793600e-04 9.99788043e-01 -4.05678515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43401273899997 meters 0.03201189988845572 Centerline is valid? [True, True] Translation: X:204.60, Y:-31.54, Z:-4.05 [[ 9.88494497e-01 1.50001612e-01 1.94459794e-02 2.04596798e+02] [-1.49969434e-01 9.88685739e-01 -3.11090352e-03 -3.15427249e+01] [-1.96926031e-02 1.58808478e-04 9.99806069e-01 -4.04663980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters 0.024043493590744383 Centerline is valid? [True, True] Translation: X:204.63, Y:-31.54, Z:-4.06 [[ 9.88620438e-01 1.48935862e-01 2.11598153e-02 2.04626046e+02] [-1.48897546e-01 9.88846839e-01 -3.38370773e-03 -3.15428932e+01] [-2.14277719e-02 1.94558049e-04 9.99770380e-01 -4.05507703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49401273899997 meters 0.02356421857646392 Centerline is valid? [True, True] Translation: X:204.66, Y:-31.54, Z:-4.05 [[ 9.88547917e-01 1.49366522e-01 2.15095009e-02 2.04655308e+02] [-1.49327054e-01 9.88781880e-01 -3.43859133e-03 -3.15445703e+01] [-2.17818151e-02 1.87261888e-04 9.99762731e-01 -4.05477860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters 0.023351087467205114 Centerline is valid? [True, True] Translation: X:204.68, Y:-31.54, Z:-4.06 [[ 9.88173298e-01 1.51875660e-01 2.11498866e-02 2.04683864e+02] [-1.51838097e-01 9.88399599e-01 -3.38007600e-03 -3.15442719e+01] [-2.14178907e-02 1.28742311e-04 9.99770602e-01 -4.05619347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55401273899997 meters 0.022700327061316673 Centerline is valid? [True, True] Translation: X:204.71, Y:-31.54, Z:-4.06 [[ 9.88062646e-01 1.52686456e-01 2.04708048e-02 2.04713501e+02] [-1.52651466e-01 9.88274676e-01 -3.27035437e-03 -3.15434087e+01] [-2.07301168e-02 1.06416638e-04 9.99785102e-01 -4.05851921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters 0.022572582685488164 Centerline is valid? [True, True] Translation: X:204.74, Y:-31.54, Z:-4.06 [[ 9.88050540e-01 1.52834400e-01 1.99443626e-02 2.04741236e+02] [-1.52801235e-01 9.88251808e-01 -3.18531734e-03 -3.15444989e+01] [-2.01968784e-02 9.97312780e-05 9.99796017e-01 -4.06053405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61401273899997 meters 0.022763744880994776 Centerline is valid? [True, True] Translation: X:204.77, Y:-31.55, Z:-4.06 [[ 9.88154648e-01 1.52111203e-01 2.03118896e-02 2.04768744e+02] [-1.52076684e-01 9.88363379e-01 -3.24244368e-03 -3.15464006e+01] [-2.05687399e-02 1.15070970e-04 9.99788434e-01 -4.06063580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters 0.023078907071091313 Centerline is valid? [True, True] Translation: X:204.80, Y:-31.55, Z:-4.06 [[ 9.88301710e-01 1.51075856e-01 2.08761841e-02 2.04796041e+02] [-1.51039219e-01 9.88522163e-01 -3.32980004e-03 -3.15508940e+01] [-2.11396231e-02 1.37724533e-04 9.99776524e-01 -4.05967887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67401273899998 meters 0.02449987633902512 Centerline is valid? [True, True] Translation: X:204.82, Y:-31.56, Z:-4.06 [[ 9.88714485e-01 1.48295182e-01 2.12651383e-02 2.04822557e+02] [-1.48256552e-01 9.88943122e-01 -3.39051498e-03 -3.15580947e+01] [-2.15328093e-02 1.99555199e-04 9.99768122e-01 -4.06032426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters 0.025479788667650365 Centerline is valid? [True, True] Translation: X:204.85, Y:-31.56, Z:-4.06 [[ 9.88960560e-01 1.46634538e-01 2.13383017e-02 2.04850233e+02] [-1.46595292e-01 9.89190708e-01 -3.40046696e-03 -3.15647322e+01] [-2.16062757e-02 2.34833132e-04 9.99766530e-01 -4.06097825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73401273899998 meters 0.026193896682604467 Centerline is valid? [True, True] Translation: X:204.88, Y:-31.57, Z:-4.06 [[ 9.89237489e-01 1.44685749e-01 2.17996412e-02 2.04877931e+02] [-1.44644337e-01 9.89477617e-01 -3.47296031e-03 -3.15714393e+01] [-2.20727449e-02 2.82387890e-04 9.99756327e-01 -4.06168840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters 0.0292333930738388 Centerline is valid? [True, True] Translation: X:204.91, Y:-31.58, Z:-4.06 [[ 9.89921395e-01 1.39911264e-01 2.19196393e-02 2.04905380e+02] [-1.39868246e-01 9.90163969e-01 -3.49106223e-03 -3.15842323e+01] [-2.21924760e-02 3.90015691e-04 9.99753641e-01 -4.06203038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79401273899998 meters 0.031413786255510195 Centerline is valid? [True, True] Translation: X:204.93, Y:-31.59, Z:-4.06 [[ 9.90296531e-01 1.37358316e-01 2.11062367e-02 2.04931713e+02] [-1.37317868e-01 9.90521332e-01 -3.36076796e-03 -3.15942202e+01] [-2.13678071e-02 4.29893430e-04 9.99771590e-01 -4.06364945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters 0.03421410427053445 Centerline is valid? [True, True] Translation: X:204.96, Y:-31.61, Z:-4.07 [[ 9.90729643e-01 1.34291222e-01 2.05095566e-02 2.04958781e+02] [-1.34252397e-01 9.90941793e-01 -3.26459224e-03 -3.16054323e+01] [-2.07621829e-02 4.80871170e-04 9.99784327e-01 -4.06526483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85401273899998 meters 0.03804554938467809 Centerline is valid? [True, True] Translation: X:204.99, Y:-31.62, Z:-4.07 [[ 9.91543775e-01 1.28108737e-01 2.07145935e-02 2.04986953e+02] [-1.28067801e-01 9.91759937e-01 -3.29632988e-03 -3.16217553e+01] [-2.09661926e-02 6.15582939e-04 9.99779996e-01 -4.06550169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters 0.03947468734353146 Centerline is valid? [True, True] Translation: X:205.02, Y:-31.63, Z:-4.07 [[ 9.91841983e-01 1.25698027e-01 2.12010932e-02 2.05015047e+02] [-1.25654598e-01 9.92068315e-01 -3.37359012e-03 -3.16316056e+01] [-2.14569864e-02 6.82053471e-04 9.99769540e-01 -4.06561631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914012739 meters 0.043318832926309905 Centerline is valid? [True, True] Translation: X:205.04, Y:-31.65, Z:-4.07 [[ 9.92315814e-01 1.21978046e-01 2.07528912e-02 2.05041853e+02] [-1.21935636e-01 9.92532519e-01 -3.30156524e-03 -3.16497116e+01] [-2.10006379e-02 7.45678403e-04 9.99779184e-01 -4.06630491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters 0.04521817564620679 Centerline is valid? [True, True] Translation: X:205.07, Y:-31.66, Z:-4.07 [[ 9.92550975e-01 1.20230427e-01 1.96775825e-02 2.05070262e+02] [-1.20191956e-01 9.92745735e-01 -3.13049678e-03 -3.16614451e+01] [-1.99112171e-02 7.42090499e-04 9.99801477e-01 -4.06879302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974012739 meters 0.046866597669238785 Centerline is valid? [True, True] Translation: X:205.10, Y:-31.67, Z:-4.07 [[ 9.92757806e-01 1.18751673e-01 1.81652935e-02 2.05098637e+02] [-1.18718645e-01 9.92923730e-01 -2.88971101e-03 -3.16734307e+01] [-1.83799090e-02 7.12224137e-04 9.99830822e-01 -4.07181682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters 0.04934212108035291 Centerline is valid? [True, True] Translation: X:205.13, Y:-31.69, Z:-4.07 [[ 9.93125714e-01 1.15729354e-01 1.75508752e-02 2.05127180e+02] [-1.15698057e-01 9.93280507e-01 -2.79168254e-03 -3.16935175e+01] [-1.77560218e-02 7.41889568e-04 9.99842074e-01 -4.07383591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034012739 meters 0.04905553801051481 Centerline is valid? [True, True] Translation: X:205.16, Y:-31.70, Z:-4.07 [[ 9.93241513e-01 1.14596350e-01 1.84112281e-02 2.05157094e+02] [-1.14561706e-01 9.93411816e-01 -2.92898990e-03 -3.17044073e+01] [-1.86255831e-02 7.99972663e-04 9.99826209e-01 -4.07274837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters 0.052734384638771246 Centerline is valid? [True, True] Translation: X:205.19, Y:-31.73, Z:-4.07 [[ 9.93243603e-01 1.14195723e-01 2.06514492e-02 2.05185061e+02] [-1.14152034e-01 9.93457858e-01 -3.28601180e-03 -3.17267844e+01] [-2.08915930e-02 9.06405276e-04 9.99781336e-01 -4.06969204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094012739 meters 0.05541876146462084 Centerline is valid? [True, True] Translation: X:205.22, Y:-31.74, Z:-4.06 [[ 9.93236424e-01 1.14377055e-01 1.99823837e-02 2.05217438e+02] [-1.14336128e-01 9.93437024e-01 -3.18255034e-03 -3.17370959e+01] [-2.02152505e-02 8.76316542e-04 9.99795267e-01 -4.05978417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters 0.05036323107198705 Centerline is valid? [True, True] Translation: X:205.25, Y:-31.75, Z:-4.07 [[ 9.93198148e-01 1.14715369e-01 1.99454835e-02 2.05248695e+02] [-1.14674586e-01 9.93398019e-01 -3.18037195e-03 -3.17454231e+01] [-2.01786413e-02 8.71499466e-04 9.99796011e-01 -4.07175783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154012739 meters 0.0495355049349345 Centerline is valid? [True, True] Translation: X:205.28, Y:-31.76, Z:-4.08 [[ 9.93104071e-01 1.15784538e-01 1.83914242e-02 2.05278499e+02] [-1.15749994e-01 9.93274042e-01 -2.93537042e-03 -3.17613277e+01] [-1.86075947e-02 7.86321087e-04 9.99826555e-01 -4.07517996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters 0.055403202210263264 Centerline is valid? [True, True] Translation: X:205.31, Y:-31.77, Z:-4.06 [[ 9.93010722e-01 1.16698225e-01 1.76416994e-02 2.05308578e+02] [-1.16666531e-01 9.93167144e-01 -2.81869256e-03 -3.17742845e+01] [-1.78500927e-02 7.40796058e-04 9.99840400e-01 -4.06392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21401273899997 meters 0.05143987454074297 Centerline is valid? [True, True] Translation: X:205.34, Y:-31.79, Z:-4.08 [[ 9.92893649e-01 1.17375664e-01 1.96253756e-02 2.05337478e+02] [-1.17336532e-01 9.93087254e-01 -3.13769526e-03 -3.17916815e+01] [-1.98579994e-02 8.12624184e-04 9.99802480e-01 -4.07535516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters 0.05330305335880945 Centerline is valid? [True, True] Translation: X:205.37, Y:-31.80, Z:-4.08 [[ 9.92815978e-01 1.18030094e-01 1.96298327e-02 2.05367498e+02] [-1.17991013e-01 9.93009694e-01 -3.14136566e-03 -3.18044433e+01] [-1.98633899e-02 8.02654170e-04 9.99802381e-01 -4.07612872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27401273899997 meters 0.04949720655014598 Centerline is valid? [True, True] Translation: X:205.40, Y:-31.81, Z:-4.08 [[ 9.92705947e-01 1.19012872e-01 1.92571682e-02 2.05399739e+02] [-1.18975385e-01 9.92892412e-01 -3.08482388e-03 -3.18099960e+01] [-1.94874299e-02 7.71194009e-04 9.99809805e-01 -4.07699874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters 0.04835938435620754 Centerline is valid? [True, True] Translation: X:205.43, Y:-31.82, Z:-4.08 [[ 9.92459599e-01 1.20997134e-01 1.95866589e-02 2.05427959e+02] [-1.20958715e-01 9.92652576e-01 -3.13878376e-03 -3.18240195e+01] [-1.98225312e-02 7.45938977e-04 9.99803236e-01 -4.07705048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33401273899997 meters 0.046602768681113925 Centerline is valid? [True, True] Translation: X:205.46, Y:-31.83, Z:-4.08 [[ 9.92247588e-01 1.22562096e-01 2.05731876e-02 2.05459228e+02] [-1.22520039e-01 9.92460563e-01 -3.29720641e-03 -3.18317644e+01] [-2.08221899e-02 7.51017364e-04 9.99782913e-01 -4.07596009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters 0.04155338019545723 Centerline is valid? [True, True] Translation: X:205.49, Y:-31.84, Z:-4.07 [[ 9.91784569e-01 1.25944698e-01 2.23897799e-02 2.05488852e+02] [-1.25895664e-01 9.92036985e-01 -3.59189390e-03 -3.18399059e+01] [-2.26638697e-02 7.43608732e-04 9.99742865e-01 -4.07355682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39401273899998 meters 0.047140478870702 Centerline is valid? [True, True] Translation: X:205.52, Y:-31.86, Z:-4.07 [[ 9.91487079e-01 1.28221501e-01 2.26411010e-02 2.05516446e+02] [-1.28171948e-01 9.91745309e-01 -3.63239798e-03 -3.18575764e+01] [-2.29199572e-02 6.99521635e-04 9.99737059e-01 -4.07248736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters 0.037035975192474445 Centerline is valid? [True, True] Translation: X:205.55, Y:-31.85, Z:-4.07 [[ 9.91067773e-01 1.31412332e-01 2.27039254e-02 2.05549012e+02] [-1.31363304e-01 9.91327596e-01 -3.64401462e-03 -3.18518213e+01] [-2.29858962e-02 6.29002786e-04 9.99735592e-01 -4.07462422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45401273899998 meters 0.031000045752609333 Centerline is valid? [True, True] Translation: X:205.58, Y:-31.85, Z:-4.08 [[ 9.90035322e-01 1.39339381e-01 2.03616646e-02 2.05578998e+02] [-1.39301609e-01 9.90244605e-01 -3.26872550e-03 -3.18517940e+01] [-2.06184907e-02 3.99741070e-04 9.99787336e-01 -4.07888499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters 0.028573190502201494 Centerline is valid? [True, True] Translation: X:205.61, Y:-31.85, Z:-4.08 [[ 9.89492076e-01 1.43325958e-01 1.90551991e-02 2.05609349e+02] [-1.43293621e-01 9.89675493e-01 -3.05877028e-03 -3.18543873e+01] [-1.92968647e-02 2.96140484e-04 9.99813754e-01 -4.08229901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51401273899998 meters 0.024819352783217712 Centerline is valid? [True, True] Translation: X:205.64, Y:-31.85, Z:-4.08 [[ 9.88545267e-01 1.49895438e-01 1.75958084e-02 2.05641035e+02] [-1.49868902e-01 9.88701843e-01 -2.82464248e-03 -3.18545975e+01] [-1.78204092e-02 1.55222478e-04 9.99841192e-01 -4.08452470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters 0.023805532701481537 Centerline is valid? [True, True] Translation: X:205.67, Y:-31.86, Z:-4.09 [[ 9.88134818e-01 1.52588312e-01 1.75039680e-02 2.05672806e+02] [-1.52562470e-01 9.88289834e-01 -2.81018873e-03 -3.18573581e+01] [-1.77277956e-02 1.06396737e-04 9.99842845e-01 -4.08541269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57401273899998 meters 0.02279109003928756 Centerline is valid? [True, True] Translation: X:205.70, Y:-31.86, Z:-4.09 [[ 9.87459069e-01 1.56881711e-01 1.76837931e-02 2.05703999e+02] [-1.56855965e-01 9.87617399e-01 -2.84228083e-03 -3.18570258e+01] [-1.79107237e-02 3.28275395e-05 9.99839590e-01 -4.08609385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters 0.022612527493200182 Centerline is valid? [True, True] Translation: X:205.74, Y:-31.86, Z:-4.09 [[ 9.87115951e-01 1.58970796e-01 1.81765129e-02 2.05735488e+02] [-1.58943926e-01 9.87283286e-01 -2.92273730e-03 -3.18591485e+01] [-1.84099972e-02 -3.96570155e-06 9.99830522e-01 -4.08543797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63401273899999 meters 0.02278899858487805 Centerline is valid? [True, True] Translation: X:205.77, Y:-31.86, Z:-4.08 [[ 9.86801409e-01 1.60817388e-01 1.89933168e-02 2.05765221e+02] [-1.60788381e-01 9.86984177e-01 -3.05458406e-03 -3.18610294e+01] [-1.92373334e-02 -3.96368026e-05 9.99814945e-01 -4.08476311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters 0.02310870539994219 Centerline is valid? [True, True] Translation: X:205.80, Y:-31.86, Z:-4.08 [[ 9.86458613e-01 1.62842587e-01 1.95370598e-02 2.05795948e+02] [-1.62812297e-01 9.86652059e-01 -3.14178811e-03 -3.18611805e+01] [-1.97878972e-02 -8.16296349e-05 9.99804197e-01 -4.08443532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694012739 meters 0.023362438273002703 Centerline is valid? [True, True] Translation: X:205.83, Y:-31.86, Z:-4.09 [[ 9.86412816e-01 1.63193820e-01 1.89085472e-02 2.05826540e+02] [-1.63165512e-01 9.86594025e-01 -3.04071591e-03 -3.18641601e+01] [-1.91512857e-02 -8.58216317e-05 9.99816594e-01 -4.08624135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters 0.023478759031657206 Centerline is valid? [True, True] Translation: X:205.86, Y:-31.87, Z:-4.09 [[ 9.86394752e-01 1.63339346e-01 1.85916907e-02 2.05855905e+02] [-1.63312004e-01 9.86569942e-01 -2.98977879e-03 -3.18674812e+01] [-1.88303517e-02 -8.71441640e-05 9.99822689e-01 -4.08759808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754012739 meters 0.023327337834008564 Centerline is valid? [True, True] Translation: X:205.89, Y:-31.87, Z:-4.09 [[ 9.86361733e-01 1.63421641e-01 1.95933504e-02 2.05885812e+02] [-1.63391294e-01 9.86556313e-01 -3.15061028e-03 -3.18733869e+01] [-1.98448214e-02 -9.37414677e-05 9.99803068e-01 -4.08714598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters 0.023210523645318025 Centerline is valid? [True, True] Translation: X:205.92, Y:-31.88, Z:-4.09 [[ 9.86324626e-01 1.63585003e-01 2.00917566e-02 2.05915436e+02] [-1.63553127e-01 9.86529238e-01 -3.23075399e-03 -3.18783959e+01] [-2.03496082e-02 -9.94974103e-05 9.99792920e-01 -4.08591651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814012739 meters 0.023956417082500757 Centerline is valid? [True, True] Translation: X:205.95, Y:-31.88, Z:-4.08 [[ 9.85995072e-01 1.65517055e-01 2.04407158e-02 2.05945465e+02] [-1.65484477e-01 9.86206918e-01 -3.28686184e-03 -3.18801478e+01] [-2.07028070e-02 -1.41791584e-04 9.99785664e-01 -4.08495251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters 0.024681627858850225 Centerline is valid? [True, True] Translation: X:205.98, Y:-31.88, Z:-4.09 [[ 9.85707584e-01 1.67205041e-01 2.05677863e-02 2.05976140e+02] [-1.67172429e-01 9.85922128e-01 -3.30704890e-03 -3.18818398e+01] [-2.08311909e-02 -1.78583623e-04 9.99782991e-01 -4.08559173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874012739 meters 0.025603503550639718 Centerline is valid? [True, True] Translation: X:206.01, Y:-31.88, Z:-4.09 [[ 9.85417301e-01 1.68855483e-01 2.09897397e-02 2.06006411e+02] [-1.68821893e-01 9.85640796e-01 -3.37488251e-03 -3.18824729e+01] [-2.12582112e-02 -2.17859983e-04 9.99773995e-01 -4.08535536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters 0.02831253027911168 Centerline is valid? [True, True] Translation: X:206.04, Y:-31.88, Z:-4.08 [[ 9.84912658e-01 1.71718167e-01 2.14459279e-02 2.06035808e+02] [-1.71683787e-01 9.85146075e-01 -3.44791771e-03 -3.18775852e+01] [-2.17194418e-02 -2.86020310e-04 9.99764064e-01 -4.08471233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93401273899997 meters 0.029006022332745168 Centerline is valid? [True, True] Translation: X:206.06, Y:-31.88, Z:-4.09 [[ 9.84801379e-01 1.72372116e-01 2.13095631e-02 2.06064799e+02] [-1.72338346e-01 9.85031859e-01 -3.42498019e-03 -3.18790523e+01] [-2.15809697e-02 -2.99529659e-04 9.99767059e-01 -4.08571096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters 0.029852124083405086 Centerline is valid? [True, True] Translation: X:206.09, Y:-31.88, Z:-4.09 [[ 9.84678742e-01 1.73066746e-01 2.13465770e-02 2.06093198e+02] [-1.73033044e-01 9.84910047e-01 -3.42994973e-03 -3.18801340e+01] [-2.16180684e-02 -3.16264600e-04 9.99766252e-01 -4.08580994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99401273899997 meters 0.029283126207573524 Centerline is valid? [True, True] Translation: X:206.12, Y:-31.88, Z:-4.08 [[ 9.84449169e-01 1.74140250e-01 2.31302132e-02 2.06121754e+02] [-1.74101007e-01 9.84720791e-01 -3.71517586e-03 -3.18831540e+01] [-2.34237635e-02 -3.69591633e-04 9.99725558e-01 -4.08350153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters 0.03128673388509457 Centerline is valid? [True, True] Translation: X:206.15, Y:-31.88, Z:-4.08 [[ 9.84450405e-01 1.74073327e-01 2.35770597e-02 2.06150082e+02] [-1.74032562e-01 9.84732621e-01 -3.78577241e-03 -3.18819929e+01] [-2.38761018e-02 -3.76270916e-04 9.99714854e-01 -4.08220244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05401273899997 meters 0.028488843869556087 Centerline is valid? [True, True] Translation: X:206.18, Y:-31.89, Z:-4.09 [[ 9.84575027e-01 1.73577642e-01 2.19731209e-02 2.06179365e+02] [-1.73542138e-01 9.84820129e-01 -3.52708124e-03 -3.18862417e+01] [-2.22517942e-02 -3.40586270e-04 9.99752340e-01 -4.08682155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters 0.028488843869556087 Centerline is valid? [True, True] Translation: X:206.21, Y:-31.89, Z:-4.09 [[ 9.84583243e-01 1.73531025e-01 2.19732114e-02 2.06207347e+02] [-1.73495521e-01 9.84828344e-01 -3.52651727e-03 -3.18906431e+01] [-2.22518016e-02 -3.40103960e-04 9.99752340e-01 -4.08739689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11401273899997 meters 0.028551969278526802 Centerline is valid? [True, True] Translation: X:206.23, Y:-31.89, Z:-4.09 [[ 9.84676449e-01 1.73046686e-01 2.16132955e-02 2.06234971e+02] [-1.73012243e-01 9.84913569e-01 -3.46770158e-03 -3.18911586e+01] [-2.18873022e-02 -3.24800649e-04 9.99760392e-01 -4.08820295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters 0.030145947789285685 Centerline is valid? [True, True] Translation: X:206.26, Y:-31.89, Z:-4.09 [[ 9.84784005e-01 1.72528957e-01 2.08379996e-02 2.06264199e+02] [-1.72496850e-01 9.85004400e-01 -3.34209627e-03 -3.18850513e+01] [-2.11021296e-02 -3.03246348e-04 9.99777279e-01 -4.08992457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17401273899998 meters 0.02813133320856267 Centerline is valid? [True, True] Translation: X:206.29, Y:-31.89, Z:-4.09 [[ 9.84870811e-01 1.72073175e-01 2.05014168e-02 2.06292866e+02] [-1.72042024e-01 9.85084128e-01 -3.28691504e-03 -3.18900679e+01] [-2.07612102e-02 -2.89918546e-04 9.99784421e-01 -4.09171178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters 0.027824789171745346 Centerline is valid? [True, True] Translation: X:206.32, Y:-31.89, Z:-4.09 [[ 9.85061589e-01 1.71024731e-01 2.01048912e-02 2.06320831e+02] [-1.70994574e-01 9.85266701e-01 -3.22239737e-03 -3.18905611e+01] [-2.03597894e-02 -2.63567425e-04 9.99792683e-01 -4.09276941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23401273899998 meters 0.02638521868526343 Centerline is valid? [True, True] Translation: X:206.35, Y:-31.89, Z:-4.09 [[ 9.85350256e-01 1.69361129e-01 2.00419624e-02 2.06349602e+02] [-1.69330840e-01 9.85554035e-01 -3.21112180e-03 -3.18940079e+01] [-2.02962761e-02 -2.29642639e-04 9.99793983e-01 -4.09386405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters 0.02359176863624246 Centerline is valid? [True, True] Translation: X:206.38, Y:-31.90, Z:-4.09 [[ 9.86381802e-01 1.63207458e-01 2.03535335e-02 2.06377038e+02] [-1.63174924e-01 9.86591767e-01 -3.26030169e-03 -3.19031973e+01] [-2.06127341e-02 -1.05284024e-04 9.99787529e-01 -4.09409280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29401273899998 meters 0.022768070346499948 Centerline is valid? [True, True] Translation: X:206.40, Y:-31.91, Z:-4.09 [[ 9.87119737e-01 1.58643175e-01 2.06631997e-02 2.06404644e+02] [-1.58608663e-01 9.87335983e-01 -3.30891462e-03 -3.19142806e+01] [-2.09264573e-02 -1.10675514e-05 9.99781018e-01 -4.09445577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters 0.02535040797908582 Centerline is valid? [True, True] Translation: X:206.43, Y:-31.93, Z:-4.09 [[ 9.88580919e-01 1.49183530e-01 2.12612417e-02 2.06431894e+02] [-1.49144816e-01 9.88809505e-01 -3.40396738e-03 -3.19343991e+01] [-2.15311338e-02 1.94093205e-04 9.99768159e-01 -4.09297897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35401273899998 meters 0.02901827737287021 Centerline is valid? [True, True] Translation: X:206.46, Y:-31.94, Z:-4.09 [[ 9.89162273e-01 1.45196457e-01 2.18171201e-02 2.06463651e+02] [-1.45154711e-01 9.89402802e-01 -3.49350508e-03 -3.19427528e+01] [-2.20931643e-02 2.88785667e-04 9.99755875e-01 -4.08684011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters 0.029213100160568908 Centerline is valid? [True, True] Translation: X:206.49, Y:-31.95, Z:-4.09 [[ 9.89635284e-01 1.41867378e-01 2.22632575e-02 2.06492722e+02] [-1.41822980e-01 9.89885603e-01 -3.56865961e-03 -3.19546538e+01] [-2.25443545e-02 3.74229942e-04 9.99745774e-01 -4.09350780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414012739 meters 0.030938288057414588 Centerline is valid? [True, True] Translation: X:206.52, Y:-31.97, Z:-4.10 [[ 9.90124981e-01 1.38605981e-01 2.09977323e-02 2.06523647e+02] [-1.38565719e-01 9.90347516e-01 -3.36746615e-03 -3.19667983e+01] [-2.12618030e-02 4.24646478e-04 9.99773852e-01 -4.09662456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters 0.031337083874127925 Centerline is valid? [True, True] Translation: X:206.55, Y:-31.97, Z:-4.10 [[ 9.90202651e-01 1.38163164e-01 2.02398082e-02 2.06554762e+02] [-1.38125644e-01 9.90409392e-01 -3.24689261e-03 -3.19747773e+01] [-2.04942971e-02 4.19445138e-04 9.99789882e-01 -4.09825179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474012739 meters 0.03190424924386788 Centerline is valid? [True, True] Translation: X:206.59, Y:-31.98, Z:-4.10 [[ 9.90201246e-01 1.38180647e-01 2.01891259e-02 2.06585668e+02] [-1.38143248e-01 9.90406952e-01 -3.24219725e-03 -3.19832759e+01] [-2.04434596e-02 4.21436321e-04 9.99790922e-01 -4.09846028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters 0.03189342145150832 Centerline is valid? [True, True] Translation: X:206.62, Y:-32.00, Z:-4.10 [[ 9.90074219e-01 1.38834325e-01 2.18648555e-02 2.06615072e+02] [-1.38790524e-01 9.90315521e-01 -3.51554906e-03 -3.19959320e+01] [-2.21411846e-02 4.46019738e-04 9.99754754e-01 -4.09537053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534012739 meters 0.03212482881712378 Centerline is valid? [True, True] Translation: X:206.65, Y:-32.01, Z:-4.10 [[ 9.90021647e-01 1.39076987e-01 2.26876531e-02 2.06645746e+02] [-1.39029805e-01 9.90281465e-01 -3.65154946e-03 -3.20062273e+01] [-2.29750088e-02 4.60853023e-04 9.99735933e-01 -4.09576833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters 0.03150398099742526 Centerline is valid? [True, True] Translation: X:206.68, Y:-32.01, Z:-4.10 [[ 9.90014893e-01 1.39129223e-01 2.26621225e-02 2.06678203e+02] [-1.39082069e-01 9.90274126e-01 -3.65149562e-03 -3.20144328e+01] [-2.29497433e-02 4.63140165e-04 9.99736513e-01 -4.09693705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594012739 meters 0.033565543783277994 Centerline is valid? [True, True] Translation: X:206.71, Y:-32.03, Z:-4.10 [[ 9.90208964e-01 1.37671857e-01 2.30795963e-02 2.06707492e+02] [-1.37622449e-01 9.90477763e-01 -3.72320005e-03 -3.20288889e+01] [-2.33724068e-02 5.10475485e-04 9.99726698e-01 -4.09753719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters 0.03358421513422276 Centerline is valid? [True, True] Translation: X:206.74, Y:-32.04, Z:-4.10 [[ 9.90360804e-01 1.36686308e-01 2.24127645e-02 2.06738846e+02] [-1.36639384e-01 9.90614244e-01 -3.61908083e-03 -3.20373950e+01] [-2.26970826e-02 5.21729465e-04 9.99742252e-01 -4.09974090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654012739 meters 0.034809179775717375 Centerline is valid? [True, True] Translation: X:206.77, Y:-32.05, Z:-4.10 [[ 9.90552551e-01 1.35577150e-01 2.06028899e-02 2.06769854e+02] [-1.35537193e-01 9.90766663e-01 -3.33004496e-03 -3.20482801e+01] [-2.08641345e-02 5.06126670e-04 9.99782192e-01 -4.10261209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters 0.03496349527328799 Centerline is valid? [True, True] Translation: X:206.80, Y:-32.06, Z:-4.10 [[ 9.90575361e-01 1.35641168e-01 1.90243760e-02 2.06801115e+02] [-1.35607055e-01 9.90757919e-01 -3.07784562e-03 -3.20599624e+01] [-1.92660337e-02 4.68998441e-04 9.99814283e-01 -4.10474629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71401273899997 meters 0.03431350862235241 Centerline is valid? [True, True] Translation: X:206.83, Y:-32.07, Z:-4.10 [[ 9.90441849e-01 1.36507970e-01 1.97615282e-02 2.06832949e+02] [-1.36471253e-01 9.90638859e-01 -3.20111942e-03 -3.20669844e+01] [-2.00135161e-02 4.73642109e-04 9.99799597e-01 -4.10419008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters 0.03335193305872318 Centerline is valid? [True, True] Translation: X:206.86, Y:-32.08, Z:-4.10 [[ 9.90081883e-01 1.38817015e-01 2.16264222e-02 2.06863295e+02] [-1.38773503e-01 9.90317936e-01 -3.50720627e-03 -3.20780595e+01] [-2.19038937e-02 4.71247006e-04 9.99759970e-01 -4.10194765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77401273899997 meters 0.04049767373409048 Centerline is valid? [True, True] Translation: X:206.89, Y:-32.08, Z:-4.09 [[ 9.89851515e-01 1.40653671e-01 2.02613688e-02 2.06893998e+02] [-1.40615798e-01 9.90058776e-01 -3.28902874e-03 -3.20849345e+01] [-2.05225599e-02 4.06581539e-04 9.99789307e-01 -4.09010784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters 0.02850612420640887 Centerline is valid? [True, True] Translation: X:206.93, Y:-32.09, Z:-4.11 [[ 9.89333763e-01 1.44442063e-01 1.88466415e-02 2.06925507e+02] [-1.44409928e-01 9.89513212e-01 -3.06219753e-03 -3.20881228e+01] [-1.90913109e-02 3.07893268e-04 9.99817697e-01 -4.10763002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83401273899997 meters 0.028010956345814998 Centerline is valid? [True, True] Translation: X:206.96, Y:-32.09, Z:-4.11 [[ 9.89017090e-01 1.46741230e-01 1.76693766e-02 2.06955721e+02] [-1.46713339e-01 9.89174883e-01 -2.87162305e-03 -3.20944566e+01] [-1.78994890e-02 2.47751036e-04 9.99839761e-01 -4.11055773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters 0.02703886348775789 Centerline is valid? [True, True] Translation: X:206.99, Y:-32.10, Z:-4.11 [[ 9.88674599e-01 1.49088724e-01 1.71781742e-02 2.06986553e+02] [-1.49062690e-01 9.88823802e-01 -2.79328538e-03 -3.20996569e+01] [-1.74026349e-02 2.01025452e-04 9.99848542e-01 -4.11269816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89401273899998 meters 0.024774500836701147 Centerline is valid? [True, True] Translation: X:207.02, Y:-32.10, Z:-4.11 [[ 9.87978621e-01 1.53679720e-01 1.67567472e-02 2.07018977e+02] [-1.53655566e-01 9.88120706e-01 -2.72724814e-03 -3.21023073e+01] [-1.69768116e-02 1.19695387e-04 9.99855876e-01 -4.11356787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters 0.02377097166157126 Centerline is valid? [True, True] Translation: X:207.05, Y:-32.10, Z:-4.11 [[ 9.87528281e-01 1.56494454e-01 1.72447092e-02 2.07051662e+02] [-1.56469250e-01 9.87678834e-01 -2.80959148e-03 -3.21035897e+01] [-1.74719197e-02 7.62843356e-05 9.99847351e-01 -4.11315293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95401273899998 meters 0.022986578822433445 Centerline is valid? [True, True] Translation: X:207.08, Y:-32.10, Z:-4.11 [[ 9.86663023e-01 1.61743936e-01 1.83023865e-02 2.07083616e+02] [-1.61716386e-01 9.86832761e-01 -2.98518227e-03 -3.21016428e+01] [-1.85442297e-02 -1.44268422e-05 9.99828041e-01 -4.11190268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters 0.023366821675979713 Centerline is valid? [True, True] Translation: X:207.12, Y:-32.10, Z:-4.11 [[ 9.86205413e-01 1.64496000e-01 1.84377367e-02 2.07116560e+02] [-1.64468470e-01 9.86377748e-01 -3.01004817e-03 -3.21047652e+01] [-1.86817141e-02 -6.39005444e-05 9.99825480e-01 -4.11207953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01401273899998 meters 0.023772407763769588 Centerline is valid? [True, True] Translation: X:207.15, Y:-32.11, Z:-4.11 [[ 9.85813775e-01 1.66798833e-01 1.86908947e-02 2.07148984e+02] [-1.66770886e-01 9.85990942e-01 -3.05506561e-03 -3.21075410e+01] [-1.89386343e-02 -1.05371313e-04 9.99820642e-01 -4.11232855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters 0.024555330906168692 Centerline is valid? [True, True] Translation: X:207.18, Y:-32.11, Z:-4.11 [[ 9.85458771e-01 1.68851949e-01 1.89744599e-02 2.07180065e+02] [-1.68823463e-01 9.85641415e-01 -3.10480947e-03 -3.21091020e+01] [-1.92262667e-02 -1.43672304e-04 9.99815148e-01 -4.11251025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07401273899998 meters 0.027469109943511174 Centerline is valid? [True, True] Translation: X:207.21, Y:-32.10, Z:-4.11 [[ 9.84664003e-01 1.73412475e-01 1.91027370e-02 2.07210915e+02] [-1.73384450e-01 9.84849257e-01 -3.12629507e-03 -3.21028419e+01] [-1.93554549e-02 -2.33767331e-04 9.99812638e-01 -4.11300820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters 0.027887870660861593 Centerline is valid? [True, True] Translation: X:207.24, Y:-32.11, Z:-4.11 [[ 9.84193475e-01 1.76101105e-01 1.87511289e-02 2.07241080e+02] [-1.76074594e-01 9.84372044e-01 -3.06851674e-03 -3.21054000e+01] [-1.89984563e-02 -2.81583254e-04 9.99819473e-01 -4.11407358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13401273899999 meters 0.03260504666639342 Centerline is valid? [True, True] Translation: X:207.27, Y:-32.10, Z:-4.11 [[ 9.83219015e-01 1.81489137e-01 1.84948978e-02 2.07272063e+02] [-1.81464297e-01 9.83392876e-01 -3.02662449e-03 -3.20972810e+01] [-1.87370502e-02 -3.80328882e-04 9.99824374e-01 -4.11420250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters 0.036733062728823804 Centerline is valid? [True, True] Translation: X:207.30, Y:-32.09, Z:-4.11 [[ 9.82764197e-01 1.83865577e-01 1.91828802e-02 2.07302358e+02] [-1.83839316e-01 9.82951298e-01 -3.13872295e-03 -3.20917420e+01] [-1.94329401e-02 -4.41943038e-04 9.99811065e-01 -4.11327477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194012739 meters 0.036261073271655106 Centerline is valid? [True, True] Translation: X:207.33, Y:-32.09, Z:-4.11 [[ 9.82356605e-01 1.85917170e-01 2.02560196e-02 2.07331070e+02] [-1.85888340e-01 9.82565288e-01 -3.31354176e-03 -3.20936129e+01] [-2.05189061e-02 -5.10278237e-04 9.99789335e-01 -4.11168827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters 0.041864967316337716 Centerline is valid? [True, True] Translation: X:207.36, Y:-32.08, Z:-4.11 [[ 9.81726889e-01 1.89180504e-01 2.05682147e-02 2.07361237e+02] [-1.89151514e-01 9.81942152e-01 -3.36362544e-03 -3.20847459e+01] [-2.08331294e-02 -5.88347414e-04 9.99782794e-01 -4.11294768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254012739 meters 0.04069356852528567 Centerline is valid? [True, True] Translation: X:207.39, Y:-32.09, Z:-4.12 [[ 9.81532718e-01 1.90250386e-01 1.99577934e-02 2.07390172e+02] [-1.90223331e-01 9.81735422e-01 -3.26287501e-03 -3.20887196e+01] [-2.02140359e-02 -5.93819363e-04 9.99795499e-01 -4.11535530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters 0.04710024667734547 Centerline is valid? [True, True] Translation: X:207.42, Y:-32.08, Z:-4.12 [[ 9.81238925e-01 1.91999404e-01 1.75042954e-02 2.07420922e+02] [-1.91978883e-01 9.81394886e-01 -2.86103764e-03 -3.20780048e+01] [-1.77279435e-02 -5.53093579e-04 9.99842695e-01 -4.12050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314012739 meters 0.04343649323914887 Centerline is valid? [True, True] Translation: X:207.45, Y:-32.08, Z:-4.12 [[ 9.81185672e-01 1.92311165e-01 1.70614440e-02 2.07448686e+02] [-1.92291729e-01 9.81333847e-01 -2.78790356e-03 -3.20836539e+01] [-1.72791174e-02 -5.45323543e-04 9.99850556e-01 -4.12164277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters 0.04191977328021859 Centerline is valid? [True, True] Translation: X:207.48, Y:-32.08, Z:-4.12 [[ 9.81337592e-01 1.91504137e-01 1.73981495e-02 2.07477738e+02] [-1.91483820e-01 9.81491656e-01 -2.84181829e-03 -3.20839864e+01] [-1.76203586e-02 -5.42681007e-04 9.99844602e-01 -4.12229466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374012739 meters 0.03907327893055944 Centerline is valid? [True, True] Translation: X:207.51, Y:-32.09, Z:-4.12 [[ 9.81473818e-01 1.90773092e-01 1.77417894e-02 2.07505687e+02] [-1.90751855e-01 9.81634013e-01 -2.89732957e-03 -3.20904571e+01] [-1.79686765e-02 -5.40626133e-04 9.99838404e-01 -4.12233505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters 0.03974897486932608 Centerline is valid? [True, True] Translation: X:207.53, Y:-32.09, Z:-4.12 [[ 9.81676178e-01 1.89722656e-01 1.78100093e-02 2.07533846e+02] [-1.89701098e-01 9.81837583e-01 -2.90760287e-03 -3.20915639e+01] [-1.80381746e-02 -5.24253846e-04 9.99837161e-01 -4.12235253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43401273899997 meters 0.04006182480262766 Centerline is valid? [True, True] Translation: X:207.56, Y:-32.09, Z:-4.12 [[ 9.81867378e-01 1.88734681e-01 1.77671705e-02 2.07561887e+02] [-1.88713086e-01 9.82027985e-01 -2.89950606e-03 -3.20930136e+01] [-1.79950960e-02 -5.05967154e-04 9.99837947e-01 -4.12358928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters 0.03891317415437335 Centerline is valid? [True, True] Translation: X:207.59, Y:-32.09, Z:-4.12 [[ 9.82102290e-01 1.87538051e-01 1.74519524e-02 2.07590944e+02] [-1.87517045e-01 9.82257223e-01 -2.84699784e-03 -3.20940925e+01] [-1.76762267e-02 -4.76495441e-04 9.99843650e-01 -4.12480202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49401273899997 meters 0.04045486403647468 Centerline is valid? [True, True] Translation: X:207.62, Y:-32.09, Z:-4.12 [[ 9.82172897e-01 1.87112896e-01 1.80323131e-02 2.07619134e+02] [-1.87090414e-01 9.82338297e-01 -2.94080781e-03 -3.20937433e+01] [-1.82640948e-02 -4.85291184e-04 9.99833080e-01 -4.12462749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters 0.03623874167392449 Centerline is valid? [True, True] Translation: X:207.65, Y:-32.10, Z:-4.12 [[ 9.82526959e-01 1.85111299e-01 1.93540983e-02 2.07647633e+02] [-1.85085036e-01 9.82717444e-01 -3.15512682e-03 -3.20998163e+01] [-1.96036596e-02 -4.82156824e-04 9.99807714e-01 -4.12239067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55401273899997 meters 0.0355677877892604 Centerline is valid? [True, True] Translation: X:207.68, Y:-32.10, Z:-4.12 [[ 9.82860267e-01 1.83308732e-01 1.95858226e-02 2.07675848e+02] [-1.83281498e-01 9.83055290e-01 -3.19194935e-03 -3.21030049e+01] [-1.98390587e-02 -4.52478703e-04 9.99803084e-01 -4.12254593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters 0.03314107797639578 Centerline is valid? [True, True] Translation: X:207.70, Y:-32.11, Z:-4.12 [[ 9.83276094e-01 1.81094774e-01 1.93081748e-02 2.07704336e+02] [-1.81067898e-01 9.83465567e-01 -3.14578377e-03 -3.21103096e+01] [-1.95586100e-02 -4.02916629e-04 9.99808631e-01 -4.12352479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61401273899997 meters 0.028916557008796685 Centerline is valid? [True, True] Translation: X:207.73, Y:-32.12, Z:-4.12 [[ 9.84132585e-01 1.76348337e-01 1.96040769e-02 2.07732634e+02] [-1.76319703e-01 9.84327773e-01 -3.19326871e-03 -3.21233521e+01] [-1.98599650e-02 -3.13985218e-04 9.99802722e-01 -4.12359566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters 0.028097215804945057 Centerline is valid? [True, True] Translation: X:207.76, Y:-32.13, Z:-4.12 [[ 9.84448478e-01 1.74407636e-01 2.10516140e-02 2.07759820e+02] [-1.74374179e-01 9.84673494e-01 -3.42872947e-03 -3.21306570e+01] [-2.13269629e-02 -2.95450409e-04 9.99772511e-01 -4.12146159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67401273899998 meters 0.026775528775807633 Centerline is valid? [True, True] Translation: X:207.79, Y:-32.14, Z:-4.12 [[ 9.84736176e-01 1.72595126e-01 2.24852263e-02 2.07787600e+02] [-1.72556518e-01 9.84992816e-01 -3.66079954e-03 -3.21388855e+01] [-2.27796226e-02 -2.75050619e-04 9.99740473e-01 -4.11983773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters 0.025442374101618766 Centerline is valid? [True, True] Translation: X:207.82, Y:-32.15, Z:-4.12 [[ 9.85125706e-01 1.70331947e-01 2.26797383e-02 2.07816068e+02] [-1.70292093e-01 9.85386714e-01 -3.69139563e-03 -3.21461442e+01] [-2.29770754e-02 -2.25691354e-04 9.99735967e-01 -4.11991275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73401273899998 meters 0.02528672756549709 Centerline is valid? [True, True] Translation: X:207.84, Y:-32.15, Z:-4.12 [[ 9.85217559e-01 1.69893334e-01 2.19685258e-02 2.07843806e+02] [-1.69855849e-01 9.85462435e-01 -3.57481235e-03 -3.21498429e+01] [-2.22564937e-02 -2.09514707e-04 9.99752272e-01 -4.12180310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters 0.02616680080741406 Centerline is valid? [True, True] Translation: X:207.87, Y:-32.15, Z:-4.13 [[ 9.85037284e-01 1.71206944e-01 1.97416065e-02 2.07872832e+02] [-1.71176960e-01 9.85235066e-01 -3.21136224e-03 -3.21514487e+01] [-1.99999305e-02 -2.15996649e-04 9.99799958e-01 -4.12636394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79401273899998 meters 0.027017955204039882 Centerline is valid? [True, True] Translation: X:207.90, Y:-32.15, Z:-4.13 [[ 9.84836004e-01 1.72496052e-01 1.85244912e-02 2.07901721e+02] [-1.72469895e-01 9.85010183e-01 -3.01253815e-03 -3.21529118e+01] [-1.87664634e-02 -2.28061023e-04 9.99823868e-01 -4.12902242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters 0.027975859233698032 Centerline is valid? [True, True] Translation: X:207.93, Y:-32.15, Z:-4.13 [[ 9.84593907e-01 1.73959211e-01 1.76926913e-02 2.07930309e+02] [-1.73935600e-01 9.84752828e-01 -2.87648530e-03 -3.21533980e+01] [-1.79233189e-02 -2.45218982e-04 9.99839334e-01 -4.13108906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85401273899998 meters 0.03067917158484244 Centerline is valid? [True, True] Translation: X:207.96, Y:-32.15, Z:-4.13 [[ 9.84190365e-01 1.76294027e-01 1.70218017e-02 2.07958460e+02] [-1.76272539e-01 9.84337513e-01 -2.76645604e-03 -3.21504597e+01] [-1.72429076e-02 -2.77756825e-04 9.99851291e-01 -4.13304075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters 0.03230847981393625 Centerline is valid? [True, True] Translation: X:207.99, Y:-32.15, Z:-4.13 [[ 9.83595540e-01 1.79546617e-01 1.74018830e-02 2.07988166e+02] [-1.79524691e-01 9.83749406e-01 -2.82683221e-03 -3.21493587e+01] [-1.76266402e-02 -3.43608112e-04 9.99844580e-01 -4.13337449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914012739 meters 0.032874644055326946 Centerline is valid? [True, True] Translation: X:208.02, Y:-32.15, Z:-4.13 [[ 9.83511110e-01 1.79950143e-01 1.79956224e-02 2.08015959e+02] [-1.79926773e-01 9.83675665e-01 -2.92271169e-03 -3.21508919e+01] [-1.82277982e-02 -3.63374852e-04 9.99833794e-01 -4.13287865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters 0.03194747430256942 Centerline is valid? [True, True] Translation: X:208.05, Y:-32.15, Z:-4.13 [[ 9.83529183e-01 1.79750657e-01 1.89749307e-02 2.08045283e+02] [-1.79724671e-01 9.83712131e-01 -3.07998580e-03 -3.21525058e+01] [-1.92194990e-02 -3.81007269e-04 9.99815216e-01 -4.13159234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974012739 meters 0.03220864465360882 Centerline is valid? [True, True] Translation: X:208.07, Y:-32.15, Z:-4.13 [[ 9.83648495e-01 1.79139180e-01 1.85685797e-02 2.08073363e+02] [-1.79114202e-01 9.83823675e-01 -3.01319130e-03 -3.21549044e+01] [-1.88079890e-02 -3.61975256e-04 9.99823049e-01 -4.13284269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters 0.03220864465360882 Centerline is valid? [True, True] Translation: X:208.10, Y:-32.16, Z:-4.13 [[ 9.83661088e-01 1.79069992e-01 1.85688227e-02 2.08100520e+02] [-1.79045030e-01 9.83836270e-01 -3.01169305e-03 -3.21591724e+01] [-1.88079852e-02 -3.62170165e-04 9.99823049e-01 -4.13340113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034012739 meters 0.030982317084368452 Centerline is valid? [True, True] Translation: X:208.13, Y:-32.17, Z:-4.14 [[ 9.83860066e-01 1.78102241e-01 1.72905467e-02 2.08128541e+02] [-1.78080470e-01 9.84011935e-01 -2.80315667e-03 -3.21665314e+01] [-1.75133528e-02 -3.21194781e-04 9.99846578e-01 -4.13640928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters 0.030794491879038138 Centerline is valid? [True, True] Translation: X:208.16, Y:-32.17, Z:-4.14 [[ 9.83905450e-01 1.77899438e-01 1.67885280e-02 2.08156377e+02] [-1.77878896e-01 9.84048624e-01 -2.72105277e-03 -3.21718959e+01] [-1.70048016e-02 -3.09066169e-04 9.99855360e-01 -4.13793311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094012739 meters 0.031330821212632795 Centerline is valid? [True, True] Translation: X:208.18, Y:-32.18, Z:-4.14 [[ 9.83937398e-01 1.77741692e-01 1.65857657e-02 2.08183109e+02] [-1.77721639e-01 9.84077131e-01 -2.68702505e-03 -3.21750266e+01] [-1.67992691e-02 -3.03785041e-04 9.99858836e-01 -4.13845849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters 0.0322936170649308 Centerline is valid? [True, True] Translation: X:208.21, Y:-32.18, Z:-4.14 [[ 9.83944723e-01 1.77509751e-01 1.85221479e-02 2.08211145e+02] [-1.77484736e-01 9.84118984e-01 -2.99891254e-03 -3.21776203e+01] [-1.87603336e-02 -3.36634354e-04 9.99823953e-01 -4.13553769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154012739 meters 0.031426744065251075 Centerline is valid? [True, True] Translation: X:208.24, Y:-32.18, Z:-4.13 [[ 9.83933981e-01 1.77411216e-01 1.99795497e-02 2.08238609e+02] [-1.77382115e-01 9.84136743e-01 -3.23359271e-03 -3.21841687e+01] [-2.02362846e-02 -3.62373031e-04 9.99795160e-01 -4.13352840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters 0.030691736341521076 Centerline is valid? [True, True] Translation: X:208.27, Y:-32.19, Z:-4.13 [[ 9.83869478e-01 1.77696544e-01 2.06103983e-02 2.08266517e+02] [-1.77665671e-01 9.84085257e-01 -3.33419335e-03 -3.21907162e+01] [-2.08748637e-02 -3.81349162e-04 9.99782024e-01 -4.13329887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21401273899997 meters 0.03239058037364778 Centerline is valid? [True, True] Translation: X:208.29, Y:-32.19, Z:-4.13 [[ 9.83425924e-01 1.80213537e-01 1.99131324e-02 2.08294924e+02] [-1.80185251e-01 9.83627421e-01 -3.22045714e-03 -3.21927661e+01] [-2.01674731e-02 -4.20971735e-04 9.99796527e-01 -4.13429961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters 0.03359978605449196 Centerline is valid? [True, True] Translation: X:208.32, Y:-32.19, Z:-4.14 [[ 9.83042040e-01 1.82345932e-01 1.94501704e-02 2.08323331e+02] [-1.82319386e-01 9.83234333e-01 -3.14441625e-03 -3.21947354e+01] [-1.96974469e-02 -4.55049773e-04 9.99805883e-01 -4.13579646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27401273899997 meters 0.03900376991375032 Centerline is valid? [True, True] Translation: X:208.35, Y:-32.19, Z:-4.14 [[ 9.82020321e-01 1.87920855e-01 1.79399639e-02 2.08354255e+02] [-1.87899221e-01 9.82184035e-01 -2.89913853e-03 -3.21879146e+01] [-1.81651548e-02 -5.23892300e-04 9.99834863e-01 -4.13772933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters 0.04224918419662897 Centerline is valid? [True, True] Translation: X:208.38, Y:-32.18, Z:-4.14 [[ 9.81406360e-01 1.91184501e-01 1.70306322e-02 2.08383262e+02] [-1.91165496e-01 9.81553961e-01 -2.75212972e-03 -3.21844122e+01] [-1.72426491e-02 -5.54711643e-04 9.99851181e-01 -4.14033519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33401273899997 meters 0.051989059584777134 Centerline is valid? [True, True] Translation: X:208.41, Y:-32.17, Z:-4.14 [[ 9.80721281e-01 1.94731216e-01 1.62948591e-02 2.08414792e+02] [-1.94714324e-01 9.80856464e-01 -2.63212797e-03 -3.21713282e+01] [-1.64954754e-02 -5.91458562e-04 9.99863765e-01 -4.14269979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters 0.05147758685701001 Centerline is valid? [True, True] Translation: X:208.45, Y:-32.17, Z:-4.14 [[ 9.79472107e-01 2.00767082e-01 1.80823186e-02 2.08446262e+02] [-2.00747310e-01 9.79638702e-01 -2.92070496e-03 -3.21680712e+01] [-1.83005206e-02 -7.69227774e-04 9.99832236e-01 -4.13931516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39401273899998 meters 0.05752163130167788 Centerline is valid? [True, True] Translation: X:208.48, Y:-32.16, Z:-4.14 [[ 9.79045209e-01 2.02703059e-01 1.95434822e-02 2.08476790e+02] [-2.02680347e-01 9.79239864e-01 -3.15674066e-03 -3.21594632e+01] [-1.97776378e-02 -8.70487927e-04 9.99804024e-01 -4.13707551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters 0.05896003346823177 Centerline is valid? [True, True] Translation: X:208.51, Y:-32.15, Z:-4.14 [[ 9.78887079e-01 2.03339612e-01 2.08107911e-02 2.08506279e+02] [-2.03314020e-01 9.79107816e-01 -3.36062311e-03 -3.21507486e+01] [-2.10593560e-02 -9.41455040e-04 9.99777784e-01 -4.13569420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45401273899998 meters 0.05875297927097594 Centerline is valid? [True, True] Translation: X:208.54, Y:-32.15, Z:-4.14 [[ 9.79264389e-01 2.01547386e-01 2.04916686e-02 2.08535466e+02] [-2.01522204e-01 9.79478360e-01 -3.30794030e-03 -3.21497442e+01] [-2.07378527e-02 -8.90178091e-04 9.99784551e-01 -4.13754211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters 0.05094540830457849 Centerline is valid? [True, True] Translation: X:208.56, Y:-32.16, Z:-4.14 [[ 9.79898887e-01 1.98532921e-01 1.95665584e-02 2.08564147e+02] [-1.98509370e-01 9.80093902e-01 -3.15812906e-03 -3.21600760e+01] [-1.98040571e-02 -7.89498032e-04 9.99803569e-01 -4.13954625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51401273899998 meters 0.046146507725154405 Centerline is valid? [True, True] Translation: X:208.59, Y:-32.17, Z:-4.14 [[ 9.80769954e-01 1.94221114e-01 1.91952312e-02 2.08593349e+02] [-1.94197628e-01 9.80957534e-01 -3.09795647e-03 -3.21669087e+01] [-1.94313952e-02 -6.89285750e-04 9.99810955e-01 -4.14128894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters 0.037994281440530485 Centerline is valid? [True, True] Translation: X:208.62, Y:-32.17, Z:-4.14 [[ 9.82550066e-01 1.85005702e-01 1.91900693e-02 2.08621784e+02] [-1.84980467e-01 9.82737317e-01 -3.09726719e-03 -3.21745159e+01] [-1.94318093e-02 -5.06567909e-04 9.99811056e-01 -4.14218848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57401273899998 meters 0.03142173131418398 Centerline is valid? [True, True] Translation: X:208.65, Y:-32.18, Z:-4.14 [[ 9.83853713e-01 1.77999982e-01 1.86515094e-02 2.08651304e+02] [-1.77974890e-01 9.84030425e-01 -3.01002368e-03 -3.21820240e+01] [-1.88894368e-02 -3.58077362e-04 9.99821515e-01 -4.14329545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters 0.029774247833954822 Centerline is valid? [True, True] Translation: X:208.68, Y:-32.19, Z:-4.15 [[ 9.84380349e-01 1.75150028e-01 1.78268279e-02 2.08679296e+02] [-1.75126641e-01 9.84541713e-01 -2.87680100e-03 -3.21857052e+01] [-1.80551274e-02 -2.90086114e-04 9.99836951e-01 -4.14511166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63401273899999 meters 0.02859427021908594 Centerline is valid? [True, True] Translation: X:208.71, Y:-32.19, Z:-4.15 [[ 9.84810148e-01 1.72828319e-01 1.67136357e-02 2.08707069e+02] [-1.72807439e-01 9.84951937e-01 -2.69644362e-03 -3.21894066e+01] [-1.69281497e-02 -2.32755541e-04 9.99856682e-01 -4.14782372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters 0.026751970146957717 Centerline is valid? [True, True] Translation: X:208.74, Y:-32.20, Z:-4.15 [[ 9.85162428e-01 1.70860043e-01 1.61813351e-02 2.08735484e+02] [-1.70840223e-01 9.85295290e-01 -2.60960337e-03 -3.21954997e+01] [-1.63892702e-02 -1.93539710e-04 9.99865668e-01 -4.14890825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694012739 meters 0.02742880770895007 Centerline is valid? [True, True] Translation: X:208.76, Y:-32.20, Z:-4.14 [[ 9.85773765e-01 1.67207163e-01 1.70835679e-02 2.08763021e+02] [-1.67184536e-01 9.85921774e-01 -2.75426191e-03 -3.21997461e+01] [-1.73035939e-02 -1.41029244e-04 9.99850272e-01 -4.14296630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters 0.024119587717374658 Centerline is valid? [True, True] Translation: X:208.79, Y:-32.21, Z:-4.15 [[ 9.86092162e-01 1.65228978e-01 1.79341407e-02 2.08791209e+02] [-1.65203737e-01 9.86255227e-01 -2.89022431e-03 -3.22063869e+01] [-1.81651888e-02 -1.12759526e-04 9.99834993e-01 -4.14646304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754012739 meters 0.023017343114678988 Centerline is valid? [True, True] Translation: X:208.82, Y:-32.22, Z:-4.15 [[ 9.86841797e-01 1.60598895e-01 1.87420014e-02 2.08819367e+02] [-1.60570510e-01 9.87019754e-01 -3.01947974e-03 -3.22150857e+01] [-1.89836507e-02 -2.96639193e-05 9.99819794e-01 -4.14609926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters 0.022978070976685073 Centerline is valid? [True, True] Translation: X:208.85, Y:-32.22, Z:-4.15 [[ 9.87272227e-01 1.57999664e-01 1.81564369e-02 2.08846597e+02] [-1.57972600e-01 9.87439166e-01 -2.92435098e-03 -3.22221853e+01] [-1.83904233e-02 1.89109631e-05 9.99830882e-01 -4.14794919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814012739 meters 0.02334002438494853 Centerline is valid? [True, True] Translation: X:208.87, Y:-32.23, Z:-4.15 [[ 9.87722495e-01 1.55228658e-01 1.75595204e-02 2.08873999e+02] [-1.55202928e-01 9.87878565e-01 -2.82695317e-03 -3.22297652e+01] [-1.77854979e-02 6.69562564e-05 9.99841823e-01 -4.15054286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters 0.02493135856260541 Centerline is valid? [True, True] Translation: X:208.90, Y:-32.24, Z:-4.15 [[ 9.88462962e-01 1.50401465e-01 1.78989135e-02 2.08899867e+02] [-1.50373960e-01 9.88624992e-01 -2.88045628e-03 -3.22430754e+01] [-1.81285381e-02 1.55693830e-04 9.99835652e-01 -4.15027491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874012739 meters 0.025808798774020685 Centerline is valid? [True, True] Translation: X:208.93, Y:-32.25, Z:-4.15 [[ 9.88828577e-01 1.47942009e-01 1.81990983e-02 2.08927319e+02] [-1.47913178e-01 9.88996017e-01 -2.92759560e-03 -3.22516982e+01] [-1.84319501e-02 2.03003719e-04 9.99830097e-01 -4.14997022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters 0.028224010412096254 Centerline is valid? [True, True] Translation: X:208.96, Y:-32.27, Z:-4.15 [[ 9.89523568e-01 1.43263455e-01 1.78519009e-02 2.08955259e+02] [-1.43234969e-01 9.89684547e-01 -2.87084291e-03 -3.22662047e+01] [-1.80790374e-02 2.83750243e-04 9.99836521e-01 -4.15102434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93401273899997 meters 0.039451110504535696 Centerline is valid? [True, True] Translation: X:208.98, Y:-32.28, Z:-4.14 [[ 9.89889897e-01 1.40850438e-01 1.67076863e-02 2.08982053e+02] [-1.40825148e-01 9.90030838e-01 -2.68658162e-03 -3.22778561e+01] [-1.69195309e-02 3.06557613e-04 9.99856807e-01 -4.14054917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters 0.03267553561651225 Centerline is valid? [True, True] Translation: X:209.01, Y:-32.29, Z:-4.16 [[ 9.90319425e-01 1.37822428e-01 1.65050006e-02 2.09009471e+02] [-1.37797346e-01 9.90456891e-01 -2.65287690e-03 -3.22942575e+01] [-1.67131175e-02 3.52850254e-04 9.99860264e-01 -4.15506922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99401273899997 meters 0.03386075125044769 Centerline is valid? [True, True] Translation: X:209.04, Y:-32.30, Z:-4.16 [[ 9.90439781e-01 1.36953726e-01 1.65141728e-02 2.09035689e+02] [-1.36928499e-01 9.90577378e-01 -2.65410925e-03 -3.23042709e+01] [-1.67220562e-02 3.67474495e-04 9.99860109e-01 -4.15551118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters 0.03803969675959955 Centerline is valid? [True, True] Translation: X:209.06, Y:-32.31, Z:-4.15 [[ 9.90439712e-01 1.36905077e-01 1.69167889e-02 2.09063355e+02] [-1.36878618e-01 9.90584100e-01 -2.71760633e-03 -3.23123316e+01] [-1.71295562e-02 3.76078538e-04 9.99853208e-01 -4.14523236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05401273899997 meters 0.03169300071585569 Centerline is valid? [True, True] Translation: X:209.09, Y:-32.32, Z:-4.15 [[ 9.90284231e-01 1.37856273e-01 1.82425427e-02 2.09091947e+02] [-1.37825683e-01 9.90452169e-01 -2.92966246e-03 -3.23176350e+01] [-1.84722383e-02 3.86907633e-04 9.99829299e-01 -4.15352963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters 0.02993234824601734 Centerline is valid? [True, True] Translation: X:209.12, Y:-32.33, Z:-4.15 [[ 9.89836305e-01 1.41105015e-01 1.77049099e-02 2.09119337e+02] [-1.41076735e-01 9.89994583e-01 -2.84246296e-03 -3.23265288e+01] [-1.79288507e-02 3.15822136e-04 9.99839215e-01 -4.15493231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11401273899997 meters 0.027758936197374406 Centerline is valid? [True, True] Translation: X:209.15, Y:-32.33, Z:-4.16 [[ 9.89511268e-01 1.43460962e-01 1.69234477e-02 2.09148230e+02] [-1.43435478e-01 9.89655942e-01 -2.71646343e-03 -3.23298514e+01] [-1.71380971e-02 2.60548353e-04 9.99853098e-01 -4.15692658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters 0.024955259265989436 Centerline is valid? [True, True] Translation: X:209.18, Y:-32.33, Z:-4.16 [[ 9.88645444e-01 1.49354257e-01 1.65376216e-02 2.09177861e+02] [-1.49330760e-01 9.88783739e-01 -2.65365300e-03 -3.23304736e+01] [-1.67484657e-02 1.53946354e-04 9.99859723e-01 -4.15724266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17401273899998 meters 0.023897411907795107 Centerline is valid? [True, True] Translation: X:209.21, Y:-32.33, Z:-4.16 [[ 9.88114551e-01 1.52782624e-01 1.69441465e-02 2.09205447e+02] [-1.52758467e-01 9.88259814e-01 -2.71856914e-03 -3.23318536e+01] [-1.71605692e-02 9.78958896e-05 9.99852742e-01 -4.15701738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters 0.023235050658876797 Centerline is valid? [True, True] Translation: X:209.23, Y:-32.33, Z:-4.16 [[ 9.87653942e-01 1.55638825e-01 1.77833570e-02 2.09233133e+02] [-1.55612699e-01 9.87814028e-01 -2.85204943e-03 -3.23330455e+01] [-1.80105391e-02 4.95216858e-05 9.99837796e-01 -4.15686258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23401273899998 meters 0.023068863392098498 Centerline is valid? [True, True] Translation: X:209.26, Y:-32.33, Z:-4.16 [[ 9.86939681e-01 1.60051962e-01 1.82602384e-02 2.09262584e+02] [-1.60025192e-01 9.87108590e-01 -2.92738969e-03 -3.23328224e+01] [-1.84933727e-02 -3.29411184e-05 9.99828982e-01 -4.15603986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters 0.02328628017937232 Centerline is valid? [True, True] Translation: X:209.29, Y:-32.34, Z:-4.16 [[ 9.86768847e-01 1.61200507e-01 1.73677870e-02 2.09291741e+02] [-1.61176482e-01 9.86921676e-01 -2.78353417e-03 -3.23355586e+01] [-1.75893526e-02 -5.25740106e-05 9.99845294e-01 -4.15787756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29401273899998 meters 0.023489083565517842 Centerline is valid? [True, True] Translation: X:209.32, Y:-32.34, Z:-4.16 [[ 9.86659469e-01 1.62010970e-01 1.59855254e-02 2.09320779e+02] [-1.61990734e-01 9.86788955e-01 -2.56129830e-03 -3.23382498e+01] [-1.61892983e-02 -6.23777797e-05 9.99868943e-01 -4.16045290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters 0.02386375102188329 Centerline is valid? [True, True] Translation: X:209.35, Y:-32.34, Z:-4.16 [[ 9.86467788e-01 1.63195038e-01 1.57696866e-02 2.09349227e+02] [-1.63175508e-01 9.86593824e-01 -2.52596078e-03 -3.23412297e+01] [-1.59704997e-02 -8.14476853e-05 9.99872460e-01 -4.16177513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35401273899998 meters 0.023878830421834484 Centerline is valid? [True, True] Translation: X:209.38, Y:-32.34, Z:-4.16 [[ 9.86388349e-01 1.63546249e-01 1.70484216e-02 2.09376145e+02] [-1.63523490e-01 9.86535664e-01 -2.72998827e-03 -3.23440196e+01] [-1.72653552e-02 -9.49887593e-05 9.99850938e-01 -4.15987387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters 0.024066438463438714 Centerline is valid? [True, True] Translation: X:209.41, Y:-32.34, Z:-4.16 [[ 9.86191476e-01 1.64548131e-01 1.87158795e-02 2.09405558e+02] [-1.64520917e-01 9.86369047e-01 -2.99520572e-03 -3.23434919e+01] [-1.89536197e-02 -1.25307299e-04 9.99820356e-01 -4.15677942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414012739 meters 0.024421805958861988 Centerline is valid? [True, True] Translation: X:209.43, Y:-32.35, Z:-4.16 [[ 9.86053146e-01 1.65393009e-01 1.85565786e-02 2.09433189e+02] [-1.65366421e-01 9.86227729e-01 -2.96885067e-03 -3.23451076e+01] [-1.87920395e-02 -1.41190444e-04 9.99823404e-01 -4.15769869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters 0.025429135203098512 Centerline is valid? [True, True] Translation: X:209.46, Y:-32.34, Z:-4.16 [[ 9.85762868e-01 1.67139716e-01 1.83271366e-02 2.09461616e+02] [-1.67114103e-01 9.85933205e-01 -2.93106633e-03 -3.23445390e+01] [-1.85592301e-02 -1.73386639e-04 9.99827748e-01 -4.15860587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474012739 meters 0.025676151908643995 Centerline is valid? [True, True] Translation: X:209.49, Y:-32.35, Z:-4.16 [[ 9.85633301e-01 1.67894612e-01 1.83955362e-02 2.09490805e+02] [-1.67868960e-01 9.85804932e-01 -2.94089574e-03 -3.23469327e+01] [-1.86281709e-02 -1.89394765e-04 9.99826463e-01 -4.15941462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters 0.025975963269267606 Centerline is valid? [True, True] Translation: X:209.52, Y:-32.35, Z:-4.16 [[ 9.85578502e-01 1.68206557e-01 1.84816074e-02 2.09520038e+02] [-1.68180735e-01 9.85751751e-01 -2.95377929e-03 -3.23493392e+01] [-1.87151219e-02 -1.97068951e-04 9.99824837e-01 -4.15977604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534012739 meters 0.02546638096501735 Centerline is valid? [True, True] Translation: X:209.55, Y:-32.35, Z:-4.16 [[ 9.85714891e-01 1.67404340e-01 1.84916398e-02 2.09547880e+02] [-1.67378365e-01 9.85888307e-01 -2.95452859e-03 -3.23522959e+01] [-1.87252923e-02 -1.82777611e-04 9.99824650e-01 -4.15939469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters 0.02454072312174496 Centerline is valid? [True, True] Translation: X:209.58, Y:-32.36, Z:-4.16 [[ 9.85933049e-01 1.66092547e-01 1.86892815e-02 2.09576175e+02] [-1.66065800e-01 9.86110156e-01 -2.98498450e-03 -3.23594085e+01] [-1.89254740e-02 -1.60655610e-04 9.99820884e-01 -4.15983152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594012739 meters 0.023500395071186557 Centerline is valid? [True, True] Translation: X:209.60, Y:-32.37, Z:-4.16 [[ 9.86417900e-01 1.63308987e-01 1.76039941e-02 2.09603983e+02] [-1.63284827e-01 9.86574966e-01 -2.81084558e-03 -3.23672175e+01] [-1.78266962e-02 -1.01796738e-04 9.99841087e-01 -4.16211553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters 0.02317092396027751 Centerline is valid? [True, True] Translation: X:209.63, Y:-32.37, Z:-4.16 [[ 9.86579427e-01 1.62354822e-01 1.73766169e-02 2.09632482e+02] [-1.62331149e-01 9.86732438e-01 -2.77368881e-03 -3.23716774e+01] [-1.75963933e-02 -8.43018763e-05 9.99845168e-01 -4.16306920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654012739 meters 0.02304221235180162 Centerline is valid? [True, True] Translation: X:209.66, Y:-32.38, Z:-4.16 [[ 9.86730094e-01 1.61412499e-01 1.75990593e-02 2.09660375e+02] [-1.61388082e-01 9.86887025e-01 -2.80834604e-03 -3.23751965e+01] [-1.78215855e-02 -6.91988768e-05 9.99841181e-01 -4.16350645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters 0.022461831184230136 Centerline is valid? [True, True] Translation: X:209.69, Y:-32.38, Z:-4.16 [[ 9.87100839e-01 1.59140025e-01 1.75038866e-02 2.09689062e+02] [-1.59115533e-01 9.87256021e-01 -2.79206147e-03 -3.23815510e+01] [-1.77251462e-02 -2.90940297e-05 9.99842897e-01 -4.16262343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71401273899997 meters 0.022381497536852864 Centerline is valid? [True, True] Translation: X:209.72, Y:-32.39, Z:-4.16 [[ 9.87373357e-01 1.57499741e-01 1.69612936e-02 2.09715896e+02] [-1.57476513e-01 9.87519029e-01 -2.70483368e-03 -3.23875796e+01] [-1.71756108e-02 -3.24669107e-07 9.99852488e-01 -4.16404310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters 0.022724920234653945 Centerline is valid? [True, True] Translation: X:209.74, Y:-32.39, Z:-4.17 [[ 9.87727106e-01 1.55308221e-01 1.65686496e-02 2.09744370e+02] [-1.55285773e-01 9.87866061e-01 -2.64073816e-03 -3.23946740e+01] [-1.67777349e-02 3.54531087e-05 9.99859243e-01 -4.16561486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77401273899997 meters 0.02653472073500786 Centerline is valid? [True, True] Translation: X:209.77, Y:-32.41, Z:-4.16 [[ 9.88692724e-01 1.49091443e-01 1.60760232e-02 2.09771730e+02] [-1.49069498e-01 9.88823403e-01 -2.56153922e-03 -3.24055989e+01] [-1.62782515e-02 1.36130480e-04 9.99867491e-01 -4.16187422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters 0.025808996010996434 Centerline is valid? [True, True] Translation: X:209.80, Y:-32.42, Z:-4.17 [[ 9.89222298e-01 1.45474356e-01 1.66269759e-02 2.09798599e+02] [-1.45450384e-01 9.89362002e-01 -2.64853677e-03 -3.24161984e+01] [-1.68353923e-02 2.01591608e-04 9.99858254e-01 -4.16674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83401273899997 meters 0.029597192301346224 Centerline is valid? [True, True] Translation: X:209.82, Y:-32.43, Z:-4.17 [[ 9.90056467e-01 1.39600609e-01 1.73165400e-02 2.09824372e+02] [-1.39573727e-01 9.90207843e-01 -2.75726237e-03 -3.24339208e+01] [-1.75318892e-02 3.12911413e-04 9.99846256e-01 -4.16662909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters 0.031445248067948926 Centerline is valid? [True, True] Translation: X:209.85, Y:-32.44, Z:-4.17 [[ 9.90387498e-01 1.37213596e-01 1.74651624e-02 2.09852835e+02] [-1.37185896e-01 9.90541418e-01 -2.78002850e-03 -3.24435921e+01] [-1.76814245e-02 3.57331512e-04 9.99843608e-01 -4.16622293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89401273899998 meters 0.031445248067948926 Centerline is valid? [True, True] Translation: X:209.88, Y:-32.45, Z:-4.17 [[ 9.90393849e-01 1.37167744e-01 1.74652171e-02 2.09880823e+02] [-1.37140043e-01 9.90547769e-01 -2.77968508e-03 -3.24479596e+01] [-1.76814150e-02 3.57802384e-04 9.99843608e-01 -4.16679830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters 0.033689981976781046 Centerline is valid? [True, True] Translation: X:209.91, Y:-32.46, Z:-4.17 [[ 9.90669603e-01 1.35172176e-01 1.73845161e-02 2.09908601e+02] [-1.35144439e-01 9.90822048e-01 -2.76598805e-03 -3.24576151e+01] [-1.75988464e-02 3.90759616e-04 9.99845052e-01 -4.16724073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95401273899998 meters 0.036426413595337485 Centerline is valid? [True, True] Translation: X:209.94, Y:-32.47, Z:-4.17 [[ 9.91180275e-01 1.31439059e-01 1.68948594e-02 2.09937228e+02] [-1.31412331e-01 9.91324153e-01 -2.68739009e-03 -3.24725239e+01] [-1.71015102e-02 4.43495194e-04 9.99853660e-01 -4.16920147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters 0.04163803432567597 Centerline is valid? [True, True] Translation: X:209.96, Y:-32.49, Z:-4.16 [[ 9.91421366e-01 1.29739280e-01 1.58554206e-02 2.09964783e+02] [-1.29715522e-01 9.91548043e-01 -2.52214935e-03 -3.24852769e+01] [-1.60486331e-02 4.43818593e-04 9.99871114e-01 -4.16438741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01401273899998 meters 0.04018324901818584 Centerline is valid? [True, True] Translation: X:209.99, Y:-32.50, Z:-4.17 [[ 9.91726011e-01 1.27457206e-01 1.53029440e-02 2.09993624e+02] [-1.27434812e-01 9.91843962e-01 -2.43370216e-03 -3.25026692e+01] [-1.54883255e-02 4.63437945e-04 9.99879941e-01 -4.17326320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters 0.04250333237262067 Centerline is valid? [True, True] Translation: X:210.02, Y:-32.52, Z:-4.17 [[ 9.91674765e-01 1.27816518e-01 1.56236768e-02 2.10022029e+02] [-1.27793212e-01 9.91797721e-01 -2.48513788e-03 -3.25156657e+01] [-1.58131687e-02 4.67848676e-04 9.99874855e-01 -4.17385887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07401273899998 meters 0.038167889050045256 Centerline is valid? [True, True] Translation: X:210.05, Y:-32.52, Z:-4.17 [[ 9.91460141e-01 1.29399684e-01 1.62021856e-02 2.10053193e+02] [-1.29374829e-01 9.91592412e-01 -2.57730810e-03 -3.25195456e+01] [-1.63994672e-02 4.59143259e-04 9.99865414e-01 -4.17239362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters 0.03112855063170893 Centerline is valid? [True, True] Translation: X:210.08, Y:-32.52, Z:-4.17 [[ 9.90522670e-01 1.36101201e-01 1.84743761e-02 2.10083437e+02] [-1.36070040e-01 9.90694860e-01 -2.93928274e-03 -3.25240900e+01] [-1.87025094e-02 3.97617092e-04 9.99825014e-01 -4.16762513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13401273899999 meters 0.029299050807396955 Centerline is valid? [True, True] Translation: X:210.11, Y:-32.53, Z:-4.17 [[ 9.89938582e-01 1.40217724e-01 1.89893120e-02 2.10113674e+02] [-1.40185556e-01 9.90120640e-01 -3.02126393e-03 -3.25294152e+01] [-1.92253445e-02 3.28838462e-04 9.99815122e-01 -4.16793091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters 0.02569437452584987 Centerline is valid? [True, True] Translation: X:210.14, Y:-32.53, Z:-4.17 [[ 9.89356630e-01 1.44374244e-01 1.81531279e-02 2.10144756e+02] [-1.44345538e-01 9.89523128e-01 -2.88869058e-03 -3.25292677e+01] [-1.83799924e-02 2.37622182e-04 9.99831045e-01 -4.17015829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194012739 meters 0.023117619632067325 Centerline is valid? [True, True] Translation: X:210.17, Y:-32.53, Z:-4.18 [[ 9.88359115e-01 1.51321487e-01 1.57501602e-02 2.10173828e+02] [-1.51300756e-01 9.88484597e-01 -2.50646454e-03 -3.25292869e+01] [-1.59480727e-02 9.42759209e-05 9.99872817e-01 -4.17585226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters 0.02189452213630007 Centerline is valid? [True, True] Translation: X:210.20, Y:-32.53, Z:-4.17 [[ 9.87504761e-01 1.56764042e-01 1.61053527e-02 2.10203672e+02] [-1.56743099e-01 9.87636084e-01 -2.56238168e-03 -3.25283569e+01] [-1.63079168e-02 5.96122368e-06 9.99867017e-01 -4.17481741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254012739 meters 0.02188744217414868 Centerline is valid? [True, True] Translation: X:210.23, Y:-32.53, Z:-4.17 [[ 9.87102773e-01 1.59184585e-01 1.69818726e-02 2.10232562e+02] [-1.59161668e-01 9.87248837e-01 -2.70126126e-03 -3.25298690e+01] [-1.71953331e-02 -3.64406885e-05 9.99852149e-01 -4.17305082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters 0.022141130645806556 Centerline is valid? [True, True] Translation: X:210.26, Y:-32.53, Z:-4.17 [[ 9.86709614e-01 1.61470475e-01 1.82050556e-02 2.10261923e+02] [-1.61444545e-01 9.86877540e-01 -2.89487577e-03 -3.25306386e+01] [-1.84335974e-02 -8.27051475e-05 9.99830083e-01 -4.17174533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314012739 meters 0.02405412006844859 Centerline is valid? [True, True] Translation: X:210.29, Y:-32.53, Z:-4.17 [[ 9.85935253e-01 1.66125089e-01 1.82792822e-02 2.10291498e+02] [-1.66099762e-01 9.86104673e-01 -2.90581112e-03 -3.25254264e+01] [-1.85080137e-02 -1.71242799e-04 9.99828697e-01 -4.17212235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters 0.0248135730466324 Centerline is valid? [True, True] Translation: X:210.32, Y:-32.53, Z:-4.17 [[ 9.85636397e-01 1.67946365e-01 1.77457305e-02 2.10320308e+02] [-1.67922809e-01 9.85796114e-01 -2.81992509e-03 -3.25258664e+01] [-1.79672683e-02 -2.00492106e-04 9.99838556e-01 -4.17402365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374012739 meters 0.026436071328630916 Centerline is valid? [True, True] Translation: X:210.35, Y:-32.53, Z:-4.18 [[ 9.85258628e-01 1.70185762e-01 1.73851420e-02 2.10348617e+02] [-1.70163516e-01 9.85411970e-01 -2.76182048e-03 -3.25253533e+01] [-1.76015495e-02 -2.37209430e-04 9.99845053e-01 -4.17513110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters 0.02997952167562726 Centerline is valid? [True, True] Translation: X:210.38, Y:-32.52, Z:-4.18 [[ 9.84437032e-01 1.74964361e-01 1.64682123e-02 2.10379889e+02] [-1.74945086e-01 9.84574720e-01 -2.61507826e-03 -3.25193167e+01] [-1.66717310e-02 -3.06652932e-04 9.99860970e-01 -4.17680664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43401273899997 meters 0.03151873485137276 Centerline is valid? [True, True] Translation: X:210.41, Y:-32.52, Z:-4.18 [[ 9.84157682e-01 1.76601481e-01 1.56707910e-02 2.10409216e+02] [-1.76584239e-01 9.84282386e-01 -2.48819764e-03 -3.25187513e+01] [-1.58639030e-02 -3.18435881e-04 9.99874110e-01 -4.17901862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters 0.0319591230988039 Centerline is valid? [True, True] Translation: X:210.44, Y:-32.52, Z:-4.18 [[ 9.83923807e-01 1.78034873e-01 1.40543977e-02 2.10438361e+02] [-1.78021159e-01 9.84024131e-01 -2.23097156e-03 -3.25181273e+01] [-1.42270572e-02 -3.06874136e-04 9.99898743e-01 -4.18301697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49401273899997 meters 0.033109098836805705 Centerline is valid? [True, True] Translation: X:210.47, Y:-32.52, Z:-4.18 [[ 9.83920952e-01 1.78073468e-01 1.37622754e-02 2.10466970e+02] [-1.78060330e-01 9.84017149e-01 -2.18400930e-03 -3.25182257e+01] [-1.39312291e-02 -3.01622785e-04 9.99902910e-01 -4.18452128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters 0.032581032530376294 Centerline is valid? [True, True] Translation: X:210.50, Y:-32.52, Z:-4.18 [[ 9.83973361e-01 1.77754273e-01 1.41365908e-02 2.10495256e+02] [-1.77740391e-01 9.84074857e-01 -2.24242664e-03 -3.25212076e+01] [-1.43100645e-02 -3.06155101e-04 9.99897559e-01 -4.18401391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55401273899997 meters 0.03202925190419971 Centerline is valid? [True, True] Translation: X:210.52, Y:-32.52, Z:-4.18 [[ 9.84221284e-01 1.76286936e-01 1.52112178e-02 2.10523578e+02] [-1.76270700e-01 9.84338774e-01 -2.41212763e-03 -3.25212497e+01] [-1.53982181e-02 -3.07224662e-04 9.99881393e-01 -4.18191290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters 0.031161832663582068 Centerline is valid? [True, True] Translation: X:210.55, Y:-32.52, Z:-4.18 [[ 9.84412985e-01 1.75166137e-01 1.57447967e-02 2.10552242e+02] [-1.75148616e-01 9.84538843e-01 -2.49568050e-03 -3.25236760e+01] [-1.59385226e-02 -3.00899051e-04 9.99872928e-01 -4.18062273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61401273899997 meters 0.028813318509701227 Centerline is valid? [True, True] Translation: X:210.58, Y:-32.53, Z:-4.18 [[ 9.84887821e-01 1.72522625e-01 1.52290611e-02 2.10580733e+02] [-1.72505927e-01 9.85005524e-01 -2.41324182e-03 -3.25258688e+01] [-1.54170481e-02 -2.50330826e-04 9.99881119e-01 -4.18265856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters 0.027951939830299057 Centerline is valid? [True, True] Translation: X:210.61, Y:-32.53, Z:-4.18 [[ 9.85199675e-01 1.70776461e-01 1.47309546e-02 2.10608454e+02] [-1.70760652e-01 9.85309775e-01 -2.33369574e-03 -3.25292990e+01] [-1.49130939e-02 -2.16311134e-04 9.99888770e-01 -4.18443908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67401273899998 meters 0.02668294114650887 Centerline is valid? [True, True] Translation: X:210.64, Y:-32.53, Z:-4.18 [[ 9.85412074e-01 1.69540026e-01 1.48062103e-02 2.10636702e+02] [-1.69523930e-01 9.85523282e-01 -2.34465892e-03 -3.25338051e+01] [-1.49893785e-02 -1.99551747e-04 9.99887633e-01 -4.18474774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters 0.025992195616394393 Centerline is valid? [True, True] Translation: X:210.66, Y:-32.53, Z:-4.18 [[ 9.85586239e-01 1.68392182e-01 1.62430875e-02 2.10664900e+02] [-1.68372668e-01 9.85720058e-01 -2.57136905e-03 -3.25329252e+01] [-1.64441356e-02 -2.00586015e-04 9.99864766e-01 -4.18264753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73401273899998 meters 0.02563811128985441 Centerline is valid? [True, True] Translation: X:210.69, Y:-32.53, Z:-4.18 [[ 9.85598486e-01 1.68222780e-01 1.72255877e-02 2.10693472e+02] [-1.68200827e-01 9.85748980e-01 -2.72577097e-03 -3.25344987e+01] [-1.74386423e-02 -2.10842360e-04 9.99847913e-01 -4.18132132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters 0.024894699992034107 Centerline is valid? [True, True] Translation: X:210.72, Y:-32.53, Z:-4.18 [[ 9.85733800e-01 1.67435618e-01 1.71519649e-02 2.10722414e+02] [-1.67413748e-01 9.85882993e-01 -2.71330954e-03 -3.25332016e+01] [-1.73641351e-02 -1.96873807e-04 9.99849213e-01 -4.18027406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79401273899998 meters 0.02469582221803071 Centerline is valid? [True, True] Translation: X:210.75, Y:-32.53, Z:-4.18 [[ 9.85889308e-01 1.66642100e-01 1.58960062e-02 2.10750461e+02] [-1.66623223e-01 9.86017435e-01 -2.51397685e-03 -3.25340334e+01] [-1.60926736e-02 -1.70140881e-04 9.99870490e-01 -4.18298215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters 0.024175072920593885 Centerline is valid? [True, True] Translation: X:210.78, Y:-32.54, Z:-4.19 [[ 9.86102473e-01 1.65497207e-01 1.45803513e-02 2.10779239e+02] [-1.65481213e-01 9.86210249e-01 -2.30506276e-03 -3.25359842e+01] [-1.47607733e-02 -1.39746128e-04 9.99891044e-01 -4.18669976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85401273899998 meters 0.022178585647089955 Centerline is valid? [True, True] Translation: X:210.81, Y:-32.54, Z:-4.19 [[ 9.86892112e-01 1.60663046e-01 1.52100430e-02 2.10807589e+02] [-1.60645077e-01 9.87009311e-01 -2.40384558e-03 -3.25421592e+01] [-1.53986632e-02 -7.10822860e-05 9.99881431e-01 -4.18697264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters 0.021360924008920618 Centerline is valid? [True, True] Translation: X:210.83, Y:-32.55, Z:-4.18 [[ 9.87496708e-01 1.56733364e-01 1.68791333e-02 2.10834646e+02] [-1.56710676e-01 9.87640953e-01 -2.66674285e-03 -3.25510937e+01] [-1.70884909e-02 -1.17406006e-05 9.99853981e-01 -4.18454602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914012739 meters 0.02351439298869604 Centerline is valid? [True, True] Translation: X:210.86, Y:-32.57, Z:-4.18 [[ 9.88907455e-01 1.47355721e-01 1.86637802e-02 2.10860206e+02] [-1.47326333e-01 9.89083548e-01 -2.94746021e-03 -3.25701937e+01] [-1.88943630e-02 1.65099097e-04 9.99821472e-01 -4.18069392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters 0.026199544371374332 Centerline is valid? [True, True] Translation: X:210.89, Y:-32.58, Z:-4.18 [[ 9.89620748e-01 1.42515548e-01 1.84416499e-02 2.10888611e+02] [-1.42486041e-01 9.89792531e-01 -2.91095965e-03 -3.25818632e+01] [-1.86682644e-02 2.53068384e-04 9.99825701e-01 -4.18161011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974012739 meters 0.029632094397716528 Centerline is valid? [True, True] Translation: X:210.92, Y:-32.59, Z:-4.18 [[ 9.90247601e-01 1.38111638e-01 1.82992799e-02 2.10916719e+02] [-1.38081840e-01 9.90416612e-01 -2.88806712e-03 -3.25929336e+01] [-1.85227865e-02 3.33103295e-04 9.99828383e-01 -4.18317871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters 0.03563889504053728 Centerline is valid? [True, True] Translation: X:210.94, Y:-32.61, Z:-4.18 [[ 9.91210059e-01 1.31065056e-01 1.80158081e-02 2.10944833e+02] [-1.31035018e-01 9.91373664e-01 -2.84289502e-03 -3.26095141e+01] [-1.82330019e-02 4.57204404e-04 9.99833660e-01 -4.18450011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034012739 meters 0.03665077877675052 Centerline is valid? [True, True] Translation: X:210.97, Y:-32.62, Z:-4.19 [[ 9.91542972e-01 1.28546689e-01 1.78404976e-02 2.10973731e+02] [-1.28516828e-01 9.91703333e-01 -2.81507274e-03 -3.26186220e+01] [-1.80543493e-02 4.98461430e-04 9.99836883e-01 -4.18556411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters 0.04255428507507837 Centerline is valid? [True, True] Translation: X:211.00, Y:-32.64, Z:-4.19 [[ 9.92035878e-01 1.24883365e-01 1.64000588e-02 2.11000416e+02] [-1.24857638e-01 9.92171294e-01 -2.58739143e-03 -3.26386518e+01] [-1.65947897e-02 5.19112532e-04 9.99862162e-01 -4.18693629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094012739 meters 0.04334399863147091 Centerline is valid? [True, True] Translation: X:211.03, Y:-32.65, Z:-4.19 [[ 9.92158874e-01 1.23924759e-01 1.62302945e-02 2.11030379e+02] [-1.23899437e-01 9.92291476e-01 -2.56037496e-03 -3.26469981e+01] [-1.64224767e-02 5.29374389e-04 9.99865002e-01 -4.18742195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters 0.04692584705158979 Centerline is valid? [True, True] Translation: X:211.06, Y:-32.65, Z:-4.18 [[ 9.92215501e-01 1.23499516e-01 1.60083962e-02 2.11060290e+02] [-1.23474827e-01 9.92344491e-01 -2.52536988e-03 -3.26540449e+01] [-1.61977257e-02 5.29077196e-04 9.99868668e-01 -4.17951193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154012739 meters 0.039520433772681975 Centerline is valid? [True, True] Translation: X:211.09, Y:-32.66, Z:-4.19 [[ 9.92201519e-01 1.23443972e-01 1.72548701e-02 2.11090083e+02] [-1.23415280e-01 9.92351379e-01 -2.72200467e-03 -3.26578074e+01] [-1.74589092e-02 5.71262543e-04 9.99847418e-01 -4.18630778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters 0.04339031184864129 Centerline is valid? [True, True] Translation: X:211.12, Y:-32.68, Z:-4.19 [[ 9.91958939e-01 1.25368742e-01 1.73246250e-02 2.11118513e+02] [-1.25340111e-01 9.92110068e-01 -2.73294261e-03 -3.26752751e+01] [-1.75305605e-02 5.39496427e-04 9.99846182e-01 -4.18833287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21401273899997 meters 0.03586889688511455 Centerline is valid? [True, True] Translation: X:211.15, Y:-32.67, Z:-4.19 [[ 9.91509800e-01 1.29031212e-01 1.61016137e-02 2.11150026e+02] [-1.29006958e-01 9.91640434e-01 -2.54039972e-03 -3.26739578e+01] [-1.62948021e-02 4.41611018e-04 9.99867133e-01 -4.19062923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters 0.03573518500428642 Centerline is valid? [True, True] Translation: X:211.18, Y:-32.68, Z:-4.19 [[ 9.91283303e-01 1.30860782e-01 1.52600695e-02 2.11178644e+02] [-1.30839208e-01 9.91400678e-01 -2.40793759e-03 -3.26810723e+01] [-1.54439478e-02 3.90332919e-04 9.99880659e-01 -4.19296583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27401273899997 meters 0.03616800586010028 Centerline is valid? [True, True] Translation: X:211.21, Y:-32.69, Z:-4.20 [[ 9.91002097e-01 1.33052500e-01 1.45559755e-02 2.11207352e+02] [-1.33033106e-01 9.91108933e-01 -2.29690041e-03 -3.26895504e+01] [-1.47321657e-02 3.39806486e-04 9.99891418e-01 -4.19600383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters 0.028658507700042378 Centerline is valid? [True, True] Translation: X:211.24, Y:-32.69, Z:-4.20 [[ 9.90406857e-01 1.37508127e-01 1.36298282e-02 2.11238304e+02] [-1.37491546e-01 9.90500606e-01 -2.15061631e-03 -3.26876879e+01] [-1.37960803e-02 2.55998989e-04 9.99904797e-01 -4.19627740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33401273899997 meters 0.0282091775791801 Centerline is valid? [True, True] Translation: X:211.27, Y:-32.69, Z:-4.20 [[ 9.90062402e-01 1.39910658e-01 1.41932547e-02 2.11266810e+02] [-1.39892928e-01 9.90164105e-01 -2.23933301e-03 -3.26936742e+01] [-1.43669579e-02 2.31543465e-04 9.99896763e-01 -4.19637581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters 0.023692112978602606 Centerline is valid? [True, True] Translation: X:211.30, Y:-32.69, Z:-4.19 [[ 9.89188060e-01 1.45649732e-01 1.71212446e-02 2.11297329e+02] [-1.45624795e-01 9.89336204e-01 -2.70103494e-03 -3.26935162e+01] [-1.73320721e-02 1.78553790e-04 9.99849772e-01 -4.19158859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39401273899998 meters 0.022299904272887743 Centerline is valid? [True, True] Translation: X:211.33, Y:-32.70, Z:-4.19 [[ 9.88718705e-01 1.48684790e-01 1.81150814e-02 2.11326505e+02] [-1.48657386e-01 9.88884632e-01 -2.85763778e-03 -3.26959164e+01] [-1.83386129e-02 1.32459276e-04 9.99831825e-01 -4.19062487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters 0.021340823542321315 Centerline is valid? [True, True] Translation: X:211.36, Y:-32.70, Z:-4.19 [[ 9.88304736e-01 1.51375276e-01 1.84194054e-02 2.11355301e+02] [-1.51347421e-01 9.88476362e-01 -2.90499717e-03 -3.26983588e+01] [-1.86468916e-02 8.32929405e-05 9.99826128e-01 -4.19042677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45401273899998 meters 0.020748838825581078 Centerline is valid? [True, True] Translation: X:211.38, Y:-32.70, Z:-4.19 [[ 9.87601973e-01 1.55876563e-01 1.85698792e-02 2.11383185e+02] [-1.55849064e-01 9.87776542e-01 -2.92783678e-03 -3.27012752e+01] [-1.87992722e-02 -2.56090894e-06 9.99823278e-01 -4.19082220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters 0.02086837738152974 Centerline is valid? [True, True] Translation: X:211.41, Y:-32.71, Z:-4.19 [[ 9.87280022e-01 1.57947836e-01 1.81834878e-02 2.11411262e+02] [-1.57921840e-01 9.87447457e-01 -2.86582257e-03 -3.27053070e+01] [-1.84078892e-02 -4.22004826e-05 9.99830560e-01 -4.19213823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51401273899998 meters 0.022097168030473336 Centerline is valid? [True, True] Translation: X:211.44, Y:-32.71, Z:-4.20 [[ 9.86741929e-01 1.61463199e-01 1.64317236e-02 2.11439138e+02] [-1.61442471e-01 9.86878729e-01 -2.58902164e-03 -3.27079963e+01] [-1.66341502e-02 -9.80818507e-05 9.99861638e-01 -4.19514483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters 0.022985185005639095 Centerline is valid? [True, True] Translation: X:211.47, Y:-32.71, Z:-4.20 [[ 9.86402399e-01 1.63525712e-01 1.64209969e-02 2.11468128e+02] [-1.63505309e-01 9.86539063e-01 -2.58652210e-03 -3.27106343e+01] [-1.66229178e-02 -1.33568573e-04 9.99861821e-01 -4.19554121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57401273899998 meters 0.024159372669062994 Centerline is valid? [True, True] Translation: X:211.50, Y:-32.71, Z:-4.19 [[ 9.86021325e-01 1.65735267e-01 1.71396721e-02 2.11496715e+02] [-1.65713388e-01 9.86170264e-01 -2.69886786e-03 -3.27123956e+01] [-1.73499325e-02 -1.79131868e-04 9.99849463e-01 -4.19448495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters 0.027891990614567725 Centerline is valid? [True, True] Translation: X:211.53, Y:-32.71, Z:-4.19 [[ 9.85010412e-01 1.71525120e-01 1.82653365e-02 2.11527106e+02] [-1.71501284e-01 9.85179701e-01 -2.87515755e-03 -3.27070081e+01] [-1.84878005e-02 -3.00468536e-04 9.99829041e-01 -4.19282051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63401273899999 meters 0.03139234668834056 Centerline is valid? [True, True] Translation: X:211.56, Y:-32.70, Z:-4.19 [[ 9.84438787e-01 1.74791030e-01 1.81209664e-02 2.11556994e+02] [-1.74768135e-01 9.84605488e-01 -2.85177808e-03 -3.27031079e+01] [-1.83404682e-02 -3.59566544e-04 9.99831735e-01 -4.19364397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters 0.0338313674221469 Centerline is valid? [True, True] Translation: X:211.59, Y:-32.70, Z:-4.20 [[ 9.83739198e-01 1.78811775e-01 1.68386331e-02 2.11587309e+02] [-1.78792603e-01 9.83883217e-01 -2.64941528e-03 -3.26985031e+01] [-1.70409951e-02 -4.04289380e-04 9.99854710e-01 -4.19713284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694012739 meters 0.035443989488144666 Centerline is valid? [True, True] Translation: X:211.62, Y:-32.70, Z:-4.20 [[ 9.83627766e-01 1.79503413e-01 1.59669056e-02 2.11615285e+02] [-1.79486273e-01 9.83757271e-01 -2.51180824e-03 -3.26978869e+01] [-1.61584376e-02 -3.95156040e-04 9.99869366e-01 -4.19931796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters 0.034622567608999094 Centerline is valid? [True, True] Translation: X:211.64, Y:-32.70, Z:-4.20 [[ 9.83706763e-01 1.79046260e-01 1.62308662e-02 2.11643774e+02] [-1.79028504e-01 9.83840577e-01 -2.55228442e-03 -3.27016483e+01] [-1.64255618e-02 -3.95088243e-04 9.99865013e-01 -4.19970028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754012739 meters 0.030934514590044468 Centerline is valid? [True, True] Translation: X:211.67, Y:-32.71, Z:-4.20 [[ 9.84465669e-01 1.74632938e-01 1.81847010e-02 2.11672151e+02] [-1.74609916e-01 9.84633539e-01 -2.85848205e-03 -3.27083586e+01] [-1.84044517e-02 -3.61151674e-04 9.99830559e-01 -4.19609048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters 0.028064410394633994 Centerline is valid? [True, True] Translation: X:211.70, Y:-32.72, Z:-4.20 [[ 9.84994406e-01 1.71558524e-01 1.88067267e-02 2.11700173e+02] [-1.71533347e-01 9.85173880e-01 -2.95582418e-03 -3.27160929e+01] [-1.90349928e-02 -3.14510506e-04 9.99818769e-01 -4.19563452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814012739 meters 0.028064410394633994 Centerline is valid? [True, True] Translation: X:211.73, Y:-32.72, Z:-4.20 [[ 9.85006592e-01 1.71488527e-01 1.88068620e-02 2.11727349e+02] [-1.71463353e-01 9.85186067e-01 -2.95496349e-03 -3.27202271e+01] [-1.90350007e-02 -3.14029104e-04 9.99818769e-01 -4.19619289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters 0.02430082922565649 Centerline is valid? [True, True] Translation: X:211.75, Y:-32.73, Z:-4.20 [[ 9.86096761e-01 1.65321300e-01 1.67942154e-02 2.11753918e+02] [-1.65300351e-01 9.86239746e-01 -2.63762419e-03 -3.27305823e+01] [-1.69991782e-02 -1.75137026e-04 9.99855488e-01 -4.20175159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874012739 meters 0.022842255945266964 Centerline is valid? [True, True] Translation: X:211.78, Y:-32.74, Z:-4.20 [[ 9.86537117e-01 1.62762703e-01 1.59002860e-02 2.11781724e+02] [-1.62743607e-01 9.86665236e-01 -2.49629430e-03 -3.27392736e+01] [-1.60945630e-02 -1.24982913e-04 9.99870466e-01 -4.20342248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters 0.022130561623961178 Centerline is valid? [True, True] Translation: X:211.81, Y:-32.75, Z:-4.20 [[ 9.86842834e-01 1.60912016e-01 1.57653129e-02 2.11810011e+02] [-1.60893018e-01 9.86968750e-01 -2.47434684e-03 -3.27460104e+01] [-1.59580233e-02 -9.47373263e-05 9.99872658e-01 -4.20383703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93401273899997 meters 0.02112734525633448 Centerline is valid? [True, True] Translation: X:211.84, Y:-32.75, Z:-4.20 [[ 9.87294027e-01 1.58008622e-01 1.68457387e-02 2.11837943e+02] [-1.57986523e-01 9.87437731e-01 -2.64303752e-03 -3.27536350e+01] [-1.70517407e-02 -5.19445280e-05 9.99854607e-01 -4.20269640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters 0.020953167062773094 Centerline is valid? [True, True] Translation: X:211.86, Y:-32.76, Z:-4.20 [[ 9.87520824e-01 1.56588854e-01 1.68093397e-02 2.11864865e+02] [-1.56566659e-01 9.87663875e-01 -2.63654993e-03 -3.27601457e+01] [-1.70148319e-02 -2.81341962e-05 9.99855237e-01 -4.20427266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99401273899997 meters 0.021309201020821098 Centerline is valid? [True, True] Translation: X:211.89, Y:-32.78, Z:-4.21 [[ 9.88201244e-01 1.52437977e-01 1.48648887e-02 2.11891315e+02] [-1.52420163e-01 9.88313038e-01 -2.33073198e-03 -3.27753697e+01] [-1.50464554e-02 3.75234892e-05 9.99886795e-01 -4.20923075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters 0.02164929980091668 Centerline is valid? [True, True] Translation: X:211.92, Y:-32.79, Z:-4.21 [[ 9.88574888e-01 1.50013925e-01 1.46803716e-02 2.11918814e+02] [-1.49996293e-01 9.88683881e-01 -2.30115866e-03 -3.27855451e+01] [-1.48594526e-02 7.28663551e-05 9.99889590e-01 -4.20981614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05401273899997 meters 0.02273096967214507 Centerline is valid? [True, True] Translation: X:211.95, Y:-32.80, Z:-4.21 [[ 9.88951679e-01 1.47490126e-01 1.48741347e-02 2.11945934e+02] [-1.47471751e-01 9.89063522e-01 -2.33071817e-03 -3.27974744e+01] [-1.50552220e-02 1.11452951e-04 9.99886658e-01 -4.21036281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters 0.024329869068519364 Centerline is valid? [True, True] Translation: X:211.97, Y:-32.81, Z:-4.21 [[ 9.89523943e-01 1.43526170e-01 1.55757746e-02 2.11973765e+02] [-1.43505541e-01 9.89646506e-01 -2.43994125e-03 -3.28144436e+01] [-1.57647064e-02 1.79170322e-04 9.99875713e-01 -4.20864571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11401273899997 meters 0.02522940794900721 Centerline is valid? [True, True] Translation: X:212.00, Y:-32.82, Z:-4.21 [[ 9.89685531e-01 1.42453896e-01 1.51472005e-02 2.12001878e+02] [-1.42434263e-01 9.89801420e-01 -2.37262874e-03 -3.28249039e+01] [-1.53307107e-02 1.90675991e-04 9.99882460e-01 -4.20961826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters 0.02525036735150387 Centerline is valid? [True, True] Translation: X:212.03, Y:-32.84, Z:-4.21 [[ 9.89709996e-01 1.42313975e-01 1.48612273e-02 2.12031241e+02] [-1.42295065e-01 9.89821548e-01 -2.32759823e-03 -3.28362079e+01] [-1.50412127e-02 1.88967938e-04 9.99886857e-01 -4.21044108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17401273899998 meters 0.024580710063853966 Centerline is valid? [True, True] Translation: X:212.06, Y:-32.84, Z:-4.21 [[ 9.89500985e-01 1.43686098e-01 1.55597645e-02 2.12060424e+02] [-1.43665537e-01 9.89623299e-01 -2.43705835e-03 -3.28416744e+01] [-1.57484769e-02 1.76069724e-04 9.99875970e-01 -4.20932009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters 0.02313917899490625 Centerline is valid? [True, True] Translation: X:212.09, Y:-32.84, Z:-4.21 [[ 9.89120939e-01 1.46140363e-01 1.68155410e-02 2.12090092e+02] [-1.46116707e-01 9.89263854e-01 -2.63352478e-03 -3.28448100e+01] [-1.70198712e-02 1.47843023e-04 9.99855141e-01 -4.20742396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23401273899998 meters 0.02090747194583664 Centerline is valid? [True, True] Translation: X:212.12, Y:-32.85, Z:-4.20 [[ 9.88205461e-01 1.51985196e-01 1.87207906e-02 2.12120194e+02] [-1.51956927e-01 9.88382769e-01 -2.93168046e-03 -3.28450246e+01] [-1.89488788e-02 5.23488209e-05 9.99820453e-01 -4.20443195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters 0.020701271318576006 Centerline is valid? [True, True] Translation: X:212.15, Y:-32.85, Z:-4.21 [[ 9.87795540e-01 1.54662532e-01 1.84247946e-02 2.12148830e+02] [-1.54635624e-01 9.87967358e-01 -2.88489859e-03 -3.28472704e+01] [-1.86492814e-02 5.60346842e-07 9.99826087e-01 -4.20625016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29401273899998 meters 0.021630149368284217 Centerline is valid? [True, True] Translation: X:212.18, Y:-32.85, Z:-4.21 [[ 9.87069411e-01 1.59497490e-01 1.59539399e-02 2.12178837e+02] [-1.59477952e-01 9.87198331e-01 -2.49771169e-03 -3.28469970e+01] [-1.61480815e-02 -7.88868406e-05 9.99869608e-01 -4.21194478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters 0.022652200698973418 Centerline is valid? [True, True] Translation: X:212.21, Y:-32.85, Z:-4.21 [[ 9.86656601e-01 1.62040846e-01 1.58592644e-02 2.12206926e+02] [-1.62021871e-01 9.86784044e-01 -2.48265581e-03 -3.28479367e+01] [-1.60519607e-02 -1.20018949e-04 9.99871152e-01 -4.21221595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35401273899998 meters 0.02464389763748791 Centerline is valid? [True, True] Translation: X:212.24, Y:-32.85, Z:-4.21 [[ 9.86144484e-01 1.65086086e-01 1.62985103e-02 2.12235603e+02] [-1.65066478e-01 9.86279146e-01 -2.55037596e-03 -3.28464741e+01] [-1.64959124e-02 -1.75298507e-04 9.99863918e-01 -4.21155737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters 0.028535802570074882 Centerline is valid? [True, True] Translation: X:212.27, Y:-32.84, Z:-4.21 [[ 9.84991164e-01 1.71644119e-01 1.81852396e-02 2.12266596e+02] [-1.71620849e-01 9.85158969e-01 -2.84428436e-03 -3.28409962e+01] [-1.84035566e-02 -3.19371303e-04 9.99830589e-01 -4.20760585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414012739 meters 0.03076560778627125 Centerline is valid? [True, True] Translation: X:212.30, Y:-32.84, Z:-4.21 [[ 9.84441519e-01 1.74769802e-01 1.81772236e-02 2.12296651e+02] [-1.74747092e-01 9.84609249e-01 -2.84258935e-03 -3.28397084e+01] [-1.83942613e-02 -3.78053994e-04 9.99830740e-01 -4.20818818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters 0.03665857692915814 Centerline is valid? [True, True] Translation: X:212.33, Y:-32.83, Z:-4.21 [[ 9.83715453e-01 1.78904667e-01 1.72345103e-02 2.12326902e+02] [-1.78884892e-01 9.83866319e-01 -2.69480406e-03 -3.28306294e+01] [-1.74385672e-02 -4.32073112e-04 9.99847843e-01 -4.21254765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474012739 meters 0.03598097142940883 Centerline is valid? [True, True] Translation: X:212.36, Y:-32.84, Z:-4.21 [[ 9.83605532e-01 1.79512469e-01 1.71881009e-02 2.12355329e+02] [-1.79492903e-01 9.83755599e-01 -2.68695537e-03 -3.28350213e+01] [-1.73912325e-02 -4.42237979e-04 9.99848663e-01 -4.21342961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters 0.034399869795340425 Centerline is valid? [True, True] Translation: X:212.38, Y:-32.84, Z:-4.21 [[ 9.84022525e-01 1.77260710e-01 1.66826390e-02 2.12382694e+02] [-1.77241967e-01 9.84163852e-01 -2.60720905e-03 -3.28407665e+01] [-1.68806060e-02 -3.91311319e-04 9.99857436e-01 -4.21446537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534012739 meters 0.0344213531699568 Centerline is valid? [True, True] Translation: X:212.41, Y:-32.84, Z:-4.22 [[ 9.84503687e-01 1.74658991e-01 1.57075343e-02 2.12410700e+02] [-1.74642059e-01 9.84628930e-01 -2.45389843e-03 -3.28446188e+01] [-1.58946881e-02 -3.27324069e-04 9.99873618e-01 -4.21720172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters 0.027403053676761685 Centerline is valid? [True, True] Translation: X:212.44, Y:-32.86, Z:-4.22 [[ 9.85504203e-01 1.68992257e-01 1.49359662e-02 2.12438737e+02] [-1.68976309e-01 9.85617353e-01 -2.33252781e-03 -3.28607564e+01] [-1.51153266e-02 -2.25108485e-04 9.99885732e-01 -4.21915884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594012739 meters 0.025597773188440146 Centerline is valid? [True, True] Translation: X:212.47, Y:-32.87, Z:-4.22 [[ 9.85940725e-01 1.66399911e-01 1.52300896e-02 2.12466845e+02] [-1.66383019e-01 9.86058332e-01 -2.37844631e-03 -3.28688194e+01] [-1.54135300e-02 -1.89021217e-04 9.99881187e-01 -4.21956154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters 0.0234613809576306 Centerline is valid? [True, True] Translation: X:212.49, Y:-32.88, Z:-4.22 [[ 9.86435898e-01 1.63359002e-01 1.60640940e-02 2.12494640e+02] [-1.63339819e-01 9.86566680e-01 -2.50788235e-03 -3.28783265e+01] [-1.62579851e-02 -1.50041042e-04 9.99867819e-01 -4.21873412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654012739 meters 0.020710907390714618 Centerline is valid? [True, True] Translation: X:212.52, Y:-32.89, Z:-4.21 [[ 9.87492704e-01 1.56604816e-01 1.82507732e-02 2.12521874e+02] [-1.56578919e-01 9.87661344e-01 -2.84823594e-03 -3.28939357e+01] [-1.84716306e-02 -4.50741325e-05 9.99829384e-01 -4.21482822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters 0.02053399137567059 Centerline is valid? [True, True] Translation: X:212.55, Y:-32.90, Z:-4.21 [[ 9.87959719e-01 1.53490412e-01 1.93981034e-02 2.12549599e+02] [-1.53460571e-01 9.88150137e-01 -3.02653776e-03 -3.29043364e+01] [-1.96327831e-02 1.32533724e-05 9.99807258e-01 -4.21359904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71401273899997 meters 0.021175369722017546 Centerline is valid? [True, True] Translation: X:212.58, Y:-32.92, Z:-4.21 [[ 9.88600164e-01 1.49281800e-01 1.96127464e-02 2.12578488e+02] [-1.49250481e-01 9.88794688e-01 -3.05927091e-03 -3.29186327e+01] [-1.98496729e-02 9.71838850e-05 9.99802971e-01 -4.21315383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters 0.021579511645606113 Centerline is valid? [True, True] Translation: X:212.61, Y:-32.93, Z:-4.21 [[ 9.88759338e-01 1.48257446e-01 1.93572109e-02 2.12608810e+02] [-1.48226721e-01 9.88948793e-01 -3.02044814e-03 -3.29258677e+01] [-1.95910943e-02 1.17240393e-04 9.99808069e-01 -4.21460622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77401273899997 meters 0.021985360485746088 Centerline is valid? [True, True] Translation: X:212.64, Y:-32.93, Z:-4.22 [[ 9.88870449e-01 1.47543128e-01 1.91379400e-02 2.12639185e+02] [-1.47512953e-01 9.89055614e-01 -2.98666419e-03 -3.29323218e+01] [-1.93691488e-02 1.30329916e-04 9.99812392e-01 -4.21606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters 0.02182678962500055 Centerline is valid? [True, True] Translation: X:212.67, Y:-32.94, Z:-4.22 [[ 9.88908925e-01 1.47391540e-01 1.82994847e-02 2.12670210e+02] [-1.47363916e-01 9.89078216e-01 -2.85636486e-03 -3.29391859e+01] [-1.85206257e-02 1.28000977e-04 9.99828470e-01 -4.21748695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83401273899997 meters 0.022014331883499084 Centerline is valid? [True, True] Translation: X:212.70, Y:-32.95, Z:-4.22 [[ 9.88927619e-01 1.47332326e-01 1.77580770e-02 2.12701626e+02] [-1.47306249e-01 9.89087038e-01 -2.77483527e-03 -3.29453590e+01] [-1.79731067e-02 1.28235527e-04 9.99838462e-01 -4.21872390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters 0.025872552980558287 Centerline is valid? [True, True] Translation: X:212.73, Y:-32.95, Z:-4.21 [[ 9.88741825e-01 1.48559630e-01 1.78784601e-02 2.12732395e+02] [-1.48533336e-01 9.88903445e-01 -2.79709324e-03 -3.29475891e+01] [-1.80956059e-02 1.10055750e-04 9.99836255e-01 -4.21174105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89401273899998 meters 0.020994891077243845 Centerline is valid? [True, True] Translation: X:212.76, Y:-32.95, Z:-4.22 [[ 9.88445844e-01 1.50332428e-01 1.93642585e-02 2.12762712e+02] [-1.50301917e-01 9.88635501e-01 -3.02981294e-03 -3.29495687e+01] [-1.95996725e-02 8.43208451e-05 9.99807904e-01 -4.21696387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters 0.020518058022924713 Centerline is valid? [True, True] Translation: X:212.79, Y:-32.95, Z:-4.22 [[ 9.87897347e-01 1.53759978e-01 2.04132385e-02 2.12792127e+02] [-1.53726803e-01 9.88108227e-01 -3.19393656e-03 -3.29497156e+01] [-2.06615885e-02 1.72195584e-05 9.99786526e-01 -4.21558702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95401273899998 meters 0.02055497308697261 Centerline is valid? [True, True] Translation: X:212.82, Y:-32.95, Z:-4.22 [[ 9.87667460e-01 1.55313727e-01 1.97644833e-02 2.12822006e+02] [-1.55282942e-01 9.87865196e-01 -3.09220100e-03 -3.29510906e+01] [-2.00049064e-02 -1.50208202e-05 9.99799882e-01 -4.21748107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters 0.02081044896966195 Centerline is valid? [True, True] Translation: X:212.85, Y:-32.95, Z:-4.22 [[ 9.87384516e-01 1.57263077e-01 1.84429422e-02 2.12851657e+02] [-1.57236615e-01 9.87556744e-01 -2.88526069e-03 -3.29512625e+01] [-1.86671969e-02 -5.10440753e-05 9.99825751e-01 -4.22007647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01401273899998 meters 0.02161046861658707 Centerline is valid? [True, True] Translation: X:212.88, Y:-32.95, Z:-4.22 [[ 9.86908448e-01 1.60368005e-01 1.71411032e-02 2.12882136e+02] [-1.60345622e-01 9.87057289e-01 -2.68122123e-03 -3.29489560e+01] [-1.73492329e-02 -1.02380975e-04 9.99849485e-01 -4.22349227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters 0.022054190064331562 Centerline is valid? [True, True] Translation: X:212.91, Y:-32.95, Z:-4.22 [[ 9.86822624e-01 1.60890293e-01 1.71878805e-02 2.12909801e+02] [-1.60867873e-01 9.86972290e-01 -2.68821330e-03 -3.29503947e+01] [-1.73964692e-02 -1.12188072e-04 9.99848664e-01 -4.22424479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07401273899998 meters 0.021701514928934438 Centerline is valid? [True, True] Translation: X:212.94, Y:-32.95, Z:-4.22 [[ 9.86792116e-01 1.61087114e-01 1.70956685e-02 2.12938810e+02] [-1.61064982e-01 9.86940185e-01 -2.67269298e-03 -3.29542086e+01] [-1.73029386e-02 -1.16121170e-04 9.99850286e-01 -4.22433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters 0.02223718271978769 Centerline is valid? [True, True] Translation: X:212.97, Y:-32.96, Z:-4.23 [[ 9.86780015e-01 1.61252261e-01 1.62144930e-02 2.12966427e+02] [-1.61232386e-01 9.86913216e-01 -2.53423103e-03 -3.29560487e+01] [-1.64109479e-02 -1.13572869e-04 9.99865325e-01 -4.22604456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13401273899999 meters 0.022516485744133348 Centerline is valid? [True, True] Translation: X:212.99, Y:-32.96, Z:-4.23 [[ 9.86695491e-01 1.61750531e-01 1.63943049e-02 2.12993738e+02] [-1.61730301e-01 9.86831673e-01 -2.56116341e-03 -3.29588970e+01] [-1.65926889e-02 -1.24367483e-04 9.99862324e-01 -4.22673557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters 0.022623016073613483 Centerline is valid? [True, True] Translation: X:213.02, Y:-32.96, Z:-4.23 [[ 9.86535907e-01 1.62646180e-01 1.71208950e-02 2.13021991e+02] [-1.62624270e-01 9.86684447e-01 -2.67357197e-03 -3.29620130e+01] [-1.73277671e-02 -1.46698301e-04 9.99849852e-01 -4.22567457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194012739 meters 0.024043667517497706 Centerline is valid? [True, True] Translation: X:213.05, Y:-32.96, Z:-4.22 [[ 9.86190928e-01 1.64568278e-01 1.85670722e-02 2.13050959e+02] [-1.64542869e-01 9.86365674e-01 -2.89843011e-03 -3.29587624e+01] [-1.87909124e-02 -1.96673858e-04 9.99823416e-01 -4.22290421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters 0.025391652438853857 Centerline is valid? [True, True] Translation: X:213.08, Y:-32.95, Z:-4.22 [[ 9.85817268e-01 1.66591377e-01 2.02885826e-02 2.13080103e+02] [-1.66561494e-01 9.86025987e-01 -3.16581726e-03 -3.29548626e+01] [-2.05324675e-02 -2.58379312e-04 9.99789153e-01 -4.21966835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254012739 meters 0.0252499458039163 Centerline is valid? [True, True] Translation: X:213.11, Y:-32.96, Z:-4.22 [[ 9.85710377e-01 1.67168239e-01 2.07323856e-02 2.13108315e+02] [-1.67137192e-01 9.85928346e-01 -3.23364465e-03 -3.29583106e+01] [-2.09812093e-02 -2.77715617e-04 9.99779832e-01 -4.21980476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters 0.02465058459833453 Centerline is valid? [True, True] Translation: X:213.14, Y:-32.96, Z:-4.22 [[ 9.85745047e-01 1.66943735e-01 2.08923851e-02 2.13136686e+02] [-1.66912178e-01 9.85966385e-01 -3.25757917e-03 -3.29634307e+01] [-2.11430219e-02 -2.76050966e-04 9.99776423e-01 -4.22069604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314012739 meters 0.024570892422974958 Centerline is valid? [True, True] Translation: X:213.16, Y:-32.97, Z:-4.22 [[ 9.85903139e-01 1.66050599e-01 2.05474966e-02 2.13164367e+02] [-1.66019902e-01 9.86117201e-01 -3.20278900e-03 -3.29675711e+01] [-2.07940649e-02 -2.53653643e-04 9.99783748e-01 -4.22196972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters 0.023197596751077316 Centerline is valid? [True, True] Translation: X:213.19, Y:-32.97, Z:-4.22 [[ 9.86224481e-01 1.64176322e-01 2.01843678e-02 2.13192669e+02] [-1.64146333e-01 9.86430986e-01 -3.14495950e-03 -3.29735790e+01] [-2.04268137e-02 -2.11553910e-04 9.99791328e-01 -4.22390723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374012739 meters 0.02218420367437569 Centerline is valid? [True, True] Translation: X:213.22, Y:-32.98, Z:-4.22 [[ 9.86604612e-01 1.61783500e-01 2.09150516e-02 2.13220221e+02] [-1.61750786e-01 9.86826262e-01 -3.25771359e-03 -3.29804159e+01] [-2.11665665e-02 -1.68950776e-04 9.99775949e-01 -4.22301700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters 0.021687552823482233 Centerline is valid? [True, True] Translation: X:213.25, Y:-32.99, Z:-4.22 [[ 9.86892878e-01 1.60032509e-01 2.07856391e-02 2.13246836e+02] [-1.59999837e-01 9.87111736e-01 -3.23626538e-03 -3.29876510e+01] [-2.10356560e-02 -1.31851616e-04 9.99778717e-01 -4.22345788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43401273899997 meters 0.021093648742375078 Centerline is valid? [True, True] Translation: X:213.27, Y:-33.00, Z:-4.22 [[ 9.87187984e-01 1.58258520e-01 2.03500461e-02 2.13274837e+02] [-1.58226853e-01 9.87397707e-01 -3.16717212e-03 -3.29954653e+01] [-2.05948209e-02 -9.33294881e-05 9.99787900e-01 -4.22493768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters 0.020713757153599018 Centerline is valid? [True, True] Translation: X:213.30, Y:-33.00, Z:-4.23 [[ 9.87557302e-01 1.56041484e-01 1.95353803e-02 2.13303894e+02] [-1.56011886e-01 9.87750501e-01 -3.03946894e-03 -3.30028001e+01] [-1.97703649e-02 -4.61017822e-05 9.99804546e-01 -4.22700342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49401273899997 meters 0.02065520857148563 Centerline is valid? [True, True] Translation: X:213.33, Y:-33.01, Z:-4.23 [[ 9.87548804e-01 1.56019968e-01 2.01278478e-02 2.13332382e+02] [-1.55988553e-01 9.87753900e-01 -3.13114038e-03 -3.30067936e+01] [-2.03698805e-02 -4.75599060e-05 9.99792511e-01 -4.22674835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters 0.02099899895064034 Centerline is valid? [True, True] Translation: X:213.36, Y:-33.01, Z:-4.22 [[ 9.87336366e-01 1.57133793e-01 2.18144995e-02 2.13360526e+02] [-1.57097189e-01 9.87577321e-01 -3.39239103e-03 -3.30104337e+01] [-2.20765642e-02 -7.75655074e-05 9.99756280e-01 -4.22427574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55401273899997 meters 0.021151652918864942 Centerline is valid? [True, True] Translation: X:213.39, Y:-33.01, Z:-4.23 [[ 9.87210893e-01 1.57928135e-01 2.17567843e-02 2.13390377e+02] [-1.57891934e-01 9.87450604e-01 -3.38264406e-03 -3.30133788e+01] [-2.20179645e-02 -9.58376955e-05 9.99757571e-01 -4.22514974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters 0.021589271815446242 Centerline is valid? [True, True] Translation: X:213.42, Y:-33.01, Z:-4.23 [[ 9.87071573e-01 1.58967198e-01 2.04728782e-02 2.13419653e+02] [-1.58935377e-01 9.87283858e-01 -3.18255129e-03 -3.30145070e+01] [-2.07184635e-02 -1.12458724e-04 9.99785343e-01 -4.22814827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61401273899997 meters 0.02293120631032567 Centerline is valid? [True, True] Translation: X:213.45, Y:-33.01, Z:-4.24 [[ 9.86734091e-01 1.61452394e-01 1.69987745e-02 2.13448068e+02] [-1.61430836e-01 9.86880492e-01 -2.64187473e-03 -3.30125231e+01] [-1.72022959e-02 -1.37298524e-04 9.99852020e-01 -4.23636386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters 0.023784032509263645 Centerline is valid? [True, True] Translation: X:213.48, Y:-33.01, Z:-4.24 [[ 9.86523115e-01 1.62775370e-01 1.66229484e-02 2.13475749e+02] [-1.62754959e-01 9.86663141e-01 -2.58249357e-03 -3.30144125e+01] [-1.68216168e-02 -1.57777678e-04 9.99858494e-01 -4.23782562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67401273899998 meters 0.025105468358532633 Centerline is valid? [True, True] Translation: X:213.51, Y:-33.01, Z:-4.23 [[ 9.85998191e-01 1.65786646e-01 1.79542533e-02 2.13505204e+02] [-1.65763355e-01 9.86161618e-01 -2.78813184e-03 -3.30132652e+01] [-1.81680305e-02 -2.27064307e-04 9.99834922e-01 -4.23469166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters 0.025105468358532633 Centerline is valid? [True, True] Translation: X:213.53, Y:-33.02, Z:-4.24 [[ 9.86006114e-01 1.65739502e-01 1.79543862e-02 2.13533206e+02] [-1.65716219e-01 9.86169542e-01 -2.78727555e-03 -3.30175230e+01] [-1.81680305e-02 -2.27062266e-04 9.99834922e-01 -4.23526698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73401273899998 meters 0.025941688230788438 Centerline is valid? [True, True] Translation: X:213.56, Y:-33.02, Z:-4.23 [[ 9.85782219e-01 1.66929856e-01 1.91791416e-02 2.13561977e+02] [-1.66903533e-01 9.85968738e-01 -2.97640310e-03 -3.30183218e+01] [-1.94068846e-02 -2.66981234e-04 9.99811633e-01 -4.23452668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters 0.02638007874125626 Centerline is valid? [True, True] Translation: X:213.59, Y:-33.02, Z:-4.23 [[ 9.85684579e-01 1.67473798e-01 1.94534817e-02 2.13590263e+02] [-1.67446841e-01 9.85876487e-01 -3.01801959e-03 -3.30204229e+01] [-1.96841694e-02 -2.82608679e-04 9.99806208e-01 -4.23430851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79401273899998 meters 0.02602627313277882 Centerline is valid? [True, True] Translation: X:213.62, Y:-33.02, Z:-4.23 [[ 9.85848815e-01 1.66452065e-01 1.98953103e-02 2.13618050e+02] [-1.66423686e-01 9.86049511e-01 -3.08532553e-03 -3.30240427e+01] [-2.01313198e-02 -2.69386366e-04 9.99797308e-01 -4.23478048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters 0.02565920357497657 Centerline is valid? [True, True] Translation: X:213.65, Y:-33.03, Z:-4.24 [[ 9.86064847e-01 1.65148443e-01 2.00526565e-02 2.13645692e+02] [-1.65119368e-01 9.86268691e-01 -3.10850819e-03 -3.30283731e+01] [-2.02906726e-02 -2.45891321e-04 9.99794093e-01 -4.23552082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85401273899998 meters 0.02353989721897833 Centerline is valid? [True, True] Translation: X:213.67, Y:-33.04, Z:-4.23 [[ 9.86588179e-01 1.61860309e-01 2.10951709e-02 2.13673461e+02] [-1.61827409e-01 9.86813663e-01 -3.26880306e-03 -3.30367346e+01] [-2.13460923e-02 -1.88814393e-04 9.99772128e-01 -4.23473059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters 0.02278968252457198 Centerline is valid? [True, True] Translation: X:213.70, Y:-33.04, Z:-4.23 [[ 9.86845273e-01 1.60169075e-01 2.19607495e-02 2.13700453e+02] [-1.60133024e-01 9.87089582e-01 -3.40185242e-03 -3.30430755e+01] [-2.22220986e-02 -1.59539256e-04 9.99753046e-01 -4.23330287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914012739 meters 0.021916557698348816 Centerline is valid? [True, True] Translation: X:213.73, Y:-33.05, Z:-4.23 [[ 9.87061164e-01 1.58768065e-01 2.24267607e-02 2.13728621e+02] [-1.58730136e-01 9.87315899e-01 -3.47275062e-03 -3.30515293e+01] [-2.26936593e-02 -1.31985500e-04 9.99742457e-01 -4.23190780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters 0.022113584145462342 Centerline is valid? [True, True] Translation: X:213.76, Y:-33.06, Z:-4.23 [[ 9.86930353e-01 1.59573609e-01 2.24664568e-02 2.13757607e+02] [-1.59535778e-01 9.87186021e-01 -3.47782720e-03 -3.30550552e+01] [-2.27335416e-02 -1.51830448e-04 9.99741548e-01 -4.23236076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974012739 meters 0.022832671308491873 Centerline is valid? [True, True] Translation: X:213.79, Y:-33.06, Z:-4.23 [[ 9.86671659e-01 1.61128601e-01 2.27290913e-02 2.13786089e+02] [-1.61090318e-01 9.86933401e-01 -3.51737682e-03 -3.30570268e+01] [-2.29988494e-02 -1.90940539e-04 9.99735473e-01 -4.23277391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters 0.024693736355682366 Centerline is valid? [True, True] Translation: X:213.82, Y:-33.06, Z:-4.23 [[ 9.86102794e-01 1.64484523e-01 2.33692398e-02 2.13815325e+02] [-1.64445022e-01 9.86379625e-01 -3.61528647e-03 -3.30560288e+01] [-2.36456007e-02 -2.77911073e-04 9.99720365e-01 -4.23231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034012739 meters 0.03483747483511959 Centerline is valid? [True, True] Translation: X:213.84, Y:-33.06, Z:-4.22 [[ 9.85866607e-01 1.66000561e-01 2.26019124e-02 2.13843781e+02] [-1.65964034e-01 9.86125611e-01 -3.49552251e-03 -3.30569242e+01] [-2.28685834e-02 -3.04985638e-04 9.99738433e-01 -4.22337436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters 0.0271312890579365 Centerline is valid? [True, True] Translation: X:213.87, Y:-33.06, Z:-4.23 [[ 9.85605756e-01 1.67485710e-01 2.30180632e-02 2.13872457e+02] [-1.67448256e-01 9.85874443e-01 -3.55876366e-03 -3.30588863e+01] [-2.32889622e-02 -3.46796576e-04 9.99728715e-01 -4.23438379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094012739 meters 0.026900775878336617 Centerline is valid? [True, True] Translation: X:213.90, Y:-33.06, Z:-4.24 [[ 9.85714353e-01 1.66955304e-01 2.22067565e-02 2.13900046e+02] [-1.66920333e-01 9.85964412e-01 -3.43227762e-03 -3.30642986e+01] [-2.24681086e-02 -3.23513877e-04 9.99747508e-01 -4.23672316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters 0.02585886362544839 Centerline is valid? [True, True] Translation: X:213.93, Y:-33.07, Z:-4.24 [[ 9.85941317e-01 1.65755929e-01 2.10876891e-02 2.13927778e+02] [-1.65724145e-01 9.86166767e-01 -3.25813558e-03 -3.30720750e+01] [-2.13360335e-02 -2.82408770e-04 9.99772321e-01 -4.23967018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154012739 meters 0.023796614030002446 Centerline is valid? [True, True] Translation: X:213.95, Y:-33.08, Z:-4.24 [[ 9.86563741e-01 1.62218543e-01 1.94198253e-02 2.13954428e+02] [-1.62190920e-01 9.86754837e-01 -2.99960059e-03 -3.30830088e+01] [-1.96491974e-02 -1.90422148e-04 9.99806918e-01 -4.24340792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters 0.022823750608156793 Centerline is valid? [True, True] Translation: X:213.98, Y:-33.09, Z:-4.24 [[ 9.86832506e-01 1.60561230e-01 1.95370621e-02 2.13981925e+02] [-1.60532970e-01 9.87025869e-01 -3.01653848e-03 -3.30909292e+01] [-1.97679248e-02 -1.59524373e-04 9.99804583e-01 -4.24331661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21401273899997 meters 0.022306687338273297 Centerline is valid? [True, True] Translation: X:214.01, Y:-33.10, Z:-4.24 [[ 9.87100692e-01 1.58814002e-01 2.02567469e-02 2.14008810e+02] [-1.58783274e-01 9.87308511e-01 -3.12665340e-03 -3.30998263e+01] [-2.04962150e-02 -1.30110866e-04 9.99789922e-01 -4.24239042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters 0.022380030086086165 Centerline is valid? [True, True] Translation: X:214.04, Y:-33.11, Z:-4.24 [[ 9.87065982e-01 1.59043663e-01 2.01459776e-02 2.14037215e+02] [-1.59013343e-01 9.87271541e-01 -3.10837362e-03 -3.31056523e+01] [-2.03839175e-02 -1.35309378e-04 9.99792217e-01 -4.24334169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27401273899997 meters 0.022964446193256 Centerline is valid? [True, True] Translation: X:214.06, Y:-33.11, Z:-4.24 [[ 9.86969714e-01 1.59720221e-01 1.94996156e-02 2.14064444e+02] [-1.59691964e-01 9.87162312e-01 -3.00778037e-03 -3.31098737e+01] [-1.97296890e-02 -1.45343789e-04 9.99805340e-01 -4.24496374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters 0.025420765827897148 Centerline is valid? [True, True] Translation: X:214.09, Y:-33.11, Z:-4.25 [[ 9.86367165e-01 1.63523592e-01 1.84350400e-02 2.14092212e+02] [-1.63499019e-01 9.86539401e-01 -2.84259176e-03 -3.31086120e+01] [-1.86517241e-02 -2.10271771e-04 9.99826019e-01 -4.24791722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33401273899997 meters 0.02737889474687494 Centerline is valid? [True, True] Translation: X:214.12, Y:-33.11, Z:-4.25 [[ 9.85904629e-01 1.66231561e-01 1.89507372e-02 2.14121839e+02] [-1.66206120e-01 9.86086708e-01 -2.92074764e-03 -3.31083868e+01] [-1.91725905e-02 -2.70149871e-04 9.99816152e-01 -4.24734395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters 0.029636234836959072 Centerline is valid? [True, True] Translation: X:214.15, Y:-33.11, Z:-4.25 [[ 9.85507906e-01 1.68416348e-01 2.02509526e-02 2.14150075e+02] [-1.68387777e-01 9.85715893e-01 -3.12014285e-03 -3.31083878e+01] [-2.04871688e-02 -3.35087438e-04 9.99790060e-01 -4.24554173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39401273899998 meters 0.03061137599283538 Centerline is valid? [True, True] Translation: X:214.18, Y:-33.11, Z:-4.24 [[ 9.85384989e-01 1.69011756e-01 2.12473533e-02 2.14177748e+02] [-1.68980469e-01 9.85613967e-01 -3.27238794e-03 -3.31113918e+01] [-2.14947602e-02 -3.65825783e-04 9.99768894e-01 -4.24406119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters 0.029230831671999767 Centerline is valid? [True, True] Translation: X:214.21, Y:-33.12, Z:-4.25 [[ 9.85620754e-01 1.67711162e-01 2.06081498e-02 2.14205531e+02] [-1.67681468e-01 9.85836121e-01 -3.17281775e-03 -3.31186265e+01] [-2.08483754e-02 -3.28409787e-04 9.99782595e-01 -4.24682109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45401273899998 meters 0.025918331941430547 Centerline is valid? [True, True] Translation: X:214.23, Y:-33.13, Z:-4.25 [[ 9.86134116e-01 1.64629171e-01 2.08983439e-02 2.14232750e+02] [-1.64597964e-01 9.86355496e-01 -3.21653234e-03 -3.31305548e+01] [-2.11427314e-02 -2.67892568e-04 9.99776432e-01 -4.24607144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters 0.026381821786091286 Centerline is valid? [True, True] Translation: X:214.26, Y:-33.13, Z:-4.24 [[ 9.86239980e-01 1.63930328e-01 2.13904142e-02 2.14259893e+02] [-1.63897492e-01 9.86471885e-01 -3.29121399e-03 -3.31346286e+01] [-2.16405721e-02 -2.59908431e-04 9.99765782e-01 -4.24497668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51401273899998 meters 0.026262020730291512 Centerline is valid? [True, True] Translation: X:214.29, Y:-33.14, Z:-4.24 [[ 9.86308153e-01 1.63489129e-01 2.16224838e-02 2.14287638e+02] [-1.63455501e-01 9.86545103e-01 -3.32556124e-03 -3.31399211e+01] [-2.18752486e-02 -2.54285744e-04 9.99760676e-01 -4.24448304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters 0.02696096998171764 Centerline is valid? [True, True] Translation: X:214.32, Y:-33.14, Z:-4.24 [[ 9.86222463e-01 1.63965281e-01 2.19235062e-02 2.14315224e+02] [-1.63930855e-01 9.86466073e-01 -3.37062213e-03 -3.31448054e+01] [-2.21794601e-02 -2.69755848e-04 9.99753969e-01 -4.24454356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57401273899998 meters 0.02756894785705486 Centerline is valid? [True, True] Translation: X:214.34, Y:-33.15, Z:-4.25 [[ 9.86098536e-01 1.64691711e-01 2.20526339e-02 2.14344292e+02] [-1.64657086e-01 9.86345050e-01 -3.38927974e-03 -3.31482208e+01] [-2.23096926e-02 -2.88958643e-04 9.99751066e-01 -4.24512720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters 0.02972367046260112 Centerline is valid? [True, True] Translation: X:214.37, Y:-33.15, Z:-4.25 [[ 9.85759700e-01 1.66818684e-01 2.11976367e-02 2.14372226e+02] [-1.66787203e-01 9.85987536e-01 -3.25695407e-03 -3.31492241e+01] [-2.14439264e-02 -3.24920475e-04 9.99770000e-01 -4.24778047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63401273899999 meters 0.031020008869766275 Centerline is valid? [True, True] Translation: X:214.40, Y:-33.15, Z:-4.25 [[ 9.85614953e-01 1.67753401e-01 2.05416752e-02 2.14399519e+02] [-1.67724068e-01 9.85828932e-01 -3.15490753e-03 -3.31526992e+01] [-2.07798242e-02 -3.35809293e-04 9.99784020e-01 -4.25011798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters 0.03118433648541038 Centerline is valid? [True, True] Translation: X:214.43, Y:-33.16, Z:-4.25 [[ 9.85617128e-01 1.67797370e-01 2.00728443e-02 2.14426618e+02] [-1.67769391e-01 9.85821451e-01 -3.08183883e-03 -3.31607401e+01] [-2.03053649e-02 -3.30095713e-04 9.99793770e-01 -4.25257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694012739 meters 0.02950434260071976 Centerline is valid? [True, True] Translation: X:214.45, Y:-33.17, Z:-4.25 [[ 9.85713053e-01 1.67167155e-01 2.06135555e-02 2.14453990e+02] [-1.67137539e-01 9.85928514e-01 -3.16350316e-03 -3.31696272e+01] [-2.08523260e-02 -3.26992573e-04 9.99782513e-01 -4.25195106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters 0.028970075757115948 Centerline is valid? [True, True] Translation: X:214.48, Y:-33.18, Z:-4.25 [[ 9.85673115e-01 1.67426521e-01 2.04173995e-02 2.14482180e+02] [-1.67397540e-01 9.85884502e-01 -3.13248824e-03 -3.31752823e+01] [-2.06536593e-02 -3.30213006e-04 9.99786636e-01 -4.25313422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754012739 meters 0.028242622511043536 Centerline is valid? [True, True] Translation: X:214.51, Y:-33.18, Z:-4.25 [[ 9.85570213e-01 1.68092701e-01 1.99047701e-02 2.14510404e+02] [-1.68065312e-01 9.85771135e-01 -3.05293877e-03 -3.31797878e+01] [-2.01347246e-02 -3.36415879e-04 9.99797219e-01 -4.25466265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters 0.03109950247586732 Centerline is valid? [True, True] Translation: X:214.54, Y:-33.18, Z:-4.26 [[ 9.85307813e-01 1.69654265e-01 1.96454497e-02 2.14538532e+02] [-1.69627914e-01 9.85503576e-01 -3.01221616e-03 -3.31770647e+01] [-1.98716963e-02 -3.64456535e-04 9.99802472e-01 -4.25578954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814012739 meters 0.03788461970655493 Centerline is valid? [True, True] Translation: X:214.57, Y:-33.17, Z:-4.26 [[ 9.84464934e-01 1.74581790e-01 1.87080980e-02 2.14570048e+02] [-1.74558802e-01 9.84642576e-01 -2.86741938e-03 -3.31671471e+01] [-1.89213891e-02 -4.42789346e-04 9.99820876e-01 -4.25824098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters 0.036148767478200484 Centerline is valid? [True, True] Translation: X:214.60, Y:-33.17, Z:-4.26 [[ 9.84054223e-01 1.76957963e-01 1.79767869e-02 2.14599516e+02] [-1.76937137e-01 9.84218298e-01 -2.75512830e-03 -3.31729169e+01] [-1.81806245e-02 -4.69565552e-04 9.99834609e-01 -4.25951287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874012739 meters 0.03895560557989065 Centerline is valid? [True, True] Translation: X:214.63, Y:-33.17, Z:-4.26 [[ 9.83551690e-01 1.79695305e-01 1.83213275e-02 2.14628499e+02] [-1.79674155e-01 9.83722174e-01 -2.80752116e-03 -3.31687562e+01] [-1.85275945e-02 -5.30526851e-04 9.99828209e-01 -4.25995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters 0.039543188047582625 Centerline is valid? [True, True] Translation: X:214.66, Y:-33.17, Z:-4.26 [[ 9.83484943e-01 1.79990071e-01 1.89984797e-02 2.14656494e+02] [-1.79967401e-01 9.83668270e-01 -2.91034610e-03 -3.31697608e+01] [-1.92120351e-02 -5.56825460e-04 9.99815277e-01 -4.25972051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93401273899997 meters 0.04108926951933036 Centerline is valid? [True, True] Translation: X:214.68, Y:-33.17, Z:-4.26 [[ 9.83587287e-01 1.79400025e-01 1.92790152e-02 2.14684285e+02] [-1.79376591e-01 9.83776054e-01 -2.95214958e-03 -3.31697688e+01] [-1.94958492e-02 -5.54507219e-04 9.99809784e-01 -4.25977857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters 0.035169911622680836 Centerline is valid? [True, True] Translation: X:214.71, Y:-33.18, Z:-4.26 [[ 9.84401619e-01 1.74802939e-01 1.99344950e-02 2.14713344e+02] [-1.74776966e-01 9.84603322e-01 -3.05129354e-03 -3.31809030e+01] [-2.01609451e-02 -4.80392271e-04 9.99796632e-01 -4.25965973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99401273899997 meters 0.03189471369806082 Centerline is valid? [True, True] Translation: X:214.74, Y:-33.19, Z:-4.26 [[ 9.84987934e-01 1.71423052e-01 2.03201156e-02 2.14741899e+02] [-1.71395350e-01 9.85197423e-01 -3.11006809e-03 -3.31894324e+01] [-2.05524629e-02 -4.19393778e-04 9.99788688e-01 -4.25966769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters 0.028159389321950345 Centerline is valid? [True, True] Translation: X:214.77, Y:-33.20, Z:-4.26 [[ 9.86055129e-01 1.65137317e-01 2.06143003e-02 2.14770235e+02] [-1.65107449e-01 9.86270541e-01 -3.15435677e-03 -3.31987958e+01] [-2.08521791e-02 -2.93204847e-04 9.99782527e-01 -4.25907717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05401273899997 meters 0.025671850590679793 Centerline is valid? [True, True] Translation: X:214.80, Y:-33.21, Z:-4.26 [[ 9.86436755e-01 1.62815099e-01 2.08272016e-02 2.14797665e+02] [-1.62784104e-01 9.86656568e-01 -3.18641424e-03 -3.32082475e+01] [-2.10680916e-02 -2.47141222e-04 9.99778013e-01 -4.25897142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters 0.02393266025339573 Centerline is valid? [True, True] Translation: X:214.83, Y:-33.22, Z:-4.26 [[ 9.86675068e-01 1.61124248e-01 2.26116714e-02 2.14825774e+02] [-1.61087296e-01 9.86934103e-01 -3.45827115e-03 -3.32173606e+01] [-2.28734410e-02 -2.30263082e-04 9.99738342e-01 -4.25585290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11401273899997 meters 0.02506678727281394 Centerline is valid? [True, True] Translation: X:214.85, Y:-33.22, Z:-4.26 [[ 9.86587949e-01 1.61657039e-01 2.26101990e-02 2.14853700e+02] [-1.61620258e-01 9.86846970e-01 -3.45687944e-03 -3.32172831e+01] [-2.28716353e-02 -2.43750594e-04 9.99738380e-01 -4.25569055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters 0.02529750948316006 Centerline is valid? [True, True] Translation: X:214.88, Y:-33.22, Z:-4.26 [[ 9.86418557e-01 1.62781987e-01 2.19192961e-02 2.14882454e+02] [-1.62747726e-01 9.86662027e-01 -3.34993999e-03 -3.32198085e+01] [-2.21722470e-02 -2.62872616e-04 9.99754131e-01 -4.25803742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17401273899998 meters 0.02755110948327308 Centerline is valid? [True, True] Translation: X:214.91, Y:-33.22, Z:-4.26 [[ 9.85981741e-01 1.65674767e-01 1.97958981e-02 2.14910545e+02] [-1.65647423e-01 9.86180401e-01 -3.02455991e-03 -3.32170376e+01] [-2.00234200e-02 -2.96978660e-04 9.99799467e-01 -4.26301448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters 0.028651997361478117 Centerline is valid? [True, True] Translation: X:214.94, Y:-33.22, Z:-4.26 [[ 9.85787337e-01 1.66773050e-01 2.02503336e-02 2.14938114e+02] [-1.66744698e-01 9.85995255e-01 -3.09249242e-03 -3.32183250e+01] [-2.04824772e-02 -3.28095888e-04 9.99790158e-01 -4.26259750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23401273899998 meters 0.02972240833501025 Centerline is valid? [True, True] Translation: X:214.97, Y:-33.22, Z:-4.26 [[ 9.85565371e-01 1.67933851e-01 2.14271318e-02 2.14966103e+02] [-1.67902411e-01 9.85798195e-01 -3.27085350e-03 -3.32182785e+01] [-2.16721149e-02 -3.74027145e-04 9.99765062e-01 -4.25912835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters 0.031967202499407196 Centerline is valid? [True, True] Translation: X:214.99, Y:-33.22, Z:-4.26 [[ 9.85607992e-01 1.67741656e-01 2.09671922e-02 2.14993894e+02] [-1.67711534e-01 9.85830921e-01 -3.19940238e-03 -3.32174638e+01] [-2.12067794e-02 -3.63083424e-04 9.99775045e-01 -4.26109722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29401273899998 meters 0.028363086557270475 Centerline is valid? [True, True] Translation: X:215.02, Y:-33.23, Z:-4.26 [[ 9.85758001e-01 1.67001812e-01 1.97878300e-02 2.15021543e+02] [-1.66974866e-01 9.85956534e-01 -3.01789719e-03 -3.32284546e+01] [-2.00139345e-02 -3.29153950e-04 9.99799647e-01 -4.26469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters 0.02698548036273582 Centerline is valid? [True, True] Translation: X:215.05, Y:-33.24, Z:-4.27 [[ 9.86223802e-01 1.64423781e-01 1.80951021e-02 2.15048717e+02] [-1.64400828e-01 9.86389759e-01 -2.75895680e-03 -3.32360884e+01] [-1.83024615e-02 -2.53900913e-04 9.99832464e-01 -4.26864585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35401273899998 meters 0.02620047727886211 Centerline is valid? [True, True] Translation: X:215.08, Y:-33.24, Z:-4.27 [[ 9.86385802e-01 1.63359547e-01 1.88867242e-02 2.15076861e+02] [-1.63334371e-01 9.86566570e-01 -2.87843730e-03 -3.32410978e+01] [-1.91032309e-02 -2.45601524e-04 9.99817486e-01 -4.26771152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters 0.025088407815838498 Centerline is valid? [True, True] Translation: X:215.11, Y:-33.25, Z:-4.27 [[ 9.86598643e-01 1.61835322e-01 2.07953235e-02 2.15105127e+02] [-1.61804484e-01 9.86817750e-01 -3.16820634e-03 -3.32455640e+01] [-2.10339220e-02 -2.39028504e-04 9.99778734e-01 -4.26503000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414012739 meters 0.0250117355268285 Centerline is valid? [True, True] Translation: X:215.13, Y:-33.25, Z:-4.27 [[ 9.86685768e-01 1.61281599e-01 2.09628570e-02 2.15133340e+02] [-1.61250159e-01 9.86908402e-01 -3.19270218e-03 -3.32499842e+01] [-2.12033438e-02 -2.30070215e-04 9.99775157e-01 -4.26524322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters 0.02506691283240304 Centerline is valid? [True, True] Translation: X:215.16, Y:-33.25, Z:-4.27 [[ 9.86751131e-01 1.60956802e-01 2.03743416e-02 2.15160441e+02] [-1.60927053e-01 9.86961428e-01 -3.10210985e-03 -3.32534774e+01] [-2.06079950e-02 -2.17772364e-04 9.99787609e-01 -4.26696254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474012739 meters 0.02496314222694337 Centerline is valid? [True, True] Translation: X:215.19, Y:-33.26, Z:-4.27 [[ 9.86868535e-01 1.60558021e-01 1.76526395e-02 2.15189609e+02] [-1.60535642e-01 9.87026387e-01 -2.68678380e-03 -3.32558591e+01] [-1.78550056e-02 -1.82375422e-04 9.99840570e-01 -4.27176606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters 0.024650871570451725 Centerline is valid? [True, True] Translation: X:215.22, Y:-33.26, Z:-4.27 [[ 9.86868012e-01 1.60616862e-01 1.71391462e-02 2.15218291e+02] [-1.60595789e-01 9.87016814e-01 -2.60785003e-03 -3.32596649e+01] [-1.73354902e-02 -1.78870947e-04 9.99849713e-01 -4.27368906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534012739 meters 0.023968181203889716 Centerline is valid? [True, True] Translation: X:215.25, Y:-33.27, Z:-4.27 [[ 9.87093397e-01 1.59094523e-01 1.83182676e-02 2.15245684e+02] [-1.59070206e-01 9.87263342e-01 -2.78631747e-03 -3.32659288e+01] [-1.85282420e-02 -1.63535021e-04 9.99828324e-01 -4.27192489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters 0.023314570293165696 Centerline is valid? [True, True] Translation: X:215.27, Y:-33.27, Z:-4.27 [[ 9.87394293e-01 1.57084968e-01 1.94119474e-02 2.15273226e+02] [-1.57057297e-01 9.87585082e-01 -2.95141701e-03 -3.32725699e+01] [-1.96345729e-02 -1.34575671e-04 9.99807214e-01 -4.26974626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594012739 meters 0.022181808664491317 Centerline is valid? [True, True] Translation: X:215.30, Y:-33.28, Z:-4.27 [[ 9.87680894e-01 1.55106606e-01 2.06976308e-02 2.15301227e+02] [-1.55074740e-01 9.87897733e-01 -3.14558661e-03 -3.32805125e+01] [-2.09350438e-02 -1.02843916e-04 9.99780833e-01 -4.26808610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters 0.022181808664491317 Centerline is valid? [True, True] Translation: X:215.33, Y:-33.28, Z:-4.27 [[ 9.87688321e-01 1.55059290e-01 2.06977813e-02 2.15329240e+02] [-1.55027435e-01 9.87905160e-01 -3.14459617e-03 -3.32846811e+01] [-2.09350438e-02 -1.02843027e-04 9.99780833e-01 -4.26866138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654012739 meters 0.02170378673755898 Centerline is valid? [True, True] Translation: X:215.36, Y:-33.29, Z:-4.27 [[ 9.88091205e-01 1.52328395e-01 2.17216672e-02 2.15356182e+02] [-1.52292675e-01 9.88329934e-01 -3.29902161e-03 -3.32929459e+01] [-2.19707086e-02 -4.83165632e-05 9.99758614e-01 -4.26881198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters 0.021642778844981253 Centerline is valid? [True, True] Translation: X:215.38, Y:-33.30, Z:-4.27 [[ 9.88271806e-01 1.51277378e-01 2.08324980e-02 2.15384543e+02] [-1.51244314e-01 9.88491353e-01 -3.16276809e-03 -3.32992790e+01] [-2.10711994e-02 -2.51223388e-05 9.99777977e-01 -4.27084749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71401273899997 meters 0.021740644072697997 Centerline is valid? [True, True] Translation: X:215.41, Y:-33.30, Z:-4.28 [[ 9.88429190e-01 1.50571978e-01 1.83252599e-02 2.15411484e+02] [-1.50546287e-01 9.88599049e-01 -2.78138693e-03 -3.33048148e+01] [-1.85351334e-02 -9.59581602e-06 9.99828210e-01 -4.27654578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters 0.02183885883660172 Centerline is valid? [True, True] Translation: X:215.44, Y:-33.31, Z:-4.28 [[ 9.88409371e-01 1.50775039e-01 1.77144593e-02 2.15439812e+02] [-1.50751084e-01 9.88568099e-01 -2.68764445e-03 -3.33091708e+01] [-1.79171791e-02 -1.39809823e-05 9.99839474e-01 -4.27794148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77401273899997 meters 0.02202968476973665 Centerline is valid? [True, True] Translation: X:215.47, Y:-33.31, Z:-4.28 [[ 9.88101103e-01 1.52806566e-01 1.75032447e-02 2.15468905e+02] [-1.52783511e-01 9.88256116e-01 -2.65478336e-03 -3.33123493e+01] [-1.77033570e-02 -5.10128229e-05 9.99843282e-01 -4.27870731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters 0.022353255044993022 Centerline is valid? [True, True] Translation: X:215.50, Y:-33.31, Z:-4.28 [[ 9.87853833e-01 1.54366476e-01 1.77706194e-02 2.15497029e+02] [-1.54342979e-01 9.88013656e-01 -2.69451370e-03 -3.33140722e+01] [-1.79735572e-02 -8.09846351e-05 9.99838459e-01 -4.27859052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83401273899997 meters 0.02313500325070667 Centerline is valid? [True, True] Translation: X:215.53, Y:-33.31, Z:-4.28 [[ 9.87551130e-01 1.56288069e-01 1.77990039e-02 2.15525745e+02] [-1.56264827e-01 9.87711509e-01 -2.69774908e-03 -3.33145038e+01] [-1.80019070e-02 -1.17193119e-04 9.99837946e-01 -4.27865507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters 0.025343916396371298 Centerline is valid? [True, True] Translation: X:215.55, Y:-33.31, Z:-4.28 [[ 9.86961320e-01 1.60055741e-01 1.70150758e-02 2.15554587e+02] [-1.60035074e-01 9.87107962e-01 -2.57820056e-03 -3.33089055e+01] [-1.72083726e-02 -1.78424700e-04 9.99851909e-01 -4.28130729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89401273899998 meters 0.02626980775939922 Centerline is valid? [True, True] Translation: X:215.58, Y:-33.31, Z:-4.28 [[ 9.86674210e-01 1.61819021e-01 1.69884687e-02 2.15583369e+02] [-1.61798697e-01 9.86820430e-01 -2.57313115e-03 -3.33087062e+01] [-1.71809496e-02 -2.09869966e-04 9.99852375e-01 -4.28228035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters 0.029883282840318475 Centerline is valid? [True, True] Translation: X:215.61, Y:-33.30, Z:-4.28 [[ 9.85924917e-01 1.66194077e-01 1.82095517e-02 2.15613362e+02] [-1.66171490e-01 9.86093015e-01 -2.75715243e-03 -3.33006085e+01] [-1.84145341e-02 -3.07563050e-04 9.99830391e-01 -4.28036595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95401273899998 meters 0.0320506237098269 Centerline is valid? [True, True] Translation: X:215.64, Y:-33.30, Z:-4.28 [[ 9.85670321e-01 1.67648784e-01 1.86521463e-02 2.15641624e+02] [-1.67625362e-01 9.85846726e-01 -2.82328281e-03 -3.32971628e+01] [-1.88614773e-02 -3.43746714e-04 9.99822047e-01 -4.28005836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters 0.030914926093138895 Centerline is valid? [True, True] Translation: X:215.67, Y:-33.30, Z:-4.28 [[ 9.85573595e-01 1.68222975e-01 1.85935326e-02 2.15670404e+02] [-1.68199822e-01 9.85748906e-01 -2.81331774e-03 -3.32998072e+01] [-1.88018191e-02 -3.54697203e-04 9.99823167e-01 -4.28072814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01401273899998 meters 0.02993237640083501 Centerline is valid? [True, True] Translation: X:215.70, Y:-33.30, Z:-4.28 [[ 9.85857213e-01 1.66708412e-01 1.71423892e-02 2.15698926e+02] [-1.66688517e-01 9.86006194e-01 -2.59300144e-03 -3.33004860e+01] [-1.73347771e-02 -3.01110262e-04 9.99849696e-01 -4.28316434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters 0.0276652483732589 Centerline is valid? [True, True] Translation: X:215.73, Y:-33.31, Z:-4.28 [[ 9.86169148e-01 1.64819543e-01 1.74622341e-02 2.15727648e+02] [-1.64798618e-01 9.86323701e-01 -2.64050181e-03 -3.33071084e+01] [-1.76586216e-02 -2.73770625e-04 9.99844037e-01 -4.28268181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07401273899998 meters 0.02401906679293226 Centerline is valid? [True, True] Translation: X:215.76, Y:-33.32, Z:-4.28 [[ 9.87044121e-01 1.59239468e-01 1.96645544e-02 2.15755520e+02] [-1.59211840e-01 9.87239967e-01 -2.97271489e-03 -3.33178667e+01] [-1.98870076e-02 -1.96629126e-04 9.99802215e-01 -4.27961583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters 0.02318184697781614 Centerline is valid? [True, True] Translation: X:215.78, Y:-33.32, Z:-4.28 [[ 9.87462515e-01 1.56545938e-01 2.02768569e-02 2.15782724e+02] [-1.56516029e-01 9.87670667e-01 -3.06357128e-03 -3.33244178e+01] [-2.05064464e-02 -1.48491318e-04 9.99789710e-01 -4.27952430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13401273899999 meters 0.022638791278065305 Centerline is valid? [True, True] Translation: X:215.81, Y:-33.33, Z:-4.28 [[ 9.87810780e-01 1.54303043e-01 2.05044678e-02 2.15809693e+02] [-1.54272002e-01 9.88023563e-01 -3.09665385e-03 -3.33312324e+01] [-2.07367205e-02 -1.04357253e-04 9.99784966e-01 -4.27980735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters 0.021793150404511796 Centerline is valid? [True, True] Translation: X:215.84, Y:-33.34, Z:-4.28 [[ 9.88384933e-01 1.50687449e-01 1.97108083e-02 2.15837501e+02] [-1.50658069e-01 9.88581454e-01 -2.97566007e-03 -3.33413891e+01] [-1.99341342e-02 -2.84947324e-05 9.99801295e-01 -4.28253343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194012739 meters 0.02169960089168471 Centerline is valid? [True, True] Translation: X:215.86, Y:-33.35, Z:-4.28 [[ 9.88638564e-01 1.49144245e-01 1.87025236e-02 2.15864793e+02] [-1.49117532e-01 9.88815450e-01 -2.82264332e-03 -3.33479670e+01] [-1.89143253e-02 1.69986737e-06 9.99821108e-01 -4.28427334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters 0.02187108929070497 Centerline is valid? [True, True] Translation: X:215.89, Y:-33.36, Z:-4.29 [[ 9.88855292e-01 1.47815676e-01 1.77690195e-02 2.15892823e+02] [-1.47791366e-01 9.89014927e-01 -2.68077551e-03 -3.33551250e+01] [-1.79700862e-02 2.47913718e-05 9.99838525e-01 -4.28529402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254012739 meters 0.022003347271947193 Centerline is valid? [True, True] Translation: X:215.92, Y:-33.36, Z:-4.29 [[ 9.88837253e-01 1.47905787e-01 1.80212368e-02 2.15921358e+02] [-1.47880814e-01 9.89001455e-01 -2.71792470e-03 -3.33594917e+01] [-1.82250262e-02 2.25900197e-05 9.99833910e-01 -4.28568012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters 0.02170710963396743 Centerline is valid? [True, True] Translation: X:215.95, Y:-33.36, Z:-4.28 [[ 9.88663029e-01 1.48888812e-01 1.94302791e-02 2.15949343e+02] [-1.48859992e-01 9.88853943e-01 -2.92940468e-03 -3.33596104e+01] [-1.96498637e-02 3.80292419e-06 9.99806923e-01 -4.28414031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314012739 meters 0.02181200101280478 Centerline is valid? [True, True] Translation: X:215.98, Y:-33.36, Z:-4.28 [[ 9.88648744e-01 1.48945646e-01 1.97194110e-02 2.15978015e+02] [-1.48915997e-01 9.88845385e-01 -2.97176345e-03 -3.33618665e+01] [-1.99420798e-02 1.49445423e-06 9.99801137e-01 -4.28482545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters 0.021883648067824536 Centerline is valid? [True, True] Translation: X:216.01, Y:-33.37, Z:-4.29 [[ 9.88720079e-01 1.48545042e-01 1.91566028e-02 2.16006938e+02] [-1.48517003e-01 9.88905643e-01 -2.88606417e-03 -3.33656101e+01] [-1.93727831e-02 8.42835443e-06 9.99812330e-01 -4.28586303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374012739 meters 0.022081933983534984 Centerline is valid? [True, True] Translation: X:216.04, Y:-33.37, Z:-4.29 [[ 9.88966795e-01 1.46930385e-01 1.88716956e-02 2.16035003e+02] [-1.46902898e-01 9.89146835e-01 -2.84223979e-03 -3.33724917e+01] [-1.90844893e-02 3.85740108e-05 9.99817874e-01 -4.28676514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters 0.022291819557867087 Centerline is valid? [True, True] Translation: X:216.06, Y:-33.38, Z:-4.29 [[ 9.89127524e-01 1.45790687e-01 1.92825554e-02 2.16062662e+02] [-1.45761791e-01 9.89315456e-01 -2.90318304e-03 -3.33782822e+01] [-1.94997871e-02 6.09584507e-05 9.99809859e-01 -4.28655730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43401273899997 meters 0.02317535932765401 Centerline is valid? [True, True] Translation: X:216.09, Y:-33.39, Z:-4.29 [[ 9.89642238e-01 1.42392519e-01 1.82376388e-02 2.16089666e+02] [-1.42366113e-01 9.89810263e-01 -2.74472595e-03 -3.33875550e+01] [-1.84426305e-02 1.19874983e-04 9.99829913e-01 -4.28963421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters 0.02409882154105021 Centerline is valid? [True, True] Translation: X:216.12, Y:-33.40, Z:-4.29 [[ 9.89947013e-01 1.40447877e-01 1.67124476e-02 2.16117307e+02] [-1.40425442e-01 9.90088064e-01 -2.51425522e-03 -3.33957282e+01] [-1.68999166e-02 1.42126614e-04 9.99857176e-01 -4.29345767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49401273899997 meters 0.02535179350351028 Centerline is valid? [True, True] Translation: X:216.14, Y:-33.40, Z:-4.30 [[ 9.90271923e-01 1.38309453e-01 1.52320207e-02 2.16144004e+02] [-1.38290573e-01 9.90389049e-01 -2.29099554e-03 -3.34049364e+01] [-1.54024928e-02 1.62263696e-04 9.99881361e-01 -4.29648374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters 0.02691798662177705 Centerline is valid? [True, True] Translation: X:216.17, Y:-33.42, Z:-4.30 [[ 9.90688504e-01 1.35260129e-01 1.55237371e-02 2.16171860e+02] [-1.35240163e-01 9.90810099e-01 -2.33366373e-03 -3.34161244e+01] [-1.56967272e-02 2.12501082e-04 9.99876776e-01 -4.29543636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55401273899997 meters 0.027547340700052575 Centerline is valid? [True, True] Translation: X:216.20, Y:-33.42, Z:-4.29 [[ 9.90748365e-01 1.34601016e-01 1.73275454e-02 2.16199412e+02] [-1.34576050e-01 9.90899846e-01 -2.60419255e-03 -3.34230469e+01] [-1.75203890e-02 2.48226893e-04 9.99846475e-01 -4.29264286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters 0.026283012815672788 Centerline is valid? [True, True] Translation: X:216.23, Y:-33.43, Z:-4.29 [[ 9.90625320e-01 1.35094987e-01 2.02686820e-02 2.16227725e+02] [-1.35060958e-01 9.90832613e-01 -3.04483378e-03 -3.34270022e+01] [-2.04942129e-02 2.78781833e-04 9.99789933e-01 -4.28713847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61401273899997 meters 0.025727652346947287 Centerline is valid? [True, True] Translation: X:216.26, Y:-33.43, Z:-4.29 [[ 9.90497624e-01 1.35956164e-01 2.07455419e-02 2.16257833e+02] [-1.35920724e-01 9.90714818e-01 -3.11547793e-03 -3.34312674e+01] [-2.09764842e-02 2.66124412e-04 9.99779934e-01 -4.28786947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters 0.024783245974101798 Centerline is valid? [True, True] Translation: X:216.29, Y:-33.43, Z:-4.29 [[ 9.90196123e-01 1.38133160e-01 2.07573736e-02 2.16286960e+02] [-1.38098158e-01 9.90413642e-01 -3.11726755e-03 -3.34342498e+01] [-2.09889840e-02 2.20151191e-04 9.99779683e-01 -4.28820960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67401273899998 meters 0.024610107767186435 Centerline is valid? [True, True] Translation: X:216.32, Y:-33.44, Z:-4.29 [[ 9.90115967e-01 1.38831380e-01 1.99052548e-02 2.16315605e+02] [-1.38799326e-01 9.90316015e-01 -2.98966573e-03 -3.34390346e+01] [-2.01275520e-02 1.97279834e-04 9.99797401e-01 -4.28962131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters 0.024239612052676246 Centerline is valid? [True, True] Translation: X:216.34, Y:-33.44, Z:-4.29 [[ 9.89934374e-01 1.40441946e-01 1.74926868e-02 2.16343775e+02] [-1.40417446e-01 9.90088905e-01 -2.62716135e-03 -3.34438211e+01] [-1.76882788e-02 1.44438938e-04 9.99843540e-01 -4.29375217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73401273899998 meters 0.023721492282408867 Centerline is valid? [True, True] Translation: X:216.37, Y:-33.45, Z:-4.29 [[ 9.89807003e-01 1.41385051e-01 1.70986442e-02 2.16372591e+02] [-1.41361788e-01 9.89954672e-01 -2.56766250e-03 -3.34473266e+01] [-1.72899118e-02 1.24395404e-04 9.99850511e-01 -4.29453557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters 0.023224140566148 Centerline is valid? [True, True] Translation: X:216.40, Y:-33.45, Z:-4.29 [[ 9.89615732e-01 1.42612520e-01 1.79547020e-02 2.16400574e+02] [-1.42587088e-01 9.89778590e-01 -2.69534974e-03 -3.34508545e+01] [-1.81555702e-02 1.07251839e-04 9.99835168e-01 -4.29458964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79401273899998 meters 0.02213164513355267 Centerline is valid? [True, True] Translation: X:216.43, Y:-33.45, Z:-4.29 [[ 9.89139346e-01 1.45534135e-01 2.05710677e-02 2.16429602e+02] [-1.45501409e-01 9.89353229e-01 -3.08675525e-03 -3.34517161e+01] [-2.08012805e-02 6.01117387e-05 9.99783628e-01 -4.28988825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters 0.02195673131199717 Centerline is valid? [True, True] Translation: X:216.46, Y:-33.45, Z:-4.29 [[ 9.88898873e-01 1.46970839e-01 2.18767194e-02 2.16458084e+02] [-1.46934201e-01 9.89140825e-01 -3.28159416e-03 -3.34546230e+01] [-2.21214549e-02 3.07264710e-05 9.99755290e-01 -4.28802344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85401273899998 meters 0.022189811941419967 Centerline is valid? [True, True] Translation: X:216.49, Y:-33.45, Z:-4.29 [[ 9.88338784e-01 1.50692526e-01 2.18680408e-02 2.16486788e+02] [-1.50656851e-01 9.88580679e-01 -3.27927594e-03 -3.34543998e+01] [-2.21124850e-02 -5.35345638e-05 9.99755488e-01 -4.28911667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters 0.02289858505313822 Centerline is valid? [True, True] Translation: X:216.51, Y:-33.45, Z:-4.29 [[ 9.87988043e-01 1.53137196e-01 2.07032695e-02 2.16514363e+02] [-1.53105776e-01 9.88204932e-01 -3.10368697e-03 -3.34544240e+01] [-2.09343629e-02 -1.03384524e-04 9.99780847e-01 -4.29229051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914012739 meters 0.024120972262753445 Centerline is valid? [True, True] Translation: X:216.54, Y:-33.45, Z:-4.29 [[ 9.87605556e-01 1.55726167e-01 1.96119058e-02 2.16542718e+02] [-1.55698509e-01 9.87800252e-01 -2.93878741e-03 -3.34537337e+01] [-1.98302916e-02 -1.51181702e-04 9.99803349e-01 -4.29456686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters 0.027467982959638173 Centerline is valid? [True, True] Translation: X:216.57, Y:-33.45, Z:-4.29 [[ 9.86771248e-01 1.60973805e-01 1.92337867e-02 2.16573275e+02] [-1.60948220e-01 9.86958647e-01 -2.88102514e-03 -3.34472949e+01] [-1.94467216e-02 -2.52730945e-04 9.99810863e-01 -4.29441367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974012739 meters 0.02935497643735122 Centerline is valid? [True, True] Translation: X:216.60, Y:-33.45, Z:-4.29 [[ 9.86428310e-01 1.63061807e-01 1.92363358e-02 2.16602784e+02] [-1.63036624e-01 9.86615812e-01 -2.88075348e-03 -3.34450095e+01] [-1.94486139e-02 -2.94570463e-04 9.99810814e-01 -4.29397665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters 0.030849119309488304 Centerline is valid? [True, True] Translation: X:216.63, Y:-33.44, Z:-4.30 [[ 9.85829718e-01 1.66671225e-01 1.89860665e-02 2.16633450e+02] [-1.66647379e-01 9.86012460e-01 -2.84239321e-03 -3.34412954e+01] [-1.91942433e-02 -3.61862519e-04 9.99815708e-01 -4.29506186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034012739 meters 0.034362800737612734 Centerline is valid? [True, True] Translation: X:216.66, Y:-33.44, Z:-4.30 [[ 9.85590612e-01 1.68072080e-01 1.90505024e-02 2.16662484e+02] [-1.68048342e-01 9.85774631e-01 -2.85160989e-03 -3.34370675e+01] [-1.92587780e-02 -3.90885405e-04 9.99814456e-01 -4.29606525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters 0.03260440696918836 Centerline is valid? [True, True] Translation: X:216.69, Y:-33.44, Z:-4.30 [[ 9.85412252e-01 1.69069154e-01 1.94503418e-02 2.16690488e+02] [-1.69044626e-01 9.85604101e-01 -2.91025329e-03 -3.34412108e+01] [-1.96623707e-02 -4.20176511e-04 9.99806589e-01 -4.29545911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.094012739 meters 0.03311245505351046 Centerline is valid? [True, True] Translation: X:216.72, Y:-33.44, Z:-4.30 [[ 9.85274966e-01 1.69866041e-01 1.94620072e-02 2.16719727e+02] [-1.69841663e-01 9.85467065e-01 -2.91079145e-03 -3.34409355e+01] [-1.96736118e-02 -4.37529729e-04 9.99806360e-01 -4.29563762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters 0.03748707313324232 Centerline is valid? [True, True] Translation: X:216.75, Y:-33.43, Z:-4.30 [[ 9.85212770e-01 1.70260959e-01 1.91573654e-02 2.16749401e+02] [-1.70237431e-01 9.85398911e-01 -2.86431053e-03 -3.34320686e+01] [-1.93653272e-02 -4.39345351e-04 9.99812378e-01 -4.29679012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154012739 meters 0.03587697318421787 Centerline is valid? [True, True] Translation: X:216.78, Y:-33.44, Z:-4.30 [[ 9.85517321e-01 1.68544817e-01 1.86615577e-02 2.16778223e+02] [-1.68522203e-01 9.85693912e-01 -2.78918943e-03 -3.34372505e+01] [-1.88646872e-02 -3.96092309e-04 9.99821967e-01 -4.29926160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters 0.03449133227944104 Centerline is valid? [True, True] Translation: X:216.81, Y:-33.44, Z:-4.30 [[ 9.85749334e-01 1.67179822e-01 1.86857868e-02 2.16806799e+02] [-1.67156957e-01 9.85926350e-01 -2.78994697e-03 -3.34421549e+01] [-1.88892325e-02 -3.73270899e-04 9.99821513e-01 -4.29906982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21401273899997 meters 0.031284289427652316 Centerline is valid? [True, True] Translation: X:216.84, Y:-33.45, Z:-4.30 [[ 9.85953684e-01 1.65913003e-01 1.91887531e-02 2.16835369e+02] [-1.65888668e-01 9.86140328e-01 -2.86416863e-03 -3.34484525e+01] [-1.93980061e-02 -3.59259077e-04 9.99811776e-01 -4.29823331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters 0.032071978658634974 Centerline is valid? [True, True] Translation: X:216.86, Y:-33.45, Z:-4.29 [[ 9.86090076e-01 1.64911338e-01 2.07511995e-02 2.16864085e+02] [-1.64882679e-01 9.86308327e-01 -3.09630149e-03 -3.34456268e+01] [-2.09776961e-02 -3.68281190e-04 9.99779876e-01 -4.29492716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27401273899997 meters 0.030453066349434062 Centerline is valid? [True, True] Translation: X:216.89, Y:-33.45, Z:-4.29 [[ 9.86083533e-01 1.64778639e-01 2.20740984e-02 2.16891238e+02] [-1.64746222e-01 9.86330496e-01 -3.29168466e-03 -3.34509937e+01] [-2.23147558e-02 -3.90748271e-04 9.99750918e-01 -4.29308334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters 0.02939397851782925 Centerline is valid? [True, True] Translation: X:216.92, Y:-33.45, Z:-4.29 [[ 9.86262274e-01 1.63703653e-01 2.20871422e-02 2.16919409e+02] [-1.63670961e-01 9.86509492e-01 -3.29212432e-03 -3.34544362e+01] [-2.23281082e-02 -3.68125766e-04 9.99750629e-01 -4.29398156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33401273899997 meters 0.028038438657773463 Centerline is valid? [True, True] Translation: X:216.95, Y:-33.46, Z:-4.30 [[ 9.86458392e-01 1.62737686e-01 2.04031152e-02 2.16947762e+02] [-1.62709602e-01 9.86669318e-01 -3.04022168e-03 -3.34586828e+01] [-2.06258864e-02 -3.20730568e-04 9.99787212e-01 -4.29786436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters 0.029679727879478656 Centerline is valid? [True, True] Translation: X:216.98, Y:-33.46, Z:-4.30 [[ 9.86728289e-01 1.61288172e-01 1.87992067e-02 2.16976474e+02] [-1.61264081e-01 9.86907318e-01 -2.80043607e-03 -3.34569656e+01] [-1.90047519e-02 -2.68367315e-04 9.99819357e-01 -4.30163614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39401273899998 meters 0.025578355681337796 Centerline is valid? [True, True] Translation: X:217.00, Y:-33.47, Z:-4.30 [[ 9.87162289e-01 1.58759526e-01 1.74936466e-02 2.17003889e+02] [-1.58738295e-01 9.87317259e-01 -2.60445994e-03 -3.34669916e+01] [-1.76852620e-02 -2.05886982e-04 9.99843582e-01 -4.30342767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters 0.02515691367927495 Centerline is valid? [True, True] Translation: X:217.03, Y:-33.47, Z:-4.30 [[ 9.87309505e-01 1.57812247e-01 1.77549029e-02 2.17031822e+02] [-1.57790238e-01 9.87469117e-01 -2.64255296e-03 -3.34706163e+01] [-1.79494455e-02 -1.92532696e-04 9.99838877e-01 -4.30360954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45401273899998 meters 0.024311232368138355 Centerline is valid? [True, True] Translation: X:217.06, Y:-33.47, Z:-4.30 [[ 9.87491553e-01 1.56554876e-01 1.87351078e-02 2.17060900e+02] [-1.56530179e-01 9.87669245e-01 -2.78659683e-03 -3.34723294e+01] [-1.89403451e-02 -1.80868942e-04 9.99820599e-01 -4.30243454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters 0.024434932191716056 Centerline is valid? [True, True] Translation: X:217.09, Y:-33.47, Z:-4.30 [[ 9.87498180e-01 1.56538376e-01 1.85224357e-02 2.17088292e+02] [-1.56514249e-01 9.87671861e-01 -2.75412137e-03 -3.34734290e+01] [-1.87252142e-02 -1.79335266e-04 9.99824652e-01 -4.30322009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51401273899998 meters 0.024434932191716056 Centerline is valid? [True, True] Translation: X:217.12, Y:-33.48, Z:-4.30 [[ 9.87509384e-01 1.56467655e-01 1.85226690e-02 2.17115494e+02] [-1.56443545e-01 9.87683067e-01 -2.75255128e-03 -3.34773404e+01] [-1.87252118e-02 -1.79581781e-04 9.99824652e-01 -4.30377847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters 0.024930245156909017 Centerline is valid? [True, True] Translation: X:217.14, Y:-33.48, Z:-4.31 [[ 9.87443228e-01 1.56928407e-01 1.81478866e-02 2.17143600e+02] [-1.56905364e-01 9.87609964e-01 -2.69558950e-03 -3.34787076e+01] [-1.83460482e-02 -1.85759150e-04 9.99831680e-01 -4.30519830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57401273899998 meters 0.025697085802887636 Centerline is valid? [True, True] Translation: X:217.17, Y:-33.48, Z:-4.31 [[ 9.87190225e-01 1.58620767e-01 1.71730006e-02 2.17173317e+02] [-1.58600416e-01 9.87339561e-01 -2.54923409e-03 -3.34765693e+01] [-1.73599443e-02 -2.07066065e-04 9.99849283e-01 -4.30722283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters 0.026125169020152928 Centerline is valid? [True, True] Translation: X:217.20, Y:-33.48, Z:-4.31 [[ 9.87118270e-01 1.59046770e-01 1.73679432e-02 2.17202009e+02] [-1.59026035e-01 9.87271025e-01 -2.57734596e-03 -3.34755579e+01] [-1.75567857e-02 -2.17809857e-04 9.99845844e-01 -4.30694055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63401273899999 meters 0.027507879471322137 Centerline is valid? [True, True] Translation: X:217.23, Y:-33.47, Z:-4.31 [[ 9.87065121e-01 1.59310747e-01 1.79592062e-02 2.17231051e+02] [-1.59288640e-01 9.87228460e-01 -2.66394958e-03 -3.34693094e+01] [-1.81542353e-02 -2.31205827e-04 9.99835172e-01 -4.30762304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters 0.026155098091377255 Centerline is valid? [True, True] Translation: X:217.26, Y:-33.48, Z:-4.31 [[ 9.87135207e-01 1.58925271e-01 1.75169097e-02 2.17259117e+02] [-1.58904198e-01 9.87290590e-01 -2.59728845e-03 -3.34754157e+01] [-1.77070549e-02 -2.19635621e-04 9.99843194e-01 -4.30883338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694012739 meters 0.024602281553298896 Centerline is valid? [True, True] Translation: X:217.29, Y:-33.48, Z:-4.31 [[ 9.87631824e-01 1.55889175e-01 1.67912251e-02 2.17286960e+02] [-1.55869386e-01 9.87774539e-01 -2.48891319e-03 -3.34800897e+01] [-1.69739393e-02 -1.59108076e-04 9.99855920e-01 -4.31001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters 0.023754632265193545 Centerline is valid? [True, True] Translation: X:217.31, Y:-33.48, Z:-4.31 [[ 9.87956378e-01 1.53817008e-01 1.68084491e-02 2.17314692e+02] [-1.53796891e-01 9.88099344e-01 -2.49069011e-03 -3.34844346e+01] [-1.69915280e-02 -1.24394038e-04 9.99855626e-01 -4.31004991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754012739 meters 0.032387872273133965 Centerline is valid? [True, True] Translation: X:217.34, Y:-33.49, Z:-4.30 [[ 9.88262063e-01 1.51813851e-01 1.70484474e-02 2.17343553e+02] [-1.51792876e-01 9.88409099e-01 -2.52517914e-03 -3.34889377e+01] [-1.72341977e-02 -9.22941191e-05 9.99851476e-01 -4.30056600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters 0.021977620973617426 Centerline is valid? [True, True] Translation: X:217.37, Y:-33.50, Z:-4.31 [[ 9.88853388e-01 1.47741863e-01 1.84748213e-02 2.17370786e+02] [-1.47716538e-01 9.89025956e-01 -2.73550370e-03 -3.34987868e+01] [-1.86762262e-02 -2.40245378e-05 9.99825584e-01 -4.30843685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814012739 meters 0.02184060883747443 Centerline is valid? [True, True] Translation: X:217.40, Y:-33.51, Z:-4.31 [[ 9.89162528e-01 1.45566900e-01 1.91773378e-02 2.17397474e+02] [-1.45539221e-01 9.89348410e-01 -2.83861657e-03 -3.35057865e+01] [-1.93862773e-02 1.67983313e-05 9.99812068e-01 -4.30806667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters 0.02234921520083486 Centerline is valid? [True, True] Translation: X:217.43, Y:-33.51, Z:-4.31 [[ 9.89690492e-01 1.41830014e-01 1.99243041e-02 2.17425626e+02] [-1.41799413e-01 9.89891024e-01 -2.94748419e-03 -3.35143768e+01] [-2.01409315e-02 9.18424456e-05 9.99797147e-01 -4.30667439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874012739 meters 0.02266162174552748 Centerline is valid? [True, True] Translation: X:217.45, Y:-33.52, Z:-4.31 [[ 9.89890136e-01 1.40441941e-01 1.98388426e-02 2.17454100e+02] [-1.40411342e-01 9.90088909e-01 -2.93391347e-03 -3.35206245e+01] [-2.00542625e-02 1.18653495e-04 9.99798886e-01 -4.30780482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters 0.03043648529189087 Centerline is valid? [True, True] Translation: X:217.48, Y:-33.53, Z:-4.30 [[ 9.90195144e-01 1.38409316e-01 1.88795481e-02 2.17481361e+02] [-1.38381251e-01 9.90375100e-01 -2.79122559e-03 -3.35301339e+01] [-1.90841660e-02 1.51282538e-04 9.99817869e-01 -4.30153594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93401273899997 meters 0.0239748281655604 Centerline is valid? [True, True] Translation: X:217.51, Y:-33.54, Z:-4.31 [[ 9.90326164e-01 1.37419587e-01 1.92339731e-02 2.17509544e+02] [-1.37390302e-01 9.90512911e-01 -2.84211046e-03 -3.35368757e+01] [-1.94420603e-02 1.72054990e-04 9.99810970e-01 -4.31039455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters 0.024958916722821994 Centerline is valid? [True, True] Translation: X:217.54, Y:-33.54, Z:-4.31 [[ 9.90459658e-01 1.36495067e-01 1.89410342e-02 2.17536893e+02] [-1.36466514e-01 9.90640733e-01 -2.79796843e-03 -3.35439033e+01] [-1.91456689e-02 1.86457941e-04 9.99816687e-01 -4.31103042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99401273899997 meters 0.025329602664718797 Centerline is valid? [True, True] Translation: X:217.56, Y:-33.55, Z:-4.31 [[ 9.90684603e-01 1.34915884e-01 1.84857171e-02 2.17564963e+02] [-1.34888439e-01 9.90857033e-01 -2.72929056e-03 -3.35503691e+01] [-1.86849275e-02 2.10356608e-04 9.99825399e-01 -4.31236295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters 0.026561888822458316 Centerline is valid? [True, True] Translation: X:217.59, Y:-33.56, Z:-4.31 [[ 9.90805123e-01 1.34085622e-01 1.80625070e-02 2.17591274e+02] [-1.34059296e-01 9.90969726e-01 -2.66602272e-03 -3.35589855e+01] [-1.82568729e-02 2.20062000e-04 9.99833305e-01 -4.31392488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05401273899997 meters 0.027105402671935952 Centerline is valid? [True, True] Translation: X:217.62, Y:-33.57, Z:-4.32 [[ 9.90901909e-01 1.33407539e-01 1.77717819e-02 2.17617810e+02] [-1.33381966e-01 9.91061238e-01 -2.62186467e-03 -3.35665684e+01] [-1.79627007e-02 2.27575482e-04 9.99838632e-01 -4.31556181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters 0.027066526784415176 Centerline is valid? [True, True] Translation: X:217.65, Y:-33.57, Z:-4.32 [[ 9.90997428e-01 1.32641884e-01 1.81721621e-02 2.17646312e+02] [-1.32615041e-01 9.91163998e-01 -2.67969622e-03 -3.35736934e+01] [-1.83670328e-02 2.45670043e-04 9.99831282e-01 -4.31557549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11401273899997 meters 0.026143825689367885 Centerline is valid? [True, True] Translation: X:217.68, Y:-33.58, Z:-4.32 [[ 9.90961797e-01 1.32870086e-01 1.84460584e-02 2.17675298e+02] [-1.32842482e-01 9.91133432e-01 -2.71923385e-03 -3.35765620e+01] [-1.86438100e-02 2.44236667e-04 9.99826159e-01 -4.31516264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters 0.024672203610977057 Centerline is valid? [True, True] Translation: X:217.70, Y:-33.58, Z:-4.32 [[ 9.90531663e-01 1.36015906e-01 1.86198160e-02 2.17703178e+02] [-1.35988352e-01 9.90706636e-01 -2.74396721e-03 -3.35781656e+01] [-1.88199985e-02 1.85908319e-04 9.99822871e-01 -4.31527670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17401273899998 meters 0.023692913755689413 Centerline is valid? [True, True] Translation: X:217.73, Y:-33.58, Z:-4.32 [[ 9.90237195e-01 1.38160761e-01 1.84906149e-02 2.17732423e+02] [-1.38133982e-01 9.90409806e-01 -2.72381575e-03 -3.35794003e+01] [-1.86896107e-02 1.43041396e-04 9.99825324e-01 -4.31606166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters 0.022891813831592358 Centerline is valid? [True, True] Translation: X:217.76, Y:-33.58, Z:-4.32 [[ 9.89891819e-01 1.40625440e-01 1.84030689e-02 2.17761609e+02] [-1.40599356e-01 9.90062865e-01 -2.71005276e-03 -3.35793034e+01] [-1.86012975e-02 9.51994189e-05 9.99826976e-01 -4.31682237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23401273899998 meters 0.02233616514691829 Centerline is valid? [True, True] Translation: X:217.79, Y:-33.58, Z:-4.32 [[ 9.89422751e-01 1.43956490e-01 1.78647453e-02 2.17790252e+02] [-1.43932467e-01 9.89584018e-01 -2.62998417e-03 -3.35772194e+01] [-1.80572697e-02 3.08493081e-05 9.99836954e-01 -4.31849504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters 0.022287454158607438 Centerline is valid? [True, True] Translation: X:217.82, Y:-33.58, Z:-4.32 [[ 9.89369335e-01 1.44350004e-01 1.76464236e-02 2.17817852e+02] [-1.44326645e-01 9.89526693e-01 -2.59683755e-03 -3.35813713e+01] [-1.78364607e-02 2.23823186e-05 9.99840917e-01 -4.31945905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29401273899998 meters 0.02245677016040284 Centerline is valid? [True, True] Translation: X:217.85, Y:-33.59, Z:-4.32 [[ 9.89381741e-01 1.44317753e-01 1.72091901e-02 2.17845081e+02] [-1.44295553e-01 9.89531397e-01 -2.53132190e-03 -3.35869753e+01] [-1.73943486e-02 2.12340608e-05 9.99848707e-01 -4.32078095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters 0.022432418247995342 Centerline is valid? [True, True] Translation: X:217.87, Y:-33.60, Z:-4.32 [[ 9.89598689e-01 1.42726634e-01 1.79873086e-02 2.17870808e+02] [-1.42702142e-01 9.89762146e-01 -2.64447731e-03 -3.35969109e+01] [-1.81805945e-02 5.01438244e-05 9.99834718e-01 -4.32050017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35401273899998 meters 0.022623226330451284 Centerline is valid? [True, True] Translation: X:217.90, Y:-33.60, Z:-4.32 [[ 9.89767814e-01 1.41464079e-01 1.86437094e-02 2.17898714e+02] [-1.41437573e-01 9.89943387e-01 -2.73935389e-03 -3.36038410e+01] [-1.88437370e-02 7.44032977e-05 9.99822438e-01 -4.31934595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters 0.023094730992715768 Centerline is valid? [True, True] Translation: X:217.93, Y:-33.62, Z:-4.32 [[ 9.90057945e-01 1.39349734e-01 1.91551057e-02 2.17925094e+02] [-1.39321377e-01 9.90243222e-01 -2.81356665e-03 -3.36173527e+01] [-1.93602834e-02 1.16878313e-04 9.99812565e-01 -4.31966942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414012739 meters 0.023315850574356853 Centerline is valid? [True, True] Translation: X:217.95, Y:-33.62, Z:-4.32 [[ 9.90115911e-01 1.38983307e-01 1.88181385e-02 2.17953611e+02] [-1.38955893e-01 9.90294717e-01 -2.76296209e-03 -3.36245052e+01] [-1.90195087e-02 1.20761479e-04 9.99819105e-01 -4.32035139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters 0.0223555819023428 Centerline is valid? [True, True] Translation: X:217.98, Y:-33.63, Z:-4.32 [[ 9.89703946e-01 1.41953720e-01 1.83095974e-02 2.17982627e+02] [-1.41928291e-01 9.89873294e-01 -2.68748459e-03 -3.36273005e+01] [-1.85056799e-02 6.11642400e-05 9.99828753e-01 -4.32063635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474012739 meters 0.022104788516617273 Centerline is valid? [True, True] Translation: X:218.01, Y:-33.63, Z:-4.32 [[ 9.89239790e-01 1.45195993e-01 1.79655778e-02 2.18011094e+02] [-1.45172059e-01 9.89402913e-01 -2.63618995e-03 -3.36278296e+01] [-1.81579592e-02 -2.75926742e-07 9.99835131e-01 -4.32153499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters 0.022778146754964815 Centerline is valid? [True, True] Translation: X:218.04, Y:-33.63, Z:-4.32 [[ 9.88646762e-01 1.49244450e-01 1.74262311e-02 2.18039202e+02] [-1.49222578e-01 9.88800328e-01 -2.55605834e-03 -3.36264469e+01] [-1.76125405e-02 -7.33483325e-05 9.99844884e-01 -4.32311626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534012739 meters 0.02724530989873647 Centerline is valid? [True, True] Translation: X:218.07, Y:-33.62, Z:-4.32 [[ 9.87351898e-01 1.57480413e-01 1.83343623e-02 2.18070677e+02] [-1.57457641e-01 9.87522083e-01 -2.68810278e-03 -3.36186046e+01] [-1.85289112e-02 -2.32782065e-04 9.99828298e-01 -4.32224518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters 0.030194175680977077 Centerline is valid? [True, True] Translation: X:218.10, Y:-33.62, Z:-4.32 [[ 9.86722324e-01 1.61188562e-01 1.99324820e-02 2.18101079e+02] [-1.61162412e-01 9.86923573e-01 -2.92192278e-03 -3.36164119e+01] [-2.01428169e-02 -3.29240449e-04 9.99797059e-01 -4.31963298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.594012739 meters 0.03229728154094705 Centerline is valid? [True, True] Translation: X:218.13, Y:-33.62, Z:-4.32 [[ 9.86205477e-01 1.64174057e-01 2.11101147e-02 2.18131312e+02] [-1.64145420e-01 9.86431299e-01 -3.09404737e-03 -3.36155864e+01] [-2.13316402e-02 -4.13762186e-04 9.99772369e-01 -4.31743002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters 0.0359157700036669 Centerline is valid? [True, True] Translation: X:218.16, Y:-33.61, Z:-4.32 [[ 9.85555970e-01 1.68006252e-01 2.12915467e-02 2.18161549e+02] [-1.67978025e-01 9.85785802e-01 -3.12012966e-03 -3.36112638e+01] [-2.15131058e-02 -5.01449556e-04 9.99768441e-01 -4.31943334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654012739 meters 0.0361904146506838 Centerline is valid? [True, True] Translation: X:218.19, Y:-33.61, Z:-4.32 [[ 9.85446637e-01 1.68804946e-01 1.99953827e-02 2.18190040e+02] [-1.68780229e-01 9.85649356e-01 -2.92953305e-03 -3.36138993e+01] [-2.02029558e-02 -4.87926793e-04 9.99795780e-01 -4.32201629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters 0.03957888728253715 Centerline is valid? [True, True] Translation: X:218.22, Y:-33.61, Z:-4.33 [[ 9.85465504e-01 1.68942764e-01 1.77787035e-02 2.18218803e+02] [-1.68923258e-01 9.85625766e-01 -2.60412650e-03 -3.36083034e+01] [-1.79630966e-02 -4.36959682e-04 9.99838555e-01 -4.32747393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71401273899997 meters 0.03551300252501948 Centerline is valid? [True, True] Translation: X:218.25, Y:-33.62, Z:-4.33 [[ 9.85472099e-01 1.68977181e-01 1.70720461e-02 2.18246513e+02] [-1.68959226e-01 9.85619873e-01 -2.49906948e-03 -3.36166629e+01] [-1.72488337e-02 -4.21716460e-04 9.99851139e-01 -4.32584362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters 0.039934467252802766 Centerline is valid? [True, True] Translation: X:218.28, Y:-33.61, Z:-4.33 [[ 9.85508755e-01 1.68760752e-01 1.70968788e-02 2.18275404e+02] [-1.68742727e-01 9.85656955e-01 -2.50189214e-03 -3.36103378e+01] [-1.72738787e-02 -4.19337342e-04 9.99850707e-01 -4.33116709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77401273899997 meters 0.03758037691572453 Centerline is valid? [True, True] Translation: X:218.30, Y:-33.61, Z:-4.33 [[ 9.85893016e-01 1.66516159e-01 1.69508064e-02 2.18304218e+02] [-1.66498122e-01 9.86038653e-01 -2.47973487e-03 -3.36144801e+01] [-1.71270663e-02 -3.77524156e-04 9.99853250e-01 -4.33252610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters 0.03226598110906138 Centerline is valid? [True, True] Translation: X:218.33, Y:-33.62, Z:-4.33 [[ 9.86209465e-01 1.64631202e-01 1.69546097e-02 2.18332108e+02] [-1.64612925e-01 9.86355132e-01 -2.47758390e-03 -3.36248103e+01] [-1.71311539e-02 -3.47531204e-04 9.99853191e-01 -4.33190022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83401273899997 meters 0.030493415916881275 Centerline is valid? [True, True] Translation: X:218.36, Y:-33.63, Z:-4.33 [[ 9.86676353e-01 1.61775757e-01 1.72736616e-02 2.18359843e+02] [-1.61756361e-01 9.86827499e-01 -2.52346243e-03 -3.36294382e+01] [-1.74543593e-02 -3.04283924e-04 9.99847615e-01 -4.33187168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters 0.029941584646589324 Centerline is valid? [True, True] Translation: X:218.39, Y:-33.63, Z:-4.33 [[ 9.86864530e-01 1.60672762e-01 1.68125988e-02 2.18387650e+02] [-1.60654252e-01 9.87007693e-01 -2.45469242e-03 -3.36333631e+01] [-1.69885666e-02 -2.78566600e-04 9.99855645e-01 -4.33268763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89401273899998 meters 0.02907264078612041 Centerline is valid? [True, True] Translation: X:218.42, Y:-33.64, Z:-4.33 [[ 9.86965132e-01 1.60033980e-01 1.69986536e-02 2.18415804e+02] [-1.60014980e-01 9.87111469e-01 -2.48082348e-03 -3.36383592e+01] [-1.71765820e-02 -2.71552951e-04 9.99852435e-01 -4.33327615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters 0.028687886421456886 Centerline is valid? [True, True] Translation: X:218.44, Y:-33.64, Z:-4.33 [[ 9.87081863e-01 1.59122840e-01 1.86900353e-02 2.18444199e+02] [-1.59099726e-01 9.87258751e-01 -2.72670731e-03 -3.36387684e+01] [-1.88857824e-02 -2.82096167e-04 9.99821608e-01 -4.33022201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95401273899998 meters 0.028094284167716522 Centerline is valid? [True, True] Translation: X:218.47, Y:-33.64, Z:-4.33 [[ 9.87182877e-01 1.58400042e-01 1.94780315e-02 2.18473123e+02] [-1.58374821e-01 9.87374978e-01 -2.84046771e-03 -3.36424357e+01] [-1.96820511e-02 -2.80768661e-04 9.99806250e-01 -4.32907505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters 0.025687476755579846 Centerline is valid? [True, True] Translation: X:218.50, Y:-33.65, Z:-4.33 [[ 9.87599645e-01 1.55590557e-01 2.09408778e-02 2.18500692e+02] [-1.55560795e-01 9.87821603e-01 -3.05276096e-03 -3.36506872e+01] [-2.11608322e-02 -2.42673947e-04 9.99776055e-01 -4.32708541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01401273899998 meters 0.02428786480697719 Centerline is valid? [True, True] Translation: X:218.53, Y:-33.66, Z:-4.33 [[ 9.87912648e-01 1.53465167e-01 2.18413145e-02 2.18528735e+02] [-1.53432295e-01 9.88154036e-01 -3.18296626e-03 -3.36582509e+01] [-2.20710575e-02 -2.06670375e-04 9.99756383e-01 -4.32633224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters 0.02313895925893948 Centerline is valid? [True, True] Translation: X:218.56, Y:-33.67, Z:-4.33 [[ 9.88273216e-01 1.51106431e-01 2.19749121e-02 2.18555437e+02] [-1.51072595e-01 9.88517487e-01 -3.20136868e-03 -3.36655476e+01] [-2.22063323e-02 -1.55980080e-04 9.99753397e-01 -4.32591461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07401273899998 meters 0.021837510873913103 Centerline is valid? [True, True] Translation: X:218.58, Y:-33.68, Z:-4.33 [[ 9.89140197e-01 1.45344821e-01 2.18301123e-02 2.18581022e+02] [-1.45310054e-01 9.89381060e-01 -3.17899728e-03 -3.36796797e+01] [-2.20603504e-02 -2.76607913e-05 9.99756640e-01 -4.32786400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters 0.021699931290127438 Centerline is valid? [True, True] Translation: X:218.61, Y:-33.69, Z:-4.33 [[ 9.89504752e-01 1.42891013e-01 2.15059274e-02 2.18607217e+02] [-1.42856719e-01 9.89738429e-01 -3.13052770e-03 -3.36882043e+01] [-2.17325671e-02 2.54058025e-05 9.99763820e-01 -4.32893803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13401273899999 meters 0.022445276807379504 Centerline is valid? [True, True] Translation: X:218.63, Y:-33.70, Z:-4.33 [[ 9.90083806e-01 1.39007513e-01 2.02723486e-02 2.18634463e+02] [-1.38976257e-01 9.90291321e-01 -2.94942513e-03 -3.36972436e+01] [-2.04855232e-02 1.02802916e-04 9.99790144e-01 -4.33161369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters 0.02316408321871526 Centerline is valid? [True, True] Translation: X:218.66, Y:-33.70, Z:-4.33 [[ 9.90333828e-01 1.37324263e-01 1.95180978e-02 2.18661542e+02] [-1.37294984e-01 9.90526138e-01 -2.83861704e-03 -3.37031556e+01] [-1.97229970e-02 1.31441552e-04 9.99805474e-01 -4.33341985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194012739 meters 0.02416352639976712 Centerline is valid? [True, True] Translation: X:218.69, Y:-33.71, Z:-4.34 [[ 9.90543866e-01 1.35893023e-01 1.88662399e-02 2.18688895e+02] [-1.35865433e-01 9.90723505e-01 -2.74248800e-03 -3.37109717e+01] [-1.90639123e-02 1.53284821e-04 9.99818255e-01 -4.33556878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters 0.02389171471004766 Centerline is valid? [True, True] Translation: X:218.72, Y:-33.72, Z:-4.34 [[ 9.90719931e-01 1.34721115e-01 1.80066577e-02 2.18717152e+02] [-1.34695807e-01 9.90883542e-01 -2.61655723e-03 -3.37181213e+01] [-1.81950063e-02 1.66854116e-04 9.99834443e-01 -4.33763254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254012739 meters 0.02388607202268676 Centerline is valid? [True, True] Translation: X:218.75, Y:-33.72, Z:-4.34 [[ 9.90702435e-01 1.34876838e-01 1.78023786e-02 2.18745548e+02] [-1.34852141e-01 9.90862358e-01 -2.58603049e-03 -3.37235669e+01] [-1.79885025e-02 1.61297829e-04 9.99838181e-01 -4.33864006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters 0.02364437986272034 Centerline is valid? [True, True] Translation: X:218.77, Y:-33.73, Z:-4.34 [[ 9.90645621e-01 1.35289260e-01 1.78345145e-02 2.18773596e+02] [-1.35264556e-01 9.90806133e-01 -2.58984630e-03 -3.37283302e+01] [-1.80209247e-02 1.53242215e-04 9.99837598e-01 -4.33914060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314012739 meters 0.023668697068280082 Centerline is valid? [True, True] Translation: X:218.80, Y:-33.73, Z:-4.34 [[ 9.90676829e-01 1.35063266e-01 1.78138667e-02 2.18802355e+02] [-1.35038598e-01 9.90836964e-01 -2.58598536e-03 -3.37338169e+01] [-1.79999093e-02 1.56316187e-04 9.99837976e-01 -4.33995542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters 0.034785114030542574 Centerline is valid? [True, True] Translation: X:218.83, Y:-33.74, Z:-4.33 [[ 9.90736744e-01 1.34753684e-01 1.67973134e-02 2.18829755e+02] [-1.34731718e-01 9.90879116e-01 -2.43769665e-03 -3.37399938e+01] [-1.69725957e-02 1.51984741e-04 9.99855944e-01 -4.33087519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374012739 meters 0.024539931321567742 Centerline is valid? [True, True] Translation: X:218.86, Y:-33.75, Z:-4.34 [[ 9.90898721e-01 1.33425820e-01 1.78122289e-02 2.18856298e+02] [-1.33400927e-01 9.91058786e-01 -2.58384307e-03 -3.37506765e+01] [-1.79977173e-02 1.84158950e-04 9.99838011e-01 -4.34167389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters 0.024697646689151764 Centerline is valid? [True, True] Translation: X:218.88, Y:-33.76, Z:-4.34 [[ 9.90948845e-01 1.33057288e-01 1.77804352e-02 2.18884501e+02] [-1.33032444e-01 9.91108330e-01 -2.57814809e-03 -3.37571300e+01] [-1.79653788e-02 1.89438136e-04 9.99838592e-01 -4.34242085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43401273899997 meters 0.024697646689151764 Centerline is valid? [True, True] Translation: X:218.91, Y:-33.76, Z:-4.34 [[ 9.90954976e-01 1.33011606e-01 1.77805541e-02 2.18912541e+02] [-1.32986768e-01 9.91114462e-01 -2.57732741e-03 -3.37611080e+01] [-1.79653788e-02 1.89436995e-04 9.99838592e-01 -4.34299616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters 0.024601912766454855 Centerline is valid? [True, True] Translation: X:218.94, Y:-33.77, Z:-4.34 [[ 9.90913374e-01 1.33393830e-01 1.72270250e-02 2.18940392e+02] [-1.33370587e-01 9.91063093e-01 -2.49631039e-03 -3.37700724e+01] [-1.74060611e-02 1.76048921e-04 9.99848488e-01 -4.34464490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49401273899997 meters 0.024437749013688576 Centerline is valid? [True, True] Translation: X:218.97, Y:-33.78, Z:-4.35 [[ 9.90902979e-01 1.33440490e-01 1.74620151e-02 2.18968656e+02] [-1.33416630e-01 9.91056812e-01 -2.52953179e-03 -3.37769474e+01] [-1.76433909e-02 1.76797385e-04 9.99844328e-01 -4.34501924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters 0.024103983544858168 Centerline is valid? [True, True] Translation: X:219.00, Y:-33.78, Z:-4.34 [[ 9.90899570e-01 1.33412822e-01 1.78622746e-02 2.18997140e+02] [-1.33387866e-01 9.91060536e-01 -2.58665113e-03 -3.37831796e+01] [-1.80476879e-02 1.80500805e-04 9.99837111e-01 -4.34486819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55401273899997 meters 0.02377016228106881 Centerline is valid? [True, True] Translation: X:219.03, Y:-33.79, Z:-4.34 [[ 9.90851518e-01 1.33618337e-01 1.89580773e-02 2.19025530e+02] [-1.33590281e-01 9.91032848e-01 -2.74436195e-03 -3.37915395e+01] [-1.91547744e-02 1.86640323e-04 9.99816513e-01 -4.34336715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters 0.024268309834565422 Centerline is valid? [True, True] Translation: X:219.05, Y:-33.80, Z:-4.34 [[ 9.90827139e-01 1.33634413e-01 2.00854331e-02 2.19052633e+02] [-1.33602946e-01 9.91030678e-01 -2.90651485e-03 -3.38005970e+01] [-2.02936908e-02 1.96380771e-04 9.99794043e-01 -4.34206831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61401273899997 meters 0.024284148307246692 Centerline is valid? [True, True] Translation: X:219.08, Y:-33.81, Z:-4.34 [[ 9.90824199e-01 1.33507065e-01 2.10540056e-02 2.19081057e+02] [-1.33472488e-01 9.91047840e-01 -3.04534499e-03 -3.38088300e+01] [-2.12721019e-02 2.07270990e-04 9.99773702e-01 -4.34079150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters 0.024238110822528334 Centerline is valid? [True, True] Translation: X:219.11, Y:-33.82, Z:-4.34 [[ 9.90775865e-01 1.33733721e-01 2.18741171e-02 2.19108732e+02] [-1.33696476e-01 9.91017279e-01 -3.16292671e-03 -3.38200120e+01] [-2.21006180e-02 2.09259056e-04 9.99755730e-01 -4.33961200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67401273899998 meters 0.02334595800190799 Centerline is valid? [True, True] Translation: X:219.14, Y:-33.83, Z:-4.34 [[ 9.90588138e-01 1.35271672e-01 2.08977353e-02 2.19136466e+02] [-1.35238040e-01 9.90808532e-01 -3.02083791e-03 -3.38268191e+01] [-2.11142882e-02 1.66237442e-04 9.99777055e-01 -4.34150784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters 0.022564789721525428 Centerline is valid? [True, True] Translation: X:219.17, Y:-33.83, Z:-4.34 [[ 9.90390651e-01 1.36749985e-01 2.06349194e-02 2.19165974e+02] [-1.36717528e-01 9.90605585e-01 -2.98215589e-03 -3.38300840e+01] [-2.08488761e-02 1.32344140e-04 9.99782630e-01 -4.34264462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73401273899998 meters 0.02198811911377918 Centerline is valid? [True, True] Translation: X:219.19, Y:-33.83, Z:-4.34 [[ 9.90096948e-01 1.38993531e-01 1.97188304e-02 2.19194348e+02] [-1.38964346e-01 9.90293286e-01 -2.84931999e-03 -3.38338018e+01] [-1.99234624e-02 8.08886500e-05 9.99801505e-01 -4.34453457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters 0.02153462686454883 Centerline is valid? [True, True] Translation: X:219.22, Y:-33.84, Z:-4.35 [[ 9.89776625e-01 1.41351251e-01 1.90277813e-02 2.19223371e+02] [-1.41324524e-01 9.89959506e-01 -2.74882690e-03 -3.38365388e+01] [-1.92252831e-02 3.16324726e-05 9.99815177e-01 -4.34606147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79401273899998 meters 0.021833252042208463 Centerline is valid? [True, True] Translation: X:219.25, Y:-33.84, Z:-4.34 [[ 9.89029375e-01 1.46283112e-01 2.05461871e-02 2.19251539e+02] [-1.46253033e-01 9.89242764e-01 -2.96717555e-03 -3.38372288e+01] [-2.07592145e-02 -7.03184017e-05 9.99784502e-01 -4.34393737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters 0.022051168770450123 Centerline is valid? [True, True] Translation: X:219.28, Y:-33.84, Z:-4.34 [[ 9.88754919e-01 1.47926847e-01 2.19398599e-02 2.19279621e+02] [-1.47892982e-01 9.88998299e-01 -3.16714814e-03 -3.38416008e+01] [-2.21669904e-02 -1.13217990e-04 9.99754276e-01 -4.34225407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85401273899998 meters 0.02226877498028235 Centerline is valid? [True, True] Translation: X:219.31, Y:-33.85, Z:-4.34 [[ 9.88591515e-01 1.48657635e-01 2.42430349e-02 2.19307176e+02] [-1.48616535e-01 9.88888713e-01 -3.49837753e-03 -3.38501855e+01] [-2.44937241e-02 -1.44449508e-04 9.99699973e-01 -4.33960141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters 0.02233696498605235 Centerline is valid? [True, True] Translation: X:219.33, Y:-33.86, Z:-4.34 [[ 9.88694900e-01 1.47983340e-01 2.41521341e-02 2.19334412e+02] [-1.47942377e-01 9.88989845e-01 -3.48406307e-03 -3.38566746e+01] [-2.44017986e-02 -1.28448727e-04 9.99702224e-01 -4.34027025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914012739 meters 0.021877825619491222 Centerline is valid? [True, True] Translation: X:219.36, Y:-33.87, Z:-4.34 [[ 9.88883997e-01 1.46847256e-01 2.33307319e-02 2.19361421e+02] [-1.46808747e-01 9.89159175e-01 -3.36423848e-03 -3.38651154e+01] [-2.35718367e-02 -9.83139135e-05 9.99722141e-01 -4.34238890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters 0.02129739745719335 Centerline is valid? [True, True] Translation: X:219.39, Y:-33.88, Z:-4.35 [[ 9.89468959e-01 1.43117192e-01 2.16483074e-02 2.19389109e+02] [-1.43083168e-01 9.89705749e-01 -3.12054616e-03 -3.38838974e+01] [-2.18720581e-02 -9.82483988e-06 9.99760778e-01 -4.34750294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974012739 meters 0.021361795177929327 Centerline is valid? [True, True] Translation: X:219.42, Y:-33.90, Z:-4.35 [[ 9.89762494e-01 1.41201907e-01 2.07900635e-02 2.19417889e+02] [-1.41170119e-01 9.89980818e-01 -2.99615139e-03 -3.38955760e+01] [-2.10048264e-02 3.05425302e-05 9.99779374e-01 -4.34983610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters 0.021469004777827073 Centerline is valid? [True, True] Translation: X:219.45, Y:-33.91, Z:-4.35 [[ 9.89893211e-01 1.40383199e-01 2.00994812e-02 2.19446874e+02] [-1.40353320e-01 9.90097245e-01 -2.89662842e-03 -3.39091372e+01] [-2.03070790e-02 4.63238874e-05 9.99793789e-01 -4.35047980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034012739 meters 0.021268922823733865 Centerline is valid? [True, True] Translation: X:219.48, Y:-33.92, Z:-4.35 [[ 9.89785586e-01 1.41151122e-01 2.00213676e-02 2.19475360e+02] [-1.41121626e-01 9.89988060e-01 -2.88561284e-03 -3.39151530e+01] [-2.02282223e-02 3.06900395e-05 9.99795388e-01 -4.35047571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters 0.021215289981904306 Centerline is valid? [True, True] Translation: X:219.51, Y:-33.92, Z:-4.35 [[ 9.89621072e-01 1.42314508e-01 1.99176782e-02 2.19505657e+02] [-1.42285558e-01 9.89821489e-01 -2.87042780e-03 -3.39203802e+01] [-2.01234494e-02 6.63787535e-06 9.99797503e-01 -4.35131902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.094012739 meters 0.021713732573727225 Centerline is valid? [True, True] Translation: X:219.54, Y:-33.93, Z:-4.35 [[ 9.89252593e-01 1.44947271e-01 1.92248971e-02 2.19535193e+02] [-1.44920797e-01 9.89439380e-01 -2.77058794e-03 -3.39256521e+01] [-1.94234595e-02 -4.52761101e-05 9.99811346e-01 -4.35381793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters 0.02175585406877478 Centerline is valid? [True, True] Translation: X:219.57, Y:-33.93, Z:-4.36 [[ 9.89106709e-01 1.45978721e-01 1.89243550e-02 2.19565046e+02] [-1.45953257e-01 9.89287728e-01 -2.72727543e-03 -3.39314972e+01] [-1.91197563e-02 -6.45048131e-05 9.99817199e-01 -4.35573196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154012739 meters 0.02218376254521807 Centerline is valid? [True, True] Translation: X:219.59, Y:-33.94, Z:-4.36 [[ 9.88834832e-01 1.47809845e-01 1.89188816e-02 2.19593767e+02] [-1.47784730e-01 9.89015794e-01 -2.72650114e-03 -3.39379259e+01] [-1.91140764e-02 -9.98625110e-05 9.99817304e-01 -4.35537333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters 0.022457589083289316 Centerline is valid? [True, True] Translation: X:219.62, Y:-33.94, Z:-4.36 [[ 9.88735978e-01 1.48505529e-01 1.86353081e-02 2.19623003e+02] [-1.48481289e-01 9.88911571e-01 -2.68540856e-03 -3.39424637e+01] [-1.88274698e-02 -1.11834499e-04 9.99822741e-01 -4.35610578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21401273899997 meters 0.022682882059961967 Centerline is valid? [True, True] Translation: X:219.65, Y:-33.95, Z:-4.36 [[ 9.88657614e-01 1.49071127e-01 1.82735114e-02 2.19651948e+02] [-1.49047920e-01 9.88826468e-01 -2.63307590e-03 -3.39476038e+01] [-1.84618474e-02 -1.20418328e-04 9.99829558e-01 -4.35702039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters 0.023225725867306347 Centerline is valid? [True, True] Translation: X:219.68, Y:-33.95, Z:-4.36 [[ 9.88450251e-01 1.50345975e-01 1.90312462e-02 2.19681086e+02] [-1.50321049e-01 9.88633433e-01 -2.74178043e-03 -3.39548283e+01] [-1.92271419e-02 -1.50683336e-04 9.99815130e-01 -4.35727121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27401273899997 meters 0.023503817123701178 Centerline is valid? [True, True] Translation: X:219.71, Y:-33.96, Z:-4.36 [[ 9.88323441e-01 1.51008834e-01 2.03250459e-02 2.19710152e+02] [-1.50980553e-01 9.88532398e-01 -2.92764772e-03 -3.39599254e+01] [-2.05340670e-02 -1.75223810e-04 9.99789138e-01 -4.35555687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters 0.024593462016166773 Centerline is valid? [True, True] Translation: X:219.74, Y:-33.96, Z:-4.35 [[ 9.87941459e-01 1.53234091e-01 2.21582110e-02 2.19739408e+02] [-1.53201050e-01 9.88189888e-01 -3.19114324e-03 -3.39622388e+01] [-2.23855120e-02 -2.41998490e-04 9.99749384e-01 -4.35239850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33401273899997 meters 0.02492146974152587 Centerline is valid? [True, True] Translation: X:219.77, Y:-33.97, Z:-4.35 [[ 9.87754821e-01 1.54359784e-01 2.26599040e-02 2.19770178e+02] [-1.54325532e-01 9.88014667e-01 -3.26314806e-03 -3.39653644e+01] [-2.28920163e-02 -2.73811500e-04 9.99737906e-01 -4.35248612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters 0.025967149351877324 Centerline is valid? [True, True] Translation: X:219.80, Y:-33.97, Z:-4.35 [[ 9.87574121e-01 1.55489746e-01 2.28099508e-02 2.19799730e+02] [-1.55455340e-01 9.87837460e-01 -3.28472262e-03 -3.39671760e+01] [-2.30432646e-02 -3.02021606e-04 9.99734423e-01 -4.35339540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39401273899998 meters 0.03044565609171267 Centerline is valid? [True, True] Translation: X:219.83, Y:-33.97, Z:-4.35 [[ 9.87531950e-01 1.55904767e-01 2.17796202e-02 2.19829358e+02] [-1.55873507e-01 9.87772046e-01 -3.13609737e-03 -3.39686162e+01] [-2.20022325e-02 -2.97869424e-04 9.99757877e-01 -4.34779241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters 0.02658407105172611 Centerline is valid? [True, True] Translation: X:219.86, Y:-33.97, Z:-4.36 [[ 9.87608794e-01 1.55383990e-01 2.20155753e-02 2.19858002e+02] [-1.55351926e-01 9.87854104e-01 -3.16976353e-03 -3.39723793e+01] [-2.22407069e-02 -2.89675686e-04 9.99752603e-01 -4.35586107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45401273899998 meters 0.026143742882246242 Centerline is valid? [True, True] Translation: X:219.89, Y:-33.98, Z:-4.36 [[ 9.87789280e-01 1.54227519e-01 2.20501972e-02 2.19887066e+02] [-1.54195082e-01 9.88035324e-01 -3.17399781e-03 -3.39750224e+01] [-2.22758916e-02 -2.64790964e-04 9.99751826e-01 -4.35633236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters 0.025077781735320003 Centerline is valid? [True, True] Translation: X:219.92, Y:-33.98, Z:-4.36 [[ 9.87836411e-01 1.53861099e-01 2.24941422e-02 2.19916435e+02] [-1.53827260e-01 9.88092452e-01 -3.23736952e-03 -3.39795946e+01] [-2.27243974e-02 -2.62220787e-04 9.99741733e-01 -4.35630427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51401273899998 meters 0.02567983359727728 Centerline is valid? [True, True] Translation: X:219.95, Y:-33.98, Z:-4.36 [[ 9.87715806e-01 1.54619536e-01 2.25894906e-02 2.19945035e+02] [-1.54585621e-01 9.87974048e-01 -3.25052124e-03 -3.39791746e+01] [-2.28204245e-02 -2.81419220e-04 9.99739541e-01 -4.35622472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters 0.02633922938468791 Centerline is valid? [True, True] Translation: X:219.97, Y:-33.98, Z:-4.36 [[ 9.87575380e-01 1.55583124e-01 2.21079033e-02 2.19974431e+02] [-1.55550898e-01 9.87822759e-01 -3.18047348e-03 -3.39798377e+01] [-2.23335180e-02 -2.97946907e-04 9.99750531e-01 -4.35753904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57401273899998 meters 0.027729064857297328 Centerline is valid? [True, True] Translation: X:220.00, Y:-33.98, Z:-4.36 [[ 9.87336338e-01 1.57179577e-01 2.14833831e-02 2.20002475e+02] [-1.57149535e-01 9.87569985e-01 -3.09008384e-03 -3.39784898e+01] [-2.17020424e-02 -3.25151603e-04 9.99764430e-01 -4.35906390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters 0.03090524827428627 Centerline is valid? [True, True] Translation: X:220.03, Y:-33.97, Z:-4.36 [[ 9.86712310e-01 1.61141978e-01 2.07865191e-02 2.20033814e+02] [-1.61114757e-01 9.86931154e-01 -2.98868432e-03 -3.39708965e+01] [-2.09964658e-02 -4.00043359e-04 9.99779470e-01 -4.36158943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63401273899999 meters 0.03395198459229148 Centerline is valid? [True, True] Translation: X:220.06, Y:-33.97, Z:-4.36 [[ 9.86462044e-01 1.62700407e-01 2.05234903e-02 2.20062263e+02] [-1.62674217e-01 9.86675425e-01 -2.95036841e-03 -3.39674950e+01] [-2.07300497e-02 -4.28216278e-04 9.99785018e-01 -4.36367327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters 0.0318426349062815 Centerline is valid? [True, True] Translation: X:220.09, Y:-33.97, Z:-4.36 [[ 9.86341862e-01 1.63472492e-01 2.01612202e-02 2.20090943e+02] [-1.63447407e-01 9.86547795e-01 -2.89695210e-03 -3.39709907e+01] [-2.03635793e-02 -4.37914034e-04 9.99792545e-01 -4.36407315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694012739 meters 0.033370084042663124 Centerline is valid? [True, True] Translation: X:220.12, Y:-33.97, Z:-4.36 [[ 9.86503439e-01 1.62521935e-01 1.99395565e-02 2.20119369e+02] [-1.62497225e-01 9.86704844e-01 -2.86414150e-03 -3.39700004e+01] [-2.01399428e-02 -4.14637163e-04 9.99797085e-01 -4.36481115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters 0.02957248256649386 Centerline is valid? [True, True] Translation: X:220.15, Y:-33.98, Z:-4.37 [[ 9.86827516e-01 1.60551897e-01 1.98630807e-02 2.20147602e+02] [-1.60527001e-01 9.87027329e-01 -2.85195348e-03 -3.39783680e+01] [-2.00632900e-02 -3.74174611e-04 9.99798642e-01 -4.36541588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754012739 meters 0.02695988889648004 Centerline is valid? [True, True] Translation: X:220.18, Y:-33.98, Z:-4.36 [[ 9.87281190e-01 1.57578333e-01 2.10931304e-02 2.20175731e+02] [-1.57549603e-01 9.87506434e-01 -3.02746761e-03 -3.39848136e+01] [-2.13066652e-02 -3.34252486e-04 9.99772931e-01 -4.36447029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters 0.0291650480303781 Centerline is valid? [True, True] Translation: X:220.20, Y:-33.98, Z:-4.36 [[ 9.87392574e-01 1.56788056e-01 2.17579801e-02 2.20203791e+02] [-1.56757318e-01 9.87632218e-01 -3.12175076e-03 -3.39827357e+01] [-2.19783354e-02 -3.28329091e-04 9.99758393e-01 -4.36320570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814012739 meters 0.026189753928369783 Centerline is valid? [True, True] Translation: X:220.23, Y:-33.99, Z:-4.36 [[ 9.87600225e-01 1.55505053e-01 2.15400739e-02 2.20232093e+02] [-1.55474652e-01 9.87835052e-01 -3.08917515e-03 -3.39870336e+01] [-2.17584224e-02 -2.98065415e-04 9.99763213e-01 -4.36421268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters 0.025959344243226545 Centerline is valid? [True, True] Translation: X:220.26, Y:-33.99, Z:-4.37 [[ 9.87677909e-01 1.55082508e-01 2.10181673e-02 2.20261064e+02] [-1.55053488e-01 9.87901481e-01 -3.01332582e-03 -3.39893696e+01] [-2.12311928e-02 -2.82744802e-04 9.99774553e-01 -4.36575188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874012739 meters 0.02570206939696954 Centerline is valid? [True, True] Translation: X:220.29, Y:-33.99, Z:-4.37 [[ 9.87830840e-01 1.54153410e-01 2.06629553e-02 2.20288904e+02] [-1.54125181e-01 9.88046891e-01 -2.96140007e-03 -3.39911578e+01] [-2.08724786e-02 -2.59319396e-04 9.99782112e-01 -4.36663328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters 0.025354729773173462 Centerline is valid? [True, True] Translation: X:220.32, Y:-33.99, Z:-4.37 [[ 9.87935225e-01 1.53382351e-01 2.13973268e-02 2.20316463e+02] [-1.53351929e-01 9.88166884e-01 -3.06523841e-03 -3.39945002e+01] [-2.16142832e-02 -2.53064335e-04 9.99766352e-01 -4.36636636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93401273899997 meters 0.024763576732585627 Centerline is valid? [True, True] Translation: X:220.35, Y:-34.00, Z:-4.37 [[ 9.88055879e-01 1.52516232e-01 2.20086209e-02 2.20345592e+02] [-1.52483860e-01 9.88300936e-01 -3.15149024e-03 -3.39977173e+01] [-2.22317941e-02 -2.42111017e-04 9.99752814e-01 -4.36585393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters 0.023430728556078254 Centerline is valid? [True, True] Translation: X:220.37, Y:-34.00, Z:-4.37 [[ 9.88406562e-01 1.50058575e-01 2.31277457e-02 2.20373834e+02] [-1.50022180e-01 9.88677088e-01 -3.31063489e-03 -3.40039449e+01] [-2.33626614e-02 -1.97421569e-04 9.99727036e-01 -4.36554495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99401273899997 meters 0.022270857010804706 Centerline is valid? [True, True] Translation: X:220.40, Y:-34.01, Z:-4.37 [[ 9.88696250e-01 1.48173584e-01 2.28979178e-02 2.20402684e+02] [-1.48137421e-01 9.88961357e-01 -3.27694688e-03 -3.40119754e+01] [-2.31307128e-02 -1.52133413e-04 9.99732438e-01 -4.36731077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters 0.022027591361369406 Centerline is valid? [True, True] Translation: X:220.43, Y:-34.02, Z:-4.37 [[ 9.88965010e-01 1.46540824e-01 2.17714683e-02 2.20430992e+02] [-1.46507749e-01 9.89204617e-01 -3.11519264e-03 -3.40173595e+01] [-2.19929399e-02 -1.08872310e-04 9.99758120e-01 -4.36900643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05401273899997 meters 0.021681264366216948 Centerline is valid? [True, True] Translation: X:220.46, Y:-34.02, Z:-4.37 [[ 9.89271136e-01 1.44785474e-01 1.94881103e-02 2.20459014e+02] [-1.44758646e-01 9.89463068e-01 -2.78781749e-03 -3.40216328e+01] [-1.96864009e-02 -6.31650937e-05 9.99806202e-01 -4.37279720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters 0.021714622729948518 Centerline is valid? [True, True] Translation: X:220.49, Y:-34.02, Z:-4.37 [[ 9.89271518e-01 1.44773454e-01 1.95578886e-02 2.20486785e+02] [-1.44746440e-01 9.89464827e-01 -2.79734520e-03 -3.40246780e+01] [-1.97568241e-02 -6.36008145e-05 9.99804813e-01 -4.37346961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11401273899997 meters 0.021652862774103773 Centerline is valid? [True, True] Translation: X:220.52, Y:-34.03, Z:-4.37 [[ 9.89163355e-01 1.45284255e-01 2.11740920e-02 2.20515094e+02] [-1.45252737e-01 9.89389953e-01 -3.02717430e-03 -3.40286096e+01] [-2.13892346e-02 -8.12249168e-05 9.99771221e-01 -4.37101923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters 0.021826036328490152 Centerline is valid? [True, True] Translation: X:220.54, Y:-34.03, Z:-4.37 [[ 9.89089645e-01 1.45663611e-01 2.19951567e-02 2.20542893e+02] [-1.45629719e-01 9.89334172e-01 -3.14345170e-03 -3.40320260e+01] [-2.22184467e-02 -9.39929733e-05 9.99753135e-01 -4.36947209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17401273899998 meters 0.02188703755347655 Centerline is valid? [True, True] Translation: X:220.57, Y:-34.04, Z:-4.37 [[ 9.89057592e-01 1.45893730e-01 2.19111720e-02 2.20571849e+02] [-1.45860181e-01 9.89300263e-01 -3.13018115e-03 -3.40353985e+01] [-2.21334020e-02 -1.00038095e-04 9.99755021e-01 -4.36969916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters 0.021760794271704978 Centerline is valid? [True, True] Translation: X:220.60, Y:-34.04, Z:-4.37 [[ 9.89114693e-01 1.45606412e-01 2.12343122e-02 2.20600435e+02] [-1.45574858e-01 9.89342592e-01 -3.03253147e-03 -3.40401505e+01] [-2.14495655e-02 -9.16605527e-05 9.99769927e-01 -4.37180975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23401273899998 meters 0.021728153125779283 Centerline is valid? [True, True] Translation: X:220.63, Y:-34.04, Z:-4.37 [[ 9.89132358e-01 1.45372325e-01 2.20015080e-02 2.20628355e+02] [-1.45338411e-01 9.89377016e-01 -3.14121933e-03 -3.40441198e+01] [-2.22244327e-02 -9.05825347e-05 9.99753003e-01 -4.37121419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters 0.02169765095407001 Centerline is valid? [True, True] Translation: X:220.66, Y:-34.05, Z:-4.37 [[ 9.89117646e-01 1.45335438e-01 2.28886903e-02 2.20656879e+02] [-1.45298757e-01 9.89382434e-01 -3.26647328e-03 -3.40475214e+01] [-2.31204025e-02 -9.47718905e-05 9.99732683e-01 -4.37058968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29401273899998 meters 0.0217050243956663 Centerline is valid? [True, True] Translation: X:220.68, Y:-34.05, Z:-4.37 [[ 9.89136723e-01 1.45328335e-01 2.20956466e-02 2.20684984e+02] [-1.45294173e-01 9.89383478e-01 -3.15222476e-03 -3.40506675e+01] [-2.23191753e-02 -9.23874410e-05 9.99750892e-01 -4.37188919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters 0.0217050243956663 Centerline is valid? [True, True] Translation: X:220.71, Y:-34.05, Z:-4.37 [[ 9.89143583e-01 1.45281613e-01 2.20958319e-02 2.20713033e+02] [-1.45247469e-01 9.89390340e-01 -3.15092569e-03 -3.40545796e+01] [-2.23191742e-02 -9.26457338e-05 9.99750892e-01 -4.37246449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35401273899998 meters 0.021846680164200903 Centerline is valid? [True, True] Translation: X:220.74, Y:-34.06, Z:-4.38 [[ 9.89116843e-01 1.45629284e-01 2.09757586e-02 2.20741380e+02] [-1.45598613e-01 9.89339225e-01 -2.99023822e-03 -3.40579807e+01] [-2.11876070e-02 -9.63463749e-05 9.99775513e-01 -4.37543878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters 0.022160013375458833 Centerline is valid? [True, True] Translation: X:220.77, Y:-34.06, Z:-4.38 [[ 9.89085765e-01 1.46072481e-01 1.92919468e-02 2.20769092e+02] [-1.46046638e-01 9.89273886e-01 -2.74934675e-03 -3.40606159e+01] [-1.94866231e-02 -9.81842421e-05 9.99810113e-01 -4.37926835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414012739 meters 0.02232950307132095 Centerline is valid? [True, True] Translation: X:220.80, Y:-34.06, Z:-4.38 [[ 9.89064797e-01 1.46183810e-01 1.95223458e-02 2.20797535e+02] [-1.46157391e-01 9.89257440e-01 -2.78097365e-03 -3.40641552e+01] [-1.97191592e-02 -1.02771994e-04 9.99805553e-01 -4.37984731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters 0.022026110999289184 Centerline is valid? [True, True] Translation: X:220.83, Y:-34.07, Z:-4.38 [[ 9.89039222e-01 1.46166760e-01 2.08972592e-02 2.20826367e+02] [-1.46136507e-01 9.89259959e-01 -2.97576942e-03 -3.40668223e+01] [-2.11077804e-02 -1.10699811e-04 9.99777200e-01 -4.37657316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474012739 meters 0.02190934440671078 Centerline is valid? [True, True] Translation: X:220.85, Y:-34.07, Z:-4.38 [[ 9.89096077e-01 1.45613077e-01 2.20404799e-02 2.20854447e+02] [-1.45579311e-01 9.89341610e-01 -3.13743230e-03 -3.40706764e+01] [-2.22624151e-02 -1.05415898e-04 9.99752156e-01 -4.37519991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters 0.021400755111762784 Centerline is valid? [True, True] Translation: X:220.88, Y:-34.08, Z:-4.38 [[ 9.89365270e-01 1.43605207e-01 2.31064146e-02 2.20883395e+02] [-1.43567579e-01 9.89635054e-01 -3.28783484e-03 -3.40785209e+01] [-2.33390680e-02 -6.44623990e-05 9.99727605e-01 -4.37501771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534012739 meters 0.021156122882019474 Centerline is valid? [True, True] Translation: X:220.91, Y:-34.09, Z:-4.38 [[ 9.89571457e-01 1.42208597e-01 2.29139131e-02 2.20912108e+02] [-1.42171232e-01 9.89836711e-01 -3.25989692e-03 -3.40850689e+01] [-2.31446177e-02 -3.17983089e-05 9.99732127e-01 -4.37647323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters 0.021235442374180197 Centerline is valid? [True, True] Translation: X:220.94, Y:-34.09, Z:-4.38 [[ 9.89776272e-01 1.40915755e-01 2.20381662e-02 2.20941019e+02] [-1.40880882e-01 9.90021591e-01 -3.13479248e-03 -3.40918140e+01] [-2.22600020e-02 -2.01308971e-06 9.99752215e-01 -4.37897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.594012739 meters 0.02146832486433363 Centerline is valid? [True, True] Translation: X:220.97, Y:-34.10, Z:-4.38 [[ 9.90107463e-01 1.38783065e-01 2.06512308e-02 2.20969158e+02] [-1.38751989e-01 9.90322806e-01 -2.93706043e-03 -3.40997032e+01] [-2.08589990e-02 4.26061018e-05 9.99782427e-01 -4.38197242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters 0.021541065905212892 Centerline is valid? [True, True] Translation: X:221.00, Y:-34.10, Z:-4.38 [[ 9.90236003e-01 1.37964254e-01 1.99630561e-02 2.20998451e+02] [-1.37935045e-01 9.90437207e-01 -2.83941025e-03 -3.41049327e+01] [-2.01638907e-02 5.80812200e-05 9.99796686e-01 -4.38356258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654012739 meters 0.02169952365662039 Centerline is valid? [True, True] Translation: X:221.03, Y:-34.11, Z:-4.39 [[ 9.90329077e-01 1.37420646e-01 1.90758001e-02 2.21026929e+02] [-1.37393882e-01 9.90512777e-01 -2.71280254e-03 -3.41093123e+01] [-1.92676188e-02 6.56689992e-05 9.99814360e-01 -4.38624392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters 0.021752113872184235 Centerline is valid? [True, True] Translation: X:221.06, Y:-34.11, Z:-4.39 [[ 9.90321925e-01 1.37482379e-01 1.90021086e-02 2.21055228e+02] [-1.37455851e-01 9.90504211e-01 -2.70142150e-03 -3.41129971e+01] [-1.91930665e-02 6.33259291e-05 9.99815794e-01 -4.38675485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71401273899997 meters 0.021340238144046328 Centerline is valid? [True, True] Translation: X:221.08, Y:-34.11, Z:-4.38 [[ 9.90065606e-01 1.39127309e-01 2.03392948e-02 2.21084362e+02] [-1.39097284e-01 9.90274503e-01 -2.89048955e-03 -3.41149776e+01] [-2.05436311e-02 3.26336258e-05 9.99788957e-01 -4.38407115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters 0.021247147065933086 Centerline is valid? [True, True] Translation: X:221.11, Y:-34.12, Z:-4.38 [[ 9.89910800e-01 1.40108917e-01 2.11210553e-02 2.21111917e+02] [-1.40076784e-01 9.90136097e-01 -3.00053888e-03 -3.41176807e+01] [-2.13331215e-02 1.16963346e-05 9.99772423e-01 -4.38209882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77401273899997 meters 0.02110843568262513 Centerline is valid? [True, True] Translation: X:221.14, Y:-34.12, Z:-4.38 [[ 9.89799969e-01 1.40735393e-01 2.21262216e-02 2.21140257e+02] [-1.40700315e-01 9.90047246e-01 -3.14200096e-03 -3.41206118e+01] [-2.23481955e-02 -3.21389063e-06 9.99750248e-01 -4.38067809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters 0.021110478830912063 Centerline is valid? [True, True] Translation: X:221.17, Y:-34.12, Z:-4.38 [[ 9.89716513e-01 1.41213011e-01 2.28059180e-02 2.21167712e+02] [-1.41175898e-01 9.89979235e-01 -3.23736097e-03 -3.41227115e+01] [-2.30345427e-02 -1.55763480e-05 9.99734670e-01 -4.38117622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83401273899997 meters 0.021110243979100923 Centerline is valid? [True, True] Translation: X:221.20, Y:-34.13, Z:-4.38 [[ 9.89724678e-01 1.41284125e-01 2.19967687e-02 2.21196324e+02] [-1.41249646e-01 9.89969088e-01 -3.12119193e-03 -3.41263832e+01] [-2.22170959e-02 -1.79151163e-05 9.99753170e-01 -4.38339899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters 0.02130883348902381 Centerline is valid? [True, True] Translation: X:221.22, Y:-34.13, Z:-4.39 [[ 9.89747176e-01 1.41461676e-01 1.97261617e-02 2.21224803e+02] [-1.41433996e-01 9.89943733e-01 -2.79839492e-03 -3.41314011e+01] [-1.99236558e-02 -2.02464033e-05 9.99801504e-01 -4.38795790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89401273899998 meters 0.021301934433826483 Centerline is valid? [True, True] Translation: X:221.25, Y:-34.14, Z:-4.39 [[ 9.89732614e-01 1.41659243e-01 1.90265783e-02 2.21253679e+02] [-1.41633545e-01 9.89915480e-01 -2.69826706e-03 -3.41354937e+01] [-1.92169389e-02 -2.42388239e-05 9.99815337e-01 -4.38925425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters 0.021318355710883283 Centerline is valid? [True, True] Translation: X:221.28, Y:-34.14, Z:-4.39 [[ 9.89657355e-01 1.42161618e-01 1.91936086e-02 2.21281338e+02] [-1.42135579e-01 9.89843459e-01 -2.72103726e-03 -3.41380547e+01] [-1.93854950e-02 -3.52001247e-05 9.99812083e-01 -4.38898900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95401273899998 meters 0.021318523345260885 Centerline is valid? [True, True] Translation: X:221.31, Y:-34.14, Z:-4.39 [[ 9.89547394e-01 1.42825168e-01 1.99229991e-02 2.21310404e+02] [-1.42797271e-01 9.89747932e-01 -2.82320043e-03 -3.41400828e+01] [-2.01219712e-02 -5.12592794e-05 9.99797531e-01 -4.38810339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters 0.02125164783930987 Centerline is valid? [True, True] Translation: X:221.34, Y:-34.14, Z:-4.39 [[ 9.89546012e-01 1.42755956e-01 2.04799269e-02 2.21338717e+02] [-1.42726484e-01 9.89757917e-01 -2.90110216e-03 -3.41437827e+01] [-2.06843194e-02 -5.22538885e-05 9.99786055e-01 -4.38760281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01401273899998 meters 0.021090983258704506 Centerline is valid? [True, True] Translation: X:221.37, Y:-34.15, Z:-4.39 [[ 9.89712811e-01 1.41440853e-01 2.15182973e-02 2.21365649e+02] [-1.41408030e-01 9.89946708e-01 -3.04707086e-03 -3.41501976e+01] [-2.17329478e-02 -2.71349700e-05 9.99763811e-01 -4.38607879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters 0.02103051377991882 Centerline is valid? [True, True] Translation: X:221.39, Y:-34.16, Z:-4.39 [[ 9.89811376e-01 1.40670965e-01 2.20254274e-02 2.21392889e+02] [-1.40636417e-01 9.90056402e-01 -3.11751588e-03 -3.41553970e+01] [-2.22449594e-02 -1.18244997e-05 9.99752550e-01 -4.38605018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07401273899998 meters 0.020989140484916725 Centerline is valid? [True, True] Translation: X:221.42, Y:-34.16, Z:-4.38 [[ 9.89843494e-01 1.40249333e-01 2.32375113e-02 2.21421646e+02] [-1.40210794e-01 9.90116218e-01 -3.28768058e-03 -3.41598966e+01] [-2.34689318e-02 -3.86067666e-06 9.99724567e-01 -4.38375368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters 0.02093980334286507 Centerline is valid? [True, True] Translation: X:221.45, Y:-34.16, Z:-4.38 [[ 9.89753248e-01 1.40853626e-01 2.34257041e-02 2.21450931e+02] [-1.40814648e-01 9.90030432e-01 -3.31350455e-03 -3.41628372e+01] [-2.36588791e-02 -1.91303816e-05 9.99720089e-01 -4.38332658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13401273899999 meters 0.021207039381441126 Centerline is valid? [True, True] Translation: X:221.48, Y:-34.16, Z:-4.38 [[ 9.89557536e-01 1.42230181e-01 2.33764358e-02 2.21478870e+02] [-1.42191766e-01 9.89833609e-01 -3.30588465e-03 -3.41623321e+01] [-2.36089783e-02 -5.25736002e-05 9.99721268e-01 -4.38424451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters 0.021254962405971897 Centerline is valid? [True, True] Translation: X:221.51, Y:-34.16, Z:-4.39 [[ 9.89480563e-01 1.42840350e-01 2.29095802e-02 2.21507581e+02] [-1.42803647e-01 9.89745740e-01 -3.23859859e-03 -3.41642870e+01] [-2.31372619e-02 -6.70412437e-05 9.99732295e-01 -4.38604432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194012739 meters 0.021339137121372746 Centerline is valid? [True, True] Translation: X:221.54, Y:-34.17, Z:-4.39 [[ 9.89507748e-01 1.42751924e-01 2.22779180e-02 2.21535100e+02] [-1.42717219e-01 9.89758498e-01 -3.14825003e-03 -3.41670491e+01] [-2.24991774e-02 -6.42247106e-05 9.99746859e-01 -4.38782040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters 0.021101954156300107 Centerline is valid? [True, True] Translation: X:221.56, Y:-34.17, Z:-4.39 [[ 9.89785017e-01 1.40950269e-01 2.14159270e-02 2.21562641e+02] [-1.40917802e-01 9.90016677e-01 -3.02522662e-03 -3.41745314e+01] [-2.16285314e-02 -2.35613746e-05 9.99766076e-01 -4.39087502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254012739 meters 0.021007007044860266 Centerline is valid? [True, True] Translation: X:221.59, Y:-34.18, Z:-4.39 [[ 9.90002442e-01 1.39430521e-01 2.13141891e-02 2.21590273e+02] [-1.39398031e-01 9.90231857e-01 -3.00982378e-03 -3.41808277e+01] [-2.15256503e-02 8.57689135e-06 9.99768296e-01 -4.39083218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters 0.021486983768150704 Centerline is valid? [True, True] Translation: X:221.62, Y:-34.19, Z:-4.39 [[ 9.90498266e-01 1.35614982e-01 2.28421214e-02 2.21617510e+02] [-1.35576667e-01 9.90761610e-01 -3.22494716e-03 -3.41921461e+01] [-2.30684481e-02 9.74458883e-05 9.99733883e-01 -4.38906893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314012739 meters 0.022200432352406936 Centerline is valid? [True, True] Translation: X:221.65, Y:-34.20, Z:-4.39 [[ 9.90740340e-01 1.33822088e-01 2.29178517e-02 2.21647208e+02] [-1.33783051e-01 9.91005363e-01 -3.23510651e-03 -3.42002815e+01] [-2.31446426e-02 1.39130406e-04 9.99732117e-01 -4.38971084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters 0.022704075194043483 Centerline is valid? [True, True] Translation: X:221.68, Y:-34.21, Z:-4.39 [[ 9.90962423e-01 1.32215782e-01 2.26376440e-02 2.21677054e+02] [-1.32177275e-01 9.91220942e-01 -3.19555211e-03 -3.42079026e+01] [-2.28614092e-02 1.74489981e-04 9.99738629e-01 -4.39093177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374012739 meters 0.023186408111017676 Centerline is valid? [True, True] Translation: X:221.71, Y:-34.21, Z:-4.39 [[ 9.91059615e-01 1.31547064e-01 2.22757566e-02 2.21706702e+02] [-1.31509606e-01 9.91309909e-01 -3.14458350e-03 -3.42144684e+01] [-2.24958389e-02 1.86993738e-04 9.99746919e-01 -4.39123383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters 0.02265897475009684 Centerline is valid? [True, True] Translation: X:221.74, Y:-34.22, Z:-4.39 [[ 9.90837013e-01 1.33310361e-01 2.16878059e-02 2.21735807e+02] [-1.33275255e-01 9.91074330e-01 -3.06261194e-03 -3.42166018e+01] [-2.19025056e-02 1.44101416e-04 9.99760101e-01 -4.39150840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43401273899997 meters 0.02160943289659854 Centerline is valid? [True, True] Translation: X:221.77, Y:-34.22, Z:-4.39 [[ 9.90515378e-01 1.35749484e-01 2.12452996e-02 2.21767179e+02] [-1.35716361e-01 9.90743191e-01 -2.99991271e-03 -3.42156129e+01] [-2.14558725e-02 8.81249223e-05 9.99769792e-01 -4.39396826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters 0.02114925359073085 Centerline is valid? [True, True] Translation: X:221.80, Y:-34.21, Z:-4.40 [[ 9.89855818e-01 1.40691071e-01 1.97859134e-02 2.21796692e+02] [-1.40663325e-01 9.90053545e-01 -2.79407871e-03 -3.42118647e+01] [-1.99822157e-02 -1.74173019e-05 9.99800335e-01 -4.39708689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49401273899997 meters 0.021350582737031297 Centerline is valid? [True, True] Translation: X:221.83, Y:-34.21, Z:-4.40 [[ 9.89569338e-01 1.42698244e-01 1.97417315e-02 2.21826022e+02] [-1.42671039e-01 9.89766239e-01 -2.78688937e-03 -3.42121970e+01] [-1.99373835e-02 -5.87530721e-05 9.99801229e-01 -4.39733515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters 0.02171552811661953 Centerline is valid? [True, True] Translation: X:221.85, Y:-34.21, Z:-4.40 [[ 9.89326838e-01 1.44279062e-01 2.03951030e-02 2.21853863e+02] [-1.44250384e-01 9.89537035e-01 -2.87809733e-03 -3.42120083e+01] [-2.05969590e-02 -9.46225089e-05 9.99787856e-01 -4.39618862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55401273899997 meters 0.021878798359943583 Centerline is valid? [True, True] Translation: X:221.88, Y:-34.21, Z:-4.39 [[ 9.89141880e-01 1.45245501e-01 2.24072586e-02 2.21882697e+02] [-1.45211165e-01 9.89395638e-01 -3.16059917e-03 -3.42112055e+01] [-2.26287067e-02 -1.27503127e-04 9.99743930e-01 -4.39373335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters 0.02181146506857745 Centerline is valid? [True, True] Translation: X:221.91, Y:-34.22, Z:-4.39 [[ 9.89233292e-01 1.44539087e-01 2.29335371e-02 2.21911414e+02] [-1.44502956e-01 9.89499085e-01 -3.23370266e-03 -3.42156976e+01] [-2.31601104e-02 -1.15077571e-04 9.99731762e-01 -4.39352437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61401273899997 meters 0.02104390601234597 Centerline is valid? [True, True] Translation: X:221.94, Y:-34.22, Z:-4.40 [[ 9.89766270e-01 1.40880799e-01 2.27009128e-02 2.21940106e+02] [-1.40844458e-01 9.90026565e-01 -3.19988096e-03 -3.42249414e+01] [-2.29253085e-02 -3.01635138e-05 9.99737180e-01 -4.39528539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters 0.02122898044233911 Centerline is valid? [True, True] Translation: X:221.97, Y:-34.23, Z:-4.40 [[ 9.90142311e-01 1.38179329e-01 2.29058519e-02 2.21968912e+02] [-1.38141617e-01 9.90407225e-01 -3.22823728e-03 -3.42329793e+01] [-2.31321969e-02 3.21629047e-05 9.99732414e-01 -4.39518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67401273899998 meters 0.02277358327791333 Centerline is valid? [True, True] Translation: X:222.00, Y:-34.25, Z:-4.39 [[ 9.90921863e-01 1.32272515e-01 2.40383892e-02 2.21997370e+02] [-1.32229248e-01 9.91213373e-01 -3.38759364e-03 -3.42475771e+01] [-2.42752583e-02 1.78262459e-04 9.99705297e-01 -4.39403752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters 0.02397132260504534 Centerline is valid? [True, True] Translation: X:222.03, Y:-34.26, Z:-4.39 [[ 9.91303167e-01 1.29276580e-01 2.46088857e-02 2.22027931e+02] [-1.29230294e-01 9.91608541e-01 -3.46869322e-03 -3.42578027e+01] [-2.48508020e-02 2.58313043e-04 9.99691138e-01 -4.39477492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73401273899998 meters 0.033040538178239896 Centerline is valid? [True, True] Translation: X:222.06, Y:-34.27, Z:-4.39 [[ 9.91693114e-01 1.26534007e-01 2.31065420e-02 2.22058529e+02] [-1.26492377e-01 9.91962221e-01 -3.26034685e-03 -3.42687625e+01] [-2.33333615e-02 3.10462106e-04 9.99727692e-01 -4.38652192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters 0.027448304741735128 Centerline is valid? [True, True] Translation: X:222.09, Y:-34.28, Z:-4.40 [[ 9.92016065e-01 1.24011561e-01 2.29185214e-02 2.22089666e+02] [-1.23969850e-01 9.92280704e-01 -3.23738394e-03 -3.42788513e+01] [-2.31430796e-02 3.70331215e-04 9.99732094e-01 -4.39934506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79401273899998 meters 0.032086202766102245 Centerline is valid? [True, True] Translation: X:222.12, Y:-34.30, Z:-4.40 [[ 9.92569303e-01 1.19938133e-01 2.05188540e-02 2.22118499e+02] [-1.19903766e-01 9.92781279e-01 -2.90150127e-03 -3.42973572e+01] [-2.07187348e-02 4.19653221e-04 9.99785256e-01 -4.40482122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters 0.03225273765769893 Centerline is valid? [True, True] Translation: X:222.15, Y:-34.31, Z:-4.41 [[ 9.92665269e-01 1.19174929e-01 2.03224022e-02 2.22150092e+02] [-1.19140993e-01 9.92873178e-01 -2.87683648e-03 -3.43054936e+01] [-2.05204149e-02 4.34504469e-04 9.99789340e-01 -4.40526015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85401273899998 meters 0.03356184685898363 Centerline is valid? [True, True] Translation: X:222.18, Y:-34.32, Z:-4.40 [[ 9.92597558e-01 1.19702255e-01 2.05294324e-02 2.22179920e+02] [-1.19667667e-01 9.92809742e-01 -2.90952252e-03 -3.43178021e+01] [-2.07300969e-02 4.31275663e-04 9.99785015e-01 -4.40455472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters 0.031938060097027994 Centerline is valid? [True, True] Translation: X:222.21, Y:-34.32, Z:-4.40 [[ 9.92376809e-01 1.21525213e-01 2.04912415e-02 2.22212217e+02] [-1.21491103e-01 9.92588267e-01 -2.90599563e-03 -3.43226973e+01] [-2.06925176e-02 3.94339146e-04 9.99785809e-01 -4.40452599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914012739 meters 0.02853061552979319 Centerline is valid? [True, True] Translation: X:222.24, Y:-34.32, Z:-4.41 [[ 9.92065505e-01 1.24089114e-01 2.01971556e-02 2.22244755e+02] [-1.24056484e-01 9.92271021e-01 -2.86541382e-03 -3.43239585e+01] [-2.03966189e-02 3.37090099e-04 9.99791911e-01 -4.40572540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters 0.025868841718546646 Centerline is valid? [True, True] Translation: X:222.28, Y:-34.33, Z:-4.41 [[ 9.91443708e-01 1.29055009e-01 1.96004674e-02 2.22275132e+02] [-1.29025185e-01 9.91637409e-01 -2.78396247e-03 -3.43283466e+01] [-1.97958410e-02 2.31188148e-04 9.99804016e-01 -4.40744734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974012739 meters 0.02420207477232062 Centerline is valid? [True, True] Translation: X:222.31, Y:-34.33, Z:-4.41 [[ 9.91152849e-01 1.31244612e-01 1.97707286e-02 2.22307523e+02] [-1.31214694e-01 9.91349997e-01 -2.80856988e-03 -3.43307325e+01] [-1.99683214e-02 1.89511939e-04 9.99800595e-01 -4.40745654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters 0.022355014231296138 Centerline is valid? [True, True] Translation: X:222.34, Y:-34.33, Z:-4.41 [[ 9.90573823e-01 1.35491423e-01 2.01389009e-02 2.22337852e+02] [-1.35461190e-01 9.90778513e-01 -2.86418205e-03 -3.43315246e+01] [-2.03412624e-02 1.09144274e-04 9.99793089e-01 -4.40754627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034012739 meters 0.021797200752048395 Centerline is valid? [True, True] Translation: X:222.37, Y:-34.33, Z:-4.41 [[ 9.90349692e-01 1.37200111e-01 1.95861684e-02 2.22369288e+02] [-1.37171840e-01 9.90543348e-01 -2.78600868e-03 -3.43346773e+01] [-1.97831895e-02 7.24520725e-05 9.99804291e-01 -4.40959130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters 0.021546133098072174 Centerline is valid? [True, True] Translation: X:222.40, Y:-34.34, Z:-4.41 [[ 9.90167146e-01 1.38661288e-01 1.84951505e-02 2.22398356e+02] [-1.38636326e-01 9.90339864e-01 -2.63124224e-03 -3.43383243e+01] [-1.86813363e-02 4.12698948e-05 9.99825488e-01 -4.41195479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.094012739 meters 0.021513833851182787 Centerline is valid? [True, True] Translation: X:222.43, Y:-34.34, Z:-4.41 [[ 9.89743220e-01 1.41686411e-01 1.82570565e-02 2.22429383e+02] [-1.41662599e-01 9.89911592e-01 -2.59760156e-03 -3.43391152e+01] [-1.84409168e-02 -1.53835444e-05 9.99829952e-01 -4.41259471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters 0.021710707435619578 Centerline is valid? [True, True] Translation: X:222.46, Y:-34.34, Z:-4.41 [[ 9.89445875e-01 1.43621920e-01 1.92251096e-02 2.22458173e+02] [-1.43595880e-01 9.89632629e-01 -2.73536584e-03 -3.43399592e+01] [-1.94186543e-02 -5.41500884e-05 9.99811439e-01 -4.41146284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15401273899997 meters 0.02232164715186147 Centerline is valid? [True, True] Translation: X:222.49, Y:-34.34, Z:-4.41 [[ 9.89084915e-01 1.45973869e-01 2.00664075e-02 2.22487588e+02] [-1.45945998e-01 9.89288440e-01 -2.85434317e-03 -3.43409727e+01] [-2.02681245e-02 -1.05424100e-04 9.99794575e-01 -4.41042882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters 0.024943592462191043 Centerline is valid? [True, True] Translation: X:222.52, Y:-34.34, Z:-4.41 [[ 9.88412161e-01 1.50419406e-01 2.03814378e-02 2.22517119e+02] [-1.50391607e-01 9.88622255e-01 -2.89866831e-03 -3.43378952e+01] [-2.05855590e-02 -2.00118185e-04 9.99788075e-01 -4.41139298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21401273899997 meters 0.02659712982024872 Centerline is valid? [True, True] Translation: X:222.55, Y:-34.34, Z:-4.42 [[ 9.87937164e-01 1.53762665e-01 1.83630615e-02 2.22547040e+02] [-1.53740687e-01 9.88107779e-01 -2.61102152e-03 -3.43380236e+01] [-1.85461615e-02 -2.43624492e-04 9.99827975e-01 -4.41587134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters 0.02659712982024872 Centerline is valid? [True, True] Translation: X:222.58, Y:-34.34, Z:-4.42 [[ 9.87944356e-01 1.53716448e-01 1.83631166e-02 2.22575095e+02] [-1.53694469e-01 9.88114970e-01 -2.61063373e-03 -3.43419211e+01] [-1.85461678e-02 -2.43148605e-04 9.99827975e-01 -4.41644665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27401273899997 meters 0.027966469758453176 Centerline is valid? [True, True] Translation: X:222.60, Y:-34.34, Z:-4.42 [[ 9.87852603e-01 1.54385616e-01 1.76724884e-02 2.22602933e+02] [-1.54365381e-01 9.88010638e-01 -2.51166994e-03 -3.43431133e+01] [-1.78483723e-02 -2.46860726e-04 9.99840675e-01 -4.41909958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters 0.027500557358096346 Centerline is valid? [True, True] Translation: X:222.63, Y:-34.35, Z:-4.42 [[ 9.87849486e-01 1.54441723e-01 1.73536052e-02 2.22630786e+02] [-1.54422239e-01 9.88001870e-01 -2.46530696e-03 -3.43496237e+01] [-1.75261406e-02 -2.44430339e-04 9.99846376e-01 -4.41966197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33401273899997 meters 0.027342742114515213 Centerline is valid? [True, True] Translation: X:222.66, Y:-34.36, Z:-4.42 [[ 9.87896200e-01 1.54070510e-01 1.79826874e-02 2.22658325e+02] [-1.54049541e-01 9.88059825e-01 -2.55381921e-03 -3.43551725e+01] [-1.81614392e-02 -2.47316447e-04 9.99835037e-01 -4.41964578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters 0.027514148238379332 Centerline is valid? [True, True] Translation: X:222.69, Y:-34.36, Z:-4.41 [[ 9.87890745e-01 1.53791833e-01 2.04926602e-02 2.22686673e+02] [-1.53764570e-01 9.88103231e-01 -2.90891419e-03 -3.43577142e+01] [-2.06962310e-02 -2.77355679e-04 9.99785772e-01 -4.41476027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39401273899998 meters 0.027697763815478834 Centerline is valid? [True, True] Translation: X:222.72, Y:-34.36, Z:-4.41 [[ 9.87773689e-01 1.54441926e-01 2.12327538e-02 2.22715819e+02] [-1.54412830e-01 9.88001822e-01 -3.01295429e-03 -3.43605219e+01] [-2.14433259e-02 -3.02492632e-04 9.99770020e-01 -4.41411838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters 0.03008529802833841 Centerline is valid? [True, True] Translation: X:222.74, Y:-34.36, Z:-4.42 [[ 9.87366201e-01 1.57059632e-01 2.09823263e-02 2.22744489e+02] [-1.57031829e-01 9.87589057e-01 -2.97649401e-03 -3.43590218e+01] [-2.11894029e-02 -3.56003484e-04 9.99775416e-01 -4.41518274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45401273899998 meters 0.03166249743453155 Centerline is valid? [True, True] Translation: X:222.77, Y:-34.36, Z:-4.42 [[ 9.87199010e-01 1.58175321e-01 2.04617551e-02 2.22772087e+02] [-1.58149123e-01 9.87410973e-01 -2.90246130e-03 -3.43589661e+01] [-2.06632593e-02 -3.70701710e-04 9.99786423e-01 -4.41697577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters 0.030445567576521976 Centerline is valid? [True, True] Translation: X:222.80, Y:-34.36, Z:-4.42 [[ 9.87084084e-01 1.58972886e-01 1.98149599e-02 2.22800831e+02] [-1.58948506e-01 9.87282877e-01 -2.80939782e-03 -3.43632749e+01] [-2.00095888e-02 -3.76446402e-04 9.99799717e-01 -4.41815241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51401273899998 meters 0.0303753026773238 Centerline is valid? [True, True] Translation: X:222.83, Y:-34.36, Z:-4.42 [[ 9.87178278e-01 1.58482297e-01 1.90370182e-02 2.22828608e+02] [-1.58459719e-01 9.87361756e-01 -2.69823538e-03 -3.43639038e+01] [-1.92240463e-02 -3.52961208e-04 9.99815139e-01 -4.42083128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters 0.030016632385517255 Centerline is valid? [True, True] Translation: X:222.86, Y:-34.37, Z:-4.42 [[ 9.87446631e-01 1.56790201e-01 1.91306919e-02 2.22855832e+02] [-1.56767105e-01 9.87631879e-01 -2.71036224e-03 -3.43678518e+01] [-1.93190394e-02 -3.22725114e-04 9.99813318e-01 -4.42241139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57401273899998 meters 0.02646175355780754 Centerline is valid? [True, True] Translation: X:222.88, Y:-34.38, Z:-4.42 [[ 9.88293960e-01 1.51441964e-01 1.84494229e-02 2.22883641e+02] [-1.51419572e-01 9.88466128e-01 -2.61273450e-03 -3.43796489e+01] [-1.86323073e-02 -2.11453992e-04 9.99826381e-01 -4.42452306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters 0.024002981318569584 Centerline is valid? [True, True] Translation: X:222.91, Y:-34.39, Z:-4.42 [[ 9.88720923e-01 1.48651336e-01 1.82679274e-02 2.22911090e+02] [-1.48628913e-01 9.88889658e-01 -2.58666338e-03 -3.43896527e+01] [-1.84494755e-02 -1.57653984e-04 9.99829782e-01 -4.42480429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63401273899999 meters 0.02252547271715409 Centerline is valid? [True, True] Translation: X:222.94, Y:-34.40, Z:-4.42 [[ 9.89242806e-01 1.44985609e-01 1.94382263e-02 2.22939421e+02] [-1.44959532e-01 9.89433759e-01 -2.75137925e-03 -3.43993960e+01] [-1.96317478e-02 -9.59740671e-05 9.99807274e-01 -4.42368158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters 0.022260257921168276 Centerline is valid? [True, True] Translation: X:222.97, Y:-34.40, Z:-4.42 [[ 9.89351260e-01 1.44272461e-01 1.92234773e-02 2.22969138e+02] [-1.44246832e-01 9.89537998e-01 -2.72052392e-03 -3.44044200e+01] [-1.94148580e-02 -8.13719307e-05 9.99811511e-01 -4.42419507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694012739 meters 0.02240613486641489 Centerline is valid? [True, True] Translation: X:223.00, Y:-34.41, Z:-4.43 [[ 9.89391513e-01 1.44050303e-01 1.88134157e-02 2.22998886e+02] [-1.44025724e-01 9.89570364e-01 -2.66203384e-03 -3.44076650e+01] [-1.90006654e-02 -7.58221319e-05 9.99819468e-01 -4.42614875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters 0.022515757476634656 Centerline is valid? [True, True] Translation: X:223.03, Y:-34.41, Z:-4.43 [[ 9.89339886e-01 1.44414581e-01 1.87354833e-02 2.23028358e+02] [-1.44390274e-01 9.89517267e-01 -2.65080011e-03 -3.44105386e+01] [-1.89218984e-02 -8.26792894e-05 9.99820961e-01 -4.42708192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754012739 meters 0.022397411557934118 Centerline is valid? [True, True] Translation: X:223.06, Y:-34.41, Z:-4.43 [[ 9.89369603e-01 1.44141841e-01 1.92592320e-02 2.23056810e+02] [-1.44116114e-01 9.89557034e-01 -2.72442559e-03 -3.44115117e+01] [-1.94508122e-02 -8.01018073e-05 9.99810812e-01 -4.42598811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters 0.022371247858492774 Centerline is valid? [True, True] Translation: X:223.09, Y:-34.42, Z:-4.43 [[ 9.89472251e-01 1.43462866e-01 1.90543894e-02 2.23085511e+02] [-1.43437567e-01 9.89655699e-01 -2.69497968e-03 -3.44154187e+01] [-1.92439146e-02 -6.65076348e-05 9.99814817e-01 -4.42700001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814012739 meters 0.02212457676547578 Centerline is valid? [True, True] Translation: X:223.11, Y:-34.42, Z:-4.43 [[ 9.89779303e-01 1.41470514e-01 1.79729083e-02 2.23113872e+02] [-1.41447687e-01 9.89942470e-01 -2.54142256e-03 -3.44233624e+01] [-1.81516816e-02 -2.67788475e-05 9.99835244e-01 -4.43091056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters 0.021987015258594114 Centerline is valid? [True, True] Translation: X:223.14, Y:-34.43, Z:-4.43 [[ 9.90009610e-01 1.39861199e-01 1.78834292e-02 2.23142066e+02] [-1.39838344e-01 9.90171119e-01 -2.52838062e-03 -3.44294188e+01] [-1.80612775e-02 2.33199024e-06 9.99836882e-01 -4.43148221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874012739 meters 0.022126386494606496 Centerline is valid? [True, True] Translation: X:223.17, Y:-34.44, Z:-4.43 [[ 9.90224982e-01 1.38259467e-01 1.84066630e-02 2.23172158e+02] [-1.38234991e-01 9.90396041e-01 -2.60163325e-03 -3.44350946e+01] [-1.85895866e-02 3.17573406e-05 9.99827198e-01 -4.43113181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters 0.022699681554275618 Centerline is valid? [True, True] Translation: X:223.20, Y:-34.44, Z:-4.43 [[ 9.90559818e-01 1.35704945e-01 1.93756475e-02 2.23202000e+02] [-1.35677336e-01 9.90749293e-01 -2.73855050e-03 -3.44419774e+01] [-1.95680439e-02 8.38618460e-05 9.99808524e-01 -4.42946808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93401273899997 meters 0.02320785042950696 Centerline is valid? [True, True] Translation: X:223.23, Y:-34.45, Z:-4.43 [[ 9.90752748e-01 1.34294672e-01 1.93373716e-02 2.23231272e+02] [-1.34266881e-01 9.90941435e-01 -2.73425378e-03 -3.44488056e+01] [-1.95293985e-02 1.12600870e-04 9.99809277e-01 -4.43003781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters 0.02384600041114722 Centerline is valid? [True, True] Translation: X:223.26, Y:-34.46, Z:-4.43 [[ 9.90958482e-01 1.32789624e-01 1.91886268e-02 2.23261727e+02] [-1.32761973e-01 9.91144236e-01 -2.71342885e-03 -3.44558551e+01] [-1.93790120e-02 1.41375384e-04 9.99812199e-01 -4.43110305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99401273899997 meters 0.025614861886221092 Centerline is valid? [True, True] Translation: X:223.29, Y:-34.47, Z:-4.43 [[ 9.91352260e-01 1.29889511e-01 1.86925654e-02 2.23291760e+02] [-1.29862752e-01 9.91528455e-01 -2.64352124e-03 -3.44672606e+01] [-1.88775762e-02 1.93192779e-04 9.99821784e-01 -4.43309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters 0.02628077447506698 Centerline is valid? [True, True] Translation: X:223.32, Y:-34.47, Z:-4.43 [[ 9.91470453e-01 1.28957883e-01 1.88733762e-02 2.23323242e+02] [-1.28930381e-01 9.91650048e-01 -2.67190550e-03 -3.44746906e+01] [-1.90603477e-02 2.15763774e-04 9.99818312e-01 -4.43305051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05401273899997 meters 0.026981634259058588 Centerline is valid? [True, True] Translation: X:223.36, Y:-34.48, Z:-4.43 [[ 9.91567881e-01 1.28149393e-01 1.92580203e-02 2.23355147e+02] [-1.28120545e-01 9.91754847e-01 -2.72947478e-03 -3.44822900e+01] [-1.94490155e-02 2.39111457e-04 9.99810821e-01 -4.43300817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters 0.027280900911787767 Centerline is valid? [True, True] Translation: X:223.39, Y:-34.49, Z:-4.43 [[ 9.91566909e-01 1.28144137e-01 1.93428235e-02 2.23385580e+02] [-1.28114973e-01 9.91755525e-01 -2.74455001e-03 -3.44898262e+01] [-1.95350501e-02 2.43299649e-04 9.99809143e-01 -4.43300801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11401273899997 meters 0.025967283637928454 Centerline is valid? [True, True] Translation: X:223.42, Y:-34.49, Z:-4.44 [[ 9.91468139e-01 1.29041329e-01 1.84191486e-02 2.23417355e+02] [-1.29014989e-01 9.91639192e-01 -2.61620611e-03 -3.44923316e+01] [-1.86027484e-02 2.17538743e-04 9.99826930e-01 -4.43516622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters 0.02469202942504816 Centerline is valid? [True, True] Translation: X:223.45, Y:-34.50, Z:-4.44 [[ 9.91141333e-01 1.31631376e-01 1.76646067e-02 2.23448815e+02] [-1.31607511e-01 9.91298721e-01 -2.51184077e-03 -3.44962296e+01] [-1.78415390e-02 1.64794295e-04 9.99840813e-01 -4.43789449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17401273899998 meters 0.024184669288696573 Centerline is valid? [True, True] Translation: X:223.48, Y:-34.50, Z:-4.44 [[ 9.90902944e-01 1.33326202e-01 1.83161108e-02 2.23479599e+02] [-1.33300775e-01 9.91072199e-01 -2.60766278e-03 -3.45012790e+01] [-1.85002580e-02 1.42388961e-04 9.99828845e-01 -4.43799249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters 0.023273137145043282 Centerline is valid? [True, True] Translation: X:223.51, Y:-34.50, Z:-4.44 [[ 9.90658383e-01 1.35088559e-01 1.86292809e-02 2.23511753e+02] [-1.35062511e-01 9.90833522e-01 -2.65513852e-03 -3.45046935e+01] [-1.88171949e-02 1.14217766e-04 9.99822934e-01 -4.43680166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23401273899998 meters 0.02222084772237184 Centerline is valid? [True, True] Translation: X:223.54, Y:-34.51, Z:-4.44 [[ 9.90175271e-01 1.38522525e-01 1.90903662e-02 2.23541840e+02] [-1.38495745e-01 9.90359282e-01 -2.72422688e-03 -3.45071312e+01] [-1.92836882e-02 5.35275994e-05 9.99814051e-01 -4.43667250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters 0.02203736565493245 Centerline is valid? [True, True] Translation: X:223.57, Y:-34.51, Z:-4.44 [[ 9.89977929e-01 1.39921624e-01 1.91216761e-02 2.23571498e+02] [-1.39895012e-01 9.90162582e-01 -2.72892172e-03 -3.45107423e+01] [-1.93154033e-02 2.65451696e-05 9.99813440e-01 -4.43711536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29401273899998 meters 0.021804334304023062 Centerline is valid? [True, True] Translation: X:223.60, Y:-34.52, Z:-4.44 [[ 9.89815493e-01 1.40979306e-01 1.97515715e-02 2.23602425e+02] [-1.40951118e-01 9.90012543e-01 -2.81905388e-03 -3.45150608e+01] [-1.99517318e-02 6.33710964e-06 9.99800944e-01 -4.43691235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters 0.02189210029822545 Centerline is valid? [True, True] Translation: X:223.63, Y:-34.52, Z:-4.44 [[ 9.89728462e-01 1.41470447e-01 2.05835942e-02 2.23633867e+02] [-1.41439928e-01 9.89942479e-01 -2.93839603e-03 -3.45215274e+01] [-2.07922705e-02 -3.12789967e-06 9.99783817e-01 -4.43666548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35401273899998 meters 0.02188442939186864 Centerline is valid? [True, True] Translation: X:223.66, Y:-34.53, Z:-4.44 [[ 9.89704711e-01 1.41577992e-01 2.09823206e-02 2.23664744e+02] [-1.41546225e-01 9.89927104e-01 -2.99902139e-03 -3.45326339e+01] [-2.11955633e-02 -1.82267486e-06 9.99775349e-01 -4.43708619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters 0.021986947784040044 Centerline is valid? [True, True] Translation: X:223.70, Y:-34.54, Z:-4.44 [[ 9.89716982e-01 1.41589286e-01 2.03167155e-02 2.23696230e+02] [-1.41559430e-01 9.89925489e-01 -2.90752212e-03 -3.45400512e+01] [-2.05237085e-02 1.60135803e-06 9.99789367e-01 -4.43961063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414012739 meters 0.02205977264759562 Centerline is valid? [True, True] Translation: X:223.73, Y:-34.55, Z:-4.44 [[ 9.89689974e-01 1.42029524e-01 1.84762013e-02 2.23726393e+02] [-1.42004853e-01 9.89862422e-01 -2.64718519e-03 -3.45477384e+01] [-1.86648758e-02 -3.81759928e-06 9.99825796e-01 -4.44353774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters 0.022074338193124207 Centerline is valid? [True, True] Translation: X:223.76, Y:-34.55, Z:-4.44 [[ 9.89621653e-01 1.42540451e-01 1.81990028e-02 2.23758359e+02] [-1.42516548e-01 9.89788977e-01 -2.61032504e-03 -3.45535095e+01] [-1.83852493e-02 -1.04248792e-05 9.99830977e-01 -4.44431845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474012739 meters 0.021913274744935363 Centerline is valid? [True, True] Translation: X:223.79, Y:-34.56, Z:-4.44 [[ 9.89560108e-01 1.42944927e-01 1.83722974e-02 2.23789406e+02] [-1.42920577e-01 9.89730644e-01 -2.63838591e-03 -3.45590819e+01] [-1.85607696e-02 -1.49378996e-05 9.99827734e-01 -4.44429935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters 0.02181296917025624 Centerline is valid? [True, True] Translation: X:223.82, Y:-34.57, Z:-4.44 [[ 9.89517832e-01 1.43099753e-01 1.94144484e-02 2.23820727e+02] [-1.43072528e-01 9.89708270e-01 -2.79127952e-03 -3.45671735e+01] [-1.96140716e-02 -1.56533513e-05 9.99807625e-01 -4.44243452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534012739 meters 0.021853104661354945 Centerline is valid? [True, True] Translation: X:223.85, Y:-34.57, Z:-4.44 [[ 9.89501148e-01 1.43228596e-01 1.93144339e-02 2.23852251e+02] [-1.43201612e-01 9.89689633e-01 -2.78013627e-03 -3.45730111e+01] [-1.95134900e-02 -1.49100337e-05 9.99809594e-01 -4.44336091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters 0.021948015948632948 Centerline is valid? [True, True] Translation: X:223.88, Y:-34.58, Z:-4.44 [[ 9.89490863e-01 1.43331877e-01 1.90736843e-02 2.23881953e+02] [-1.43305513e-01 9.89674680e-01 -2.74905580e-03 -3.45782182e+01] [-1.92707698e-02 -1.31985145e-05 9.99814301e-01 -4.44461991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.594012739 meters 0.021852080132732734 Centerline is valid? [True, True] Translation: X:223.91, Y:-34.58, Z:-4.45 [[ 9.89478145e-01 1.43475999e-01 1.86450721e-02 2.23914057e+02] [-1.43450833e-01 9.89653797e-01 -2.68722148e-03 -3.45844716e+01] [-1.88377182e-02 -1.57041987e-05 9.99822554e-01 -4.44628243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters 0.021762792144978237 Centerline is valid? [True, True] Translation: X:223.95, Y:-34.59, Z:-4.45 [[ 9.89503143e-01 1.43306095e-01 1.86250899e-02 2.23945593e+02] [-1.43280886e-01 9.89678414e-01 -2.68789356e-03 -3.45904391e+01] [-1.88180409e-02 -8.94025418e-06 9.99822925e-01 -4.44627764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65401273899997 meters 0.021728542089990165 Centerline is valid? [True, True] Translation: X:223.98, Y:-34.60, Z:-4.45 [[ 9.89507861e-01 1.43281401e-01 1.85642933e-02 2.23977579e+02] [-1.43256291e-01 9.89681989e-01 -2.68237609e-03 -3.45972534e+01] [-1.87570814e-02 -5.21958017e-06 9.99824070e-01 -4.44592336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters 0.02170398082033377 Centerline is valid? [True, True] Translation: X:224.01, Y:-34.60, Z:-4.45 [[ 9.89464334e-01 1.43583345e-01 1.85514249e-02 2.24009862e+02] [-1.43558257e-01 9.89638228e-01 -2.68399398e-03 -3.46021483e+01] [-1.87445761e-02 -7.49390173e-06 9.99824305e-01 -4.44654646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71401273899997 meters 0.021731172500576625 Centerline is valid? [True, True] Translation: X:224.04, Y:-34.61, Z:-4.45 [[ 9.89415227e-01 1.43809779e-01 1.93973380e-02 2.24042921e+02] [-1.43782320e-01 9.89605349e-01 -2.81019326e-03 -3.46067757e+01] [-1.95998427e-02 -8.54626174e-06 9.99807905e-01 -4.44618738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters 0.021550780330735167 Centerline is valid? [True, True] Translation: X:224.08, Y:-34.61, Z:-4.44 [[ 9.89293226e-01 1.44503183e-01 2.04387791e-02 2.24075964e+02] [-1.44472760e-01 9.89504335e-01 -2.96509872e-03 -3.46108498e+01] [-2.06527268e-02 -1.94947589e-05 9.99786710e-01 -4.44459332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77401273899997 meters 0.021789710929859284 Centerline is valid? [True, True] Translation: X:224.11, Y:-34.61, Z:-4.44 [[ 9.88950538e-01 1.46640921e-01 2.17548586e-02 2.24108318e+02] [-1.46606876e-01 9.89189788e-01 -3.16032416e-03 -3.46125357e+01] [-2.19831168e-02 -6.40075742e-05 9.99758340e-01 -4.44247254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters 0.021935452873377663 Centerline is valid? [True, True] Translation: X:224.14, Y:-34.61, Z:-4.44 [[ 9.88773075e-01 1.47768601e-01 2.21866357e-02 2.24140174e+02] [-1.47733387e-01 9.89021958e-01 -3.22697068e-03 -3.46148245e+01] [-2.24199148e-02 -8.69651222e-05 9.99748638e-01 -4.44191144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83401273899997 meters 0.02266609590052063 Centerline is valid? [True, True] Translation: X:224.17, Y:-34.61, Z:-4.44 [[ 9.88438640e-01 1.49919250e-01 2.26555485e-02 2.24172136e+02] [-1.49883019e-01 9.88698235e-01 -3.29854622e-03 -3.46138208e+01] [-2.28940164e-02 -1.35271461e-04 9.99737889e-01 -4.44203223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters 0.023072955268460246 Centerline is valid? [True, True] Translation: X:224.20, Y:-34.62, Z:-4.44 [[ 9.88343950e-01 1.50647208e-01 2.19466440e-02 2.24202744e+02] [-1.50613377e-01 9.88587577e-01 -3.19588264e-03 -3.46163162e+01] [-2.21776304e-02 -1.46826883e-04 9.99754035e-01 -4.44403909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89401273899998 meters 0.023455780502364135 Centerline is valid? [True, True] Translation: X:224.23, Y:-34.62, Z:-4.45 [[ 9.88284520e-01 1.51261595e-01 2.03380614e-02 2.24232832e+02] [-1.51232651e-01 9.88493757e-01 -2.96263299e-03 -3.46180875e+01] [-2.05521793e-02 -1.47854616e-04 9.99788771e-01 -4.44774816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters 0.02334285988193838 Centerline is valid? [True, True] Translation: X:224.26, Y:-34.62, Z:-4.45 [[ 9.88303779e-01 1.51186830e-01 1.99545017e-02 2.24263454e+02] [-1.51158948e-01 9.88505196e-01 -2.90698573e-03 -3.46215664e+01] [-2.01646266e-02 -1.43316505e-04 9.99796663e-01 -4.44926076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95401273899998 meters 0.023337726249407727 Centerline is valid? [True, True] Translation: X:224.29, Y:-34.62, Z:-4.45 [[ 9.88335069e-01 1.50948000e-01 2.02111806e-02 2.24293251e+02] [-1.50919346e-01 9.88541694e-01 -2.94437757e-03 -3.46249011e+01] [-2.04240426e-02 -1.40226555e-04 9.99791398e-01 -4.44950078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters 0.023728237725002942 Centerline is valid? [True, True] Translation: X:224.32, Y:-34.63, Z:-4.45 [[ 9.88192377e-01 1.51707971e-01 2.14596856e-02 2.24322884e+02] [-1.51675852e-01 9.88425346e-01 -3.12600421e-03 -3.46263344e+01] [-2.16855369e-02 -1.65822560e-04 9.99764827e-01 -4.44840700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01401273899998 meters 0.023585176397395095 Centerline is valid? [True, True] Translation: X:224.35, Y:-34.63, Z:-4.45 [[ 9.88083158e-01 1.52386760e-01 2.16783037e-02 2.24354255e+02] [-1.52354151e-01 9.88320921e-01 -3.15766080e-03 -3.46301425e+01] [-2.19063068e-02 -1.82748096e-04 9.99760011e-01 -4.44907914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters 0.02407657298566985 Centerline is valid? [True, True] Translation: X:224.38, Y:-34.63, Z:-4.45 [[ 9.87959269e-01 1.53277242e-01 2.10373474e-02 2.24384533e+02] [-1.53246725e-01 9.88183206e-01 -3.06476165e-03 -3.46311387e+01] [-2.12585116e-02 -1.96044896e-04 9.99773993e-01 -4.45078107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07401273899998 meters 0.02515668631659091 Centerline is valid? [True, True] Translation: X:224.41, Y:-34.63, Z:-4.46 [[ 9.87802352e-01 1.54531841e-01 1.91422032e-02 2.24414780e+02] [-1.54506810e-01 9.87987788e-01 -2.78868461e-03 -3.46284608e+01] [-1.93432035e-02 -2.02931525e-04 9.99812882e-01 -4.45576711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters 0.026091646660498645 Centerline is valid? [True, True] Translation: X:224.44, Y:-34.63, Z:-4.46 [[ 9.87794095e-01 1.54619850e-01 1.88554526e-02 2.24443588e+02] [-1.54595583e-01 9.87974019e-01 -2.74671958e-03 -3.46289036e+01] [-1.90533946e-02 -2.01776297e-04 9.99818447e-01 -4.45784234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13401273899999 meters 0.026091646660498645 Centerline is valid? [True, True] Translation: X:224.47, Y:-34.63, Z:-4.46 [[ 9.87800755e-01 1.54577284e-01 1.88555447e-02 2.24471630e+02] [-1.54553021e-01 9.87980679e-01 -2.74608675e-03 -3.46328916e+01] [-1.90533965e-02 -2.01594842e-04 9.99818447e-01 -4.45841765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters 0.024793577435694346 Centerline is valid? [True, True] Translation: X:224.50, Y:-34.64, Z:-4.46 [[ 9.88084735e-01 1.52675689e-01 1.94599474e-02 2.24499563e+02] [-1.52649494e-01 9.88276330e-01 -2.83322614e-03 -3.46399733e+01] [-1.96643701e-02 -1.71083632e-04 9.99806623e-01 -4.45827695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194012739 meters 0.023277177603313652 Centerline is valid? [True, True] Translation: X:224.53, Y:-34.65, Z:-4.46 [[ 9.88381744e-01 1.50775469e-01 1.91907545e-02 2.24528597e+02] [-1.50749653e-01 9.88568025e-01 -2.79316508e-03 -3.46493787e+01] [-1.93925071e-02 -1.32286216e-04 9.99811939e-01 -4.45906487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters 0.02274430796727518 Centerline is valid? [True, True] Translation: X:224.56, Y:-34.66, Z:-4.46 [[ 9.88733830e-01 1.48537439e-01 1.84943785e-02 2.24557558e+02] [-1.48513071e-01 9.88906781e-01 -2.69178670e-03 -3.46565515e+01] [-1.86890474e-02 -8.51963767e-05 9.99825341e-01 -4.46110036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254012739 meters 0.022220123955125428 Centerline is valid? [True, True] Translation: X:224.59, Y:-34.66, Z:-4.46 [[ 9.89006547e-01 1.46752741e-01 1.81571814e-02 2.24587271e+02] [-1.46728948e-01 9.89173205e-01 -2.64298781e-03 -3.46649190e+01] [-1.83484630e-02 -5.02518816e-05 9.99831652e-01 -4.46279142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters 0.021739919136456915 Centerline is valid? [True, True] Translation: X:224.62, Y:-34.67, Z:-4.46 [[ 9.89309393e-01 1.44526187e-01 1.94706602e-02 2.24617289e+02] [-1.44498395e-01 9.89500976e-01 -2.83417984e-03 -3.46735739e+01] [-1.96758505e-02 -9.59841167e-06 9.99806412e-01 -4.46110936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314012739 meters 0.02177624565538194 Centerline is valid? [True, True] Translation: X:224.65, Y:-34.68, Z:-4.46 [[ 9.89344935e-01 1.44128271e-01 2.05825273e-02 2.24647785e+02] [-1.44097128e-01 9.89559014e-01 -2.99603611e-03 -3.46788418e+01] [-2.07994390e-02 -1.76991778e-06 9.99783668e-01 -4.45941864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters 0.031881529671232284 Centerline is valid? [True, True] Translation: X:224.68, Y:-34.69, Z:-4.45 [[ 9.89336148e-01 1.44150360e-01 2.08484964e-02 2.24680242e+02] [-1.44118398e-01 9.89555796e-01 -3.03536784e-03 -3.46858916e+01] [-2.10682998e-02 -1.65278078e-06 9.99778039e-01 -4.44636735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374012739 meters 0.03178563574889866 Centerline is valid? [True, True] Translation: X:224.71, Y:-34.69, Z:-4.45 [[ 9.89358657e-01 1.44087582e-01 2.02043461e-02 2.24711543e+02] [-1.44057472e-01 9.89564939e-01 -2.94551835e-03 -3.46925572e+01] [-2.04179251e-02 3.58706564e-06 9.99791532e-01 -4.44880760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters 0.021806650262129378 Centerline is valid? [True, True] Translation: X:224.74, Y:-34.70, Z:-4.46 [[ 9.89435227e-01 1.43569115e-01 2.01455116e-02 2.24742333e+02] [-1.43538996e-01 9.89640293e-01 -2.94069793e-03 -3.46996705e+01] [-2.03590034e-02 1.79636058e-05 9.99792734e-01 -4.46229952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43401273899997 meters 0.021743752708987346 Centerline is valid? [True, True] Translation: X:224.77, Y:-34.71, Z:-4.46 [[ 9.89452291e-01 1.43495339e-01 1.98305718e-02 2.24772924e+02] [-1.43466068e-01 9.89650993e-01 -2.89835058e-03 -3.47073436e+01] [-2.00412449e-02 2.27654731e-05 9.99799154e-01 -4.46336859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters 0.02179155031872195 Centerline is valid? [True, True] Translation: X:224.80, Y:-34.72, Z:-4.46 [[ 9.89506670e-01 1.42947364e-01 2.10380997e-02 2.24802692e+02] [-1.42914227e-01 9.89730291e-01 -3.07804438e-03 -3.47179365e+01] [-2.12620429e-02 3.91017016e-05 9.99773936e-01 -4.46101083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49401273899997 meters 0.021865063141797234 Centerline is valid? [True, True] Translation: X:224.83, Y:-34.73, Z:-4.46 [[ 9.89568573e-01 1.42476354e-01 2.13196625e-02 2.24834485e+02] [-1.42442146e-01 9.89798205e-01 -3.12238850e-03 -3.47256304e+01] [-2.15470302e-02 5.29990469e-05 9.99767834e-01 -4.46150198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters 0.021808540489299477 Centerline is valid? [True, True] Translation: X:224.87, Y:-34.74, Z:-4.46 [[ 9.89593334e-01 1.42209385e-01 2.19436625e-02 2.24866591e+02] [-1.42172983e-01 9.89836596e-01 -3.21814320e-03 -3.47356796e+01] [-2.21782903e-02 6.48571113e-05 9.99754029e-01 -4.46027618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55401273899997 meters 0.021896185923170292 Centerline is valid? [True, True] Translation: X:224.90, Y:-34.74, Z:-4.46 [[ 9.89544613e-01 1.42518581e-01 2.21339958e-02 2.24897555e+02] [-1.42481528e-01 9.89792125e-01 -3.25027558e-03 -3.47431800e+01] [-2.23712794e-02 6.26071538e-05 9.99749730e-01 -4.45959847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters 0.02175146403284215 Centerline is valid? [True, True] Translation: X:224.93, Y:-34.75, Z:-4.46 [[ 9.89451755e-01 1.43169083e-01 2.20870572e-02 2.24930553e+02] [-1.43132285e-01 9.89698243e-01 -3.24621199e-03 -3.47489085e+01] [-2.23242789e-02 5.05991895e-05 9.99750781e-01 -4.46083975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61401273899997 meters 0.02168488690480406 Centerline is valid? [True, True] Translation: X:224.96, Y:-34.76, Z:-4.46 [[ 9.89284009e-01 1.44231264e-01 2.26824394e-02 2.24961539e+02] [-1.44192632e-01 9.89544007e-01 -3.33817857e-03 -3.47577751e+01] [-2.29267417e-02 3.17660486e-05 9.99737147e-01 -4.46102316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters 0.02987923339069852 Centerline is valid? [True, True] Translation: X:224.99, Y:-34.77, Z:-4.45 [[ 9.89157379e-01 1.45098008e-01 2.26770193e-02 2.24993026e+02] [-1.45059528e-01 9.89417287e-01 -3.34146159e-03 -3.47662677e+01] [-2.29218743e-02 1.57136693e-05 9.99737259e-01 -4.45034559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67401273899998 meters 0.02170774007607002 Centerline is valid? [True, True] Translation: X:225.02, Y:-34.78, Z:-4.46 [[ 9.88820148e-01 1.47298313e-01 2.31931455e-02 2.25024982e+02] [-1.47258566e-01 9.89092112e-01 -3.42177378e-03 -3.47754422e+01] [-2.34441787e-02 -3.18704904e-05 9.99725147e-01 -4.46189074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters 0.021949630572336905 Centerline is valid? [True, True] Translation: X:225.06, Y:-34.78, Z:-4.46 [[ 9.88526755e-01 1.49333400e-01 2.26801914e-02 2.25057013e+02] [-1.49295831e-01 9.88786898e-01 -3.35032238e-03 -3.47803656e+01] [-2.29261911e-02 -7.41747123e-05 9.99737158e-01 -4.46311726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73401273899998 meters 0.022588441108102316 Centerline is valid? [True, True] Translation: X:225.09, Y:-34.78, Z:-4.46 [[ 9.88169813e-01 1.51763305e-01 2.20979721e-02 2.25088851e+02] [-1.51728162e-01 9.88416857e-01 -3.26814200e-03 -3.47836052e+01] [-2.23379922e-02 -1.23405424e-04 9.99750468e-01 -4.46390670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters 0.025030992439193725 Centerline is valid? [True, True] Translation: X:225.12, Y:-34.78, Z:-4.47 [[ 9.87334154e-01 1.57351534e-01 2.02919262e-02 2.25120764e+02] [-1.57323017e-01 9.87542629e-01 -3.00412284e-03 -3.47838732e+01] [-2.05118455e-02 -2.26313973e-04 9.99789584e-01 -4.46861665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79401273899998 meters 0.026613651245942525 Centerline is valid? [True, True] Translation: X:225.15, Y:-34.79, Z:-4.47 [[ 9.86926232e-01 1.60004337e-01 1.93707263e-02 2.25152819e+02] [-1.59978805e-01 9.87116276e-01 -2.87063206e-03 -3.47865645e+01] [-1.95804728e-02 -2.65803561e-04 9.99808249e-01 -4.47144933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters 0.028911172634283895 Centerline is valid? [True, True] Translation: X:225.19, Y:-34.79, Z:-4.47 [[ 9.86324601e-01 1.63714504e-01 1.90089941e-02 2.25185181e+02] [-1.63690543e-01 9.86507705e-01 -2.82028919e-03 -3.47887500e+01] [-1.92142414e-02 -3.29871949e-04 9.99815335e-01 -4.47288707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85401273899998 meters 0.030471498463257123 Centerline is valid? [True, True] Translation: X:225.22, Y:-34.79, Z:-4.47 [[ 9.86075991e-01 1.65166868e-01 1.93402473e-02 2.25215910e+02] [-1.65142325e-01 9.86265569e-01 -2.87036652e-03 -3.47911606e+01] [-1.95487095e-02 -3.63493888e-04 9.99808840e-01 -4.47250766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters 0.030524544714116253 Centerline is valid? [True, True] Translation: X:225.25, Y:-34.80, Z:-4.47 [[ 9.85909050e-01 1.66100887e-01 1.98454038e-02 2.25247977e+02] [-1.66075200e-01 9.86108687e-01 -2.94703585e-03 -3.47962434e+01] [-2.00592304e-02 -3.90320098e-04 9.99798717e-01 -4.47209544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914012739 meters 0.031785267238964486 Centerline is valid? [True, True] Translation: X:225.28, Y:-34.80, Z:-4.47 [[ 9.85763520e-01 1.67013434e-01 1.94112002e-02 2.25278832e+02] [-1.66988972e-01 9.85954540e-01 -2.88579848e-03 -3.47972468e+01] [-1.96205281e-02 -3.96741482e-04 9.99807420e-01 -4.47307775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters 0.03208340385592407 Centerline is valid? [True, True] Translation: X:225.31, Y:-34.80, Z:-4.47 [[ 9.85584634e-01 1.68092158e-01 1.91821965e-02 2.25310084e+02] [-1.68068423e-01 9.85771200e-01 -2.85437040e-03 -3.48002657e+01] [-1.93890542e-02 -4.10697911e-04 9.99811930e-01 -4.47462299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974012739 meters 0.03298831863469513 Centerline is valid? [True, True] Translation: X:225.34, Y:-34.80, Z:-4.48 [[ 9.85333724e-01 1.69612639e-01 1.86816894e-02 2.25341430e+02] [-1.69590391e-01 9.85510715e-01 -2.78033173e-03 -3.48022130e+01] [-1.88825845e-02 -4.28680395e-04 9.99821616e-01 -4.47563277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters 0.03623616908463253 Centerline is valid? [True, True] Translation: X:225.37, Y:-34.80, Z:-4.47 [[ 9.84695905e-01 1.73229863e-01 1.91151621e-02 2.25372908e+02] [-1.73207242e-01 9.84881290e-01 -2.84534383e-03 -3.47973886e+01] [-1.93190641e-02 -5.09086102e-04 9.99813240e-01 -4.47433054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034012739 meters 0.03918396009325702 Centerline is valid? [True, True] Translation: X:225.40, Y:-34.79, Z:-4.47 [[ 9.84299951e-01 1.75402122e-01 1.96901545e-02 2.25401886e+02] [-1.75378553e-01 9.84496710e-01 -2.93094047e-03 -3.47941060e+01] [-1.98989855e-02 -5.68306244e-04 9.99801834e-01 -4.47348756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters 0.04017447121206676 Centerline is valid? [True, True] Translation: X:225.43, Y:-34.79, Z:-4.47 [[ 9.83785909e-01 1.78128635e-01 2.08680482e-02 2.25432218e+02] [-1.78102783e-01 9.84006988e-01 -3.10585267e-03 -3.47913100e+01] [-2.10875466e-02 -6.61163386e-04 9.99777414e-01 -4.47326397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.094012739 meters 0.042031482931438706 Centerline is valid? [True, True] Translation: X:225.46, Y:-34.79, Z:-4.47 [[ 9.83721878e-01 1.78430176e-01 2.13058324e-02 2.25461196e+02] [-1.78403310e-01 9.83952340e-01 -3.17046721e-03 -3.47906933e+01] [-2.15296307e-02 -6.82173078e-04 9.99767978e-01 -4.47305225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters 0.043327020857251854 Centerline is valid? [True, True] Translation: X:225.49, Y:-34.79, Z:-4.47 [[ 9.83807048e-01 1.77922914e-01 2.16131520e-02 2.25489254e+02] [-1.77895164e-01 9.84044192e-01 -3.21537086e-03 -3.47903454e+01] [-2.18403849e-02 -6.81570701e-04 9.99761238e-01 -4.47247642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15401273899997 meters 0.04031157286717963 Centerline is valid? [True, True] Translation: X:225.52, Y:-34.80, Z:-4.47 [[ 9.84029602e-01 1.76637674e-01 2.20198853e-02 2.25517625e+02] [-1.76608577e-01 9.84275717e-01 -3.27457897e-03 -3.47961837e+01] [-2.22520524e-02 -6.66617953e-04 9.99752170e-01 -4.47212617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters 0.03635965109038169 Centerline is valid? [True, True] Translation: X:225.55, Y:-34.80, Z:-4.47 [[ 9.84582666e-01 1.73482034e-01 2.23820738e-02 2.25546670e+02] [-1.73451179e-01 9.84836848e-01 -3.32744708e-03 -3.48010413e+01] [-2.26199433e-02 -6.06050362e-04 9.99743953e-01 -4.47223920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21401273899997 meters 0.03608801602846272 Centerline is valid? [True, True] Translation: X:225.58, Y:-34.80, Z:-4.47 [[ 9.84833838e-01 1.72020359e-01 2.26121095e-02 2.25575353e+02] [-1.71988489e-01 9.85093225e-01 -3.36130630e-03 -3.48039964e+01] [-2.28532490e-02 -5.78694370e-04 9.99738663e-01 -4.47276260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters 0.035213773592589176 Centerline is valid? [True, True] Translation: X:225.60, Y:-34.81, Z:-4.47 [[ 9.85100398e-01 1.70463556e-01 2.27899534e-02 2.25603686e+02] [-1.70430786e-01 9.85363829e-01 -3.38690670e-03 -3.48063071e+01] [-2.30337399e-02 -5.47666533e-04 9.99734538e-01 -4.47279642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27401273899997 meters 0.035479646697082465 Centerline is valid? [True, True] Translation: X:225.63, Y:-34.81, Z:-4.47 [[ 9.85084660e-01 1.70554017e-01 2.27934138e-02 2.25632647e+02] [-1.70521279e-01 9.85348174e-01 -3.38660541e-03 -3.48078765e+01] [-2.30370478e-02 -5.50669039e-04 9.99734460e-01 -4.47341779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters 0.04053298381495517 Centerline is valid? [True, True] Translation: X:225.66, Y:-34.81, Z:-4.46 [[ 9.84916223e-01 1.71633127e-01 2.19568360e-02 2.25661810e+02] [-1.71603033e-01 9.85160779e-01 -3.26157304e-03 -3.48123559e+01] [-2.21908076e-02 -5.55483437e-04 9.99753599e-01 -4.46333340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33401273899997 meters 0.03645501001494003 Centerline is valid? [True, True] Translation: X:225.69, Y:-34.81, Z:-4.48 [[ 9.84875150e-01 1.71926437e-01 2.14997379e-02 2.25690314e+02] [-1.71897665e-01 9.85109637e-01 -3.19310413e-03 -3.48078119e+01] [-2.17285780e-02 -5.50945821e-04 9.99763755e-01 -4.47729682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters 0.04131622705628146 Centerline is valid? [True, True] Translation: X:225.72, Y:-34.81, Z:-4.47 [[ 9.84901346e-01 1.71918339e-01 2.03327918e-02 2.25718401e+02] [-1.71892629e-01 9.85111066e-01 -3.01861540e-03 -3.48073175e+01] [-2.05490136e-02 -5.22018669e-04 9.99788710e-01 -4.47055991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39401273899998 meters 0.0352938475443578 Centerline is valid? [True, True] Translation: X:225.75, Y:-34.81, Z:-4.48 [[ 9.85123361e-01 1.70630534e-01 2.04250964e-02 2.25746818e+02] [-1.70604338e-01 9.85334954e-01 -3.03110317e-03 -3.48125883e+01] [-2.06427602e-02 -4.98599514e-04 9.99786791e-01 -4.48087782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters 0.03496573906697814 Centerline is valid? [True, True] Translation: X:225.77, Y:-34.81, Z:-4.48 [[ 9.85656770e-01 1.67585317e-01 1.98970837e-02 2.25774629e+02] [-1.67559857e-01 9.85857485e-01 -2.95181452e-03 -3.48131728e+01] [-2.01103697e-02 -4.24476536e-04 9.99797676e-01 -4.48225960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45401273899998 meters 0.03154729082428312 Centerline is valid? [True, True] Translation: X:225.80, Y:-34.82, Z:-4.48 [[ 9.86035653e-01 1.65347252e-01 1.98488433e-02 2.25802100e+02] [-1.65321485e-01 9.86235338e-01 -2.94346299e-03 -3.48222745e+01] [-2.00623242e-02 -3.79080795e-04 9.99798659e-01 -4.48308190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters 0.02755793939123941 Centerline is valid? [True, True] Translation: X:225.83, Y:-34.83, Z:-4.48 [[ 9.86796003e-01 1.60749015e-01 1.98343741e-02 2.25830642e+02] [-1.60722376e-01 9.86995275e-01 -2.94036865e-03 -3.48326815e+01] [-2.00490948e-02 -2.86283688e-04 9.99798956e-01 -4.48274663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51401273899998 meters 0.02649344975852676 Centerline is valid? [True, True] Translation: X:225.86, Y:-34.84, Z:-4.48 [[ 9.87122316e-01 1.58739535e-01 1.97811579e-02 2.25858482e+02] [-1.58712644e-01 9.87320465e-01 -2.93200080e-03 -3.48377798e+01] [-1.99957664e-02 -2.45276457e-04 9.99800035e-01 -4.48371606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters 0.0260014222252681 Centerline is valid? [True, True] Translation: X:225.89, Y:-34.84, Z:-4.48 [[ 9.87377855e-01 1.57210330e-01 1.92323714e-02 2.25887280e+02] [-1.57184634e-01 9.87565121e-01 -2.84996606e-03 -3.48419128e+01] [-1.94412633e-02 -2.09039885e-04 9.99810979e-01 -4.48494940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57401273899998 meters 0.02478269894578494 Centerline is valid? [True, True] Translation: X:225.92, Y:-34.85, Z:-4.49 [[ 9.87709147e-01 1.55109474e-01 1.92793429e-02 2.25916674e+02] [-1.55083261e-01 9.87897273e-01 -2.85645828e-03 -3.48481087e+01] [-1.94890740e-02 -1.68553389e-04 9.99810056e-01 -4.48566764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters 0.024133183897288298 Centerline is valid? [True, True] Translation: X:225.95, Y:-34.85, Z:-4.48 [[ 9.87790641e-01 1.54529214e-01 1.97578379e-02 2.25946975e+02] [-1.54501578e-01 9.87988206e-01 -2.92686487e-03 -3.48544239e+01] [-1.99727969e-02 -1.61487403e-04 9.99800511e-01 -4.48497275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63401273899999 meters 0.0244991595560484 Centerline is valid? [True, True] Translation: X:225.98, Y:-34.86, Z:-4.49 [[ 9.87809322e-01 1.54359456e-01 2.01469839e-02 2.25976203e+02] [-1.54330685e-01 9.88014743e-01 -2.98451102e-03 -3.48572879e+01] [-2.03662046e-02 -1.61170032e-04 9.99792574e-01 -4.48526711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters 0.024413610376124564 Centerline is valid? [True, True] Translation: X:226.01, Y:-34.86, Z:-4.49 [[ 9.87838619e-01 1.54185432e-01 2.00428305e-02 2.26005154e+02] [-1.54156927e-01 9.88041916e-01 -2.96883358e-03 -3.48631267e+01] [-2.02609075e-02 -1.57012682e-04 9.99794714e-01 -4.48577982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694012739 meters 0.024492486910539707 Centerline is valid? [True, True] Translation: X:226.03, Y:-34.87, Z:-4.49 [[ 9.87823241e-01 1.54208025e-01 2.06186573e-02 2.26033363e+02] [-1.54177874e-01 9.88038389e-01 -3.05362034e-03 -3.48677796e+01] [-2.08429177e-02 -1.62503598e-04 9.99782750e-01 -4.48555408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters 0.02421053762464057 Centerline is valid? [True, True] Translation: X:226.06, Y:-34.87, Z:-4.48 [[ 9.87783005e-01 1.54311946e-01 2.17383928e-02 2.26063430e+02] [-1.54278467e-01 9.88022162e-01 -3.21894496e-03 -3.48734679e+01] [-2.19747356e-02 -1.74146783e-04 9.99758511e-01 -4.48382431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754012739 meters 0.025182625217493187 Centerline is valid? [True, True] Translation: X:226.09, Y:-34.87, Z:-4.48 [[ 9.87712703e-01 1.54779921e-01 2.16053850e-02 2.26093193e+02] [-1.54746963e-01 9.87948957e-01 -3.19923108e-03 -3.48740242e+01] [-2.18401944e-02 -1.83446537e-04 9.99761458e-01 -4.48366877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters 0.025352595813713175 Centerline is valid? [True, True] Translation: X:226.12, Y:-34.88, Z:-4.49 [[ 9.87599494e-01 1.55550029e-01 2.12468335e-02 2.26123041e+02] [-1.55518339e-01 9.87827996e-01 -3.14587016e-03 -3.48770275e+01] [-2.14775572e-02 -1.97412485e-04 9.99769311e-01 -4.48542308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814012739 meters 0.025387350275615318 Centerline is valid? [True, True] Translation: X:226.15, Y:-34.88, Z:-4.49 [[ 9.87457869e-01 1.56474340e-01 2.10413307e-02 2.26152371e+02] [-1.56443481e-01 9.87682001e-01 -3.11496286e-03 -3.48808308e+01] [-2.12695554e-02 -2.15884430e-04 9.99773754e-01 -4.48703797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters 0.026325537674164526 Centerline is valid? [True, True] Translation: X:226.18, Y:-34.88, Z:-4.49 [[ 9.87289893e-01 1.57590118e-01 2.05917987e-02 2.26181300e+02] [-1.57560816e-01 9.87504582e-01 -3.04791786e-03 -3.48816438e+01] [-2.08148173e-02 -2.35282122e-04 9.99783321e-01 -4.48871369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874012739 meters 0.02593072999361123 Centerline is valid? [True, True] Translation: X:226.21, Y:-34.89, Z:-4.49 [[ 9.87357841e-01 1.57144712e-01 2.07372223e-02 2.26211078e+02] [-1.57114913e-01 9.87575560e-01 -3.06869597e-03 -3.48862098e+01] [-2.09618033e-02 -2.28225843e-04 9.99780251e-01 -4.48941596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters 0.025558665886738545 Centerline is valid? [True, True] Translation: X:226.24, Y:-34.89, Z:-4.49 [[ 9.87506913e-01 1.56192881e-01 2.08298107e-02 2.26239239e+02] [-1.56162613e-01 9.87726551e-01 -3.08188212e-03 -3.48906561e+01] [-2.10555251e-02 -2.09457770e-04 9.99778286e-01 -4.48984543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93401273899997 meters 0.023761672589195027 Centerline is valid? [True, True] Translation: X:226.27, Y:-34.90, Z:-4.49 [[ 9.88062091e-01 1.52609788e-01 2.10607952e-02 2.26268162e+02] [-1.52578047e-01 9.88286514e-01 -3.11531083e-03 -3.49014764e+01] [-2.12895268e-02 -1.35294480e-04 9.99773343e-01 -4.49091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters 0.023203795850128904 Centerline is valid? [True, True] Translation: X:226.30, Y:-34.91, Z:-4.49 [[ 9.88403463e-01 1.50404702e-01 2.09050404e-02 2.26296505e+02] [-1.50372941e-01 9.88624508e-01 -3.09202172e-03 -3.49093958e+01] [-2.11322899e-02 -8.73874414e-05 9.99776684e-01 -4.49179825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99401273899997 meters 0.022905598027080195 Centerline is valid? [True, True] Translation: X:226.33, Y:-34.92, Z:-4.50 [[ 9.89113367e-01 1.45875445e-01 1.93675354e-02 2.26326837e+02] [-1.45847322e-01 9.89302964e-01 -2.86426544e-03 -3.49217827e+01] [-1.95781862e-02 8.38005386e-06 9.99808329e-01 -4.49551193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters 0.02310923345344649 Centerline is valid? [True, True] Translation: X:226.36, Y:-34.93, Z:-4.50 [[ 9.89412368e-01 1.43945735e-01 1.85146210e-02 2.26356707e+02] [-1.43919640e-01 9.89585582e-01 -2.74119721e-03 -3.49304137e+01] [-1.87163857e-02 4.75568381e-05 9.99824832e-01 -4.49760993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05401273899997 meters 0.02310923345344649 Centerline is valid? [True, True] Translation: X:226.39, Y:-34.93, Z:-4.50 [[ 9.89409036e-01 1.43968697e-01 1.85141635e-02 2.26387196e+02] [-1.43942549e-01 9.89582241e-01 -2.74428419e-03 -3.49349763e+01] [-1.87163784e-02 5.02436987e-05 9.99824832e-01 -4.49823611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters 0.02362171947569548 Centerline is valid? [True, True] Translation: X:226.42, Y:-34.94, Z:-4.50 [[ 9.89673487e-01 1.42212008e-01 1.79480725e-02 2.26418673e+02] [-1.42187143e-01 9.89836218e-01 -2.66047850e-03 -3.49435975e+01] [-1.81440042e-02 8.10198770e-05 9.99835381e-01 -4.50051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11401273899997 meters 0.024388772125289386 Centerline is valid? [True, True] Translation: X:226.45, Y:-34.95, Z:-4.50 [[ 9.89829094e-01 1.41168499e-01 1.76016979e-02 2.26448577e+02] [-1.41144368e-01 9.89985578e-01 -2.61203796e-03 -3.49525954e+01] [-1.77941646e-02 1.01090642e-04 9.99841666e-01 -4.50263292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters 0.024203251223020635 Centerline is valid? [True, True] Translation: X:226.48, Y:-34.96, Z:-4.50 [[ 9.89870237e-01 1.40996242e-01 1.66425539e-02 2.26480356e+02] [-1.40974605e-01 9.90010126e-01 -2.47205282e-03 -3.49569884e+01] [-1.68248471e-02 1.00834037e-04 9.99858447e-01 -4.50347349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17401273899998 meters 0.0239677931216819 Centerline is valid? [True, True] Translation: X:226.51, Y:-34.96, Z:-4.50 [[ 9.89753750e-01 1.41795883e-01 1.67762317e-02 2.26510244e+02] [-1.41773955e-01 9.89895913e-01 -2.49528317e-03 -3.49610075e+01] [-1.69605440e-02 9.12831583e-05 9.99856155e-01 -4.50400443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters 0.023347279498404493 Centerline is valid? [True, True] Translation: X:226.54, Y:-34.96, Z:-4.50 [[ 9.89389789e-01 1.44193465e-01 1.77789214e-02 2.26540584e+02] [-1.44169220e-01 9.89549515e-01 -2.64464998e-03 -3.49637125e+01] [-1.79744643e-02 5.34164557e-05 9.99838445e-01 -4.50294061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23401273899998 meters 0.02314417850184061 Centerline is valid? [True, True] Translation: X:226.57, Y:-34.97, Z:-4.50 [[ 9.89156485e-01 1.45742503e-01 1.81265153e-02 2.26569850e+02] [-1.45717556e-01 9.89322557e-01 -2.69662308e-03 -3.49655103e+01] [-1.83259830e-02 2.60307038e-05 9.99832065e-01 -4.50282998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters 0.023082244855411122 Centerline is valid? [True, True] Translation: X:226.60, Y:-34.96, Z:-4.50 [[ 9.88733122e-01 1.48528547e-01 1.86033635e-02 2.26600522e+02] [-1.48502768e-01 9.88908120e-01 -2.76730143e-03 -3.49635160e+01] [-1.88080405e-02 -2.65283912e-05 9.99823113e-01 -4.50205568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29401273899998 meters 0.023142693741348544 Centerline is valid? [True, True] Translation: X:226.63, Y:-34.97, Z:-4.50 [[ 9.88578649e-01 1.49474122e-01 1.92286485e-02 2.26630833e+02] [-1.49446754e-01 9.88765637e-01 -2.86055962e-03 -3.49660176e+01] [-1.94402065e-02 -4.57709470e-05 9.99811020e-01 -4.50177514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters 0.023166756079242568 Centerline is valid? [True, True] Translation: X:226.66, Y:-34.97, Z:-4.50 [[ 9.88486285e-01 1.50032340e-01 1.96255080e-02 2.26660184e+02] [-1.50003941e-01 9.88681088e-01 -2.91960407e-03 -3.49694518e+01] [-1.98414036e-02 -5.79149675e-05 9.99803138e-01 -4.50187520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35401273899998 meters 0.023050155948375978 Centerline is valid? [True, True] Translation: X:226.69, Y:-34.98, Z:-4.50 [[ 9.88534044e-01 1.49631745e-01 2.02678411e-02 2.26690198e+02] [-1.49601377e-01 9.88741796e-01 -3.01491773e-03 -3.49761008e+01] [-2.04907890e-02 -5.17481172e-05 9.99790040e-01 -4.50273532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters 0.022992864617962346 Centerline is valid? [True, True] Translation: X:226.72, Y:-34.98, Z:-4.51 [[ 9.88666996e-01 1.48887625e-01 1.92365893e-02 2.26720412e+02] [-1.48860126e-01 9.88854122e-01 -2.86161428e-03 -3.49827546e+01] [-1.94482395e-02 -3.43775050e-05 9.99810865e-01 -4.50512374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414012739 meters 0.023050345224388976 Centerline is valid? [True, True] Translation: X:226.75, Y:-34.99, Z:-4.51 [[ 9.88910510e-01 1.47345867e-01 1.85795130e-02 2.26751002e+02] [-1.47319885e-01 9.89085029e-01 -2.76695252e-03 -3.49901329e+01] [-1.87844172e-02 -8.63279521e-07 9.99823557e-01 -4.50666672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters 0.023138665635996557 Centerline is valid? [True, True] Translation: X:226.78, Y:-35.00, Z:-4.50 [[ 9.89248698e-01 1.44904052e-01 1.97440933e-02 2.26781288e+02] [-1.44874214e-01 9.89445710e-01 -2.94085320e-03 -3.49996032e+01] [-1.99618500e-02 4.88251969e-05 9.99800741e-01 -4.50483094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474012739 meters 0.023304935949615604 Centerline is valid? [True, True] Translation: X:226.81, Y:-35.01, Z:-4.50 [[ 9.89424153e-01 1.43467697e-01 2.13744230e-02 2.26812989e+02] [-1.43432315e-01 9.89654997e-01 -3.18730854e-03 -3.50068617e+01] [-2.16105803e-02 8.78170898e-05 9.99766460e-01 -4.50224155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters 0.023738311550651713 Centerline is valid? [True, True] Translation: X:226.84, Y:-35.02, Z:-4.50 [[ 9.89602186e-01 1.41999858e-01 2.28812865e-02 2.26843441e+02] [-1.41958823e-01 9.89866669e-01 -3.41611725e-03 -3.50156890e+01] [-2.31345110e-02 1.32396596e-04 9.99732353e-01 -4.50037577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534012739 meters 0.02485739974790733 Centerline is valid? [True, True] Translation: X:226.87, Y:-35.03, Z:-4.50 [[ 9.90014679e-01 1.38972509e-01 2.36130809e-02 2.26874170e+02] [-1.38927853e-01 9.90296216e-01 -3.52923130e-03 -3.50304152e+01] [-2.38744108e-02 2.13476166e-04 9.99714943e-01 -4.50080227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters 0.02541567498958074 Centerline is valid? [True, True] Translation: X:226.90, Y:-35.04, Z:-4.50 [[ 9.90209093e-01 1.37759458e-01 2.25451594e-02 2.26904167e+02] [-1.37718353e-01 9.90465687e-01 -3.37326141e-03 -3.50405691e+01] [-2.27949054e-02 2.35351905e-04 9.99740135e-01 -4.50272181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.594012739 meters 0.026104642112814744 Centerline is valid? [True, True] Translation: X:226.93, Y:-35.05, Z:-4.50 [[ 9.90343468e-01 1.36937866e-01 2.16295408e-02 2.26934187e+02] [-1.36899766e-01 9.90579608e-01 -3.23951621e-03 -3.50535111e+01] [-2.18693945e-02 2.47154644e-04 9.99760806e-01 -4.50391911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters 0.02581471495920388 Centerline is valid? [True, True] Translation: X:226.97, Y:-35.06, Z:-4.50 [[ 9.90201406e-01 1.38043201e-01 2.11009497e-02 2.26965224e+02] [-1.38007123e-01 9.90426184e-01 -3.16355836e-03 -3.50602243e+01] [-2.13356408e-02 2.20478581e-04 9.99772345e-01 -4.50471842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65401273899997 meters 0.02501583663366181 Centerline is valid? [True, True] Translation: X:227.00, Y:-35.07, Z:-4.51 [[ 9.90005685e-01 1.39466200e-01 2.09266210e-02 2.26997051e+02] [-1.39430960e-01 9.90226814e-01 -3.14084259e-03 -3.50656055e+01] [-2.11601426e-02 1.91633169e-04 9.99776081e-01 -4.50558072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters 0.023383291860813726 Centerline is valid? [True, True] Translation: X:227.03, Y:-35.07, Z:-4.51 [[ 9.89394608e-01 1.43933108e-01 1.95338080e-02 2.27028928e+02] [-1.43903215e-01 9.89587415e-01 -2.93481047e-03 -3.50694925e+01] [-1.97528269e-02 9.27078965e-05 9.99804890e-01 -4.51003446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71401273899997 meters 0.023020530463777694 Centerline is valid? [True, True] Translation: X:227.06, Y:-35.07, Z:-4.51 [[ 9.88952281e-01 1.47074475e-01 1.85063340e-02 2.27060262e+02] [-1.47048138e-01 9.89125421e-01 -2.78339529e-03 -3.50721332e+01] [-1.87144518e-02 3.13231779e-05 9.99824869e-01 -4.51226616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters 0.023631288165154474 Centerline is valid? [True, True] Translation: X:227.09, Y:-35.07, Z:-4.51 [[ 9.87861047e-01 1.54309213e-01 1.78667128e-02 2.27093510e+02] [-1.54285795e-01 9.88022599e-01 -2.69008237e-03 -3.50702067e+01] [-1.80678205e-02 -9.91523968e-05 9.99836759e-01 -4.51313666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77401273899997 meters 0.025403802979125575 Centerline is valid? [True, True] Translation: X:227.13, Y:-35.07, Z:-4.51 [[ 9.87219704e-01 1.58307745e-01 1.83279422e-02 2.27125014e+02] [-1.58283772e-01 9.87389805e-01 -2.76054067e-03 -3.50697842e+01] [-1.85338382e-02 -1.75755678e-04 9.99828218e-01 -4.51239631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters 0.027686990013391623 Centerline is valid? [True, True] Translation: X:227.16, Y:-35.07, Z:-4.51 [[ 9.86506893e-01 1.62632302e-01 1.88383750e-02 2.27156134e+02] [-1.62607698e-01 9.86686711e-01 -2.84080905e-03 -3.50697637e+01] [-1.90495816e-02 -2.60787078e-04 9.99818506e-01 -4.51187082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83401273899997 meters 0.03339147358118328 Centerline is valid? [True, True] Translation: X:227.19, Y:-35.06, Z:-4.51 [[ 9.84903990e-01 1.71979995e-01 1.96725957e-02 2.27188180e+02] [-1.71955024e-01 9.85100334e-01 -2.96661117e-03 -3.50629241e+01] [-1.98896784e-02 -4.60974498e-04 9.99802075e-01 -4.51063015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters 0.0404847331736235 Centerline is valid? [True, True] Translation: X:227.22, Y:-35.05, Z:-4.51 [[ 9.83964795e-01 1.77271329e-01 1.97017254e-02 2.27219268e+02] [-1.77247346e-01 9.84161853e-01 -2.97088938e-03 -3.50543789e+01] [-1.99163401e-02 -5.68827971e-04 9.99801488e-01 -4.51194385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89401273899998 meters 0.05176257150928854 Centerline is valid? [True, True] Translation: X:227.25, Y:-35.04, Z:-4.51 [[ 9.82223317e-01 1.86699891e-01 1.95065477e-02 2.27251047e+02] [-1.86678240e-01 9.82416706e-01 -2.94118333e-03 -3.50377498e+01] [-1.97126770e-02 -7.52549145e-04 9.99805403e-01 -4.51306493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters 0.05672230979865813 Centerline is valid? [True, True] Translation: X:227.28, Y:-35.03, Z:-4.51 [[ 9.81562355e-01 1.90104973e-01 1.98857362e-02 2.27281600e+02] [-1.90083169e-01 9.81763413e-01 -2.99829905e-03 -3.50324072e+01] [-2.00930798e-02 -8.36926283e-04 9.99797763e-01 -4.51303283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95401273899998 meters 0.05154963781102969 Centerline is valid? [True, True] Translation: X:227.31, Y:-35.04, Z:-4.51 [[ 9.81153639e-01 1.92156267e-01 2.03348159e-02 2.27309673e+02] [-1.92133917e-01 9.81363929e-01 -3.06553561e-03 -3.50406595e+01] [-2.05449167e-02 -8.99246414e-04 9.99788527e-01 -4.51325128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters 0.054315149959723405 Centerline is valid? [True, True] Translation: X:227.34, Y:-35.04, Z:-4.51 [[ 9.81012216e-01 1.92842383e-01 2.06602979e-02 2.27337728e+02] [-1.92819486e-01 9.81229306e-01 -3.11352182e-03 -3.50379848e+01] [-2.08729088e-02 -9.29305083e-04 9.99781705e-01 -4.51255474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01401273899998 meters 0.05375930112240993 Centerline is valid? [True, True] Translation: X:227.37, Y:-35.04, Z:-4.51 [[ 9.81172882e-01 1.91930146e-01 2.15080123e-02 2.27365622e+02] [-1.91905144e-01 9.81408131e-01 -3.23981966e-03 -3.50388302e+01] [-2.17299572e-02 -9.48675005e-04 9.99763427e-01 -4.51316494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters 0.05223397870169001 Centerline is valid? [True, True] Translation: X:227.39, Y:-35.04, Z:-4.52 [[ 9.81461815e-01 1.90528230e-01 2.07773709e-02 2.27393918e+02] [-1.90504609e-01 9.81681316e-01 -3.12858148e-03 -3.50437788e+01] [-2.09928399e-02 -8.87601663e-04 9.99779232e-01 -4.51547154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07401273899998 meters 0.04773839675868578 Centerline is valid? [True, True] Translation: X:227.42, Y:-35.05, Z:-4.52 [[ 9.82244703e-01 1.86504220e-01 2.02859465e-02 2.27423439e+02] [-1.86480866e-01 9.82453847e-01 -3.05365755e-03 -3.50525353e+01] [-2.04995262e-02 -7.83501912e-04 9.99789556e-01 -4.51725804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters 0.04950729905000378 Centerline is valid? [True, True] Translation: X:227.45, Y:-35.05, Z:-4.52 [[ 9.82588246e-01 1.84686873e-01 2.02755268e-02 2.27451817e+02] [-1.84663158e-01 9.82797132e-01 -3.05196084e-03 -3.50526299e+01] [-2.04903867e-02 -7.45321961e-04 9.99789772e-01 -4.51687056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13401273899999 meters 0.04552820485336324 Centerline is valid? [True, True] Translation: X:227.48, Y:-35.06, Z:-4.52 [[ 9.82864397e-01 1.83163029e-01 2.07094502e-02 2.27480077e+02] [-1.83137979e-01 9.83082281e-01 -3.11589607e-03 -3.50607698e+01] [-2.09298105e-02 -7.30183538e-04 9.99780681e-01 -4.51665832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters 0.04598891664287603 Centerline is valid? [True, True] Translation: X:227.51, Y:-35.06, Z:-4.52 [[ 9.83107539e-01 1.81835979e-01 2.08624704e-02 2.27507915e+02] [-1.81810281e-01 9.83328620e-01 -3.13791705e-03 -3.50615668e+01] [-2.10852505e-02 -7.08101698e-04 9.99777431e-01 -4.51681478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194012739 meters 0.04490071441973287 Centerline is valid? [True, True] Translation: X:227.54, Y:-35.07, Z:-4.52 [[ 9.83176331e-01 1.81486387e-01 2.06638129e-02 2.27536742e+02] [-1.81461123e-01 9.83393211e-01 -3.10683771e-03 -3.50665001e+01] [-2.08845020e-02 -6.95109395e-04 9.99781653e-01 -4.51817530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters 0.04398302292678621 Centerline is valid? [True, True] Translation: X:227.57, Y:-35.07, Z:-4.52 [[ 9.83179258e-01 1.81502378e-01 2.03821670e-02 2.27565043e+02] [-1.81477822e-01 9.83390266e-01 -3.06354872e-03 -3.50716370e+01] [-2.05996660e-02 -6.86893704e-04 9.99787568e-01 -4.51973523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254012739 meters 0.04243529376086308 Centerline is valid? [True, True] Translation: X:227.59, Y:-35.08, Z:-4.52 [[ 9.83362596e-01 1.80571397e-01 1.97983627e-02 2.27593785e+02] [-1.80548057e-01 9.83561665e-01 -2.97489256e-03 -3.50779826e+01] [-2.00100911e-02 -6.49157841e-04 9.99799567e-01 -4.52077246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters 0.043910262475779616 Centerline is valid? [True, True] Translation: X:227.62, Y:-35.08, Z:-4.52 [[ 9.83452231e-01 1.80126945e-01 1.93905423e-02 2.27621572e+02] [-1.80104497e-01 9.83643172e-01 -2.91222602e-03 -3.50793292e+01] [-1.95979449e-02 -6.28288693e-04 9.99807744e-01 -4.52144863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314012739 meters 0.04227654186646462 Centerline is valid? [True, True] Translation: X:227.65, Y:-35.08, Z:-4.52 [[ 9.83691224e-01 1.78840360e-01 1.91755550e-02 2.27650590e+02] [-1.78818187e-01 9.83877924e-01 -2.87870318e-03 -3.50821272e+01] [-1.93812336e-02 -5.97182925e-04 9.99811988e-01 -4.52208724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters 0.0442078989008446 Centerline is valid? [True, True] Translation: X:227.68, Y:-35.08, Z:-4.52 [[ 9.83717494e-01 1.78695024e-01 1.91827893e-02 2.27678073e+02] [-1.78672824e-01 9.83904332e-01 -2.87891520e-03 -3.50806467e+01] [-1.93884773e-02 -5.95403881e-04 9.99811849e-01 -4.52221465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374012739 meters 0.042414194519469484 Centerline is valid? [True, True] Translation: X:227.71, Y:-35.08, Z:-4.52 [[ 9.83723046e-01 1.78607477e-01 1.97062682e-02 2.27705364e+02] [-1.78584065e-01 9.83920218e-01 -2.95580718e-03 -3.50849466e+01] [-1.99173250e-02 -6.11529832e-04 9.99801443e-01 -4.52166158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters 0.04366845040315814 Centerline is valid? [True, True] Translation: X:227.73, Y:-35.08, Z:-4.52 [[ 9.83618629e-01 1.79179655e-01 1.97242188e-02 2.27734335e+02] [-1.79156343e-01 9.83816172e-01 -2.95710123e-03 -3.50824086e+01] [-1.99348578e-02 -6.25059049e-04 9.99801086e-01 -4.52171936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43401273899997 meters 0.04560461167691421 Centerline is valid? [True, True] Translation: X:227.76, Y:-35.08, Z:-4.52 [[ 9.83527371e-01 1.79666946e-01 1.98418350e-02 2.27762409e+02] [-1.79643477e-01 9.83727289e-01 -2.97356136e-03 -3.50809713e+01] [-2.00532052e-02 -6.39877230e-04 9.99798709e-01 -4.52199103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters 0.045548591960376965 Centerline is valid? [True, True] Translation: X:227.79, Y:-35.08, Z:-4.52 [[ 9.83441501e-01 1.80106690e-01 2.01095611e-02 2.27790957e+02] [-1.80082700e-01 9.83646861e-01 -3.01250270e-03 -3.50822052e+01] [-2.03232785e-02 -6.58763878e-04 9.99793244e-01 -4.52215706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49401273899997 meters 0.044791774031782125 Centerline is valid? [True, True] Translation: X:227.82, Y:-35.08, Z:-4.52 [[ 9.83407282e-01 1.80252474e-01 2.04734638e-02 2.27819667e+02] [-1.80227658e-01 9.83620145e-01 -3.06605660e-03 -3.50846847e+01] [-2.06907757e-02 -6.74702050e-04 9.99785695e-01 -4.52203251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters 0.043910610149586644 Centerline is valid? [True, True] Translation: X:227.85, Y:-35.08, Z:-4.52 [[ 9.83502245e-01 1.79612101e-01 2.15134223e-02 2.27848699e+02] [-1.79584570e-01 9.83737266e-01 -3.22074263e-03 -3.50849055e+01] [-2.17420396e-02 -6.95871078e-04 9.99763372e-01 -4.52159970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55401273899997 meters 0.04228435095478394 Centerline is valid? [True, True] Translation: X:227.88, Y:-35.09, Z:-4.52 [[ 9.83685294e-01 1.78591107e-01 2.16439333e-02 2.27877414e+02] [-1.78563016e-01 9.83923146e-01 -3.23925836e-03 -3.50886932e+01] [-2.18744697e-02 -6.78395214e-04 9.99760495e-01 -4.52223324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters 0.041690109692291095 Centerline is valid? [True, True] Translation: X:227.91, Y:-35.09, Z:-4.52 [[ 9.84143697e-01 1.75989523e-01 2.21104396e-02 2.27906804e+02] [-1.75959576e-01 9.84391835e-01 -3.30805562e-03 -3.50888837e+01] [-2.23475193e-02 -6.34941483e-04 9.99750061e-01 -4.52213703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61401273899997 meters 0.03963462755929374 Centerline is valid? [True, True] Translation: X:227.93, Y:-35.09, Z:-4.52 [[ 9.84454181e-01 1.74216945e-01 2.23253442e-02 2.27934883e+02] [-1.74185970e-01 9.84707111e-01 -3.33962707e-03 -3.50945219e+01] [-2.25657448e-02 -6.01051904e-04 9.99745180e-01 -4.52235911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters 0.036565179551431404 Centerline is valid? [True, True] Translation: X:227.96, Y:-35.10, Z:-4.52 [[ 9.84825635e-01 1.72104051e-01 2.23307964e-02 2.27963068e+02] [-1.72072541e-01 9.85078621e-01 -3.33940961e-03 -3.51025865e+01] [-2.25723160e-02 -5.53780691e-04 9.99745059e-01 -4.52345149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67401273899998 meters 0.03460804913529197 Centerline is valid? [True, True] Translation: X:227.99, Y:-35.11, Z:-4.53 [[ 9.85387240e-01 1.69089289e-01 2.05134024e-02 2.27990885e+02] [-1.69062065e-01 9.85600636e-01 -3.06673906e-03 -3.51075879e+01] [-2.07365751e-02 -4.46112632e-04 9.99784875e-01 -4.52804453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters 0.03420667069660992 Centerline is valid? [True, True] Translation: X:228.02, Y:-35.11, Z:-4.53 [[ 9.85519699e-01 1.68411674e-01 1.97086284e-02 2.28019825e+02] [-1.68386427e-01 9.85716661e-01 -2.94553747e-03 -3.51112050e+01] [-1.99231863e-02 -4.15780323e-04 9.99801427e-01 -4.53042653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73401273899998 meters 0.034332226582551376 Centerline is valid? [True, True] Translation: X:228.05, Y:-35.11, Z:-4.53 [[ 9.85526250e-01 1.68449852e-01 1.90435921e-02 2.28048814e+02] [-1.68426303e-01 9.85710142e-01 -2.84528773e-03 -3.51120607e+01] [-1.92507502e-02 -4.03336070e-04 9.99814606e-01 -4.53175098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters 0.035439532999637036 Centerline is valid? [True, True] Translation: X:228.08, Y:-35.11, Z:-4.53 [[ 9.85389879e-01 1.69301497e-01 1.85415439e-02 2.28076841e+02] [-1.69279339e-01 9.85564222e-01 -2.76949197e-03 -3.51119264e+01] [-1.87427614e-02 -4.09670931e-04 9.99824255e-01 -4.53220573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79401273899998 meters 0.037096542176075054 Centerline is valid? [True, True] Translation: X:228.11, Y:-35.11, Z:-4.53 [[ 9.85132826e-01 1.70782868e-01 1.86152661e-02 2.28106735e+02] [-1.70760828e-01 9.85308590e-01 -2.77886371e-03 -3.51094602e+01] [-1.88163639e-02 -4.41208399e-04 9.99822859e-01 -4.53272732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters 0.037672083660619755 Centerline is valid? [True, True] Translation: X:228.13, Y:-35.11, Z:-4.53 [[ 9.85097213e-01 1.70967876e-01 1.88006932e-02 2.28134637e+02] [-1.70945446e-01 9.85276501e-01 -2.80567961e-03 -3.51111262e+01] [-1.90035623e-02 -4.50025716e-04 9.99819315e-01 -4.53319075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85401273899998 meters 0.03727487373158857 Centerline is valid? [True, True] Translation: X:228.16, Y:-35.11, Z:-4.53 [[ 9.85147876e-01 1.70577195e-01 1.96744298e-02 2.28162983e+02] [-1.70552577e-01 9.85344206e-01 -2.93487685e-03 -3.51139102e+01] [-1.98867085e-02 -4.64237011e-04 9.99802132e-01 -4.53162537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters 0.033090987543527926 Centerline is valid? [True, True] Translation: X:228.19, Y:-35.12, Z:-4.53 [[ 9.85485832e-01 1.68313155e-01 2.20987838e-02 2.28191350e+02] [-1.68281552e-01 9.85733463e-01 -3.29539141e-03 -3.51196590e+01] [-2.23381684e-02 -4.71256085e-04 9.99750361e-01 -4.52739476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914012739 meters 0.03173447566453935 Centerline is valid? [True, True] Translation: X:228.22, Y:-35.12, Z:-4.53 [[ 9.85835658e-01 1.66305515e-01 2.16917159e-02 2.28220348e+02] [-1.66274601e-01 9.86074186e-01 -3.23367833e-03 -3.51238298e+01] [-2.19274197e-02 -4.18906010e-04 9.99759477e-01 -4.52869555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters 0.03173447566453935 Centerline is valid? [True, True] Translation: X:228.25, Y:-35.13, Z:-4.53 [[ 9.85847457e-01 1.66235541e-01 2.16918387e-02 2.28247555e+02] [-1.66204629e-01 9.86085985e-01 -3.23285455e-03 -3.51277492e+01] [-2.19274335e-02 -4.18182565e-04 9.99759477e-01 -4.52925392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974012739 meters 0.031642759384167614 Centerline is valid? [True, True] Translation: X:228.28, Y:-35.13, Z:-4.53 [[ 9.86243288e-01 1.63994296e-01 2.07375871e-02 2.28275592e+02] [-1.63965578e-01 9.86461224e-01 -3.08920482e-03 -3.51300049e+01] [-2.09634375e-02 -3.53542940e-04 9.99780180e-01 -4.53207927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters 0.027493324933979383 Centerline is valid? [True, True] Translation: X:228.30, Y:-35.14, Z:-4.53 [[ 9.86902451e-01 1.60126155e-01 1.95746668e-02 2.28302945e+02] [-1.60099829e-01 9.87096524e-01 -2.91485297e-03 -3.51394294e+01] [-1.97888298e-02 -2.57225270e-04 9.99804149e-01 -4.53453295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034012739 meters 0.026913286237966655 Centerline is valid? [True, True] Translation: X:228.33, Y:-35.14, Z:-4.53 [[ 9.87065679e-01 1.59064973e-01 1.99919764e-02 2.28331234e+02] [-1.59037315e-01 9.87268087e-01 -2.97600819e-03 -3.51421557e+01] [-2.02108190e-02 -2.41954712e-04 9.99795711e-01 -4.53337394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters 0.025968988109661872 Centerline is valid? [True, True] Translation: X:228.36, Y:-35.14, Z:-4.53 [[ 9.87247785e-01 1.57770304e-01 2.12212499e-02 2.28360556e+02] [-1.57738864e-01 9.87475811e-01 -3.15791977e-03 -3.51429303e+01] [-2.14536970e-02 -2.29766560e-04 9.99769817e-01 -4.53077691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.094012739 meters 0.029011809733528522 Centerline is valid? [True, True] Translation: X:228.39, Y:-35.15, Z:-4.52 [[ 9.87320796e-01 1.57283647e-01 2.14359755e-02 2.28388442e+02] [-1.57251476e-01 9.87553444e-01 -3.18881918e-03 -3.51472634e+01] [-2.16707206e-02 -2.22451297e-04 9.99765138e-01 -4.52486310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters 0.024904787152549426 Centerline is valid? [True, True] Translation: X:228.42, Y:-35.15, Z:-4.53 [[ 9.87578477e-01 1.55641753e-01 2.15498494e-02 2.28416623e+02] [-1.55608875e-01 9.87813550e-01 -3.20448484e-03 -3.51517405e+01] [-2.17859849e-02 -1.88667570e-04 9.99762639e-01 -4.53264439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15401273899997 meters 0.024090633675612698 Centerline is valid? [True, True] Translation: X:228.44, Y:-35.16, Z:-4.53 [[ 9.87918485e-01 1.53527830e-01 2.11251457e-02 2.28444246e+02] [-1.53495774e-01 9.88144314e-01 -3.14032195e-03 -3.51582106e+01] [-2.13568194e-02 -1.40238486e-04 9.99771907e-01 -4.53398738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters 0.023025121796211145 Centerline is valid? [True, True] Translation: X:228.47, Y:-35.17, Z:-4.54 [[ 9.88641910e-01 1.48878019e-01 2.05550348e-02 2.28471789e+02] [-1.48846685e-01 9.88855568e-01 -3.05460316e-03 -3.51684764e+01] [-2.07807239e-02 -3.96400847e-05 9.99784057e-01 -4.53580024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21401273899997 meters 0.022914713590512614 Centerline is valid? [True, True] Translation: X:228.50, Y:-35.18, Z:-4.54 [[ 9.88943606e-01 1.46859839e-01 2.05604279e-02 2.28499650e+02] [-1.46828072e-01 9.89157312e-01 -3.05440463e-03 -3.51755686e+01] [-2.07860670e-02 1.78593749e-06 9.99783946e-01 -4.53621854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters 0.023130086775561613 Centerline is valid? [True, True] Translation: X:228.53, Y:-35.18, Z:-4.54 [[ 9.89352555e-01 1.44037949e-01 2.08468448e-02 2.28526785e+02] [-1.44004687e-01 9.89572163e-01 -3.09591823e-03 -3.51846044e+01] [-2.10753870e-02 6.09112610e-05 9.99777888e-01 -4.53550507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27401273899997 meters 0.023166142419882144 Centerline is valid? [True, True] Translation: X:228.56, Y:-35.19, Z:-4.54 [[ 9.89419140e-01 1.43546768e-01 2.10734453e-02 2.28555603e+02] [-1.43512694e-01 9.89643532e-01 -3.12830009e-03 -3.51890263e+01] [-2.13042562e-02 7.08930828e-05 9.99773036e-01 -4.53544582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters 0.0231394039216153 Centerline is valid? [True, True] Translation: X:228.58, Y:-35.19, Z:-4.54 [[ 9.89402270e-01 1.43653894e-01 2.11354313e-02 2.28584750e+02] [-1.43619665e-01 9.89627988e-01 -3.13650641e-03 -3.51915815e+01] [-2.13667857e-02 6.78030135e-05 9.99771702e-01 -4.53619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33401273899997 meters 0.02314413410774942 Centerline is valid? [True, True] Translation: X:228.61, Y:-35.19, Z:-4.54 [[ 9.89317934e-01 1.44249854e-01 2.10239185e-02 2.28612221e+02] [-1.44216142e-01 9.89541296e-01 -3.11893514e-03 -3.51936775e+01] [-2.12539415e-02 5.36300605e-05 9.99774108e-01 -4.53694815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters 0.02314718059857253 Centerline is valid? [True, True] Translation: X:228.64, Y:-35.20, Z:-4.54 [[ 9.89136410e-01 1.45476158e-01 2.11151476e-02 2.28640152e+02] [-1.45442459e-01 9.89361757e-01 -3.13119689e-03 -3.51955575e+01] [-2.13460340e-02 2.61418646e-05 9.99772147e-01 -4.53671689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39401273899998 meters 0.02317797789086942 Centerline is valid? [True, True] Translation: X:228.67, Y:-35.20, Z:-4.54 [[ 9.89193272e-01 1.45104730e-01 2.10068631e-02 2.28668225e+02] [-1.45071318e-01 9.89416301e-01 -3.11389983e-03 -3.52006613e+01] [-2.12363744e-02 3.27554310e-05 9.99774482e-01 -4.53694893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters 0.02357768379403273 Centerline is valid? [True, True] Translation: X:228.70, Y:-35.21, Z:-4.54 [[ 9.89665933e-01 1.41954359e-01 2.02558722e-02 2.28695578e+02] [-1.41922653e-01 9.89873199e-01 -3.00164336e-03 -3.52114511e+01] [-2.04768413e-02 9.58570611e-05 9.99790323e-01 -4.53869678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45401273899998 meters 0.02423590943755347 Centerline is valid? [True, True] Translation: X:228.72, Y:-35.22, Z:-4.54 [[ 9.90010524e-01 1.39519036e-01 2.03371665e-02 2.28724444e+02] [-1.39486581e-01 9.90219378e-01 -3.01271808e-03 -3.52204401e+01] [-2.05585879e-02 1.45860784e-04 9.99788639e-01 -4.53948139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters 0.032803376045250666 Centerline is valid? [True, True] Translation: X:228.75, Y:-35.24, Z:-4.53 [[ 9.90614099e-01 1.34970061e-01 2.16053373e-02 2.28752094e+02] [-1.34932360e-01 9.90849644e-01 -3.20004908e-03 -3.52382820e+01] [-2.18395516e-02 2.54754587e-04 9.99761456e-01 -4.53056713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51401273899998 meters 0.027268451720623504 Centerline is valid? [True, True] Translation: X:228.78, Y:-35.25, Z:-4.54 [[ 9.90941989e-01 1.32549490e-01 2.15547671e-02 2.28781618e+02] [-1.32511398e-01 9.91176341e-01 -3.19231849e-03 -3.52450939e+01] [-2.17877153e-02 3.07150105e-04 9.99762572e-01 -4.54021796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters 0.028138269101652687 Centerline is valid? [True, True] Translation: X:228.81, Y:-35.25, Z:-4.54 [[ 9.91157801e-01 1.31079675e-01 2.05993333e-02 2.28812097e+02] [-1.31044568e-01 9.91371784e-01 -3.05082869e-03 -3.52539370e+01] [-2.08214994e-02 3.24421907e-04 9.99783156e-01 -4.54200273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57401273899998 meters 0.029081297304903154 Centerline is valid? [True, True] Translation: X:228.84, Y:-35.27, Z:-4.54 [[ 9.91240761e-01 1.30657592e-01 1.92443997e-02 2.28841139e+02] [-1.30626865e-01 9.91427504e-01 -2.85056647e-03 -3.52658626e+01] [-1.94518753e-02 3.11762085e-04 9.99810746e-01 -4.54482337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters 0.028725553592155003 Centerline is valid? [True, True] Translation: X:228.87, Y:-35.27, Z:-4.55 [[ 9.91129522e-01 1.31535267e-01 1.89932844e-02 2.28870135e+02] [-1.31505475e-01 9.91311449e-01 -2.81455798e-03 -3.52727041e+01] [-1.91984739e-02 2.91870619e-04 9.99815650e-01 -4.54586301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63401273899999 meters 0.02743717365978542 Centerline is valid? [True, True] Translation: X:228.90, Y:-35.28, Z:-4.55 [[ 9.90913871e-01 1.33081419e-01 1.94688400e-02 2.28900600e+02] [-1.33050419e-01 9.91105072e-01 -2.88478636e-03 -3.52775433e+01] [-1.96795775e-02 2.68237500e-04 9.99806302e-01 -4.54563354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters 0.02516834396083658 Centerline is valid? [True, True] Translation: X:228.93, Y:-35.28, Z:-4.54 [[ 9.90242609e-01 1.37722086e-01 2.12650300e-02 2.28930195e+02] [-1.37686171e-01 9.90470893e-01 -3.15092214e-03 -3.52812320e+01] [-2.14963448e-02 1.92276820e-04 9.99768908e-01 -4.54270704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694012739 meters 0.02427326130323803 Centerline is valid? [True, True] Translation: X:228.96, Y:-35.29, Z:-4.54 [[ 9.89903915e-01 1.40034639e-01 2.19211760e-02 2.28960428e+02] [-1.39997045e-01 9.90146594e-01 -3.24790241e-03 -3.52853154e+01] [-2.21599966e-02 1.46211436e-04 9.99754426e-01 -4.54201212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters 0.02320285657153329 Centerline is valid? [True, True] Translation: X:228.99, Y:-35.29, Z:-4.55 [[ 9.89358015e-01 1.43940071e-01 2.12596806e-02 2.28990734e+02] [-1.43905613e-01 9.89586405e-01 -3.14989341e-03 -3.52890969e+01] [-2.14916868e-02 5.69849237e-05 9.99769025e-01 -4.54528146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754012739 meters 0.023110465199286404 Centerline is valid? [True, True] Translation: X:229.02, Y:-35.29, Z:-4.55 [[ 9.89101978e-01 1.45775079e-01 2.06616331e-02 2.29019638e+02] [-1.45742933e-01 9.89317758e-01 -3.06128503e-03 -3.52933515e+01] [-2.08871796e-02 1.66360662e-05 9.99781839e-01 -4.54686268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters 0.023333822731573608 Centerline is valid? [True, True] Translation: X:229.05, Y:-35.30, Z:-4.55 [[ 9.88760066e-01 1.48047492e-01 2.08679833e-02 2.29048069e+02] [-1.48015206e-01 9.88980252e-01 -3.09183033e-03 -3.52966730e+01] [-2.10957611e-02 -3.17005025e-05 9.99777459e-01 -4.54666863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814012739 meters 0.024078867742222825 Centerline is valid? [True, True] Translation: X:229.08, Y:-35.30, Z:-4.54 [[ 9.88001318e-01 1.52759937e-01 2.27551695e-02 2.29078101e+02] [-1.52722816e-01 9.88263315e-01 -3.37058529e-03 -3.52964462e+01] [-2.30029897e-02 -1.45090859e-04 9.99735386e-01 -4.54274692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters 0.025362451732229067 Centerline is valid? [True, True] Translation: X:229.11, Y:-35.30, Z:-4.54 [[ 9.87596123e-01 1.55310541e-01 2.30766698e-02 2.29106935e+02] [-1.55273074e-01 9.87865675e-01 -3.41761069e-03 -3.52961533e+01] [-2.33274409e-02 -2.07966373e-04 9.99727857e-01 -4.54270976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874012739 meters 0.026761174814620318 Centerline is valid? [True, True] Translation: X:229.14, Y:-35.30, Z:-4.54 [[ 9.87216868e-01 1.57756740e-01 2.27082748e-02 2.29135985e+02] [-1.57721126e-01 9.87477970e-01 -3.36221723e-03 -3.52957446e+01] [-2.29543336e-02 -2.62337100e-04 9.99736480e-01 -4.54456319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters 0.02925595992386244 Centerline is valid? [True, True] Translation: X:229.16, Y:-35.29, Z:-4.55 [[ 9.86688703e-01 1.61086779e-01 2.22812290e-02 2.29164184e+02] [-1.61053364e-01 9.86940190e-01 -3.29791222e-03 -3.52930981e+01] [-2.25214904e-02 -3.34454147e-04 9.99746303e-01 -4.54713063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93401273899997 meters 0.029523561762311946 Centerline is valid? [True, True] Translation: X:229.19, Y:-35.30, Z:-4.55 [[ 9.86571293e-01 1.61753388e-01 2.26478416e-02 2.29193242e+02] [-1.61719071e-01 9.86831148e-01 -3.35083706e-03 -3.52956858e+01] [-2.28916048e-02 -3.56748248e-04 9.99737889e-01 -4.54693749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters 0.03002227546181883 Centerline is valid? [True, True] Translation: X:229.22, Y:-35.30, Z:-4.55 [[ 9.86448983e-01 1.62507313e-01 2.25782636e-02 2.29221885e+02] [-1.62473428e-01 9.86707268e-01 -3.33943897e-03 -3.52954795e+01] [-2.28208200e-02 -3.74181707e-04 9.99739501e-01 -4.54726510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99401273899997 meters 0.029788076365893933 Centerline is valid? [True, True] Translation: X:229.25, Y:-35.30, Z:-4.55 [[ 9.86515470e-01 1.62168519e-01 2.21042555e-02 2.29250231e+02] [-1.62135986e-01 9.86763012e-01 -3.26805741e-03 -3.52983681e+01] [-2.23416377e-02 -3.59906055e-04 9.99750330e-01 -4.54840222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters 0.029061897832965557 Centerline is valid? [True, True] Translation: X:229.28, Y:-35.30, Z:-4.55 [[ 9.86673829e-01 1.61187407e-01 2.22120618e-02 2.29278730e+02] [-1.61154331e-01 9.86923758e-01 -3.28292497e-03 -3.53020124e+01] [-2.24507777e-02 -3.40393813e-04 9.99747892e-01 -4.54972355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05401273899997 meters 0.027230614345407356 Centerline is valid? [True, True] Translation: X:229.31, Y:-35.31, Z:-4.55 [[ 9.87213012e-01 1.57854300e-01 2.21920773e-02 2.29306232e+02] [-1.57820465e-01 9.87462379e-01 -3.27888569e-03 -3.53067734e+01] [-2.24314277e-02 -2.65405350e-04 9.99748349e-01 -4.55014874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters 0.026124914940308837 Centerline is valid? [True, True] Translation: X:229.33, Y:-35.31, Z:-4.55 [[ 9.87423997e-01 1.56495846e-01 2.24254174e-02 2.29334998e+02] [-1.56460975e-01 9.87678588e-01 -3.31207623e-03 -3.53109384e+01] [-2.26674307e-02 -2.38279122e-04 9.99743032e-01 -4.54969855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11401273899997 meters 0.024967704408899446 Centerline is valid? [True, True] Translation: X:229.36, Y:-35.31, Z:-4.55 [[ 9.87881939e-01 1.53641634e-01 2.19891683e-02 2.29363298e+02] [-1.53607423e-01 9.88126621e-01 -3.24661352e-03 -3.53134663e+01] [-2.22268976e-02 -1.70428614e-04 9.99752937e-01 -4.55061476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters 0.02402596810397801 Centerline is valid? [True, True] Translation: X:229.39, Y:-35.32, Z:-4.55 [[ 9.88159820e-01 1.51949635e-01 2.12480156e-02 2.29391517e+02] [-1.51917321e-01 9.88388229e-01 -3.13620996e-03 -3.53188887e+01] [-2.14778345e-02 -1.28864949e-04 9.99769316e-01 -4.55296375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17401273899998 meters 0.023481260267706916 Centerline is valid? [True, True] Translation: X:229.42, Y:-35.32, Z:-4.55 [[ 9.88447446e-01 1.50191331e-01 2.03521781e-02 2.29419436e+02] [-1.50161332e-01 9.88656946e-01 -3.00302953e-03 -3.53237004e+01] [-2.05723512e-02 -8.77732982e-05 9.99788363e-01 -4.55493633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters 0.023012838305195935 Centerline is valid? [True, True] Translation: X:229.45, Y:-35.33, Z:-4.55 [[ 9.89256365e-01 1.44731440e-01 2.06071572e-02 2.29447596e+02] [-1.44699519e-01 9.89470975e-01 -3.03962695e-03 -3.53324453e+01] [-2.08301135e-02 2.51245626e-05 9.99783029e-01 -4.55454772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23401273899998 meters 0.023289955524203588 Centerline is valid? [True, True] Translation: X:229.48, Y:-35.34, Z:-4.55 [[ 9.89685273e-01 1.41626739e-01 2.15621778e-02 2.29476327e+02] [-1.41591071e-01 9.89920127e-01 -3.17968552e-03 -3.53406191e+01] [-2.17951622e-02 9.38760835e-05 9.99762453e-01 -4.55349659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters 0.025201270556962325 Centerline is valid? [True, True] Translation: X:229.50, Y:-35.35, Z:-4.55 [[ 9.90473817e-01 1.35893179e-01 2.22410106e-02 2.29504912e+02] [-1.35853796e-01 9.90723469e-01 -3.27926541e-03 -3.53523521e+01] [-2.24803210e-02 2.26500821e-04 9.99747260e-01 -4.55192086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29401273899998 meters 0.026849087612571154 Centerline is valid? [True, True] Translation: X:229.53, Y:-35.36, Z:-4.55 [[ 9.90866986e-01 1.33042495e-01 2.19615626e-02 2.29534045e+02] [-1.33003400e-01 9.91110292e-01 -3.23784694e-03 -3.53608986e+01] [-2.21971019e-02 2.87313144e-04 9.99753573e-01 -4.55300178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters 0.02838253909898704 Centerline is valid? [True, True] Translation: X:229.56, Y:-35.37, Z:-4.55 [[ 9.91195097e-01 1.30692289e-01 2.12557140e-02 2.29564384e+02] [-1.30655121e-01 9.91422925e-01 -3.13404125e-03 -3.53684416e+01] [-2.14829972e-02 3.29278436e-04 9.99769160e-01 -4.55455885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35401273899998 meters 0.029306248857701597 Centerline is valid? [True, True] Translation: X:229.60, Y:-35.38, Z:-4.56 [[ 9.91433635e-01 1.28916501e-01 2.09733981e-02 2.29595330e+02] [-1.28879906e-01 9.91655386e-01 -3.09290539e-03 -3.53750144e+01] [-2.11971097e-02 3.63360859e-04 9.99775250e-01 -4.55541273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters 0.03150655026360857 Centerline is valid? [True, True] Translation: X:229.63, Y:-35.39, Z:-4.55 [[ 9.91779761e-01 1.26028351e-01 2.21305428e-02 2.29625556e+02] [-1.25986872e-01 9.92026538e-01 -3.26422719e-03 -3.53852247e+01] [-2.23654709e-02 4.49236596e-04 9.99749761e-01 -4.55472270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414012739 meters 0.03278100197898883 Centerline is valid? [True, True] Translation: X:229.66, Y:-35.39, Z:-4.55 [[ 9.91954212e-01 1.24590869e-01 2.24489857e-02 2.29656891e+02] [-1.24547771e-01 9.92208080e-01 -3.31332024e-03 -3.53934886e+01] [-2.26868744e-02 4.90690838e-04 9.99742499e-01 -4.55482479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters 0.035982813124185116 Centerline is valid? [True, True] Translation: X:229.69, Y:-35.41, Z:-4.56 [[ 9.92379913e-01 1.21424064e-01 2.09357196e-02 2.29686531e+02] [-1.21385809e-01 9.92600583e-01 -3.09319401e-03 -3.54063197e+01] [-2.11563957e-02 5.28324350e-04 9.99776039e-01 -4.55773188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474012739 meters 0.03671364822513081 Centerline is valid? [True, True] Translation: X:229.72, Y:-35.41, Z:-4.56 [[ 9.92588604e-01 1.19868091e-01 1.99876152e-02 2.29717732e+02] [-1.19832849e-01 9.92789681e-01 -2.95602529e-03 -3.54139395e+01] [-2.01978312e-02 5.38944137e-04 9.99795858e-01 -4.56074396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters 0.039190736615393566 Centerline is valid? [True, True] Translation: X:229.75, Y:-35.42, Z:-4.56 [[ 9.92823191e-01 1.17966988e-01 1.96443433e-02 2.29747368e+02] [-1.17932510e-01 9.93017353e-01 -2.90852817e-03 -3.54239579e+01] [-1.98502841e-02 5.70947516e-04 9.99802801e-01 -4.56227682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534012739 meters 0.04143597189802239 Centerline is valid? [True, True] Translation: X:229.78, Y:-35.44, Z:-4.56 [[ 9.93223297e-01 1.14419920e-01 2.03853959e-02 2.29777294e+02] [-1.14382033e-01 9.93432251e-01 -3.01874920e-03 -3.54355060e+01] [-2.05969147e-02 6.66569002e-04 9.99787639e-01 -4.56128490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters 0.0434416965310575 Centerline is valid? [True, True] Translation: X:229.81, Y:-35.45, Z:-4.56 [[ 9.93315312e-01 1.13522584e-01 2.09120689e-02 2.29807775e+02] [-1.13482502e-01 9.93535167e-01 -3.09735681e-03 -3.54452971e+01] [-2.11284958e-02 7.03498040e-04 9.99776521e-01 -4.56040015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.594012739 meters 0.04305614809393139 Centerline is valid? [True, True] Translation: X:229.84, Y:-35.45, Z:-4.56 [[ 9.93391713e-01 1.12704934e-01 2.16910465e-02 2.29839086e+02] [-1.12661539e-01 9.93628217e-01 -3.21619345e-03 -3.54516248e+01] [-2.19153167e-02 7.51193232e-04 9.99759548e-01 -4.55911434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters 0.04552768204518857 Centerline is valid? [True, True] Translation: X:229.87, Y:-35.46, Z:-4.56 [[ 9.93437737e-01 1.12067284e-01 2.28557948e-02 2.29868962e+02] [-1.12018843e-01 9.93700290e-01 -3.39284757e-03 -3.54648212e+01] [-2.30920371e-02 8.10303113e-04 9.99733015e-01 -4.55730333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65401273899997 meters 0.04793187442800043 Centerline is valid? [True, True] Translation: X:229.90, Y:-35.48, Z:-4.56 [[ 9.93454424e-01 1.11919280e-01 2.28556602e-02 2.29899064e+02] [-1.11870721e-01 9.93716965e-01 -3.39632509e-03 -3.54755613e+01] [-2.30921716e-02 8.17215012e-04 9.99733006e-01 -4.55765822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters 0.04347475478270567 Centerline is valid? [True, True] Translation: X:229.93, Y:-35.48, Z:-4.56 [[ 9.93553906e-01 1.11329955e-01 2.13606396e-02 2.29931150e+02] [-1.11287340e-01 9.93783192e-01 -3.17719312e-03 -3.54804444e+01] [-2.15815614e-02 7.79543870e-04 9.99766787e-01 -4.56133604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71401273899997 meters 0.04580352652477442 Centerline is valid? [True, True] Translation: X:229.96, Y:-35.49, Z:-4.56 [[ 9.93562919e-01 1.11573055e-01 1.96004853e-02 2.29961905e+02] [-1.11537162e-01 9.93755978e-01 -2.91840863e-03 -3.54925133e+01] [-1.98037152e-02 7.13440097e-04 9.99803633e-01 -4.56485664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters 0.045985599457993354 Centerline is valid? [True, True] Translation: X:229.99, Y:-35.50, Z:-4.57 [[ 9.93535379e-01 1.12014710e-01 1.84433036e-02 2.29992704e+02] [-1.11982949e-01 9.93706325e-01 -2.74924161e-03 -3.55009304e+01] [-1.86351829e-02 6.66133293e-04 9.99826128e-01 -4.56783499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77401273899997 meters 0.04243950279994119 Centerline is valid? [True, True] Translation: X:230.02, Y:-35.51, Z:-4.57 [[ 9.93254721e-01 1.14364891e-01 1.91240948e-02 2.30024003e+02] [-1.14331110e-01 9.93438600e-01 -2.85407306e-03 -3.55062089e+01] [-1.93250197e-02 6.48342547e-04 9.99813044e-01 -4.56587682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters 0.04834031605924581 Centerline is valid? [True, True] Translation: X:230.05, Y:-35.51, Z:-4.56 [[ 9.93039316e-01 1.16121531e-01 1.97156697e-02 2.30054270e+02] [-1.16085961e-01 9.93234810e-01 -2.94304221e-03 -3.55145706e+01] [-1.99240401e-02 6.33844159e-04 9.99801296e-01 -4.55558297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83401273899997 meters 0.03909841108957248 Centerline is valid? [True, True] Translation: X:230.09, Y:-35.52, Z:-4.57 [[ 9.92726181e-01 1.18639820e-01 2.04773734e-02 2.30085282e+02] [-1.18601916e-01 9.92937169e-01 -3.05995703e-03 -3.55170703e+01] [-2.06957779e-02 6.09043737e-04 9.99785634e-01 -4.56506541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters 0.03909841108957248 Centerline is valid? [True, True] Translation: X:230.12, Y:-35.52, Z:-4.57 [[ 9.92704286e-01 1.18822900e-01 2.04772928e-02 2.30117418e+02] [-1.18785024e-01 9.92915279e-01 -3.06049615e-03 -3.55220517e+01] [-2.06958739e-02 6.05771931e-04 9.99785634e-01 -4.56572592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89401273899998 meters 0.03685223579173275 Centerline is valid? [True, True] Translation: X:230.15, Y:-35.53, Z:-4.57 [[ 9.92242640e-01 1.22618639e-01 2.04746832e-02 2.30145764e+02] [-1.22581501e-01 9.92453721e-01 -3.06388837e-03 -3.55304335e+01] [-2.06958654e-02 5.30303282e-04 9.99785677e-01 -4.56689462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters 0.034713444108803074 Centerline is valid? [True, True] Translation: X:230.18, Y:-35.53, Z:-4.57 [[ 9.91942795e-01 1.25072020e-01 2.01613708e-02 2.30176497e+02] [-1.25036521e-01 9.92147553e-01 -3.01677356e-03 -3.55347430e+01] [-2.03803687e-02 4.71559123e-04 9.99792188e-01 -4.56885838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95401273899998 meters 0.02936178225072409 Centerline is valid? [True, True] Translation: X:230.21, Y:-35.53, Z:-4.57 [[ 9.91146060e-01 1.31180072e-01 2.05250078e-02 2.30207757e+02] [-1.31144579e-01 9.91358494e-01 -3.07166796e-03 -3.55345979e+01] [-2.07505824e-02 3.52728094e-04 9.99784621e-01 -4.56788192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters 0.026756223353774422 Centerline is valid? [True, True] Translation: X:230.24, Y:-35.54, Z:-4.57 [[ 9.90611746e-01 1.35074147e-01 2.10557364e-02 2.30239960e+02] [-1.35037666e-01 9.90835454e-01 -3.15143297e-03 -3.55351132e+01] [-2.12884472e-02 2.78529019e-04 9.99773337e-01 -4.56727093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01401273899998 meters 0.024334640735555652 Centerline is valid? [True, True] Translation: X:230.27, Y:-35.53, Z:-4.57 [[ 9.90008637e-01 1.39419957e-01 2.10943992e-02 2.30272011e+02] [-1.39384302e-01 9.90233326e-01 -3.15839769e-03 -3.55342952e+01] [-2.13287207e-02 1.86612890e-04 9.99772500e-01 -4.56718929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters 0.022323071635078313 Centerline is valid? [True, True] Translation: X:230.30, Y:-35.52, Z:-4.57 [[ 9.88791660e-01 1.47978204e-01 1.98369449e-02 2.30304945e+02] [-1.47948332e-01 9.88990622e-01 -2.97320772e-03 -3.55246199e+01] [-2.00585224e-02 5.04009459e-06 9.99798808e-01 -4.57168851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07401273899998 meters 0.022947631110498818 Centerline is valid? [True, True] Translation: X:230.34, Y:-35.52, Z:-4.57 [[ 9.88169558e-01 1.52134826e-01 1.93886281e-02 2.30336547e+02] [-1.52107075e-01 9.88359747e-01 -2.90670818e-03 -3.55216795e+01] [-1.96051511e-02 -7.68269708e-05 9.99807798e-01 -4.57332636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters 0.024218630201191357 Centerline is valid? [True, True] Translation: X:230.37, Y:-35.52, Z:-4.57 [[ 9.87645336e-01 1.55493609e-01 1.94532159e-02 2.30366993e+02] [-1.55466324e-01 9.87836888e-01 -2.91640588e-03 -3.55189822e+01] [-1.96700867e-02 -1.43945290e-04 9.99806515e-01 -4.57397316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13401273899999 meters 0.02679476604024363 Centerline is valid? [True, True] Translation: X:230.40, Y:-35.51, Z:-4.57 [[ 9.86921705e-01 1.59859447e-01 2.07486095e-02 2.30397258e+02] [-1.59829381e-01 9.87139755e-01 -3.11008197e-03 -3.55112042e+01] [-2.09789533e-02 -2.46830016e-04 9.99779887e-01 -4.57221506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters 0.026218545103050533 Centerline is valid? [True, True] Translation: X:230.43, Y:-35.51, Z:-4.57 [[ 9.86823364e-01 1.60449999e-01 2.08673344e-02 2.30426775e+02] [-1.60419736e-01 9.87043935e-01 -3.12714544e-03 -3.55139137e+01] [-2.10987264e-02 -2.61592099e-04 9.99777363e-01 -4.57266270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194012739 meters 0.025400899732122346 Centerline is valid? [True, True] Translation: X:230.46, Y:-35.52, Z:-4.58 [[ 9.87159341e-01 1.58535327e-01 1.95700331e-02 2.30455584e+02] [-1.58508343e-01 9.87353284e-01 -2.93228965e-03 -3.55164751e+01] [-1.97874079e-02 -2.07376390e-04 9.99804189e-01 -4.57551623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters 0.031086152901451142 Centerline is valid? [True, True] Translation: X:230.48, Y:-35.52, Z:-4.57 [[ 9.87530829e-01 1.56304068e-01 1.87590207e-02 2.30484850e+02] [-1.56278884e-01 9.87708972e-01 -2.81009649e-03 -3.55241171e+01] [-1.89676825e-02 -1.56581893e-04 9.99820085e-01 -4.56862381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254012739 meters 0.023569864980716174 Centerline is valid? [True, True] Translation: X:230.51, Y:-35.53, Z:-4.58 [[ 9.87870725e-01 1.54121759e-01 1.89186212e-02 2.30512863e+02] [-1.54095753e-01 9.88051856e-01 -2.83355075e-03 -3.55270204e+01] [-1.91292906e-02 -1.16097353e-04 9.99817012e-01 -4.57843678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters 0.022219257914876746 Centerline is valid? [True, True] Translation: X:230.54, Y:-35.53, Z:-4.58 [[ 9.88675985e-01 1.48688280e-01 2.02877431e-02 2.30541545e+02] [-1.48657245e-01 9.88884116e-01 -3.03781848e-03 -3.55346969e+01] [-2.05139149e-02 -1.25018240e-05 9.99789567e-01 -4.57675507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314012739 meters 0.02221780427479948 Centerline is valid? [True, True] Translation: X:230.57, Y:-35.54, Z:-4.58 [[ 9.88978433e-01 1.46657161e-01 2.03306573e-02 2.30571493e+02] [-1.46625575e-01 9.89187382e-01 -3.04375308e-03 -3.55403341e+01] [-2.05572179e-02 2.92118265e-05 9.99788678e-01 -4.57741364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters 0.022665325590336547 Centerline is valid? [True, True] Translation: X:230.60, Y:-35.55, Z:-4.58 [[ 9.89413250e-01 1.43812699e-01 1.94763717e-02 2.30601535e+02] [-1.43783161e-01 9.89604921e-01 -2.91584859e-03 -3.55467049e+01] [-1.96932493e-02 8.46049437e-05 9.99806066e-01 -4.58045946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.374012739 meters 0.02317290121598691 Centerline is valid? [True, True] Translation: X:230.63, Y:-35.55, Z:-4.58 [[ 9.89650942e-01 1.42114774e-01 1.98596310e-02 2.30631160e+02] [-1.42083715e-01 9.89850179e-01 -2.97346991e-03 -3.55532831e+01] [-2.00806333e-02 1.20967147e-04 9.99798356e-01 -4.58033737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters 0.023696524686116955 Centerline is valid? [True, True] Translation: X:230.66, Y:-35.56, Z:-4.58 [[ 9.89845935e-01 1.40697185e-01 2.02318223e-02 2.30660648e+02] [-1.40664650e-01 9.90052665e-01 -3.02944209e-03 -3.55597351e+01] [-2.04568036e-02 1.52778736e-04 9.99790726e-01 -4.57936106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43401273899997 meters 0.025054447053596055 Centerline is valid? [True, True] Translation: X:230.69, Y:-35.57, Z:-4.58 [[ 9.90258111e-01 1.37767360e-01 2.02244330e-02 2.30691117e+02] [-1.37734232e-01 9.90464593e-01 -3.02859418e-03 -3.55689626e+01] [-2.04488263e-02 2.13493205e-04 9.99790878e-01 -4.57975828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters 0.02617631200773088 Centerline is valid? [True, True] Translation: X:230.72, Y:-35.58, Z:-4.58 [[ 9.90435515e-01 1.36483395e-01 2.02428627e-02 2.30721130e+02] [-1.36449875e-01 9.90642329e-01 -3.03444782e-03 -3.55763250e+01] [-2.04675884e-02 2.43288793e-04 9.99790487e-01 -4.58000255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49401273899997 meters 0.02774149086385445 Centerline is valid? [True, True] Translation: X:230.75, Y:-35.58, Z:-4.58 [[ 9.90788900e-01 1.33818558e-01 2.07352044e-02 2.30752378e+02] [-1.33782736e-01 9.91005801e-01 -3.11147316e-03 -3.55841379e+01] [-2.09650807e-02 3.08800679e-04 9.99780161e-01 -4.57969372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters 0.0285315701488471 Centerline is valid? [True, True] Translation: X:230.78, Y:-35.59, Z:-4.58 [[ 9.90956345e-01 1.32540503e-01 2.09412667e-02 2.30784013e+02] [-1.32503606e-01 9.91177531e-01 -3.14588391e-03 -3.55904569e+01] [-2.11734701e-02 3.42640259e-04 9.99775758e-01 -4.57998250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55401273899997 meters 0.029421218610146384 Centerline is valid? [True, True] Translation: X:230.82, Y:-35.60, Z:-4.58 [[ 9.91095640e-01 1.31428867e-01 2.13514830e-02 2.30815822e+02] [-1.31390175e-01 9.91325532e-01 -3.21110852e-03 -3.55973564e+01] [-2.15883026e-02 3.77140581e-04 9.99766874e-01 -4.57999465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters 0.030725125061323896 Centerline is valid? [True, True] Translation: X:230.85, Y:-35.61, Z:-4.58 [[ 9.91441817e-01 1.28748828e-01 2.16070160e-02 2.30846588e+02] [-1.28708489e-01 9.91677136e-01 -3.25312927e-03 -3.56062794e+01] [-2.18460203e-02 4.44282009e-04 9.99761249e-01 -4.58011109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61401273899997 meters 0.0342890080655491 Centerline is valid? [True, True] Translation: X:230.88, Y:-35.62, Z:-4.58 [[ 9.91645457e-01 1.27225753e-01 2.12813433e-02 2.30875854e+02] [-1.27186203e-01 9.91873673e-01 -3.20721938e-03 -3.56176436e+01] [-2.15164451e-02 4.73731275e-04 9.99768382e-01 -4.58062211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters 0.03482288313414215 Centerline is valid? [True, True] Translation: X:230.91, Y:-35.62, Z:-4.58 [[ 9.91971249e-01 1.24919840e-01 1.96996083e-02 2.30906855e+02] [-1.24885490e-01 9.92166719e-01 -2.96923138e-03 -3.56248593e+01] [-1.99162117e-02 4.85196927e-04 9.99801535e-01 -4.58389679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67401273899998 meters 0.035712656234699894 Centerline is valid? [True, True] Translation: X:230.94, Y:-35.63, Z:-4.59 [[ 9.92111744e-01 1.23929340e-01 1.88628337e-02 2.30938262e+02] [-1.23897615e-01 9.92290926e-01 -2.84586371e-03 -3.56325499e+01] [-1.90701047e-02 4.86354711e-04 9.99818031e-01 -4.58646848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters 0.037330441589635915 Centerline is valid? [True, True] Translation: X:230.97, Y:-35.64, Z:-4.59 [[ 9.92178210e-01 1.23457371e-01 1.84574590e-02 2.30968574e+02] [-1.23426857e-01 9.92349757e-01 -2.78771947e-03 -3.56420173e+01] [-1.86604195e-02 4.87768364e-04 9.99825760e-01 -4.58845525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73401273899998 meters 0.037348375422323055 Centerline is valid? [True, True] Translation: X:231.00, Y:-35.65, Z:-4.59 [[ 9.92193921e-01 1.23512444e-01 1.72017320e-02 2.31000843e+02] [-1.23485909e-01 9.92342919e-01 -2.60037778e-03 -3.56499623e+01] [-1.73911960e-02 4.55907506e-04 9.99848658e-01 -4.58676966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters 0.038180834717463474 Centerline is valid? [True, True] Translation: X:231.03, Y:-35.66, Z:-4.59 [[ 9.92126920e-01 1.24039432e-01 1.72740878e-02 2.31030550e+02] [-1.24012693e-01 9.92277187e-01 -2.61476364e-03 -3.56592795e+01] [-1.74650170e-02 4.51971260e-04 9.99847373e-01 -4.59138916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79401273899998 meters 0.034833195086537434 Centerline is valid? [True, True] Translation: X:231.06, Y:-35.66, Z:-4.59 [[ 9.91909943e-01 1.25603397e-01 1.83970582e-02 2.31062792e+02] [-1.25573280e-01 9.92080430e-01 -2.78778387e-03 -3.56631433e+01] [-1.86015166e-02 4.55051586e-04 9.99826873e-01 -4.58926623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters 0.03357938768666319 Centerline is valid? [True, True] Translation: X:231.09, Y:-35.67, Z:-4.59 [[ 9.91753528e-01 1.26630212e-01 1.97415551e-02 2.31094791e+02] [-1.26595665e-01 9.91949881e-01 -2.99505551e-03 -3.56674398e+01] [-1.99618977e-02 4.71161589e-04 9.99800630e-01 -4.58751330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85401273899998 meters 0.03308214808903305 Centerline is valid? [True, True] Translation: X:231.13, Y:-35.67, Z:-4.59 [[ 9.91529191e-01 1.28174141e-01 2.10060389e-02 2.31125802e+02] [-1.28135292e-01 9.91751565e-01 -3.19064323e-03 -3.56728730e+01] [-2.12417299e-02 4.72000965e-04 9.99774258e-01 -4.58542852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters 0.0319334453710264 Centerline is valid? [True, True] Translation: X:231.16, Y:-35.68, Z:-4.59 [[ 9.91146577e-01 1.31171549e-01 2.05545197e-02 2.31156159e+02] [-1.31134932e-01 9.91359603e-01 -3.12513022e-03 -3.56775660e+01] [-2.07868487e-02 4.02046571e-04 9.99783849e-01 -4.58765050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914012739 meters 0.030453282705072183 Centerline is valid? [True, True] Translation: X:231.19, Y:-35.68, Z:-4.59 [[ 9.90928730e-01 1.32967522e-01 1.94907921e-02 2.31188456e+02] [-1.32934938e-01 9.91120335e-01 -2.96375628e-03 -3.56811321e+01] [-1.97118037e-02 3.45864006e-04 9.99805644e-01 -4.59019793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters 0.028775345622814034 Centerline is valid? [True, True] Translation: X:231.22, Y:-35.68, Z:-4.59 [[ 9.90702938e-01 1.34769944e-01 1.85674918e-02 2.31220676e+02] [-1.34740637e-01 9.90876871e-01 -2.82620017e-03 -3.56836110e+01] [-1.87789850e-02 2.98129146e-04 9.99823615e-01 -4.59261068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974012739 meters 0.02727717441126079 Centerline is valid? [True, True] Translation: X:231.25, Y:-35.69, Z:-4.59 [[ 9.90285479e-01 1.37772268e-01 1.88008519e-02 2.31251833e+02] [-1.37742701e-01 9.90463902e-01 -2.86487595e-03 -3.56872189e+01] [-1.90162656e-02 2.47364943e-04 9.99819144e-01 -4.59247808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters 0.027330035821385257 Centerline is valid? [True, True] Translation: X:231.28, Y:-35.69, Z:-4.59 [[ 9.90058893e-01 1.39261568e-01 1.97383954e-02 2.31282191e+02] [-1.39229211e-01 9.90255604e-01 -3.01090787e-03 -3.56930534e+01] [-1.99653605e-02 2.32814893e-04 9.99800645e-01 -4.59110656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034012739 meters 0.024604322256775064 Centerline is valid? [True, True] Translation: X:231.31, Y:-35.69, Z:-4.59 [[ 9.89716974e-01 1.41451039e-01 2.12582940e-02 2.31314675e+02] [-1.41413938e-01 9.89945231e-01 -3.24613912e-03 -3.56929338e+01] [-2.15037165e-02 2.06539928e-04 9.99768747e-01 -4.58913433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters 0.02377981874283716 Centerline is valid? [True, True] Translation: X:231.35, Y:-35.70, Z:-4.59 [[ 9.89517538e-01 1.42843648e-01 2.12304970e-02 2.31347010e+02] [-1.42806888e-01 9.89745250e-01 -3.24538985e-03 -3.56957217e+01] [-2.14763669e-02 1.79508955e-04 9.99769340e-01 -4.58996111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.094012739 meters 0.02624246208060758 Centerline is valid? [True, True] Translation: X:231.38, Y:-35.70, Z:-4.59 [[ 9.89302675e-01 1.44409584e-01 2.06419359e-02 2.31378775e+02] [-1.44375105e-01 9.89517989e-01 -3.15877898e-03 -3.56991627e+01] [-2.08817248e-02 1.44806826e-04 9.99781943e-01 -4.58666654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters 0.02248981537006918 Centerline is valid? [True, True] Translation: X:231.41, Y:-35.70, Z:-4.59 [[ 9.88907079e-01 1.47142509e-01 2.02946133e-02 2.31410256e+02] [-1.47109686e-01 9.89115299e-01 -3.10904219e-03 -3.57004429e+01] [-2.05311848e-02 8.90196487e-05 9.99789209e-01 -4.59312093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15401273899997 meters 0.02227268131400739 Centerline is valid? [True, True] Translation: X:231.44, Y:-35.70, Z:-4.59 [[ 9.88759005e-01 1.48065397e-01 2.07910824e-02 2.31442684e+02] [-1.48031108e-01 9.88977569e-01 -3.18723381e-03 -3.57041595e+01] [-2.10338331e-02 7.36791723e-05 9.99778762e-01 -4.59338215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters 0.022276357043439287 Centerline is valid? [True, True] Translation: X:231.47, Y:-35.71, Z:-4.60 [[ 9.88696976e-01 1.48549397e-01 2.02821625e-02 2.31474058e+02] [-1.48516799e-01 9.88904986e-01 -3.11259106e-03 -3.57090568e+01] [-2.05195052e-02 6.51675192e-05 9.99789451e-01 -4.59517840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21401273899997 meters 0.02240999639996132 Centerline is valid? [True, True] Translation: X:231.51, Y:-35.72, Z:-4.60 [[ 9.88733071e-01 1.48467944e-01 1.90835994e-02 2.31505859e+02] [-1.48439009e-01 9.88917219e-01 -2.93178053e-03 -3.57154242e+01] [-1.93073755e-02 6.59977744e-05 9.99813593e-01 -4.59811472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters 0.022581168330713094 Centerline is valid? [True, True] Translation: X:231.54, Y:-35.72, Z:-4.60 [[ 9.88766898e-01 1.48402353e-01 1.77978158e-02 2.31537135e+02] [-1.48377141e-01 9.88927064e-01 -2.73615943e-03 -3.57213850e+01] [-1.80067942e-02 6.46348597e-05 9.99837862e-01 -4.60131170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27401273899997 meters 0.022672661097367992 Centerline is valid? [True, True] Translation: X:231.57, Y:-35.73, Z:-4.60 [[ 9.88758066e-01 1.48584172e-01 1.67401039e-02 2.31567156e+02] [-1.48561841e-01 9.88899762e-01 -2.57666704e-03 -3.57264400e+01] [-1.69371368e-02 6.07596601e-05 9.99856555e-01 -4.60462063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters 0.02241581271914616 Centerline is valid? [True, True] Translation: X:231.60, Y:-35.73, Z:-4.60 [[ 9.88646917e-01 1.49196780e-01 1.78211861e-02 2.31598266e+02] [-1.49171567e-01 9.88807523e-01 -2.74326762e-03 -3.57296915e+01] [-1.80310096e-02 5.37088110e-05 9.99837427e-01 -4.60313721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33401273899997 meters 0.022126236952305856 Centerline is valid? [True, True] Translation: X:231.63, Y:-35.73, Z:-4.60 [[ 9.88458205e-01 1.50308104e-01 1.89169461e-02 2.31628616e+02] [-1.50279890e-01 9.88639202e-01 -2.91238589e-03 -3.57334915e+01] [-1.91397897e-02 3.59351420e-05 9.99816817e-01 -4.60163019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters 0.021851609514671987 Centerline is valid? [True, True] Translation: X:231.66, Y:-35.74, Z:-4.60 [[ 9.88033317e-01 1.52923985e-01 2.01101635e-02 2.31658860e+02] [-1.52892613e-01 9.88237955e-01 -3.09743162e-03 -3.57358140e+01] [-2.03472985e-02 -1.43298161e-05 9.99792972e-01 -4.59957950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39401273899998 meters 0.02185761511497913 Centerline is valid? [True, True] Translation: X:231.69, Y:-35.74, Z:-4.60 [[ 9.87911115e-01 1.53707891e-01 2.01373466e-02 2.31690407e+02] [-1.53676592e-01 9.88116331e-01 -3.10185922e-03 -3.57400143e+01] [-2.03748213e-02 -3.02775980e-05 9.99792411e-01 -4.60049531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters 0.021815704639925933 Centerline is valid? [True, True] Translation: X:231.72, Y:-35.75, Z:-4.60 [[ 9.88064059e-01 1.52708551e-01 2.02364427e-02 2.31720244e+02] [-1.52676724e-01 9.88271268e-01 -3.11760533e-03 -3.57466552e+01] [-2.04751799e-02 -9.24001330e-06 9.99790361e-01 -4.60168286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45401273899998 meters 0.030792770268279774 Centerline is valid? [True, True] Translation: X:231.75, Y:-35.76, Z:-4.59 [[ 9.88335195e-01 1.50971581e-01 2.00280802e-02 2.31751014e+02] [-1.50940045e-01 9.88538103e-01 -3.08573333e-03 -3.57574513e+01] [-2.02643784e-02 2.66995324e-05 9.99794656e-01 -4.59239457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters 0.021978414659221256 Centerline is valid? [True, True] Translation: X:231.78, Y:-35.76, Z:-4.60 [[ 9.88458658e-01 1.50030287e-01 2.09855686e-02 2.31782837e+02] [-1.49995373e-01 9.88681400e-01 -3.23694752e-03 -3.57648704e+01] [-2.12336815e-02 5.18506086e-05 9.99774539e-01 -4.60108177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51401273899998 meters 0.022386830517122765 Centerline is valid? [True, True] Translation: X:231.81, Y:-35.78, Z:-4.60 [[ 9.88720490e-01 1.48266852e-01 2.11833057e-02 2.31813411e+02] [-1.48230784e-01 9.88947386e-01 -3.27153877e-03 -3.57778133e+01] [-2.14342356e-02 9.46194038e-05 9.99770256e-01 -4.60080755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters 0.031401511649553474 Centerline is valid? [True, True] Translation: X:231.85, Y:-35.79, Z:-4.59 [[ 9.88837952e-01 1.47701058e-01 1.95934396e-02 2.31845821e+02] [-1.47670026e-01 9.89032046e-01 -3.02922140e-03 -3.57859455e+01] [-1.98259588e-02 1.02045343e-04 9.99803441e-01 -4.59333711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57401273899998 meters 0.02248811096805829 Centerline is valid? [True, True] Translation: X:231.88, Y:-35.79, Z:-4.61 [[ 9.88598993e-01 1.49481854e-01 1.80888657e-02 2.31877056e+02] [-1.49455644e-01 9.88764467e-01 -2.79987062e-03 -3.57902508e+01] [-1.83041575e-02 6.44661964e-05 9.99832463e-01 -4.60800818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters 0.022210570985279655 Centerline is valid? [True, True] Translation: X:231.91, Y:-35.79, Z:-4.61 [[ 9.88362470e-01 1.51064035e-01 1.78685696e-02 2.31908141e+02] [-1.51038659e-01 9.88523978e-01 -2.76906806e-03 -3.57944043e+01] [-1.80818161e-02 3.79981647e-05 9.99836510e-01 -4.60873653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63401273899999 meters 0.022023268709884813 Centerline is valid? [True, True] Translation: X:231.94, Y:-35.80, Z:-4.61 [[ 9.88091836e-01 1.52727129e-01 1.86801483e-02 2.31939823e+02] [-1.52699634e-01 9.88268397e-01 -2.89790730e-03 -3.57974831e+01] [-1.89035893e-02 1.09467361e-05 9.99821311e-01 -4.60751597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters 0.021935237846313228 Centerline is valid? [True, True] Translation: X:231.97, Y:-35.80, Z:-4.60 [[ 9.87594326e-01 1.55536223e-01 2.15854179e-02 2.31971769e+02] [-1.55500162e-01 9.87830188e-01 -3.34942291e-03 -3.57995087e+01] [-2.18436841e-02 -4.86649139e-05 9.99761397e-01 -4.60260082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694012739 meters 0.02185777385162575 Centerline is valid? [True, True] Translation: X:232.00, Y:-35.80, Z:-4.60 [[ 9.87506190e-01 1.56055785e-01 2.18658974e-02 2.32003677e+02] [-1.56018822e-01 9.87748242e-01 -3.39682121e-03 -3.58042611e+01] [-2.21280953e-02 -5.71095828e-05 9.99755142e-01 -4.60277079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters 0.02179718340649377 Centerline is valid? [True, True] Translation: X:232.04, Y:-35.81, Z:-4.61 [[ 9.87668064e-01 1.55160606e-01 2.09040852e-02 2.32036010e+02] [-1.55126545e-01 9.87889258e-01 -3.25113020e-03 -3.58130537e+01] [-2.11553686e-02 -3.17410362e-05 9.99776200e-01 -4.60658377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754012739 meters 0.02179718340649377 Centerline is valid? [True, True] Translation: X:232.07, Y:-35.82, Z:-4.61 [[ 9.87637875e-01 1.55352740e-01 2.09034525e-02 2.32068101e+02] [-1.55318636e-01 9.87859061e-01 -3.25519347e-03 -3.58182349e+01] [-2.11553682e-02 -3.17433558e-05 9.99776200e-01 -4.60724411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters 0.02180475258331015 Centerline is valid? [True, True] Translation: X:232.10, Y:-35.82, Z:-4.61 [[ 9.87745945e-01 1.54728169e-01 2.04240746e-02 2.32099548e+02] [-1.54695395e-01 9.87957081e-01 -3.18451468e-03 -3.58244419e+01] [-2.06708432e-02 -1.40188241e-05 9.99786335e-01 -4.60812376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814012739 meters 0.02168330054891967 Centerline is valid? [True, True] Translation: X:232.13, Y:-35.83, Z:-4.61 [[ 9.87752187e-01 1.54597021e-01 2.11039676e-02 2.32132309e+02] [-1.54561913e-01 9.87977612e-01 -3.29458082e-03 -3.58288361e+01] [-2.13595799e-02 -7.64019200e-06 9.99771858e-01 -4.60668637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters 0.021774417837862995 Centerline is valid? [True, True] Translation: X:232.17, Y:-35.83, Z:-4.61 [[ 9.87595167e-01 1.55625116e-01 2.08951916e-02 2.32165385e+02] [-1.55590843e-01 9.87816189e-01 -3.26606521e-03 -3.58324455e+01] [-2.11488903e-02 -2.55502535e-05 9.99776337e-01 -4.60776428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.874012739 meters 0.021920462380407214 Centerline is valid? [True, True] Translation: X:232.20, Y:-35.84, Z:-4.61 [[ 9.87361337e-01 1.57226864e-01 1.99324481e-02 2.32197355e+02] [-1.57195927e-01 9.87562510e-01 -3.11933313e-03 -3.58354413e+01] [-2.01749814e-02 -5.33907305e-05 9.99796463e-01 -4.60993118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters 0.022874862022100605 Centerline is valid? [True, True] Translation: X:232.23, Y:-35.83, Z:-4.61 [[ 9.86754418e-01 1.61061958e-01 1.93588169e-02 2.32229226e+02] [-1.61033443e-01 9.86944289e-01 -3.03313693e-03 -3.58331014e+01] [-1.95945968e-02 -1.24455674e-04 9.99808000e-01 -4.61180976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93401273899997 meters 0.023922748527700786 Centerline is valid? [True, True] Translation: X:232.26, Y:-35.83, Z:-4.61 [[ 9.86394177e-01 1.63180393e-01 1.99671622e-02 2.32259317e+02] [-1.63150482e-01 9.86596235e-01 -3.12896172e-03 -3.58323844e+01] [-2.02101122e-02 -1.71262505e-04 9.99795740e-01 -4.61167598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters 0.02600789920132767 Centerline is valid? [True, True] Translation: X:232.29, Y:-35.83, Z:-4.61 [[ 9.85734324e-01 1.67026016e-01 2.07401217e-02 2.32289769e+02] [-1.66994600e-01 9.85952454e-01 -3.24981762e-03 -3.58275524e+01] [-2.09915779e-02 -2.60031545e-04 9.99779619e-01 -4.61059571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99401273899997 meters 0.02748409539092356 Centerline is valid? [True, True] Translation: X:232.32, Y:-35.83, Z:-4.61 [[ 9.85489834e-01 1.68478463e-01 2.06105599e-02 2.32318818e+02] [-1.68447766e-01 9.85705292e-01 -3.22901714e-03 -3.58270005e+01] [-2.08599579e-02 -2.89639207e-04 9.99782365e-01 -4.61068944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters 0.027114114543423787 Centerline is valid? [True, True] Translation: X:232.35, Y:-35.83, Z:-4.61 [[ 9.85399643e-01 1.69036602e-01 2.03511732e-02 2.32348581e+02] [-1.69006806e-01 9.85609729e-01 -3.18766282e-03 -3.58305889e+01] [-2.05971460e-02 -2.98364993e-04 9.99787812e-01 -4.61216767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05401273899997 meters 0.02738145491037144 Centerline is valid? [True, True] Translation: X:232.38, Y:-35.83, Z:-4.61 [[ 9.85454663e-01 1.68750060e-01 2.00630004e-02 2.32377984e+02] [-1.68721053e-01 9.85658832e-01 -3.14204925e-03 -3.58300186e+01] [-2.03054946e-02 -2.88703463e-04 9.99793781e-01 -4.61305090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters 0.02705192016538005 Centerline is valid? [True, True] Translation: X:232.41, Y:-35.83, Z:-4.61 [[ 9.85537892e-01 1.68231086e-01 2.03313758e-02 2.32407041e+02] [-1.68201202e-01 9.85747545e-01 -3.18333517e-03 -3.58334285e+01] [-2.05771397e-02 -2.82464417e-04 9.99788228e-01 -4.61290029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11401273899997 meters 0.026354205177689022 Centerline is valid? [True, True] Translation: X:232.44, Y:-35.84, Z:-4.61 [[ 9.85682450e-01 1.67341374e-01 2.06632866e-02 2.32436746e+02] [-1.67310331e-01 9.85898977e-01 -3.23432936e-03 -3.58374523e+01] [-2.09131503e-02 -2.69159647e-04 9.99781260e-01 -4.61345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters 0.02635300240969735 Centerline is valid? [True, True] Translation: X:232.47, Y:-35.84, Z:-4.61 [[ 9.85725352e-01 1.67127304e-01 2.03468549e-02 2.32465644e+02] [-1.67097169e-01 9.85935290e-01 -3.18432826e-03 -3.58413311e+01] [-2.05928705e-02 -2.61028753e-04 9.99787910e-01 -4.61477123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17401273899998 meters 0.02634394519616292 Centerline is valid? [True, True] Translation: X:232.49, Y:-35.84, Z:-4.62 [[ 9.85730592e-01 1.67129901e-01 2.00697586e-02 2.32494647e+02] [-1.67100592e-01 9.85934851e-01 -3.14049488e-03 -3.58448441e+01] [-2.03123450e-02 -2.57986649e-04 9.99793650e-01 -4.61614113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters 0.02563701616050804 Centerline is valid? [True, True] Translation: X:232.52, Y:-35.85, Z:-4.62 [[ 9.85732014e-01 1.67164893e-01 1.97051946e-02 2.32524258e+02] [-1.67136664e-01 9.85928919e-01 -3.08252493e-03 -3.58492101e+01] [-1.99432111e-02 -2.54916976e-04 9.99801082e-01 -4.61656481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23401273899998 meters 0.026130390646547937 Centerline is valid? [True, True] Translation: X:232.55, Y:-35.85, Z:-4.62 [[ 9.85749052e-01 1.66962478e-01 2.05508285e-02 2.32552479e+02] [-1.66931742e-01 9.85963215e-01 -3.21426685e-03 -3.58520895e+01] [-2.07990229e-02 -2.62125082e-04 9.99783643e-01 -4.61558485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters 0.026015398237796934 Centerline is valid? [True, True] Translation: X:232.58, Y:-35.86, Z:-4.61 [[ 9.85630041e-01 1.67543469e-01 2.15083428e-02 2.32581166e+02] [-1.67509968e-01 9.85864647e-01 -3.36268013e-03 -3.58562957e+01] [-2.17677099e-02 -2.88503277e-04 9.99763014e-01 -4.61380686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29401273899998 meters 0.026058849246983585 Centerline is valid? [True, True] Translation: X:232.61, Y:-35.86, Z:-4.61 [[ 9.85584045e-01 1.67793454e-01 2.16667044e-02 2.32610261e+02] [-1.67759542e-01 9.85822128e-01 -3.38642445e-03 -3.58605841e+01] [-2.19277365e-02 -2.97190489e-04 9.99759514e-01 -4.61442385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters 0.02584290068057657 Centerline is valid? [True, True] Translation: X:232.64, Y:-35.86, Z:-4.62 [[ 9.85569835e-01 1.67976076e-01 2.08839106e-02 2.32639589e+02] [-1.67944621e-01 9.85791029e-01 -3.26358737e-03 -3.58644537e+01] [-2.11353763e-02 -2.90847185e-04 9.99776581e-01 -4.61696001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35401273899998 meters 0.027025677748038508 Centerline is valid? [True, True] Translation: X:232.67, Y:-35.87, Z:-4.62 [[ 9.85540603e-01 1.68209512e-01 2.03784140e-02 2.32668454e+02] [-1.68179622e-01 9.85751224e-01 -3.18409318e-03 -3.58661055e+01] [-2.06236413e-02 -2.89180839e-04 9.99787268e-01 -4.61867415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters 0.028726171513302975 Centerline is valid? [True, True] Translation: X:232.70, Y:-35.87, Z:-4.62 [[ 9.85429779e-01 1.68871136e-01 2.02654922e-02 2.32696685e+02] [-1.68841731e-01 9.85638092e-01 -3.16569491e-03 -3.58666838e+01] [-2.05090356e-02 -3.02090760e-04 9.99789622e-01 -4.61908277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414012739 meters 0.02922289843613966 Centerline is valid? [True, True] Translation: X:232.73, Y:-35.87, Z:-4.62 [[ 9.84969272e-01 1.71405904e-01 2.13436179e-02 2.32725018e+02] [-1.71373910e-01 9.85200424e-01 -3.33279359e-03 -3.58691357e+01] [-2.15990019e-02 -3.75039982e-04 9.99766644e-01 -4.61755555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters 0.03063724050332659 Centerline is valid? [True, True] Translation: X:232.75, Y:-35.87, Z:-4.62 [[ 9.84731303e-01 1.72749015e-01 2.14950647e-02 2.32752869e+02] [-1.72716914e-01 9.84965792e-01 -3.35514206e-03 -3.58693150e+01] [-2.17515009e-02 -4.08647820e-04 9.99763325e-01 -4.61792703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474012739 meters 0.0323127559636232 Centerline is valid? [True, True] Translation: X:232.78, Y:-35.87, Z:-4.62 [[ 9.84450698e-01 1.74515674e-01 2.00275346e-02 2.32782267e+02] [-1.74488195e-01 9.84654307e-01 -3.12496236e-03 -3.58672354e+01] [-2.02655532e-02 -4.18196984e-04 9.99794545e-01 -4.62116931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters 0.032821429915788285 Centerline is valid? [True, True] Translation: X:232.81, Y:-35.87, Z:-4.62 [[ 9.84321331e-01 1.75351599e-01 1.90613500e-02 2.32810974e+02] [-1.75326880e-01 9.84505787e-01 -2.97335098e-03 -3.58689562e+01] [-1.92873912e-02 -4.15234223e-04 9.99813895e-01 -4.62324977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534012739 meters 0.0339187795609512 Centerline is valid? [True, True] Translation: X:232.84, Y:-35.87, Z:-4.63 [[ 9.84164365e-01 1.76287201e-01 1.85290254e-02 2.32839617e+02] [-1.76264025e-01 9.84338684e-01 -2.88945835e-03 -3.58695968e+01] [-1.87482110e-02 -4.22298664e-04 9.99824148e-01 -4.62503787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters 0.036748731422092805 Centerline is valid? [True, True] Translation: X:232.87, Y:-35.87, Z:-4.63 [[ 9.83719108e-01 1.78758777e-01 1.84936994e-02 2.32869596e+02] [-1.78736143e-01 9.83892819e-01 -2.88305740e-03 -3.58655134e+01] [-1.87111898e-02 -4.69373846e-04 9.99824820e-01 -4.62632150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.594012739 meters 0.0384467453071105 Centerline is valid? [True, True] Translation: X:232.90, Y:-35.86, Z:-4.63 [[ 9.83502157e-01 1.79937192e-01 1.86041276e-02 2.32897832e+02] [-1.79914509e-01 9.83677976e-01 -2.89964635e-03 -3.58649263e+01] [-1.88222248e-02 -4.95344043e-04 9.99822724e-01 -4.62694215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters 0.03848138307664211 Centerline is valid? [True, True] Translation: X:232.93, Y:-35.86, Z:-4.63 [[ 9.83237832e-01 1.81377289e-01 1.85915230e-02 2.32927057e+02] [-1.81354914e-01 9.83413446e-01 -2.89658393e-03 -3.58626595e+01] [-1.88085282e-02 -5.23633153e-04 9.99822967e-01 -4.62795728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65401273899997 meters 0.03972264997647508 Centerline is valid? [True, True] Translation: X:232.96, Y:-35.86, Z:-4.63 [[ 9.83099638e-01 1.82166759e-01 1.81762112e-02 2.32956650e+02] [-1.82145523e-01 9.83267509e-01 -2.83103404e-03 -3.58609139e+01] [-1.83877982e-02 -5.27526952e-04 9.99830791e-01 -4.62889683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters 0.038957707002012724 Centerline is valid? [True, True] Translation: X:232.99, Y:-35.86, Z:-4.63 [[ 9.82988870e-01 1.82799152e-01 1.78143517e-02 2.32985831e+02] [-1.82778872e-01 9.83150136e-01 -2.77385315e-03 -3.58625063e+01] [-1.80212403e-02 -5.29420321e-04 9.99837464e-01 -4.63080818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71401273899997 meters 0.04297276803089814 Centerline is valid? [True, True] Translation: X:233.02, Y:-35.85, Z:-4.63 [[ 9.82872550e-01 1.83365542e-01 1.84018499e-02 2.33015396e+02] [-1.83344018e-01 9.83044641e-01 -2.86442222e-03 -3.58544959e+01] [-1.86150762e-02 -5.58507126e-04 9.99826568e-01 -4.63037891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters 0.040436568431123955 Centerline is valid? [True, True] Translation: X:233.04, Y:-35.86, Z:-4.63 [[ 9.83023642e-01 1.82483727e-01 1.90842702e-02 2.33044303e+02] [-1.82460435e-01 9.83208712e-01 -2.96941995e-03 -3.58594865e+01] [-1.93056915e-02 -5.63114225e-04 9.99813469e-01 -4.63004569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77401273899997 meters 0.03555197707686367 Centerline is valid? [True, True] Translation: X:233.07, Y:-35.87, Z:-4.63 [[ 9.83909960e-01 1.77559590e-01 1.98439599e-02 2.33074141e+02] [-1.77533419e-01 9.84109931e-01 -3.08688919e-03 -3.58660550e+01] [-2.00767447e-02 -4.85745029e-04 9.99798324e-01 -4.62885654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters 0.031810264718782566 Centerline is valid? [True, True] Translation: X:233.10, Y:-35.87, Z:-4.63 [[ 9.84575410e-01 1.73817863e-01 1.99652834e-02 2.33102482e+02] [-1.73790607e-01 9.84777732e-01 -3.10552649e-03 -3.58749107e+01] [-2.02011625e-02 -4.12153709e-04 9.99795851e-01 -4.62923678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83401273899997 meters 0.028089768403428857 Centerline is valid? [True, True] Translation: X:233.13, Y:-35.89, Z:-4.63 [[ 9.85326675e-01 1.69501220e-01 2.00169778e-02 2.33130689e+02] [-1.69472941e-01 9.85529924e-01 -3.11309042e-03 -3.58851994e+01] [-2.02550032e-02 -3.24925063e-04 9.99794794e-01 -4.62970151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters 0.02282864764356284 Centerline is valid? [True, True] Translation: X:233.16, Y:-35.90, Z:-4.63 [[ 9.86783713e-01 1.60889929e-01 1.92959490e-02 2.33156967e+02] [-1.60862011e-01 9.86972345e-01 -3.00051637e-03 -3.59019760e+01] [-1.95273209e-02 -1.43124467e-04 9.99809313e-01 -4.63237802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89401273899998 meters 0.020905194351773314 Centerline is valid? [True, True] Translation: X:233.18, Y:-35.92, Z:-4.63 [[ 9.87812926e-01 1.54386289e-01 1.97610129e-02 2.33183367e+02] [-1.54355721e-01 9.88010563e-01 -3.07210725e-03 -3.59185127e+01] [-1.99983807e-02 -1.55581578e-05 9.99800012e-01 -4.63248129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters 0.0207315590871339 Centerline is valid? [True, True] Translation: X:233.21, Y:-35.93, Z:-4.63 [[ 9.88158483e-01 1.52030596e-01 2.07246512e-02 2.33211495e+02] [-1.51996477e-01 9.88375787e-01 -3.22089372e-03 -3.59283861e+01] [-2.09734179e-02 3.26794731e-05 9.99780033e-01 -4.63101382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95401273899998 meters 0.02098627116696902 Centerline is valid? [True, True] Translation: X:233.24, Y:-35.94, Z:-4.63 [[ 9.88422791e-01 1.50292592e-01 2.07972047e-02 2.33239776e+02] [-1.50257870e-01 9.88641559e-01 -3.23120288e-03 -3.59373868e+01] [-2.10466068e-02 6.88508885e-05 9.99778493e-01 -4.63073520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters 0.021224035163820987 Centerline is valid? [True, True] Translation: X:233.27, Y:-35.94, Z:-4.63 [[ 9.88587583e-01 1.49303219e-01 2.00783336e-02 2.33267356e+02] [-1.49270661e-01 9.88791455e-01 -3.11905742e-03 -3.59448323e+01] [-2.03189700e-02 8.63553068e-05 9.99793545e-01 -4.63210280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01401273899998 meters 0.02132671177166347 Centerline is valid? [True, True] Translation: X:233.30, Y:-35.95, Z:-4.64 [[ 9.88587989e-01 1.49628641e-01 1.74659291e-02 2.33296429e+02] [-1.49604065e-01 9.88742264e-01 -2.71268430e-03 -3.59518277e+01] [-1.76751975e-02 6.87531263e-05 9.99843779e-01 -4.63820745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters 0.021059992294907015 Centerline is valid? [True, True] Translation: X:233.32, Y:-35.96, Z:-4.64 [[ 9.88294770e-01 1.51523481e-01 1.77223570e-02 2.33324099e+02] [-1.51498490e-01 9.88453658e-01 -2.75209810e-03 -3.59597697e+01] [-1.79347361e-02 3.49738375e-05 9.99839159e-01 -4.63889469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07401273899998 meters 0.020804953912397707 Centerline is valid? [True, True] Translation: X:233.35, Y:-35.97, Z:-4.64 [[ 9.88136739e-01 1.52447829e-01 1.85861219e-02 2.33352489e+02] [-1.52420519e-01 9.88311519e-01 -2.88553218e-03 -3.59652283e+01] [-1.88087715e-02 1.83940080e-05 9.99823099e-01 -4.63720542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters 0.020653348412640122 Centerline is valid? [True, True] Translation: X:233.38, Y:-35.97, Z:-4.64 [[ 9.87878976e-01 1.54059275e-01 1.89965489e-02 2.33381440e+02] [-1.54031060e-01 9.88061607e-01 -2.94836201e-03 -3.59690144e+01] [-1.92239831e-02 -1.34337192e-05 9.99815202e-01 -4.63648618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13401273899999 meters 0.02086686124317914 Centerline is valid? [True, True] Translation: X:233.41, Y:-35.97, Z:-4.64 [[ 9.87668954e-01 1.55433548e-01 1.87203109e-02 2.33410397e+02] [-1.55406411e-01 9.87846350e-01 -2.90460021e-03 -3.59727513e+01] [-1.89442631e-02 -4.04728837e-05 9.99820541e-01 -4.63808482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters 0.021842635361899967 Centerline is valid? [True, True] Translation: X:233.44, Y:-35.98, Z:-4.64 [[ 9.87337583e-01 1.57742051e-01 1.67911720e-02 2.33438245e+02] [-1.57720565e-01 9.87480349e-01 -2.60460586e-03 -3.59752774e+01] [-1.69918082e-02 -7.66878683e-05 9.99855626e-01 -4.64338127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194012739 meters 0.02222727543236674 Centerline is valid? [True, True] Translation: X:233.47, Y:-35.98, Z:-4.64 [[ 9.87191290e-01 1.58570232e-01 1.75738203e-02 2.33466184e+02] [-1.58546847e-01 9.87347696e-01 -2.72489718e-03 -3.59793285e+01] [-1.77835585e-02 -9.62790401e-05 9.99841855e-01 -4.64246123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters 0.021811199702466668 Centerline is valid? [True, True] Translation: X:233.49, Y:-35.98, Z:-4.64 [[ 9.87173300e-01 1.58576632e-01 1.85021239e-02 2.33494775e+02] [-1.58550733e-01 9.87346667e-01 -2.86768059e-03 -3.59848682e+01] [-1.87227575e-02 -1.02627605e-04 9.99824709e-01 -4.64089033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254012739 meters 0.021955867661780887 Centerline is valid? [True, True] Translation: X:233.52, Y:-35.99, Z:-4.64 [[ 9.87158837e-01 1.58555048e-01 1.94352198e-02 2.33522146e+02] [-1.58526487e-01 9.87350133e-01 -3.01133572e-03 -3.59882067e+01] [-1.96668293e-02 -1.08330440e-04 9.99806583e-01 -4.63956318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters 0.021450667936505602 Centerline is valid? [True, True] Translation: X:233.55, Y:-36.00, Z:-4.64 [[ 9.87288298e-01 1.57757202e-01 1.93515374e-02 2.33550107e+02] [-1.57728756e-01 9.87477927e-01 -2.99712519e-03 -3.59963946e+01] [-1.95820341e-02 -9.32672957e-05 9.99808249e-01 -4.64071338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314012739 meters 0.021458970581661956 Centerline is valid? [True, True] Translation: X:233.58, Y:-36.00, Z:-4.64 [[ 9.87424376e-01 1.56914975e-01 1.92559760e-02 2.33577719e+02] [-1.56886667e-01 9.87612113e-01 -2.98142768e-03 -3.60022776e+01] [-1.94852658e-02 -7.70715435e-05 9.99810141e-01 -4.64193552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters 0.021143689098481782 Centerline is valid? [True, True] Translation: X:233.61, Y:-36.01, Z:-4.64 [[ 9.87388799e-01 1.57051675e-01 1.99532356e-02 2.33606220e+02] [-1.57021333e-01 9.87590383e-01 -3.08816398e-03 -3.60095131e+01] [-2.01906249e-02 -8.38651225e-05 9.99796145e-01 -4.63983731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.374012739 meters 0.02149174260132739 Centerline is valid? [True, True] Translation: X:233.64, Y:-36.01, Z:-4.64 [[ 9.87188086e-01 1.58236054e-01 2.05191167e-02 2.33636159e+02] [-1.58204232e-01 9.87401306e-01 -3.17524207e-03 -3.60125377e+01] [-2.07630404e-02 -1.11649949e-04 9.99784419e-01 -4.63909615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters 0.022447708624089013 Centerline is valid? [True, True] Translation: X:233.66, Y:-36.01, Z:-4.64 [[ 9.86839610e-01 1.60358643e-01 2.08011721e-02 2.33664587e+02] [-1.60326423e-01 9.87058803e-01 -3.21835727e-03 -3.60127929e+01] [-2.10480714e-02 -1.58975072e-04 9.99778452e-01 -4.63871269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43401273899997 meters 0.026754611228067174 Centerline is valid? [True, True] Translation: X:233.69, Y:-36.00, Z:-4.64 [[ 9.85821187e-01 1.66625113e-01 1.98156438e-02 2.33694395e+02] [-1.66597163e-01 9.86020280e-01 -3.06462711e-03 -3.60042814e+01] [-2.00492705e-02 -2.80055694e-04 9.99798954e-01 -4.64024111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters 0.027937699126622664 Centerline is valid? [True, True] Translation: X:233.72, Y:-36.00, Z:-4.64 [[ 9.85258251e-01 1.70024304e-01 1.89186535e-02 2.33723551e+02] [-1.69999465e-01 9.85439813e-01 -2.92527559e-03 -3.60046957e+01] [-1.91405623e-02 -3.34009065e-04 9.99816747e-01 -4.64205205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49401273899997 meters 0.03647288900962363 Centerline is valid? [True, True] Translation: X:233.75, Y:-35.99, Z:-4.64 [[ 9.84203865e-01 1.76067526e-01 1.85197048e-02 2.33754419e+02] [-1.76044809e-01 9.84377992e-01 -2.86265259e-03 -3.59927436e+01] [-1.87344100e-02 -4.42864167e-04 9.99824397e-01 -4.64415158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters 0.038091310126261546 Centerline is valid? [True, True] Translation: X:233.78, Y:-35.99, Z:-4.64 [[ 9.83749904e-01 1.78517038e-01 1.91779593e-02 2.33783794e+02] [-1.78493153e-01 9.83936690e-01 -2.96391568e-03 -3.59933949e+01] [-1.93990072e-02 -5.07382656e-04 9.99811693e-01 -4.64377691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55401273899997 meters 0.0396544293004111 Centerline is valid? [True, True] Translation: X:233.81, Y:-35.99, Z:-4.64 [[ 9.83468073e-01 1.79976200e-01 1.99778957e-02 2.33812383e+02] [-1.79950596e-01 9.83670806e-01 -3.08682236e-03 -3.59935364e+01] [-2.02072274e-02 -5.59243004e-04 9.99795657e-01 -4.64321883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters 0.03783819028095169 Centerline is valid? [True, True] Translation: X:233.84, Y:-36.00, Z:-4.64 [[ 9.83225716e-01 1.81294189e-01 1.99902091e-02 2.33841641e+02] [-1.81268848e-01 9.83428732e-01 -3.08756564e-03 -3.59955719e+01] [-2.02187037e-02 -5.87828247e-04 9.99795408e-01 -4.64394298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61401273899997 meters 0.039318435595934675 Centerline is valid? [True, True] Translation: X:233.87, Y:-35.99, Z:-4.65 [[ 9.83164210e-01 1.81703372e-01 1.92878487e-02 2.33869968e+02] [-1.81679877e-01 9.83353219e-01 -2.97820039e-03 -3.59947676e+01] [-1.95079172e-02 -5.76153935e-04 9.99809536e-01 -4.64590628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters 0.04503374710291218 Centerline is valid? [True, True] Translation: X:233.90, Y:-35.99, Z:-4.65 [[ 9.83047365e-01 1.82439511e-01 1.82675237e-02 2.33898864e+02] [-1.82418593e-01 9.83216919e-01 -2.81907722e-03 -3.59877644e+01] [-1.84752495e-02 -5.61049535e-04 9.99829161e-01 -4.64864250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67401273899998 meters 0.04503374710291218 Centerline is valid? [True, True] Translation: X:233.93, Y:-35.99, Z:-4.65 [[ 9.83059241e-01 1.82375492e-01 1.82676862e-02 2.33926060e+02] [-1.82354581e-01 9.83228796e-01 -2.81802366e-03 -3.59918188e+01] [-1.84752536e-02 -5.60912070e-04 9.99829161e-01 -4.64920106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters 0.04071070199950098 Centerline is valid? [True, True] Translation: X:233.95, Y:-36.00, Z:-4.65 [[ 9.82892104e-01 1.83505334e-01 1.57767225e-02 2.33954467e+02] [-1.83489898e-01 9.83018585e-01 -2.43281440e-03 -3.59957425e+01] [-1.59552459e-02 -5.03675147e-04 9.99872580e-01 -4.65439786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73401273899998 meters 0.043062467611517 Centerline is valid? [True, True] Translation: X:233.98, Y:-35.99, Z:-4.65 [[ 9.82570687e-01 1.85134190e-01 1.67384826e-02 2.33982905e+02] [-1.85117065e-01 9.82713089e-01 -2.58032532e-03 -3.59910266e+01] [-1.69268324e-02 -5.63226749e-04 9.99856572e-01 -4.65298175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters 0.04331456372287929 Centerline is valid? [True, True] Translation: X:234.01, Y:-35.99, Z:-4.65 [[ 9.82388142e-01 1.85964637e-01 1.81849696e-02 2.34011565e+02] [-1.85944592e-01 9.82556237e-01 -2.80181556e-03 -3.59920514e+01] [-1.83887939e-02 -6.28926380e-04 9.99830714e-01 -4.65027980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79401273899998 meters 0.045578387929127884 Centerline is valid? [True, True] Translation: X:234.04, Y:-35.99, Z:-4.65 [[ 9.82235799e-01 1.86691454e-01 1.89508798e-02 2.34039724e+02] [-1.86669839e-01 9.82418369e-01 -2.91888337e-03 -3.59890865e+01] [-1.91626230e-02 -6.70525938e-04 9.99816155e-01 -4.64920633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters 0.050752923275444756 Centerline is valid? [True, True] Translation: X:234.07, Y:-35.98, Z:-4.65 [[ 9.82080426e-01 1.87527148e-01 1.87511687e-02 2.34069281e+02] [-1.87506164e-01 9.82259184e-01 -2.88678897e-03 -3.59817499e+01] [-1.89598590e-02 -6.80900771e-04 9.99820014e-01 -4.65052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85401273899998 meters 0.047976900283605496 Centerline is valid? [True, True] Translation: X:234.10, Y:-35.98, Z:-4.65 [[ 9.81758426e-01 1.89207483e-01 1.87329059e-02 2.34098945e+02] [-1.89186877e-01 9.81936871e-01 -2.88225926e-03 -3.59800985e+01] [-1.89398760e-02 -7.14337649e-04 9.99820369e-01 -4.65232633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters 0.048444302785531954 Centerline is valid? [True, True] Translation: X:234.13, Y:-35.97, Z:-4.65 [[ 9.81642702e-01 1.89826777e-01 1.85310392e-02 2.34128742e+02] [-1.89806732e-01 9.81817334e-01 -2.85074973e-03 -3.59735355e+01] [-1.87352442e-02 -7.18898324e-04 9.99824221e-01 -4.65294788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914012739 meters 0.047978259616880244 Centerline is valid? [True, True] Translation: X:234.16, Y:-35.97, Z:-4.65 [[ 9.81726905e-01 1.89426938e-01 1.81581479e-02 2.34158194e+02] [-1.89407678e-01 9.81894569e-01 -2.79040412e-03 -3.59739216e+01] [-1.83579645e-02 -6.99877817e-04 9.99831233e-01 -4.65370205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters 0.04690348360391786 Centerline is valid? [True, True] Translation: X:234.19, Y:-35.98, Z:-4.65 [[ 9.81875294e-01 1.88691865e-01 1.77844780e-02 2.34186919e+02] [-1.88673321e-01 9.82036112e-01 -2.73005266e-03 -3.59755389e+01] [-1.79801384e-02 -6.74885277e-04 9.99838116e-01 -4.65488800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974012739 meters 0.04690548544838367 Centerline is valid? [True, True] Translation: X:234.22, Y:-35.98, Z:-4.66 [[ 9.82115583e-01 1.87485659e-01 1.72658253e-02 2.34215041e+02] [-1.87468050e-01 9.82267134e-01 -2.64728944e-03 -3.59756182e+01] [-1.74559815e-02 -6.36846386e-04 9.99847430e-01 -4.65612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters 0.04393696235506758 Centerline is valid? [True, True] Translation: X:234.24, Y:-35.98, Z:-4.66 [[ 9.82647716e-01 1.84644310e-01 1.76052314e-02 2.34244883e+02] [-1.84625567e-01 9.82805230e-01 -2.69815173e-03 -3.59763828e+01] [-1.78007118e-02 -5.99043190e-04 9.99841375e-01 -4.65614734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034012739 meters 0.04191567819482134 Centerline is valid? [True, True] Translation: X:234.27, Y:-35.98, Z:-4.65 [[ 9.82876935e-01 1.83295361e-01 1.88611123e-02 2.34273438e+02] [-1.83273607e-01 9.83057695e-01 -2.89031669e-03 -3.59799371e+01] [-1.90713432e-02 -6.15918460e-04 9.99817936e-01 -4.65421967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters 0.04179238517668914 Centerline is valid? [True, True] Translation: X:234.30, Y:-35.99, Z:-4.64 [[ 9.83155451e-01 1.81510591e-01 2.14304470e-02 2.34302010e+02] [-1.81482167e-01 9.83388766e-01 -3.28009746e-03 -3.59862835e+01] [-2.16698333e-02 -6.64398269e-04 9.99764961e-01 -4.64157688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.094012739 meters 0.04097111371081183 Centerline is valid? [True, True] Translation: X:234.33, Y:-35.99, Z:-4.64 [[ 9.83322711e-01 1.80582728e-01 2.15945573e-02 2.34329936e+02] [-1.80553669e-01 9.83559584e-01 -3.30407835e-03 -3.59852531e+01] [-2.18361932e-02 -6.50001258e-04 9.99761351e-01 -4.64336708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters 0.038132233635367524 Centerline is valid? [True, True] Translation: X:234.36, Y:-35.99, Z:-4.65 [[ 9.83462672e-01 1.79883187e-01 2.10525728e-02 2.34358870e+02] [-1.79855438e-01 9.83687783e-01 -3.21973234e-03 -3.59859506e+01] [-2.12883344e-02 -6.19933139e-04 9.99773186e-01 -4.65153347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15401273899997 meters 0.037921380497218875 Centerline is valid? [True, True] Translation: X:234.39, Y:-35.98, Z:-4.66 [[ 9.83710787e-01 1.78808328e-01 1.84572558e-02 2.34386863e+02] [-1.78786865e-01 9.83883786e-01 -2.81986366e-03 -3.59839914e+01] [-1.86640098e-02 -5.25984611e-04 9.99825674e-01 -4.65625310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters 0.03749608587951861 Centerline is valid? [True, True] Translation: X:234.42, Y:-35.99, Z:-4.66 [[ 9.83828834e-01 1.78258546e-01 1.74561467e-02 2.34415140e+02] [-1.78239275e-01 9.83983563e-01 -2.66619412e-03 -3.59870391e+01] [-1.76518333e-02 -4.88292275e-04 9.99844075e-01 -4.65945741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21401273899997 meters 0.03629008012157399 Centerline is valid? [True, True] Translation: X:234.44, Y:-35.99, Z:-4.66 [[ 9.84319299e-01 1.75564162e-01 1.71097343e-02 2.34442882e+02] [-1.75545296e-01 9.84467895e-01 -2.61009873e-03 -3.59903432e+01] [-1.73022239e-02 -4.34362832e-04 9.99850211e-01 -4.66067691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters 0.03434157411831307 Centerline is valid? [True, True] Translation: X:234.47, Y:-36.00, Z:-4.66 [[ 9.84712493e-01 1.73258578e-01 1.79658249e-02 2.34470742e+02] [-1.73237415e-01 9.84876283e-01 -2.73951276e-03 -3.59956115e+01] [-1.81687589e-02 -4.14720617e-04 9.99834848e-01 -4.65995126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27401273899997 meters 0.029106034305093446 Centerline is valid? [True, True] Translation: X:234.50, Y:-36.00, Z:-4.66 [[ 9.85646368e-01 1.67568494e-01 2.05435364e-02 2.34498465e+02] [-1.67539608e-01 9.85860372e-01 -3.13147728e-03 -3.60049845e+01] [-2.07777954e-02 -3.55326832e-04 9.99784055e-01 -4.65527151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters 0.025394041330542422 Centerline is valid? [True, True] Translation: X:234.53, Y:-36.02, Z:-4.65 [[ 9.86154301e-01 1.64473420e-01 2.11704948e-02 2.34526471e+02] [-1.64442050e-01 9.86381470e-01 -3.22614255e-03 -3.60162877e+01] [-2.14127985e-02 -2.99845200e-04 9.99770675e-01 -4.65495768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33401273899997 meters 0.024511806034598658 Centerline is valid? [True, True] Translation: X:234.55, Y:-36.02, Z:-4.66 [[ 9.86600836e-01 1.61797908e-01 2.09816176e-02 2.34553453e+02] [-1.61766560e-01 9.86823884e-01 -3.19405995e-03 -3.60227140e+01] [-2.12219536e-02 -2.42861895e-04 9.99774759e-01 -4.65557325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters 0.02276407348091689 Centerline is valid? [True, True] Translation: X:234.58, Y:-36.03, Z:-4.66 [[ 9.87222970e-01 1.58300695e-01 1.82125707e-02 2.34580784e+02] [-1.58276508e-01 9.87390940e-01 -2.77102210e-03 -3.60334253e+01] [-1.84215820e-02 -1.47005423e-04 9.99830297e-01 -4.66169889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39401273899998 meters 0.022045197890970664 Centerline is valid? [True, True] Translation: X:234.61, Y:-36.04, Z:-4.66 [[ 9.87442379e-01 1.57016548e-01 1.74169848e-02 2.34609166e+02] [-1.56994243e-01 9.87595965e-01 -2.64918971e-03 -3.60408629e+01] [-1.76169105e-02 -1.18444144e-04 9.99844803e-01 -4.66379300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters 0.021339484080143047 Centerline is valid? [True, True] Translation: X:234.64, Y:-36.05, Z:-4.66 [[ 9.87828118e-01 1.54427221e-01 1.86505623e-02 2.34635659e+02] [-1.54401200e-01 9.88004164e-01 -2.83584508e-03 -3.60496649e+01] [-1.88647649e-02 -7.83417013e-05 9.99822041e-01 -4.66177106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45401273899998 meters 0.021077983065570342 Centerline is valid? [True, True] Translation: X:234.66, Y:-36.05, Z:-4.66 [[ 9.87949498e-01 1.53506975e-01 1.97838022e-02 2.34663508e+02] [-1.53477538e-01 9.88147562e-01 -3.00686485e-03 -3.60546932e+01] [-2.00108906e-02 -6.57386215e-05 9.99799760e-01 -4.65984042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters 0.020797657251307042 Centerline is valid? [True, True] Translation: X:234.69, Y:-36.06, Z:-4.66 [[ 9.88030025e-01 1.52952367e-01 2.00559965e-02 2.34690998e+02] [-1.52922024e-01 9.88233561e-01 -3.04699483e-03 -3.60600247e+01] [-2.02860539e-02 -5.64812055e-05 9.99794215e-01 -4.65960584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51401273899998 meters 0.02106869334797481 Centerline is valid? [True, True] Translation: X:234.72, Y:-36.07, Z:-4.67 [[ 9.88106153e-01 1.52745627e-01 1.77483508e-02 2.34718538e+02] [-1.52721852e-01 9.88265537e-01 -2.69526827e-03 -3.60659604e+01] [-1.79517739e-02 -4.73498600e-05 9.99838853e-01 -4.66540542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters 0.02111737832074369 Centerline is valid? [True, True] Translation: X:234.75, Y:-36.07, Z:-4.67 [[ 9.88085291e-01 1.52994483e-01 1.67375848e-02 2.34746846e+02] [-1.52973392e-01 9.88227042e-01 -2.54080294e-03 -3.60720601e+01] [-1.69292628e-02 -4.98751226e-05 9.99856689e-01 -4.66777958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57401273899998 meters 0.021246836935175924 Centerline is valid? [True, True] Translation: X:234.77, Y:-36.08, Z:-4.67 [[ 9.87961476e-01 1.53737164e-01 1.72338827e-02 2.34773856e+02] [-1.53714930e-01 9.88111775e-01 -2.61535050e-03 -3.60780165e+01] [-1.74310790e-02 -6.52395289e-05 9.99848065e-01 -4.66699899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters 0.021342372320714273 Centerline is valid? [True, True] Translation: X:234.80, Y:-36.08, Z:-4.67 [[ 9.87895945e-01 1.54120570e-01 1.75627983e-02 2.34800108e+02] [-1.54097562e-01 9.88052045e-01 -2.66398129e-03 -3.60819161e+01] [-1.77635331e-02 -7.46480990e-05 9.99842213e-01 -4.66667662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63401273899999 meters 0.021545768532887106 Centerline is valid? [True, True] Translation: X:234.83, Y:-36.09, Z:-4.67 [[ 9.87833028e-01 1.54554646e-01 1.72849703e-02 2.34829087e+02] [-1.54532455e-01 9.87984238e-01 -2.62029468e-03 -3.60856070e+01] [-1.74822569e-02 -8.26752580e-05 9.99847170e-01 -4.66731233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters 0.022427146452243512 Centerline is valid? [True, True] Translation: X:234.86, Y:-36.09, Z:-4.67 [[ 9.87578750e-01 1.56211763e-01 1.69144137e-02 2.34857036e+02] [-1.56190767e-01 9.87723581e-01 -2.56343992e-03 -3.60866586e+01] [-1.71072048e-02 -1.10276465e-04 9.99853655e-01 -4.66965543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694012739 meters 0.022272422633697466 Centerline is valid? [True, True] Translation: X:234.89, Y:-36.09, Z:-4.67 [[ 9.87408782e-01 1.57230197e-01 1.73943039e-02 2.34885084e+02] [-1.57208181e-01 9.87561971e-01 -2.63446806e-03 -3.60918310e+01] [-1.75921710e-02 -1.33229973e-04 9.99845237e-01 -4.66853246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters 0.02279813260811382 Centerline is valid? [True, True] Translation: X:234.91, Y:-36.09, Z:-4.67 [[ 9.87204284e-01 1.58276689e-01 1.93956725e-02 2.34912758e+02] [-1.58249538e-01 9.87394785e-01 -2.93650000e-03 -3.60925022e+01] [-1.96159654e-02 -1.70430838e-04 9.99807574e-01 -4.66551624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754012739 meters 0.022811253045100816 Centerline is valid? [True, True] Translation: X:234.94, Y:-36.10, Z:-4.67 [[ 9.87220535e-01 1.58171707e-01 1.94248683e-02 2.34939366e+02] [-1.58144478e-01 9.87411607e-01 -2.93971036e-03 -3.60953718e+01] [-1.96453194e-02 -1.69793223e-04 9.99806998e-01 -4.66575522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters 0.022742511893750254 Centerline is valid? [True, True] Translation: X:234.97, Y:-36.10, Z:-4.67 [[ 9.87271562e-01 1.57912996e-01 1.89301126e-02 2.34966748e+02] [-1.57887119e-01 9.87453016e-01 -2.86326830e-03 -3.60996111e+01] [-1.91447440e-02 -1.61997570e-04 9.99816709e-01 -4.66715066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814012739 meters 0.027820644027978365 Centerline is valid? [True, True] Translation: X:234.99, Y:-36.11, Z:-4.66 [[ 9.87618052e-01 1.55801323e-01 1.83447826e-02 2.34994583e+02] [-1.55776681e-01 9.87788405e-01 -2.77340584e-03 -3.61078874e+01] [-1.85528638e-02 -1.18623677e-04 9.99827874e-01 -4.66199174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters 0.021380812849588593 Centerline is valid? [True, True] Translation: X:235.02, Y:-36.11, Z:-4.67 [[ 9.87835753e-01 1.54353534e-01 1.88550321e-02 2.35022432e+02] [-1.54327257e-01 9.88015677e-01 -2.84959515e-03 -3.61131342e+01] [-1.90689124e-02 -9.49134223e-05 9.99818167e-01 -4.66842307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.874012739 meters 0.0205235058778312 Centerline is valid? [True, True] Translation: X:235.05, Y:-36.12, Z:-4.67 [[ 9.88452304e-01 1.50141140e-01 2.04861217e-02 2.35048846e+02] [-1.50109237e-01 9.88664573e-01 -3.09501823e-03 -3.61241383e+01] [-2.07185924e-02 -1.58782078e-05 9.99785347e-01 -4.66696465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters 0.020596908471085446 Centerline is valid? [True, True] Translation: X:235.08, Y:-36.13, Z:-4.67 [[ 9.88871618e-01 1.47363811e-01 2.04164403e-02 2.35075560e+02] [-1.47331558e-01 9.89082355e-01 -3.08325806e-03 -3.61343462e+01] [-2.06479015e-02 4.09604215e-05 9.99786809e-01 -4.66781751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93401273899997 meters 0.021035815481240575 Centerline is valid? [True, True] Translation: X:235.10, Y:-36.15, Z:-4.67 [[ 9.89284135e-01 1.44595826e-01 2.02224657e-02 2.35102857e+02] [-1.44563634e-01 9.89490797e-01 -3.05252053e-03 -3.61451766e+01] [-2.04513254e-02 9.63769994e-05 9.99790845e-01 -4.66900364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters 0.022405189863050283 Centerline is valid? [True, True] Translation: X:235.13, Y:-36.16, Z:-4.67 [[ 9.89854639e-01 1.40826905e-01 1.88567339e-02 2.35128099e+02] [-1.40798247e-01 9.90034220e-01 -2.84554020e-03 -3.61606721e+01] [-1.90695405e-02 1.61676087e-04 9.99818147e-01 -4.67069139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99401273899997 meters 0.030422111270308125 Centerline is valid? [True, True] Translation: X:235.16, Y:-36.17, Z:-4.66 [[ 9.90024773e-01 1.39652747e-01 1.86563464e-02 2.35156097e+02] [-1.39624512e-01 9.90200524e-01 -2.81391705e-03 -3.61697819e+01] [-1.88664953e-02 1.80964314e-04 9.99821995e-01 -4.66369637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters 0.022679024455675923 Centerline is valid? [True, True] Translation: X:235.18, Y:-36.18, Z:-4.67 [[ 9.89945077e-01 1.40130834e-01 1.92897552e-02 2.35184017e+02] [-1.40100759e-01 9.90132980e-01 -2.90849728e-03 -3.61774515e+01] [-1.95069929e-02 1.76743222e-04 9.99809705e-01 -4.67081470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05401273899997 meters 0.021975335329173236 Centerline is valid? [True, True] Translation: X:235.21, Y:-36.18, Z:-4.67 [[ 9.89727296e-01 1.41648195e-01 1.93821464e-02 2.35211186e+02] [-1.41618140e-01 9.89917051e-01 -2.92150491e-03 -3.61822047e+01] [-1.96005431e-02 1.46629637e-04 9.99807880e-01 -4.67148752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters 0.021318942936927227 Centerline is valid? [True, True] Translation: X:235.24, Y:-36.19, Z:-4.67 [[ 9.89428758e-01 1.43764386e-01 1.90403233e-02 2.35239298e+02] [-1.43735795e-01 9.89611940e-01 -2.86886130e-03 -3.61858312e+01] [-1.92549714e-02 1.01757863e-04 9.99814601e-01 -4.67256042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11401273899997 meters 0.02073085016903298 Centerline is valid? [True, True] Translation: X:235.27, Y:-36.19, Z:-4.67 [[ 9.89079611e-01 1.46256642e-01 1.81801739e-02 2.35268397e+02] [-1.46231011e-01 9.89246679e-01 -2.73844886e-03 -3.61884910e+01] [-1.83851929e-02 5.00387287e-05 9.99830977e-01 -4.67471681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters 0.021049781932121772 Centerline is valid? [True, True] Translation: X:235.30, Y:-36.19, Z:-4.68 [[ 9.88314650e-01 1.51492683e-01 1.68558623e-02 2.35296876e+02] [-1.51471424e-01 9.88458378e-01 -2.53827016e-03 -3.61873020e+01] [-1.70458477e-02 -4.45718858e-05 9.99854708e-01 -4.67818906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17401273899998 meters 0.02168985106633883 Centerline is valid? [True, True] Translation: X:235.33, Y:-36.19, Z:-4.68 [[ 9.87972273e-01 1.53745617e-01 1.65249434e-02 2.35325968e+02] [-1.53725516e-01 9.88110459e-01 -2.48743377e-03 -3.61895141e+01] [-1.67109014e-02 -8.27898482e-05 9.99860360e-01 -4.67892250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters 0.02266184390247578 Centerline is valid? [True, True] Translation: X:235.35, Y:-36.19, Z:-4.68 [[ 9.87408722e-01 1.57260735e-01 1.71194816e-02 2.35354658e+02] [-1.57239704e-01 9.87557107e-01 -2.57607918e-03 -3.61923180e+01] [-1.73115819e-02 -1.48219175e-04 9.99850132e-01 -4.67774491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23401273899998 meters 0.02400231135134439 Centerline is valid? [True, True] Translation: X:235.38, Y:-36.19, Z:-4.68 [[ 9.87152782e-01 1.58821579e-01 1.74668864e-02 2.35382969e+02] [-1.58799944e-01 9.87307284e-01 -2.62756382e-03 -3.61941032e+01] [-1.76624980e-02 -1.79933648e-04 9.99843990e-01 -4.67808329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters 0.026931456150781106 Centerline is valid? [True, True] Translation: X:235.41, Y:-36.19, Z:-4.68 [[ 9.86593423e-01 1.62150510e-01 1.84561542e-02 2.35411026e+02] [-1.62126969e-01 9.86766004e-01 -2.77465697e-03 -3.61918112e+01] [-1.86618176e-02 -2.54782013e-04 9.99825821e-01 -4.67779773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29401273899998 meters 0.027773868596617887 Centerline is valid? [True, True] Translation: X:235.44, Y:-36.19, Z:-4.68 [[ 9.86323422e-01 1.63802065e-01 1.83027329e-02 2.35440203e+02] [-1.63779223e-01 9.86493184e-01 -2.75027350e-03 -3.61938459e+01] [-1.85060218e-02 -2.84948207e-04 9.99828708e-01 -4.67891335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters 0.0295578709886062 Centerline is valid? [True, True] Translation: X:235.47, Y:-36.19, Z:-4.68 [[ 9.86137891e-01 1.64943133e-01 1.80505865e-02 2.35468194e+02] [-1.64921121e-01 9.86303032e-01 -2.71156993e-03 -3.61941894e+01] [-1.82506030e-02 -3.02941113e-04 9.99833398e-01 -4.68043972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35401273899998 meters 0.029792135188348723 Centerline is valid? [True, True] Translation: X:235.50, Y:-36.20, Z:-4.68 [[ 9.85939863e-01 1.66193164e-01 1.73901741e-02 2.35496369e+02] [-1.66172946e-01 9.86093167e-01 -2.61135118e-03 -3.61988895e+01] [-1.75823205e-02 -3.15141225e-04 9.99845369e-01 -4.68183004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters 0.030582987115937602 Centerline is valid? [True, True] Translation: X:235.52, Y:-36.20, Z:-4.68 [[ 9.85926339e-01 1.66249214e-01 1.76196672e-02 2.35522769e+02] [-1.66228481e-01 9.86083716e-01 -2.64505447e-03 -3.62015805e+01] [-1.78142051e-02 -3.21061648e-04 9.99841263e-01 -4.68172459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414012739 meters 0.03054410665066913 Centerline is valid? [True, True] Translation: X:235.55, Y:-36.21, Z:-4.68 [[ 9.85934938e-01 1.66152068e-01 1.80496151e-02 2.35550633e+02] [-1.66130323e-01 9.86100087e-01 -2.70804753e-03 -3.62055859e+01] [-1.82486747e-02 -3.28629713e-04 9.99833425e-01 -4.68121881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters 0.02855344748217023 Centerline is valid? [True, True] Translation: X:235.58, Y:-36.21, Z:-4.68 [[ 9.85964701e-01 1.65900151e-01 1.87282858e-02 2.35579048e+02] [-1.65876720e-01 9.86142498e-01 -2.80848731e-03 -3.62136811e+01] [-1.89346870e-02 -3.37517269e-04 9.99820666e-01 -4.68023973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474012739 meters 0.030402503841614206 Centerline is valid? [True, True] Translation: X:235.61, Y:-36.21, Z:-4.68 [[ 9.85984946e-01 1.65706183e-01 1.93687127e-02 2.35607029e+02] [-1.65681104e-01 9.86175107e-01 -2.90354832e-03 -3.62147619e+01] [-1.95820783e-02 -3.46174776e-04 9.99808193e-01 -4.67987428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters 0.02882999970666886 Centerline is valid? [True, True] Translation: X:235.64, Y:-36.22, Z:-4.68 [[ 9.85911432e-01 1.65990664e-01 2.06336513e-02 2.35635660e+02] [-1.65962293e-01 9.86127252e-01 -3.09183936e-03 -3.62208862e+01] [-2.08606223e-02 -3.76128297e-04 9.99782323e-01 -4.67835107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534012739 meters 0.029903698736487586 Centerline is valid? [True, True] Translation: X:235.66, Y:-36.22, Z:-4.68 [[ 9.85825388e-01 1.66521401e-01 2.04677323e-02 2.35663522e+02] [-1.66493619e-01 9.86037765e-01 -3.06598266e-03 -3.62230663e+01] [-2.06925088e-02 -3.85223278e-04 9.99785813e-01 -4.67922922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters 0.029903698736487586 Centerline is valid? [True, True] Translation: X:235.69, Y:-36.23, Z:-4.68 [[ 9.85837114e-01 1.66451941e-01 2.04679147e-02 2.35690725e+02] [-1.66424170e-01 9.86049493e-01 -3.06476444e-03 -3.62270036e+01] [-2.06925129e-02 -3.84997179e-04 9.99785813e-01 -4.67978761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.594012739 meters 0.03188064396981934 Centerline is valid? [True, True] Translation: X:235.72, Y:-36.23, Z:-4.68 [[ 9.85775161e-01 1.66892342e-01 1.98564374e-02 2.35718467e+02] [-1.66866322e-01 9.85975050e-01 -2.97181511e-03 -3.62279525e+01] [-2.00739251e-02 -3.83829170e-04 9.99798425e-01 -4.68164322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters 0.03051050106232391 Centerline is valid? [True, True] Translation: X:235.75, Y:-36.23, Z:-4.68 [[ 9.85755473e-01 1.67066517e-01 1.93630328e-02 2.35746395e+02] [-1.67041830e-01 9.85945554e-01 -2.89683474e-03 -3.62349287e+01] [-1.95748602e-02 -3.78865735e-04 9.99808322e-01 -4.68364387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65401273899997 meters 0.02961460300350838 Centerline is valid? [True, True] Translation: X:235.77, Y:-36.24, Z:-4.69 [[ 9.85894593e-01 1.66399473e-01 1.79740913e-02 2.35774853e+02] [-1.66378104e-01 9.86058365e-01 -2.68824860e-03 -3.62416518e+01] [-1.81708263e-02 -3.40165480e-04 9.99834839e-01 -4.68697122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters 0.029555561345435744 Centerline is valid? [True, True] Translation: X:235.80, Y:-36.25, Z:-4.69 [[ 9.86008785e-01 1.65794334e-01 1.72891807e-02 2.35802631e+02] [-1.65774483e-01 9.86160300e-01 -2.58503623e-03 -3.62458980e+01] [-1.74784880e-02 -3.17236568e-04 9.99847189e-01 -4.68835697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71401273899997 meters 0.02925761319591933 Centerline is valid? [True, True] Translation: X:235.83, Y:-36.25, Z:-4.69 [[ 9.86114380e-01 1.65192017e-01 1.70301748e-02 2.35830200e+02] [-1.65172685e-01 9.86261378e-01 -2.54528830e-03 -3.62514406e+01] [-1.72166650e-02 -3.02974300e-04 9.99851736e-01 -4.68910004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters 0.029467779099292556 Centerline is valid? [True, True] Translation: X:235.86, Y:-36.26, Z:-4.69 [[ 9.86102647e-01 1.65215307e-01 1.74777538e-02 2.35857747e+02] [-1.65194968e-01 9.86257474e-01 -2.61112244e-03 -3.62557565e+01] [-1.76689627e-02 -3.12402220e-04 9.99843843e-01 -4.68863699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77401273899997 meters 0.029555205931270753 Centerline is valid? [True, True] Translation: X:235.89, Y:-36.26, Z:-4.69 [[ 9.86084766e-01 1.65243658e-01 1.82035248e-02 2.35885742e+02] [-1.65221624e-01 9.86252719e-01 -2.71818378e-03 -3.62595518e+01] [-1.84024385e-02 -3.27256323e-04 9.99830607e-01 -4.68776849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters 0.02966341590201519 Centerline is valid? [True, True] Translation: X:235.91, Y:-36.26, Z:-4.69 [[ 9.85989086e-01 1.65772085e-01 1.85778897e-02 2.35914140e+02] [-1.65749255e-01 9.86164031e-01 -2.77268274e-03 -3.62620259e+01] [-1.87804800e-02 -3.45436469e-04 9.99823572e-01 -4.68728226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83401273899997 meters 0.03065140972737808 Centerline is valid? [True, True] Translation: X:235.94, Y:-36.26, Z:-4.69 [[ 9.85924345e-01 1.66195094e-01 1.82311997e-02 2.35941965e+02] [-1.66173197e-01 9.86092830e-01 -2.72009890e-03 -3.62639603e+01] [-1.84297224e-02 -3.47725007e-04 9.99830098e-01 -4.68842913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters 0.031625922362335315 Centerline is valid? [True, True] Translation: X:235.97, Y:-36.27, Z:-4.69 [[ 9.85721715e-01 1.67458687e-01 1.76150274e-02 2.35970517e+02] [-1.67438465e-01 9.85879028e-01 -2.62711891e-03 -3.62661134e+01] [-1.78062200e-02 -3.59824996e-04 9.99841392e-01 -4.69038275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89401273899998 meters 0.03203740680709572 Centerline is valid? [True, True] Translation: X:236.00, Y:-36.27, Z:-4.69 [[ 9.85734366e-01 1.67404836e-01 1.74178358e-02 2.35997475e+02] [-1.67385069e-01 9.85888175e-01 -2.59698523e-03 -3.62683124e+01] [-1.76067863e-02 -3.55548062e-04 9.99844925e-01 -4.69064122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters 0.030603135523250755 Centerline is valid? [True, True] Translation: X:236.03, Y:-36.27, Z:-4.69 [[ 9.85889734e-01 1.66294738e-01 1.91700970e-02 2.36026348e+02] [-1.66270618e-01 9.86076023e-01 -2.85645693e-03 -3.62721488e+01] [-1.93781867e-02 -3.71272309e-04 9.99812156e-01 -4.68769211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95401273899998 meters 0.02975828842274305 Centerline is valid? [True, True] Translation: X:236.06, Y:-36.28, Z:-4.69 [[ 9.86048333e-01 1.65316490e-01 1.94716189e-02 2.36055190e+02] [-1.65291433e-01 9.86240503e-01 -2.90044324e-03 -3.62768941e+01] [-1.96831903e-02 -3.58514576e-04 9.99806203e-01 -4.68816794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters 0.030210568191240864 Centerline is valid? [True, True] Translation: X:236.08, Y:-36.28, Z:-4.69 [[ 9.86229923e-01 1.64328870e-01 1.86161593e-02 2.36083097e+02] [-1.64305806e-01 9.86405554e-01 -2.77218656e-03 -3.62793570e+01] [-1.88186332e-02 -3.24729723e-04 9.99822861e-01 -4.69008516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01401273899998 meters 0.02835913002857761 Centerline is valid? [True, True] Translation: X:236.11, Y:-36.28, Z:-4.69 [[ 9.86447617e-01 1.63132069e-01 1.75791935e-02 2.36111660e+02] [-1.63111331e-01 9.86604199e-01 -2.61676060e-03 -3.62849363e+01] [-1.77705837e-02 -2.86068390e-04 9.99842050e-01 -4.69217651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters 0.029174109808656 Centerline is valid? [True, True] Translation: X:236.14, Y:-36.29, Z:-4.69 [[ 9.86484991e-01 1.62892757e-01 1.77006218e-02 2.36138404e+02] [-1.62871707e-01 9.86643739e-01 -2.63407277e-03 -3.62858346e+01] [-1.78932791e-02 -2.84457244e-04 9.99839862e-01 -4.69259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07401273899998 meters 0.027994163782279015 Centerline is valid? [True, True] Translation: X:236.17, Y:-36.29, Z:-4.69 [[ 9.86587011e-01 1.62241485e-01 1.79936139e-02 2.36167442e+02] [-1.62219652e-01 9.86751044e-01 -2.67608479e-03 -3.62890922e+01] [-1.81893893e-02 -2.78727292e-04 9.99834521e-01 -4.69250067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters 0.027799104271117953 Centerline is valid? [True, True] Translation: X:236.20, Y:-36.29, Z:-4.69 [[ 9.86643876e-01 1.61906951e-01 1.78885759e-02 2.36196391e+02] [-1.61885333e-01 9.86805992e-01 -2.65962853e-03 -3.62921085e+01] [-1.80831663e-02 -2.71791873e-04 9.99836449e-01 -4.69298887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13401273899999 meters 0.027722783778875923 Centerline is valid? [True, True] Translation: X:236.22, Y:-36.29, Z:-4.69 [[ 9.86653075e-01 1.61798639e-01 1.83551146e-02 2.36224377e+02] [-1.61775875e-01 9.86823755e-01 -2.72814861e-03 -3.62940495e+01] [-1.85546738e-02 -2.77678520e-04 9.99827809e-01 -4.69286014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters 0.036957846646032015 Centerline is valid? [True, True] Translation: X:236.25, Y:-36.30, Z:-4.68 [[ 9.86646393e-01 1.61756429e-01 1.90723219e-02 2.36252046e+02] [-1.61731870e-01 9.86830672e-01 -2.83336231e-03 -3.62979083e+01] [-1.92794668e-02 -2.89075592e-04 9.99814092e-01 -4.68028749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194012739 meters 0.02713492006002211 Centerline is valid? [True, True] Translation: X:236.28, Y:-36.30, Z:-4.69 [[ 9.86601124e-01 1.62013284e-01 1.92332426e-02 2.36279688e+02] [-1.61988386e-01 9.86788532e-01 -2.85584098e-03 -3.62989862e+01] [-1.94418274e-02 -2.97985997e-04 9.99810945e-01 -4.69128125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters 0.02799451975653795 Centerline is valid? [True, True] Translation: X:236.31, Y:-36.30, Z:-4.69 [[ 9.86517473e-01 1.62682397e-01 1.78244881e-02 2.36308038e+02] [-1.62661139e-01 9.86678445e-01 -2.64573875e-03 -3.62987734e+01] [-1.80174533e-02 -2.89284029e-04 9.99837631e-01 -4.69370152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254012739 meters 0.02790367084059506 Centerline is valid? [True, True] Translation: X:236.34, Y:-36.30, Z:-4.69 [[ 9.86556161e-01 1.62441278e-01 1.78821712e-02 2.36336744e+02] [-1.62419873e-01 9.86718171e-01 -2.65259987e-03 -3.63015292e+01] [-1.80755549e-02 -2.87481227e-04 9.99836582e-01 -4.69443843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters 0.028859543453812947 Centerline is valid? [True, True] Translation: X:236.36, Y:-36.30, Z:-4.69 [[ 9.86659587e-01 1.61768247e-01 1.82727299e-02 2.36364846e+02] [-1.61745798e-01 9.86828736e-01 -2.70963652e-03 -3.63027333e+01] [-1.84703882e-02 -2.82048442e-04 9.99829368e-01 -4.69475488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314012739 meters 0.025270592528896196 Centerline is valid? [True, True] Translation: X:236.39, Y:-36.31, Z:-4.69 [[ 9.87181001e-01 1.58338897e-01 2.00615294e-02 2.36393099e+02] [-1.58311150e-01 9.87384796e-01 -2.97384653e-03 -3.63130840e+01] [-2.02793247e-02 -2.40239001e-04 9.99794324e-01 -4.69209400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters 0.02317833181182963 Centerline is valid? [True, True] Translation: X:236.42, Y:-36.32, Z:-4.69 [[ 9.87571692e-01 1.55864533e-01 2.02089388e-02 2.36421395e+02] [-1.55835874e-01 9.87778422e-01 -2.99498172e-03 -3.63213211e+01] [-2.04287651e-02 -1.91518463e-04 9.99791293e-01 -4.69221455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.374012739 meters 0.021570898536546222 Centerline is valid? [True, True] Translation: X:236.45, Y:-36.33, Z:-4.70 [[ 9.88370066e-01 1.50962164e-01 1.83040377e-02 2.36448221e+02] [-1.50937826e-01 9.88539538e-01 -2.71189414e-03 -3.63315225e+01] [-1.85036584e-02 -8.24166732e-05 9.99828789e-01 -4.69617528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters 0.02140605331410038 Centerline is valid? [True, True] Translation: X:236.48, Y:-36.34, Z:-4.70 [[ 9.88604982e-01 1.49526315e-01 1.73802091e-02 2.36476129e+02] [-1.49504168e-01 9.88757745e-01 -2.57399461e-03 -3.63387681e+01] [-1.75696963e-02 -5.37498022e-05 9.99845640e-01 -4.69821585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43401273899997 meters 0.021364132803959896 Centerline is valid? [True, True] Translation: X:236.50, Y:-36.34, Z:-4.70 [[ 9.88704070e-01 1.48889668e-01 1.72083915e-02 2.36502145e+02] [-1.48867872e-01 9.88853814e-01 -2.54789955e-03 -3.63447588e+01] [-1.73959395e-02 -4.26579594e-05 9.99848678e-01 -4.69933864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters 0.021304209819319457 Centerline is valid? [True, True] Translation: X:236.53, Y:-36.35, Z:-4.70 [[ 9.88642527e-01 1.49299957e-01 1.71894072e-02 2.36528773e+02] [-1.49278307e-01 9.88791950e-01 -2.54303995e-03 -3.63490403e+01] [-1.73764233e-02 -5.18481589e-05 9.99849017e-01 -4.69889812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49401273899997 meters 0.02125382709683957 Centerline is valid? [True, True] Translation: X:236.56, Y:-36.35, Z:-4.70 [[ 9.88647169e-01 1.49266415e-01 1.72137493e-02 2.36556350e+02] [-1.49244724e-01 9.88797014e-01 -2.54515237e-03 -3.63526616e+01] [-1.74008097e-02 -5.28035910e-05 9.99848593e-01 -4.69878915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters 0.021263501514717592 Centerline is valid? [True, True] Translation: X:236.58, Y:-36.36, Z:-4.70 [[ 9.88641356e-01 1.49291441e-01 1.73301648e-02 2.36583310e+02] [-1.49269482e-01 9.88793235e-01 -2.56109608e-03 -3.63558568e+01] [-1.75182994e-02 -5.48592243e-05 9.99846541e-01 -4.69914601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55401273899997 meters 0.021119767673655736 Centerline is valid? [True, True] Translation: X:236.61, Y:-36.36, Z:-4.70 [[ 9.88755059e-01 1.48459711e-01 1.79762798e-02 2.36609978e+02] [-1.48435977e-01 9.88918456e-01 -2.65489683e-03 -3.63625928e+01] [-1.81712201e-02 -4.32839835e-05 9.99834889e-01 -4.69896190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters 0.02102403752711585 Centerline is valid? [True, True] Translation: X:236.64, Y:-36.37, Z:-4.70 [[ 9.88855620e-01 1.47761746e-01 1.81942289e-02 2.36636213e+02] [-1.47737334e-01 9.89022985e-01 -2.68607709e-03 -3.63687106e+01] [-1.83914100e-02 -3.18244362e-05 9.99830863e-01 -4.69937150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61401273899997 meters 0.020930211860830456 Centerline is valid? [True, True] Translation: X:236.66, Y:-36.38, Z:-4.70 [[ 9.89079019e-01 1.46214726e-01 1.85458524e-02 2.36662491e+02] [-1.46189127e-01 9.89252877e-01 -2.73593661e-03 -3.63775311e+01] [-1.87465721e-02 -5.14447925e-06 9.99824268e-01 -4.69948509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters 0.020887079187880856 Centerline is valid? [True, True] Translation: X:236.69, Y:-36.38, Z:-4.70 [[ 9.89146098e-01 1.45751326e-01 1.86157712e-02 2.36690368e+02] [-1.45725481e-01 9.89321258e-01 -2.74471165e-03 -3.63833581e+01] [-1.88170235e-02 2.12861601e-06 9.99822944e-01 -4.69913684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67401273899998 meters 0.02073954287876155 Centerline is valid? [True, True] Translation: X:236.72, Y:-36.39, Z:-4.70 [[ 9.89163581e-01 1.45610963e-01 1.87845298e-02 2.36717883e+02] [-1.45584647e-01 9.89341927e-01 -2.76822113e-03 -3.63877678e+01] [-1.89874063e-02 3.48438617e-06 9.99819723e-01 -4.69914768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters 0.020852861788100883 Centerline is valid? [True, True] Translation: X:236.75, Y:-36.39, Z:-4.70 [[ 9.89114634e-01 1.45983916e-01 1.84644937e-02 2.36745176e+02] [-1.45958579e-01 9.89286964e-01 -2.71974527e-03 -3.63914253e+01] [-1.86637220e-02 -4.91141674e-06 9.99825818e-01 -4.70030816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73401273899998 meters 0.03437255672822709 Centerline is valid? [True, True] Translation: X:236.77, Y:-36.40, Z:-4.69 [[ 9.89062973e-01 1.46440047e-01 1.75996782e-02 2.36772957e+02] [-1.46417122e-01 9.89219547e-01 -2.59112058e-03 -3.63959146e+01] [-1.77893895e-02 -1.41127991e-05 9.99841756e-01 -4.69116566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters 0.020977011736989216 Centerline is valid? [True, True] Translation: X:236.80, Y:-36.40, Z:-4.70 [[ 9.89035027e-01 1.46630795e-01 1.75819489e-02 2.36800992e+02] [-1.46607965e-01 9.89191291e-01 -2.58748028e-03 -3.63992148e+01] [-1.77713150e-02 -1.85451034e-05 9.99842078e-01 -4.70260217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79401273899998 meters 0.021149728874065108 Centerline is valid? [True, True] Translation: X:236.83, Y:-36.40, Z:-4.70 [[ 9.88860838e-01 1.47829269e-01 1.73421463e-02 2.36829217e+02] [-1.47807263e-01 9.89012895e-01 -2.55092027e-03 -3.64038863e+01] [-1.75287070e-02 -4.07900332e-05 9.99846360e-01 -4.70391612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters 0.021330544582646695 Centerline is valid? [True, True] Translation: X:236.86, Y:-36.41, Z:-4.70 [[ 9.88751618e-01 1.48536961e-01 1.75216828e-02 2.36856356e+02] [-1.48514623e-01 9.88906855e-01 -2.57655744e-03 -3.64078391e+01] [-1.77100263e-02 -5.46507869e-05 9.99843164e-01 -4.70456764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85401273899998 meters 0.021406827622747 Centerline is valid? [True, True] Translation: X:236.88, Y:-36.41, Z:-4.70 [[ 9.88691532e-01 1.48901928e-01 1.78120602e-02 2.36882898e+02] [-1.48878929e-01 9.88851967e-01 -2.61776760e-03 -3.64119744e+01] [-1.80032814e-02 -6.36757845e-05 9.99837926e-01 -4.70455349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters 0.021613725301952616 Centerline is valid? [True, True] Translation: X:236.91, Y:-36.42, Z:-4.70 [[ 9.88614587e-01 1.49374190e-01 1.81259474e-02 2.36910017e+02] [-1.49350490e-01 9.88780737e-01 -2.66180956e-03 -3.64166715e+01] [-1.83201933e-02 -7.56153744e-05 9.99832168e-01 -4.70378273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914012739 meters 0.02158481384242313 Centerline is valid? [True, True] Translation: X:236.94, Y:-36.42, Z:-4.70 [[ 9.88603861e-01 1.49506926e-01 1.76092452e-02 2.36938335e+02] [-1.49484603e-01 9.88760675e-01 -2.58465558e-03 -3.64218078e+01] [-1.77977531e-02 -7.71105416e-05 9.99841604e-01 -4.70496230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters 0.0217629897768053 Centerline is valid? [True, True] Translation: X:236.97, Y:-36.43, Z:-4.71 [[ 9.88580684e-01 1.49687029e-01 1.73788298e-02 2.36965659e+02] [-1.49665327e-01 9.88733426e-01 -2.55007833e-03 -3.64270409e+01] [-1.75647436e-02 -8.00500621e-05 9.99845725e-01 -4.70621037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974012739 meters 0.021548883929148673 Centerline is valid? [True, True] Translation: X:236.99, Y:-36.44, Z:-4.71 [[ 9.88572224e-01 1.49671381e-01 1.79843391e-02 2.36993122e+02] [-1.49648162e-01 9.88735794e-01 -2.63758522e-03 -3.64355042e+01] [-1.81765308e-02 -8.38798068e-05 9.99834790e-01 -4.70562719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters 0.030869410682137544 Centerline is valid? [True, True] Translation: X:237.02, Y:-36.44, Z:-4.70 [[ 9.88744564e-01 1.48529081e-01 1.79805082e-02 2.37020691e+02] [-1.48505708e-01 9.88908038e-01 -2.63568777e-03 -3.64447877e+01] [-1.81725454e-02 -6.41861377e-05 9.99834864e-01 -4.69555818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034012739 meters 0.028642120271172366 Centerline is valid? [True, True] Translation: X:237.05, Y:-36.46, Z:-4.70 [[ 9.89063872e-01 1.46397429e-01 1.79010888e-02 2.37046413e+02] [-1.46373927e-01 9.89225855e-01 -2.62322360e-03 -3.64585195e+01] [-1.80922531e-02 -2.57169796e-05 9.99836321e-01 -4.69768019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters 0.020982814646805778 Centerline is valid? [True, True] Translation: X:237.07, Y:-36.47, Z:-4.71 [[ 9.89150872e-01 1.45798973e-01 1.79781147e-02 2.37074710e+02] [-1.45775190e-01 9.89314237e-01 -2.63341768e-03 -3.64660890e+01] [-1.81699544e-02 -1.59156811e-05 9.99834913e-01 -4.70760218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.094012739 meters 0.020903641394985042 Centerline is valid? [True, True] Translation: X:237.10, Y:-36.47, Z:-4.71 [[ 9.89133160e-01 1.45889213e-01 1.82189312e-02 2.37101561e+02] [-1.45864819e-01 9.89300934e-01 -2.66782411e-03 -3.64733036e+01] [-1.84132124e-02 -1.86678101e-05 9.99830462e-01 -4.70764352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters 0.021312917131951575 Centerline is valid? [True, True] Translation: X:237.13, Y:-36.48, Z:-4.71 [[ 9.88778792e-01 1.48312495e-01 1.78858959e-02 2.37129986e+02] [-1.48289400e-01 9.88940544e-01 -2.61798216e-03 -3.64803289e+01] [-1.80763671e-02 -6.36835506e-05 9.99836607e-01 -4.70841275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15401273899997 meters 0.026933070491340513 Centerline is valid? [True, True] Translation: X:237.16, Y:-36.48, Z:-4.70 [[ 9.88484054e-01 1.50334824e-01 1.72833739e-02 2.37157686e+02] [-1.50313581e-01 9.88635135e-01 -2.52905607e-03 -3.64848796e+01] [-1.74671559e-02 -9.79942263e-05 9.99847433e-01 -4.70186306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters 0.02295679708350678 Centerline is valid? [True, True] Translation: X:237.19, Y:-36.49, Z:-4.71 [[ 9.88122356e-01 1.52709030e-01 1.71511635e-02 2.37186425e+02] [-1.52688490e-01 9.88271184e-01 -2.50849881e-03 -3.64870907e+01] [-1.73330711e-02 -1.40081501e-04 9.99849761e-01 -4.71018244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21401273899997 meters 0.027017493140384416 Centerline is valid? [True, True] Translation: X:237.22, Y:-36.48, Z:-4.71 [[ 9.87273731e-01 1.58100545e-01 1.71697054e-02 2.37215796e+02] [-1.58080785e-01 9.87422991e-01 -2.51058954e-03 -3.64845788e+01] [-1.73506874e-02 -2.35561404e-04 9.99849438e-01 -4.70978204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters 0.029000523764517373 Centerline is valid? [True, True] Translation: X:237.24, Y:-36.49, Z:-4.71 [[ 9.86842383e-01 1.60662180e-01 1.81597087e-02 2.37244393e+02] [-1.60640522e-01 9.87009410e-01 -2.65469418e-03 -3.64857545e+01] [-1.83503124e-02 -2.97420357e-04 9.99831575e-01 -4.70843764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27401273899997 meters 0.033282994082437796 Centerline is valid? [True, True] Translation: X:237.27, Y:-36.48, Z:-4.70 [[ 9.86043218e-01 1.65193426e-01 2.07341274e-02 2.37273931e+02] [-1.65166220e-01 9.86261092e-01 -3.02968052e-03 -3.64838526e+01] [-2.09497464e-02 -4.37181512e-04 9.99780434e-01 -4.70442339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters 0.03562388539592831 Centerline is valid? [True, True] Translation: X:237.30, Y:-36.48, Z:-4.70 [[ 9.85678207e-01 1.67309222e-01 2.11209941e-02 2.37303373e+02] [-1.67281492e-01 9.85904347e-01 -3.08545270e-03 -3.64837252e+01] [-2.13395045e-02 -4.91887920e-04 9.99772166e-01 -4.70428800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33401273899997 meters 0.03639101734003593 Centerline is valid? [True, True] Translation: X:237.33, Y:-36.48, Z:-4.71 [[ 9.85345464e-01 1.69371202e-01 2.01918984e-02 2.37332301e+02] [-1.69346309e-01 9.85552197e-01 -2.94884013e-03 -3.64848053e+01] [-2.03996184e-02 -5.13797213e-04 9.99791774e-01 -4.70673753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters 0.040482208186502666 Centerline is valid? [True, True] Translation: X:237.36, Y:-36.48, Z:-4.71 [[ 9.84821126e-01 1.72643894e-01 1.79286258e-02 2.37361634e+02] [-1.72624824e-01 9.84984172e-01 -2.61757016e-03 -3.64785172e+01] [-1.81113201e-02 -5.17087468e-04 9.99835843e-01 -4.71169123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39401273899998 meters 0.04107155200797652 Centerline is valid? [True, True] Translation: X:237.39, Y:-36.48, Z:-4.71 [[ 9.84714562e-01 1.73247503e-01 1.79592281e-02 2.37390072e+02] [-1.73228482e-01 9.84878176e-01 -2.62122203e-03 -3.64796166e+01] [-1.81417720e-02 -5.29894327e-04 9.99835284e-01 -4.71232285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters 0.04048276975008192 Centerline is valid? [True, True] Translation: X:237.42, Y:-36.48, Z:-4.71 [[ 9.84869521e-01 1.72244033e-01 1.90793008e-02 2.37418378e+02] [-1.72222401e-01 9.85054159e-01 -2.78353928e-03 -3.64806029e+01] [-1.92735927e-02 -5.44460001e-04 9.99814099e-01 -4.71134713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45401273899998 meters 0.0387143785874552 Centerline is valid? [True, True] Translation: X:237.45, Y:-36.49, Z:-4.71 [[ 9.85187271e-01 1.70403284e-01 1.92031588e-02 2.37447098e+02] [-1.70381053e-01 9.85374273e-01 -2.79991668e-03 -3.64855609e+01] [-1.93994137e-02 -5.13412146e-04 9.99811682e-01 -4.71159838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters 0.0387143785874552 Centerline is valid? [True, True] Translation: X:237.47, Y:-36.49, Z:-4.71 [[ 9.85198872e-01 1.70336186e-01 1.92032830e-02 2.37474322e+02] [-1.70313959e-01 9.85385874e-01 -2.79906507e-03 -3.64893902e+01] [-1.93994258e-02 -5.12951393e-04 9.99811682e-01 -4.71215685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51401273899998 meters 0.03655729842959114 Centerline is valid? [True, True] Translation: X:237.50, Y:-36.50, Z:-4.71 [[ 9.85610546e-01 1.67927737e-01 1.92905915e-02 2.37503123e+02] [-1.67904873e-01 9.85799196e-01 -2.81041506e-03 -3.64952322e+01] [-1.94885962e-02 -4.69009597e-04 9.99809969e-01 -4.71304024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters 0.03640761186640781 Centerline is valid? [True, True] Translation: X:237.53, Y:-36.51, Z:-4.71 [[ 9.86513839e-01 1.62688107e-01 1.79729031e-02 2.37532136e+02] [-1.62667401e-01 9.86677487e-01 -2.61782061e-03 -3.65074711e+01] [-1.81593471e-02 -3.41089173e-04 9.99835047e-01 -4.70552135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57401273899998 meters 0.03001877638713429 Centerline is valid? [True, True] Translation: X:237.56, Y:-36.51, Z:-4.72 [[ 9.86843754e-01 1.60687879e-01 1.78552701e-02 2.37559423e+02] [-1.60667118e-01 9.87005225e-01 -2.60058181e-03 -3.65090479e+01] [-1.80411268e-02 -3.02386867e-04 9.99837200e-01 -4.71666192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters 0.02727134074710601 Centerline is valid? [True, True] Translation: X:237.59, Y:-36.51, Z:-4.72 [[ 9.87105962e-01 1.59016220e-01 1.83210916e-02 2.37588381e+02] [-1.58994095e-01 9.87275931e-01 -2.66725717e-03 -3.65139277e+01] [-1.85121099e-02 -2.80079933e-04 9.99828597e-01 -4.71607413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63401273899999 meters 0.02724877848562787 Centerline is valid? [True, True] Translation: X:237.61, Y:-36.52, Z:-4.72 [[ 9.87141342e-01 1.58785254e-01 1.84177542e-02 2.37614968e+02] [-1.58762866e-01 9.87313104e-01 -2.68073799e-03 -3.65154829e+01] [-1.86097517e-02 -2.77788144e-04 9.99826785e-01 -4.71594229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters 0.02883708039649959 Centerline is valid? [True, True] Translation: X:237.64, Y:-36.51, Z:-4.72 [[ 9.87151972e-01 1.58703366e-01 1.85533159e-02 2.37642667e+02] [-1.58680663e-01 9.87326270e-01 -2.69886733e-03 -3.65144186e+01] [-1.87464955e-02 -2.79860250e-04 9.99824230e-01 -4.71664583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694012739 meters 0.02749056153093492 Centerline is valid? [True, True] Translation: X:237.67, Y:-36.52, Z:-4.72 [[ 9.87146986e-01 1.58764120e-01 1.82970776e-02 2.37670938e+02] [-1.58742075e-01 9.87316503e-01 -2.66026142e-03 -3.65175389e+01] [-1.84873607e-02 -2.78447016e-04 9.99829055e-01 -4.71756224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters 0.027175500598491775 Centerline is valid? [True, True] Translation: X:237.70, Y:-36.52, Z:-4.72 [[ 9.87093943e-01 1.59074462e-01 1.84624806e-02 2.37699232e+02] [-1.59052088e-01 9.87266546e-01 -2.68341654e-03 -3.65208824e+01] [-1.86542525e-02 -2.87711871e-04 9.99825953e-01 -4.71740489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754012739 meters 0.02713682007111723 Centerline is valid? [True, True] Translation: X:237.73, Y:-36.52, Z:-4.72 [[ 9.87161756e-01 1.58534891e-01 1.94513497e-02 2.37726884e+02] [-1.58509970e-01 9.87353332e-01 -2.82614580e-03 -3.65218901e+01] [-1.96533977e-02 -2.93369802e-04 9.99806810e-01 -4.71641520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters 0.026888806953057096 Centerline is valid? [True, True] Translation: X:237.75, Y:-36.52, Z:-4.72 [[ 9.87253588e-01 1.57837054e-01 2.04405670e-02 2.37754953e+02] [-1.57809412e-01 9.87465127e-01 -2.96856854e-03 -3.65247881e+01] [-2.06528972e-02 -2.94983906e-04 9.99786663e-01 -4.71522496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814012739 meters 0.02623735878167379 Centerline is valid? [True, True] Translation: X:237.78, Y:-36.53, Z:-4.72 [[ 9.87387679e-01 1.56922303e-01 2.09991183e-02 2.37783276e+02] [-1.56892948e-01 9.87610910e-01 -3.04841291e-03 -3.65297096e+01] [-2.12173223e-02 -2.84648230e-04 9.99774847e-01 -4.71506708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters 0.024345015748351802 Centerline is valid? [True, True] Translation: X:237.81, Y:-36.54, Z:-4.72 [[ 9.87804918e-01 1.54246299e-01 2.12019501e-02 2.37811072e+02] [-1.54215780e-01 9.88032401e-01 -3.07684372e-03 -3.65382574e+01] [-2.14228054e-02 -2.30353909e-04 9.99770479e-01 -4.71598335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.874012739 meters 0.023506677166664523 Centerline is valid? [True, True] Translation: X:237.84, Y:-36.54, Z:-4.72 [[ 9.88040351e-01 1.52792794e-01 2.07515409e-02 2.37839504e+02] [-1.52763258e-01 9.88258227e-01 -3.01049938e-03 -3.65433142e+01] [-2.09678636e-02 -1.95578135e-04 9.99780131e-01 -4.71650455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters 0.023077637545403006 Centerline is valid? [True, True] Translation: X:237.87, Y:-36.55, Z:-4.72 [[ 9.88239648e-01 1.51574238e-01 2.01903039e-02 2.37866855e+02] [-1.51546043e-01 9.88445862e-01 -2.92813013e-03 -3.65464293e+01] [-2.04008514e-02 -1.66066386e-04 9.99791867e-01 -4.71754612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93401273899997 meters 0.02289771274057284 Centerline is valid? [True, True] Translation: X:237.89, Y:-36.55, Z:-4.72 [[ 9.88493175e-01 1.50150114e-01 1.83353575e-02 2.37893985e+02] [-1.50126642e-01 9.88663202e-01 -2.65776729e-03 -3.65493200e+01] [-1.85265573e-02 -1.25440827e-04 9.99828361e-01 -4.72196268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters 0.022848145082335843 Centerline is valid? [True, True] Translation: X:237.92, Y:-36.55, Z:-4.72 [[ 9.88491868e-01 1.50166397e-01 1.82723603e-02 2.37921787e+02] [-1.50143117e-01 9.88660729e-01 -2.64715287e-03 -3.65540630e+01] [-1.84626785e-02 -1.26780037e-04 9.99829542e-01 -4.72227680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99401273899997 meters 0.022780471183946195 Centerline is valid? [True, True] Translation: X:237.95, Y:-36.56, Z:-4.72 [[ 9.88412602e-01 1.50422072e-01 2.03403046e-02 2.37948625e+02] [-1.50393310e-01 9.88621858e-01 -2.94513514e-03 -3.65555391e+01] [-2.05518830e-02 -1.48037052e-04 9.99788777e-01 -4.71859809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters 0.022664580398382362 Centerline is valid? [True, True] Translation: X:237.98, Y:-36.56, Z:-4.72 [[ 9.88398485e-01 1.50384335e-01 2.12834636e-02 2.37977019e+02] [-1.50352874e-01 9.88627598e-01 -3.07988321e-03 -3.65574500e+01] [-2.15045857e-02 -1.55878028e-04 9.99768738e-01 -4.71753380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05401273899997 meters 0.02271143199817035 Centerline is valid? [True, True] Translation: X:238.00, Y:-36.56, Z:-4.72 [[ 9.88397913e-01 1.50320747e-01 2.17540543e-02 2.38003761e+02] [-1.50287900e-01 9.88637268e-01 -3.14637367e-03 -3.65588842e+01] [-2.19798341e-02 -1.59501970e-04 9.99758402e-01 -4.71755916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters 0.022570614320955664 Centerline is valid? [True, True] Translation: X:238.03, Y:-36.56, Z:-4.72 [[ 9.88455565e-01 1.50005724e-01 2.13044488e-02 2.38031407e+02] [-1.49974184e-01 9.88685117e-01 -3.07962620e-03 -3.65626341e+01] [-2.15253530e-02 -1.51043686e-04 9.99768291e-01 -4.71927175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11401273899997 meters 0.022639745213311965 Centerline is valid? [True, True] Translation: X:238.06, Y:-36.57, Z:-4.72 [[ 9.88550959e-01 1.49518056e-01 2.02818306e-02 2.38058317e+02] [-1.49489398e-01 9.88758986e-01 -2.93040805e-03 -3.65662763e+01] [-2.04919912e-02 -1.35060952e-04 9.99790008e-01 -4.72168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters 0.022371205008992222 Centerline is valid? [True, True] Translation: X:238.09, Y:-36.57, Z:-4.72 [[ 9.88663190e-01 1.48779072e-01 2.02455911e-02 2.38086137e+02] [-1.48750406e-01 9.88870453e-01 -2.92300563e-03 -3.65706488e+01] [-2.04551489e-02 -1.21671815e-04 9.99790764e-01 -4.72217469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17401273899998 meters 0.021431791415040567 Centerline is valid? [True, True] Translation: X:238.11, Y:-36.58, Z:-4.72 [[ 9.89179244e-01 1.45370199e-01 1.97972028e-02 2.38113170e+02] [-1.45342128e-01 9.89377331e-01 -2.85713164e-03 -3.65792664e+01] [-2.00022455e-02 -5.11522639e-05 9.99799934e-01 -4.72283115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters 0.02127496031574539 Centerline is valid? [True, True] Translation: X:238.14, Y:-36.59, Z:-4.72 [[ 9.89490954e-01 1.43353081e-01 1.89088888e-02 2.38140662e+02] [-1.43327125e-01 9.89671609e-01 -2.72787150e-03 -3.65871487e+01] [-1.91046392e-02 -1.09524959e-05 9.99817490e-01 -4.72461234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23401273899998 meters 0.02157474050764688 Centerline is valid? [True, True] Translation: X:238.17, Y:-36.60, Z:-4.73 [[ 9.89973237e-01 1.40103187e-01 1.80024308e-02 2.38168089e+02] [-1.40079136e-01 9.90136907e-01 -2.59631958e-03 -3.65973523e+01] [-1.81886238e-02 4.85219470e-05 9.99834572e-01 -4.72674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters 0.02154553402832421 Centerline is valid? [True, True] Translation: X:238.20, Y:-36.60, Z:-4.73 [[ 9.90055844e-01 1.39388693e-01 1.89793910e-02 2.38195884e+02] [-1.39361849e-01 9.90237743e-01 -2.73624189e-03 -3.66025257e+01] [-1.91755105e-02 6.40292650e-05 9.99816131e-01 -4.72546664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29401273899998 meters 0.02143667890965922 Centerline is valid? [True, True] Translation: X:238.22, Y:-36.61, Z:-4.72 [[ 9.89986878e-01 1.39750773e-01 1.98922768e-02 2.38224940e+02] [-1.39721384e-01 9.90186709e-01 -2.86654163e-03 -3.66058534e+01] [-2.00976695e-02 5.84621598e-05 9.99798020e-01 -4.72394484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters 0.021215230023362862 Centerline is valid? [True, True] Translation: X:238.25, Y:-36.61, Z:-4.72 [[ 9.89588342e-01 1.42486322e-01 2.03115995e-02 2.38253853e+02] [-1.42456276e-01 9.89796771e-01 -2.92597107e-03 -3.66069702e+01] [-2.05212664e-02 1.99203398e-06 9.99789417e-01 -4.72399892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35401273899998 meters 0.02126042587448684 Centerline is valid? [True, True] Translation: X:238.28, Y:-36.61, Z:-4.73 [[ 9.89406938e-01 1.43787462e-01 1.99769297e-02 2.38281507e+02] [-1.43758682e-01 9.89608592e-01 -2.87682146e-03 -3.66092471e+01] [-2.01829921e-02 -2.55099800e-05 9.99796302e-01 -4.72537241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters 0.021820648549667875 Centerline is valid? [True, True] Translation: X:238.31, Y:-36.61, Z:-4.73 [[ 9.89045357e-01 1.46313122e-01 1.95384671e-02 2.38309341e+02] [-1.46286108e-01 9.89238325e-01 -2.81250315e-03 -3.66084177e+01] [-1.97397066e-02 -7.65131091e-05 9.99805150e-01 -4.72618065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414012739 meters 0.022128762758547478 Centerline is valid? [True, True] Translation: X:238.34, Y:-36.61, Z:-4.73 [[ 9.88919662e-01 1.47142785e-01 1.96698334e-02 2.38337003e+02] [-1.47115589e-01 9.89115257e-01 -2.83048853e-03 -3.66096619e+01] [-1.98722183e-02 -9.46133603e-05 9.99802523e-01 -4.72619239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters 0.022162693518077103 Centerline is valid? [True, True] Translation: X:238.36, Y:-36.61, Z:-4.73 [[ 9.88879140e-01 1.47385192e-01 1.98909838e-02 2.38364946e+02] [-1.47357453e-01 9.89079165e-01 -2.86113888e-03 -3.66137169e+01] [-2.00954472e-02 -1.01764157e-04 9.99798061e-01 -4.72699636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474012739 meters 0.022000586019851474 Centerline is valid? [True, True] Translation: X:238.39, Y:-36.62, Z:-4.73 [[ 9.88940278e-01 1.46985812e-01 1.98065174e-02 2.38392462e+02] [-1.46958256e-01 9.89138596e-01 -2.84757853e-03 -3.66184425e+01] [-2.00099445e-02 -9.46461554e-05 9.99799777e-01 -4.72882003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters 0.021967775897607903 Centerline is valid? [True, True] Translation: X:238.42, Y:-36.62, Z:-4.73 [[ 9.89022750e-01 1.46486365e-01 1.93841166e-02 2.38418700e+02] [-1.46459903e-01 9.89212686e-01 -2.78551463e-03 -3.66225209e+01] [-1.95830540e-02 -8.40584974e-05 9.99808230e-01 -4.73060808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534012739 meters 0.021962779616535186 Centerline is valid? [True, True] Translation: X:238.44, Y:-36.63, Z:-4.73 [[ 9.89125400e-01 1.45872624e-01 1.87648697e-02 2.38444851e+02] [-1.45847743e-01 9.89303377e-01 -2.69503513e-03 -3.66267244e+01] [-1.89572808e-02 -7.10861982e-05 9.99820292e-01 -4.73226813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters 0.021871400261234512 Centerline is valid? [True, True] Translation: X:238.47, Y:-36.63, Z:-4.73 [[ 9.89219591e-01 1.45254020e-01 1.85975752e-02 2.38472715e+02] [-1.45229500e-01 9.89394394e-01 -2.66952048e-03 -3.66320535e+01] [-1.87880952e-02 -6.01745762e-05 9.99823486e-01 -4.73284275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.594012739 meters 0.021614766568893908 Centerline is valid? [True, True] Translation: X:238.50, Y:-36.64, Z:-4.73 [[ 9.89369416e-01 1.44212604e-01 1.87318597e-02 2.38501294e+02] [-1.44187569e-01 9.89546726e-01 -2.68739928e-03 -3.66374010e+01] [-1.89236073e-02 -4.20706407e-05 9.99820932e-01 -4.73277101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters 0.021478418645951743 Centerline is valid? [True, True] Translation: X:238.53, Y:-36.65, Z:-4.73 [[ 9.89703694e-01 1.41783820e-01 1.95945434e-02 2.38528200e+02] [-1.41755968e-01 9.89897645e-01 -2.81018812e-03 -3.66455071e+01] [-1.97950316e-02 3.61009275e-06 9.99804059e-01 -4.73248023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65401273899997 meters 0.021491642594973513 Centerline is valid? [True, True] Translation: X:238.56, Y:-36.65, Z:-4.73 [[ 9.89899128e-01 1.40380511e-01 1.98249464e-02 2.38555003e+02] [-1.40351743e-01 9.90097627e-01 -2.84203554e-03 -3.66519583e+01] [-2.00275988e-02 3.08627180e-05 9.99799427e-01 -4.73290300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters 0.021778025500312954 Centerline is valid? [True, True] Translation: X:238.58, Y:-36.66, Z:-4.73 [[ 9.90104698e-01 1.38966685e-01 1.95178725e-02 2.38582931e+02] [-1.38938549e-01 9.90297055e-01 -2.79689118e-03 -3.66598829e+01] [-1.97171664e-02 5.74302153e-05 9.99805596e-01 -4.73412612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71401273899997 meters 0.02180828179800228 Centerline is valid? [True, True] Translation: X:238.61, Y:-36.66, Z:-4.74 [[ 9.90159004e-01 1.38627697e-01 1.91704955e-02 2.38611179e+02] [-1.38600506e-01 9.90344565e-01 -2.74624549e-03 -3.66649476e+01] [-1.93661017e-02 6.21793208e-05 9.99812458e-01 -4.73534076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters 0.021865723967523 Centerline is valid? [True, True] Translation: X:238.64, Y:-36.67, Z:-4.74 [[ 9.90166729e-01 1.38586732e-01 1.90674164e-02 2.38638986e+02] [-1.38559842e-01 9.90350299e-01 -2.73060774e-03 -3.66693096e+01] [-1.92618476e-02 6.17787247e-05 9.99814471e-01 -4.73565683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77401273899997 meters 0.021710781705369813 Centerline is valid? [True, True] Translation: X:238.67, Y:-36.67, Z:-4.74 [[ 9.90042560e-01 1.39449919e-01 1.92210566e-02 2.38666785e+02] [-1.39422778e-01 9.90229124e-01 -2.75148613e-03 -3.66715582e+01] [-1.94169445e-02 4.42352632e-05 9.99811472e-01 -4.73589051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters 0.021589432079401366 Centerline is valid? [True, True] Translation: X:238.70, Y:-36.67, Z:-4.74 [[ 9.89991674e-01 1.39879589e-01 1.87132745e-02 2.38695422e+02] [-1.39853960e-01 9.90168521e-01 -2.67773865e-03 -3.66747344e+01] [-1.89038563e-02 3.38134178e-05 9.99821306e-01 -4.73769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83401273899997 meters 0.021913687738022925 Centerline is valid? [True, True] Translation: X:238.72, Y:-36.68, Z:-4.74 [[ 9.90177164e-01 1.38642715e-01 1.80936981e-02 2.38722422e+02] [-1.38618564e-01 9.90342463e-01 -2.58830389e-03 -3.66806430e+01] [-1.82778071e-02 5.47569546e-05 9.99832945e-01 -4.73982160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters 0.02208374370893057 Centerline is valid? [True, True] Translation: X:238.75, Y:-36.69, Z:-4.74 [[ 9.90304918e-01 1.37715845e-01 1.81800993e-02 2.38750581e+02] [-1.37691326e-01 9.90471777e-01 -2.59959691e-03 -3.66860513e+01] [-1.83648809e-02 7.11516344e-05 9.99831349e-01 -4.73943813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89401273899998 meters 0.02236939980531543 Centerline is valid? [True, True] Translation: X:238.78, Y:-36.69, Z:-4.74 [[ 9.90453579e-01 1.36579236e-01 1.86499342e-02 2.38779259e+02] [-1.36553248e-01 9.90629145e-01 -2.66590345e-03 -3.66923038e+01] [-1.88392755e-02 9.37445307e-05 9.99822521e-01 -4.73907492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters 0.02349484853818089 Centerline is valid? [True, True] Translation: X:238.81, Y:-36.70, Z:-4.74 [[ 9.90775044e-01 1.34311157e-01 1.80367528e-02 2.38805523e+02] [-1.34286488e-01 9.90939199e-01 -2.57750981e-03 -3.67013109e+01] [-1.82195137e-02 1.31640209e-04 9.99834002e-01 -4.74101471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95401273899998 meters 0.023398562440048537 Centerline is valid? [True, True] Translation: X:238.83, Y:-36.71, Z:-4.74 [[ 9.90953527e-01 1.32979479e-01 1.80987560e-02 2.38833940e+02] [-1.32954441e-01 9.91118779e-01 -2.58509916e-03 -3.67060634e+01] [-1.82817821e-02 1.55403146e-04 9.99832862e-01 -4.74166215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters 0.025253972213290437 Centerline is valid? [True, True] Translation: X:238.86, Y:-36.72, Z:-4.74 [[ 9.91230282e-01 1.30817609e-01 1.86890633e-02 2.38860023e+02] [-1.30790543e-01 9.91406432e-01 -2.66851128e-03 -3.67183154e+01] [-1.88775458e-02 2.00756456e-04 9.99821783e-01 -4.74115894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01401273899998 meters 0.025671410252736792 Centerline is valid? [True, True] Translation: X:238.89, Y:-36.73, Z:-4.74 [[ 9.91242516e-01 1.30648912e-01 1.92129170e-02 2.38887472e+02] [-1.30620302e-01 9.91428675e-01 -2.74196903e-03 -3.67250684e+01] [-1.94064722e-02 2.08359251e-04 9.99811655e-01 -4.74022033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters 0.025188420425067803 Centerline is valid? [True, True] Translation: X:238.92, Y:-36.73, Z:-4.74 [[ 9.91187597e-01 1.30978809e-01 1.97914108e-02 2.38915879e+02] [-1.30948538e-01 9.91385147e-01 -2.82340115e-03 -3.67286770e+01] [-1.99907164e-02 2.06863895e-04 9.99800144e-01 -4.73962670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07401273899998 meters 0.02367974492456015 Centerline is valid? [True, True] Translation: X:238.94, Y:-36.73, Z:-4.74 [[ 9.90847526e-01 1.33521411e-01 1.98295844e-02 2.38943515e+02] [-1.33491549e-01 9.91045917e-01 -2.82797911e-03 -3.67295434e+01] [-2.00296244e-02 1.55014167e-04 9.99799375e-01 -4.74060140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters 0.022370224885200744 Centerline is valid? [True, True] Translation: X:238.97, Y:-36.73, Z:-4.74 [[ 9.90668181e-01 1.34939772e-01 1.91784549e-02 2.38972319e+02] [-1.34912125e-01 9.90853795e-01 -2.73410121e-03 -3.67300875e+01] [-1.93719839e-02 1.21180964e-04 9.99812338e-01 -4.74242555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13401273899999 meters 0.021952358902566207 Centerline is valid? [True, True] Translation: X:239.00, Y:-36.73, Z:-4.74 [[ 9.90315069e-01 1.37498218e-01 1.92433140e-02 2.38999831e+02] [-1.37470885e-01 9.90502012e-01 -2.74240076e-03 -3.67337587e+01] [-1.94376165e-02 7.04453916e-05 9.99811069e-01 -4.74312539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters 0.021546177845983734 Centerline is valid? [True, True] Translation: X:239.03, Y:-36.74, Z:-4.74 [[ 9.90166534e-01 1.38491620e-01 1.97561847e-02 2.39029234e+02] [-1.38463033e-01 9.90363604e-01 -2.81423167e-03 -3.67351094e+01] [-1.99555538e-02 5.10567523e-05 9.99800867e-01 -4.74253698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194012739 meters 0.02147325940789707 Centerline is valid? [True, True] Translation: X:239.06, Y:-36.74, Z:-4.74 [[ 9.90090384e-01 1.39016143e-01 1.98882838e-02 2.39056619e+02] [-1.38987298e-01 9.90290114e-01 -2.83207199e-03 -3.67391609e+01] [-2.00888745e-02 3.97884221e-05 9.99798197e-01 -4.74338694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters 0.021563497644731703 Centerline is valid? [True, True] Translation: X:239.08, Y:-36.74, Z:-4.74 [[ 9.90114108e-01 1.38785810e-01 2.03113755e-02 2.39084601e+02] [-1.38755702e-01 9.90322421e-01 -2.89105737e-03 -3.67445757e+01] [-2.05160483e-02 4.41575361e-05 9.99789523e-01 -4.74314530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254012739 meters 0.021536921759784947 Centerline is valid? [True, True] Translation: X:239.11, Y:-36.75, Z:-4.74 [[ 9.90203724e-01 1.38138096e-01 2.03580953e-02 2.39111479e+02] [-1.38107732e-01 9.90412976e-01 -2.89673333e-03 -3.67498911e+01] [-2.05630709e-02 5.67457542e-05 9.99788556e-01 -4.74316913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters 0.02181044700984896 Centerline is valid? [True, True] Translation: X:239.14, Y:-36.76, Z:-4.74 [[ 9.90314666e-01 1.37366627e-01 2.01809901e-02 2.39138812e+02] [-1.37336655e-01 9.90520270e-01 -2.87025456e-03 -3.67561872e+01] [-2.03839570e-02 7.08655082e-05 9.99792223e-01 -4.74408471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314012739 meters 0.021739318920374916 Centerline is valid? [True, True] Translation: X:239.17, Y:-36.76, Z:-4.75 [[ 9.90413019e-01 1.36722159e-01 1.97257148e-02 2.39167500e+02] [-1.36693420e-01 9.90609431e-01 -2.80436853e-03 -3.67604396e+01] [-1.99238984e-02 8.11076941e-05 9.99801496e-01 -4.74550907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters 0.021742281481028317 Centerline is valid? [True, True] Translation: X:239.19, Y:-36.77, Z:-4.75 [[ 9.90398780e-01 1.36806711e-01 1.98539996e-02 2.39194402e+02] [-1.36777633e-01 9.90597758e-01 -2.82162803e-03 -3.67654556e+01] [-2.00533452e-02 7.89538837e-05 9.99798908e-01 -4.74615952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.374012739 meters 0.021742281481028317 Centerline is valid? [True, True] Translation: X:239.22, Y:-36.77, Z:-4.75 [[ 9.90405171e-01 1.36760407e-01 1.98541693e-02 2.39222454e+02] [-1.36731344e-01 9.90604151e-01 -2.82043356e-03 -3.67693537e+01] [-2.00533462e-02 7.86847371e-05 9.99798908e-01 -4.74673482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters 0.021516465609941995 Centerline is valid? [True, True] Translation: X:239.25, Y:-36.77, Z:-4.75 [[ 9.90293916e-01 1.37495316e-01 2.03223524e-02 2.39250320e+02] [-1.37465041e-01 9.90502415e-01 -2.88594836e-03 -3.67745562e+01] [-2.05261435e-02 6.43241154e-05 9.99789314e-01 -4.74644418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43401273899997 meters 0.021249674738121567 Centerline is valid? [True, True] Translation: X:239.28, Y:-36.78, Z:-4.75 [[ 9.90154777e-01 1.38474236e-01 2.04549009e-02 2.39279072e+02] [-1.38443798e-01 9.90366035e-01 -2.90355443e-03 -3.67773869e+01] [-2.06599066e-02 4.31141254e-05 9.99786560e-01 -4.74653418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters 0.02119468223292846 Centerline is valid? [True, True] Translation: X:239.31, Y:-36.78, Z:-4.75 [[ 9.90026080e-01 1.39432768e-01 2.01708785e-02 2.39307140e+02] [-1.39403388e-01 9.90231540e-01 -2.86227473e-03 -3.67803128e+01] [-2.03729350e-02 2.18378269e-05 9.99792450e-01 -4.74730723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49401273899997 meters 0.021204926862377068 Centerline is valid? [True, True] Translation: X:239.34, Y:-36.78, Z:-4.75 [[ 9.89831942e-01 1.40877089e-01 1.96563734e-02 2.39335939e+02] [-1.40849496e-01 9.90027093e-01 -2.78811083e-03 -3.67832591e+01] [-1.98531231e-02 -8.82913221e-06 9.99802907e-01 -4.74906073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters 0.02123170052106936 Centerline is valid? [True, True] Translation: X:239.36, Y:-36.79, Z:-4.75 [[ 9.89784974e-01 1.41237903e-01 1.94309288e-02 2.39363024e+02] [-1.41211028e-01 9.89975684e-01 -2.75522041e-03 -3.67874480e+01] [-1.96252886e-02 -1.67856648e-05 9.99807405e-01 -4.74968055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55401273899997 meters 0.021227559674143484 Centerline is valid? [True, True] Translation: X:239.39, Y:-36.79, Z:-4.75 [[ 9.89805756e-01 1.41065693e-01 1.96223477e-02 2.39391752e+02] [-1.41038275e-01 9.90000237e-01 -2.78117491e-03 -3.67922256e+01] [-1.98184572e-02 -1.46791224e-05 9.99803595e-01 -4.75018116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters 0.021179043084219584 Centerline is valid? [True, True] Translation: X:239.42, Y:-36.80, Z:-4.75 [[ 9.89917764e-01 1.40118310e-01 2.07287258e-02 2.39419129e+02] [-1.40087527e-01 9.90134768e-01 -2.93694055e-03 -3.67992313e+01] [-2.09357512e-02 3.49368707e-06 9.99780823e-01 -4.74904299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61401273899997 meters 0.021162193868692118 Centerline is valid? [True, True] Translation: X:239.45, Y:-36.81, Z:-4.75 [[ 9.90006161e-01 1.39448935e-01 2.10189323e-02 2.39446571e+02] [-1.39417160e-01 9.90229263e-01 -2.97679457e-03 -3.68052888e+01] [-2.12286727e-02 1.66451281e-05 9.99774646e-01 -4.74887741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters 0.02135615617225865 Centerline is valid? [True, True] Translation: X:239.47, Y:-36.81, Z:-4.75 [[ 9.90304554e-01 1.37464309e-01 2.00113640e-02 2.39473838e+02] [-1.37435124e-01 9.90506719e-01 -2.83297769e-03 -3.68140240e+01] [-2.02108238e-02 5.52464116e-05 9.99795739e-01 -4.75128812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67401273899998 meters 0.02154112120439142 Centerline is valid? [True, True] Translation: X:239.50, Y:-36.82, Z:-4.75 [[ 9.90420219e-01 1.36706902e-01 1.94682419e-02 2.39501784e+02] [-1.36679156e-01 9.90611538e-01 -2.75497591e-03 -3.68197393e+01] [-1.96620893e-02 6.76809761e-05 9.99806680e-01 -4.75285991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters 0.021682782420118573 Centerline is valid? [True, True] Translation: X:239.53, Y:-36.83, Z:-4.75 [[ 9.90469770e-01 1.36338842e-01 1.95283318e-02 2.39530324e+02] [-1.36310871e-01 9.90662261e-01 -2.76256599e-03 -3.68252254e+01] [-1.97226264e-02 7.43141837e-05 9.99805487e-01 -4.75344049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73401273899998 meters 0.02145856573566728 Centerline is valid? [True, True] Translation: X:239.56, Y:-36.83, Z:-4.75 [[ 9.90395370e-01 1.36701149e-01 2.07318038e-02 2.39559243e+02] [-1.36669725e-01 9.90612331e-01 -2.93179068e-03 -3.68296506e+01] [-2.09379597e-02 7.02219761e-05 9.99780774e-01 -4.75094181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters 0.02147192725454754 Centerline is valid? [True, True] Translation: X:239.59, Y:-36.83, Z:-4.75 [[ 9.90387742e-01 1.36652068e-01 2.14087262e-02 2.39587757e+02] [-1.36618568e-01 9.90619103e-01 -3.02649685e-03 -3.68338653e+01] [-2.16214702e-02 7.25758594e-05 9.99766226e-01 -4.75035917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79401273899998 meters 0.021457424510195035 Centerline is valid? [True, True] Translation: X:239.62, Y:-36.84, Z:-4.75 [[ 9.90457070e-01 1.36122861e-01 2.15721973e-02 2.39615599e+02] [-1.36088739e-01 9.90691960e-01 -3.04884708e-03 -3.68391570e+01] [-2.17864202e-02 8.40190146e-05 9.99762644e-01 -4.75045806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters 0.021536323796831115 Centerline is valid? [True, True] Translation: X:239.64, Y:-36.84, Z:-4.75 [[ 9.90498942e-01 1.35767798e-01 2.18849488e-02 2.39643853e+02] [-1.35732610e-01 9.90740681e-01 -3.09226026e-03 -3.68439461e+01] [-2.21021385e-02 9.23792956e-05 9.99755714e-01 -4.75070162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85401273899998 meters 0.021667501664340637 Centerline is valid? [True, True] Translation: X:239.67, Y:-36.85, Z:-4.75 [[ 9.90492554e-01 1.35755389e-01 2.22480190e-02 2.39673335e+02] [-1.35719043e-01 9.90742381e-01 -3.14258489e-03 -3.68483634e+01] [-2.24686782e-02 9.32270903e-05 9.99747543e-01 -4.75046390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters 0.021569337530204995 Centerline is valid? [True, True] Translation: X:239.70, Y:-36.85, Z:-4.75 [[ 9.90355049e-01 1.36669755e-01 2.27652059e-02 2.39703190e+02] [-1.36631953e-01 9.90616663e-01 -3.21510588e-03 -3.68510231e+01] [-2.29910000e-02 7.36418093e-05 9.99735669e-01 -4.75041333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914012739 meters 0.021460247481087994 Centerline is valid? [True, True] Translation: X:239.73, Y:-36.85, Z:-4.75 [[ 9.90217062e-01 1.37714035e-01 2.24725464e-02 2.39732846e+02] [-1.37677479e-01 9.90472030e-01 -3.17326424e-03 -3.68528648e+01] [-2.26954317e-02 4.82568449e-05 9.99742424e-01 -4.75118852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters 0.02123978290976864 Centerline is valid? [True, True] Translation: X:239.76, Y:-36.85, Z:-4.75 [[ 9.90106025e-01 1.38662350e-01 2.15130710e-02 2.39762576e+02] [-1.38629083e-01 9.90339716e-01 -3.03730610e-03 -3.68542853e+01] [-2.17264086e-02 2.49177668e-05 9.99763953e-01 -4.75358823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974012739 meters 0.02158073780340544 Centerline is valid? [True, True] Translation: X:239.79, Y:-36.85, Z:-4.76 [[ 9.89920424e-01 1.40327186e-01 1.91268245e-02 2.39790352e+02] [-1.40301208e-01 9.90105187e-01 -2.70005198e-03 -3.68524412e+01] [-1.93164588e-02 -1.06799796e-05 9.99813420e-01 -4.75851109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters 0.021772886714256905 Centerline is valid? [True, True] Translation: X:239.82, Y:-36.85, Z:-4.76 [[ 9.89878768e-01 1.40715454e-01 1.84170034e-02 2.39817879e+02] [-1.40691454e-01 9.90050080e-01 -2.59884540e-03 -3.68541393e+01] [-1.85994534e-02 -1.85731107e-05 9.99827015e-01 -4.76040937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034012739 meters 0.02165895999943905 Centerline is valid? [True, True] Translation: X:239.85, Y:-36.86, Z:-4.76 [[ 9.89892849e-01 1.40381928e-01 2.01261443e-02 2.39847270e+02] [-1.40353226e-01 9.90097427e-01 -2.83867881e-03 -3.68558259e+01] [-2.03253429e-02 -1.47814161e-05 9.99793419e-01 -4.75833582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters 0.021604195117788234 Centerline is valid? [True, True] Translation: X:239.87, Y:-36.86, Z:-4.76 [[ 9.90013771e-01 1.39394623e-01 2.10207396e-02 2.39874855e+02] [-1.39363112e-01 9.90236911e-01 -2.96379217e-03 -3.68594486e+01] [-2.12286489e-02 4.67938583e-06 9.99774647e-01 -4.75699969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.094012739 meters 0.02172141862648 Centerline is valid? [True, True] Translation: X:239.90, Y:-36.87, Z:-4.76 [[ 9.90341227e-01 1.36950805e-01 2.16502126e-02 2.39903511e+02] [-1.36916822e-01 9.90577848e-01 -3.05123256e-03 -3.68651631e+01] [-2.18640897e-02 5.74830871e-05 9.99760951e-01 -4.75658516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters 0.02223231282831254 Centerline is valid? [True, True] Translation: X:239.93, Y:-36.87, Z:-4.76 [[ 9.90608019e-01 1.35105411e-01 2.10304812e-02 2.39930390e+02] [-1.35072951e-01 9.90831226e-01 -2.96294896e-03 -3.68710334e+01] [-2.12379680e-02 9.44718399e-05 9.99774444e-01 -4.75833837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15401273899997 meters 0.02301035878314348 Centerline is valid? [True, True] Translation: X:239.96, Y:-36.88, Z:-4.76 [[ 9.90894900e-01 1.33050960e-01 2.06092019e-02 2.39958062e+02] [-1.33019367e-01 9.91109189e-01 -2.90245037e-03 -3.68774288e+01] [-2.08121432e-02 1.34600279e-04 9.99783395e-01 -4.75983028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters 0.024882811984304892 Centerline is valid? [True, True] Translation: X:239.99, Y:-36.89, Z:-4.76 [[ 9.91458125e-01 1.28963131e-01 1.94755473e-02 2.39986845e+02] [-1.28934151e-01 9.91649368e-01 -2.74165166e-03 -3.68863063e+01] [-1.96664862e-02 2.07169653e-04 9.99806574e-01 -4.76318316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21401273899997 meters 0.0275191797426412 Centerline is valid? [True, True] Translation: X:240.01, Y:-36.90, Z:-4.77 [[ 9.91774888e-01 1.26584646e-01 1.89446043e-02 2.40014900e+02] [-1.26556800e-01 9.91955778e-01 -2.66646461e-03 -3.68969908e+01] [-1.91297432e-02 2.46964132e-04 9.99816979e-01 -4.76500485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters 0.03135515271152828 Centerline is valid? [True, True] Translation: X:240.04, Y:-36.91, Z:-4.77 [[ 9.92296613e-01 1.22457774e-01 1.87490032e-02 2.40042448e+02] [-1.22429767e-01 9.92473672e-01 -2.63871686e-03 -3.69114054e+01] [-1.89310234e-02 3.22953711e-04 9.99820740e-01 -4.76558265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27401273899997 meters 0.030141446057249305 Centerline is valid? [True, True] Translation: X:240.07, Y:-36.91, Z:-4.76 [[ 9.92488755e-01 1.20799440e-01 1.93278615e-02 2.40072316e+02] [-1.20769366e-01 9.92676867e-01 -2.71996830e-03 -3.69147544e+01] [-1.95148916e-02 3.65324363e-04 9.99809500e-01 -4.76397307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters 0.034046666515115745 Centerline is valid? [True, True] Translation: X:240.10, Y:-36.93, Z:-4.76 [[ 9.92588374e-01 1.19781145e-01 2.05133233e-02 2.40101803e+02] [-1.19747056e-01 9.92800237e-01 -2.88657780e-03 -3.69260494e+01] [-2.07113898e-02 4.08773496e-04 9.99785413e-01 -4.76191389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33401273899997 meters 0.0308190879054023 Centerline is valid? [True, True] Translation: X:240.13, Y:-36.93, Z:-4.76 [[ 9.92604914e-01 1.19329493e-01 2.22701020e-02 2.40133267e+02] [-1.19289159e-01 9.92854604e-01 -3.13563260e-03 -3.69258496e+01] [-2.24851468e-02 4.55862588e-04 9.99747073e-01 -4.75979387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters 0.03119798217136282 Centerline is valid? [True, True] Translation: X:240.16, Y:-36.93, Z:-4.76 [[ 9.92570179e-01 1.19625355e-01 2.22309291e-02 2.40163790e+02] [-1.19585222e-01 9.92819003e-01 -3.13078938e-03 -3.69319756e+01] [-2.24458107e-02 4.49037576e-04 9.99747960e-01 -4.76032711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39401273899998 meters 0.03133866973237289 Centerline is valid? [True, True] Translation: X:240.19, Y:-36.94, Z:-4.76 [[ 9.92499086e-01 1.20345596e-01 2.15058766e-02 2.40194425e+02] [-1.20308164e-01 9.92731968e-01 -3.03070061e-03 -3.69397497e+01] [-2.17143026e-02 4.20635057e-04 9.99764128e-01 -4.76204969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters 0.03242194919214043 Centerline is valid? [True, True] Translation: X:240.22, Y:-36.95, Z:-4.76 [[ 9.92469091e-01 1.20651964e-01 2.11708919e-02 2.40224689e+02] [-1.20615691e-01 9.92694784e-01 -2.98666132e-03 -3.69465535e+01] [-2.13765806e-02 4.10627288e-04 9.99771410e-01 -4.76371696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45401273899998 meters 0.03125587629817585 Centerline is valid? [True, True] Translation: X:240.26, Y:-36.95, Z:-4.77 [[ 9.92503248e-01 1.20463781e-01 2.06344550e-02 2.40256310e+02] [-1.20429221e-01 9.92717639e-01 -2.91392215e-03 -3.69491556e+01] [-2.08352095e-02 4.07085854e-04 9.99782841e-01 -4.76514915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters 0.031841009741173334 Centerline is valid? [True, True] Translation: X:240.29, Y:-36.96, Z:-4.77 [[ 9.92554141e-01 1.20034444e-01 2.06883770e-02 2.40287225e+02] [-1.19999598e-01 9.92769640e-01 -2.92209254e-03 -3.69570891e+01] [-2.08895443e-02 4.17738128e-04 9.99781702e-01 -4.76562368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51401273899998 meters 0.03984506223516775 Centerline is valid? [True, True] Translation: X:240.32, Y:-36.96, Z:-4.76 [[ 9.92578053e-01 1.19885539e-01 2.04026207e-02 2.40319145e+02] [-1.19851555e-01 9.92787632e-01 -2.88476514e-03 -3.69618218e+01] [-2.06013111e-02 4.18068745e-04 9.99787683e-01 -4.75507102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters 0.032091358873047975 Centerline is valid? [True, True] Translation: X:240.35, Y:-36.97, Z:-4.77 [[ 9.92487185e-01 1.20618648e-01 2.05019289e-02 2.40349653e+02] [-1.20584418e-01 9.92698834e-01 -2.90226281e-03 -3.69692775e+01] [-2.07023079e-02 4.08245496e-04 9.99785601e-01 -4.76672545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57401273899998 meters 0.031083591142382527 Centerline is valid? [True, True] Translation: X:240.38, Y:-36.97, Z:-4.77 [[ 9.92467306e-01 1.20887239e-01 1.98726411e-02 2.40380841e+02] [-1.20855072e-01 9.92666168e-01 -2.81619416e-03 -3.69720493e+01] [-2.00673404e-02 3.93271158e-04 9.99798553e-01 -4.76898367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters 0.030829407611215134 Centerline is valid? [True, True] Translation: X:240.41, Y:-36.98, Z:-4.77 [[ 9.92514227e-01 1.20566508e-01 1.94737175e-02 2.40411787e+02] [-1.20535549e-01 9.92705174e-01 -2.76010480e-03 -3.69760168e+01] [-1.96644364e-02 3.92168045e-04 9.99806559e-01 -4.77065465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63401273899999 meters 0.032625764963449586 Centerline is valid? [True, True] Translation: X:240.44, Y:-36.99, Z:-4.77 [[ 9.92541742e-01 1.20434500e-01 1.88791179e-02 2.40441483e+02] [-1.20405374e-01 9.92721202e-01 -2.67610336e-03 -3.69853613e+01] [-1.90639958e-02 3.82997039e-04 9.99818192e-01 -4.77215475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters 0.031834987723368076 Centerline is valid? [True, True] Translation: X:240.47, Y:-36.99, Z:-4.77 [[ 9.92522302e-01 1.20523138e-01 1.93301220e-02 2.40472481e+02] [-1.20492558e-01 9.92710440e-01 -2.74319557e-03 -3.69894831e+01] [-1.95198325e-02 3.93546934e-04 9.99809392e-01 -4.77147168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694012739 meters 0.0307113300303686 Centerline is valid? [True, True] Translation: X:240.50, Y:-36.99, Z:-4.77 [[ 9.92498138e-01 1.20542207e-01 2.04211399e-02 2.40503992e+02] [-1.20508071e-01 9.92708116e-01 -2.89852482e-03 -3.69927691e+01] [-2.06216259e-02 4.15868315e-04 9.99787265e-01 -4.76947880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters 0.029906089770095717 Centerline is valid? [True, True] Translation: X:240.54, Y:-37.00, Z:-4.77 [[ 9.92433492e-01 1.20701939e-01 2.25123610e-02 2.40536010e+02] [-1.20660472e-01 9.92688690e-01 -3.19629293e-03 -3.69967833e+01] [-2.27335649e-02 4.55756058e-04 9.99741455e-01 -4.76700807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754012739 meters 0.03149642914199422 Centerline is valid? [True, True] Translation: X:240.57, Y:-37.00, Z:-4.77 [[ 9.92342457e-01 1.21414296e-01 2.26939799e-02 2.40566651e+02] [-1.21372254e-01 9.92601818e-01 -3.22596875e-03 -3.70045828e+01] [-2.29177645e-02 4.46846244e-04 9.99737254e-01 -4.76773875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters 0.03152156678893307 Centerline is valid? [True, True] Translation: X:240.60, Y:-37.01, Z:-4.77 [[ 9.92110719e-01 1.23382666e-01 2.22044871e-02 2.40597616e+02] [-1.23342834e-01 9.92359089e-01 -3.15980710e-03 -3.70107322e+01] [-2.24246900e-02 3.96114121e-04 9.99748457e-01 -4.76970518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814012739 meters 0.029533235062989795 Centerline is valid? [True, True] Translation: X:240.63, Y:-37.01, Z:-4.77 [[ 9.91972613e-01 1.24596272e-01 2.15894302e-02 2.40630325e+02] [-1.24558838e-01 9.92207457e-01 -3.07527900e-03 -3.70120896e+01] [-2.18043619e-02 3.61438205e-04 9.99762191e-01 -4.77160706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters 0.02753378849151345 Centerline is valid? [True, True] Translation: X:240.66, Y:-37.01, Z:-4.77 [[ 9.91844086e-01 1.25688574e-01 2.11587191e-02 2.40661894e+02] [-1.25652843e-01 9.92069691e-01 -3.01507397e-03 -3.70129060e+01] [-2.13698842e-02 3.31830085e-04 9.99771583e-01 -4.77349796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.874012739 meters 0.025755811332904114 Centerline is valid? [True, True] Translation: X:240.69, Y:-37.01, Z:-4.78 [[ 9.91477576e-01 1.28679075e-01 2.03448474e-02 2.40693117e+02] [-1.28646660e-01 9.91686256e-01 -2.89956574e-03 -3.70137630e+01] [-2.05488190e-02 2.57557745e-04 9.99788818e-01 -4.77524257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters 0.02478078165313624 Centerline is valid? [True, True] Translation: X:240.72, Y:-37.02, Z:-4.78 [[ 9.91241535e-01 1.30476860e-01 2.03962896e-02 2.40724219e+02] [-1.30444651e-01 9.91451330e-01 -2.90738000e-03 -3.70152075e+01] [-2.06012743e-02 2.21328924e-04 9.99787747e-01 -4.77550287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93401273899997 meters 0.02388858398701411 Centerline is valid? [True, True] Translation: X:240.76, Y:-37.02, Z:-4.78 [[ 9.91018498e-01 1.32116141e-01 2.06800110e-02 2.40755023e+02] [-1.32083382e-01 9.91234225e-01 -2.94806581e-03 -3.70160024e+01] [-2.08882218e-02 1.90101952e-04 9.99781799e-01 -4.77627039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters 0.023019442966357582 Centerline is valid? [True, True] Translation: X:240.79, Y:-37.01, Z:-4.78 [[ 9.90749815e-01 1.34260300e-01 1.97224842e-02 2.40786179e+02] [-1.34230929e-01 9.90946090e-01 -2.81156432e-03 -3.70145041e+01] [-1.99214001e-02 1.38189448e-04 9.99801540e-01 -4.77943019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99401273899997 meters 0.02295335227822948 Centerline is valid? [True, True] Translation: X:240.82, Y:-37.02, Z:-4.78 [[ 9.90665660e-01 1.34970263e-01 1.90939220e-02 2.40815766e+02] [-1.34942866e-01 9.90849642e-01 -2.72197088e-03 -3.70177656e+01] [-1.92865909e-02 1.19974530e-04 9.99813989e-01 -4.78187797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters 0.022926977494575205 Centerline is valid? [True, True] Translation: X:240.85, Y:-37.02, Z:-4.78 [[ 9.90673335e-01 1.35022670e-01 1.83090925e-02 2.40845532e+02] [-1.34997491e-01 9.90842503e-01 -2.60990089e-03 -3.70208574e+01] [-1.84938228e-02 1.13877657e-04 9.99828968e-01 -4.78352066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05401273899997 meters 0.023314704253737533 Centerline is valid? [True, True] Translation: X:240.87, Y:-37.03, Z:-4.78 [[ 9.90684490e-01 1.34882329e-01 1.87349761e-02 2.40873812e+02] [-1.34855949e-01 9.90861617e-01 -2.67016255e-03 -3.70256966e+01] [-1.89239264e-02 1.18765636e-04 9.99820919e-01 -4.78373587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters 0.022934564714257883 Centerline is valid? [True, True] Translation: X:240.90, Y:-37.03, Z:-4.78 [[ 9.90734149e-01 1.34414287e-01 1.94588053e-02 2.40902874e+02] [-1.34385753e-01 9.90925215e-01 -2.77260308e-03 -3.70274009e+01] [-1.96548983e-02 1.31926354e-04 9.99806815e-01 -4.78288580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11401273899997 meters 0.023853343750403475 Centerline is valid? [True, True] Translation: X:240.93, Y:-37.03, Z:-4.78 [[ 9.90808715e-01 1.33695540e-01 2.05813592e-02 2.40931480e+02] [-1.33663485e-01 9.91022441e-01 -2.93152009e-03 -3.70326530e+01] [-2.07885200e-02 1.53599465e-04 9.99783884e-01 -4.78109287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters 0.023505383393850977 Centerline is valid? [True, True] Translation: X:240.96, Y:-37.04, Z:-4.78 [[ 9.90852951e-01 1.33462309e-01 1.99560146e-02 2.40961119e+02] [-1.33432139e-01 9.91053878e-01 -2.84175927e-03 -3.70350495e+01] [-2.01567534e-02 1.52991845e-04 9.99796820e-01 -4.78287823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17401273899998 meters 0.023340068871650865 Centerline is valid? [True, True] Translation: X:240.99, Y:-37.04, Z:-4.79 [[ 9.90870681e-01 1.33422101e-01 1.93348651e-02 2.40989419e+02] [-1.33393780e-01 9.91059292e-01 -2.75289486e-03 -3.70379807e+01] [-1.95292947e-02 1.48612062e-04 9.99809274e-01 -4.78502800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters 0.023564533562488166 Centerline is valid? [True, True] Translation: X:241.02, Y:-37.04, Z:-4.79 [[ 9.90907712e-01 1.33176014e-01 1.91325941e-02 2.41018317e+02] [-1.33148254e-01 9.91092391e-01 -2.72321262e-03 -3.70416853e+01] [-1.93248350e-02 1.50980886e-04 9.99813247e-01 -4.78639899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23401273899998 meters 0.02364120100189462 Centerline is valid? [True, True] Translation: X:241.05, Y:-37.05, Z:-4.79 [[ 9.90926807e-01 1.33018853e-01 1.92366468e-02 2.41047254e+02] [-1.32990778e-01 9.91113496e-01 -2.73712173e-03 -3.70459188e+01] [-1.94297891e-02 1.53990664e-04 9.99811212e-01 -4.78601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters 0.023523603686906463 Centerline is valid? [True, True] Translation: X:241.08, Y:-37.05, Z:-4.78 [[ 9.90932179e-01 1.32882203e-01 1.98931248e-02 2.41075704e+02] [-1.32852171e-01 9.91131825e-01 -2.82957311e-03 -3.70484124e+01] [-2.00927090e-02 1.61070245e-04 9.99798108e-01 -4.78492075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29401273899998 meters 0.023523603686906463 Centerline is valid? [True, True] Translation: X:241.10, Y:-37.05, Z:-4.79 [[ 9.90938196e-01 1.32837306e-01 1.98932537e-02 2.41103756e+02] [-1.32807283e-01 9.91137843e-01 -2.82866650e-03 -3.70523123e+01] [-2.00927090e-02 1.61064702e-04 9.99798108e-01 -4.78549605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters 0.02346370421302344 Centerline is valid? [True, True] Translation: X:241.13, Y:-37.05, Z:-4.79 [[ 9.90904833e-01 1.33090067e-01 1.98657016e-02 2.41131516e+02] [-1.33060196e-01 9.91103935e-01 -2.82383474e-03 -3.70547648e+01] [-2.00647994e-02 1.54817338e-04 9.99798670e-01 -4.78622775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35401273899998 meters 0.022969357754698747 Centerline is valid? [True, True] Translation: X:241.16, Y:-37.06, Z:-4.79 [[ 9.90850172e-01 1.33454869e-01 2.01428372e-02 2.41161320e+02] [-1.33424259e-01 9.91054880e-01 -2.86205573e-03 -3.70567493e+01] [-2.03446124e-02 1.48325290e-04 9.99793016e-01 -4.78672009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters 0.02286323335247487 Centerline is valid? [True, True] Translation: X:241.19, Y:-37.06, Z:-4.79 [[ 9.90778871e-01 1.33803202e-01 2.13056610e-02 2.41189485e+02] [-1.33769048e-01 9.91007912e-01 -3.02671335e-03 -3.70596564e+01] [-2.15190625e-02 1.48765651e-04 9.99768427e-01 -4.78528024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414012739 meters 0.022856307496932217 Centerline is valid? [True, True] Translation: X:241.22, Y:-37.06, Z:-4.79 [[ 9.90800388e-01 1.33569171e-01 2.17685237e-02 2.41219416e+02] [-1.33533477e-01 9.91039481e-01 -3.09167594e-03 -3.70627157e+01] [-2.19864190e-02 1.56407065e-04 9.99758257e-01 -4.78545040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters 0.023336971990177285 Centerline is valid? [True, True] Translation: X:241.25, Y:-37.07, Z:-4.79 [[ 9.90946602e-01 1.32553496e-01 2.13167238e-02 2.41248395e+02] [-1.32519044e-01 9.91175837e-01 -3.02702082e-03 -3.70672390e+01] [-2.15298638e-02 1.74744131e-04 9.99768190e-01 -4.78700662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474012739 meters 0.0238309022570727 Centerline is valid? [True, True] Translation: X:241.28, Y:-37.07, Z:-4.79 [[ 9.91047173e-01 1.31890674e-01 2.07448970e-02 2.41277753e+02] [-1.31857905e-01 9.91264252e-01 -2.94557872e-03 -3.70730366e+01] [-2.09521691e-02 1.83828807e-04 9.99780462e-01 -4.78856642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters 0.024474026437190044 Centerline is valid? [True, True] Translation: X:241.31, Y:-37.08, Z:-4.79 [[ 9.91096599e-01 1.31533636e-01 2.06502561e-02 2.41306246e+02] [-1.31501094e-01 9.91311690e-01 -2.93188385e-03 -3.70787572e+01] [-2.08564816e-02 1.90248843e-04 9.99782462e-01 -4.78953264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534012739 meters 0.023186399133908246 Centerline is valid? [True, True] Translation: X:241.34, Y:-37.08, Z:-4.79 [[ 9.90877951e-01 1.33080252e-01 2.12257636e-02 2.41336084e+02] [-1.33046242e-01 9.91105252e-01 -3.01284270e-03 -3.70791918e+01] [-2.14379156e-02 1.61351329e-04 9.99770168e-01 -4.78774332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters 0.022324983555873413 Centerline is valid? [True, True] Translation: X:241.36, Y:-37.08, Z:-4.79 [[ 9.90475620e-01 1.35880428e-01 2.22385991e-02 2.41364778e+02] [-1.35843811e-01 9.90725239e-01 -3.15604022e-03 -3.70795115e+01] [-2.24611855e-02 1.05004833e-04 9.99747710e-01 -4.78620797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.594012739 meters 0.02181034160803631 Centerline is valid? [True, True] Translation: X:241.39, Y:-37.08, Z:-4.79 [[ 9.90281015e-01 1.37296612e-01 2.22070010e-02 2.41393530e+02] [-1.37260473e-01 9.90529977e-01 -3.15075948e-03 -3.70805471e+01] [-2.24292887e-02 7.19938303e-05 9.99748429e-01 -4.78731623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters 0.021673537455674772 Centerline is valid? [True, True] Translation: X:241.42, Y:-37.08, Z:-4.79 [[ 9.90103750e-01 1.38654228e-01 2.16695493e-02 2.41422616e+02] [-1.38620164e-01 9.90340852e-01 -3.07352578e-03 -3.70814782e+01] [-2.18863973e-02 3.92729256e-05 9.99760463e-01 -4.78912594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65401273899997 meters 0.021499892414084263 Centerline is valid? [True, True] Translation: X:241.45, Y:-37.08, Z:-4.79 [[ 9.89773999e-01 1.40987799e-01 2.16764972e-02 2.41451784e+02] [-1.40954295e-01 9.90011333e-01 -3.07348869e-03 -3.70803872e+01] [-2.18933023e-02 -1.33361890e-05 9.99760313e-01 -4.78926101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters 0.021664003829610656 Centerline is valid? [True, True] Translation: X:241.48, Y:-37.08, Z:-4.79 [[ 9.89599460e-01 1.42186905e-01 2.18126777e-02 2.41479313e+02] [-1.42153293e-01 9.89839827e-01 -3.09174693e-03 -3.70818377e+01] [-2.20306631e-02 -4.11528722e-05 9.99757295e-01 -4.78910454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71401273899997 meters 0.021823930478047968 Centerline is valid? [True, True] Translation: X:241.51, Y:-37.08, Z:-4.79 [[ 9.89424322e-01 1.43480883e-01 2.12778729e-02 2.41508349e+02] [-1.43449224e-01 9.89653086e-01 -3.01475463e-03 -3.70835266e+01] [-2.14902722e-02 -6.94227909e-05 9.99769055e-01 -4.79097578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters 0.021790695789603156 Centerline is valid? [True, True] Translation: X:241.54, Y:-37.09, Z:-4.79 [[ 9.89486559e-01 1.43141788e-01 2.06585823e-02 2.41537517e+02] [-1.43111886e-01 9.89702190e-01 -2.92630421e-03 -3.70862261e+01] [-2.08647205e-02 -6.09499982e-05 9.99782306e-01 -4.79326550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77401273899997 meters 0.021820563538365003 Centerline is valid? [True, True] Translation: X:241.56, Y:-37.09, Z:-4.80 [[ 9.89637479e-01 1.42263454e-01 1.94619881e-02 2.41564733e+02] [-1.42236762e-01 9.89828828e-01 -2.75595616e-03 -3.70897333e+01] [-1.96561087e-02 -4.08126680e-05 9.99806799e-01 -4.79597246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters 0.022042278937522978 Centerline is valid? [True, True] Translation: X:241.59, Y:-37.10, Z:-4.80 [[ 9.90318831e-01 1.37560470e-01 1.85938011e-02 2.41591118e+02] [-1.37535297e-01 9.90493369e-01 -2.63198574e-03 -3.71009340e+01] [-1.87790939e-02 4.92010823e-05 9.99823656e-01 -4.79905513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83401273899997 meters 0.02289825427190684 Centerline is valid? [True, True] Translation: X:241.62, Y:-37.11, Z:-4.80 [[ 9.90765253e-01 1.34239775e-01 1.90760886e-02 2.41619108e+02] [-1.34212685e-01 9.90948874e-01 -2.69911959e-03 -3.71100778e+01] [-1.92657577e-02 1.13940833e-04 9.99814392e-01 -4.79843901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters 0.02603707422938755 Centerline is valid? [True, True] Translation: X:241.65, Y:-37.12, Z:-4.80 [[ 9.91630051e-01 1.27711401e-01 1.89641799e-02 2.41647086e+02] [-1.27683450e-01 9.91811344e-01 -2.68239912e-03 -3.71228770e+01] [-1.91514617e-02 2.38535661e-04 9.99816565e-01 -4.79862269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89401273899998 meters 0.02889674632970515 Centerline is valid? [True, True] Translation: X:241.68, Y:-37.13, Z:-4.80 [[ 9.92014485e-01 1.24777761e-01 1.83785599e-02 2.41675662e+02] [-1.24751015e-01 9.92184675e-01 -2.59913357e-03 -3.71333554e+01] [-1.85592395e-02 2.85634152e-04 9.99827722e-01 -4.80053548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters 0.03107076349756008 Centerline is valid? [True, True] Translation: X:241.71, Y:-37.14, Z:-4.80 [[ 9.92335234e-01 1.22223725e-01 1.82248596e-02 2.41705105e+02] [-1.22196998e-01 9.92502520e-01 -2.57716765e-03 -3.71433113e+01] [-1.84032101e-02 3.30391141e-04 9.99830592e-01 -4.80248224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95401273899998 meters 0.03353178059226687 Centerline is valid? [True, True] Translation: X:241.73, Y:-37.15, Z:-4.80 [[ 9.92849785e-01 1.17819053e-01 1.91826997e-02 2.41734977e+02] [-1.17788621e-01 9.93034986e-01 -2.71259388e-03 -3.71548406e+01] [-1.93686871e-02 4.33694515e-04 9.99812315e-01 -4.80040342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters 0.03462337787856565 Centerline is valid? [True, True] Translation: X:241.77, Y:-37.16, Z:-4.80 [[ 9.92976829e-01 1.16610465e-01 1.99753866e-02 2.41765665e+02] [-1.16577211e-01 9.93177614e-01 -2.82516893e-03 -3.71621504e+01] [-2.01685511e-02 4.76652418e-04 9.99796480e-01 -4.80012742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01401273899998 meters 0.03661537267743892 Centerline is valid? [True, True] Translation: X:241.80, Y:-37.18, Z:-4.80 [[ 9.93158482e-01 1.15168371e-01 1.92996429e-02 2.41795291e+02] [-1.15137050e-01 9.93345865e-01 -2.72992682e-03 -3.71752888e+01] [-1.94856217e-02 4.89146017e-04 9.99810018e-01 -4.80195934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters 0.03731899053201575 Centerline is valid? [True, True] Translation: X:241.83, Y:-37.18, Z:-4.80 [[ 9.93188742e-01 1.14940361e-01 1.91006690e-02 2.41825164e+02] [-1.14909586e-01 9.93372273e-01 -2.70461690e-03 -3.71846908e+01] [-1.92849446e-02 4.91345085e-04 9.99813907e-01 -4.80313528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07401273899998 meters 0.03698825838095877 Centerline is valid? [True, True] Translation: X:241.86, Y:-37.19, Z:-4.80 [[ 9.93173043e-01 1.15131144e-01 1.87650521e-02 2.41856744e+02] [-1.15101424e-01 9.93350184e-01 -2.65980901e-03 -3.71920353e+01] [-1.89464948e-02 4.81766389e-04 9.99820383e-01 -4.80358768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters 0.036853519223298555 Centerline is valid? [True, True] Translation: X:241.89, Y:-37.20, Z:-4.80 [[ 9.93095563e-01 1.15911073e-01 1.80506748e-02 2.41887385e+02] [-1.15883651e-01 9.93259492e-01 -2.56134259e-03 -3.71985505e+01] [-1.82258921e-02 4.51879862e-04 9.99833793e-01 -4.80486212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13401273899999 meters 0.03549400697720868 Centerline is valid? [True, True] Translation: X:241.92, Y:-37.20, Z:-4.81 [[ 9.92963750e-01 1.17025139e-01 1.81137766e-02 2.41918999e+02] [-1.16997658e-01 9.93128857e-01 -2.57317274e-03 -3.72020548e+01] [-1.82904401e-02 4.35797821e-04 9.99832621e-01 -4.80528431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters 0.03278621408328095 Centerline is valid? [True, True] Translation: X:241.95, Y:-37.21, Z:-4.80 [[ 9.92521996e-01 1.20541160e-01 1.92332231e-02 2.41949086e+02] [-1.20510817e-01 9.92708252e-01 -2.73315905e-03 -3.72073629e+01] [-1.94224375e-02 3.94909049e-04 9.99811289e-01 -4.80422856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194012739 meters 0.0309540293749128 Centerline is valid? [True, True] Translation: X:241.98, Y:-37.21, Z:-4.80 [[ 9.92266169e-01 1.22553367e-01 1.97109431e-02 2.41980465e+02] [-1.22521890e-01 9.92461858e-01 -2.80127251e-03 -3.72104527e+01] [-1.99056646e-02 3.64585926e-04 9.99801796e-01 -4.80374669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters 0.028069861976370403 Centerline is valid? [True, True] Translation: X:242.01, Y:-37.21, Z:-4.80 [[ 9.91971788e-01 1.24844134e-01 2.01472838e-02 2.42011834e+02] [-1.24811711e-01 9.92176313e-01 -2.86375102e-03 -3.72112572e+01] [-2.03471802e-02 3.26143270e-04 9.99792922e-01 -4.80389750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254012739 meters 0.025924101873624185 Centerline is valid? [True, True] Translation: X:242.04, Y:-37.21, Z:-4.80 [[ 9.91525629e-01 1.28243104e-01 2.07517181e-02 2.42043342e+02] [-1.28209439e-01 9.91742727e-01 -2.95016553e-03 -3.72138925e+01] [-2.09587039e-02 2.64598605e-04 9.99780307e-01 -4.80460368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters 0.02606382837262621 Centerline is valid? [True, True] Translation: X:242.07, Y:-37.22, Z:-4.81 [[ 9.91406944e-01 1.29197347e-01 2.05016474e-02 2.42073825e+02] [-1.29164682e-01 9.91618872e-01 -2.91511788e-03 -3.72209552e+01] [-2.07064460e-02 2.41979328e-04 9.99785569e-01 -4.80573825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314012739 meters 0.035092519569863305 Centerline is valid? [True, True] Translation: X:242.10, Y:-37.22, Z:-4.80 [[ 9.91344053e-01 1.29865598e-01 1.92846033e-02 2.42104957e+02] [-1.29836789e-01 9.91531583e-01 -2.74379534e-03 -3.72248320e+01] [-1.94776178e-02 2.16194228e-04 9.99810270e-01 -4.79595323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters 0.024163714446195222 Centerline is valid? [True, True] Translation: X:242.13, Y:-37.23, Z:-4.81 [[ 9.91164835e-01 1.31287499e-01 1.88643312e-02 2.42134780e+02] [-1.31260177e-01 9.91344319e-01 -2.68469786e-03 -3.72303739e+01] [-1.90535148e-02 1.84842667e-04 9.99818448e-01 -4.81005920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.374012739 meters 0.024011389866062317 Centerline is valid? [True, True] Translation: X:242.16, Y:-37.24, Z:-4.81 [[ 9.90987978e-01 1.32574249e-01 1.91545492e-02 2.42164227e+02] [-1.32546315e-01 9.91173064e-01 -2.72623628e-03 -3.72354552e+01] [-1.93469019e-02 1.62802464e-04 9.99812818e-01 -4.81028996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters 0.022386459914477984 Centerline is valid? [True, True] Translation: X:242.19, Y:-37.24, Z:-4.81 [[ 9.90559061e-01 1.35512205e-01 2.07168828e-02 2.42194649e+02] [-1.35480164e-01 9.90775671e-01 -2.94886145e-03 -3.72367176e+01] [-2.09253902e-02 1.14294746e-04 9.99781034e-01 -4.80816661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43401273899997 meters 0.022055262359762153 Centerline is valid? [True, True] Translation: X:242.22, Y:-37.24, Z:-4.81 [[ 9.90342023e-01 1.37026627e-01 2.11277229e-02 2.42223950e+02] [-1.36993645e-01 9.90567361e-01 -3.00742619e-03 -3.72403332e+01] [-2.13405302e-02 8.40167680e-05 9.99772261e-01 -4.80724563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters 0.021643524832616796 Centerline is valid? [True, True] Translation: X:242.25, Y:-37.24, Z:-4.81 [[ 9.90086800e-01 1.38825091e-01 2.13476567e-02 2.42254320e+02] [-1.38791831e-01 9.90316915e-01 -3.03899009e-03 -3.72430712e+01] [-2.15628336e-02 4.59836058e-05 9.99767494e-01 -4.80748583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49401273899997 meters 0.021615343725914466 Centerline is valid? [True, True] Translation: X:242.28, Y:-37.24, Z:-4.81 [[ 9.89537944e-01 1.42613466e-01 2.18187297e-02 2.42283686e+02] [-1.42579644e-01 9.89778459e-01 -3.10600906e-03 -3.72420442e+01] [-2.20386673e-02 -3.73928794e-05 9.99757118e-01 -4.80603003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters 0.021725446175534596 Centerline is valid? [True, True] Translation: X:242.31, Y:-37.24, Z:-4.81 [[ 9.89289543e-01 1.44201733e-01 2.26287452e-02 2.42314336e+02] [-1.44165780e-01 9.89548308e-01 -3.22081310e-03 -3.72444713e+01] [-2.28566834e-02 -7.59739673e-05 9.99738749e-01 -4.80600782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55401273899997 meters 0.022231159362475036 Centerline is valid? [True, True] Translation: X:242.34, Y:-37.25, Z:-4.81 [[ 9.89037781e-01 1.45938287e-01 2.25007449e-02 2.42343409e+02] [-1.45903188e-01 9.89293689e-01 -3.20261798e-03 -3.72464670e+01] [-2.27272295e-02 -1.15420228e-04 9.99741696e-01 -4.80781355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters 0.022170475103332407 Centerline is valid? [True, True] Translation: X:242.37, Y:-37.25, Z:-4.81 [[ 9.89075062e-01 1.45717369e-01 2.22928063e-02 2.42373921e+02] [-1.45682855e-01 9.89326254e-01 -3.17321679e-03 -3.72513387e+01] [-2.25172513e-02 -1.09130069e-04 9.99746449e-01 -4.80915070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61401273899997 meters 0.022163713619798034 Centerline is valid? [True, True] Translation: X:242.40, Y:-37.25, Z:-4.81 [[ 9.89165339e-01 1.45157589e-01 2.19364102e-02 2.42403432e+02] [-1.45124033e-01 9.89408543e-01 -3.12246456e-03 -3.72546083e+01] [-2.21573211e-02 -9.48666060e-05 9.99754492e-01 -4.80967026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters 0.02174539052752773 Centerline is valid? [True, True] Translation: X:242.43, Y:-37.26, Z:-4.81 [[ 9.89483275e-01 1.43160631e-01 2.06853017e-02 2.42433284e+02] [-1.43130361e-01 9.89699465e-01 -2.94415338e-03 -3.72603869e+01] [-2.08937189e-02 -4.75041800e-05 9.99781701e-01 -4.81328527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67401273899998 meters 0.021798529539663904 Centerline is valid? [True, True] Translation: X:242.46, Y:-37.27, Z:-4.82 [[ 9.89647809e-01 1.42150893e-01 1.97569675e-02 2.42462088e+02] [-1.42123079e-01 9.89845000e-01 -2.81201884e-03 -3.72657054e+01] [-1.99560665e-02 -2.50127625e-05 9.99800858e-01 -4.81548620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters 0.027224269121598584 Centerline is valid? [True, True] Translation: X:242.49, Y:-37.27, Z:-4.81 [[ 9.90061869e-01 1.39524973e-01 1.76146952e-02 2.42491845e+02] [-1.39502445e-01 9.90218552e-01 -2.50731923e-03 -3.72731750e+01] [-1.77922316e-02 2.51081253e-05 9.99841705e-01 -4.80981155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73401273899998 meters 0.02229360793530822 Centerline is valid? [True, True] Translation: X:242.52, Y:-37.28, Z:-4.82 [[ 9.90335488e-01 1.37537651e-01 1.78610185e-02 2.42520358e+02] [-1.37514165e-01 9.90496537e-01 -2.54240845e-03 -3.72776430e+01] [-1.80409539e-02 6.16942617e-05 9.99837247e-01 -4.82056717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters 0.02281839510421634 Centerline is valid? [True, True] Translation: X:242.55, Y:-37.28, Z:-4.82 [[ 9.90604215e-01 1.35543577e-01 1.81996600e-02 2.42549838e+02] [-1.35518859e-01 9.90771381e-01 -2.59041071e-03 -3.72819996e+01] [-1.83828158e-02 9.96746179e-05 9.99831017e-01 -4.82060957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79401273899998 meters 0.025063390303487372 Centerline is valid? [True, True] Translation: X:242.58, Y:-37.29, Z:-4.82 [[ 9.91222763e-01 1.30807656e-01 1.91517796e-02 2.42578774e+02] [-1.30779409e-01 9.91407746e-01 -2.72537625e-03 -3.72904597e+01] [-1.93437227e-02 1.96796561e-04 9.99812873e-01 -4.81964378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters 0.02678370820892991 Centerline is valid? [True, True] Translation: X:242.61, Y:-37.30, Z:-4.82 [[ 9.91569811e-01 1.28163936e-01 1.90608403e-02 2.42608507e+02] [-1.28135446e-01 9.91752965e-01 -2.71358991e-03 -3.72981599e+01] [-1.92514292e-02 2.48344567e-04 9.99814643e-01 -4.82072847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85401273899998 meters 0.030217011280396704 Centerline is valid? [True, True] Translation: X:242.64, Y:-37.31, Z:-4.82 [[ 9.92261477e-01 1.22696839e-01 1.90433001e-02 2.42638770e+02] [-1.22667390e-01 9.92444135e-01 -2.71129933e-03 -3.73075260e+01] [-1.92320794e-02 3.54325944e-04 9.99814984e-01 -4.82120419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters 0.03189382747553475 Centerline is valid? [True, True] Translation: X:242.67, Y:-37.31, Z:-4.82 [[ 9.92510075e-01 1.20598886e-01 1.94848588e-02 2.42670122e+02] [-1.20567644e-01 9.92701237e-01 -2.77454701e-03 -3.73148438e+01] [-1.96772507e-02 4.04522333e-04 9.99806302e-01 -4.82167676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914012739 meters 0.032203105701972067 Centerline is valid? [True, True] Translation: X:242.70, Y:-37.32, Z:-4.82 [[ 9.92786779e-01 1.18307192e-01 1.94376075e-02 2.42701553e+02] [-1.18275600e-01 9.92976940e-01 -2.77100022e-03 -3.73198333e+01] [-1.96289253e-02 4.52017686e-04 9.99807232e-01 -4.82222447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters 0.03785619345573918 Centerline is valid? [True, True] Translation: X:242.73, Y:-37.33, Z:-4.82 [[ 9.93406444e-01 1.13188722e-01 1.82194950e-02 2.42729539e+02] [-1.13160052e-01 9.93573370e-01 -2.60024892e-03 -3.73331892e+01] [-1.83967239e-02 5.21385042e-04 9.99830630e-01 -4.82493923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974012739 meters 0.041236337991078835 Centerline is valid? [True, True] Translation: X:242.76, Y:-37.34, Z:-4.83 [[ 9.93767714e-01 1.10153095e-01 1.70887567e-02 2.42758387e+02] [-1.10127410e-01 9.93914484e-01 -2.43973822e-03 -3.73430893e+01] [-1.72535075e-02 5.42592558e-04 9.99851000e-01 -4.82669818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters 0.044711952736566876 Centerline is valid? [True, True] Translation: X:242.79, Y:-37.36, Z:-4.83 [[ 9.94296692e-01 1.05321771e-01 1.67753615e-02 2.42787487e+02] [-1.05296332e-01 9.94438005e-01 -2.39498674e-03 -3.73565412e+01] [-1.69343013e-02 6.14943356e-04 9.99856415e-01 -4.82765588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034012739 meters 0.04714337414886185 Centerline is valid? [True, True] Translation: X:242.82, Y:-37.37, Z:-4.83 [[ 9.94432886e-01 1.03860190e-01 1.77847350e-02 2.42817332e+02] [-1.03831370e-01 9.94591676e-01 -2.53879312e-03 -3.73682004e+01] [-1.79522289e-02 6.78045977e-04 9.99838616e-01 -4.82695700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters 0.05288635665708031 Centerline is valid? [True, True] Translation: X:242.85, Y:-37.39, Z:-4.82 [[ 9.94666428e-01 1.01099472e-01 2.04351066e-02 2.42845372e+02] [-1.01060765e-01 9.94875968e-01 -2.92067129e-03 -3.73882967e+01] [-2.06256748e-02 8.39906171e-04 9.99786915e-01 -4.82263109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.094012739 meters 0.04933665317220623 Centerline is valid? [True, True] Translation: X:242.88, Y:-37.39, Z:-4.82 [[ 9.94695821e-01 1.00801996e-01 2.04739074e-02 2.42877451e+02] [-1.00763074e-01 9.94906146e-01 -2.92651145e-03 -3.73915752e+01] [-2.06646145e-02 8.47974865e-04 9.99786104e-01 -4.82256514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters 0.053091726387357395 Centerline is valid? [True, True] Translation: X:242.91, Y:-37.41, Z:-4.83 [[ 9.94586615e-01 1.02080732e-01 1.94162396e-02 2.42906315e+02] [-1.02045911e-01 9.94775810e-01 -2.77835468e-03 -3.74080523e+01] [-1.95984220e-02 7.81966510e-04 9.99807627e-01 -4.82560932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15401273899997 meters 0.051489810546421926 Centerline is valid? [True, True] Translation: X:242.94, Y:-37.41, Z:-4.83 [[ 9.94443978e-01 1.03623156e-01 1.85315089e-02 2.42937661e+02] [-1.03591650e-01 9.94616370e-01 -2.65465020e-03 -3.74136527e+01] [-1.87068253e-02 7.20191319e-04 9.99824753e-01 -4.82720124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters 0.051489810546421926 Centerline is valid? [True, True] Translation: X:242.97, Y:-37.42, Z:-4.83 [[ 9.94425804e-01 1.03797489e-01 1.85311064e-02 2.42969833e+02] [-1.03765961e-01 9.94598192e-01 -2.65745669e-03 -3.74184532e+01] [-1.87068422e-02 7.19745435e-04 9.99824753e-01 -4.82786205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21401273899997 meters 0.04528501171536426 Centerline is valid? [True, True] Translation: X:243.00, Y:-37.42, Z:-4.83 [[ 9.94205687e-01 1.05942503e-01 1.81999269e-02 2.43002079e+02] [-1.05912387e-01 9.94372031e-01 -2.61342831e-03 -3.74172864e+01] [-1.83743714e-02 6.70687598e-04 9.99830952e-01 -4.82913285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters 0.04073372983115294 Centerline is valid? [True, True] Translation: X:243.03, Y:-37.42, Z:-4.83 [[ 9.93737707e-01 1.10285707e-01 1.79564339e-02 2.43032775e+02] [-1.10257088e-01 9.93899755e-01 -2.57911463e-03 -3.74198008e+01] [-1.81313347e-02 5.83139352e-04 9.99835444e-01 -4.82981833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27401273899997 meters 0.03934355348228543 Centerline is valid? [True, True] Translation: X:243.06, Y:-37.42, Z:-4.83 [[ 9.93466166e-01 1.12722437e-01 1.78502051e-02 2.43063105e+02] [-1.12694541e-01 9.93626371e-01 -2.56427951e-03 -3.74241949e+01] [-1.80254864e-02 5.35904264e-04 9.99837384e-01 -4.82970005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters 0.03683527741354062 Centerline is valid? [True, True] Translation: X:243.09, Y:-37.43, Z:-4.83 [[ 9.92964394e-01 1.17074911e-01 1.77532573e-02 2.43092850e+02] [-1.17048003e-01 9.93122982e-01 -2.55083163e-03 -3.74282983e+01] [-1.79298063e-02 4.54901666e-04 9.99839145e-01 -4.83107737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33401273899997 meters 0.03332965202475889 Centerline is valid? [True, True] Translation: X:243.13, Y:-37.43, Z:-4.83 [[ 9.92755747e-01 1.18802512e-01 1.79440939e-02 2.43125252e+02] [-1.18775311e-01 9.92917811e-01 -2.57788225e-03 -3.74280872e+01] [-1.81232693e-02 4.27892088e-04 9.99835669e-01 -4.83110348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters 0.032675316609299496 Centerline is valid? [True, True] Translation: X:243.16, Y:-37.43, Z:-4.83 [[ 9.92598066e-01 1.20050738e-01 1.83548274e-02 2.43156086e+02] [-1.20022430e-01 9.92767670e-01 -2.64013434e-03 -3.74319265e+01] [-1.85390293e-02 4.17601243e-04 9.99828050e-01 -4.83128152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39401273899998 meters 0.03280868256996434 Centerline is valid? [True, True] Translation: X:243.19, Y:-37.44, Z:-4.83 [[ 9.92294089e-01 1.22275281e-01 2.00299165e-02 2.43186528e+02] [-1.22241953e-01 9.92496138e-01 -2.88452883e-03 -3.74385082e+01] [-2.02323214e-02 4.13804796e-04 9.99795220e-01 -4.82922832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters 0.030921908241719365 Centerline is valid? [True, True] Translation: X:243.22, Y:-37.44, Z:-4.83 [[ 9.92161885e-01 1.23314143e-01 2.02093297e-02 2.43218603e+02] [-1.23280365e-01 9.92367605e-01 -2.91354600e-03 -3.74412259e+01] [-2.04143655e-02 3.99295738e-04 9.99791525e-01 -4.82962482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45401273899998 meters 0.030735259980321436 Centerline is valid? [True, True] Translation: X:243.25, Y:-37.45, Z:-4.83 [[ 9.92056462e-01 1.24357878e-01 1.89497902e-02 2.43249332e+02] [-1.24328338e-01 9.92237366e-01 -2.73366291e-03 -3.74474803e+01] [-1.91426424e-02 3.55952029e-04 9.99816699e-01 -4.83287483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters 0.031104451430498555 Centerline is valid? [True, True] Translation: X:243.28, Y:-37.45, Z:-4.84 [[ 9.92088814e-01 1.24202730e-01 1.82610792e-02 2.43281967e+02] [-1.24175244e-01 9.92256802e-01 -2.63583018e-03 -3.74539269e+01] [-1.84470573e-02 3.47403682e-04 9.99829778e-01 -4.83557824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51401273899998 meters 0.03150182434719261 Centerline is valid? [True, True] Translation: X:243.31, Y:-37.46, Z:-4.84 [[ 9.92161029e-01 1.23660798e-01 1.80138943e-02 2.43313189e+02] [-1.23633899e-01 9.92324483e-01 -2.60359442e-03 -3.74612035e+01] [-1.81975909e-02 3.56056933e-04 9.99834347e-01 -4.83669578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters 0.0320918682691313 Centerline is valid? [True, True] Translation: X:243.34, Y:-37.47, Z:-4.84 [[ 9.92199963e-01 1.23347270e-01 1.80189992e-02 2.43343647e+02] [-1.23320249e-01 9.92363501e-01 -2.60737790e-03 -3.74691967e+01] [-1.82030101e-02 3.64932787e-04 9.99834245e-01 -4.83693107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57401273899998 meters 0.031015802725297238 Centerline is valid? [True, True] Translation: X:243.38, Y:-37.48, Z:-4.83 [[ 9.91997948e-01 1.24874707e-01 1.86112400e-02 2.43375270e+02] [-1.24846094e-01 9.92172457e-01 -2.69602798e-03 -3.74755668e+01] [-1.88022255e-02 3.50913613e-04 9.99823161e-01 -4.83473614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters 0.02968694153963387 Centerline is valid? [True, True] Translation: X:243.41, Y:-37.48, Z:-4.83 [[ 9.91750561e-01 1.26715991e-01 1.93360538e-02 2.43407774e+02] [-1.26685388e-01 9.91938984e-01 -2.80444483e-03 -3.74789224e+01] [-1.95355536e-02 3.31714259e-04 9.99809108e-01 -4.83435290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63401273899999 meters 0.025681580831827616 Centerline is valid? [True, True] Translation: X:243.44, Y:-37.48, Z:-4.84 [[ 9.90935578e-01 1.32973769e-01 1.90960096e-02 2.43440010e+02] [-1.32945060e-01 9.91119536e-01 -2.77077924e-03 -3.74750936e+01] [-1.92948692e-02 2.06943586e-04 9.99813815e-01 -4.83569276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters 0.024135055721406326 Centerline is valid? [True, True] Translation: X:243.47, Y:-37.47, Z:-4.84 [[ 9.90444232e-01 1.36711150e-01 1.81737364e-02 2.43471181e+02] [-1.36685773e-01 9.90610945e-01 -2.63712006e-03 -3.74748551e+01] [-1.83636259e-02 1.27829147e-04 9.99831366e-01 -4.83822446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694012739 meters 0.023128318440188044 Centerline is valid? [True, True] Translation: X:243.50, Y:-37.47, Z:-4.84 [[ 9.89435911e-01 1.44008415e-01 1.66779434e-02 2.43504458e+02] [-1.43988041e-01 9.89576463e-01 -2.42234561e-03 -3.74689558e+01] [-1.68529383e-02 -4.66865202e-06 9.99857979e-01 -4.84194913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters 0.02353785261338916 Centerline is valid? [True, True] Translation: X:243.53, Y:-37.47, Z:-4.84 [[ 9.88988726e-01 1.47038973e-01 1.67582744e-02 2.43533975e+02] [-1.47018780e-01 9.89130698e-01 -2.43740915e-03 -3.74678154e+01] [-1.69345178e-02 -5.32108832e-05 9.99856599e-01 -4.84222259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754012739 meters 0.024235007722597603 Centerline is valid? [True, True] Translation: X:243.57, Y:-37.47, Z:-4.84 [[ 9.88604311e-01 1.49516751e-01 1.75001859e-02 2.43565162e+02] [-1.49495122e-01 9.88759188e-01 -2.54506749e-03 -3.74679461e+01] [-1.76839998e-02 -1.00127738e-04 9.99843621e-01 -4.84208748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters 0.02523337444773531 Centerline is valid? [True, True] Translation: X:243.60, Y:-37.47, Z:-4.84 [[ 9.88138335e-01 1.52463733e-01 1.83695571e-02 2.43595475e+02] [-1.52440409e-01 9.88309053e-01 -2.67154128e-03 -3.74671704e+01] [-1.85621128e-02 -1.60410452e-04 9.99827696e-01 -4.84023952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814012739 meters 0.025631252502136073 Centerline is valid? [True, True] Translation: X:243.63, Y:-37.47, Z:-4.84 [[ 9.88097382e-01 1.52732994e-01 1.83356697e-02 2.43625331e+02] [-1.52709811e-01 9.88267476e-01 -2.66616426e-03 -3.74697618e+01] [-1.85277573e-02 -1.65606734e-04 9.99828333e-01 -4.84118906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters 0.025043986288647305 Centerline is valid? [True, True] Translation: X:243.65, Y:-37.47, Z:-4.84 [[ 9.88263086e-01 1.51507137e-01 1.95361401e-02 2.43654521e+02] [-1.51480584e-01 9.88456152e-01 -2.84048036e-03 -3.74737663e+01] [-1.97409709e-02 -1.52204031e-04 9.99805116e-01 -4.84070255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.874012739 meters 0.024217814924704522 Centerline is valid? [True, True] Translation: X:243.68, Y:-37.48, Z:-4.84 [[ 9.88442453e-01 1.50213966e-01 2.04274668e-02 2.43684981e+02] [-1.50184664e-01 9.88653502e-01 -2.96984086e-03 -3.74798941e+01] [-2.06417982e-02 -1.32375451e-04 9.99786927e-01 -4.83990876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters 0.02399151632144549 Centerline is valid? [True, True] Translation: X:243.71, Y:-37.48, Z:-4.84 [[ 9.88585272e-01 1.49240918e-01 2.06472440e-02 2.43714989e+02] [-1.49210759e-01 9.88800857e-01 -3.00228775e-03 -3.74838449e+01] [-2.08640767e-02 -1.12773503e-04 9.99782315e-01 -4.83957554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93401273899997 meters 0.023625018573039353 Centerline is valid? [True, True] Translation: X:243.75, Y:-37.49, Z:-4.84 [[ 9.88730027e-01 1.48294129e-01 2.05374168e-02 2.43746547e+02] [-1.48264081e-01 9.88943296e-01 -2.98656760e-03 -3.74872284e+01] [-2.07532311e-02 -9.20521604e-05 9.99784624e-01 -4.84075635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters 0.023778639723486105 Centerline is valid? [True, True] Translation: X:243.78, Y:-37.49, Z:-4.84 [[ 9.88774099e-01 1.48147841e-01 1.94421875e-02 2.43776965e+02] [-1.48120875e-01 9.88965222e-01 -2.82775062e-03 -3.74887033e+01] [-1.96465724e-02 -8.37872595e-05 9.99806984e-01 -4.84285566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99401273899997 meters 0.023602614969183856 Centerline is valid? [True, True] Translation: X:243.81, Y:-37.49, Z:-4.84 [[ 9.88858485e-01 1.47688518e-01 1.86278914e-02 2.43807176e+02] [-1.47663678e-01 9.89033921e-01 -2.70954801e-03 -3.74903473e+01] [-1.88237856e-02 -7.13034242e-05 9.99822814e-01 -4.84428471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters 0.02348583434526595 Centerline is valid? [True, True] Translation: X:243.84, Y:-37.49, Z:-4.84 [[ 9.88916069e-01 1.47222414e-01 1.92501956e-02 2.43837124e+02] [-1.47195798e-01 9.89103411e-01 -2.80006620e-03 -3.74942385e+01] [-1.94526666e-02 -6.45174382e-05 9.99810777e-01 -4.84358274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05401273899997 meters 0.02328284318772388 Centerline is valid? [True, True] Translation: X:243.87, Y:-37.50, Z:-4.84 [[ 9.89005264e-01 1.46548828e-01 1.97997386e-02 2.43867097e+02] [-1.46520536e-01 9.89203436e-01 -2.87998372e-03 -3.74985987e+01] [-2.00080277e-02 -5.27492499e-05 9.99799818e-01 -4.84269037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters 0.02283014917392558 Centerline is valid? [True, True] Translation: X:243.90, Y:-37.51, Z:-4.84 [[ 9.89480749e-01 1.42945550e-01 2.22355055e-02 2.43897905e+02] [-1.42908927e-01 9.89730554e-01 -3.23563538e-03 -3.75069685e+01] [-2.24696789e-02 2.39466783e-05 9.99747525e-01 -4.83984978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11401273899997 meters 0.022943210196671286 Centerline is valid? [True, True] Translation: X:243.93, Y:-37.51, Z:-4.84 [[ 9.89725415e-01 1.41150021e-01 2.28095162e-02 2.43929781e+02] [-1.41110983e-01 9.89988216e-01 -3.32017711e-03 -3.75144167e+01] [-2.30497953e-02 6.73904270e-05 9.99734316e-01 -4.83943513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters 0.024495494623403467 Centerline is valid? [True, True] Translation: X:243.96, Y:-37.53, Z:-4.84 [[ 9.90353006e-01 1.36903945e-01 2.14063960e-02 2.43959651e+02] [-1.36868487e-01 9.90584315e-01 -3.11979715e-03 -3.75274056e+01] [-2.16319527e-02 1.59839455e-04 9.99765989e-01 -4.84204692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17401273899998 meters 0.025265751587891305 Centerline is valid? [True, True] Translation: X:243.99, Y:-37.54, Z:-4.84 [[ 9.90645378e-01 1.34924577e-01 2.04228545e-02 2.43990998e+02] [-1.34891818e-01 9.90855852e-01 -2.97950497e-03 -3.75353730e+01] [-2.06381134e-02 1.96756852e-04 9.99786992e-01 -4.84418060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters 0.02689914976531169 Centerline is valid? [True, True] Translation: X:244.02, Y:-37.54, Z:-4.85 [[ 9.91041114e-01 1.32143712e-01 1.93790877e-02 2.44022034e+02] [-1.32113625e-01 9.91230538e-01 -2.83029912e-03 -3.75442673e+01] [-1.95831497e-02 2.44701265e-04 9.99808202e-01 -4.84741200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23401273899998 meters 0.027373050648546646 Centerline is valid? [True, True] Translation: X:244.05, Y:-37.55, Z:-4.85 [[ 9.91103477e-01 1.31637141e-01 1.96357181e-02 2.44052937e+02] [-1.31606086e-01 9.91297934e-01 -2.87112064e-03 -3.75499675e+01] [-1.98427929e-02 2.61397646e-04 9.99803078e-01 -4.84817822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters 0.027350004780338836 Centerline is valid? [True, True] Translation: X:244.09, Y:-37.56, Z:-4.85 [[ 9.91133261e-01 1.31331110e-01 2.01741888e-02 2.44085373e+02] [-1.31298199e-01 9.91338521e-01 -2.95307143e-03 -3.75553992e+01] [-2.03872806e-02 2.78052660e-04 9.99792119e-01 -4.84852254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29401273899998 meters 0.027726142868925018 Centerline is valid? [True, True] Translation: X:244.12, Y:-37.56, Z:-4.85 [[ 9.91176392e-01 1.31018766e-01 2.00858752e-02 2.44117011e+02] [-1.30986000e-01 9.91379847e-01 -2.94402077e-03 -3.75632125e+01] [-2.02984539e-02 2.87075440e-04 9.99793924e-01 -4.84827960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters 0.027861374264937316 Centerline is valid? [True, True] Translation: X:244.15, Y:-37.57, Z:-4.85 [[ 9.91195550e-01 1.31018844e-01 1.91166019e-02 2.44149481e+02] [-1.30989101e-01 9.91379839e-01 -2.80521901e-03 -3.75701217e+01] [-1.93193503e-02 2.76454090e-04 9.99813326e-01 -4.85075258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35401273899998 meters 0.02798763592726206 Centerline is valid? [True, True] Translation: X:244.18, Y:-37.58, Z:-4.85 [[ 9.91174660e-01 1.31184195e-01 1.90656769e-02 2.44180801e+02] [-1.31154570e-01 9.91357973e-01 -2.80144654e-03 -3.75765330e+01] [-1.92684163e-02 2.76172163e-04 9.99814309e-01 -4.85179257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters 0.028168319453133292 Centerline is valid? [True, True] Translation: X:244.21, Y:-37.58, Z:-4.85 [[ 9.91109053e-01 1.31584535e-01 1.97067293e-02 2.44212579e+02] [-1.31552889e-01 9.91304913e-01 -2.89934094e-03 -3.75833774e+01] [-1.99168860e-02 2.81085884e-04 9.99801600e-01 -4.85202816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414012739 meters 0.02748167768690553 Centerline is valid? [True, True] Translation: X:244.24, Y:-37.59, Z:-4.85 [[ 9.91017481e-01 1.32103694e-01 2.08078576e-02 2.44244867e+02] [-1.32068446e-01 9.91235860e-01 -3.06519543e-03 -3.75886482e+01] [-2.10304183e-02 2.89600845e-04 9.99778794e-01 -4.85087579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters 0.02691157344705206 Centerline is valid? [True, True] Translation: X:244.28, Y:-37.59, Z:-4.85 [[ 9.90832642e-01 1.33535472e-01 2.04683329e-02 2.44277108e+02] [-1.33501644e-01 9.91044001e-01 -3.01643051e-03 -3.75926056e+01] [-2.06878190e-02 2.56221718e-04 9.99785951e-01 -4.85170345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474012739 meters 0.025719519200187405 Centerline is valid? [True, True] Translation: X:244.31, Y:-37.59, Z:-4.86 [[ 9.90504552e-01 1.36219016e-01 1.85771947e-02 2.44309665e+02] [-1.36191570e-01 9.90678730e-01 -2.74053373e-03 -3.75919279e+01] [-1.87773444e-02 1.84453831e-04 9.99823673e-01 -4.85579383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters 0.025091022972816457 Centerline is valid? [True, True] Translation: X:244.34, Y:-37.59, Z:-4.86 [[ 9.90250493e-01 1.38072841e-01 1.84350922e-02 2.44341105e+02] [-1.38046077e-01 9.90422065e-01 -2.72266589e-03 -3.75937374e+01] [-1.86344483e-02 1.51229085e-04 9.99826352e-01 -4.85620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534012739 meters 0.024556955023050372 Centerline is valid? [True, True] Translation: X:244.37, Y:-37.60, Z:-4.85 [[ 9.90045000e-01 1.39395775e-01 1.94863109e-02 2.44372741e+02] [-1.39366063e-01 9.90236739e-01 -2.88117299e-03 -3.75960925e+01] [-1.96976843e-02 1.36760477e-04 9.99805972e-01 -4.85479279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters 0.023750145109553943 Centerline is valid? [True, True] Translation: X:244.41, Y:-37.60, Z:-4.85 [[ 9.89799861e-01 1.40902953e-01 2.10378851e-02 2.44405270e+02] [-1.40868614e-01 9.90023406e-01 -3.11279849e-03 -3.75968818e+01] [-2.12666012e-02 1.17469796e-04 9.99773833e-01 -4.85227407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.594012739 meters 0.02388480006220945 Centerline is valid? [True, True] Translation: X:244.44, Y:-37.60, Z:-4.85 [[ 9.89795534e-01 1.40986957e-01 2.06755445e-02 2.44436981e+02] [-1.40953737e-01 9.90011447e-01 -3.06266373e-03 -3.76015539e+01] [-2.09008214e-02 1.17115633e-04 9.99781547e-01 -4.85385401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters 0.024828545176260656 Centerline is valid? [True, True] Translation: X:244.47, Y:-37.61, Z:-4.86 [[ 9.90091768e-01 1.39139866e-01 1.89311717e-02 2.44466719e+02] [-1.39111614e-01 9.90272728e-01 -2.80758291e-03 -3.76099829e+01] [-1.91376698e-02 1.46218873e-04 9.99816847e-01 -4.85699599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65401273899997 meters 0.02514596973260519 Centerline is valid? [True, True] Translation: X:244.50, Y:-37.62, Z:-4.86 [[ 9.90227218e-01 1.38138362e-01 1.91793993e-02 2.44498021e+02] [-1.38109170e-01 9.90412926e-01 -2.84473294e-03 -3.76159792e+01] [-1.93884917e-02 1.68081068e-04 9.99812011e-01 -4.85773042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters 0.025409629813482004 Centerline is valid? [True, True] Translation: X:244.53, Y:-37.62, Z:-4.86 [[ 9.90269359e-01 1.37646064e-01 2.04977679e-02 2.44529805e+02] [-1.37612538e-01 9.90481461e-01 -3.04398461e-03 -3.76222623e+01] [-2.07216516e-02 1.93614836e-04 9.99785265e-01 -4.85532058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71401273899997 meters 0.024968427295710218 Centerline is valid? [True, True] Translation: X:244.56, Y:-37.63, Z:-4.85 [[ 9.90094398e-01 1.38312869e-01 2.41378000e-02 2.44562157e+02] [-1.38266453e-01 9.90388562e-01 -3.58953329e-03 -3.76259533e+01] [-2.44022796e-02 2.16528824e-04 9.99702197e-01 -4.84891843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters 0.024227708263946962 Centerline is valid? [True, True] Translation: X:244.59, Y:-37.63, Z:-4.85 [[ 9.89840186e-01 1.40015516e-01 2.47398829e-02 2.44593962e+02] [-1.39967175e-01 9.90149293e-01 -3.68351240e-03 -3.76281048e+01] [-2.50119265e-02 1.83317079e-04 9.99687136e-01 -4.84844597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77401273899997 meters 0.023160446886732525 Centerline is valid? [True, True] Translation: X:244.63, Y:-37.62, Z:-4.85 [[ 9.89248881e-01 1.44383648e-01 2.32382021e-02 2.44626639e+02] [-1.44342116e-01 9.89521782e-01 -3.46358027e-03 -3.76248371e+01] [-2.34947915e-02 7.20916409e-05 9.99723957e-01 -4.85294762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters 0.022999873615728757 Centerline is valid? [True, True] Translation: X:244.66, Y:-37.63, Z:-4.85 [[ 9.89000608e-01 1.46177827e-01 2.25796292e-02 2.44658174e+02] [-1.46138999e-01 9.89258329e-01 -3.36915645e-03 -3.76264469e+01] [-2.28295822e-02 3.23333711e-05 9.99739371e-01 -4.85495706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83401273899997 meters 0.022958704795613613 Centerline is valid? [True, True] Translation: X:244.69, Y:-37.63, Z:-4.86 [[ 9.88810891e-01 1.47535050e-01 2.20551925e-02 2.44689590e+02] [-1.47498266e-01 9.89056828e-01 -3.29431468e-03 -3.76293955e+01] [-2.22998657e-02 4.35157584e-06 9.99751327e-01 -4.85582091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters 0.02304611617337152 Centerline is valid? [True, True] Translation: X:244.72, Y:-37.63, Z:-4.86 [[ 9.88481267e-01 1.49733100e-01 2.20177877e-02 2.44720919e+02] [-1.49696915e-01 9.88726452e-01 -3.29191934e-03 -3.76301205e+01] [-2.22624784e-02 -4.19943024e-05 9.99752159e-01 -4.85715439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89401273899998 meters 0.02326889997076911 Centerline is valid? [True, True] Translation: X:244.75, Y:-37.63, Z:-4.86 [[ 9.88325121e-01 1.50862767e-01 2.13044777e-02 2.44750831e+02] [-1.50829141e-01 9.88554713e-01 -3.18575500e-03 -3.76318691e+01] [-2.15412536e-02 -6.47743661e-05 9.99767958e-01 -4.85883348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters 0.023490406854768518 Centerline is valid? [True, True] Translation: X:244.78, Y:-37.63, Z:-4.86 [[ 9.88229824e-01 1.51591170e-01 2.05409949e-02 2.44780795e+02] [-1.51560063e-01 9.88443277e-01 -3.07181996e-03 -3.76342039e+01] [-2.07692691e-02 -7.75303893e-05 9.99784292e-01 -4.86132074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95401273899998 meters 0.02364980081566758 Centerline is valid? [True, True] Translation: X:244.81, Y:-37.64, Z:-4.86 [[ 9.88182790e-01 1.52038759e-01 1.94676575e-02 2.44810519e+02] [-1.52010905e-01 9.88374529e-01 -2.91131406e-03 -3.76369330e+01] [-1.96839694e-02 -8.23857787e-05 9.99806249e-01 -4.86267809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters 0.023364465781970774 Centerline is valid? [True, True] Translation: X:244.84, Y:-37.64, Z:-4.86 [[ 9.88240363e-01 1.51408047e-01 2.13679452e-02 2.44839936e+02] [-1.51374348e-01 9.88471344e-01 -3.19520576e-03 -3.76423808e+01] [-2.16053814e-02 -7.69274870e-05 9.99766574e-01 -4.85938833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01401273899998 meters 0.022942777748333032 Centerline is valid? [True, True] Translation: X:244.87, Y:-37.65, Z:-4.86 [[ 9.88309541e-01 1.50767493e-01 2.26586391e-02 2.44870065e+02] [-1.50729443e-01 9.88569248e-01 -3.38770806e-03 -3.76479631e+01] [-2.29103901e-02 -6.72198400e-05 9.99737520e-01 -4.85783740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters 0.022990244073679583 Centerline is valid? [True, True] Translation: X:244.90, Y:-37.65, Z:-4.86 [[ 9.88367303e-01 1.50334270e-01 2.30148077e-02 2.44899948e+02] [-1.50294896e-01 9.88635223e-01 -3.44095906e-03 -3.76533543e+01] [-2.32705436e-02 -5.80767097e-05 9.99729203e-01 -4.85814917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07401273899998 meters 0.028371037565437646 Centerline is valid? [True, True] Translation: X:244.93, Y:-37.66, Z:-4.85 [[ 9.88384879e-01 1.50396154e-01 2.18249342e-02 2.44929770e+02] [-1.50360762e-01 9.88625811e-01 -3.26306029e-03 -3.76593185e+01] [-2.20674450e-02 -5.64542881e-05 9.99756483e-01 -4.84975280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters 0.028371037565437646 Centerline is valid? [True, True] Translation: X:244.96, Y:-37.66, Z:-4.85 [[ 9.88384879e-01 1.50396154e-01 2.18249342e-02 2.44959434e+02] [-1.50360762e-01 9.88625811e-01 -3.26306029e-03 -3.76637536e+01] [-2.20674450e-02 -5.64542882e-05 9.99756483e-01 -4.85036201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13401273899999 meters 0.02354734855687756 Centerline is valid? [True, True] Translation: X:244.99, Y:-37.66, Z:-4.87 [[ 9.88215713e-01 1.51801356e-01 1.96482396e-02 2.44989763e+02] [-1.51772949e-01 9.88411019e-01 -2.93762125e-03 -3.76647449e+01] [-1.98664714e-02 -7.90677992e-05 9.99802639e-01 -4.86674288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters 0.02435954793606881 Centerline is valid? [True, True] Translation: X:245.02, Y:-37.66, Z:-4.87 [[ 9.87851967e-01 1.54253067e-01 1.88277339e-02 2.45018629e+02] [-1.54227428e-01 9.88031364e-01 -2.81499049e-03 -3.76642970e+01] [-1.90366125e-02 -1.22959076e-04 9.99818780e-01 -4.86735678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194012739 meters 0.024765007271177995 Centerline is valid? [True, True] Translation: X:245.05, Y:-37.67, Z:-4.87 [[ 9.87706761e-01 1.55147815e-01 1.90921168e-02 2.45047303e+02] [-1.55121631e-01 9.87891257e-01 -2.85385816e-03 -3.76666870e+01] [-1.93037051e-02 -1.42825297e-04 9.99813656e-01 -4.86755617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters 0.025391680894996115 Centerline is valid? [True, True] Translation: X:245.08, Y:-37.67, Z:-4.87 [[ 9.87498307e-01 1.56420196e-01 1.94888472e-02 2.45075788e+02] [-1.56393178e-01 9.87690585e-01 -2.91223843e-03 -3.76681659e+01] [-1.97044838e-02 -1.72092236e-04 9.99805833e-01 -4.86702512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254012739 meters 0.027280302610674545 Centerline is valid? [True, True] Translation: X:245.10, Y:-37.66, Z:-4.86 [[ 9.86967073e-01 1.59589240e-01 2.06705404e-02 2.45104900e+02] [-1.59559562e-01 9.87183474e-01 -3.08779396e-03 -3.76647779e+01] [-2.08983946e-02 -2.50631409e-04 9.99781573e-01 -4.86445042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters 0.028199319441441238 Centerline is valid? [True, True] Translation: X:245.13, Y:-37.66, Z:-4.86 [[ 9.86745458e-01 1.60886538e-01 2.11878131e-02 2.45134158e+02] [-1.60855686e-01 9.86972867e-01 -3.16364122e-03 -3.76649767e+01] [-2.14207839e-02 -2.86471597e-04 9.99770508e-01 -4.86421236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314012739 meters 0.030058147630547993 Centerline is valid? [True, True] Translation: X:245.16, Y:-37.66, Z:-4.87 [[ 9.86482302e-01 1.62482467e-01 2.12630241e-02 2.45162536e+02] [-1.62451787e-01 9.86711378e-01 -3.17387986e-03 -3.76612018e+01] [-2.14961677e-02 -3.23239952e-04 9.99768878e-01 -4.86518443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters 0.0297313892740596 Centerline is valid? [True, True] Translation: X:245.19, Y:-37.66, Z:-4.87 [[ 9.86475643e-01 1.62498908e-01 2.14455230e-02 2.45191277e+02] [-1.62467729e-01 9.86708669e-01 -3.19990459e-03 -3.76641899e+01] [-2.16804644e-02 -3.27577480e-04 9.99764897e-01 -4.86529758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.374012739 meters 0.029590539325471482 Centerline is valid? [True, True] Translation: X:245.22, Y:-37.67, Z:-4.87 [[ 9.86521515e-01 1.62250773e-01 2.12129010e-02 2.45219568e+02] [-1.62220230e-01 9.86749504e-01 -3.16424007e-03 -3.76670154e+01] [-2.14452199e-02 -3.19570769e-04 9.99769974e-01 -4.86643869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters 0.02819007914766281 Centerline is valid? [True, True] Translation: X:245.25, Y:-37.67, Z:-4.87 [[ 9.86846900e-01 1.60368976e-01 2.03712541e-02 2.45247586e+02] [-1.60340426e-01 9.87057100e-01 -3.03780279e-03 -3.76690504e+01] [-2.05947603e-02 -2.68489289e-04 9.99787869e-01 -4.86873131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43401273899997 meters 0.026178222690168423 Centerline is valid? [True, True] Translation: X:245.28, Y:-37.68, Z:-4.87 [[ 9.87076217e-01 1.58985376e-01 2.01045199e-02 2.45275998e+02] [-1.58957305e-01 9.87280909e-01 -2.99690858e-03 -3.76759108e+01] [-2.03252733e-02 -2.37583114e-04 9.99793392e-01 -4.86989315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters 0.025349553287991905 Centerline is valid? [True, True] Translation: X:245.30, Y:-37.68, Z:-4.87 [[ 9.87486515e-01 1.56319824e-01 2.08445277e-02 2.45303673e+02] [-1.56289077e-01 9.87706473e-01 -3.10616914e-03 -3.76814532e+01] [-2.10738308e-02 -1.90471858e-04 9.99777904e-01 -4.86920505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49401273899997 meters 0.029952522203627163 Centerline is valid? [True, True] Translation: X:245.33, Y:-37.69, Z:-4.86 [[ 9.87701819e-01 1.54986334e-01 2.05998419e-02 2.45331987e+02] [-1.54956039e-01 9.87916601e-01 -3.06849180e-03 -3.76901258e+01] [-2.08265000e-02 -1.61314974e-04 9.99783092e-01 -4.85858874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters 0.033042336059969625 Centerline is valid? [True, True] Translation: X:245.36, Y:-37.69, Z:-4.86 [[ 9.87827136e-01 1.54060168e-01 2.15177733e-02 2.45359656e+02] [-1.54026918e-01 9.88061457e-01 -3.20412238e-03 -3.76942863e+01] [-2.17545101e-02 -1.49197270e-04 9.99763332e-01 -4.85589422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55401273899997 meters 0.023708158511546798 Centerline is valid? [True, True] Translation: X:245.39, Y:-37.70, Z:-4.87 [[ 9.87727867e-01 1.54545430e-01 2.25692553e-02 2.45388689e+02] [-1.54509009e-01 9.87985669e-01 -3.35923457e-03 -3.76965536e+01] [-2.28172551e-02 -1.69143682e-04 9.99739638e-01 -4.86748523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters 0.023902664959750207 Centerline is valid? [True, True] Translation: X:245.42, Y:-37.70, Z:-4.87 [[ 9.87701807e-01 1.54695662e-01 2.26802057e-02 2.45416847e+02] [-1.54658947e-01 9.87962156e-01 -3.37467569e-03 -3.77004039e+01] [-2.29292326e-02 -1.74523452e-04 9.99737075e-01 -4.86808356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61401273899997 meters 0.023469021891753948 Centerline is valid? [True, True] Translation: X:245.45, Y:-37.71, Z:-4.87 [[ 9.87761339e-01 1.54385161e-01 2.21981822e-02 2.45445429e+02] [-1.54349933e-01 9.88010726e-01 -3.30198348e-03 -3.77075425e+01] [-2.24418194e-02 -1.64716308e-04 9.99748137e-01 -4.86973885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters 0.023928951885934635 Centerline is valid? [True, True] Translation: X:245.47, Y:-37.71, Z:-4.87 [[ 9.87816035e-01 1.54278068e-01 2.04391257e-02 2.45472957e+02] [-1.54248189e-01 9.88027457e-01 -3.03986330e-03 -3.77141041e+01] [-2.06634016e-02 -1.49872415e-04 9.99786478e-01 -4.87231984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67401273899998 meters 0.023486641136737263 Centerline is valid? [True, True] Translation: X:245.50, Y:-37.72, Z:-4.87 [[ 9.87805917e-01 1.54416911e-01 1.98718008e-02 2.45501342e+02] [-1.54388710e-01 9.88005767e-01 -2.95479101e-03 -3.77203564e+01] [-2.00897234e-02 -1.49221637e-04 9.99798170e-01 -4.87334461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters 0.023767893858882942 Centerline is valid? [True, True] Translation: X:245.53, Y:-37.72, Z:-4.87 [[ 9.87773445e-01 1.54676386e-01 1.94637524e-02 2.45529274e+02] [-1.54649401e-01 9.87965178e-01 -2.89319762e-03 -3.77237767e+01] [-1.96770189e-02 -1.52233862e-04 9.99806377e-01 -4.87405530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73401273899998 meters 0.024718469205829752 Centerline is valid? [True, True] Translation: X:245.56, Y:-37.72, Z:-4.87 [[ 9.87363680e-01 1.57086987e-01 2.08959919e-02 2.45558233e+02] [-1.57056451e-01 9.87584747e-01 -3.10475195e-03 -3.77241225e+01] [-2.11242790e-02 -2.16331010e-04 9.99776834e-01 -4.87260660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters 0.025936811010899126 Centerline is valid? [True, True] Translation: X:245.59, Y:-37.72, Z:-4.87 [[ 9.87091081e-01 1.58615856e-01 2.21857749e-02 2.45585970e+02] [-1.58581846e-01 9.87340336e-01 -3.29522205e-03 -3.77242739e+01] [-2.24275849e-02 -2.65576834e-04 9.99748435e-01 -4.87088014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79401273899998 meters 0.02756986360462348 Centerline is valid? [True, True] Translation: X:245.62, Y:-37.72, Z:-4.87 [[ 9.86570274e-01 1.61691462e-01 2.31293165e-02 2.45615710e+02] [-1.61655375e-01 9.86841298e-01 -3.43394733e-03 -3.77227358e+01] [-2.33802047e-02 -3.51147975e-04 9.99726584e-01 -4.86954546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters 0.02942382513121684 Centerline is valid? [True, True] Translation: X:245.64, Y:-37.72, Z:-4.87 [[ 9.86361699e-01 1.63079224e-01 2.22657777e-02 2.45644427e+02] [-1.63046159e-01 9.86612907e-01 -3.30467128e-03 -3.77211876e+01] [-2.25066269e-02 -3.70748358e-04 9.99746625e-01 -4.87131247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85401273899998 meters 0.03155105654518528 Centerline is valid? [True, True] Translation: X:245.67, Y:-37.72, Z:-4.87 [[ 9.86231823e-01 1.63995389e-01 2.12674479e-02 2.45673205e+02] [-1.63965462e-01 9.86461034e-01 -3.15527368e-03 -3.77193978e+01] [-2.14969590e-02 -3.75295622e-04 9.99768843e-01 -4.87410236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters 0.030026515443156293 Centerline is valid? [True, True] Translation: X:245.70, Y:-37.72, Z:-4.88 [[ 9.86198153e-01 1.64259864e-01 2.07822206e-02 2.45702014e+02] [-1.64231370e-01 9.86417030e-01 -3.08210763e-03 -3.77234884e+01] [-2.10062029e-02 -3.73523720e-04 9.99779276e-01 -4.87571043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914012739 meters 0.0294285545495685 Centerline is valid? [True, True] Translation: X:245.73, Y:-37.73, Z:-4.87 [[ 9.86294779e-01 1.63615194e-01 2.12761968e-02 2.45730591e+02] [-1.63585202e-01 9.86524167e-01 -3.15432952e-03 -3.77273761e+01] [-2.15055785e-02 -3.69372215e-04 9.99768660e-01 -4.87483634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters 0.028231488105586466 Centerline is valid? [True, True] Translation: X:245.76, Y:-37.73, Z:-4.87 [[ 9.86634777e-01 1.61464170e-01 2.19348639e-02 2.45758416e+02] [-1.61431785e-01 9.86878519e-01 -3.25088899e-03 -3.77299857e+01] [-2.21719481e-02 -3.33544092e-04 9.99754117e-01 -4.87387620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974012739 meters 0.027078105136520973 Centerline is valid? [True, True] Translation: X:245.79, Y:-37.73, Z:-4.88 [[ 9.86825913e-01 1.60359691e-01 2.14332997e-02 2.45786455e+02] [-1.60328536e-01 9.87058599e-01 -3.17533537e-03 -3.77348261e+01] [-2.16651186e-02 -3.02866336e-04 9.99765238e-01 -4.87577307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters 0.026823901727446597 Centerline is valid? [True, True] Translation: X:245.81, Y:-37.74, Z:-4.88 [[ 9.86976160e-01 1.59475916e-01 2.11066906e-02 2.45814299e+02] [-1.59445523e-01 9.87201780e-01 -3.12595057e-03 -3.77380501e+01] [-2.13350764e-02 -2.80128638e-04 9.99772342e-01 -4.87675939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034012739 meters 0.026416527410362968 Centerline is valid? [True, True] Translation: X:245.84, Y:-37.74, Z:-4.88 [[ 9.87063183e-01 1.58908797e-01 2.13135317e-02 2.45843133e+02] [-1.58877699e-01 9.87293229e-01 -3.15533469e-03 -3.77403404e+01] [-2.15441159e-02 -2.71730171e-04 9.99767862e-01 -4.87658540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters 0.025577591235122654 Centerline is valid? [True, True] Translation: X:245.87, Y:-37.74, Z:-4.88 [[ 9.87046006e-01 1.58976721e-01 2.16005505e-02 2.45871427e+02] [-1.58944819e-01 9.87282292e-01 -3.19680836e-03 -3.77445428e+01] [-2.18340591e-02 -2.77898653e-04 9.99761570e-01 -4.87650746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.094012739 meters 0.02613817888686525 Centerline is valid? [True, True] Translation: X:245.90, Y:-37.74, Z:-4.87 [[ 9.86902552e-01 1.59665884e-01 2.30251675e-02 2.45900842e+02] [-1.59629850e-01 9.87171063e-01 -3.40646078e-03 -3.77445280e+01] [-2.32736747e-02 -3.13659210e-04 9.99729082e-01 -4.87402757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters 0.026089226590781077 Centerline is valid? [True, True] Translation: X:245.93, Y:-37.75, Z:-4.87 [[ 9.86871643e-01 1.59731479e-01 2.38791799e-02 2.45930041e+02] [-1.59692770e-01 9.87160446e-01 -3.53161039e-03 -3.77475532e+01] [-2.41366912e-02 -3.28086216e-04 9.99708614e-01 -4.87318926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15401273899997 meters 0.02527025811210058 Centerline is valid? [True, True] Translation: X:245.96, Y:-37.75, Z:-4.87 [[ 9.86956840e-01 1.59143761e-01 2.42787751e-02 2.45958937e+02] [-1.59103597e-01 9.87255368e-01 -3.58950761e-03 -3.77520058e+01] [-2.45405988e-02 -3.20151366e-04 9.99698783e-01 -4.87377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters 0.024828164761538256 Centerline is valid? [True, True] Translation: X:245.99, Y:-37.75, Z:-4.87 [[ 9.87349622e-01 1.56802304e-01 2.35321322e-02 2.45987298e+02] [-1.56763934e-01 9.87629978e-01 -3.47798156e-03 -3.77536859e+01] [-2.37863947e-02 -2.55005845e-04 9.99717031e-01 -4.87432558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21401273899997 meters 0.023466293101960578 Centerline is valid? [True, True] Translation: X:246.02, Y:-37.76, Z:-4.88 [[ 9.87640498e-01 1.54994400e-01 2.33020068e-02 2.46015896e+02] [-1.54956300e-01 9.87915326e-01 -3.44287241e-03 -3.77605405e+01] [-2.35540356e-02 -2.10472542e-04 9.99722543e-01 -4.87617491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters 0.02125061036621036 Centerline is valid? [True, True] Translation: X:246.04, Y:-37.77, Z:-4.88 [[ 9.88543868e-01 1.49231313e-01 2.26061191e-02 2.46042849e+02] [-1.49193965e-01 9.88802311e-01 -3.33924392e-03 -3.77748401e+01] [-2.28513026e-02 -7.17074436e-05 9.99738872e-01 -4.87838793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27401273899997 meters 0.020957732385453447 Centerline is valid? [True, True] Translation: X:246.07, Y:-37.78, Z:-4.88 [[ 9.88924284e-01 1.46715380e-01 2.24356344e-02 2.46070738e+02] [-1.46677970e-01 9.89178749e-01 -3.31301128e-03 -3.77840808e+01] [-2.26789224e-02 -1.44960091e-05 9.99742800e-01 -4.87974852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters 0.021222409845235594 Centerline is valid? [True, True] Translation: X:246.10, Y:-37.79, Z:-4.88 [[ 9.89422423e-01 1.43262896e-01 2.27818379e-02 2.46099327e+02] [-1.43223426e-01 9.89684666e-01 -3.36333513e-03 -3.77949195e+01] [-2.30286768e-02 6.48663154e-05 9.99734803e-01 -4.87942943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33401273899997 meters 0.021294355044566365 Centerline is valid? [True, True] Translation: X:246.13, Y:-37.80, Z:-4.88 [[ 9.89508920e-01 1.42685127e-01 2.26506640e-02 2.46127916e+02] [-1.42645970e-01 9.89768129e-01 -3.34346396e-03 -3.78004699e+01] [-2.28959679e-02 7.73614757e-05 9.99737850e-01 -4.87990590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters 0.021377582058489584 Centerline is valid? [True, True] Translation: X:246.16, Y:-37.81, Z:-4.88 [[ 9.89579095e-01 1.42313727e-01 2.19092979e-02 2.46157633e+02] [-1.42277006e-01 9.89821598e-01 -3.23380031e-03 -3.78058399e+01] [-2.21465105e-02 8.29118875e-05 9.99754733e-01 -4.88227869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39401273899998 meters 0.021472438278446897 Centerline is valid? [True, True] Translation: X:246.19, Y:-37.81, Z:-4.89 [[ 9.89639793e-01 1.42120693e-01 2.03663439e-02 2.46186723e+02] [-1.42088922e-01 9.89849333e-01 -3.00606115e-03 -3.78148655e+01] [-2.05868354e-02 8.10858925e-05 9.99788065e-01 -4.88605161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters 0.02145822308413083 Centerline is valid? [True, True] Translation: X:246.22, Y:-37.82, Z:-4.89 [[ 9.89686910e-01 1.41804993e-01 2.02771757e-02 2.46216235e+02] [-1.41773432e-01 9.89894609e-01 -2.99289997e-03 -3.78222725e+01] [-2.04966751e-02 8.72691266e-05 9.99789917e-01 -4.88619615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45401273899998 meters 0.0329507945168988 Centerline is valid? [True, True] Translation: X:246.24, Y:-37.83, Z:-4.87 [[ 9.89786104e-01 1.41047735e-01 2.07124106e-02 2.46244221e+02] [-1.41014639e-01 9.90002791e-01 -3.05713283e-03 -3.78335925e+01] [-2.09365459e-02 1.05154495e-04 9.99780801e-01 -4.87365405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters 0.02128460174661296 Centerline is valid? [True, True] Translation: X:246.27, Y:-37.84, Z:-4.88 [[ 9.89618950e-01 1.42071176e-01 2.16821139e-02 2.46273869e+02] [-1.42035160e-01 9.89856441e-01 -3.20000497e-03 -3.78382517e+01] [-2.19168085e-02 8.71630599e-05 9.99759794e-01 -4.88465910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51401273899998 meters 0.02130090175235096 Centerline is valid? [True, True] Translation: X:246.30, Y:-37.84, Z:-4.89 [[ 9.89485546e-01 1.42985265e-01 2.17616130e-02 2.46303420e+02] [-1.42949206e-01 9.89724815e-01 -3.21171811e-03 -3.78431199e+01] [-2.19972367e-02 6.71433557e-05 9.99758029e-01 -4.88560551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters 0.020918984678440954 Centerline is valid? [True, True] Translation: X:246.33, Y:-37.85, Z:-4.89 [[ 9.89111921e-01 1.45676846e-01 2.08773818e-02 2.46332585e+02] [-1.45644262e-01 9.89332228e-01 -3.08098804e-03 -3.78467498e+01] [-2.11034952e-02 6.77114159e-06 9.99777296e-01 -4.88768323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57401273899998 meters 0.021106117289351675 Centerline is valid? [True, True] Translation: X:246.36, Y:-37.85, Z:-4.89 [[ 9.88862417e-01 1.47433682e-01 2.03575319e-02 2.46362065e+02] [-1.47403073e-01 9.89071943e-01 -3.00426461e-03 -3.78493818e+01] [-2.05779934e-02 -2.99583948e-05 9.99788250e-01 -4.88909272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters 0.021488005870145772 Centerline is valid? [True, True] Translation: X:246.39, Y:-37.85, Z:-4.89 [[ 9.88565199e-01 1.49459550e-01 2.00172701e-02 2.46391160e+02] [-1.49430380e-01 9.88767838e-01 -2.95358398e-03 -3.78512657e+01] [-2.02338742e-02 -7.13779488e-05 9.99795272e-01 -4.88965039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63401273899999 meters 0.022254062596403265 Centerline is valid? [True, True] Translation: X:246.42, Y:-37.85, Z:-4.89 [[ 9.88091081e-01 1.52431133e-01 2.09943971e-02 2.46420508e+02] [-1.52399732e-01 9.88314085e-01 -3.09699451e-03 -3.78528866e+01] [-2.12211367e-02 -1.39427837e-04 9.99774797e-01 -4.88870376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters 0.02377031954839227 Centerline is valid? [True, True] Translation: X:246.45, Y:-37.85, Z:-4.89 [[ 9.87660079e-01 1.55053110e-01 2.20477317e-02 2.46449717e+02] [-1.55019144e-01 9.87906114e-01 -3.25179348e-03 -3.78516394e+01] [-2.22852897e-02 -2.06153908e-04 9.99751631e-01 -4.88729918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694012739 meters 0.024567540220839533 Centerline is valid? [True, True] Translation: X:246.48, Y:-37.85, Z:-4.89 [[ 9.87453833e-01 1.56362861e-01 2.20359608e-02 2.46478071e+02] [-1.56329277e-01 9.87699651e-01 -3.24921392e-03 -3.78536399e+01] [-2.22729672e-02 -2.36417080e-04 9.99751899e-01 -4.88793796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters 0.025205863869239096 Centerline is valid? [True, True] Translation: X:246.51, Y:-37.86, Z:-4.89 [[ 9.87341618e-01 1.57158158e-01 2.13972556e-02 2.46505644e+02] [-1.57126706e-01 9.87573416e-01 -3.15381401e-03 -3.78559367e+01] [-2.16270084e-02 -2.48188446e-04 9.99766078e-01 -4.89013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754012739 meters 0.025724900714845653 Centerline is valid? [True, True] Translation: X:246.53, Y:-37.86, Z:-4.89 [[ 9.87327426e-01 1.57356577e-01 2.05781604e-02 2.46533518e+02] [-1.57327554e-01 9.87541821e-01 -3.03192493e-03 -3.78598343e+01] [-2.07988873e-02 -2.44008998e-04 9.99783650e-01 -4.89204878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters 0.025261557166090354 Centerline is valid? [True, True] Translation: X:246.56, Y:-37.86, Z:-4.89 [[ 9.87178970e-01 1.57958159e-01 2.29543348e-02 2.46561947e+02] [-1.57922244e-01 9.87445764e-01 -3.38047514e-03 -3.78645513e+01] [-2.32001343e-02 -2.87866108e-04 9.99730799e-01 -4.88782547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814012739 meters 0.02544673241388975 Centerline is valid? [True, True] Translation: X:246.59, Y:-37.87, Z:-4.89 [[ 9.87091875e-01 1.58419961e-01 2.35105652e-02 2.46590204e+02] [-1.58382443e-01 9.87371775e-01 -3.46122964e-03 -3.78675365e+01] [-2.37619964e-02 -3.07109119e-04 9.99717597e-01 -4.88728330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters 0.02598570959205835 Centerline is valid? [True, True] Translation: X:246.62, Y:-37.87, Z:-4.89 [[ 9.87084301e-01 1.58506053e-01 2.32468272e-02 2.46618405e+02] [-1.58469422e-01 9.87357958e-01 -3.42128810e-03 -3.78700461e+01] [-2.34952347e-02 -3.06811500e-04 9.99723902e-01 -4.88818790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.874012739 meters 0.026127481106119108 Centerline is valid? [True, True] Translation: X:246.65, Y:-37.87, Z:-4.89 [[ 9.87057053e-01 1.58786528e-01 2.24769455e-02 2.46647412e+02] [-1.58752380e-01 9.87312892e-01 -3.30693571e-03 -3.78732839e+01] [-2.27168749e-02 -3.04134373e-04 9.99741892e-01 -4.88998339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters 0.025933230379923483 Centerline is valid? [True, True] Translation: X:246.68, Y:-37.88, Z:-4.89 [[ 9.87034822e-01 1.58817665e-01 2.32208865e-02 2.46676243e+02] [-1.58781254e-01 9.87307880e-01 -3.41524891e-03 -3.78780589e+01] [-2.34685661e-02 -3.16071872e-04 9.99724525e-01 -4.88963470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93401273899997 meters 0.024857703808462906 Centerline is valid? [True, True] Translation: X:246.70, Y:-37.89, Z:-4.89 [[ 9.87321285e-01 1.56751065e-01 2.50156780e-02 2.46703743e+02] [-1.56708175e-01 9.87638102e-01 -3.67800286e-03 -3.78859695e+01] [-2.52829676e-02 -2.88790741e-04 9.99680293e-01 -4.88712794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters 0.023780365790451855 Centerline is valid? [True, True] Translation: X:246.73, Y:-37.89, Z:-4.89 [[ 9.87635105e-01 1.54778928e-01 2.49074713e-02 2.46732075e+02] [-1.54735802e-01 9.87949101e-01 -3.66126186e-03 -3.78941952e+01] [-2.51740001e-02 -2.38086810e-04 9.99683056e-01 -4.88789427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99401273899997 meters 0.023780365790451855 Centerline is valid? [True, True] Translation: X:246.76, Y:-37.90, Z:-4.89 [[ 9.87638692e-01 1.54756025e-01 2.49075562e-02 2.46760931e+02] [-1.54712907e-01 9.87952689e-01 -3.66068417e-03 -3.78983909e+01] [-2.51740001e-02 -2.38087098e-04 9.99683056e-01 -4.88848654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters 0.02245363880706919 Centerline is valid? [True, True] Translation: X:246.79, Y:-37.91, Z:-4.89 [[ 9.88055185e-01 1.52168972e-01 2.43219079e-02 2.46789672e+02] [-1.52127087e-01 9.88354479e-01 -3.57404642e-03 -3.79081275e+01] [-2.45825256e-02 -1.68665903e-04 9.99697790e-01 -4.89011000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05401273900003 meters 0.021067005961353136 Centerline is valid? [True, True] Translation: X:246.82, Y:-37.92, Z:-4.89 [[ 9.88845225e-01 1.47157699e-01 2.30159055e-02 2.46819021e+02] [-1.47118843e-01 9.89113042e-01 -3.38175385e-03 -3.79243895e+01] [-2.32629834e-02 -4.20422376e-05 9.99729379e-01 -4.89335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters 0.020884265181897666 Centerline is valid? [True, True] Translation: X:246.85, Y:-37.93, Z:-4.89 [[ 9.89068896e-01 1.45613564e-01 2.32251985e-02 2.46849061e+02] [-1.45573559e-01 9.89341544e-01 -3.41306862e-03 -3.79331136e+01] [-2.34746429e-02 -5.21479567e-06 9.99724433e-01 -4.89361455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11401273900003 meters 0.020896135140040597 Centerline is valid? [True, True] Translation: X:246.88, Y:-37.94, Z:-4.89 [[ 9.88989175e-01 1.46043440e-01 2.39107945e-02 2.46880736e+02] [-1.46001135e-01 9.89278178e-01 -3.51497885e-03 -3.79399779e+01] [-2.41677668e-02 -1.47271034e-05 9.99707917e-01 -4.89302657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters 0.021049091959698726 Centerline is valid? [True, True] Translation: X:246.91, Y:-37.94, Z:-4.89 [[ 9.88771135e-01 1.47461456e-01 2.42231842e-02 2.46911569e+02] [-1.47418361e-01 9.89067802e-01 -3.56506979e-03 -3.79437312e+01] [-2.44840819e-02 -4.59040226e-05 9.99700219e-01 -4.89244205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17401273900003 meters 0.02204534206409294 Centerline is valid? [True, True] Translation: X:246.94, Y:-37.94, Z:-4.89 [[ 9.88176095e-01 1.51307252e-01 2.47814544e-02 2.46942209e+02] [-1.51263275e-01 9.88486770e-01 -3.65051337e-03 -3.79431863e+01] [-2.50484890e-02 -1.41173903e-04 9.99686227e-01 -4.89317915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters 0.02248798223656019 Centerline is valid? [True, True] Translation: X:246.97, Y:-37.95, Z:-4.89 [[ 9.87907754e-01 1.53018691e-01 2.49709646e-02 2.46972679e+02] [-1.52974585e-01 9.88223277e-01 -3.67842979e-03 -3.79454010e+01] [-2.52397570e-02 -1.85973625e-04 9.99681409e-01 -4.89356814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23401273900004 meters 0.02365691694651859 Centerline is valid? [True, True] Translation: X:247.00, Y:-37.95, Z:-4.89 [[ 9.87601284e-01 1.54939351e-01 2.52488003e-02 2.47002218e+02] [-1.54894884e-01 9.87923955e-01 -3.71939748e-03 -3.79454413e+01] [-2.55201757e-02 -2.37628263e-04 9.99674279e-01 -4.89307479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters 0.025213720551285325 Centerline is valid? [True, True] Translation: X:247.03, Y:-37.95, Z:-4.89 [[ 9.87220811e-01 1.57349787e-01 2.52213270e-02 2.47031767e+02] [-1.57306202e-01 9.87542888e-01 -3.71538511e-03 -3.79462519e+01] [-2.54917571e-02 -2.99565647e-04 9.99674987e-01 -4.89455602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294012739 meters 0.024931708778327698 Centerline is valid? [True, True] Translation: X:247.06, Y:-37.95, Z:-4.90 [[ 9.87168622e-01 1.57717106e-01 2.49684971e-02 2.47061988e+02] [-1.57674520e-01 9.87484289e-01 -3.67766921e-03 -3.79514480e+01] [-2.52360299e-02 -3.06416145e-04 9.99681474e-01 -4.89632857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters 0.024556494520580858 Centerline is valid? [True, True] Translation: X:247.09, Y:-37.96, Z:-4.90 [[ 9.87331981e-01 1.56733541e-01 2.47013386e-02 2.47091267e+02] [-1.56691555e-01 9.87640886e-01 -3.63826298e-03 -3.79573991e+01] [-2.49662898e-02 -2.78317771e-04 9.99688255e-01 -4.89748317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354012739 meters 0.024083069249710203 Centerline is valid? [True, True] Translation: X:247.12, Y:-37.96, Z:-4.90 [[ 9.87478649e-01 1.55778749e-01 2.48776669e-02 2.47121057e+02] [-1.55735864e-01 9.87791940e-01 -3.66398941e-03 -3.79629617e+01] [-2.51447306e-02 -2.56233640e-04 9.99683788e-01 -4.89745569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters 0.023586220739649194 Centerline is valid? [True, True] Translation: X:247.15, Y:-37.97, Z:-4.90 [[ 9.87645224e-01 1.54699427e-01 2.49999739e-02 2.47150857e+02] [-1.54655774e-01 9.87961555e-01 -3.68200282e-03 -3.79690719e+01] [-2.52686168e-02 -2.29877808e-04 9.99680671e-01 -4.89812137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414012739 meters 0.023107867589978986 Centerline is valid? [True, True] Translation: X:247.18, Y:-37.98, Z:-4.90 [[ 9.87824820e-01 1.53560509e-01 2.49257777e-02 2.47179412e+02] [-1.53516753e-01 9.88139226e-01 -3.67101775e-03 -3.79756330e+01] [-2.51938620e-02 -2.00202016e-04 9.99682564e-01 -4.89920604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters 0.0219493503142737 Centerline is valid? [True, True] Translation: X:247.21, Y:-37.99, Z:-4.90 [[ 9.88116856e-01 1.51814249e-01 2.40314807e-02 2.47210149e+02] [-1.51773050e-01 9.88409030e-01 -3.53977028e-03 -3.79860998e+01] [-2.42903201e-02 -1.49624422e-04 9.99704935e-01 -4.90195354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474012739 meters 0.022087039234355222 Centerline is valid? [True, True] Translation: X:247.24, Y:-37.99, Z:-4.91 [[ 9.88141615e-01 1.51894809e-01 2.24525277e-02 2.47241723e+02] [-1.51858791e-01 9.88396655e-01 -3.31055303e-03 -3.79893202e+01] [-2.26948591e-02 -1.38318508e-04 9.99742429e-01 -4.90529765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters 0.02261977810260355 Centerline is valid? [True, True] Translation: X:247.27, Y:-37.99, Z:-4.91 [[ 9.88072707e-01 1.52401669e-01 2.20466947e-02 2.47271706e+02] [-1.52367057e-01 9.88318628e-01 -3.25118303e-03 -3.79912931e+01] [-2.22846448e-02 -1.46784767e-04 9.99751656e-01 -4.90607389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534012739 meters 0.02296287261847894 Centerline is valid? [True, True] Translation: X:247.30, Y:-37.99, Z:-4.91 [[ 9.87981932e-01 1.52933606e-01 2.24279825e-02 2.47300059e+02] [-1.52897930e-01 9.88236452e-01 -3.30709888e-03 -3.79932688e+01] [-2.26699164e-02 -1.61838165e-04 9.99742991e-01 -4.90596449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters 0.023674058940483637 Centerline is valid? [True, True] Translation: X:247.33, Y:-37.99, Z:-4.90 [[ 9.87632186e-01 1.55049695e-01 2.32864023e-02 2.47330137e+02] [-1.55011837e-01 9.87906647e-01 -3.43309191e-03 -3.79919461e+01] [-2.35370915e-02 -2.19035938e-04 9.99722940e-01 -4.90384737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594012739 meters 0.0240274204343316 Centerline is valid? [True, True] Translation: X:247.36, Y:-37.99, Z:-4.90 [[ 9.87447637e-01 1.56184485e-01 2.35280900e-02 2.47359855e+02] [-1.56146173e-01 9.87727870e-01 -3.46815639e-03 -3.79927554e+01] [-2.37810224e-02 -2.49198383e-04 9.99717160e-01 -4.90419517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters 0.02479089495735357 Centerline is valid? [True, True] Translation: X:247.39, Y:-37.99, Z:-4.91 [[ 9.87159867e-01 1.57929829e-01 2.39492541e-02 2.47389985e+02] [-1.57890661e-01 9.87450293e-01 -3.52964060e-03 -3.79903887e+01] [-2.42061335e-02 -2.97044010e-04 9.99706944e-01 -4.90512244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654012739 meters 0.025842820672157825 Centerline is valid? [True, True] Translation: X:247.42, Y:-37.99, Z:-4.91 [[ 9.87109235e-01 1.58194002e-01 2.42902288e-02 2.47419265e+02] [-1.58153806e-01 9.87408002e-01 -3.57927010e-03 -3.79908418e+01] [-2.45505854e-02 -3.08461563e-04 9.99698541e-01 -4.90569812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters 0.025133871925876038 Centerline is valid? [True, True] Translation: X:247.45, Y:-38.00, Z:-4.91 [[ 9.87192970e-01 1.57640623e-01 2.44841612e-02 2.47448487e+02] [-1.57599629e-01 9.87496504e-01 -3.60718849e-03 -3.79950816e+01] [-2.47466630e-02 -2.97703590e-04 9.99693710e-01 -4.90597963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714012739 meters 0.023792788976267524 Centerline is valid? [True, True] Translation: X:247.48, Y:-38.00, Z:-4.91 [[ 9.87503079e-01 1.55497153e-01 2.56574285e-02 2.47477928e+02] [-1.55451428e-01 9.87836307e-01 -3.77939881e-03 -3.79993536e+01] [-2.59330251e-02 -2.56315922e-04 9.99663650e-01 -4.90613347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters 0.023615219360356075 Centerline is valid? [True, True] Translation: X:247.51, Y:-38.00, Z:-4.91 [[ 9.87720436e-01 1.54096258e-01 2.57426271e-02 2.47506622e+02] [-1.54049769e-01 9.88055815e-01 -3.79132534e-03 -3.80019066e+01] [-2.60193814e-02 -2.20876236e-04 9.99661414e-01 -4.90565587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774012739 meters 0.021754158245412117 Centerline is valid? [True, True] Translation: X:247.54, Y:-38.01, Z:-4.91 [[ 9.88256584e-01 1.50673745e-01 2.54233646e-02 2.47536191e+02] [-1.50627281e-01 9.88583535e-01 -3.74384976e-03 -3.80080807e+01] [-2.56972195e-02 -1.29568109e-04 9.99669764e-01 -4.90853205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters 0.021618800804938824 Centerline is valid? [True, True] Translation: X:247.56, Y:-38.01, Z:-4.91 [[ 9.88497428e-01 1.49131703e-01 2.51509388e-02 2.47564973e+02] [-1.49085732e-01 9.88817338e-01 -3.70367063e-03 -3.80122738e+01] [-2.54220191e-02 -8.85772318e-05 9.99676804e-01 -4.90850133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834012739 meters 0.02129740859457016 Centerline is valid? [True, True] Translation: X:247.59, Y:-38.02, Z:-4.91 [[ 9.88737411e-01 1.47522521e-01 2.52078845e-02 2.47593955e+02] [-1.47475828e-01 9.89058696e-01 -3.71169476e-03 -3.80175473e+01] [-2.54796360e-02 -4.76621622e-05 9.99675340e-01 -4.90922391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters 0.02119925730321935 Centerline is valid? [True, True] Translation: X:247.62, Y:-38.02, Z:-4.91 [[ 9.89144227e-01 1.44483910e-01 2.67973517e-02 2.47624291e+02] [-1.44430040e-01 9.89507149e-01 -3.94524809e-03 -3.80233725e+01] [-2.70861960e-02 3.20768043e-05 9.99633101e-01 -4.90863015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894012739 meters 0.021386745879735557 Centerline is valid? [True, True] Translation: X:247.66, Y:-38.03, Z:-4.91 [[ 9.89299941e-01 1.43276511e-01 2.75221444e-02 2.47655312e+02] [-1.43219214e-01 9.89682695e-01 -4.05213514e-03 -3.80276966e+01] [-2.78187658e-02 6.70771519e-05 9.99612981e-01 -4.90840292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters 0.02191825438879315 Centerline is valid? [True, True] Translation: X:247.69, Y:-38.03, Z:-4.91 [[ 9.89610765e-01 1.41022714e-01 2.79844124e-02 2.47685962e+02] [-1.40962525e-01 9.90006352e-01 -4.12191889e-03 -3.80322651e+01] [-2.82860302e-02 1.34341873e-04 9.99599861e-01 -4.90790397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954012739 meters 0.02212482844400182 Centerline is valid? [True, True] Translation: X:247.72, Y:-38.04, Z:-4.91 [[ 9.89782418e-01 1.39894224e-01 2.75748241e-02 2.47717988e+02] [-1.39835225e-01 9.90166439e-01 -4.06596126e-03 -3.80360864e+01] [-2.78724699e-02 1.68485233e-04 9.99611473e-01 -4.91092146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters 0.023001577257388897 Centerline is valid? [True, True] Translation: X:247.75, Y:-38.04, Z:-4.91 [[ 9.90096196e-01 1.37903800e-01 2.63071289e-02 2.47749054e+02] [-1.37849286e-01 9.90445604e-01 -3.88331590e-03 -3.80399644e+01] [-2.65913042e-02 2.18437369e-04 9.99646365e-01 -4.91350455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014012739 meters 0.023342870247893673 Centerline is valid? [True, True] Translation: X:247.78, Y:-38.04, Z:-4.91 [[ 9.90186013e-01 1.37234264e-01 2.64275848e-02 2.47780559e+02] [-1.37178897e-01 9.90538590e-01 -3.90536888e-03 -3.80444504e+01] [-2.67134930e-02 2.41734706e-04 9.99643102e-01 -4.91381372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters 0.023657556044252483 Centerline is valid? [True, True] Translation: X:247.81, Y:-38.05, Z:-4.91 [[ 9.90112013e-01 1.37442316e-01 2.80679885e-02 2.47811769e+02] [-1.37379820e-01 9.90509740e-01 -4.15213508e-03 -3.80460146e+01] [-2.83722951e-02 2.55103599e-04 9.99597393e-01 -4.91093242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074012739 meters 0.023502520360735333 Centerline is valid? [True, True] Translation: X:247.84, Y:-38.05, Z:-4.91 [[ 9.90043793e-01 1.37702711e-01 2.91762030e-02 2.47843437e+02] [-1.37635232e-01 9.90473572e-01 -4.31821980e-03 -3.80472376e+01] [-2.94928886e-02 2.59553249e-04 9.99564956e-01 -4.90965331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters 0.02361915158602418 Centerline is valid? [True, True] Translation: X:247.87, Y:-38.05, Z:-4.91 [[ 9.89968899e-01 1.38049707e-01 3.00642134e-02 2.47874887e+02] [-1.37978174e-01 9.90425268e-01 -4.45104475e-03 -3.80497702e+01] [-3.03908220e-02 2.58190617e-04 9.99538059e-01 -4.90807014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134012739 meters 0.023646264597763963 Centerline is valid? [True, True] Translation: X:247.91, Y:-38.05, Z:-4.91 [[ 9.90008019e-01 1.37804858e-01 2.98988992e-02 2.47906636e+02] [-1.37733894e-01 9.90459363e-01 -4.42998560e-03 -3.80541271e+01] [-3.02241182e-02 2.67629436e-04 9.99543111e-01 -4.91026820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters 0.023957519718571827 Centerline is valid? [True, True] Translation: X:247.94, Y:-38.06, Z:-4.91 [[ 9.90125940e-01 1.37024272e-01 2.95799191e-02 2.47937802e+02] [-1.36954323e-01 9.90567647e-01 -4.38754484e-03 -3.80610589e+01] [-2.99021110e-02 2.93124174e-04 9.99552789e-01 -4.91280048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194012739 meters 0.025759521896995624 Centerline is valid? [True, True] Translation: X:247.97, Y:-38.07, Z:-4.91 [[ 9.90517775e-01 1.34167896e-01 2.95552688e-02 2.47967846e+02] [-1.34096667e-01 9.90958540e-01 -4.38804657e-03 -3.80725876e+01] [-2.98767810e-02 3.83175081e-04 9.99553516e-01 -4.91391328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters 0.037187011888291106 Centerline is valid? [True, True] Translation: X:248.00, Y:-38.08, Z:-4.91 [[ 9.90721240e-01 1.32909822e-01 2.83972442e-02 2.47999049e+02] [-1.32843463e-01 9.91128051e-01 -4.21916388e-03 -3.80813749e+01] [-2.87060736e-02 4.07627018e-04 9.99587813e-01 -4.90516182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254012739 meters 0.027705242172954395 Centerline is valid? [True, True] Translation: X:248.03, Y:-38.09, Z:-4.92 [[ 9.90875347e-01 1.31732672e-01 2.85052781e-02 2.48030574e+02] [-1.31665185e-01 9.91285177e-01 -4.23989412e-03 -3.80894620e+01] [-2.88153922e-02 4.48053853e-04 9.99584650e-01 -4.91699196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters 0.028761948710506337 Centerline is valid? [True, True] Translation: X:248.06, Y:-38.10, Z:-4.92 [[ 9.91064480e-01 1.30577514e-01 2.72159624e-02 2.48061558e+02] [-1.30515442e-01 9.91437995e-01 -4.05240901e-03 -3.80992238e+01] [-2.75120927e-02 4.64095267e-04 9.99621363e-01 -4.92091520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314012739 meters 0.027409336665417137 Centerline is valid? [True, True] Translation: X:248.09, Y:-38.10, Z:-4.92 [[ 9.90979652e-01 1.31254241e-01 2.70490896e-02 2.48093912e+02] [-1.31193059e-01 9.91348639e-01 -4.03199227e-03 -3.81028294e+01] [-2.73442942e-02 4.46969500e-04 9.99625975e-01 -4.92327866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters 0.026364840632616314 Centerline is valid? [True, True] Translation: X:248.12, Y:-38.11, Z:-4.92 [[ 9.90526779e-01 1.34569320e-01 2.73458994e-02 2.48124537e+02] [-1.34507923e-01 9.90904115e-01 -4.08081723e-03 -3.81075815e+01] [-2.76463171e-02 3.63918624e-04 9.99617701e-01 -4.92275832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374012739 meters 0.025091890469686667 Centerline is valid? [True, True] Translation: X:248.16, Y:-38.11, Z:-4.92 [[ 9.90199098e-01 1.36955520e-01 2.73666370e-02 2.48156136e+02] [-1.36894820e-01 9.90577152e-01 -4.08824392e-03 -3.81107444e+01] [-2.76686729e-02 3.01824594e-04 9.99617103e-01 -4.92353999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters 0.02248990477450969 Centerline is valid? [True, True] Translation: X:248.19, Y:-38.11, Z:-4.93 [[ 9.89668185e-01 1.40824411e-01 2.69326657e-02 2.48188736e+02] [-1.40766933e-01 9.90034569e-01 -4.02780533e-03 -3.81106868e+01] [-2.72314834e-02 1.94962039e-04 9.99629135e-01 -4.92674590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434012739 meters 0.02234047757891052 Centerline is valid? [True, True] Translation: X:248.22, Y:-38.12, Z:-4.93 [[ 9.89564259e-01 1.41536935e-01 2.70161695e-02 2.48220994e+02] [-1.41479237e-01 9.89932959e-01 -4.04500886e-03 -3.81155682e+01] [-2.73167147e-02 1.80569161e-04 9.99626813e-01 -4.92842097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters 0.02274553289791361 Centerline is valid? [True, True] Translation: X:248.25, Y:-38.12, Z:-4.93 [[ 9.89559371e-01 1.41603883e-01 2.68438498e-02 2.48251742e+02] [-1.41546818e-01 9.89923385e-01 -4.02380929e-03 -3.81223992e+01] [-2.71431417e-02 1.82136649e-04 9.99631540e-01 -4.92791395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494012739 meters 0.023214203020074143 Centerline is valid? [True, True] Translation: X:248.28, Y:-38.13, Z:-4.93 [[ 9.89690287e-01 1.40553961e-01 2.75266964e-02 2.48282881e+02] [-1.40493422e-01 9.90072995e-01 -4.13075945e-03 -3.81321302e+01] [-2.78340334e-02 2.20852742e-04 9.99612534e-01 -4.92793232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters 0.02335668874324712 Centerline is valid? [True, True] Translation: X:248.31, Y:-38.14, Z:-4.93 [[ 9.89724447e-01 1.40378537e-01 2.71916534e-02 2.48314374e+02] [-1.40319272e-01 9.90097881e-01 -4.08500640e-03 -3.81386734e+01] [-2.74958457e-02 2.27517671e-04 9.99621892e-01 -4.92906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55401273900003 meters 0.022822126760765688 Centerline is valid? [True, True] Translation: X:248.35, Y:-38.14, Z:-4.93 [[ 9.89454349e-01 1.42364256e-01 2.66928972e-02 2.48346085e+02] [-1.42307748e-01 9.89814320e-01 -4.01449606e-03 -3.81407256e+01] [-2.69925327e-02 1.73554483e-04 9.99635620e-01 -4.93077309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters 0.022163262706169983 Centerline is valid? [True, True] Translation: X:248.38, Y:-38.14, Z:-4.93 [[ 9.89078802e-01 1.44990867e-01 2.64721064e-02 2.48376541e+02] [-1.44936140e-01 9.89432988e-01 -3.98469472e-03 -3.81401083e+01] [-2.67701196e-02 1.04412167e-04 9.99641611e-01 -4.93183083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61401273900003 meters 0.021757724501723613 Centerline is valid? [True, True] Translation: X:248.41, Y:-38.13, Z:-4.93 [[ 9.88133087e-01 1.51073309e-01 2.77463030e-02 2.48408437e+02] [-1.51015574e-01 9.88522560e-01 -4.17673839e-03 -3.81325997e+01] [-2.80588402e-02 -6.29504833e-05 9.99606271e-01 -4.93104593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters 0.02219762569447338 Centerline is valid? [True, True] Translation: X:248.44, Y:-38.13, Z:-4.93 [[ 9.87745993e-01 1.53451339e-01 2.84699945e-02 2.48438799e+02] [-1.53391545e-01 9.88156197e-01 -4.28547520e-03 -3.81327979e+01] [-2.87904134e-02 -1.34095484e-04 9.99585461e-01 -4.93035368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67401273900003 meters 0.022794010522516842 Centerline is valid? [True, True] Translation: X:248.47, Y:-38.13, Z:-4.93 [[ 9.87555180e-01 1.54612289e-01 2.88063570e-02 2.48467924e+02] [-1.54551591e-01 9.87975208e-01 -4.33530065e-03 -3.81342013e+01] [-2.91302573e-02 -1.70719697e-04 9.99575609e-01 -4.92903287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters 0.022342483725459713 Centerline is valid? [True, True] Translation: X:248.50, Y:-38.14, Z:-4.93 [[ 9.87685246e-01 1.53478371e-01 3.03684866e-02 2.48496925e+02] [-1.53410405e-01 9.88151997e-01 -4.56938765e-03 -3.81419018e+01] [-3.07099828e-02 -1.45725043e-04 9.99528327e-01 -4.92925427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73401273900004 meters 0.02227821158106697 Centerline is valid? [True, True] Translation: X:248.53, Y:-38.15, Z:-4.93 [[ 9.87860556e-01 1.52124320e-01 3.14597201e-02 2.48526496e+02] [-1.52050709e-01 9.88361361e-01 -4.73308140e-03 -3.81488382e+01] [-3.18135885e-02 -1.07848326e-04 9.99493814e-01 -4.92755396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters 0.022359083162706135 Centerline is valid? [True, True] Translation: X:248.56, Y:-38.16, Z:-4.93 [[ 9.87988738e-01 1.50993898e-01 3.28495952e-02 2.48556260e+02] [-1.50913008e-01 9.88534692e-01 -4.94233801e-03 -3.81555561e+01] [-3.32192274e-02 -7.44569382e-05 9.99448086e-01 -4.92591113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794012739 meters 0.02218960996515688 Centerline is valid? [True, True] Translation: X:248.59, Y:-38.16, Z:-4.93 [[ 9.87970040e-01 1.51122722e-01 3.28195489e-02 2.48587658e+02] [-1.51042033e-01 9.88515006e-01 -4.93836420e-03 -3.81597882e+01] [-3.31889156e-02 -7.81755125e-05 9.99449093e-01 -4.92771033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters 0.02234648262577078 Centerline is valid? [True, True] Translation: X:248.62, Y:-38.16, Z:-4.93 [[ 9.87780018e-01 1.52402433e-01 3.26210749e-02 2.48618977e+02] [-1.52323389e-01 9.88318513e-01 -4.90928700e-03 -3.81624021e+01] [-3.29881995e-02 -1.19657082e-04 9.99455734e-01 -4.93002043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854012739 meters 0.023467434362866524 Centerline is valid? [True, True] Translation: X:248.65, Y:-38.16, Z:-4.93 [[ 9.87287996e-01 1.56057588e-01 3.01403749e-02 2.48649099e+02] [-1.55991803e-01 9.87747933e-01 -4.53628291e-03 -3.81602040e+01] [-3.04790144e-02 -2.23033768e-04 9.99535382e-01 -4.93336213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters 0.02436132986692744 Centerline is valid? [True, True] Translation: X:248.68, Y:-38.16, Z:-4.94 [[ 9.86975740e-01 1.58116649e-01 2.96313111e-02 2.48678994e+02] [-1.58054009e-01 9.87420400e-01 -4.45920292e-03 -3.81622532e+01] [-2.99636353e-02 -2.82222425e-04 9.99550950e-01 -4.93574438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914012739 meters 0.02436132986692744 Centerline is valid? [True, True] Translation: X:248.71, Y:-38.17, Z:-4.94 [[ 9.86979387e-01 1.58093859e-01 2.96314140e-02 2.48707836e+02] [-1.58031230e-01 9.87424049e-01 -4.45851931e-03 -3.81665483e+01] [-2.99636353e-02 -2.82222139e-04 9.99550950e-01 -4.93633667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters 0.02529003632115489 Centerline is valid? [True, True] Translation: X:248.74, Y:-38.17, Z:-4.94 [[ 9.86546327e-01 1.60730548e-01 2.98669498e-02 2.48737093e+02] [-1.60668148e-01 9.86998256e-01 -4.49324052e-03 -3.81699598e+01] [-3.02008284e-02 -3.65877585e-04 9.99543784e-01 -4.93887073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974012739 meters 0.02553286662678227 Centerline is valid? [True, True] Translation: X:248.77, Y:-38.17, Z:-4.94 [[ 9.86499771e-01 1.60897274e-01 3.05003044e-02 2.48766068e+02] [-1.60832302e-01 9.86971085e-01 -4.58776127e-03 -3.81746609e+01] [-3.08410768e-02 -3.79608701e-04 9.99524229e-01 -4.93930306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters 0.025327926205823217 Centerline is valid? [True, True] Translation: X:248.79, Y:-38.18, Z:-4.94 [[ 9.86589974e-01 1.60419069e-01 3.00989239e-02 2.48793806e+02] [-1.60355599e-01 9.87048931e-01 -4.52653134e-03 -3.81798713e+01] [-3.04352526e-02 -3.60700549e-04 9.99536675e-01 -4.94041778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034012739 meters 0.025101706548963137 Centerline is valid? [True, True] Translation: X:248.82, Y:-38.19, Z:-4.94 [[ 9.86749884e-01 1.59584103e-01 2.92844812e-02 2.48821905e+02] [-1.59523686e-01 9.87184282e-01 -4.40299711e-03 -3.81864764e+01] [-2.96118279e-02 -3.26911483e-04 9.99561420e-01 -4.94310384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters 0.025807490269656168 Centerline is valid? [True, True] Translation: X:248.85, Y:-38.19, Z:-4.94 [[ 9.86722484e-01 1.59838566e-01 2.88161979e-02 2.48850058e+02] [-1.59780201e-01 9.87143112e-01 -4.33165790e-03 -3.81891718e+01] [-2.91380772e-02 -3.30113662e-04 9.99575342e-01 -4.94290214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094012739 meters 0.02750951732532265 Centerline is valid? [True, True] Translation: X:248.88, Y:-38.19, Z:-4.94 [[ 9.86345739e-01 1.62120312e-01 2.89669984e-02 2.48879393e+02] [-1.62062345e-01 9.86770918e-01 -4.35342910e-03 -3.81872355e+01] [-2.92895709e-02 -4.00473447e-04 9.99570888e-01 -4.94363403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters 0.029083920857191768 Centerline is valid? [True, True] Translation: X:248.91, Y:-38.19, Z:-4.95 [[ 9.86075756e-01 1.63768623e-01 2.88866946e-02 2.48907361e+02] [-1.63711727e-01 9.86498675e-01 -4.33986088e-03 -3.81874797e+01] [-2.92074190e-02 -4.49659068e-04 9.99573271e-01 -4.94502691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154012739 meters 0.03045801396849113 Centerline is valid? [True, True] Translation: X:248.94, Y:-38.19, Z:-4.95 [[ 9.85861377e-01 1.65123557e-01 2.84878386e-02 2.48936061e+02] [-1.65068836e-01 9.86272770e-01 -4.27825835e-03 -3.81882131e+01] [-2.88032207e-02 -4.84684691e-04 9.99584984e-01 -4.94691819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters 0.033303257546575274 Centerline is valid? [True, True] Translation: X:248.96, Y:-38.18, Z:-4.95 [[ 9.85416280e-01 1.67988514e-01 2.71037606e-02 2.48964917e+02] [-1.67940101e-01 9.85788804e-01 -4.06904255e-03 -3.81846445e+01] [-2.74021361e-02 -5.42107511e-04 9.99624344e-01 -4.95072651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214012739 meters 0.0323078694421415 Centerline is valid? [True, True] Translation: X:248.99, Y:-38.19, Z:-4.95 [[ 9.85119964e-01 1.69698937e-01 2.72199723e-02 2.48993050e+02] [-1.69650811e-01 9.85495773e-01 -4.08466756e-03 -3.81883365e+01] [-2.75183313e-02 -5.94002806e-04 9.99621123e-01 -4.95308838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters 0.03721067166217327 Centerline is valid? [True, True] Translation: X:249.02, Y:-38.18, Z:-4.95 [[ 9.84784794e-01 1.71318810e-01 2.91337414e-02 2.49021764e+02] [-1.71264444e-01 9.85215405e-01 -4.36985338e-03 -3.81822854e+01] [-2.94516489e-02 -6.86208874e-04 9.99565971e-01 -4.94882968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274012739 meters 0.03378699702207356 Centerline is valid? [True, True] Translation: X:249.05, Y:-38.19, Z:-4.95 [[ 9.84914976e-01 1.70419440e-01 2.99950844e-02 2.49049678e+02] [-1.70361457e-01 9.85371377e-01 -4.49701981e-03 -3.81908919e+01] [-3.03226772e-02 -6.80824114e-04 9.99539930e-01 -4.94953256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters 0.03130777429480552 Centerline is valid? [True, True] Translation: X:249.08, Y:-38.20, Z:-4.95 [[ 9.85202794e-01 1.68701614e-01 3.02526082e-02 2.49078156e+02] [-1.68641873e-01 9.85666963e-01 -4.53392957e-03 -3.81980449e+01] [-3.05838777e-02 -6.35016421e-04 9.99532002e-01 -4.95119277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334012739 meters 0.02833442685089227 Centerline is valid? [True, True] Translation: X:249.11, Y:-38.21, Z:-4.95 [[ 9.85914185e-01 1.64567580e-01 2.98451160e-02 2.49106688e+02] [-1.64507594e-01 9.86365683e-01 -4.47119207e-03 -3.82072510e+01] [-3.01740115e-02 -5.01536521e-04 9.99544535e-01 -4.95425267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters 0.029120838135808153 Centerline is valid? [True, True] Translation: X:249.13, Y:-38.21, Z:-4.95 [[ 9.86355224e-01 1.62004552e-01 2.92898670e-02 2.49133964e+02] [-1.61945679e-01 9.86789923e-01 -4.38694942e-03 -3.82108537e+01] [-2.96136514e-02 -4.16276924e-04 9.99561333e-01 -4.95256046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394012739 meters 0.024911887058242637 Centerline is valid? [True, True] Translation: X:249.16, Y:-38.23, Z:-4.95 [[ 9.87021122e-01 1.57755478e-01 3.00418598e-02 2.49161770e+02] [-1.57691619e-01 9.87478162e-01 -4.49806920e-03 -3.82256900e+01] [-3.03752756e-02 -2.97660208e-04 9.99538521e-01 -4.95417937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters 0.023522845406134207 Centerline is valid? [True, True] Translation: X:249.19, Y:-38.23, Z:-4.96 [[ 9.87358246e-01 1.55570506e-01 3.03564052e-02 2.49190762e+02] [-1.55504293e-01 9.87824763e-01 -4.54443231e-03 -3.82342597e+01] [-3.06937885e-02 -2.33568618e-04 9.99528807e-01 -4.95544174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454012739 meters 0.02306581054637835 Centerline is valid? [True, True] Translation: X:249.22, Y:-38.24, Z:-4.95 [[ 9.87748864e-01 1.53108656e-01 3.01648906e-02 2.49219349e+02] [-1.53042146e-01 9.88209348e-01 -4.51514725e-03 -3.82404024e+01] [-3.05005350e-02 -1.56668027e-04 9.99534738e-01 -4.95412654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters 0.022718886255431017 Centerline is valid? [True, True] Translation: X:249.25, Y:-38.25, Z:-4.96 [[ 9.87757348e-01 1.53019942e-01 3.03367610e-02 2.49249175e+02] [-1.52952637e-01 9.88223089e-01 -4.54062567e-03 -3.82453749e+01] [-3.06742939e-02 -1.55051243e-04 9.99529421e-01 -4.95645801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514012739 meters 0.023423211568935072 Centerline is valid? [True, True] Translation: X:249.28, Y:-38.25, Z:-4.96 [[ 9.87550936e-01 1.54293583e-01 3.06045584e-02 2.49277907e+02] [-1.54225708e-01 9.88025026e-01 -4.58032494e-03 -3.82460216e+01] [-3.09447844e-02 -1.96705512e-04 9.99521076e-01 -4.95588792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters 0.023501281203986705 Centerline is valid? [True, True] Translation: X:249.31, Y:-38.25, Z:-4.96 [[ 9.87428193e-01 1.55042736e-01 3.07784766e-02 2.49307315e+02] [-1.54974482e-01 9.87907739e-01 -4.60535945e-03 -3.82483411e+01] [-3.11203228e-02 -2.22416726e-04 9.99515621e-01 -4.95725569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574012739 meters 0.024454762102313208 Centerline is valid? [True, True] Translation: X:249.34, Y:-38.25, Z:-4.96 [[ 9.87307706e-01 1.55809207e-01 3.07731160e-02 2.49336030e+02] [-1.55741376e-01 9.87787138e-01 -4.60368374e-03 -3.82483044e+01] [-3.11145845e-02 -2.47395017e-04 9.99515793e-01 -4.95666316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters 0.024058732376294346 Centerline is valid? [True, True] Translation: X:249.37, Y:-38.25, Z:-4.96 [[ 9.87245308e-01 1.56167144e-01 3.09600584e-02 2.49365462e+02] [-1.56098694e-01 9.87730608e-01 -4.63065562e-03 -3.82501455e+01] [-3.13033536e-02 -2.61231649e-04 9.99509896e-01 -4.96070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634012739 meters 0.023785807311324358 Centerline is valid? [True, True] Translation: X:249.39, Y:-38.25, Z:-4.96 [[ 9.87402418e-01 1.55245180e-01 3.05842832e-02 2.49393384e+02] [-1.55177961e-01 9.87875944e-01 -4.57372999e-03 -3.82542743e+01] [-3.09235272e-02 -2.29894675e-04 9.99521727e-01 -4.96152322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters 0.022657181368294428 Centerline is valid? [True, True] Translation: X:249.42, Y:-38.26, Z:-4.96 [[ 9.88031775e-01 1.51487032e-01 2.90670175e-02 2.49420852e+02] [-1.51424714e-01 9.88459239e-01 -4.34607252e-03 -3.82626231e+01] [-2.93899356e-02 -1.07407055e-04 9.99568017e-01 -4.96482876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694012739 meters 0.022299851442813823 Centerline is valid? [True, True] Translation: X:249.45, Y:-38.27, Z:-4.97 [[ 9.88478135e-01 1.48562728e-01 2.89843354e-02 2.49449673e+02] [-1.48499534e-01 9.88902986e-01 -4.33278655e-03 -3.82711839e+01] [-2.93063864e-02 -2.12955264e-05 9.99570475e-01 -4.96659815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters 0.023453265864915595 Centerline is valid? [True, True] Translation: X:249.48, Y:-38.29, Z:-4.97 [[ 9.89449739e-01 1.41715149e-01 3.01003499e-02 2.49477715e+02] [-1.41643838e-01 9.89907461e-01 -4.49912137e-03 -3.82859671e+01] [-3.04341546e-02 1.88125394e-04 9.99536756e-01 -4.96639677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754012739 meters 0.02512941662592747 Centerline is valid? [True, True] Translation: X:249.51, Y:-38.30, Z:-4.97 [[ 9.89943463e-01 1.38230411e-01 3.00714898e-02 2.49508042e+02] [-1.38157582e-01 9.90400053e-01 -4.49632221e-03 -3.82975921e+01] [-3.04043336e-02 2.96500465e-04 9.99537637e-01 -4.96726504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters 0.029305371685360265 Centerline is valid? [True, True] Translation: X:249.54, Y:-38.32, Z:-4.97 [[ 9.90879874e-01 1.31792107e-01 2.80698333e-02 2.49536529e+02] [-1.31725954e-01 9.91277269e-01 -4.20108268e-03 -3.83160784e+01] [-2.83786573e-02 4.65242710e-04 9.99597137e-01 -4.97176693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814012739 meters 0.030976953950340728 Centerline is valid? [True, True] Translation: X:249.57, Y:-38.33, Z:-4.97 [[ 9.91161254e-01 1.29946521e-01 2.67071010e-02 2.49567226e+02] [-1.29885860e-01 9.91520880e-01 -4.00108659e-03 -3.83263690e+01] [-2.70005755e-02 4.96847228e-04 9.99635295e-01 -4.97474977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters 0.031753519632763204 Centerline is valid? [True, True] Translation: X:249.60, Y:-38.33, Z:-4.98 [[ 9.91311114e-01 1.28896837e-01 2.62274777e-02 2.49597985e+02] [-1.28837869e-01 9.91657872e-01 -3.93295068e-03 -3.83349744e+01] [-2.65156297e-02 5.19685373e-04 9.99648264e-01 -4.97640601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874012739 meters 0.030891190855709592 Centerline is valid? [True, True] Translation: X:249.63, Y:-38.34, Z:-4.98 [[ 9.91019284e-01 1.30929112e-01 2.71725246e-02 2.49628551e+02] [-1.30866502e-01 9.91391614e-01 -4.07754646e-03 -3.83419450e+01] [-2.74724825e-02 4.84953946e-04 9.99622442e-01 -4.97574147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters 0.029061020207121015 Centerline is valid? [True, True] Translation: X:249.66, Y:-38.34, Z:-4.97 [[ 9.90635388e-01 1.33635850e-01 2.79819067e-02 2.49659422e+02] [-1.33570412e-01 9.91030412e-01 -4.20324990e-03 -3.83443829e+01] [-2.82926254e-02 4.26333288e-04 9.99599593e-01 -4.97477942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934012739 meters 0.024672458718573473 Centerline is valid? [True, True] Translation: X:249.69, Y:-38.34, Z:-4.97 [[ 9.89612362e-01 1.40745170e-01 2.92945579e-02 2.49692444e+02] [-1.40676453e-01 9.90045828e-01 -4.40394150e-03 -3.83396000e+01] [-2.96227883e-02 2.37140454e-04 9.99561121e-01 -4.97205538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters 0.023336093732837734 Centerline is valid? [True, True] Translation: X:249.72, Y:-38.34, Z:-4.97 [[ 9.89081038e-01 1.44477742e-01 2.90668741e-02 2.49723039e+02] [-1.44411670e-01 9.89508043e-01 -4.37071583e-03 -3.83379337e+01] [-2.93933768e-02 1.25396315e-04 9.99567913e-01 -4.97317835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994012739 meters 0.02250666958714797 Centerline is valid? [True, True] Translation: X:249.75, Y:-38.34, Z:-4.98 [[ 9.88560613e-01 1.48160858e-01 2.82183265e-02 2.49754619e+02] [-1.48100076e-01 9.88963275e-01 -4.24354176e-03 -3.83357670e+01] [-2.85356154e-02 1.58619461e-05 9.99592776e-01 -4.97793923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters 0.024254079472767896 Centerline is valid? [True, True] Translation: X:249.79, Y:-38.33, Z:-4.98 [[ 9.87498002e-01 1.55153787e-01 2.78387808e-02 2.49785066e+02] [-1.55097398e-01 9.87890312e-01 -4.18666533e-03 -3.83264393e+01] [-2.81512389e-02 -1.83398832e-04 9.99603659e-01 -4.97824866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05401273900003 meters 0.025134552164327067 Centerline is valid? [True, True] Translation: X:249.81, Y:-38.33, Z:-4.98 [[ 9.87052146e-01 1.57905065e-01 2.81789022e-02 2.49813832e+02] [-1.57848443e-01 9.87454262e-01 -4.23668264e-03 -3.83262942e+01] [-2.84943707e-02 -2.66169151e-04 9.99593918e-01 -4.98006145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters 0.028312194338434404 Centerline is valid? [True, True] Translation: X:249.84, Y:-38.32, Z:-4.98 [[ 9.86551941e-01 1.61033689e-01 2.79896233e-02 2.49842955e+02] [-1.60979123e-01 9.86948846e-01 -4.20681222e-03 -3.83210635e+01] [-2.83017649e-02 -3.55506256e-04 9.99599362e-01 -4.97995165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11401273900003 meters 0.027194730865173992 Centerline is valid? [True, True] Translation: X:249.87, Y:-38.33, Z:-4.98 [[ 9.86540405e-01 1.61302258e-01 2.68255793e-02 2.49871480e+02] [-1.61252275e-01 9.86904990e-01 -4.03040414e-03 -3.83271348e+01] [-2.71244113e-02 -3.49529168e-04 9.99632004e-01 -4.98434327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters 0.027012479702770938 Centerline is valid? [True, True] Translation: X:249.90, Y:-38.33, Z:-4.99 [[ 9.86697964e-01 1.60558579e-01 2.54572292e-02 2.49898919e+02] [-1.60513351e-01 9.87026263e-01 -3.82359222e-03 -3.83311246e+01] [-2.57408643e-02 -3.13494488e-04 9.99668600e-01 -4.98753662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17401273900003 meters 0.026395555183292358 Centerline is valid? [True, True] Translation: X:249.93, Y:-38.34, Z:-4.99 [[ 9.87144402e-01 1.58081058e-01 2.35862007e-02 2.49926763e+02] [-1.58041557e-01 9.87426111e-01 -3.54130886e-03 -3.83356443e+01] [-2.38494443e-02 -2.31816670e-04 9.99715535e-01 -4.99135254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters 0.02443594366483225 Centerline is valid? [True, True] Translation: X:249.95, Y:-38.34, Z:-4.99 [[ 9.87392531e-01 1.56524142e-01 2.35835327e-02 2.49954973e+02] [-1.56484231e-01 9.87674114e-01 -3.53984017e-03 -3.83448496e+01] [-2.38469152e-02 -1.95239242e-04 9.99715603e-01 -4.99406926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23401273900004 meters 0.0238476648468753 Centerline is valid? [True, True] Translation: X:249.98, Y:-38.35, Z:-4.99 [[ 9.87740297e-01 1.54266521e-01 2.38944777e-02 2.49981863e+02] [-1.54224915e-01 9.88029261e-01 -3.58550144e-03 -3.83508822e+01] [-2.41615660e-02 -1.43579530e-04 9.99708056e-01 -4.99476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters 0.023540572787008943 Centerline is valid? [True, True] Translation: X:250.01, Y:-38.36, Z:-5.00 [[ 9.87938908e-01 1.53002332e-01 2.38117553e-02 2.50008893e+02] [-1.52960683e-01 9.88225821e-01 -3.57156441e-03 -3.83568094e+01] [-2.40778491e-02 -1.13774912e-04 9.99710080e-01 -4.99533792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294012739 meters 0.023106411759043714 Centerline is valid? [True, True] Translation: X:250.04, Y:-38.36, Z:-5.00 [[ 9.88264476e-01 1.50884917e-01 2.38131810e-02 2.50036025e+02] [-1.50842682e-01 9.88551333e-01 -3.57036087e-03 -3.83641205e+01] [-2.40792654e-02 -6.35832769e-05 9.99710050e-01 -4.99630336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters 0.02290559524841508 Centerline is valid? [True, True] Translation: X:250.06, Y:-38.38, Z:-5.00 [[ 9.88982637e-01 1.46165939e-01 2.34278008e-02 2.50064577e+02] [-1.46123763e-01 9.89260085e-01 -3.51143151e-03 -3.83762013e+01] [-2.36894399e-02 4.93863939e-05 9.99719365e-01 -4.99853939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354012739 meters 0.024142009420630734 Centerline is valid? [True, True] Translation: X:250.09, Y:-38.39, Z:-5.00 [[ 9.89651105e-01 1.41564417e-01 2.34564657e-02 2.50093328e+02] [-1.41520844e-01 9.89929033e-01 -3.51576890e-03 -3.83901392e+01] [-2.37179442e-02 1.59805759e-04 9.99718677e-01 -4.99944803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters 0.025704538404491977 Centerline is valid? [True, True] Translation: X:250.12, Y:-38.40, Z:-5.00 [[ 9.90064684e-01 1.38706621e-01 2.30736748e-02 2.50122340e+02] [-1.38663676e-01 9.90333491e-01 -3.45866965e-03 -3.84020232e+01] [-2.33303733e-02 2.24826111e-04 9.99727785e-01 -5.00003494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414012739 meters 0.026993308968745303 Centerline is valid? [True, True] Translation: X:250.15, Y:-38.41, Z:-5.00 [[ 9.90474291e-01 1.35822728e-01 2.26465213e-02 2.50152985e+02] [-1.35780589e-01 9.90733114e-01 -3.39530044e-03 -3.84122725e+01] [-2.28978176e-02 2.87999788e-04 9.99737769e-01 -5.00231471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters 0.031369941483013156 Centerline is valid? [True, True] Translation: X:250.18, Y:-38.43, Z:-5.01 [[ 9.91243075e-01 1.30320833e-01 2.12989704e-02 2.50180354e+02] [-1.30282221e-01 9.91471798e-01 -3.19648861e-03 -3.84296771e+01] [-2.15338975e-02 3.93620035e-04 9.99768041e-01 -5.00596995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474012739 meters 0.034996002995359425 Centerline is valid? [True, True] Translation: X:250.21, Y:-38.44, Z:-5.01 [[ 9.91576592e-01 1.27821103e-01 2.09195805e-02 2.50209511e+02] [-1.27783271e-01 9.91797142e-01 -3.14078755e-03 -3.84427395e+01] [-2.11494391e-02 4.41158988e-04 9.99776228e-01 -5.00802950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters 0.0346930690486908 Centerline is valid? [True, True] Translation: X:250.24, Y:-38.45, Z:-5.01 [[ 9.91886008e-01 1.25400832e-01 2.08992461e-02 2.50240924e+02] [-1.25362501e-01 9.92106036e-01 -3.13939393e-03 -3.84506216e+01] [-2.11279508e-02 4.93939150e-04 9.99776658e-01 -5.00877781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534012739 meters 0.03772460463568978 Centerline is valid? [True, True] Translation: X:250.27, Y:-38.47, Z:-5.01 [[ 9.92260128e-01 1.22229986e-01 2.19013501e-02 2.50268518e+02] [-1.22187097e-01 9.92501629e-01 -3.29092089e-03 -3.84690206e+01] [-2.21393748e-02 5.89387201e-04 9.99754720e-01 -5.00800100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters 0.0382981504134514 Centerline is valid? [True, True] Translation: X:250.30, Y:-38.48, Z:-5.01 [[ 9.92349133e-01 1.21462109e-01 2.21394211e-02 2.50299347e+02] [-1.21418084e-01 9.92595879e-01 -3.32703280e-03 -3.84787667e+01] [-2.23796066e-02 6.13452026e-04 9.99749357e-01 -5.00781434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594012739 meters 0.03785829079328621 Centerline is valid? [True, True] Translation: X:250.33, Y:-38.49, Z:-5.01 [[ 9.92389973e-01 1.21361298e-01 2.08225159e-02 2.50330684e+02] [-1.21322265e-01 9.92608229e-01 -3.13238624e-03 -3.84888997e+01] [-2.10487511e-02 5.82313904e-04 9.99778281e-01 -5.01094945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters 0.039961276333319966 Centerline is valid? [True, True] Translation: X:250.36, Y:-38.50, Z:-5.01 [[ 9.92278930e-01 1.22423079e-01 1.98775132e-02 2.50360383e+02] [-1.22387649e-01 9.92477859e-01 -2.99386553e-03 -3.85001444e+01] [-2.00945100e-02 5.37987584e-04 9.99797940e-01 -5.01391818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654012739 meters 0.033325592564519384 Centerline is valid? [True, True] Translation: X:250.39, Y:-38.50, Z:-5.02 [[ 9.91907469e-01 1.25490089e-01 1.92824020e-02 2.50391374e+02] [-1.25457292e-01 9.92094765e-01 -2.90606255e-03 -3.85028994e+01] [-1.94946521e-02 4.63427221e-04 9.99809854e-01 -5.01527956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters 0.03386242630267893 Centerline is valid? [True, True] Translation: X:250.42, Y:-38.51, Z:-5.02 [[ 9.91644328e-01 1.27592961e-01 1.90147981e-02 2.50422071e+02] [-1.27561448e-01 9.91826529e-01 -2.86604048e-03 -3.85121272e+01] [-1.92250678e-02 4.16537602e-04 9.99815095e-01 -5.01664452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714012739 meters 0.032583590357375875 Centerline is valid? [True, True] Translation: X:250.45, Y:-38.52, Z:-5.02 [[ 9.91391585e-01 1.29600232e-01 1.86146256e-02 2.50453714e+02] [-1.29570326e-01 9.91566256e-01 -2.80888565e-03 -3.85182943e+01] [-1.88216668e-02 3.72802497e-04 9.99822787e-01 -5.01815649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters 0.02911764605853058 Centerline is valid? [True, True] Translation: X:250.48, Y:-38.52, Z:-5.02 [[ 9.90901499e-01 1.33457917e-01 1.74127666e-02 2.50484893e+02] [-1.33432290e-01 9.91054441e-01 -2.63055083e-03 -3.85229532e+01] [-1.76080675e-02 2.83191439e-04 9.99844926e-01 -5.02101595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774012739 meters 0.029012516426521563 Centerline is valid? [True, True] Translation: X:250.52, Y:-38.53, Z:-5.02 [[ 9.90628196e-01 1.35598350e-01 1.63971199e-02 2.50515534e+02] [-1.35575921e-01 9.90763864e-01 -2.47699920e-03 -3.85308251e+01] [-1.65815509e-02 2.30730618e-04 9.99862490e-01 -5.02420608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters 0.026533484797206346 Centerline is valid? [True, True] Translation: X:250.55, Y:-38.54, Z:-5.03 [[ 9.90137459e-01 1.39206641e-01 1.57899916e-02 2.50547407e+02] [-1.39186264e-01 9.90263340e-01 -2.38759553e-03 -3.85355833e+01] [-1.59686190e-02 1.66297838e-04 9.99872480e-01 -5.02585866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834012739 meters 0.026533484797206346 Centerline is valid? [True, True] Translation: X:250.58, Y:-38.54, Z:-5.03 [[ 9.90111128e-01 1.39393839e-01 1.57896136e-02 2.50579519e+02] [-1.39373446e-01 9.90237007e-01 -2.39009233e-03 -3.85406350e+01] [-1.59686238e-02 1.65804168e-04 9.99872480e-01 -5.02651902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters 0.025874110059907515 Centerline is valid? [True, True] Translation: X:250.61, Y:-38.55, Z:-5.03 [[ 9.89748361e-01 1.41968290e-01 1.55944324e-02 2.50610346e+02] [-1.41948668e-01 9.89871198e-01 -2.36368221e-03 -3.85452942e+01] [-1.57720474e-02 1.25841700e-04 9.99875606e-01 -5.02785743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894012739 meters 0.02387278172211453 Centerline is valid? [True, True] Translation: X:250.64, Y:-38.54, Z:-5.03 [[ 9.88815646e-01 1.48338328e-01 1.54712126e-02 2.50643014e+02] [-1.48319746e-01 9.88936671e-01 -2.34800562e-03 -3.85410790e+01] [-1.56483487e-02 2.70583592e-05 9.99877557e-01 -5.02754083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters 0.023714183028421657 Centerline is valid? [True, True] Translation: X:250.67, Y:-38.54, Z:-5.03 [[ 9.88245046e-01 1.51984059e-01 1.65098268e-02 2.50673954e+02] [-1.51963399e-01 9.88382944e-01 -2.50610565e-03 -3.85400235e+01] [-1.66989193e-02 -3.22428975e-05 9.99860563e-01 -5.02650776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954012739 meters 0.024496967310930755 Centerline is valid? [True, True] Translation: X:250.70, Y:-38.54, Z:-5.03 [[ 9.87715240e-01 1.55320566e-01 1.71501416e-02 2.50704747e+02] [-1.55298770e-01 9.87864117e-01 -2.60355303e-03 -3.85393551e+01] [-1.73463948e-02 -9.18268893e-05 9.99849536e-01 -5.02582984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters 0.02668448648410067 Centerline is valid? [True, True] Translation: X:250.74, Y:-38.54, Z:-5.02 [[ 9.86843937e-01 1.60621301e-01 1.84347762e-02 2.50735003e+02] [-1.60597042e-01 9.87016088e-01 -2.79861157e-03 -3.85362824e+01] [-1.86449373e-02 -1.98777655e-04 9.99826148e-01 -5.02413715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014012739 meters 0.028761541066339897 Centerline is valid? [True, True] Translation: X:250.77, Y:-38.54, Z:-5.03 [[ 9.86378853e-01 1.63489810e-01 1.81063423e-02 2.50765140e+02] [-1.63466898e-01 9.86544991e-01 -2.74830741e-03 -3.85353701e+01] [-1.83120415e-02 -2.48915295e-04 9.99832290e-01 -5.02656894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters 0.029112871548262274 Centerline is valid? [True, True] Translation: X:250.79, Y:-38.54, Z:-5.03 [[ 9.86325694e-01 1.63922097e-01 1.70637617e-02 2.50794694e+02] [-1.63901815e-01 9.86473257e-01 -2.58990581e-03 -3.85383461e+01] [-1.72574874e-02 -2.42290864e-04 9.99851049e-01 -5.02951859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074012739 meters 0.028717281091167703 Centerline is valid? [True, True] Translation: X:250.82, Y:-38.54, Z:-5.03 [[ 9.86401711e-01 1.63522312e-01 1.64959850e-02 2.50824308e+02] [-1.63503307e-01 9.86539610e-01 -2.50335922e-03 -3.85430560e+01] [-1.66832977e-02 -2.27830288e-04 9.99860798e-01 -5.03223163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters 0.02749688824415286 Centerline is valid? [True, True] Translation: X:250.85, Y:-38.55, Z:-5.03 [[ 9.86795338e-01 1.61061282e-01 1.71529691e-02 2.50853351e+02] [-1.61040371e-01 9.86944388e-01 -2.60250323e-03 -3.85503853e+01] [-1.73481891e-02 -1.94182459e-04 9.99849490e-01 -5.03126768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134012739 meters 0.026320376996057458 Centerline is valid? [True, True] Translation: X:250.88, Y:-38.56, Z:-5.03 [[ 9.87093531e-01 1.59185574e-01 1.75018524e-02 2.50882690e+02] [-1.59163502e-01 9.87248665e-01 -2.65584718e-03 -3.85588104e+01] [-1.77014530e-02 -1.64086561e-04 9.99843304e-01 -5.03139062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters 0.025423056629196725 Centerline is valid? [True, True] Translation: X:250.91, Y:-38.57, Z:-5.03 [[ 9.87389525e-01 1.57405590e-01 1.68939883e-02 2.50912409e+02] [-1.57384764e-01 9.87534032e-01 -2.56360584e-03 -3.85673222e+01] [-1.70869143e-02 -1.27578812e-04 9.99854000e-01 -5.03292775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194012739 meters 0.024616693793151432 Centerline is valid? [True, True] Translation: X:250.94, Y:-38.58, Z:-5.03 [[ 9.87789460e-01 1.54960382e-01 1.61016249e-02 2.50942883e+02] [-1.54941141e-01 9.87920682e-01 -2.44327226e-03 -3.85773844e+01] [-1.62857386e-02 -8.13655442e-05 9.99867375e-01 -5.03461688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters 0.024877861613407326 Centerline is valid? [True, True] Translation: X:250.97, Y:-38.58, Z:-5.04 [[ 9.87817837e-01 1.54776546e-01 1.61289011e-02 2.50972716e+02] [-1.54757208e-01 9.87949500e-01 -2.44784520e-03 -3.85818953e+01] [-1.63134088e-02 -7.80385404e-05 9.99866924e-01 -5.03612980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254012739 meters 0.024810359799008287 Centerline is valid? [True, True] Translation: X:251.00, Y:-38.59, Z:-5.03 [[ 9.87618310e-01 1.55901543e-01 1.74580114e-02 2.51002651e+02] [-1.55879057e-01 9.87772594e-01 -2.64982034e-03 -3.85879098e+01] [-1.76576563e-02 -1.04327258e-04 9.99844086e-01 -5.03352994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters 0.02505175264298233 Centerline is valid? [True, True] Translation: X:251.03, Y:-38.59, Z:-5.03 [[ 9.87453727e-01 1.56897235e-01 1.78436182e-02 2.51033956e+02] [-1.56873909e-01 9.87614926e-01 -2.70829593e-03 -3.85927570e+01] [-1.80475478e-02 -1.24881223e-04 9.99837122e-01 -5.03367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314012739 meters 0.02683855566517813 Centerline is valid? [True, True] Translation: X:251.06, Y:-38.60, Z:-5.04 [[ 9.86968928e-01 1.60056883e-01 1.65568540e-02 2.51063514e+02] [-1.60037236e-01 9.87107778e-01 -2.51347314e-03 -3.85957179e+01] [-1.67456981e-02 -1.68993264e-04 9.99859767e-01 -5.03733437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters 0.027585824512212413 Centerline is valid? [True, True] Translation: X:251.09, Y:-38.60, Z:-5.04 [[ 9.86752713e-01 1.61486035e-01 1.55352545e-02 2.51093290e+02] [-1.61468918e-01 9.86874981e-01 -2.35816396e-03 -3.85998200e+01] [-1.57121646e-02 -1.81536054e-04 9.99876540e-01 -5.03941341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374012739 meters 0.029024140667967643 Centerline is valid? [True, True] Translation: X:251.12, Y:-38.60, Z:-5.04 [[ 9.86504544e-01 1.63053614e-01 1.49098781e-02 2.51122998e+02] [-1.63038025e-01 9.86617190e-01 -2.26329649e-03 -3.86016164e+01] [-1.50793807e-02 -1.98124809e-04 9.99886280e-01 -5.04163180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters 0.03217211347847502 Centerline is valid? [True, True] Translation: X:251.15, Y:-38.60, Z:-5.04 [[ 9.85882651e-01 1.66817938e-01 1.43935639e-02 2.51152526e+02] [-1.66803812e-01 9.85987685e-01 -2.18488871e-03 -3.85996391e+01] [-1.45563554e-02 -2.46857457e-04 9.99894020e-01 -5.04367931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434012739 meters 0.03384989437426187 Centerline is valid? [True, True] Translation: X:251.18, Y:-38.60, Z:-5.04 [[ 9.85552378e-01 1.68720002e-01 1.48347759e-02 2.51181856e+02] [-1.68705220e-01 9.85663979e-01 -2.25132538e-03 -3.86012150e+01] [-1.50019479e-02 -2.83905058e-04 9.99887424e-01 -5.04310043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters 0.03455333166385572 Centerline is valid? [True, True] Translation: X:251.21, Y:-38.60, Z:-5.04 [[ 9.85031552e-01 1.71517217e-01 1.71664207e-02 2.51211412e+02] [-1.71497860e-01 9.85181050e-01 -2.60444471e-03 -3.86035600e+01] [-1.73587395e-02 -3.78544197e-04 9.99849254e-01 -5.03810431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494012739 meters 0.03375638835402504 Centerline is valid? [True, True] Translation: X:251.24, Y:-38.61, Z:-5.04 [[ 9.84851578e-01 1.72465624e-01 1.79716120e-02 2.51240400e+02] [-1.72444573e-01 9.85015450e-01 -2.72618145e-03 -3.86074233e+01] [-1.81724881e-02 -4.14222868e-04 9.99834781e-01 -5.03654583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters 0.037472544665007476 Centerline is valid? [True, True] Translation: X:251.27, Y:-38.60, Z:-5.04 [[ 9.84929229e-01 1.72003743e-01 1.81418396e-02 2.51270045e+02] [-1.71982226e-01 9.85096211e-01 -2.75131874e-03 -3.86034175e+01] [-1.83446946e-02 -4.10219719e-04 9.99831638e-01 -5.03811333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55401273900003 meters 0.03265991666805061 Centerline is valid? [True, True] Translation: X:251.30, Y:-38.62, Z:-5.04 [[ 9.85229368e-01 1.70309448e-01 1.78265103e-02 2.51298038e+02] [-1.70288408e-01 9.85390559e-01 -2.70282285e-03 -3.86156158e+01] [-1.80263912e-02 -3.72747610e-04 9.99837442e-01 -5.03928083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters 0.03187817698317924 Centerline is valid? [True, True] Translation: X:251.33, Y:-38.62, Z:-5.04 [[ 9.85575993e-01 1.68317967e-01 1.75791059e-02 2.51326674e+02] [-1.68297197e-01 9.85732698e-01 -2.66488815e-03 -3.86215693e+01] [-1.77768480e-02 -3.32064462e-04 9.99841924e-01 -5.04039119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61401273900003 meters 0.029348776476428702 Centerline is valid? [True, True] Translation: X:251.36, Y:-38.63, Z:-5.04 [[ 9.86383391e-01 1.63504640e-01 1.77211256e-02 2.51355541e+02] [-1.63482765e-01 9.86542534e-01 -2.68592429e-03 -3.86299090e+01] [-1.79218053e-02 -2.47747512e-04 9.99839361e-01 -5.04041054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters 0.027244291556329424 Centerline is valid? [True, True] Translation: X:251.38, Y:-38.64, Z:-5.04 [[ 9.86760060e-01 1.61260207e-01 1.73127149e-02 2.51384620e+02] [-1.61238983e-01 9.86911903e-01 -2.62402301e-03 -3.86391209e+01] [-1.75092749e-02 -2.02203438e-04 9.99846680e-01 -5.04211616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67401273900003 meters 0.02592983100161298 Centerline is valid? [True, True] Translation: X:251.41, Y:-38.65, Z:-5.04 [[ 9.87197365e-01 1.58633787e-01 1.66337962e-02 2.51414805e+02] [-1.58613824e-01 9.87337480e-01 -2.52103889e-03 -3.86481715e+01] [-1.68230923e-02 -1.49587073e-04 9.99858471e-01 -5.04370117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters 0.024099124838377374 Centerline is valid? [True, True] Translation: X:251.44, Y:-38.66, Z:-5.04 [[ 9.88081701e-01 1.53113111e-01 1.58406930e-02 2.51444656e+02] [-1.53094300e-01 9.88208668e-01 -2.40057751e-03 -3.86635114e+01] [-1.60214700e-02 -5.31530983e-05 9.99871647e-01 -5.04499615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73401273900004 meters 0.02398618297191297 Centerline is valid? [True, True] Translation: X:251.48, Y:-38.67, Z:-5.05 [[ 9.88457857e-01 1.50690794e-01 1.55996469e-02 2.51475562e+02] [-1.50672209e-01 9.88580945e-01 -2.36658972e-03 -3.86725731e+01] [-1.57781370e-02 -1.11590679e-05 9.99875517e-01 -5.04694555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters 0.024193236214171798 Centerline is valid? [True, True] Translation: X:251.51, Y:-38.68, Z:-5.05 [[ 9.88970990e-01 1.47316922e-01 1.53004957e-02 2.51507444e+02] [-1.47298599e-01 9.89089340e-01 -2.32382535e-03 -3.86818796e+01] [-1.54758960e-02 4.44542854e-05 9.99880240e-01 -5.04774986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794012739 meters 0.02431798907309479 Centerline is valid? [True, True] Translation: X:251.54, Y:-38.69, Z:-5.05 [[ 9.89088152e-01 1.46537482e-01 1.52116597e-02 2.51540155e+02] [-1.46519233e-01 9.89205117e-01 -2.31332912e-03 -3.86882628e+01] [-1.53864410e-02 5.92857166e-05 9.99881620e-01 -5.04876733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters 0.024557643327660233 Centerline is valid? [True, True] Translation: X:251.57, Y:-38.69, Z:-5.05 [[ 9.89149142e-01 1.46192633e-01 1.45495196e-02 2.51571976e+02] [-1.46175860e-01 9.89256140e-01 -2.21542238e-03 -3.86945544e+01] [-1.47170800e-02 6.45946154e-05 9.99891696e-01 -5.05077564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854012739 meters 0.025081658776587093 Centerline is valid? [True, True] Translation: X:251.60, Y:-38.70, Z:-5.05 [[ 9.89242256e-01 1.45718229e-01 1.28824119e-02 2.51602669e+02] [-1.45705011e-01 9.89326131e-01 -1.96373021e-03 -3.86997907e+01] [-1.30310580e-02 6.55729312e-05 9.99915090e-01 -5.05492883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters 0.024841079755593635 Centerline is valid? [True, True] Translation: X:251.63, Y:-38.70, Z:-5.06 [[ 9.89013204e-01 1.47326491e-01 1.21567717e-02 2.51634982e+02] [-1.47314821e-01 9.89087915e-01 -1.85480197e-03 -3.87012270e+01] [-1.22973774e-02 4.35509894e-05 9.99924383e-01 -5.05689110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914012739 meters 0.024533526008558366 Centerline is valid? [True, True] Translation: X:251.67, Y:-38.70, Z:-5.06 [[ 9.88811388e-01 1.48651561e-01 1.24399525e-02 2.51667343e+02] [-1.48639419e-01 9.88889636e-01 -1.90017446e-03 -3.87048237e+01] [-1.25842040e-02 2.98468332e-05 9.99920815e-01 -5.05665169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters 0.024409230039449743 Centerline is valid? [True, True] Translation: X:251.70, Y:-38.71, Z:-5.06 [[ 9.88632846e-01 1.49805623e-01 1.27816489e-02 2.51698355e+02] [-1.49792870e-01 9.88715467e-01 -1.95476105e-03 -3.87085317e+01] [-1.29302482e-02 1.79411038e-05 9.99916401e-01 -5.05690243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974012739 meters 0.024207255743223053 Centerline is valid? [True, True] Translation: X:251.73, Y:-38.71, Z:-5.05 [[ 9.88279962e-01 1.52039479e-01 1.36642902e-02 2.51729611e+02] [-1.52025070e-01 9.88374421e-01 -2.09319043e-03 -3.87065931e+01] [-1.38236825e-02 -8.65651481e-06 9.99904448e-01 -5.05482153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters 0.02433232347752256 Centerline is valid? [True, True] Translation: X:251.76, Y:-38.71, Z:-5.06 [[ 9.88094876e-01 1.53210374e-01 1.39677485e-02 2.51759859e+02] [-1.53195435e-01 9.88193595e-01 -2.13960176e-03 -3.87075021e+01] [-1.41306487e-02 -2.56657722e-05 9.99900157e-01 -5.05604383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034012739 meters 0.024517913738315664 Centerline is valid? [True, True] Translation: X:251.79, Y:-38.71, Z:-5.06 [[ 9.87898625e-01 1.54515462e-01 1.34639629e-02 2.51789832e+02] [-1.54501700e-01 9.87990369e-01 -2.06266724e-03 -3.87100208e+01] [-1.36209797e-02 -4.24990281e-05 9.99907229e-01 -5.05787365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters 0.02474265973313918 Centerline is valid? [True, True] Translation: X:251.82, Y:-38.71, Z:-5.06 [[ 9.87876983e-01 1.54711619e-01 1.27820662e-02 2.51818898e+02] [-1.54699231e-01 9.87959672e-01 -1.95828957e-03 -3.87144008e+01] [-1.29311361e-02 -4.28266157e-05 9.99916388e-01 -5.06089793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094012739 meters 0.024936427961861705 Centerline is valid? [True, True] Translation: X:251.85, Y:-38.72, Z:-5.06 [[ 9.87796280e-01 1.55280369e-01 1.21043682e-02 2.51848422e+02] [-1.55269303e-01 9.87870439e-01 -1.85442156e-03 -3.87175009e+01] [-1.22455028e-02 -4.76460931e-05 9.99925020e-01 -5.06205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters 0.02518693597347204 Centerline is valid? [True, True] Translation: X:251.88, Y:-38.72, Z:-5.06 [[ 9.87490347e-01 1.57200180e-01 1.22848610e-02 2.51878955e+02] [-1.57188934e-01 9.87566756e-01 -1.88178266e-03 -3.87169753e+01] [-1.24279369e-02 -7.28019914e-05 9.99922768e-01 -5.06142146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154012739 meters 0.026212925875234494 Centerline is valid? [True, True] Translation: X:251.91, Y:-38.72, Z:-5.06 [[ 9.87258807e-01 1.58686960e-01 1.17684261e-02 2.51907664e+02] [-1.58676747e-01 9.87328943e-01 -1.80250504e-03 -3.87162489e+01] [-1.19053417e-02 -8.78365969e-05 9.99929125e-01 -5.06359554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters 0.0258185691346341 Centerline is valid? [True, True] Translation: X:251.94, Y:-38.72, Z:-5.06 [[ 9.87354930e-01 1.58071561e-01 1.19843106e-02 2.51936058e+02] [-1.58060929e-01 9.87427655e-01 -1.83519511e-03 -3.87200714e+01] [-1.21237319e-02 -8.22623206e-05 9.99926501e-01 -5.06402436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214012739 meters 0.025445659340842714 Centerline is valid? [True, True] Translation: X:251.97, Y:-38.72, Z:-5.06 [[ 9.87459694e-01 1.57341407e-01 1.29241469e-02 2.51965937e+02] [-1.57328990e-01 9.87544265e-01 -1.97825901e-03 -3.87237587e+01] [-1.30744292e-02 -7.98919458e-05 9.99914523e-01 -5.06317594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters 0.024987113642527974 Centerline is valid? [True, True] Translation: X:251.99, Y:-38.73, Z:-5.06 [[ 9.87531584e-01 1.56798311e-01 1.39878345e-02 2.51994986e+02] [-1.56783717e-01 9.87630641e-01 -2.14070697e-03 -3.87278896e+01] [-1.41504732e-02 -7.90489402e-05 9.99899874e-01 -5.06133805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274012739 meters 0.024879264705803955 Centerline is valid? [True, True] Translation: X:252.02, Y:-38.73, Z:-5.06 [[ 9.87723347e-01 1.55570118e-01 1.41608126e-02 2.52023890e+02] [-1.55555043e-01 9.87824850e-01 -2.16659481e-03 -3.87326586e+01] [-1.43254600e-02 -6.27895290e-05 9.99897383e-01 -5.06315536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters 0.024576775590480448 Centerline is valid? [True, True] Translation: X:252.05, Y:-38.74, Z:-5.06 [[ 9.87863561e-01 1.54775613e-01 1.30420057e-02 2.52053451e+02] [-1.54762753e-01 9.87949648e-01 -1.99567532e-03 -3.87393240e+01] [-1.31937268e-02 -4.69617685e-05 9.99912958e-01 -5.06459565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334012739 meters 0.024775663994908676 Centerline is valid? [True, True] Translation: X:252.08, Y:-38.75, Z:-5.07 [[ 9.88288919e-01 1.52242518e-01 1.03551090e-02 2.52083337e+02] [-1.52234272e-01 9.88343167e-01 -1.58452895e-03 -3.87474075e+01] [-1.04756339e-02 -1.04300785e-05 9.99945129e-01 -5.06957129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters 0.02495123093624315 Centerline is valid? [True, True] Translation: X:252.11, Y:-38.75, Z:-5.07 [[ 9.88486344e-01 1.50970875e-01 1.01262804e-02 2.52111385e+02] [-1.50962920e-01 9.88538211e-01 -1.54987232e-03 -3.87532931e+01] [-1.02442007e-02 3.33476665e-06 9.99947527e-01 -5.07225188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394012739 meters 0.025295309242103624 Centerline is valid? [True, True] Translation: X:252.14, Y:-38.76, Z:-5.08 [[ 9.88701256e-01 1.49632390e-01 8.94284714e-03 2.52140318e+02] [-1.49626133e-01 9.88741699e-01 -1.36836473e-03 -3.87611975e+01] [-9.04691756e-03 1.48202835e-05 9.99959076e-01 -5.07508082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters 0.025157020438689275 Centerline is valid? [True, True] Translation: X:252.17, Y:-38.77, Z:-5.08 [[ 9.88707468e-01 1.49629223e-01 8.28476657e-03 2.52170774e+02] [-1.49623858e-01 9.88742178e-01 -1.26723412e-03 -3.87661208e+01] [-8.38111341e-03 1.33251016e-05 9.99964878e-01 -5.07539932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454012739 meters 0.025610849982010155 Centerline is valid? [True, True] Translation: X:252.20, Y:-38.77, Z:-5.08 [[ 9.88644348e-01 1.50087797e-01 7.48374223e-03 2.52199208e+02] [-1.50083428e-01 9.88672672e-01 -1.14518621e-03 -3.87702758e+01] [-7.57084990e-03 8.99618328e-06 9.99971341e-01 -5.07897330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters 0.025503172000628415 Centerline is valid? [True, True] Translation: X:252.23, Y:-38.78, Z:-5.08 [[ 9.88456896e-01 1.51298719e-01 7.85255478e-03 2.52228503e+02] [-1.51293952e-01 9.88488087e-01 -1.20112238e-03 -3.87755039e+01] [-7.94388513e-03 -7.86347103e-07 9.99968447e-01 -5.07866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514012739 meters 0.024955982868706723 Centerline is valid? [True, True] Translation: X:252.26, Y:-38.78, Z:-5.08 [[ 9.88407063e-01 1.51549329e-01 9.18037969e-03 2.52257487e+02] [-1.51542826e-01 9.88449696e-01 -1.40392991e-03 -3.87815558e+01] [-9.28710815e-03 -3.56644286e-06 9.99956874e-01 -5.07545181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters 0.02464183573263416 Centerline is valid? [True, True] Translation: X:252.29, Y:-38.79, Z:-5.07 [[ 9.88300454e-01 1.52104434e-01 1.12451466e-02 2.52286054e+02] [-1.52094719e-01 9.88364427e-01 -1.71918239e-03 -3.87875248e+01] [-1.13757982e-02 -1.12586732e-05 9.99935293e-01 -5.07283405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574012739 meters 0.02460103370418 Centerline is valid? [True, True] Translation: X:252.32, Y:-38.79, Z:-5.07 [[ 9.88323779e-01 1.51913090e-01 1.17695321e-02 2.52316588e+02] [-1.51902437e-01 9.88393855e-01 -1.79908880e-03 -3.87924600e+01] [-1.19062384e-02 -9.73837320e-06 9.99929118e-01 -5.07094082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters 0.024680774463950478 Centerline is valid? [True, True] Translation: X:252.35, Y:-38.80, Z:-5.07 [[ 9.88299254e-01 1.52081104e-01 1.16585632e-02 2.52345520e+02] [-1.52070661e-01 9.88368017e-01 -1.78223299e-03 -3.87964870e+01] [-1.17939950e-02 -1.15458742e-05 9.99930448e-01 -5.07294330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634012739 meters 0.025215871662138116 Centerline is valid? [True, True] Translation: X:252.37, Y:-38.80, Z:-5.08 [[ 9.88271855e-01 1.52401715e-01 9.61549285e-03 2.52374454e+02] [-1.52394628e-01 9.88318631e-01 -1.46982493e-03 -3.88017224e+01] [-9.72717457e-03 -1.27628430e-05 9.99952690e-01 -5.07892719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters 0.02530304710028631 Centerline is valid? [True, True] Translation: X:252.40, Y:-38.81, Z:-5.08 [[ 9.88229110e-01 1.52723192e-01 8.87988755e-03 2.52403971e+02] [-1.52717160e-01 9.88269005e-01 -1.35742977e-03 -3.88065691e+01] [-8.98302864e-03 -1.46595930e-05 9.99959652e-01 -5.08049354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694012739 meters 0.025508271208206607 Centerline is valid? [True, True] Translation: X:252.43, Y:-38.81, Z:-5.08 [[ 9.87950386e-01 1.54479143e-01 9.49889615e-03 2.52432819e+02] [-1.54472322e-01 9.87996049e-01 -1.45204665e-03 -3.88063335e+01] [-9.60918279e-03 -3.27664967e-05 9.99953830e-01 -5.07897276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters 0.025508271208206607 Centerline is valid? [True, True] Translation: X:252.46, Y:-38.81, Z:-5.08 [[ 9.87954042e-01 1.54455753e-01 9.49900236e-03 2.52461652e+02] [-1.54448938e-01 9.87999706e-01 -1.45135137e-03 -3.88106927e+01] [-9.60918111e-03 -3.32423718e-05 9.99953830e-01 -5.07956502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754012739 meters 0.025659686257858944 Centerline is valid? [True, True] Translation: X:252.49, Y:-38.81, Z:-5.08 [[ 9.87720616e-01 1.55921924e-01 9.81521312e-03 2.52490775e+02] [-1.55914720e-01 9.87769382e-01 -1.49966594e-03 -3.88112295e+01] [-9.92899779e-03 -4.90852353e-05 9.99950705e-01 -5.07918931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters 0.026067253651068004 Centerline is valid? [True, True] Translation: X:252.52, Y:-38.81, Z:-5.08 [[ 9.87579021e-01 1.56835773e-01 9.49828914e-03 2.52519260e+02] [-1.56829075e-01 9.87624694e-01 -1.45057963e-03 -3.88129703e+01] [-9.60824768e-03 -5.70458827e-05 9.99953838e-01 -5.08031999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814012739 meters 0.026201538295221066 Centerline is valid? [True, True] Translation: X:252.55, Y:-38.82, Z:-5.08 [[ 9.87577027e-01 1.56861060e-01 9.28567632e-03 2.52548283e+02] [-1.56854659e-01 9.87620679e-01 -1.41809761e-03 -3.88163710e+01] [-9.39317024e-03 -5.60209756e-05 9.99955882e-01 -5.08189370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters 0.0259922777896155 Centerline is valid? [True, True] Translation: X:252.58, Y:-38.82, Z:-5.08 [[ 9.87687488e-01 1.56161148e-01 9.33385938e-03 2.52576840e+02] [-1.56154656e-01 9.87731590e-01 -1.42486514e-03 -3.88213537e+01] [-9.44185634e-03 -5.02041251e-05 9.99955423e-01 -5.08306227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874012739 meters 0.025189902120227592 Centerline is valid? [True, True] Translation: X:252.60, Y:-38.83, Z:-5.08 [[ 9.88100792e-01 1.53467440e-01 1.02259575e-02 2.52604895e+02] [-1.53459507e-01 9.88153705e-01 -1.56060337e-03 -3.88277554e+01] [-1.03443196e-02 -2.72369816e-05 9.99946496e-01 -5.08193238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters 0.024614832511279237 Centerline is valid? [True, True] Translation: X:252.63, Y:-38.84, Z:-5.08 [[ 9.88385885e-01 1.51511523e-01 1.17303622e-02 2.52634040e+02] [-1.51500954e-01 9.88455491e-01 -1.78956868e-03 -3.88351590e+01] [-1.18660812e-02 -8.37663756e-06 9.99929596e-01 -5.07870578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934012739 meters 0.024581174163495093 Centerline is valid? [True, True] Translation: X:252.66, Y:-38.85, Z:-5.07 [[ 9.88988985e-01 1.47427147e-01 1.28850049e-02 2.52664007e+02] [-1.47414057e-01 9.89072917e-01 -1.96500538e-03 -3.88457242e+01] [-1.30339045e-02 4.39378268e-05 9.99915054e-01 -5.07475205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters 0.02485570745219692 Centerline is valid? [True, True] Translation: X:252.69, Y:-38.85, Z:-5.08 [[ 9.89156362e-01 1.46321233e-01 1.26407639e-02 2.52694637e+02] [-1.46308554e-01 9.89237127e-01 -1.92706264e-03 -3.88516825e+01] [-1.27866832e-02 5.67143818e-05 9.99918245e-01 -5.07571020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994012739 meters 0.025124232399334576 Centerline is valid? [True, True] Translation: X:252.72, Y:-38.86, Z:-5.08 [[ 9.89263898e-01 1.45639066e-01 1.20914380e-02 2.52724712e+02] [-1.45627378e-01 9.89337788e-01 -1.84627214e-03 -3.88569799e+01] [-1.22314059e-02 6.56059722e-05 9.99925191e-01 -5.07788005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters 0.025236097256997193 Centerline is valid? [True, True] Translation: X:252.76, Y:-38.86, Z:-5.08 [[ 9.89211647e-01 1.46123999e-01 1.03968919e-02 2.52755267e+02] [-1.46115381e-01 9.89266281e-01 -1.58773693e-03 -3.88610136e+01] [-1.05173011e-02 5.14620303e-05 9.99944690e-01 -5.08095621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05401273900003 meters 0.025097320770265507 Centerline is valid? [True, True] Translation: X:252.79, Y:-38.86, Z:-5.08 [[ 9.89075505e-01 1.47071164e-01 9.98589978e-03 2.52786008e+02] [-1.47063263e-01 9.89125913e-01 -1.52497323e-03 -3.88644886e+01] [-1.01015918e-02 3.97546607e-05 9.99948977e-01 -5.08140734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters 0.025050503714742715 Centerline is valid? [True, True] Translation: X:252.81, Y:-38.87, Z:-5.08 [[ 9.89043637e-01 1.47268510e-01 1.02308392e-02 2.52814552e+02] [-1.47260226e-01 9.89096550e-01 -1.56249876e-03 -3.88698408e+01] [-1.03493946e-02 3.87837665e-05 9.99946443e-01 -5.08149746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11401273900003 meters 0.025067724980418614 Centerline is valid? [True, True] Translation: X:252.84, Y:-38.88, Z:-5.08 [[ 9.89095339e-01 1.46898555e-01 1.05463491e-02 2.52844209e+02] [-1.46889734e-01 9.89151562e-01 -1.61043214e-03 -3.88766071e+01] [-1.06685078e-02 4.37205127e-05 9.99943089e-01 -5.08154938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters 0.024876841068499342 Centerline is valid? [True, True] Translation: X:252.88, Y:-38.88, Z:-5.08 [[ 9.89092909e-01 1.46906633e-01 1.06610777e-02 2.52875192e+02] [-1.46897621e-01 9.89150362e-01 -1.62770993e-03 -3.88831510e+01] [-1.07845302e-02 4.38693955e-05 9.99941844e-01 -5.08112298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17401273900003 meters 0.025082990928925675 Centerline is valid? [True, True] Translation: X:252.91, Y:-38.89, Z:-5.08 [[ 9.89081193e-01 1.47001612e-01 1.04364561e-02 2.52905390e+02] [-1.46992993e-01 9.89136252e-01 -1.59233071e-03 -3.88928368e+01] [-1.05571523e-02 4.08584419e-05 9.99944271e-01 -5.08385851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters 0.025050837377687093 Centerline is valid? [True, True] Translation: X:252.94, Y:-38.90, Z:-5.08 [[ 9.89115791e-01 1.46777236e-01 1.03148330e-02 2.52936217e+02] [-1.46768774e-01 9.89169571e-01 -1.57680096e-03 -3.88990401e+01] [-1.04345575e-02 4.57433315e-05 9.99945557e-01 -5.08346826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23401273900004 meters 0.025205557647443786 Centerline is valid? [True, True] Translation: X:252.97, Y:-38.90, Z:-5.09 [[ 9.88995301e-01 1.47680450e-01 8.87580323e-03 2.52966064e+02] [-1.47674218e-01 9.89035128e-01 -1.35711162e-03 -3.89040368e+01] [-8.97890004e-03 3.14497215e-05 9.99959688e-01 -5.08633902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters 0.02510197167827054 Centerline is valid? [True, True] Translation: X:253.00, Y:-38.91, Z:-5.09 [[ 9.88767307e-01 1.49200121e-01 8.86211030e-03 2.52995069e+02] [-1.49193966e-01 9.88807020e-01 -1.35540384e-03 -3.89071776e+01] [-8.96514330e-03 1.80056214e-05 9.99959812e-01 -5.08799709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294012739 meters 0.024833093765555786 Centerline is valid? [True, True] Translation: X:253.03, Y:-38.91, Z:-5.09 [[ 9.88486410e-01 1.50995169e-01 9.75067170e-03 2.53025833e+02] [-1.50987807e-01 9.88534501e-01 -1.49103398e-03 -3.89103619e+01] [-9.86401431e-03 1.63428327e-06 9.99951349e-01 -5.08702230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters 0.024843250490104683 Centerline is valid? [True, True] Translation: X:253.06, Y:-38.91, Z:-5.09 [[ 9.87980108e-01 1.54240384e-01 1.02571534e-02 2.53056219e+02] [-1.54232413e-01 9.88033351e-01 -1.56848315e-03 -3.89131726e+01] [-1.03763331e-02 -3.23553664e-05 9.99946164e-01 -5.08603121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354012739 meters 0.025283612359182115 Centerline is valid? [True, True] Translation: X:253.09, Y:-38.92, Z:-5.09 [[ 9.87820550e-01 1.55287260e-01 9.81974350e-03 2.53085274e+02] [-1.55280004e-01 9.87869356e-01 -1.50172122e-03 -3.89179572e+01] [-9.93382187e-03 -4.13787272e-05 9.99950658e-01 -5.08772196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters 0.026204417945098035 Centerline is valid? [True, True] Translation: X:253.11, Y:-38.92, Z:-5.09 [[ 9.87463716e-01 1.57602823e-01 8.76129781e-03 2.53114232e+02] [-1.57597138e-01 9.87502581e-01 -1.33990818e-03 -3.89227704e+01] [-8.86297751e-03 -5.76447488e-05 9.99960721e-01 -5.08969427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414012739 meters 0.026480495151150862 Centerline is valid? [True, True] Translation: X:253.14, Y:-38.93, Z:-5.09 [[ 9.87222771e-01 1.59105561e-01 8.75331788e-03 2.53143590e+02] [-1.59099947e-01 9.87261574e-01 -1.33848538e-03 -3.89266399e+01] [-8.85477485e-03 -7.12691636e-05 9.99960793e-01 -5.08896634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters 0.027411429793130805 Centerline is valid? [True, True] Translation: X:253.17, Y:-38.93, Z:-5.09 [[ 9.86994596e-01 1.60482829e-01 9.32356050e-03 2.53172427e+02] [-1.60476522e-01 9.87038628e-01 -1.42554913e-03 -3.89275833e+01] [-9.43149052e-03 -8.92032773e-05 9.99955519e-01 -5.08994949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474012739 meters 0.02939791440774635 Centerline is valid? [True, True] Translation: X:253.20, Y:-38.93, Z:-5.09 [[ 9.86542870e-01 1.63296554e-01 8.20987311e-03 2.53201811e+02] [-1.63291763e-01 9.86577024e-01 -1.25503801e-03 -3.89253794e+01] [-8.30461556e-03 -1.02455857e-04 9.99965511e-01 -5.09424030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters 0.030909881429864068 Centerline is valid? [True, True] Translation: X:253.23, Y:-38.93, Z:-5.10 [[ 9.86254826e-01 1.65110023e-01 6.33237429e-03 2.53230371e+02] [-1.65107208e-01 9.86275150e-01 -9.68283110e-04 -3.89259030e+01] [-6.40533665e-03 -9.05467490e-05 9.99979482e-01 -5.09851449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534012739 meters 0.03425908202943145 Centerline is valid? [True, True] Translation: X:253.26, Y:-38.92, Z:-5.10 [[ 9.85617330e-01 1.68939364e-01 4.23917367e-03 2.53259230e+02] [-1.68938139e-01 9.85626443e-01 -6.48168444e-04 -3.89216082e+01] [-4.28774283e-03 -7.73120574e-05 9.99990805e-01 -5.10230486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters 0.03587057912114211 Centerline is valid? [True, True] Translation: X:253.29, Y:-38.92, Z:-5.10 [[ 9.85383301e-01 1.70302792e-01 4.08771352e-03 2.53287596e+02] [-1.70301664e-01 9.85391776e-01 -6.25031203e-04 -3.89212320e+01] [-4.13444385e-03 -8.02491046e-05 9.99991450e-01 -5.10303284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594012739 meters 0.0364064006534111 Centerline is valid? [True, True] Translation: X:253.32, Y:-38.92, Z:-5.10 [[ 9.85286971e-01 1.70851863e-01 4.38467604e-03 2.53316737e+02] [-1.70850572e-01 9.85296723e-01 -6.69913698e-04 -3.89221269e+01] [-4.43466294e-03 -8.90671730e-05 9.99990163e-01 -5.10311253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters 0.03430011906006742 Centerline is valid? [True, True] Translation: X:253.35, Y:-38.92, Z:-5.10 [[ 9.85528594e-01 1.69393359e-01 6.26738359e-03 2.53345991e+02] [-1.69390696e-01 9.85548515e-01 -9.57276717e-04 -3.89249792e+01] [-6.33896691e-03 -1.18212889e-04 9.99979902e-01 -5.09989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654012739 meters 0.03325763942295532 Centerline is valid? [True, True] Translation: X:253.37, Y:-38.93, Z:-5.10 [[ 9.85886669e-01 1.67277242e-01 6.76753174e-03 2.53373971e+02] [-1.67274094e-01 9.85909890e-01 -1.03264960e-03 -3.89290481e+01] [-6.84491525e-03 -1.13957262e-04 9.99976567e-01 -5.10022759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters 0.029623226546619044 Centerline is valid? [True, True] Translation: X:253.40, Y:-38.94, Z:-5.10 [[ 9.86665136e-01 1.62537323e-01 8.57490721e-03 2.53402172e+02] [-1.62532097e-01 9.86702391e-01 -1.30750184e-03 -3.89365982e+01] [-8.67339930e-03 -1.03631174e-04 9.99962380e-01 -5.09695039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714012739 meters 0.027909199051698745 Centerline is valid? [True, True] Translation: X:253.43, Y:-38.94, Z:-5.10 [[ 9.87101748e-01 1.59841245e-01 8.99529887e-03 2.53430557e+02] [-1.59835382e-01 9.87142730e-01 -1.37162575e-03 -3.89435720e+01] [-9.09888625e-03 -8.38328578e-05 9.99958601e-01 -5.09654105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters 0.026634804621014065 Centerline is valid? [True, True] Translation: X:253.46, Y:-38.95, Z:-5.10 [[ 9.87484500e-01 1.57443743e-01 9.26445445e-03 2.53459062e+02] [-1.57437423e-01 9.87527956e-01 -1.41209355e-03 -3.89507736e+01] [-9.37123306e-03 -6.41513419e-05 9.99956087e-01 -5.09637325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774012739 meters 0.025824297096935917 Centerline is valid? [True, True] Translation: X:253.49, Y:-38.96, Z:-5.10 [[ 9.87875198e-01 1.54979234e-01 9.16682616e-03 2.53486562e+02] [-1.54972942e-01 9.87917727e-01 -1.39715389e-03 -3.89570403e+01] [-9.27259990e-03 -4.03963443e-05 9.99957008e-01 -5.09659290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters 0.02642490719278631 Centerline is valid? [True, True] Translation: X:253.52, Y:-38.96, Z:-5.10 [[ 9.87882703e-01 1.55026050e-01 7.39517580e-03 2.53515962e+02] [-1.55021959e-01 9.87910382e-01 -1.12678339e-03 -3.89572682e+01] [-7.48045173e-03 -3.32848103e-05 9.99972020e-01 -5.10000458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834012739 meters 0.026846365708277985 Centerline is valid? [True, True] Translation: X:253.54, Y:-38.96, Z:-5.10 [[ 9.87874094e-01 1.55135543e-01 6.14313453e-03 2.53543595e+02] [-1.55132722e-01 9.87893194e-01 -9.36044035e-04 -3.89594317e+01] [-6.21397449e-03 -2.83075269e-05 9.99980693e-01 -5.10300379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters 0.0269156496658646 Centerline is valid? [True, True] Translation: X:253.57, Y:-38.96, Z:-5.10 [[ 9.87900504e-01 1.54970388e-01 6.06410095e-03 2.53572285e+02] [-1.54967639e-01 9.87919115e-01 -9.23513985e-04 -3.89632137e+01] [-6.13395857e-03 -2.73994752e-05 9.99981187e-01 -5.10434796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894012739 meters 0.02599107206397444 Centerline is valid? [True, True] Translation: X:253.60, Y:-38.97, Z:-5.10 [[ 9.88058412e-01 1.53866660e-01 8.10100096e-03 2.53600976e+02] [-1.53861722e-01 9.88091620e-01 -1.23305441e-03 -3.89681800e+01] [-8.19425713e-03 -2.81041727e-05 9.99966426e-01 -5.10027326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters 0.025593397307760217 Centerline is valid? [True, True] Translation: X:253.63, Y:-38.97, Z:-5.10 [[ 9.88071132e-01 1.53724200e-01 9.18199464e-03 2.53628794e+02] [-1.53717854e-01 9.88113794e-01 -1.39718109e-03 -3.89709885e+01] [-9.28763610e-03 -3.09222036e-05 9.99956868e-01 -5.09848788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954012739 meters 0.0256870347718735 Centerline is valid? [True, True] Translation: X:253.66, Y:-38.97, Z:-5.10 [[ 9.88052366e-01 1.53811771e-01 9.71908623e-03 2.53658096e+02] [-1.53804668e-01 9.88100166e-01 -1.47852483e-03 -3.89732856e+01] [-9.83084524e-03 -3.39808730e-05 9.99951675e-01 -5.09849698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters 0.024875958801727976 Centerline is valid? [True, True] Translation: X:253.69, Y:-38.97, Z:-5.09 [[ 9.87976784e-01 1.54230564e-01 1.07148489e-02 2.53687507e+02] [-1.54221970e-01 9.88034884e-01 -1.62876971e-03 -3.89745581e+01] [-1.08378506e-02 -4.32784485e-05 9.99941268e-01 -5.09381914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014012739 meters 0.025499199739486448 Centerline is valid? [True, True] Translation: X:253.72, Y:-38.98, Z:-5.10 [[ 9.87942139e-01 1.54409601e-01 1.13139589e-02 2.53715324e+02] [-1.54400036e-01 9.88006919e-01 -1.71932439e-03 -3.89754724e+01] [-1.14437499e-02 -4.82826387e-05 9.99934517e-01 -5.09699928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters 0.024931782570627514 Centerline is valid? [True, True] Translation: X:253.74, Y:-38.98, Z:-5.10 [[ 9.88041563e-01 1.53669963e-01 1.26258787e-02 2.53743172e+02] [-1.53658003e-01 9.88122229e-01 -1.91772824e-03 -3.89794165e+01] [-1.27706086e-02 -4.52721016e-05 9.99918451e-01 -5.09554030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074012739 meters 0.0242206675123504 Centerline is valid? [True, True] Translation: X:253.77, Y:-38.99, Z:-5.09 [[ 9.88113325e-01 1.53156448e-01 1.32347558e-02 2.53772569e+02] [-1.53143275e-01 9.88201953e-01 -2.00919329e-03 -3.89856964e+01] [-1.33863324e-02 -4.15031707e-05 9.99910398e-01 -5.09173736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters 0.02459260138376532 Centerline is valid? [True, True] Translation: X:253.80, Y:-38.99, Z:-5.10 [[ 9.88219793e-01 1.52483227e-01 1.30578178e-02 2.53801029e+02] [-1.52470347e-01 9.88306058e-01 -1.98209608e-03 -3.89888394e+01] [-1.32073568e-02 -3.21834315e-05 9.99912779e-01 -5.09571372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134012739 meters 0.025158390923893603 Centerline is valid? [True, True] Translation: X:253.83, Y:-38.99, Z:-5.10 [[ 9.88267595e-01 1.52319282e-01 1.12248364e-02 2.53828667e+02] [-1.52309756e-01 9.88331339e-01 -1.70368974e-03 -3.89930412e+01] [-1.13533624e-02 -2.59507356e-05 9.99935548e-01 -5.10099968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters 0.024927063098517895 Centerline is valid? [True, True] Translation: X:253.86, Y:-39.00, Z:-5.10 [[ 9.88241315e-01 1.52551298e-01 1.03539775e-02 2.53856655e+02] [-1.52543211e-01 9.88295553e-01 -1.57098086e-03 -3.89979075e+01] [-1.04724450e-02 -2.69207799e-05 9.99945162e-01 -5.10034344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194012739 meters 0.025151729487277737 Centerline is valid? [True, True] Translation: X:253.89, Y:-39.00, Z:-5.10 [[ 9.87889823e-01 1.54781504e-01 1.07881753e-02 2.53885711e+02] [-1.54772863e-01 9.87948725e-01 -1.63632818e-03 -3.89977456e+01] [-1.09114374e-02 -5.32048342e-05 9.99940467e-01 -5.09711834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters 0.025775299145571886 Centerline is valid? [True, True] Translation: X:253.91, Y:-39.00, Z:-5.10 [[ 9.87564134e-01 1.56793178e-01 1.15316993e-02 2.53914505e+02] [-1.56783448e-01 9.87631456e-01 -1.74856808e-03 -3.89962490e+01] [-1.16632325e-02 -8.11564568e-05 9.99931979e-01 -5.09668853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254012739 meters 0.0268430163023972 Centerline is valid? [True, True] Translation: X:253.94, Y:-39.00, Z:-5.10 [[ 9.87178172e-01 1.59153219e-01 1.22274022e-02 2.53943694e+02] [-1.59142473e-01 9.87253888e-01 -1.85311045e-03 -3.89953772e+01] [-1.23664789e-02 -1.16548850e-04 9.99923525e-01 -5.09571700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters 0.030050076771915485 Centerline is valid? [True, True] Translation: X:253.97, Y:-38.99, Z:-5.10 [[ 9.86347379e-01 1.64228575e-01 1.21582608e-02 2.53973986e+02] [-1.64218344e-01 9.86422294e-01 -1.84197264e-03 -3.89909469e+01] [-1.22956841e-02 -1.79784567e-04 9.99924389e-01 -5.09677708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314012739 meters 0.031740221812468196 Centerline is valid? [True, True] Translation: X:254.00, Y:-38.99, Z:-5.10 [[ 9.85823425e-01 1.67347339e-01 1.21260984e-02 2.54002906e+02] [-1.67337400e-01 9.85897977e-01 -1.83687109e-03 -3.89891074e+01] [-1.22624914e-02 -2.18319236e-04 9.99924789e-01 -5.09672428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters 0.033478042798564006 Centerline is valid? [True, True] Translation: X:254.03, Y:-38.99, Z:-5.10 [[ 9.85674648e-01 1.68290571e-01 1.11252914e-02 2.54030958e+02] [-1.68282272e-01 9.85737409e-01 -1.68469299e-03 -3.89876676e+01] [-1.12501339e-02 -2.11630140e-04 9.99936693e-01 -5.09992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374012739 meters 0.039535763940320594 Centerline is valid? [True, True] Translation: X:254.06, Y:-38.98, Z:-5.11 [[ 9.85527289e-01 1.69209378e-01 1.02053348e-02 2.54060182e+02] [-1.69202449e-01 9.85580106e-01 -1.54485824e-03 -3.89795698e+01] [-1.03195794e-02 -2.04267683e-04 9.99946731e-01 -5.10621382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters 0.040817789036047165 Centerline is valid? [True, True] Translation: X:254.09, Y:-38.98, Z:-5.11 [[ 9.85437838e-01 1.69793706e-01 9.07550521e-03 2.54088983e+02] [-1.69788256e-01 9.85479610e-01 -1.37325288e-03 -3.89790539e+01] [-9.17689503e-03 -1.87658855e-04 9.99957874e-01 -5.10983322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434012739 meters 0.04337105739370604 Centerline is valid? [True, True] Translation: X:254.12, Y:-38.97, Z:-5.12 [[ 9.85208826e-01 1.71196106e-01 7.44731661e-03 2.54119738e+02] [-1.71192479e-01 9.85236959e-01 -1.12645078e-03 -3.89733910e+01] [-7.53021556e-03 -1.65135341e-04 9.99971634e-01 -5.11505132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters 0.0355249120504206 Centerline is valid? [True, True] Translation: X:254.15, Y:-38.98, Z:-5.11 [[ 9.85352523e-01 1.70353720e-01 7.74697698e-03 2.54147376e+02] [-1.70349769e-01 9.85382963e-01 -1.17192279e-03 -3.89814734e+01] [-7.83338053e-03 -1.64938660e-04 9.99969305e-01 -5.10852956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494012739 meters 0.03623595705257453 Centerline is valid? [True, True] Translation: X:254.18, Y:-38.98, Z:-5.11 [[ 9.85627427e-01 1.68699258e-01 8.89587107e-03 2.54175745e+02] [-1.68693984e-01 9.85667555e-01 -1.34528250e-03 -3.89822370e+01] [-8.99531965e-03 -1.74732604e-04 9.99959526e-01 -5.10878406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters 0.03183561062960473 Centerline is valid? [True, True] Translation: X:254.20, Y:-38.99, Z:-5.10 [[ 9.86057656e-01 1.66070937e-01 1.05234313e-02 2.54203541e+02] [-1.66063417e-01 9.86113793e-01 -1.59045459e-03 -3.89927646e+01] [-1.06414291e-02 -1.79277038e-04 9.99943362e-01 -5.10392928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55401273900003 meters 0.02626623193775303 Centerline is valid? [True, True] Translation: X:254.23, Y:-39.01, Z:-5.10 [[ 9.87258533e-01 1.58596979e-01 1.29455549e-02 2.54231335e+02] [-1.58584971e-01 9.87343397e-01 -1.95542755e-03 -3.90090536e+01] [-1.30918330e-02 -1.22457916e-04 9.99914291e-01 -5.09869499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters 0.024540485684350882 Centerline is valid? [True, True] Translation: X:254.26, Y:-39.02, Z:-5.10 [[ 9.87912941e-01 1.54436863e-01 1.33145310e-02 2.54258797e+02] [-1.54423782e-01 9.88002657e-01 -2.01124347e-03 -3.90188497e+01] [-1.34654022e-02 -6.91467809e-05 9.99909335e-01 -5.09846097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61401273900003 meters 0.02420182777331131 Centerline is valid? [True, True] Translation: X:254.28, Y:-39.03, Z:-5.10 [[ 9.89121110e-01 1.46530282e-01 1.29732889e-02 2.54284734e+02] [-1.46517189e-01 9.89206184e-01 -1.95916242e-03 -3.90341549e+01] [-1.31203342e-02 3.70390957e-05 9.99913924e-01 -5.10141666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters 0.02420182777331131 Centerline is valid? [True, True] Translation: X:254.31, Y:-39.04, Z:-5.10 [[ 9.89127565e-01 1.46486687e-01 1.29734230e-02 2.54312753e+02] [-1.46473602e-01 9.89212641e-01 -1.95827377e-03 -3.90382918e+01] [-1.31203351e-02 3.67185694e-05 9.99913924e-01 -5.10199196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67401273900003 meters 0.025050397775388037 Centerline is valid? [True, True] Translation: X:254.34, Y:-39.05, Z:-5.10 [[ 9.89638277e-01 1.43012270e-01 1.27895270e-02 2.54340227e+02] [-1.42999270e-01 9.89720912e-01 -1.92995871e-03 -3.90485555e+01] [-1.29340701e-02 8.10679848e-05 9.99916348e-01 -5.10223633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters 0.026340155355955353 Centerline is valid? [True, True] Translation: X:254.37, Y:-39.06, Z:-5.10 [[ 9.90061222e-01 1.40061853e-01 1.27064427e-02 2.54367899e+02] [-1.40048786e-01 9.90142749e-01 -1.91684306e-03 -3.90581208e+01] [-1.28496687e-02 1.18270110e-04 9.99917433e-01 -5.10204125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73401273900004 meters 0.028024398064243387 Centerline is valid? [True, True] Translation: X:254.40, Y:-39.07, Z:-5.10 [[ 9.90496312e-01 1.36918389e-01 1.30541168e-02 2.54396438e+02] [-1.36904334e-01 9.90582318e-01 -1.96850318e-03 -3.90693701e+01] [-1.32007016e-02 1.62629976e-04 9.99912854e-01 -5.10096386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters 0.028258953214260026 Centerline is valid? [True, True] Translation: X:254.43, Y:-39.07, Z:-5.10 [[ 9.90526041e-01 1.36693507e-01 1.31547781e-02 2.54425009e+02] [-1.36679217e-01 9.90613374e-01 -1.98345616e-03 -3.90749523e+01] [-1.33024247e-02 1.66680201e-04 9.99911505e-01 -5.10119753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794012739 meters 0.026893651668903604 Centerline is valid? [True, True] Translation: X:254.45, Y:-39.08, Z:-5.10 [[ 9.90390698e-01 1.37686846e-01 1.29845178e-02 2.54454080e+02] [-1.37673016e-01 9.90475800e-01 -1.95727929e-03 -3.90789827e+01] [-1.31303422e-02 1.50853485e-04 9.99913782e-01 -5.10137532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters 0.026274992563818208 Centerline is valid? [True, True] Translation: X:254.48, Y:-39.08, Z:-5.10 [[ 9.90318231e-01 1.38204666e-01 1.30104293e-02 2.54484584e+02] [-1.38190831e-01 9.90403680e-01 -1.96070392e-03 -3.90833035e+01] [-1.31565555e-02 1.43798790e-04 9.99913438e-01 -5.10212572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854012739 meters 0.027309753958569265 Centerline is valid? [True, True] Translation: X:254.51, Y:-39.09, Z:-5.10 [[ 9.90257536e-01 1.38628159e-01 1.31242854e-02 2.54512781e+02] [-1.38614120e-01 9.90344493e-01 -1.97775865e-03 -3.90916430e+01] [-1.32717368e-02 1.39279132e-04 9.99911917e-01 -5.10372721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters 0.026522073233788773 Centerline is valid? [True, True] Translation: X:254.54, Y:-39.10, Z:-5.10 [[ 9.90261834e-01 1.38500108e-01 1.41145339e-02 2.54542349e+02] [-1.38483851e-01 9.90362407e-01 -2.12744478e-03 -3.90959326e+01] [-1.42731551e-02 1.52092356e-04 9.99898122e-01 -5.10179170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914012739 meters 0.026855584245694886 Centerline is valid? [True, True] Translation: X:254.57, Y:-39.10, Z:-5.10 [[ 9.90410993e-01 1.37379440e-01 1.45929775e-02 2.54572467e+02] [-1.37361948e-01 9.90518480e-01 -2.19907475e-03 -3.91032183e+01] [-1.47567215e-02 1.73468004e-04 9.99891099e-01 -5.10053081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters 0.028941075664328325 Centerline is valid? [True, True] Translation: X:254.60, Y:-39.12, Z:-5.10 [[ 9.90854014e-01 1.34078448e-01 1.52083196e-02 2.54602372e+02] [-1.34059067e-01 9.90970694e-01 -2.29138176e-03 -3.91178923e+01] [-1.53782239e-02 2.31611681e-04 9.99881721e-01 -5.10061893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974012739 meters 0.028788190997064596 Centerline is valid? [True, True] Translation: X:254.63, Y:-39.12, Z:-5.10 [[ 9.91120148e-01 1.32132273e-01 1.48968039e-02 2.54634134e+02] [-1.32113447e-01 9.91232060e-01 -2.24522869e-03 -3.91248369e+01] [-1.50628567e-02 2.57223290e-04 9.99886516e-01 -5.10092158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters 0.032324332094789555 Centerline is valid? [True, True] Translation: X:254.66, Y:-39.14, Z:-5.11 [[ 9.91323800e-01 1.30718539e-01 1.37763020e-02 2.54663816e+02] [-1.30702270e-01 9.91419485e-01 -2.07861150e-03 -3.91374095e+01] [-1.39298073e-02 2.59983105e-04 9.99902942e-01 -5.10501145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034012739 meters 0.031746575238974374 Centerline is valid? [True, True] Translation: X:254.69, Y:-39.14, Z:-5.11 [[ 9.91310079e-01 1.30977366e-01 1.22170764e-02 2.54694997e+02] [-1.30964571e-01 9.91385332e-01 -1.84495911e-03 -3.91432447e+01] [-1.23534782e-02 2.28922398e-04 9.99923667e-01 -5.10832897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters 0.029440197475643887 Centerline is valid? [True, True] Translation: X:254.73, Y:-39.15, Z:-5.11 [[ 9.91091303e-01 1.32620218e-01 1.22436605e-02 2.54726358e+02] [-1.32607454e-01 9.91166905e-01 -1.85211741e-03 -3.91455739e+01] [-1.23811393e-02 2.12016808e-04 9.99923328e-01 -5.10820987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094012739 meters 0.028230424557986248 Centerline is valid? [True, True] Translation: X:254.76, Y:-39.15, Z:-5.11 [[ 9.90541312e-01 1.36571350e-01 1.32731519e-02 2.54756450e+02] [-1.36556697e-01 9.90630221e-01 -2.00830606e-03 -3.91498278e+01] [-1.34230625e-02 1.76772332e-04 9.99909891e-01 -5.10685724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters 0.03160532295434689 Centerline is valid? [True, True] Translation: X:254.79, Y:-39.15, Z:-5.09 [[ 9.90361263e-01 1.37911590e-01 1.28437214e-02 2.54788092e+02] [-1.37897982e-01 9.90444531e-01 -1.94338578e-03 -3.91502715e+01] [-1.29890090e-02 1.53530735e-04 9.99915627e-01 -5.09291182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154012739 meters 0.026403211411617444 Centerline is valid? [True, True] Translation: X:254.82, Y:-39.16, Z:-5.11 [[ 9.90241819e-01 1.38731488e-01 1.32179281e-02 2.54817264e+02] [-1.38717143e-01 9.90330022e-01 -2.00044775e-03 -3.91582747e+01] [-1.33676361e-02 1.47373801e-04 9.99910638e-01 -5.10927476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters 0.02687193286466293 Centerline is valid? [True, True] Translation: X:254.85, Y:-39.17, Z:-5.11 [[ 9.90328530e-01 1.38144309e-01 1.28667456e-02 2.54848292e+02] [-1.38130679e-01 9.90412100e-01 -1.94632595e-03 -3.91674468e+01] [-1.30122544e-02 1.50209807e-04 9.99915326e-01 -5.11036212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214012739 meters 0.02737879461240389 Centerline is valid? [True, True] Translation: X:254.88, Y:-39.18, Z:-5.11 [[ 9.90431752e-01 1.37405048e-01 1.28373436e-02 2.54879716e+02] [-1.37391380e-01 9.90514930e-01 -1.94483103e-03 -3.91764204e+01] [-1.29828101e-02 1.62482045e-04 9.99915707e-01 -5.11082145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters 0.02803943621137644 Centerline is valid? [True, True] Translation: X:254.91, Y:-39.19, Z:-5.11 [[ 9.90568998e-01 1.36419476e-01 1.27587916e-02 2.54909533e+02] [-1.36405892e-01 9.90651148e-01 -1.93298830e-03 -3.91875064e+01] [-1.29032088e-02 1.74383925e-04 9.99916735e-01 -5.11223321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274012739 meters 0.02810561884375281 Centerline is valid? [True, True] Translation: X:254.94, Y:-39.19, Z:-5.11 [[ 9.90525878e-01 1.36745536e-01 1.26151686e-02 2.54940352e+02] [-1.36732257e-01 9.90606193e-01 -1.91320384e-03 -3.91948338e+01] [-1.27582863e-02 1.70177431e-04 9.99918595e-01 -5.11316297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters 0.02708627268351607 Centerline is valid? [True, True] Translation: X:254.97, Y:-39.20, Z:-5.11 [[ 9.90246226e-01 1.38733672e-01 1.28600219e-02 2.54971737e+02] [-1.38720014e-01 9.90329716e-01 -1.95232946e-03 -3.92014141e+01] [-1.30065157e-02 1.49344453e-04 9.99915401e-01 -5.11270972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334012739 meters 0.026093983398960022 Centerline is valid? [True, True] Translation: X:255.00, Y:-39.20, Z:-5.11 [[ 9.89979583e-01 1.40663083e-01 1.24226535e-02 2.55003530e+02] [-1.40650467e-01 9.90057515e-01 -1.88786807e-03 -3.92040472e+01] [-1.25646948e-02 1.21698836e-04 9.99921054e-01 -5.11422364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters 0.025256716614579684 Centerline is valid? [True, True] Translation: X:255.03, Y:-39.21, Z:-5.12 [[ 9.89653948e-01 1.42969511e-01 1.20325776e-02 2.55034042e+02] [-1.42957806e-01 9.89727089e-01 -1.83176771e-03 -3.92052326e+01] [-1.21708549e-02 9.26652617e-05 9.99925928e-01 -5.11562509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394012739 meters 0.023786022855956553 Centerline is valid? [True, True] Translation: X:255.07, Y:-39.20, Z:-5.12 [[ 9.88909432e-01 1.47972564e-01 1.27379290e-02 2.55065163e+02] [-1.47959858e-01 9.88991466e-01 -1.93940132e-03 -3.92005815e+01] [-1.28846813e-02 3.31900904e-05 9.99916988e-01 -5.11594706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters 0.023706667827418308 Centerline is valid? [True, True] Translation: X:255.09, Y:-39.20, Z:-5.12 [[ 9.88537869e-01 1.50424536e-01 1.28584855e-02 2.55094614e+02] [-1.50411793e-01 9.88621494e-01 -1.95792800e-03 -3.92011565e+01] [-1.30066956e-02 1.41811580e-06 9.99915409e-01 -5.11661722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454012739 meters 0.02407672933722639 Centerline is valid? [True, True] Translation: X:255.12, Y:-39.20, Z:-5.12 [[ 9.88076215e-01 1.53490510e-01 1.20853730e-02 2.55123232e+02] [-1.53479483e-01 9.88150121e-01 -1.84013733e-03 -3.92000797e+01] [-1.22246065e-02 -3.66608825e-05 9.99925276e-01 -5.11781972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters 0.029131057677631706 Centerline is valid? [True, True] Translation: X:255.15, Y:-39.20, Z:-5.11 [[ 9.88097673e-01 1.53349125e-01 1.21257677e-02 2.55151647e+02] [-1.53338021e-01 9.88172072e-01 -1.84570887e-03 -3.92034221e+01] [-1.22653828e-02 -3.56005889e-05 9.99924777e-01 -5.10578561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514012739 meters 0.023340657903543838 Centerline is valid? [True, True] Translation: X:255.18, Y:-39.21, Z:-5.11 [[ 9.88337661e-01 1.51569870e-01 1.46711735e-02 2.55179686e+02] [-1.51553434e-01 9.88446546e-01 -2.23212155e-03 -3.92077015e+01] [-1.48399932e-02 -1.73769397e-05 9.99889881e-01 -5.11442883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters 0.023238057181526717 Centerline is valid? [True, True] Translation: X:255.21, Y:-39.22, Z:-5.11 [[ 9.88605522e-01 1.49769650e-01 1.51054554e-02 2.55209394e+02] [-1.49752022e-01 9.88720917e-01 -2.29779162e-03 -3.92153657e+01] [-1.52792191e-02 9.53698760e-06 9.99883266e-01 -5.11340696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574012739 meters 0.02340201734374914 Centerline is valid? [True, True] Translation: X:255.24, Y:-39.22, Z:-5.11 [[ 9.88889264e-01 1.47878738e-01 1.51624997e-02 2.55239001e+02] [-1.47860756e-01 9.89005499e-01 -2.30640994e-03 -3.92240420e+01] [-1.53368646e-02 3.88453642e-05 9.99882383e-01 -5.11478539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters 0.023863885004506924 Centerline is valid? [True, True] Translation: X:255.27, Y:-39.23, Z:-5.12 [[ 9.89147586e-01 1.46193439e-01 1.46468852e-02 2.55268819e+02] [-1.46176472e-01 9.89256021e-01 -2.22814935e-03 -3.92323078e+01] [-1.48152602e-02 6.29385477e-05 9.99890246e-01 -5.11685205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634012739 meters 0.024729359264166695 Centerline is valid? [True, True] Translation: X:255.30, Y:-39.24, Z:-5.12 [[ 9.89423489e-01 1.44424683e-01 1.35155783e-02 2.55298083e+02] [-1.44410068e-01 9.89515793e-01 -2.05618744e-03 -3.92412207e+01] [-1.36708424e-02 8.26545579e-05 9.99906546e-01 -5.11920152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters 0.024025417419182897 Centerline is valid? [True, True] Translation: X:255.33, Y:-39.25, Z:-5.12 [[ 9.89253234e-01 1.45517018e-01 1.42421006e-02 2.55329079e+02] [-1.45500902e-01 9.89355746e-01 -2.16681987e-03 -3.92456438e+01] [-1.44058132e-02 7.12950813e-05 9.99896228e-01 -5.11737891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694012739 meters 0.02351744893141349 Centerline is valid? [True, True] Translation: X:255.36, Y:-39.25, Z:-5.12 [[ 9.88962548e-01 1.47453208e-01 1.45130995e-02 2.55359673e+02] [-1.47436676e-01 9.89069032e-01 -2.20846699e-03 -3.92477088e+01] [-1.46801028e-02 4.43279970e-05 9.99892241e-01 -5.11716594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters 0.023271986199885093 Centerline is valid? [True, True] Translation: X:255.39, Y:-39.25, Z:-5.12 [[ 9.88694630e-01 1.49223818e-01 1.46690391e-02 2.55390313e+02] [-1.49207120e-01 9.88803444e-01 -2.23243458e-03 -3.92492013e+01] [-1.48379288e-02 1.84710182e-05 9.99889912e-01 -5.11643621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754012739 meters 0.023126572951830324 Centerline is valid? [True, True] Translation: X:255.42, Y:-39.25, Z:-5.12 [[ 9.88414977e-01 1.51018201e-01 1.51438319e-02 2.55419886e+02] [-1.51000613e-01 9.88530982e-01 -2.30475278e-03 -3.92518302e+01] [-1.53182066e-02 -8.67572225e-06 9.99882669e-01 -5.11693870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters 0.023101847488981135 Centerline is valid? [True, True] Translation: X:255.45, Y:-39.26, Z:-5.12 [[ 9.88085620e-01 1.53075394e-01 1.59603122e-02 2.55450235e+02] [-1.53056131e-01 9.88214512e-01 -2.42875196e-03 -3.92563511e+01] [-1.61439943e-02 -4.30087503e-05 9.99869676e-01 -5.11589928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814012739 meters 0.023639170750163304 Centerline is valid? [True, True] Translation: X:255.48, Y:-39.26, Z:-5.12 [[ 9.87930602e-01 1.54220836e-01 1.44588695e-02 2.55480320e+02] [-1.54205154e-01 9.88036401e-01 -2.19996095e-03 -3.92606258e+01] [-1.46251692e-02 -5.62234554e-05 9.99893045e-01 -5.11849417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters 0.023961611416173752 Centerline is valid? [True, True] Translation: X:255.51, Y:-39.26, Z:-5.12 [[ 9.87818381e-01 1.55030094e-01 1.34356409e-02 2.55510543e+02] [-1.55016614e-01 9.87909746e-01 -2.04530252e-03 -3.92638006e+01] [-1.35902841e-02 -6.23601414e-05 9.99907646e-01 -5.12056876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874012739 meters 0.024381894369380302 Centerline is valid? [True, True] Translation: X:255.54, Y:-39.27, Z:-5.12 [[ 9.87689610e-01 1.55851849e-01 1.33953454e-02 2.55539099e+02] [-1.55838523e-01 9.87780439e-01 -2.03940950e-03 -3.92651655e+01] [-1.35495059e-02 -7.32072659e-05 9.99908199e-01 -5.12207779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters 0.02456303480283082 Centerline is valid? [True, True] Translation: X:255.57, Y:-39.27, Z:-5.12 [[ 9.87337330e-01 1.57818537e-01 1.60718791e-02 2.55569301e+02] [-1.57799625e-01 9.87468123e-01 -2.44613142e-03 -3.92666697e+01] [-1.62565132e-02 -1.20979639e-04 9.99867847e-01 -5.11745256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934012739 meters 0.024338102897471434 Centerline is valid? [True, True] Translation: X:255.60, Y:-39.27, Z:-5.12 [[ 9.87198069e-01 1.58532197e-01 1.75361119e-02 2.55599520e+02] [-1.58509804e-01 9.87353798e-01 -2.66846389e-03 -3.92709623e+01] [-1.77373841e-02 -1.45343251e-04 9.99842670e-01 -5.11513593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters 0.025114912163037528 Centerline is valid? [True, True] Translation: X:255.63, Y:-39.27, Z:-5.11 [[ 9.87029383e-01 1.59512523e-01 1.81315414e-02 2.55628996e+02] [-1.59488749e-01 9.87195891e-01 -2.75909434e-03 -3.92717980e+01] [-1.83394932e-02 -1.68469661e-04 9.99831803e-01 -5.11470488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994012739 meters 0.024999852323800448 Centerline is valid? [True, True] Translation: X:255.66, Y:-39.28, Z:-5.11 [[ 9.86959010e-01 1.59966011e-01 1.79662973e-02 2.55659507e+02] [-1.59942747e-01 9.87122507e-01 -2.73370183e-03 -3.92765865e+01] [-1.81722358e-02 -1.75527286e-04 9.99834856e-01 -5.11490472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters 0.02545850908736698 Centerline is valid? [True, True] Translation: X:255.69, Y:-39.28, Z:-5.12 [[ 9.86921108e-01 1.60222208e-01 1.77642988e-02 2.55688418e+02] [-1.60199506e-01 9.87080955e-01 -2.70299492e-03 -3.92795663e+01] [-1.79678809e-02 -1.78189153e-04 9.99838549e-01 -5.11628020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05401273900003 meters 0.02470330659378265 Centerline is valid? [True, True] Translation: X:255.72, Y:-39.29, Z:-5.12 [[ 9.87074063e-01 1.59274780e-01 1.77859189e-02 2.55718061e+02] [-1.59251873e-01 9.87234277e-01 -2.70603578e-03 -3.92854251e+01] [-1.79898720e-02 -1.61383155e-04 9.99838156e-01 -5.11618944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters 0.02386365597036985 Centerline is valid? [True, True] Translation: X:255.75, Y:-39.29, Z:-5.12 [[ 9.87432701e-01 1.57059969e-01 1.75734900e-02 2.55747034e+02] [-1.57037255e-01 9.87589060e-01 -2.67374688e-03 -3.92898734e+01] [-1.77753250e-02 -1.19547515e-04 9.99841999e-01 -5.11762517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11401273900003 meters 0.02386002335404962 Centerline is valid? [True, True] Translation: X:255.78, Y:-39.29, Z:-5.12 [[ 9.87681994e-01 1.55571361e-01 1.67878004e-02 2.55775741e+02] [-1.55550421e-01 9.87824652e-01 -2.55400892e-03 -3.92938746e+01] [-1.69807337e-02 -8.88007966e-05 9.99855813e-01 -5.12030383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters 0.023279580208808315 Centerline is valid? [True, True] Translation: X:255.81, Y:-39.30, Z:-5.12 [[ 9.87954336e-01 1.53878074e-01 1.63636285e-02 2.55805939e+02] [-1.53857950e-01 9.88089842e-01 -2.48923897e-03 -3.93009557e+01] [-1.65517744e-02 -5.84199009e-05 9.99863008e-01 -5.12095587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17401273900003 meters 0.023110116750640192 Centerline is valid? [True, True] Translation: X:255.83, Y:-39.31, Z:-5.12 [[ 9.88486575e-01 1.50557560e-01 1.50569512e-02 2.55834787e+02] [-1.50540136e-01 9.88601245e-01 -2.29052804e-03 -3.93063599e+01] [-1.52301770e-02 -2.51925617e-06 9.99884014e-01 -5.12351223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters 0.023242435619021767 Centerline is valid? [True, True] Translation: X:255.86, Y:-39.31, Z:-5.13 [[ 9.88741908e-01 1.48953209e-01 1.42260938e-02 2.55864258e+02] [-1.48937491e-01 9.88844245e-01 -2.16397381e-03 -3.93118090e+01] [-1.43897218e-02 2.08128812e-05 9.99896462e-01 -5.12536682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23401273900004 meters 0.02357618524806735 Centerline is valid? [True, True] Translation: X:255.89, Y:-39.32, Z:-5.13 [[ 9.88960121e-01 1.47539680e-01 1.37812471e-02 2.55894114e+02] [-1.47524795e-01 9.89056137e-01 -2.09607281e-03 -3.93175576e+01] [-1.39396809e-02 3.98567705e-05 9.99902837e-01 -5.12635568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters 0.024149848390160784 Centerline is valid? [True, True] Translation: X:255.92, Y:-39.32, Z:-5.13 [[ 9.89340133e-01 1.44919381e-01 1.42994321e-02 2.55922795e+02] [-1.44903081e-01 9.89443463e-01 -2.17495618e-03 -3.93240940e+01] [-1.44636729e-02 7.97396724e-05 9.99895392e-01 -5.12589065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294012739 meters 0.024197560056004024 Centerline is valid? [True, True] Translation: X:255.95, Y:-39.33, Z:-5.13 [[ 9.89474073e-01 1.43941345e-01 1.48979510e-02 2.55953307e+02] [-1.43923549e-01 9.89586216e-01 -2.26545313e-03 -3.93287675e+01] [-1.50688993e-02 9.74411512e-05 9.99886453e-01 -5.12503753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters 0.0251479471213868 Centerline is valid? [True, True] Translation: X:255.98, Y:-39.34, Z:-5.13 [[ 9.89727873e-01 1.42238910e-01 1.43816154e-02 2.55983066e+02] [-1.42222132e-01 9.89832349e-01 -2.18794200e-03 -3.93351202e+01] [-1.45465987e-02 1.20083173e-04 9.99894185e-01 -5.12775148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354012739 meters 0.025519931320014955 Centerline is valid? [True, True] Translation: X:256.01, Y:-39.34, Z:-5.13 [[ 9.89804933e-01 1.41749557e-01 1.39017200e-02 2.56013267e+02] [-1.41733834e-01 9.89902545e-01 -2.11483658e-03 -3.93402232e+01] [-1.40611251e-02 1.22931611e-04 9.99901130e-01 -5.12893726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters 0.025868962595113513 Centerline is valid? [True, True] Translation: X:256.04, Y:-39.34, Z:-5.13 [[ 9.89912180e-01 1.40949299e-01 1.43934694e-02 2.56044308e+02] [-1.40932344e-01 9.90016806e-01 -2.19061518e-03 -3.93448461e+01] [-1.45585422e-02 1.40011277e-04 9.99894009e-01 -5.12893910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414012739 meters 0.026933801248990225 Centerline is valid? [True, True] Translation: X:256.07, Y:-39.35, Z:-5.13 [[ 9.90109277e-01 1.39557688e-01 1.43968885e-02 2.56073897e+02] [-1.39540576e-01 9.90213929e-01 -2.19131584e-03 -3.93532717e+01] [-1.45618145e-02 1.60692041e-04 9.99893958e-01 -5.12931748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters 0.027957749116157206 Centerline is valid? [True, True] Translation: X:256.10, Y:-39.36, Z:-5.13 [[ 9.90320057e-01 1.38034548e-01 1.45824359e-02 2.56104854e+02] [-1.38016813e-01 9.90427397e-01 -2.22046582e-03 -3.93604544e+01] [-1.47493451e-02 1.86350503e-04 9.99891205e-01 -5.12970331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474012739 meters 0.027958228439237617 Centerline is valid? [True, True] Translation: X:256.14, Y:-39.36, Z:-5.13 [[ 9.90327291e-01 1.37995705e-01 1.44582970e-02 2.56135659e+02] [-1.37978262e-01 9.90432810e-01 -2.20189101e-03 -3.93643738e+01] [-1.46238232e-02 1.85662065e-04 9.99893049e-01 -5.12999109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters 0.026438728710556594 Centerline is valid? [True, True] Translation: X:256.17, Y:-39.36, Z:-5.13 [[ 9.90273945e-01 1.38386919e-01 1.43726915e-02 2.56167844e+02] [-1.38369719e-01 9.90378225e-01 -2.18909965e-03 -3.93646127e+01] [-1.45373434e-02 1.79063059e-04 9.99894311e-01 -5.12987474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534012739 meters 0.026438728710556594 Centerline is valid? [True, True] Translation: X:256.20, Y:-39.37, Z:-5.13 [[ 9.90270579e-01 1.38411014e-01 1.43726005e-02 2.56198317e+02] [-1.38393809e-01 9.90374858e-01 -2.18969674e-03 -3.93692981e+01] [-1.45373403e-02 1.79313337e-04 9.99894311e-01 -5.13050097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters 0.027239061317040947 Centerline is valid? [True, True] Translation: X:256.23, Y:-39.38, Z:-5.13 [[ 9.90166586e-01 1.39023379e-01 1.55766486e-02 2.56228480e+02] [-1.39003244e-01 9.90289082e-01 -2.37323284e-03 -3.93770874e+01] [-1.57553199e-02 1.84691168e-04 9.99875860e-01 -5.12955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594012739 meters 0.027538370297089432 Centerline is valid? [True, True] Translation: X:256.26, Y:-39.38, Z:-5.13 [[ 9.90197519e-01 1.38698218e-01 1.64826715e-02 2.56259538e+02] [-1.38675601e-01 9.90334672e-01 -2.51284064e-03 -3.93836688e+01] [-1.66718876e-02 2.02464193e-04 9.99860994e-01 -5.12806996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters 0.027277578189569315 Centerline is valid? [True, True] Translation: X:256.29, Y:-39.39, Z:-5.13 [[ 9.90246811e-01 1.38194033e-01 1.77105422e-02 2.56291262e+02] [-1.38167789e-01 9.90405148e-01 -2.70284255e-03 -3.93880582e+01] [-1.79141289e-02 2.29454757e-04 9.99839503e-01 -5.12610790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654012739 meters 0.027622430503045463 Centerline is valid? [True, True] Translation: X:256.32, Y:-39.39, Z:-5.13 [[ 9.90333656e-01 1.37578129e-01 1.76495759e-02 2.56322994e+02] [-1.37551916e-01 9.90490888e-01 -2.69643799e-03 -3.93944411e+01] [-1.78527150e-02 2.42640306e-04 9.99840598e-01 -5.12735294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters 0.027754751774043185 Centerline is valid? [True, True] Translation: X:256.35, Y:-39.40, Z:-5.13 [[ 9.90534531e-01 1.36208947e-01 1.69842530e-02 2.56354036e+02] [-1.36184426e-01 9.90680097e-01 -2.59748539e-03 -3.94007082e+01] [-1.71797621e-02 2.59908234e-04 9.99852383e-01 -5.12934781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714012739 meters 0.03400824879831526 Centerline is valid? [True, True] Translation: X:256.38, Y:-39.42, Z:-5.14 [[ 9.91085488e-01 1.32412293e-01 1.47153233e-02 2.56382460e+02] [-1.32393433e-01 9.91194685e-01 -2.25283009e-03 -3.94182827e+01] [-1.48840526e-02 2.84535041e-04 9.99889186e-01 -5.13510828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters 0.03242595955126552 Centerline is valid? [True, True] Translation: X:256.41, Y:-39.42, Z:-5.14 [[ 9.91340836e-01 1.30545011e-01 1.41897072e-02 2.56414837e+02] [-1.30527273e-01 9.91442338e-01 -2.17304249e-03 -3.94210058e+01] [-1.43519563e-02 3.02081965e-04 9.99896960e-01 -5.13521022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774012739 meters 0.03445641502759139 Centerline is valid? [True, True] Translation: X:256.44, Y:-39.43, Z:-5.14 [[ 9.91540571e-01 1.29061118e-01 1.38030706e-02 2.56444827e+02] [-1.29044152e-01 9.91636590e-01 -2.11659984e-03 -3.94305629e+01] [-1.39608006e-02 3.17489078e-04 9.99902493e-01 -5.13618349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters 0.03392195672934451 Centerline is valid? [True, True] Translation: X:256.48, Y:-39.44, Z:-5.14 [[ 9.91512293e-01 1.29244612e-01 1.41139449e-02 2.56477349e+02] [-1.29226881e-01 9.91612690e-01 -2.16495947e-03 -3.94358797e+01] [-1.42753762e-02 3.22682852e-04 9.99898050e-01 -5.13591241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834012739 meters 0.033275486118607936 Centerline is valid? [True, True] Translation: X:256.51, Y:-39.44, Z:-5.13 [[ 9.91445325e-01 1.29654206e-01 1.50318141e-02 2.56509118e+02] [-1.29634091e-01 9.91559212e-01 -2.30901953e-03 -3.94401245e+01] [-1.52043079e-02 3.40631058e-04 9.99884350e-01 -5.13447028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters 0.03309854893358307 Centerline is valid? [True, True] Translation: X:256.54, Y:-39.44, Z:-5.13 [[ 9.91112701e-01 1.31936769e-01 1.69794725e-02 2.56540443e+02] [-1.31911377e-01 9.91258073e-01 -2.61176295e-03 -3.94437708e+01] [-1.71756267e-02 3.48765832e-04 9.99852427e-01 -5.13210976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894012739 meters 0.031380364917201434 Centerline is valid? [True, True] Translation: X:256.57, Y:-39.45, Z:-5.13 [[ 9.90891337e-01 1.33618729e-01 1.67449360e-02 2.56572510e+02] [-1.33594250e-01 9.91032762e-01 -2.57706256e-03 -3.94459896e+01] [-1.69391240e-02 3.16561792e-04 9.99856473e-01 -5.13336699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters 0.0287295045651519 Centerline is valid? [True, True] Translation: X:256.60, Y:-39.45, Z:-5.14 [[ 9.90362779e-01 1.37732909e-01 1.45331379e-02 2.56604286e+02] [-1.37714872e-01 9.90469383e-01 -2.23941044e-03 -3.94456463e+01] [-1.47030686e-02 2.16399522e-04 9.99891881e-01 -5.13803434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954012739 meters 0.027442268881746543 Centerline is valid? [True, True] Translation: X:256.64, Y:-39.45, Z:-5.14 [[ 9.90090918e-01 1.39734097e-01 1.39411699e-02 2.56636392e+02] [-1.39717706e-01 9.90189048e-01 -2.14762082e-03 -3.94466902e+01] [-1.41044896e-02 1.78511594e-04 9.99900511e-01 -5.13922175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters 0.026876960814917722 Centerline is valid? [True, True] Translation: X:256.67, Y:-39.45, Z:-5.14 [[ 9.89862897e-01 1.41268985e-01 1.46464643e-02 2.56667228e+02] [-1.41251011e-01 9.89971235e-01 -2.25968522e-03 -3.94488507e+01] [-1.48188018e-02 1.67950660e-04 9.99890181e-01 -5.13946434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014012739 meters 0.025667487403316508 Centerline is valid? [True, True] Translation: X:256.70, Y:-39.45, Z:-5.14 [[ 9.89667882e-01 1.42354267e-01 1.71098103e-02 2.56698484e+02] [-1.42329892e-01 9.89815756e-01 -2.64026261e-03 -3.94504747e+01] [-1.73114125e-02 1.77745663e-04 9.99850130e-01 -5.13533241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters 0.025323319862862733 Centerline is valid? [True, True] Translation: X:256.73, Y:-39.46, Z:-5.14 [[ 9.89570373e-01 1.43000860e-01 1.73559814e-02 2.56730077e+02] [-1.42975881e-01 9.89722550e-01 -2.67803705e-03 -3.94554345e+01] [-1.75605677e-02 1.68619394e-04 9.99845787e-01 -5.13516564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074012739 meters 0.02516725030355441 Centerline is valid? [True, True] Translation: X:256.76, Y:-39.46, Z:-5.14 [[ 9.89492512e-01 1.43741489e-01 1.55869636e-02 2.56761509e+02] [-1.43721399e-01 9.89615261e-01 -2.40734863e-03 -3.94607069e+01] [-1.57711329e-02 1.41873226e-04 9.99875618e-01 -5.13900433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters 0.025585713622278423 Centerline is valid? [True, True] Translation: X:256.79, Y:-39.47, Z:-5.14 [[ 9.89484323e-01 1.43818316e-01 1.53969763e-02 2.56791980e+02] [-1.43798682e-01 9.89604099e-01 -2.38057846e-03 -3.94673695e+01] [-1.55792816e-02 1.41480161e-04 9.99878626e-01 -5.14084157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134012739 meters 0.02552177448520405 Centerline is valid? [True, True] Translation: X:256.82, Y:-39.48, Z:-5.14 [[ 9.89442712e-01 1.43959426e-01 1.66973831e-02 2.56821771e+02] [-1.43936301e-01 9.89583579e-01 -2.58478634e-03 -3.94760636e+01] [-1.68955605e-02 1.54138448e-04 9.99857248e-01 -5.13856319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters 0.02512899659883956 Centerline is valid? [True, True] Translation: X:256.85, Y:-39.48, Z:-5.14 [[ 9.89409044e-01 1.44138490e-01 1.71417319e-02 2.56853292e+02] [-1.44114099e-01 9.89557513e-01 -2.65622826e-03 -3.94831325e+01] [-1.73455943e-02 1.57731014e-04 9.99849541e-01 -5.13847718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194012739 meters 0.025103827580442245 Centerline is valid? [True, True] Translation: X:256.89, Y:-39.49, Z:-5.14 [[ 9.89393002e-01 1.44291028e-01 1.67805359e-02 2.56885172e+02] [-1.44267631e-01 9.89535283e-01 -2.60293180e-03 -3.94912429e+01] [-1.69805121e-02 1.54434345e-04 9.99855809e-01 -5.14048648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters 0.025746926250238843 Centerline is valid? [True, True] Translation: X:256.91, Y:-39.50, Z:-5.15 [[ 9.89432578e-01 1.44331709e-01 1.38395190e-02 2.56914341e+02] [-1.44315767e-01 9.89529353e-01 -2.14896402e-03 -3.95029709e+01] [-1.40047739e-02 1.28994217e-04 9.99901920e-01 -5.14683100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254012739 meters 0.02591348810236814 Centerline is valid? [True, True] Translation: X:256.94, Y:-39.51, Z:-5.15 [[ 9.89274569e-01 1.45467087e-01 1.32345554e-02 2.56944486e+02] [-1.45452584e-01 9.89363085e-01 -2.05697599e-03 -3.95106731e+01] [-1.33930029e-02 1.09913742e-04 9.99910304e-01 -5.14944143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters 0.0237554353593932 Centerline is valid? [True, True] Translation: X:256.98, Y:-39.51, Z:-5.15 [[ 9.88605083e-01 1.49912255e-01 1.36493542e-02 2.56975318e+02] [-1.49897210e-01 9.88699304e-01 -2.12456727e-03 -3.95139868e+01] [-1.38136057e-02 5.43578880e-05 9.99904586e-01 -5.14633571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314012739 meters 0.023206974884586274 Centerline is valid? [True, True] Translation: X:257.01, Y:-39.52, Z:-5.15 [[ 9.88168652e-01 1.52672373e-01 1.46240348e-02 2.57006857e+02] [-1.52655402e-01 9.88276857e-01 -2.27640485e-03 -3.95169658e+01] [-1.48001392e-02 1.70340129e-05 9.99890472e-01 -5.14579532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters 0.023482756984362523 Centerline is valid? [True, True] Translation: X:257.04, Y:-39.52, Z:-5.14 [[ 9.87366165e-01 1.57669850e-01 1.57567386e-02 2.57037237e+02] [-1.57650776e-01 9.87491881e-01 -2.45323600e-03 -3.95175760e+01] [-1.59464528e-02 -6.18198532e-05 9.99872845e-01 -5.14474342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374012739 meters 0.024080400435719934 Centerline is valid? [True, True] Translation: X:257.07, Y:-39.52, Z:-5.15 [[ 9.87016275e-01 1.59825309e-01 1.59606868e-02 2.57067396e+02] [-1.59806019e-01 9.87145309e-01 -2.48498959e-03 -3.95210635e+01] [-1.61526813e-02 -9.78886499e-05 9.99869532e-01 -5.14506738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters 0.024731847860649137 Centerline is valid? [True, True] Translation: X:257.10, Y:-39.53, Z:-5.14 [[ 9.86731462e-01 1.61573038e-01 1.59741847e-02 2.57097169e+02] [-1.61553945e-01 9.86860749e-01 -2.48709113e-03 -3.95252741e+01] [-1.61661427e-02 -1.26601484e-04 9.99869311e-01 -5.14462057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434012739 meters 0.026460620796558934 Centerline is valid? [True, True] Translation: X:257.13, Y:-39.52, Z:-5.14 [[ 9.86224318e-01 1.64676608e-01 1.55951411e-02 2.57127312e+02] [-1.64658798e-01 9.86347598e-01 -2.42805184e-03 -3.95249107e+01] [-1.57820733e-02 -1.73273429e-04 9.99875440e-01 -5.14461032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters 0.02687507274652261 Centerline is valid? [True, True] Translation: X:257.16, Y:-39.53, Z:-5.15 [[ 9.86046640e-01 1.65779836e-01 1.51350708e-02 2.57157598e+02] [-1.65763189e-01 9.86162771e-01 -2.35652819e-03 -3.95278308e+01] [-1.53163082e-02 -1.85190902e-04 9.99882681e-01 -5.14599664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494012739 meters 0.026861531748420514 Centerline is valid? [True, True] Translation: X:257.19, Y:-39.53, Z:-5.15 [[ 9.86049400e-01 1.65918934e-01 1.33224856e-02 2.57187227e+02] [-1.65906049e-01 9.86139382e-01 -2.07430896e-03 -3.95331670e+01] [-1.34819948e-02 -1.64909847e-04 9.99909100e-01 -5.14929828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters 0.026988883101215975 Centerline is valid? [True, True] Translation: X:257.22, Y:-39.54, Z:-5.15 [[ 9.86248771e-01 1.64763659e-01 1.28956897e-02 2.57215536e+02] [-1.64751484e-01 9.86333065e-01 -2.00811865e-03 -3.95385952e+01] [-1.30503101e-02 -1.44079465e-04 9.99914831e-01 -5.15246540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55401273900003 meters 0.02580143936316919 Centerline is valid? [True, True] Translation: X:257.24, Y:-39.55, Z:-5.15 [[ 9.86610535e-01 1.62592826e-01 1.27759784e-02 2.57244113e+02] [-1.62580702e-01 9.86693245e-01 -1.98892263e-03 -3.95466402e+01] [-1.29293562e-02 -1.14835516e-04 9.99916406e-01 -5.15308922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters 0.023331907429939982 Centerline is valid? [True, True] Translation: X:257.27, Y:-39.56, Z:-5.15 [[ 9.87587750e-01 1.56413260e-01 1.43292975e-02 2.57273116e+02] [-1.56397366e-01 9.87691698e-01 -2.23007493e-03 -3.95608335e+01] [-1.45017415e-02 -3.86697126e-05 9.99894843e-01 -5.15159887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61401273900003 meters 0.023050952633025163 Centerline is valid? [True, True] Translation: X:257.30, Y:-39.57, Z:-5.15 [[ 9.88006574e-01 1.53739851e-01 1.43898743e-02 2.57303761e+02] [-1.53723545e-01 9.88111359e-01 -2.23901701e-03 -3.95707574e+01] [-1.45630244e-02 1.01030972e-07 9.99893954e-01 -5.15109749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters 0.024147133670743767 Centerline is valid? [True, True] Translation: X:257.33, Y:-39.58, Z:-5.15 [[ 9.88637692e-01 1.49783173e-01 1.26694640e-02 2.57333540e+02] [-1.49770180e-01 9.88718867e-01 -1.97361620e-03 -3.95838275e+01] [-1.28221526e-02 5.36834626e-05 9.99917791e-01 -5.15460579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67401273900003 meters 0.02454563140884902 Centerline is valid? [True, True] Translation: X:257.36, Y:-39.59, Z:-5.16 [[ 9.88877636e-01 1.48291221e-01 1.14339632e-02 2.57364845e+02] [-1.48280536e-01 9.88943734e-01 -1.78140221e-03 -3.95925198e+01] [-1.15717126e-02 6.61546132e-05 9.99933043e-01 -5.15649206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters 0.025222415844320237 Centerline is valid? [True, True] Translation: X:257.40, Y:-39.60, Z:-5.16 [[ 9.89094532e-01 1.46845471e-01 1.13320179e-02 2.57395928e+02] [-1.46834859e-01 9.89159441e-01 -1.76737330e-03 -3.96016116e+01] [-1.14687033e-02 8.41640153e-05 9.99934229e-01 -5.15732509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73401273900004 meters 0.02600353653300684 Centerline is valid? [True, True] Translation: X:257.43, Y:-39.61, Z:-5.15 [[ 9.89436279e-01 1.44277525e-01 1.41366822e-02 2.57426873e+02] [-1.44260697e-01 9.89537253e-01 -2.20834292e-03 -3.96143115e+01] [-1.43073879e-02 1.45646970e-04 9.99897633e-01 -5.15339383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters 0.02655918484310674 Centerline is valid? [True, True] Translation: X:257.46, Y:-39.63, Z:-5.15 [[ 9.89473883e-01 1.43729542e-01 1.68301347e-02 2.57458058e+02] [-1.43705571e-01 9.89616989e-01 -2.63142215e-03 -3.96252939e+01] [-1.70336004e-02 1.85139370e-04 9.99854901e-01 -5.14882191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794012739 meters 0.025712009353825817 Centerline is valid? [True, True] Translation: X:257.49, Y:-39.63, Z:-5.15 [[ 9.89430441e-01 1.44050230e-01 1.66413251e-02 2.57490965e+02] [-1.44026791e-01 9.89570361e-01 -2.60477164e-03 -3.96310268e+01] [-1.68429801e-02 1.80443688e-04 9.99858131e-01 -5.14873595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters 0.02597689148450853 Centerline is valid? [True, True] Translation: X:257.52, Y:-39.64, Z:-5.15 [[ 9.89348996e-01 1.44658736e-01 1.61991871e-02 2.57521690e+02] [-1.44636556e-01 9.89481592e-01 -2.53869677e-03 -3.96393984e+01] [-1.63960421e-02 1.68662463e-04 9.99865562e-01 -5.14963309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854012739 meters 0.02550814611696143 Centerline is valid? [True, True] Translation: X:257.55, Y:-39.64, Z:-5.15 [[ 9.89199786e-01 1.45736933e-01 1.56374693e-02 2.57554137e+02] [-1.45716355e-01 9.89323367e-01 -2.45348569e-03 -3.96431458e+01] [-1.58280773e-02 1.48352493e-04 9.99874717e-01 -5.15016264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters 0.023605350519642226 Centerline is valid? [True, True] Translation: X:257.59, Y:-39.64, Z:-5.15 [[ 9.88532818e-01 1.50108017e-01 1.64454059e-02 2.57586591e+02] [-1.50085814e-01 9.88669599e-01 -2.58316691e-03 -3.96410955e+01] [-1.66468269e-02 8.53231477e-05 9.99861428e-01 -5.14880144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914012739 meters 0.022624493746758498 Centerline is valid? [True, True] Translation: X:257.62, Y:-39.64, Z:-5.15 [[ 9.87689102e-01 1.55383879e-01 1.80578893e-02 2.57619034e+02] [-1.55357927e-01 9.87854164e-01 -2.83975092e-03 -3.96413010e+01] [-1.82798126e-02 -6.45213130e-07 9.99832910e-01 -5.14626636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters 0.022714569936544967 Centerline is valid? [True, True] Translation: X:257.65, Y:-39.65, Z:-5.15 [[ 9.87408946e-01 1.57150873e-01 1.80880257e-02 2.57650484e+02] [-1.57125074e-01 9.87574606e-01 -2.84764826e-03 -3.96451779e+01] [-1.83107853e-02 -3.02890097e-05 9.99832343e-01 -5.14673515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974012739 meters 0.022821155409427033 Centerline is valid? [True, True] Translation: X:257.68, Y:-39.65, Z:-5.15 [[ 9.87232694e-01 1.58311010e-01 1.75849958e-02 2.57683612e+02] [-1.58286753e-01 9.87389296e-01 -2.77162375e-03 -3.96496410e+01] [-1.78020152e-02 -4.72343078e-05 9.99841530e-01 -5.14860778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters 0.0231966898318103 Centerline is valid? [True, True] Translation: X:257.72, Y:-39.65, Z:-5.15 [[ 9.87024817e-01 1.59705330e-01 1.66198028e-02 2.57716513e+02] [-1.59683809e-01 9.87164730e-01 -2.62258460e-03 -3.96535808e+01] [-1.68253238e-02 -6.53573251e-05 9.99858442e-01 -5.15049915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034012739 meters 0.024904672037797507 Centerline is valid? [True, True] Translation: X:257.75, Y:-39.65, Z:-5.15 [[ 9.86422979e-01 1.63503433e-01 1.53731761e-02 2.57747688e+02] [-1.63485424e-01 9.86542758e-01 -2.42951174e-03 -3.96525917e+01] [-1.55635290e-02 -1.16764003e-04 9.99878874e-01 -5.15393583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters 0.025668909154757884 Centerline is valid? [True, True] Translation: X:257.78, Y:-39.66, Z:-5.15 [[ 9.85942415e-01 1.66328540e-01 1.58861840e-02 2.57779786e+02] [-1.66309677e-01 9.86070377e-01 -2.51039655e-03 -3.96556703e+01] [-1.60824461e-02 -1.66919706e-04 9.99870655e-01 -5.15237335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094012739 meters 0.028823975812909592 Centerline is valid? [True, True] Translation: X:257.81, Y:-39.65, Z:-5.15 [[ 9.84989590e-01 1.71826649e-01 1.64654002e-02 2.57811585e+02] [-1.71807097e-01 9.85127166e-01 -2.60533503e-03 -3.96531800e+01] [-1.66681790e-02 -2.62644721e-04 9.99861042e-01 -5.15157938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters 0.030338752279849453 Centerline is valid? [True, True] Translation: X:257.84, Y:-39.65, Z:-5.15 [[ 9.84684726e-01 1.73599106e-01 1.61040390e-02 2.57841493e+02] [-1.73580626e-01 9.84816363e-01 -2.54898634e-03 -3.96544656e+01] [-1.63020228e-02 -2.85401243e-04 9.99867072e-01 -5.15342823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154012739 meters 0.03131448999240422 Centerline is valid? [True, True] Translation: X:257.87, Y:-39.66, Z:-5.15 [[ 9.84512246e-01 1.74566304e-01 1.61939186e-02 2.57870878e+02] [-1.74547748e-01 9.84645375e-01 -2.56325884e-03 -3.96571314e+01] [-1.63927257e-02 -3.03052298e-04 9.99865584e-01 -5.15460550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters 0.0323265571342711 Centerline is valid? [True, True] Translation: X:257.90, Y:-39.66, Z:-5.15 [[ 9.84241783e-01 1.75997991e-01 1.71119513e-02 2.57900825e+02] [-1.75977491e-01 9.84390465e-01 -2.70835199e-03 -3.96600962e+01] [-1.73215062e-02 -3.45645063e-04 9.99849912e-01 -5.15313109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214012739 meters 0.03334274708924185 Centerline is valid? [True, True] Translation: X:257.93, Y:-39.66, Z:-5.15 [[ 9.83947615e-01 1.77578826e-01 1.76876344e-02 2.57931587e+02] [-1.77557183e-01 9.84106504e-01 -2.79921908e-03 -3.96627862e+01] [-1.79035981e-02 -3.86281597e-04 9.99839643e-01 -5.15257158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters 0.03504971765066894 Centerline is valid? [True, True] Translation: X:257.96, Y:-39.66, Z:-5.15 [[ 9.83294920e-01 1.81217456e-01 1.70684838e-02 2.57962273e+02] [-1.81197849e-01 9.83442954e-01 -2.70123320e-03 -3.96625489e+01] [-1.72753907e-02 -4.36663646e-04 9.99850674e-01 -5.15424039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274012739 meters 0.038238878627057014 Centerline is valid? [True, True] Translation: X:257.99, Y:-39.66, Z:-5.16 [[ 9.83101787e-01 1.82346989e-01 1.61385409e-02 2.57991270e+02] [-1.82329609e-01 9.83234148e-01 -2.55420639e-03 -3.96599315e+01] [-1.63337164e-02 -4.31488992e-04 9.99866503e-01 -5.15728599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters 0.038412066691906194 Centerline is valid? [True, True] Translation: X:258.02, Y:-39.66, Z:-5.16 [[ 9.83036591e-01 1.82786427e-01 1.51057171e-02 2.58020053e+02] [-1.82771260e-01 9.83152558e-01 -2.39028727e-03 -3.96598808e+01] [-1.52881365e-02 -4.11151098e-04 9.99883045e-01 -5.16004614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334012739 meters 0.039388867095463416 Centerline is valid? [True, True] Translation: X:258.05, Y:-39.66, Z:-5.16 [[ 9.83110047e-01 1.82332411e-01 1.57964581e-02 2.58048058e+02] [-1.82315778e-01 9.83236855e-01 -2.49884057e-03 -3.96611232e+01] [-1.59872794e-02 -4.23308275e-04 9.99872106e-01 -5.15932127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters 0.035547343092807396 Centerline is valid? [True, True] Translation: X:258.08, Y:-39.67, Z:-5.16 [[ 9.83279147e-01 1.81363412e-01 1.64143925e-02 2.58076850e+02] [-1.81345336e-01 9.83416053e-01 -2.59544808e-03 -3.96706997e+01] [-1.66128964e-02 -4.24623559e-04 9.99861906e-01 -5.15819006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394012739 meters 0.03418918697491482 Centerline is valid? [True, True] Translation: X:258.11, Y:-39.68, Z:-5.16 [[ 9.83897229e-01 1.77955731e-01 1.66733449e-02 2.58105621e+02] [-1.77936599e-01 9.84038423e-01 -2.63597557e-03 -3.96750532e+01] [-1.68762990e-02 -3.73269227e-04 9.99857515e-01 -5.15979619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters 0.03213827267573448 Centerline is valid? [True, True] Translation: X:258.13, Y:-39.68, Z:-5.16 [[ 9.84324548e-01 1.75629121e-01 1.61119720e-02 2.58134058e+02] [-1.75610950e-01 9.84456351e-01 -2.54684573e-03 -3.96830573e+01] [-1.63088334e-02 -3.22515932e-04 9.99866950e-01 -5.16142976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454012739 meters 0.03213827267573448 Centerline is valid? [True, True] Translation: X:258.16, Y:-39.69, Z:-5.16 [[ 9.84328672e-01 1.75606005e-01 1.61120318e-02 2.58162873e+02] [-1.75587837e-01 9.84460475e-01 -2.54646756e-03 -3.96875669e+01] [-1.63088334e-02 -3.22515768e-04 9.99866950e-01 -5.16202211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters 0.028813734590640464 Centerline is valid? [True, True] Translation: X:258.19, Y:-39.70, Z:-5.16 [[ 9.85233699e-01 1.70574158e-01 1.47991784e-02 2.58191197e+02] [-1.70558270e-01 9.85344817e-01 -2.33846795e-03 -3.96994587e+01] [-1.49811759e-02 -2.20184835e-04 9.99887752e-01 -5.16393580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514012739 meters 0.026976710089180886 Centerline is valid? [True, True] Translation: X:258.22, Y:-39.71, Z:-5.16 [[ 9.85526156e-01 1.68863603e-01 1.49425164e-02 2.58221743e+02] [-1.68847207e-01 9.85639409e-01 -2.36123136e-03 -3.97082862e+01] [-1.51266591e-02 -1.95946907e-04 9.99885566e-01 -5.16413093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters 0.027131280849186534 Centerline is valid? [True, True] Translation: X:258.25, Y:-39.71, Z:-5.16 [[ 9.85694891e-01 1.67834748e-01 1.53973468e-02 2.58251609e+02] [-1.67817207e-01 9.85815126e-01 -2.43356417e-03 -3.97114365e+01] [-1.55873740e-02 -1.85187961e-04 9.99878492e-01 -5.16452180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574012739 meters 0.02906866020422429 Centerline is valid? [True, True] Translation: X:258.28, Y:-39.71, Z:-5.16 [[ 9.85133524e-01 1.71061361e-01 1.58098230e-02 2.58282657e+02] [-1.71043276e-01 9.85260347e-01 -2.49911505e-03 -3.97070214e+01] [-1.60042938e-02 -2.42201905e-04 9.99871894e-01 -5.16412764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters 0.031090699058335045 Centerline is valid? [True, True] Translation: X:258.31, Y:-39.70, Z:-5.16 [[ 9.84625802e-01 1.73965284e-01 1.57514852e-02 2.58313345e+02] [-1.73947710e-01 9.84751744e-01 -2.48951755e-03 -3.97047816e+01] [-1.59443921e-02 -2.88691557e-04 9.99872838e-01 -5.16403809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634012739 meters 0.03679379455528477 Centerline is valid? [True, True] Translation: X:258.34, Y:-39.69, Z:-5.16 [[ 9.83625247e-01 1.79552318e-01 1.55672326e-02 2.58344890e+02] [-1.79535857e-01 9.83748354e-01 -2.45997568e-03 -3.96948920e+01] [-1.57559338e-02 -3.75182267e-04 9.99875797e-01 -5.16492044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters 0.03730334657623885 Centerline is valid? [True, True] Translation: X:258.37, Y:-39.70, Z:-5.17 [[ 9.83290750e-01 1.81376074e-01 1.55569986e-02 2.58373688e+02] [-1.81359864e-01 9.83413726e-01 -2.45833608e-03 -3.96962020e+01] [-1.57448493e-02 -4.04156012e-04 9.99875960e-01 -5.16509156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694012739 meters 0.038542998535804354 Centerline is valid? [True, True] Translation: X:258.40, Y:-39.70, Z:-5.17 [[ 9.83144265e-01 1.82128125e-01 1.60218957e-02 2.58401790e+02] [-1.82111043e-01 9.83274713e-01 -2.53105093e-03 -3.96962797e+01] [-1.62149005e-02 -4.29375937e-04 9.99868438e-01 -5.16512975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters 0.03834209241314302 Centerline is valid? [True, True] Translation: X:258.43, Y:-39.70, Z:-5.17 [[ 9.83294172e-01 1.81252418e-01 1.67371757e-02 2.58430230e+02] [-1.81233669e-01 9.83436511e-01 -2.64295714e-03 -3.96980552e+01] [-1.69389921e-02 -4.34535407e-04 9.99856431e-01 -5.16518108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754012739 meters 0.036291040307397646 Centerline is valid? [True, True] Translation: X:258.46, Y:-39.70, Z:-5.17 [[ 9.83547126e-01 1.79964075e-01 1.57474681e-02 2.58458699e+02] [-1.79947323e-01 9.83673107e-01 -2.48599194e-03 -3.97030694e+01] [-1.59377501e-02 -3.88624505e-04 9.99872910e-01 -5.16735817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters 0.03523803993633877 Centerline is valid? [True, True] Translation: X:258.49, Y:-39.71, Z:-5.17 [[ 9.83779745e-01 1.78766036e-01 1.48363540e-02 2.58487765e+02] [-1.78751040e-01 9.83891550e-01 -2.34150570e-03 -3.97060056e+01] [-1.50159450e-02 -3.48487818e-04 9.99887194e-01 -5.16949481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814012739 meters 0.033905680067698916 Centerline is valid? [True, True] Translation: X:258.52, Y:-39.71, Z:-5.17 [[ 9.84142349e-01 1.76687174e-01 1.56677795e-02 2.58515901e+02] [-1.76670199e-01 9.84267001e-01 -2.47197107e-03 -3.97079546e+01] [-1.58580439e-02 -3.35258304e-04 9.99874197e-01 -5.16773961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters 0.03412131204471148 Centerline is valid? [True, True] Translation: X:258.54, Y:-39.71, Z:-5.17 [[ 9.84323105e-01 1.75598658e-01 1.65268188e-02 2.58544094e+02] [-1.75579636e-01 9.84461781e-01 -2.60641119e-03 -3.97109623e+01] [-1.67277038e-02 -3.36222071e-04 9.99860026e-01 -5.16682488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874012739 meters 0.030611920427795165 Centerline is valid? [True, True] Translation: X:258.57, Y:-39.72, Z:-5.17 [[ 9.84710434e-01 1.73345147e-01 1.72284756e-02 2.58571911e+02] [-1.73324144e-01 9.84861088e-01 -2.71621429e-03 -3.97191973e+01] [-1.74384978e-02 -3.11426240e-04 9.99847889e-01 -5.16540368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters 0.03068652218151807 Centerline is valid? [True, True] Translation: X:258.60, Y:-39.72, Z:-5.17 [[ 9.84885708e-01 1.72380024e-01 1.68899219e-02 2.58600044e+02] [-1.72359710e-01 9.85030479e-01 -2.66209079e-03 -3.97204447e+01] [-1.70959791e-02 -2.89286866e-04 9.99853811e-01 -5.16666611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934012739 meters 0.031185628736703223 Centerline is valid? [True, True] Translation: X:258.63, Y:-39.72, Z:-5.17 [[ 9.84829572e-01 1.72778572e-01 1.60710905e-02 2.58628263e+02] [-1.72760248e-01 9.84960652e-01 -2.53207448e-03 -3.97185081e+01] [-1.62668800e-02 -2.82783758e-04 9.99867646e-01 -5.16907017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters 0.03184960283220779 Centerline is valid? [True, True] Translation: X:258.66, Y:-39.72, Z:-5.17 [[ 9.84706952e-01 1.73371504e-01 1.71621911e-02 2.58656172e+02] [-1.73350717e-01 9.84856448e-01 -2.70291331e-03 -3.97193935e+01] [-1.73709027e-02 -3.13500600e-04 9.99849065e-01 -5.16689364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994012739 meters 0.031999932134274954 Centerline is valid? [True, True] Translation: X:258.69, Y:-39.72, Z:-5.16 [[ 9.84620868e-01 1.73653216e-01 1.91391241e-02 2.58685387e+02] [-1.73627444e-01 9.84806800e-01 -3.01286470e-03 -3.97213115e+01] [-1.93715332e-02 -3.56547730e-04 9.99812291e-01 -5.16400784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters 0.03229443207407111 Centerline is valid? [True, True] Translation: X:258.71, Y:-39.72, Z:-5.16 [[ 9.84581962e-01 1.73790349e-01 1.98815117e-02 2.58713781e+02] [-1.73762586e-01 9.84782603e-01 -3.12877148e-03 -3.97211697e+01] [-2.01227171e-02 -3.74130916e-04 9.99797448e-01 -5.16265067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05401273900003 meters 0.03210883559558007 Centerline is valid? [True, True] Translation: X:258.74, Y:-39.73, Z:-5.17 [[ 9.84702102e-01 1.73242191e-01 1.86792224e-02 2.58741718e+02] [-1.73217605e-01 9.84879194e-01 -2.93855646e-03 -3.97250134e+01] [-1.89058594e-02 -3.41967427e-04 9.99821210e-01 -5.16671229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters 0.03113590859635617 Centerline is valid? [True, True] Translation: X:258.77, Y:-39.73, Z:-5.17 [[ 9.85015683e-01 1.71680674e-01 1.64271295e-02 2.58769280e+02] [-1.71661456e-01 9.85152613e-01 -2.58345989e-03 -3.97297805e+01] [-1.66267596e-02 -2.75156449e-04 9.99861728e-01 -5.17178482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11401273900003 meters 0.030574446504387832 Centerline is valid? [True, True] Translation: X:258.80, Y:-39.73, Z:-5.17 [[ 9.85172526e-01 1.70764872e-01 1.65666345e-02 2.58798151e+02] [-1.70745213e-01 9.85311773e-01 -2.60440406e-03 -3.97337780e+01] [-1.67680407e-02 -2.62886202e-04 9.99859372e-01 -5.17242458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters 0.0302045069386366 Centerline is valid? [True, True] Translation: X:258.83, Y:-39.74, Z:-5.17 [[ 9.85228486e-01 1.70400790e-01 1.69824077e-02 2.58827198e+02] [-1.70380091e-01 9.85374802e-01 -2.66897291e-03 -3.97375970e+01] [-1.71888317e-02 -2.63916016e-04 9.99852226e-01 -5.17129988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17401273900003 meters 0.029360865234115407 Centerline is valid? [True, True] Translation: X:258.86, Y:-39.74, Z:-5.17 [[ 9.85063193e-01 1.71315566e-01 1.73632376e-02 2.58855854e+02] [-1.71294084e-01 9.85216166e-01 -2.72802066e-03 -3.97423173e+01] [-1.75738948e-02 -2.86947135e-04 9.99845526e-01 -5.17059351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters 0.030386375632960882 Centerline is valid? [True, True] Translation: X:258.88, Y:-39.74, Z:-5.17 [[ 9.84865626e-01 1.72457936e-01 1.72614898e-02 2.58884943e+02] [-1.72436895e-01 9.85016836e-01 -2.71120090e-03 -3.97435189e+01] [-1.74704262e-02 -3.06349138e-04 9.99847334e-01 -5.17163900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23401273900004 meters 0.03562652585739733 Centerline is valid? [True, True] Translation: X:258.92, Y:-39.73, Z:-5.17 [[ 9.84380806e-01 1.75293945e-01 1.63236410e-02 2.58915279e+02] [-1.75275531e-01 9.84516084e-01 -2.56311307e-03 -3.97342607e+01] [-1.65201853e-02 -3.38055542e-04 9.99863475e-01 -5.17421065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters 0.03391162950367914 Centerline is valid? [True, True] Translation: X:258.94, Y:-39.74, Z:-5.17 [[ 9.84182185e-01 1.76398142e-01 1.64049405e-02 2.58943705e+02] [-1.76379707e-01 9.84318834e-01 -2.57532411e-03 -3.97387101e+01] [-1.66019743e-02 -3.58910483e-04 9.99862113e-01 -5.17354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294012739 meters 0.03599901064014753 Centerline is valid? [True, True] Translation: X:258.97, Y:-39.73, Z:-5.17 [[ 9.83768285e-01 1.78570813e-01 1.76755586e-02 2.58973540e+02] [-1.78549778e-01 9.83926970e-01 -2.77387231e-03 -3.97343882e+01] [-1.78867914e-02 -4.27119461e-04 9.99839927e-01 -5.17179428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters 0.03708110764710223 Centerline is valid? [True, True] Translation: X:259.00, Y:-39.73, Z:-5.17 [[ 9.83572945e-01 1.79630318e-01 1.78104248e-02 2.59002215e+02] [-1.79609150e-01 9.83734083e-01 -2.79421019e-03 -3.97344806e+01] [-1.80226467e-02 -4.50605699e-04 9.99837477e-01 -5.17208978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354012739 meters 0.03760923583135405 Centerline is valid? [True, True] Translation: X:259.03, Y:-39.74, Z:-5.17 [[ 9.83463078e-01 1.80208604e-01 1.80342277e-02 2.59030785e+02] [-1.80187017e-01 9.83628304e-01 -2.82821484e-03 -3.97361305e+01] [-1.82486455e-02 -4.68088826e-04 9.99833370e-01 -5.17411470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters 0.038440003305969285 Centerline is valid? [True, True] Translation: X:259.06, Y:-39.73, Z:-5.18 [[ 9.83502101e-01 1.80115629e-01 1.67921928e-02 2.59059595e+02] [-1.80096912e-01 9.83645348e-01 -2.63273716e-03 -3.97335142e+01] [-1.69917594e-02 -4.34919540e-04 9.99855535e-01 -5.17682430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414012739 meters 0.03754631679415298 Centerline is valid? [True, True] Translation: X:259.09, Y:-39.74, Z:-5.18 [[ 9.83727259e-01 1.78898595e-01 1.66124112e-02 2.59088359e+02] [-1.78880120e-01 9.83867432e-01 -2.60353616e-03 -3.97351907e+01] [-1.68101793e-02 -4.10460617e-04 9.99858615e-01 -5.17841985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters 0.03325076594416085 Centerline is valid? [True, True] Translation: X:259.12, Y:-39.74, Z:-5.18 [[ 9.84588572e-01 1.73993392e-01 1.76534421e-02 2.59116678e+02] [-1.73971757e-01 9.84746759e-01 -2.76575275e-03 -3.97408361e+01] [-1.78653926e-02 -3.48071776e-04 9.99840341e-01 -5.17733574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474012739 meters 0.03084537919493692 Centerline is valid? [True, True] Translation: X:259.14, Y:-39.75, Z:-5.18 [[ 9.85076492e-01 1.71152678e-01 1.81952257e-02 2.59144689e+02] [-1.71129217e-01 9.85244471e-01 -2.85024117e-03 -3.97481430e+01] [-1.84145720e-02 -3.06029169e-04 9.99830391e-01 -5.17662017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters 0.028774635118184465 Centerline is valid? [True, True] Translation: X:259.17, Y:-39.75, Z:-5.18 [[ 9.85538998e-01 1.68466215e-01 1.82213698e-02 2.59173079e+02] [-1.68442243e-01 9.85707395e-01 -2.85349172e-03 -3.97546846e+01] [-1.84416559e-02 -2.57021021e-04 9.99829905e-01 -5.17755965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534012739 meters 0.025726586297127967 Centerline is valid? [True, True] Translation: X:259.20, Y:-39.76, Z:-5.18 [[ 9.86314488e-01 1.64022632e-01 1.67423868e-02 2.59201494e+02] [-1.64001765e-01 9.86456563e-01 -2.62118437e-03 -3.97607828e+01] [-1.69455709e-02 -1.60468861e-04 9.99856401e-01 -5.18149112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters 0.024140460771497216 Centerline is valid? [True, True] Translation: X:259.23, Y:-39.77, Z:-5.18 [[ 9.86748131e-01 1.61384171e-01 1.68307741e-02 2.59229687e+02] [-1.61362712e-01 9.86891654e-01 -2.63425057e-03 -3.97680351e+01] [-1.70352769e-02 -1.16517536e-04 9.99854882e-01 -5.18200664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594012739 meters 0.02291155099837559 Centerline is valid? [True, True] Translation: X:259.26, Y:-39.78, Z:-5.18 [[ 9.87771251e-01 1.54921074e-01 1.75333000e-02 2.59256280e+02] [-1.54896783e-01 9.87926850e-01 -2.74332276e-03 -3.97773880e+01] [-1.77466164e-02 -6.07640436e-06 9.99842516e-01 -5.18115163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters 0.022991726061144895 Centerline is valid? [True, True] Translation: X:259.28, Y:-39.79, Z:-5.18 [[ 9.88285265e-01 1.51583627e-01 1.77380747e-02 2.59283964e+02] [-1.51558248e-01 9.88444435e-01 -2.77421364e-03 -3.97858954e+01] [-1.79536266e-02 5.33629401e-05 9.99838819e-01 -5.18074293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654012739 meters 0.02360357774963425 Centerline is valid? [True, True] Translation: X:259.31, Y:-39.79, Z:-5.18 [[ 9.88712355e-01 1.48776594e-01 1.77032087e-02 2.59311607e+02] [-1.48750879e-01 9.88870828e-01 -2.76794985e-03 -3.97934082e+01] [-1.79179928e-02 1.03338365e-04 9.99839455e-01 -5.18145459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters 0.024795937684700085 Centerline is valid? [True, True] Translation: X:259.34, Y:-39.80, Z:-5.18 [[ 9.89006641e-01 1.46934369e-01 1.66179147e-02 2.59338422e+02] [-1.46911462e-01 9.89146235e-01 -2.59757189e-03 -3.98009440e+01] [-1.68192203e-02 1.27653708e-04 9.99858539e-01 -5.18403560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714012739 meters 0.026784019109007417 Centerline is valid? [True, True] Translation: X:259.36, Y:-39.81, Z:-5.19 [[ 9.89466489e-01 1.43884688e-01 1.59142623e-02 2.59364795e+02] [-1.43863300e-01 9.89594446e-01 -2.48667221e-03 -3.98093466e+01] [-1.61064597e-02 1.71000518e-04 9.99870268e-01 -5.18620834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters 0.027812494545287655 Centerline is valid? [True, True] Translation: X:259.39, Y:-39.82, Z:-5.19 [[ 9.89682351e-01 1.42388289e-01 1.59505377e-02 2.59392721e+02] [-1.42366623e-01 9.89810859e-01 -2.49145865e-03 -3.98160646e+01] [-1.61427700e-02 1.94928467e-04 9.99869678e-01 -5.18729904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774012739 meters 0.03127954753523406 Centerline is valid? [True, True] Translation: X:259.42, Y:-39.83, Z:-5.19 [[ 9.90272054e-01 1.38183244e-01 1.63294316e-02 2.59419812e+02] [-1.38159978e-01 9.90406643e-01 -2.54985704e-03 -3.98296622e+01] [-1.65251250e-02 2.68978261e-04 9.99863415e-01 -5.18711241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters 0.03342093752303806 Centerline is valid? [True, True] Translation: X:259.45, Y:-39.84, Z:-5.19 [[ 9.90570214e-01 1.36057240e-01 1.60959447e-02 2.59447212e+02] [-1.36034362e-01 9.90700933e-01 -2.51287532e-03 -3.98387509e+01] [-1.62881623e-02 2.99577870e-04 9.99867294e-01 -5.18804645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834012739 meters 0.03211692918612218 Centerline is valid? [True, True] Translation: X:259.48, Y:-39.84, Z:-5.19 [[ 9.90957235e-01 1.33327488e-01 1.50844347e-02 2.59477514e+02] [-1.33307089e-01 9.91071984e-01 -2.35434636e-03 -3.98432598e+01] [-1.52636598e-02 3.22194474e-04 9.99883452e-01 -5.18965905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters 0.034240534017426626 Centerline is valid? [True, True] Translation: X:259.51, Y:-39.85, Z:-5.19 [[ 9.91151131e-01 1.31967846e-01 1.42801570e-02 2.59505683e+02] [-1.31949422e-01 9.91253944e-01 -2.22888638e-03 -3.98539678e+01] [-1.44494033e-02 3.24904796e-04 9.99895549e-01 -5.19151159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894012739 meters 0.03477282640208966 Centerline is valid? [True, True] Translation: X:259.53, Y:-39.87, Z:-5.19 [[ 9.91449654e-01 1.29617259e-01 1.50648868e-02 2.59534993e+02] [-1.29596487e-01 9.91564029e-01 -2.35111308e-03 -3.98660948e+01] [-1.52425447e-02 3.78653849e-04 9.99883754e-01 -5.19086711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters 0.04058078949300927 Centerline is valid? [True, True] Translation: X:259.56, Y:-39.87, Z:-5.18 [[ 9.91494810e-01 1.29252272e-01 1.52280034e-02 2.59564439e+02] [-1.29231006e-01 9.91611668e-01 -2.37651149e-03 -3.98743701e+01] [-1.54074354e-02 3.88368608e-04 9.99881223e-01 -5.17660185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954012739 meters 0.03437253420676833 Centerline is valid? [True, True] Translation: X:259.60, Y:-39.88, Z:-5.19 [[ 9.91389453e-01 1.29813001e-01 1.71912046e-02 2.59595265e+02] [-1.29785978e-01 9.91538401e-01 -2.68309664e-03 -3.98804387e+01] [-1.73940404e-02 4.28816400e-04 9.99848620e-01 -5.18881637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters 0.035105823655225174 Centerline is valid? [True, True] Translation: X:259.62, Y:-39.89, Z:-5.19 [[ 9.91136161e-01 1.31619241e-01 1.80412455e-02 2.59624860e+02] [-1.31589775e-01 9.91300258e-01 -2.81595945e-03 -3.98930754e+01] [-1.82549257e-02 4.16955815e-04 9.99833278e-01 -5.18886611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014012739 meters 0.03410240198640872 Centerline is valid? [True, True] Translation: X:259.66, Y:-39.90, Z:-5.19 [[ 9.90961004e-01 1.32993963e-01 1.75753824e-02 2.59656252e+02] [-1.32966167e-01 9.91116773e-01 -2.74592269e-03 -3.98993292e+01] [-1.77844474e-02 3.84171075e-04 9.99841770e-01 -5.18987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters 0.04132626290812865 Centerline is valid? [True, True] Translation: X:259.69, Y:-39.90, Z:-5.18 [[ 9.90472453e-01 1.36826061e-01 1.55868387e-02 2.59686803e+02] [-1.36804634e-01 9.90595048e-01 -2.43780345e-03 -3.99022472e+01] [-1.57738003e-02 2.82225397e-04 9.99875546e-01 -5.17590583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074012739 meters 0.02816051337812779 Centerline is valid? [True, True] Translation: X:259.72, Y:-39.90, Z:-5.19 [[ 9.90052444e-01 1.39712656e-01 1.66292279e-02 2.59717420e+02] [-1.39688648e-01 9.90192057e-01 -2.60231451e-03 -3.99013903e+01] [-1.68297056e-02 2.53513479e-04 9.99858338e-01 -5.19230610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters 0.026159289748515918 Centerline is valid? [True, True] Translation: X:259.75, Y:-39.90, Z:-5.19 [[ 9.89596346e-01 1.42925134e-01 1.64766226e-02 2.59748592e+02] [-1.42902011e-01 9.89733483e-01 -2.57838981e-03 -3.99029738e+01] [-1.66759818e-02 1.97022640e-04 9.99860927e-01 -5.19253315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134012739 meters 0.02307439851819606 Centerline is valid? [True, True] Translation: X:259.78, Y:-39.90, Z:-5.19 [[ 9.88421644e-01 1.50686084e-01 1.77864466e-02 2.59779089e+02] [-1.50660387e-01 9.88581660e-01 -2.78367838e-03 -3.98965205e+01] [-1.80028165e-02 7.17350287e-05 9.99837934e-01 -5.19114622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters 0.02252750529389892 Centerline is valid? [True, True] Translation: X:259.81, Y:-39.89, Z:-5.19 [[ 9.87738508e-01 1.54937630e-01 1.91565046e-02 2.59808856e+02] [-1.54908629e-01 9.87924254e-01 -2.99761352e-03 -3.98932596e+01] [-1.93896186e-02 -6.64955963e-06 9.99812004e-01 -5.18839724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194012739 meters 0.024458443124814114 Centerline is valid? [True, True] Translation: X:259.84, Y:-39.88, Z:-5.19 [[ 9.86446640e-01 1.62900705e-01 1.96567231e-02 2.59838182e+02] [-1.62871763e-01 9.86642454e-01 -3.07515998e-03 -3.98834066e+01] [-1.98951033e-02 -1.68043918e-04 9.99802059e-01 -5.18724737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters 0.025371016660536736 Centerline is valid? [True, True] Translation: X:259.87, Y:-39.88, Z:-5.19 [[ 9.85992315e-01 1.65663188e-01 1.93613943e-02 2.59866780e+02] [-1.65635669e-01 9.86182366e-01 -3.02755315e-03 -3.98832951e+01] [-1.95954198e-02 -2.21793364e-04 9.99807967e-01 -5.18867131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254012739 meters 0.03569190831150546 Centerline is valid? [True, True] Translation: X:259.90, Y:-39.88, Z:-5.18 [[ 9.85749934e-01 1.67245273e-01 1.80578483e-02 2.59896153e+02] [-1.67221623e-01 9.85915292e-01 -2.82247826e-03 -3.98787843e+01] [-1.82755549e-02 -2.37404943e-04 9.99832960e-01 -5.17675526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters 0.02651150964148325 Centerline is valid? [True, True] Translation: X:259.92, Y:-39.88, Z:-5.19 [[ 9.85734353e-01 1.67211418e-01 1.91866411e-02 2.59922912e+02] [-1.67184737e-01 9.85921030e-01 -2.99764404e-03 -3.98840875e+01] [-1.94177532e-02 -2.52832841e-04 9.99811426e-01 -5.19085856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314012739 meters 0.02684907289721674 Centerline is valid? [True, True] Translation: X:259.95, Y:-39.89, Z:-5.19 [[ 9.85727404e-01 1.67339548e-01 1.84108885e-02 2.59951552e+02] [-1.67315029e-01 9.85899292e-01 -2.87508126e-03 -3.98867804e+01] [-1.86323968e-02 -2.46371968e-04 9.99826371e-01 -5.19332336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters 0.02684907289721674 Centerline is valid? [True, True] Translation: X:259.98, Y:-39.89, Z:-5.19 [[ 9.85739633e-01 1.67267478e-01 1.84110219e-02 2.59978730e+02] [-1.67242963e-01 9.85911523e-01 -2.87422721e-03 -3.98908892e+01] [-1.86324033e-02 -2.45874168e-04 9.99826371e-01 -5.19388170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374012739 meters 0.02914991253225408 Centerline is valid? [True, True] Translation: X:260.01, Y:-39.89, Z:-5.20 [[ 9.85427531e-01 1.69313342e-01 1.62964062e-02 2.60007896e+02] [-1.69294432e-01 9.85562240e-01 -2.54300895e-03 -3.98860180e+01] [-1.64916880e-02 -2.52939810e-04 9.99863971e-01 -5.19890639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters 0.03062793884927402 Centerline is valid? [True, True] Translation: X:260.04, Y:-39.88, Z:-5.20 [[ 9.85137151e-01 1.71110263e-01 1.50356921e-02 2.60037473e+02] [-1.71094390e-01 9.85251851e-01 -2.34536952e-03 -3.98842702e+01] [-1.52152603e-02 -2.62011922e-04 9.99884207e-01 -5.20112453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434012739 meters 0.03417781599549141 Centerline is valid? [True, True] Translation: X:260.07, Y:-39.88, Z:-5.20 [[ 9.84646886e-01 1.73940419e-01 1.46711057e-02 2.60067250e+02] [-1.73925630e-01 9.84756133e-01 -2.28775432e-03 -3.98777590e+01] [-1.48453943e-02 -2.99051148e-04 9.99889756e-01 -5.20262903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters 0.032801990726148984 Centerline is valid? [True, True] Translation: X:260.10, Y:-39.88, Z:-5.20 [[ 9.84560446e-01 1.74320712e-01 1.59065157e-02 2.60095319e+02] [-1.74303387e-01 9.84688875e-01 -2.47982417e-03 -3.98825706e+01] [-1.60952538e-02 -3.31022763e-04 9.99870408e-01 -5.20046608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494012739 meters 0.032452850123777 Centerline is valid? [True, True] Translation: X:260.12, Y:-39.89, Z:-5.20 [[ 9.84585018e-01 1.74108401e-01 1.66915509e-02 2.60124569e+02] [-1.74089308e-01 9.84726432e-01 -2.60130997e-03 -3.98855452e+01] [-1.68895213e-02 -3.44609723e-04 9.99857302e-01 -5.19990015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters 0.03105338983253082 Centerline is valid? [True, True] Translation: X:260.15, Y:-39.89, Z:-5.20 [[ 9.84897684e-01 1.72303991e-01 1.69672392e-02 2.60153793e+02] [-1.72284006e-01 9.85043772e-01 -2.64364194e-03 -3.98887412e+01] [-1.71689834e-02 -3.19467117e-04 9.99852551e-01 -5.20135918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55401273900003 meters 0.029920209374432884 Centerline is valid? [True, True] Translation: X:260.18, Y:-39.89, Z:-5.20 [[ 9.85181010e-01 1.70702195e-01 1.67074467e-02 2.60181749e+02] [-1.70682596e-01 9.85322626e-01 -2.60260637e-03 -3.98942331e+01] [-1.69064958e-02 -2.87631988e-04 9.99857034e-01 -5.20223888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters 0.027434215346762856 Centerline is valid? [True, True] Translation: X:260.21, Y:-39.90, Z:-5.20 [[ 9.85815063e-01 1.66965292e-01 1.70661558e-02 2.60209401e+02] [-1.66944297e-01 9.85962747e-01 -2.65763041e-03 -3.98999975e+01] [-1.72703259e-02 -2.29165288e-04 9.99850831e-01 -5.20163685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61401273900003 meters 0.026667876996354714 Centerline is valid? [True, True] Translation: X:260.24, Y:-39.90, Z:-5.20 [[ 9.86020174e-01 1.65769180e-01 1.68758636e-02 2.60237800e+02] [-1.65748489e-01 9.86164558e-01 -2.62718804e-03 -3.99032698e+01] [-1.70778853e-02 -2.06688472e-04 9.99854141e-01 -5.20175398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters 0.025366581858051192 Centerline is valid? [True, True] Translation: X:260.27, Y:-39.91, Z:-5.20 [[ 9.86357016e-01 1.63604609e-01 1.82584118e-02 2.60265408e+02] [-1.63580035e-01 9.86525974e-01 -2.84148679e-03 -3.99082285e+01] [-1.84772778e-02 -1.83991203e-04 9.99829264e-01 -5.20047301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67401273900003 meters 0.024760864656814013 Centerline is valid? [True, True] Translation: X:260.29, Y:-39.91, Z:-5.20 [[ 9.86504449e-01 1.62609060e-01 1.91641574e-02 2.60293648e+02] [-1.62581823e-01 9.86690561e-01 -2.98123664e-03 -3.99142664e+01] [-1.93938693e-02 -1.74740443e-04 9.99811906e-01 -5.19954928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters 0.023998066224258617 Centerline is valid? [True, True] Translation: X:260.32, Y:-39.92, Z:-5.20 [[ 9.86731863e-01 1.61193595e-01 1.94127899e-02 2.60321991e+02] [-1.61165391e-01 9.86922795e-01 -3.01898300e-03 -3.99200440e+01] [-1.96455656e-02 -1.49743162e-04 9.99806996e-01 -5.19887255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73401273900004 meters 0.02312757518207126 Centerline is valid? [True, True] Translation: X:260.35, Y:-39.93, Z:-5.20 [[ 9.87057292e-01 1.59188590e-01 1.94137640e-02 2.60349028e+02] [-1.59160013e-01 9.87248186e-01 -3.01822905e-03 -3.99250865e+01] [-1.96466709e-02 -1.10729942e-04 9.99806979e-01 -5.19901869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters 0.0229882381133268 Centerline is valid? [True, True] Translation: X:260.38, Y:-39.93, Z:-5.20 [[ 9.87167526e-01 1.58500724e-01 1.94369929e-02 2.60376621e+02] [-1.58471968e-01 9.87358856e-01 -3.02070482e-03 -3.99300695e+01] [-1.96700709e-02 -9.82768030e-05 9.99806521e-01 -5.19973064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794012739 meters 0.022622656613849504 Centerline is valid? [True, True] Translation: X:260.40, Y:-39.94, Z:-5.20 [[ 9.87324300e-01 1.57528041e-01 1.93815185e-02 2.60404444e+02] [-1.57499289e-01 9.87514511e-01 -3.01066940e-03 -3.99367145e+01] [-1.96137957e-02 -8.00683222e-05 9.99807628e-01 -5.20047106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters 0.02243592930496943 Centerline is valid? [True, True] Translation: X:260.43, Y:-39.94, Z:-5.20 [[ 9.87451363e-01 1.56704609e-01 1.95824456e-02 2.60433267e+02] [-1.56675114e-01 9.87645514e-01 -3.04096742e-03 -3.99419491e+01] [-1.98170482e-02 -6.52744741e-05 9.99803621e-01 -5.20084291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854012739 meters 0.02230186483581707 Centerline is valid? [True, True] Translation: X:260.46, Y:-39.95, Z:-5.20 [[ 9.87617143e-01 1.55715998e-01 1.91025280e-02 2.60461765e+02] [-1.55687762e-01 9.87801866e-01 -2.96558708e-03 -3.99480030e+01] [-1.93313021e-02 -4.51651866e-05 9.99813132e-01 -5.20216071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters 0.022080846152026015 Centerline is valid? [True, True] Translation: X:260.49, Y:-39.96, Z:-5.20 [[ 9.88166448e-01 1.52102517e-01 1.97963551e-02 2.60489465e+02] [-1.52071486e-01 9.88364722e-01 -3.07235928e-03 -3.99608192e+01] [-2.00333326e-02 2.55412193e-05 9.99799312e-01 -5.20145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914012739 meters 0.022307994491513987 Centerline is valid? [True, True] Translation: X:260.52, Y:-39.97, Z:-5.20 [[ 9.88518209e-01 1.49672364e-01 2.07348532e-02 2.60517154e+02] [-1.49637807e-01 9.88735646e-01 -3.21702193e-03 -3.99707047e+01] [-2.09827877e-02 7.73667837e-05 9.99779834e-01 -5.20048405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters 0.022937040061968172 Centerline is valid? [True, True] Translation: X:260.54, Y:-39.98, Z:-5.20 [[ 9.88960965e-01 1.46615666e-01 2.14489199e-02 2.60544577e+02] [-1.46577990e-01 9.89193523e-01 -3.32680053e-03 -3.99799227e+01] [-2.17048937e-02 1.46136285e-04 9.99764410e-01 -5.20009989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974012739 meters 0.027395698766740542 Centerline is valid? [True, True] Translation: X:260.57, Y:-40.00, Z:-5.20 [[ 9.89992661e-01 1.39461020e-01 2.15674406e-02 2.60570704e+02] [-1.39421249e-01 9.90227515e-01 -3.34417618e-03 -4.00022332e+01] [-2.18230553e-02 3.03750361e-04 9.99761803e-01 -5.20046498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters 0.03816032232450471 Centerline is valid? [True, True] Translation: X:260.60, Y:-40.01, Z:-5.19 [[ 9.90515089e-01 1.35880610e-01 2.04038634e-02 2.60600393e+02] [-1.35844261e-01 9.90725153e-01 -3.16352850e-03 -4.00145591e+01] [-2.06444829e-02 3.61774967e-04 9.99786814e-01 -5.18849733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034012739 meters 0.03659137420508611 Centerline is valid? [True, True] Translation: X:260.63, Y:-40.04, Z:-5.21 [[ 9.91260586e-01 1.30458497e-01 1.95711880e-02 2.60626086e+02] [-1.30423993e-01 9.91453667e-01 -3.03463111e-03 -4.00399907e+01] [-1.97998195e-02 4.55557725e-04 9.99803861e-01 -5.20508979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters 0.03484637156622591 Centerline is valid? [True, True] Translation: X:260.66, Y:-40.05, Z:-5.20 [[ 9.91446826e-01 1.29001563e-01 1.97936549e-02 2.60657981e+02] [-1.28965960e-01 9.91644269e-01 -3.07013691e-03 -4.00459872e+01] [-2.00243169e-02 4.91169792e-04 9.99799373e-01 -5.20496030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094012739 meters 0.03721763168082308 Centerline is valid? [True, True] Translation: X:260.69, Y:-40.06, Z:-5.20 [[ 9.91485947e-01 1.28548107e-01 2.07605835e-02 2.60687390e+02] [-1.28508765e-01 9.91703134e-01 -3.22372754e-03 -4.00587729e+01] [-2.10027398e-02 5.28363606e-04 9.99779279e-01 -5.20380068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters 0.038762033684499125 Centerline is valid? [True, True] Translation: X:260.72, Y:-40.07, Z:-5.21 [[ 9.91395419e-01 1.29404990e-01 1.97350369e-02 2.60716448e+02] [-1.29369551e-01 9.91591706e-01 -3.06737229e-03 -4.00749159e+01] [-1.99660322e-02 4.87865978e-04 9.99800540e-01 -5.20548417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154012739 meters 0.03529370076679564 Centerline is valid? [True, True] Translation: X:260.75, Y:-40.08, Z:-5.21 [[ 9.91355539e-01 1.29977871e-01 1.78870777e-02 2.60747982e+02] [-1.29948807e-01 9.91516800e-01 -2.78263864e-03 -4.00780477e+01] [-1.80970195e-02 4.34179828e-04 9.99836141e-01 -5.20907708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters 0.03653930954486888 Centerline is valid? [True, True] Translation: X:260.78, Y:-40.09, Z:-5.22 [[ 9.91038035e-01 1.32617355e-01 1.60078390e-02 2.60777733e+02] [-1.32594406e-01 9.91167250e-01 -2.49122758e-03 -4.00910336e+01] [-1.61968257e-02 3.46351380e-04 9.99868763e-01 -5.21512759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214012739 meters 0.03147130944595917 Centerline is valid? [True, True] Translation: X:260.81, Y:-40.09, Z:-5.21 [[ 9.90783875e-01 1.34396587e-01 1.68781201e-02 2.60810505e+02] [-1.34371283e-01 9.90927567e-01 -2.62961209e-03 -4.00912651e+01] [-1.70784054e-02 3.37442604e-04 9.99854096e-01 -5.21306964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters 0.030298660340639987 Centerline is valid? [True, True] Translation: X:260.84, Y:-40.10, Z:-5.21 [[ 9.90483438e-01 1.36430868e-01 1.81432449e-02 2.60841012e+02] [-1.36401909e-01 9.90649540e-01 -2.82998766e-03 -4.00974255e+01] [-1.83596948e-02 3.28282672e-04 9.99831393e-01 -5.21145892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274012739 meters 0.0275153104116486 Centerline is valid? [True, True] Translation: X:260.87, Y:-40.10, Z:-5.21 [[ 9.89935318e-01 1.40346190e-01 1.81937821e-02 2.60870935e+02] [-1.40317669e-01 9.90102459e-01 -2.84117099e-03 -4.01017061e+01] [-1.84124559e-02 2.59666406e-04 9.99830443e-01 -5.21150426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters 0.026661410559428774 Centerline is valid? [True, True] Translation: X:260.90, Y:-40.11, Z:-5.21 [[ 9.89745929e-01 1.41803258e-01 1.71706500e-02 2.60903045e+02] [-1.41778079e-01 9.89894837e-01 -2.68114394e-03 -4.01071325e+01] [-1.73773327e-02 2.19229541e-04 9.99848979e-01 -5.21429505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334012739 meters 0.026110929991828666 Centerline is valid? [True, True] Translation: X:260.93, Y:-40.12, Z:-5.22 [[ 9.89549606e-01 1.43209813e-01 1.68085226e-02 2.60933317e+02] [-1.43185841e-01 9.89692332e-01 -2.62733413e-03 -4.01160417e+01] [-1.70115259e-02 1.93135018e-04 9.99855275e-01 -5.21579729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters 0.026318308242288174 Centerline is valid? [True, True] Translation: X:260.96, Y:-40.12, Z:-5.21 [[ 9.89416268e-01 1.44004732e-01 1.78349623e-02 2.60963180e+02] [-1.43977819e-01 9.89576980e-01 -2.79067840e-03 -4.01247415e+01] [-1.80509390e-02 1.93303651e-04 9.99837050e-01 -5.21456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394012739 meters 0.02469601769883467 Centerline is valid? [True, True] Translation: X:261.00, Y:-40.13, Z:-5.21 [[ 9.89320256e-01 1.44490932e-01 1.91781494e-02 2.60996301e+02] [-1.44459844e-01 9.89506104e-01 -3.00392986e-03 -4.01291320e+01] [-1.94109365e-02 2.01376204e-04 9.99811570e-01 -5.21218460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters 0.025132845588947465 Centerline is valid? [True, True] Translation: X:261.03, Y:-40.14, Z:-5.21 [[ 9.89193730e-01 1.45017499e-01 2.15798377e-02 2.61026527e+02] [-1.44978158e-01 9.89429066e-01 -3.38481095e-03 -4.01411413e+01] [-2.18425754e-02 2.19628657e-04 9.99761398e-01 -5.20887228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454012739 meters 0.024624231524068077 Centerline is valid? [True, True] Translation: X:261.06, Y:-40.15, Z:-5.21 [[ 9.89194789e-01 1.45299895e-01 1.95348335e-02 2.61057957e+02] [-1.45267649e-01 9.89387640e-01 -3.06726382e-03 -4.01501946e+01] [-1.97731959e-02 1.96342053e-04 9.99804472e-01 -5.21349106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters 0.03224617616060691 Centerline is valid? [True, True] Translation: X:261.09, Y:-40.16, Z:-5.21 [[ 9.89172129e-01 1.45701446e-01 1.75951142e-02 2.61088555e+02] [-1.45675296e-01 9.89328590e-01 -2.76574911e-03 -4.01600831e+01] [-1.78103231e-02 1.72628472e-04 9.99841369e-01 -5.20600407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514012739 meters 0.025177599355473566 Centerline is valid? [True, True] Translation: X:261.12, Y:-40.17, Z:-5.22 [[ 9.89068794e-01 1.46495020e-01 1.67967306e-02 2.61120821e+02] [-1.46471255e-01 9.89211396e-01 -2.64313184e-03 -4.01667171e+01] [-1.70027230e-02 1.54001006e-04 9.99855431e-01 -5.22020455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters 0.022817403411913274 Centerline is valid? [True, True] Translation: X:261.15, Y:-40.17, Z:-5.22 [[ 9.88421205e-01 1.50727352e-01 1.74581501e-02 2.61153704e+02] [-1.50702274e-01 9.88575368e-01 -2.75085121e-03 -4.01676672e+01] [-1.76733257e-02 8.80167524e-05 9.99843811e-01 -5.21755100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574012739 meters 0.02227430284387528 Centerline is valid? [True, True] Translation: X:261.19, Y:-40.17, Z:-5.22 [[ 9.87987444e-01 1.53524381e-01 1.76373322e-02 2.61185173e+02] [-1.53499215e-01 9.88144859e-01 -2.77994760e-03 -4.01698417e+01] [-1.78550289e-02 3.92366768e-05 9.99840585e-01 -5.21767429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters 0.022546391117601188 Centerline is valid? [True, True] Translation: X:261.22, Y:-40.17, Z:-5.22 [[ 9.87067365e-01 1.59447893e-01 1.65645865e-02 2.61217487e+02] [-1.59426480e-01 9.87206344e-01 -2.61376426e-03 -4.01655411e+01] [-1.67694241e-02 -6.08723209e-05 9.99859381e-01 -5.22027562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634012739 meters 0.023387021586739547 Centerline is valid? [True, True] Translation: X:261.25, Y:-40.17, Z:-5.22 [[ 9.86661442e-01 1.62004302e-01 1.59312820e-02 2.61248424e+02] [-1.61984821e-01 9.86790047e-01 -2.51431271e-03 -4.01658096e+01] [-1.61281600e-02 -9.98504618e-05 9.99869928e-01 -5.22242556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters 0.02440816524169692 Centerline is valid? [True, True] Translation: X:261.28, Y:-40.17, Z:-5.22 [[ 9.86287995e-01 1.64231930e-01 1.62439139e-02 2.61278103e+02] [-1.64211977e-01 9.86421742e-01 -2.56370014e-03 -4.01657749e+01] [-1.64443913e-02 -1.38898550e-04 9.99864772e-01 -5.22304986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694012739 meters 0.02687647448507099 Centerline is valid? [True, True] Translation: X:261.31, Y:-40.16, Z:-5.22 [[ 9.85556695e-01 1.68453374e-01 1.73626717e-02 2.61309228e+02] [-1.68431236e-01 9.85709598e-01 -2.74006732e-03 -4.01610885e+01] [-1.75761257e-02 -2.23924577e-04 9.99845503e-01 -5.22103781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters 0.026651437594047565 Centerline is valid? [True, True] Translation: X:261.34, Y:-40.16, Z:-5.22 [[ 9.85331812e-01 1.69647632e-01 1.84635103e-02 2.61338325e+02] [-1.69622816e-01 9.85504750e-01 -2.91334982e-03 -4.01641405e+01] [-1.86901200e-02 -2.61216349e-04 9.99825290e-01 -5.21954371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754012739 meters 0.02764438267290725 Centerline is valid? [True, True] Translation: X:261.37, Y:-40.16, Z:-5.22 [[ 9.85262956e-01 1.70033462e-01 1.85884220e-02 2.61367513e+02] [-1.70008392e-01 9.85438252e-01 -2.93234067e-03 -4.01623448e+01] [-1.88163381e-02 -2.71061092e-04 9.99822920e-01 -5.21923988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters 0.02741101911248922 Centerline is valid? [True, True] Translation: X:261.40, Y:-40.16, Z:-5.22 [[ 9.85254739e-01 1.70084013e-01 1.85614503e-02 2.61396560e+02] [-1.70059032e-01 9.85429528e-01 -2.92763306e-03 -4.01644029e+01] [-1.87889448e-02 -2.72077923e-04 9.99823435e-01 -5.22015939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814012739 meters 0.027977234358380256 Centerline is valid? [True, True] Translation: X:261.43, Y:-40.16, Z:-5.22 [[ 9.85247308e-01 1.70112571e-01 1.86937321e-02 2.61425667e+02] [-1.70087255e-01 9.85424598e-01 -2.94756363e-03 -4.01646992e+01] [-1.89226810e-02 -2.75486450e-04 9.99820912e-01 -5.22106065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters 0.02834761372794341 Centerline is valid? [True, True] Translation: X:261.45, Y:-40.16, Z:-5.22 [[ 9.85110250e-01 1.70896812e-01 1.87636717e-02 2.61454940e+02] [-1.70871462e-01 9.85288889e-01 -2.95792542e-03 -4.01641200e+01] [-1.89931373e-02 -2.92293376e-04 9.99819571e-01 -5.22136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874012739 meters 0.02862867191858579 Centerline is valid? [True, True] Translation: X:261.48, Y:-40.16, Z:-5.22 [[ 9.84945736e-01 1.71741450e-01 1.96664865e-02 2.61484100e+02] [-1.71713790e-01 9.85142005e-01 -3.09924738e-03 -4.01634099e+01] [-1.99065511e-02 -3.24416433e-04 9.99801792e-01 -5.21966532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters 0.029404565822453564 Centerline is valid? [True, True] Translation: X:261.51, Y:-40.16, Z:-5.22 [[ 9.84949208e-01 1.71704519e-01 1.98145118e-02 2.61512775e+02] [-1.71676453e-01 9.85148441e-01 -3.12160064e-03 -4.01630733e+01] [-2.00562284e-02 -3.27067021e-04 9.99798800e-01 -5.21967255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934012739 meters 0.02857844480532695 Centerline is valid? [True, True] Translation: X:261.54, Y:-40.17, Z:-5.22 [[ 9.85021234e-01 1.71265143e-01 2.00354452e-02 2.61541593e+02] [-1.71236381e-01 9.85224922e-01 -3.15517768e-03 -4.01660892e+01] [-2.02797919e-02 -3.22880128e-04 9.99794292e-01 -5.22018597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters 0.02701987120935165 Centerline is valid? [True, True] Translation: X:261.57, Y:-40.17, Z:-5.22 [[ 9.85362237e-01 1.69362078e-01 1.94357785e-02 2.61569712e+02] [-1.69334660e-01 9.85553860e-01 -3.05983155e-03 -4.01698125e+01] [-1.96732259e-02 -2.76108477e-04 9.99806425e-01 -5.22275530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994012739 meters 0.026363071270060604 Centerline is valid? [True, True] Translation: X:261.60, Y:-40.17, Z:-5.22 [[ 9.85638568e-01 1.67840668e-01 1.86044201e-02 2.61597152e+02] [-1.67815291e-01 9.85814107e-01 -2.92809009e-03 -4.01740417e+01] [-1.88319524e-02 -2.36067649e-04 9.99822635e-01 -5.22422721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters 0.02585888675855772 Centerline is valid? [True, True] Translation: X:261.63, Y:-40.18, Z:-5.23 [[ 9.85824789e-01 1.66903256e-01 1.71110780e-02 2.61625452e+02] [-1.66881666e-01 9.85973256e-01 -2.69206651e-03 -4.01769602e+01] [-1.73203799e-02 -2.01619298e-04 9.99849971e-01 -5.22671303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05401273900003 meters 0.02546974608510487 Centerline is valid? [True, True] Translation: X:261.65, Y:-40.18, Z:-5.23 [[ 9.85945125e-01 1.66261657e-01 1.64095364e-02 2.61654285e+02] [-1.66241724e-01 9.86081654e-01 -2.58092781e-03 -4.01807931e+01] [-1.66102521e-02 -1.83296439e-04 9.99862023e-01 -5.22816703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters 0.02644495972201374 Centerline is valid? [True, True] Translation: X:261.68, Y:-40.18, Z:-5.23 [[ 9.86015764e-01 1.65889364e-01 1.59258581e-02 2.61682564e+02] [-1.65870552e-01 9.86144355e-01 -2.50416368e-03 -4.01820623e+01] [-1.61206092e-02 -1.72486010e-04 9.99870040e-01 -5.23042367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11401273900003 meters 0.025592429979723674 Centerline is valid? [True, True] Translation: X:261.71, Y:-40.19, Z:-5.23 [[ 9.86085263e-01 1.65386010e-01 1.68321393e-02 2.61710973e+02] [-1.65364944e-01 9.86228897e-01 -2.64541453e-03 -4.01854982e+01] [-1.70378567e-02 -1.74841476e-04 9.99854830e-01 -5.22955539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters 0.025295322181973806 Centerline is valid? [True, True] Translation: X:261.74, Y:-40.19, Z:-5.23 [[ 9.86044744e-01 1.65479997e-01 1.82245498e-02 2.61740315e+02] [-1.65455335e-01 9.86213128e-01 -2.86330283e-03 -4.01874926e+01] [-1.84471096e-02 -1.92004276e-04 9.99829819e-01 -5.22684980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17401273900003 meters 0.026386359413140548 Centerline is valid? [True, True] Translation: X:261.77, Y:-40.18, Z:-5.22 [[ 9.85731456e-01 1.67096554e-01 2.03036379e-02 2.61769377e+02] [-1.67066309e-01 9.85940505e-01 -3.18884979e-03 -4.01824660e+01] [-2.05510248e-02 -2.48704287e-04 9.99788774e-01 -5.22293226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters 0.02631216613507194 Centerline is valid? [True, True] Translation: X:261.80, Y:-40.19, Z:-5.22 [[ 9.85686760e-01 1.67319722e-01 2.06330238e-02 2.61798502e+02] [-1.67288563e-01 9.85902654e-01 -3.23931997e-03 -4.01850628e+01] [-2.08841550e-02 -2.58714084e-04 9.99781869e-01 -5.22332776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23401273900004 meters 0.02604468673597526 Centerline is valid? [True, True] Translation: X:261.83, Y:-40.19, Z:-5.23 [[ 9.85854233e-01 1.66391882e-01 2.01288955e-02 2.61825664e+02] [-1.66362053e-01 9.86059677e-01 -3.15921993e-03 -4.01887514e+01] [-2.03739608e-02 -2.34154039e-04 9.99792402e-01 -5.22510038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters 0.02604468673597526 Centerline is valid? [True, True] Translation: X:261.85, Y:-40.19, Z:-5.23 [[ 9.85861903e-01 1.66346412e-01 2.01290802e-02 2.61853659e+02] [-1.66316597e-01 9.86067349e-01 -3.15804262e-03 -4.01930528e+01] [-2.03739578e-02 -2.34406217e-04 9.99792402e-01 -5.22567570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294012739 meters 0.023618801466151786 Centerline is valid? [True, True] Translation: X:261.88, Y:-40.20, Z:-5.23 [[ 9.86685537e-01 1.61607639e-01 1.82926729e-02 2.61880855e+02] [-1.61582216e-01 9.86855083e-01 -2.86915307e-03 -4.02023950e+01] [-1.85158943e-02 -1.24818775e-04 9.99828558e-01 -5.23165830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters 0.022959552664472884 Centerline is valid? [True, True] Translation: X:261.91, Y:-40.21, Z:-5.23 [[ 9.87116588e-01 1.59123469e-01 1.67500012e-02 2.61908520e+02] [-1.59101808e-01 9.87258688e-01 -2.62647284e-03 -4.02097464e+01] [-1.69545177e-02 -7.23205653e-05 9.99856259e-01 -5.23434061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354012739 meters 0.022696523437905326 Centerline is valid? [True, True] Translation: X:261.94, Y:-40.22, Z:-5.24 [[ 9.87651928e-01 1.55892815e-01 1.55273585e-02 2.61935446e+02] [-1.55873812e-01 9.87773977e-01 -2.43411117e-03 -4.02162113e+01] [-1.57169811e-02 -1.62539700e-05 9.99876480e-01 -5.23656359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters 0.022570378519806707 Centerline is valid? [True, True] Translation: X:261.96, Y:-40.22, Z:-5.24 [[ 9.87798074e-01 1.54960325e-01 1.55647650e-02 2.61963828e+02] [-1.54941130e-01 9.87920694e-01 -2.43895982e-03 -4.02217476e+01] [-1.57546954e-02 -2.42246312e-06 9.99875887e-01 -5.23508950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414012739 meters 0.02249903913654312 Centerline is valid? [True, True] Translation: X:261.99, Y:-40.23, Z:-5.24 [[ 9.87876231e-01 1.54460054e-01 1.55770388e-02 2.61991305e+02] [-1.54440778e-01 9.87999034e-01 -2.44015039e-03 -4.02263235e+01] [-1.57670051e-02 4.83658062e-06 9.99875693e-01 -5.23593750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters 0.022491904552258496 Centerline is valid? [True, True] Translation: X:262.02, Y:-40.23, Z:-5.24 [[ 9.87896902e-01 1.54283436e-01 1.60104033e-02 2.62019427e+02] [-1.54263068e-01 9.88026630e-01 -2.50693379e-03 -4.02310466e+01] [-1.62054832e-02 6.77819518e-06 9.99868683e-01 -5.23628703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474012739 meters 0.02251052681543748 Centerline is valid? [True, True] Translation: X:262.05, Y:-40.24, Z:-5.24 [[ 9.87964384e-01 1.53731312e-01 1.71190059e-02 2.62047708e+02] [-1.53707957e-01 9.88112688e-01 -2.67963661e-03 -4.02367359e+01] [-1.73274510e-02 1.60581078e-05 9.99849868e-01 -5.23621674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters 0.022639235779177265 Centerline is valid? [True, True] Translation: X:262.07, Y:-40.24, Z:-5.24 [[ 9.88107705e-01 1.52921377e-01 1.60690760e-02 2.62074377e+02] [-1.52900703e-01 9.88238358e-01 -2.51461920e-03 -4.02438709e+01] [-1.62646163e-02 2.77415802e-05 9.99867722e-01 -5.23854227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534012739 meters 0.02272317631769931 Centerline is valid? [True, True] Translation: X:262.10, Y:-40.25, Z:-5.24 [[ 9.88040414e-01 1.53430311e-01 1.53388337e-02 2.62101954e+02] [-1.53411549e-01 9.88159471e-01 -2.39941702e-03 -4.02485333e+01] [-1.55253571e-02 1.75667383e-05 9.99879474e-01 -5.24059835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters 0.02269380169126551 Centerline is valid? [True, True] Translation: X:262.13, Y:-40.25, Z:-5.24 [[ 9.87876774e-01 1.54508579e-01 1.50525409e-02 2.62130245e+02] [-1.54490647e-01 9.87991447e-01 -2.35393213e-03 -4.02524905e+01] [-1.52354843e-02 -8.18987146e-08 9.99883933e-01 -5.24124403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594012739 meters 0.02302565041908949 Centerline is valid? [True, True] Translation: X:262.16, Y:-40.26, Z:-5.24 [[ 9.87462047e-01 1.57198731e-01 1.43966833e-02 2.62158711e+02] [-1.57182623e-01 9.87566989e-01 -2.25071645e-03 -4.02551394e+01] [-1.45714989e-02 -4.04113700e-05 9.99893829e-01 -5.24193593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters 0.023408101368531248 Centerline is valid? [True, True] Translation: X:262.19, Y:-40.26, Z:-5.24 [[ 9.87195152e-01 1.58830236e-01 1.47880987e-02 2.62187755e+02] [-1.58813433e-01 9.87305906e-01 -2.31118022e-03 -4.02572076e+01] [-1.49674625e-02 -6.69628266e-05 9.99887979e-01 -5.24153503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654012739 meters 0.02426943739169868 Centerline is valid? [True, True] Translation: X:262.22, Y:-40.26, Z:-5.24 [[ 9.86544526e-01 1.62688262e-01 1.61996249e-02 2.62217635e+02] [-1.62668633e-01 9.86677511e-01 -2.53088003e-03 -4.02555180e+01] [-1.63955500e-02 -1.38345002e-04 9.99865574e-01 -5.23862088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters 0.025464989305143314 Centerline is valid? [True, True] Translation: X:262.25, Y:-40.26, Z:-5.24 [[ 9.86219278e-01 1.64549025e-01 1.71800247e-02 2.62246067e+02] [-1.64527241e-01 9.86368889e-01 -2.68343876e-03 -4.02556389e+01] [-1.73873991e-02 -1.80123041e-04 9.99848812e-01 -5.23861009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714012739 meters 0.025745430612663732 Centerline is valid? [True, True] Translation: X:262.27, Y:-40.26, Z:-5.24 [[ 9.86015018e-01 1.65701513e-01 1.78155092e-02 2.62274733e+02] [-1.65678297e-01 9.86175930e-01 -2.78152552e-03 -4.02591901e+01] [-1.80301293e-02 -2.09017289e-04 9.99837422e-01 -5.23825200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters 0.025367432530086668 Centerline is valid? [True, True] Translation: X:262.30, Y:-40.27, Z:-5.24 [[ 9.86140845e-01 1.65014247e-01 1.72201215e-02 2.62302648e+02] [-1.64992467e-01 9.86291165e-01 -2.68774574e-03 -4.02652798e+01] [-1.74275700e-02 -1.90694475e-04 9.99848110e-01 -5.23942843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774012739 meters 0.025280735609176003 Centerline is valid? [True, True] Translation: X:262.33, Y:-40.27, Z:-5.24 [[ 9.86411168e-01 1.63482471e-01 1.63244972e-02 2.62329813e+02] [-1.63462699e-01 9.86546227e-01 -2.54723916e-03 -4.02702337e+01] [-1.65213000e-02 -1.55821218e-04 9.99863502e-01 -5.24213776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters 0.02363002770147601 Centerline is valid? [True, True] Translation: X:262.36, Y:-40.28, Z:-5.24 [[ 9.86972113e-01 1.60129369e-01 1.56407418e-02 2.62357749e+02] [-1.60110813e-01 9.87096032e-01 -2.43957628e-03 -4.02803946e+01] [-1.58295620e-02 -9.64581222e-05 9.99874700e-01 -5.24360390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834012739 meters 0.02315512764036348 Centerline is valid? [True, True] Translation: X:262.39, Y:-40.29, Z:-5.24 [[ 9.87140927e-01 1.58995136e-01 1.65328801e-02 2.62385615e+02] [-1.58974258e-01 9.87279363e-01 -2.57786319e-03 -4.02863792e+01] [-1.67324391e-02 -8.35880952e-05 9.99859999e-01 -5.24271266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters 0.02292265310022806 Centerline is valid? [True, True] Translation: X:262.41, Y:-40.29, Z:-5.24 [[ 9.87227127e-01 1.58364609e-01 1.74140977e-02 2.62413704e+02] [-1.58341364e-01 9.87380699e-01 -2.71437166e-03 -4.02924817e+01] [-1.76242044e-02 -7.76706480e-05 9.99844679e-01 -5.24194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894012739 meters 0.022360855461075965 Centerline is valid? [True, True] Translation: X:262.44, Y:-40.30, Z:-5.24 [[ 9.87639620e-01 1.55802685e-01 1.71319895e-02 2.62441545e+02] [-1.55779816e-01 9.87788197e-01 -2.66958304e-03 -4.03009524e+01] [-1.73387052e-02 -3.22321956e-05 9.99849673e-01 -5.24227556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters 0.02244749542152632 Centerline is valid? [True, True] Translation: X:262.47, Y:-40.31, Z:-5.24 [[ 9.87863712e-01 1.54434139e-01 1.65946570e-02 2.62468601e+02] [-1.54412501e-01 9.88003085e-01 -2.58510638e-03 -4.03070616e+01] [-1.67948010e-02 -8.68970784e-06 9.99858957e-01 -5.24385803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954012739 meters 0.022693983651088694 Centerline is valid? [True, True] Translation: X:262.50, Y:-40.32, Z:-5.25 [[ 9.88361061e-01 1.51320501e-01 1.56370878e-02 2.62496500e+02] [-1.51300916e-01 9.88484752e-01 -2.43488728e-03 -4.03178749e+01] [-1.58254713e-02 4.06420661e-05 9.99874769e-01 -5.24604380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters 0.02312348481032278 Centerline is valid? [True, True] Translation: X:262.52, Y:-40.33, Z:-5.25 [[ 9.88655497e-01 1.49460860e-01 1.48915947e-02 2.62524392e+02] [-1.49442890e-01 9.88767641e-01 -2.31851468e-03 -4.03271435e+01] [-1.50708542e-02 6.67693259e-05 9.99886426e-01 -5.24829820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014012739 meters 0.02466596066050017 Centerline is valid? [True, True] Translation: X:262.55, Y:-40.34, Z:-5.25 [[ 9.89259054e-01 1.45486499e-01 1.41492822e-02 2.62552017e+02] [-1.45469880e-01 9.89360230e-01 -2.20229068e-03 -4.03413887e+01] [-1.43191406e-02 1.20341610e-04 9.99897469e-01 -5.25013073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters 0.025605964030154846 Centerline is valid? [True, True] Translation: X:262.58, Y:-40.35, Z:-5.25 [[ 9.89523472e-01 1.43697567e-01 1.39394613e-02 2.62580681e+02] [-1.43681261e-01 9.89621639e-01 -2.16946549e-03 -4.03512800e+01] [-1.41065394e-02 1.43897644e-04 9.99900487e-01 -5.25119617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074012739 meters 0.026657685999935392 Centerline is valid? [True, True] Translation: X:262.61, Y:-40.36, Z:-5.25 [[ 9.89816856e-01 1.41669232e-01 1.38715901e-02 2.62610141e+02] [-1.41652889e-01 9.89914036e-01 -2.15866132e-03 -4.03616229e+01] [-1.40374976e-02 1.71728557e-04 9.99901455e-01 -5.25100093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters 0.025921916815929737 Centerline is valid? [True, True] Translation: X:262.64, Y:-40.37, Z:-5.25 [[ 9.89808329e-01 1.41644515e-01 1.47072377e-02 2.62640618e+02] [-1.41626141e-01 9.89917571e-01 -2.28870266e-03 -4.03662734e+01] [-1.48831352e-02 1.82447636e-04 9.99889223e-01 -5.24973819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134012739 meters 0.027347574137052723 Centerline is valid? [True, True] Translation: X:262.67, Y:-40.38, Z:-5.25 [[ 9.89807547e-01 1.41527535e-01 1.58422691e-02 2.62670348e+02] [-1.41506211e-01 9.89934300e-01 -2.46465065e-03 -4.03782537e+01] [-1.60316215e-02 1.97750347e-04 9.99871466e-01 -5.25022459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters 0.027612917607704277 Centerline is valid? [True, True] Translation: X:262.70, Y:-40.39, Z:-5.25 [[ 9.89880091e-01 1.41045494e-01 1.56068895e-02 2.62700547e+02] [-1.41024690e-01 9.90003094e-01 -2.43112610e-03 -4.03863771e+01] [-1.57937683e-02 2.05566578e-04 9.99875250e-01 -5.25070351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194012739 meters 0.027143302644869957 Centerline is valid? [True, True] Translation: X:262.73, Y:-40.39, Z:-5.25 [[ 9.89945357e-01 1.40605393e-01 1.54373903e-02 2.62732147e+02] [-1.40584990e-01 9.90065694e-01 -2.40439467e-03 -4.03931227e+01] [-1.56221014e-02 2.09953980e-04 9.99877945e-01 -5.25102461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters 0.028296527298785148 Centerline is valid? [True, True] Translation: X:262.76, Y:-40.41, Z:-5.25 [[ 9.90193681e-01 1.38839724e-01 1.54921075e-02 2.62762241e+02] [-1.38818913e-01 9.90314835e-01 -2.41589269e-03 -4.04056218e+01] [-1.56774858e-02 2.41604145e-04 9.99877071e-01 -5.25076560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254012739 meters 0.02935508512654661 Centerline is valid? [True, True] Translation: X:262.79, Y:-40.42, Z:-5.25 [[ 9.90281185e-01 1.38202715e-01 1.55943624e-02 2.62792035e+02] [-1.38181533e-01 9.90403930e-01 -2.43291707e-03 -4.04155500e+01] [-1.57809535e-02 2.54419104e-04 9.99875441e-01 -5.25176313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters 0.02880462304087269 Centerline is valid? [True, True] Translation: X:262.82, Y:-40.43, Z:-5.25 [[ 9.90445484e-01 1.37028115e-01 1.55254232e-02 2.62822351e+02] [-1.37006930e-01 9.90567121e-01 -2.42506743e-03 -4.04264699e+01] [-1.57112761e-02 2.74806524e-04 9.99876533e-01 -5.25163130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314012739 meters 0.030576226715201972 Centerline is valid? [True, True] Translation: X:262.85, Y:-40.44, Z:-5.25 [[ 9.90552432e-01 1.36209234e-01 1.59035812e-02 2.62851744e+02] [-1.36186878e-01 9.90680048e-01 -2.48542216e-03 -4.04380350e+01] [-1.60938980e-02 2.96081891e-04 9.99870441e-01 -5.25228146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters 0.030709071456645854 Centerline is valid? [True, True] Translation: X:262.88, Y:-40.45, Z:-5.25 [[ 9.90665476e-01 1.35351750e-01 1.61807981e-02 2.62882833e+02] [-1.35328450e-01 9.90797559e-01 -2.53140440e-03 -4.04463313e+01] [-1.63745252e-02 3.18052633e-04 9.99865878e-01 -5.25185766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374012739 meters 0.033560212275956874 Centerline is valid? [True, True] Translation: X:262.91, Y:-40.46, Z:-5.25 [[ 9.90718114e-01 1.34996230e-01 1.59259740e-02 2.62911360e+02] [-1.34973569e-01 9.90846060e-01 -2.49426397e-03 -4.04643035e+01] [-1.61169048e-02 3.21526955e-04 9.99870063e-01 -5.25338932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters 0.03393544625297041 Centerline is valid? [True, True] Translation: X:262.94, Y:-40.47, Z:-5.25 [[ 9.90717322e-01 1.35052675e-01 1.54907050e-02 2.62942105e+02] [-1.35031206e-01 9.90838370e-01 -2.42839323e-03 -4.04748584e+01] [-1.56767459e-02 3.14122659e-04 9.99877063e-01 -5.25474662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434012739 meters 0.03237290452405636 Centerline is valid? [True, True] Translation: X:262.97, Y:-40.49, Z:-5.26 [[ 9.90693746e-01 1.35292423e-01 1.48950126e-02 2.62973709e+02] [-1.35272566e-01 9.90805667e-01 -2.33729356e-03 -4.04855766e+01] [-1.50742810e-02 3.00655553e-04 9.99886331e-01 -5.25556838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters 0.031017868044386488 Centerline is valid? [True, True] Translation: X:263.01, Y:-40.49, Z:-5.26 [[ 9.90699613e-01 1.35232827e-01 1.50452250e-02 2.63006384e+02] [-1.35212518e-01 9.90813801e-01 -2.36369750e-03 -4.04919916e+01] [-1.52266661e-02 3.07411436e-04 9.99884020e-01 -5.25543925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494012739 meters 0.031275249428232975 Centerline is valid? [True, True] Translation: X:263.04, Y:-40.50, Z:-5.25 [[ 9.90523015e-01 1.36403275e-01 1.60717917e-02 2.63035688e+02] [-1.36380194e-01 9.90653344e-01 -2.52861829e-03 -4.05037551e+01] [-1.62664861e-02 3.12780534e-04 9.99867643e-01 -5.25370844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters 0.03130853145610022 Centerline is valid? [True, True] Translation: X:263.07, Y:-40.51, Z:-5.25 [[ 9.90342444e-01 1.37644351e-01 1.66095382e-02 2.63066217e+02] [-1.37619827e-01 9.90481671e-01 -2.61603968e-03 -4.05110897e+01] [-1.68115262e-02 3.04973365e-04 9.99858630e-01 -5.25236973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55401273900003 meters 0.028628744185306917 Centerline is valid? [True, True] Translation: X:263.10, Y:-40.51, Z:-5.25 [[ 9.90182271e-01 1.38738088e-01 1.70532558e-02 2.63098550e+02] [-1.38712352e-01 9.90329064e-01 -2.68860189e-03 -4.05134878e+01] [-1.72613464e-02 2.96708693e-04 9.99850968e-01 -5.25098675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters 0.02712140253771152 Centerline is valid? [True, True] Translation: X:263.13, Y:-40.52, Z:-5.25 [[ 9.89725018e-01 1.41979063e-01 1.69214294e-02 2.63129699e+02] [-1.41954146e-01 9.89869632e-01 -2.67074834e-03 -4.05187489e+01] [-1.71291994e-02 2.41239388e-04 9.99853255e-01 -5.25263885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61401273900003 meters 0.025788297521482855 Centerline is valid? [True, True] Translation: X:263.16, Y:-40.52, Z:-5.26 [[ 9.89378710e-01 1.44445824e-01 1.62840949e-02 2.63161785e+02] [-1.44423039e-01 9.89512691e-01 -2.57285375e-03 -4.05225529e+01] [-1.64849565e-02 1.93728263e-04 9.99864095e-01 -5.25503900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters 0.024530731910421384 Centerline is valid? [True, True] Translation: X:263.19, Y:-40.53, Z:-5.26 [[ 9.88900534e-01 1.47954219e-01 1.36118914e-02 2.63193463e+02] [-1.47938606e-01 9.88994204e-01 -2.15244216e-03 -4.05275354e+01] [-1.37805446e-02 1.14826960e-04 9.99905037e-01 -5.26081724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67401273900003 meters 0.02457541971574497 Centerline is valid? [True, True] Translation: X:263.23, Y:-40.53, Z:-5.26 [[ 9.88868835e-01 1.48209512e-01 1.31289031e-02 2.63226052e+02] [-1.48194982e-01 9.88955979e-01 -2.07808148e-03 -4.05342407e+01] [-1.32918987e-02 1.09312445e-04 9.99911653e-01 -5.26189501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters 0.02477469170354365 Centerline is valid? [True, True] Translation: X:263.26, Y:-40.54, Z:-5.26 [[ 9.88905710e-01 1.47814934e-01 1.47051635e-02 2.63256462e+02] [-1.47796603e-01 9.89015029e-01 -2.33157472e-03 -4.05423953e+01] [-1.48882693e-02 1.32334342e-04 9.99889155e-01 -5.25799538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73401273900004 meters 0.024818028632580386 Centerline is valid? [True, True] Translation: X:263.29, Y:-40.55, Z:-5.26 [[ 9.88913132e-01 1.47677390e-01 1.55629741e-02 2.63289048e+02] [-1.47656822e-01 9.89035575e-01 -2.46880620e-03 -4.05496428e+01] [-1.57569219e-02 1.43455567e-04 9.99875842e-01 -5.25705220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters 0.024160315076435852 Centerline is valid? [True, True] Translation: X:263.32, Y:-40.56, Z:-5.26 [[ 9.88703855e-01 1.49059122e-01 1.56864745e-02 2.63320663e+02] [-1.49038350e-01 9.88828277e-01 -2.49156120e-03 -4.05557836e+01] [-1.58826195e-02 1.25529883e-04 9.99873855e-01 -5.25751843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794012739 meters 0.023585840724423077 Centerline is valid? [True, True] Translation: X:263.35, Y:-40.56, Z:-5.26 [[ 9.88412710e-01 1.50966219e-01 1.57960516e-02 2.63351591e+02] [-1.50945354e-01 9.88538917e-01 -2.51174240e-03 -4.05593748e+01] [-1.59942000e-02 9.82975017e-05 9.99872080e-01 -5.25875580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters 0.023007474206419024 Centerline is valid? [True, True] Translation: X:263.38, Y:-40.56, Z:-5.26 [[ 9.88064107e-01 1.53210769e-01 1.59931296e-02 2.63383105e+02] [-1.53189628e-01 9.88193532e-01 -2.54595497e-03 -4.05617329e+01] [-1.61943749e-02 6.55851589e-05 9.99868860e-01 -5.25892132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854012739 meters 0.022583844986544404 Centerline is valid? [True, True] Translation: X:263.41, Y:-40.56, Z:-5.26 [[ 9.87363275e-01 1.57747260e-01 1.51514274e-02 2.63414989e+02] [-1.57728787e-01 9.87479520e-01 -2.41409641e-03 -4.05625164e+01] [-1.53425414e-02 -6.22614256e-06 9.99882296e-01 -5.26134920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters 0.02333183341053457 Centerline is valid? [True, True] Translation: X:263.45, Y:-40.57, Z:-5.27 [[ 9.86882473e-01 1.60942913e-01 1.26634565e-02 2.63446939e+02] [-1.60930248e-01 9.86963716e-01 -2.01951283e-03 -4.05656360e+01] [-1.28233984e-02 -4.49113883e-05 9.99917776e-01 -5.26566560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914012739 meters 0.023625622561788417 Centerline is valid? [True, True] Translation: X:263.48, Y:-40.57, Z:-5.27 [[ 9.86676128e-01 1.62217793e-01 1.24741917e-02 2.63479343e+02] [-1.62205583e-01 9.86754977e-01 -1.99115042e-03 -4.05702415e+01] [-1.26319708e-02 -5.87629497e-05 9.99920212e-01 -5.26686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters 0.023850319155862533 Centerline is valid? [True, True] Translation: X:263.51, Y:-40.57, Z:-5.27 [[ 9.86432134e-01 1.63637114e-01 1.32113803e-02 2.63512257e+02] [-1.63623508e-01 9.86520597e-01 -2.11160029e-03 -4.05740589e+01] [-1.33788349e-02 -7.87420029e-05 9.99910496e-01 -5.26614913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974012739 meters 0.024016971145790076 Centerline is valid? [True, True] Translation: X:263.54, Y:-40.58, Z:-5.26 [[ 9.86220611e-01 1.64809776e-01 1.43751389e-02 2.63544916e+02] [-1.64793747e-01 9.86325366e-01 -2.30072217e-03 -4.05778384e+01] [-1.45577457e-02 -9.99133768e-05 9.99894025e-01 -5.26439431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters 0.02514787446245131 Centerline is valid? [True, True] Translation: X:263.58, Y:-40.58, Z:-5.26 [[ 9.85752091e-01 1.67532947e-01 1.50175657e-02 2.63576456e+02] [-1.67515719e-01 9.85866467e-01 -2.40680206e-03 -4.05764712e+01] [-1.52085330e-02 -1.43168141e-04 9.99884333e-01 -5.26270394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034012739 meters 0.026781854025741316 Centerline is valid? [True, True] Translation: X:263.61, Y:-40.57, Z:-5.26 [[ 9.85237685e-01 1.70547417e-01 1.48419134e-02 2.63608849e+02] [-1.70530887e-01 9.85349453e-01 -2.38160527e-03 -4.05736751e+01] [-1.50306479e-02 -1.84557385e-04 9.99887016e-01 -5.26273053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters 0.02798837544012785 Centerline is valid? [True, True] Translation: X:263.64, Y:-40.57, Z:-5.26 [[ 9.84879861e-01 1.72548041e-01 1.54542266e-02 2.63639401e+02] [-1.72530358e-01 9.85001078e-01 -2.48035201e-03 -4.05733785e+01] [-1.56504097e-02 -2.23474493e-04 9.99877500e-01 -5.26190499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094012739 meters 0.02796550918816187 Centerline is valid? [True, True] Translation: X:263.67, Y:-40.58, Z:-5.26 [[ 9.84637537e-01 1.73838426e-01 1.64049553e-02 2.63671010e+02] [-1.73818680e-01 9.84774154e-01 -2.63285114e-03 -4.05756957e+01] [-1.66128667e-02 -2.59083612e-04 9.99861963e-01 -5.26083400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters 0.029658482919934784 Centerline is valid? [True, True] Translation: X:263.70, Y:-40.57, Z:-5.26 [[ 9.84492004e-01 1.74699341e-01 1.59885429e-02 2.63702267e+02] [-1.74680694e-01 9.84621790e-01 -2.56628195e-03 -4.05736481e+01] [-1.61909955e-02 -2.66405708e-04 9.99868882e-01 -5.26246554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154012739 meters 0.029658482919934784 Centerline is valid? [True, True] Translation: X:263.73, Y:-40.58, Z:-5.26 [[ 9.84492003e-01 1.74699362e-01 1.59883734e-02 2.63731886e+02] [-1.74680698e-01 9.84621786e-01 -2.56733784e-03 -4.05784035e+01] [-1.61910130e-02 -2.65336646e-04 9.99868882e-01 -5.26307487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters 0.02981107985253939 Centerline is valid? [True, True] Translation: X:263.76, Y:-40.58, Z:-5.26 [[ 9.84570533e-01 1.74313670e-01 1.53495968e-02 2.63760899e+02] [-1.74296420e-01 9.84690146e-01 -2.46482123e-03 -4.05815122e+01] [-1.55442487e-02 -2.48589419e-04 9.99879150e-01 -5.26487062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214012739 meters 0.02916871926796538 Centerline is valid? [True, True] Translation: X:263.79, Y:-40.58, Z:-5.27 [[ 9.84764517e-01 1.73267141e-01 1.47426232e-02 2.63790643e+02] [-1.73251112e-01 9.84874839e-01 -2.36725090e-03 -4.05831374e+01] [-1.49298055e-02 -2.22991183e-04 9.99888519e-01 -5.26637283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters 0.02940743179487404 Centerline is valid? [True, True] Translation: X:263.82, Y:-40.58, Z:-5.27 [[ 9.84758341e-01 1.73301972e-01 1.47457165e-02 2.63819897e+02] [-1.73285944e-01 9.84868710e-01 -2.36746735e-03 -4.05848511e+01] [-1.49328816e-02 -2.23842187e-04 9.99888473e-01 -5.26672647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274012739 meters 0.029467836846654185 Centerline is valid? [True, True] Translation: X:263.85, Y:-40.59, Z:-5.27 [[ 9.84717103e-01 1.73518494e-01 1.49518913e-02 2.63849194e+02] [-1.73502049e-01 9.84830584e-01 -2.39998452e-03 -4.05868332e+01] [-1.51415216e-02 -2.30877979e-04 9.99885334e-01 -5.26680240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters 0.02810924086629458 Centerline is valid? [True, True] Translation: X:263.88, Y:-40.59, Z:-5.26 [[ 9.84717985e-01 1.73319897e-01 1.70500003e-02 2.63879015e+02] [-1.73298491e-01 9.84865547e-01 -2.73630534e-03 -4.05880780e+01] [-1.72662141e-02 -2.60250253e-04 9.99850894e-01 -5.26230842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334012739 meters 0.028232067225531322 Centerline is valid? [True, True] Translation: X:263.91, Y:-40.58, Z:-5.26 [[ 9.84714318e-01 1.73110727e-01 1.92454942e-02 2.63908780e+02] [-1.73083423e-01 9.84902326e-01 -3.08812356e-03 -4.05844735e+01] [-1.94895194e-02 -2.90156544e-04 9.99810019e-01 -5.25870391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters 0.026709357181954232 Centerline is valid? [True, True] Translation: X:263.94, Y:-40.59, Z:-5.26 [[ 9.84844961e-01 1.72340945e-01 1.94679533e-02 2.63938778e+02] [-1.72312865e-01 9.85037320e-01 -3.12335066e-03 -4.05891376e+01] [-1.97149417e-02 -2.78562641e-04 9.99805603e-01 -5.25909089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394012739 meters 0.026727743141964997 Centerline is valid? [True, True] Translation: X:263.97, Y:-40.59, Z:-5.26 [[ 9.85119258e-01 1.70879566e-01 1.84450883e-02 2.63968425e+02] [-1.70854103e-01 9.85291895e-01 -2.95926674e-03 -4.05916954e+01] [-1.86794742e-02 -2.36188361e-04 9.99825496e-01 -5.26188462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters 0.023478395384154565 Centerline is valid? [True, True] Translation: X:264.00, Y:-40.60, Z:-5.27 [[ 9.86282062e-01 1.64300803e-01 1.59040830e-02 2.63998365e+02] [-1.64281022e-01 9.86410278e-01 -2.55128088e-03 -4.06023776e+01] [-1.61071284e-02 -9.64564323e-05 9.99870267e-01 -5.26663613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454012739 meters 0.022527598200718167 Centerline is valid? [True, True] Translation: X:264.03, Y:-40.61, Z:-5.27 [[ 9.87005908e-01 1.59926074e-01 1.55880716e-02 2.64028909e+02] [-1.59906519e-01 9.87128994e-01 -2.50095690e-03 -4.06109103e+01] [-1.57874056e-02 -2.41750294e-05 9.99875371e-01 -5.26762126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters 0.024000755294977853 Centerline is valid? [True, True] Translation: X:264.06, Y:-40.63, Z:-5.27 [[ 9.88389483e-01 1.51009006e-01 1.68080441e-02 2.64058294e+02] [-1.50984979e-01 9.88532379e-01 -2.69670516e-03 -4.06263404e+01] [-1.70225226e-02 1.27632829e-04 9.99855098e-01 -5.26543655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514012739 meters 0.025259907208844298 Centerline is valid? [True, True] Translation: X:264.09, Y:-40.64, Z:-5.26 [[ 9.88876097e-01 1.47690844e-01 1.76487962e-02 2.64088998e+02] [-1.47663772e-01 9.89033556e-01 -2.83457298e-03 -4.06356765e+01] [-1.78738922e-02 1.96953638e-04 9.99840230e-01 -5.26431809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters 0.028749581082432724 Centerline is valid? [True, True] Translation: X:264.12, Y:-40.65, Z:-5.26 [[ 9.89699278e-01 1.41963950e-01 1.84817552e-02 2.64118570e+02] [-1.41933204e-01 9.89871778e-01 -2.97148967e-03 -4.06488376e+01] [-1.87164123e-02 3.17706459e-04 9.99824782e-01 -5.26278747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574012739 meters 0.031068399879011867 Centerline is valid? [True, True] Translation: X:264.15, Y:-40.66, Z:-5.26 [[ 9.89989525e-01 1.39833986e-01 1.91624050e-02 2.64149034e+02] [-1.39800472e-01 9.90174892e-01 -3.08411238e-03 -4.06570609e+01] [-1.94053961e-02 3.74325685e-04 9.99811627e-01 -5.26198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters 0.0317196579477051 Centerline is valid? [True, True] Translation: X:264.18, Y:-40.66, Z:-5.26 [[ 9.90192581e-01 1.38346892e-01 1.94625459e-02 2.64180381e+02] [-1.38311971e-01 9.90383747e-01 -3.13553789e-03 -4.06624613e+01] [-1.97091810e-02 4.12883269e-04 9.99805670e-01 -5.26196228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634012739 meters 0.03193123106041993 Centerline is valid? [True, True] Translation: X:264.21, Y:-40.67, Z:-5.26 [[ 9.90124778e-01 1.38931760e-01 1.87320748e-02 2.64210536e+02] [-1.38899458e-01 9.90301881e-01 -3.02092417e-03 -4.06707201e+01] [-1.89701112e-02 3.89216838e-04 9.99819975e-01 -5.26402114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters 0.028802766184689174 Centerline is valid? [True, True] Translation: X:264.24, Y:-40.67, Z:-5.26 [[ 9.89553443e-01 1.42958461e-01 1.86242493e-02 2.64242572e+02] [-1.42927185e-01 9.89728640e-01 -3.00660117e-03 -4.06718422e+01] [-1.88627720e-02 3.13281010e-04 9.99822033e-01 -5.26415035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694012739 meters 0.027094949447393154 Centerline is valid? [True, True] Translation: X:264.28, Y:-40.67, Z:-5.26 [[ 9.89190499e-01 1.45417018e-01 1.88692097e-02 2.64275386e+02] [-1.45385348e-01 9.89370415e-01 -3.04680813e-03 -4.06729958e+01] [-1.91116955e-02 2.70567043e-04 9.99817318e-01 -5.26472049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters 0.025098890278300354 Centerline is valid? [True, True] Translation: X:264.31, Y:-40.67, Z:-5.27 [[ 9.88804941e-01 1.47983068e-01 1.91258906e-02 2.64308288e+02] [-1.47950990e-01 9.88989869e-01 -3.08930836e-03 -4.06726335e+01] [-1.93724773e-02 2.25028938e-04 9.99812311e-01 -5.26539144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754012739 meters 0.023212347636755993 Centerline is valid? [True, True] Translation: X:264.34, Y:-40.67, Z:-5.27 [[ 9.88047860e-01 1.53050141e-01 1.83597640e-02 2.64339487e+02] [-1.53021397e-01 9.88218417e-01 -2.96864479e-03 -4.06723900e+01] [-1.85978084e-02 1.23726388e-04 9.99827038e-01 -5.26782091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters 0.02261411376815925 Centerline is valid? [True, True] Translation: X:264.37, Y:-40.67, Z:-5.27 [[ 9.87770619e-01 1.54878538e-01 1.79399710e-02 2.64371611e+02] [-1.54851344e-01 9.87933515e-01 -2.90356939e-03 -4.06748332e+01] [-1.81731992e-02 9.00319006e-05 9.99834850e-01 -5.26905651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814012739 meters 0.02217434772294139 Centerline is valid? [True, True] Translation: X:264.40, Y:-40.68, Z:-5.27 [[ 9.87361423e-01 1.57634343e-01 1.63961760e-02 2.64404461e+02] [-1.57611967e-01 9.87497551e-01 -2.65619056e-03 -4.06751528e+01] [-1.66098905e-02 3.83865447e-05 9.99862046e-01 -5.27228886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters 0.022138202637147376 Centerline is valid? [True, True] Translation: X:264.44, Y:-40.68, Z:-5.27 [[ 9.87197922e-01 1.58726696e-01 1.56875070e-02 2.64435114e+02] [-1.58706299e-01 9.87322559e-01 -2.54462862e-03 -4.06784647e+01] [-1.58925300e-02 2.23459106e-05 9.99873706e-01 -5.27463334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874012739 meters 0.022143083155614078 Centerline is valid? [True, True] Translation: X:264.46, Y:-40.68, Z:-5.28 [[ 9.86954756e-01 1.60285337e-01 1.51300976e-02 2.64464796e+02] [-1.60266544e-01 9.87070722e-01 -2.45439395e-03 -4.06807863e+01] [-1.53278797e-02 -2.47267609e-06 9.99882521e-01 -5.27620368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters 0.022783055965632418 Centerline is valid? [True, True] Translation: X:264.49, Y:-40.68, Z:-5.28 [[ 9.86288486e-01 1.64350782e-01 1.49613992e-02 2.64494757e+02] [-1.64332867e-01 9.86401955e-01 -2.42743039e-03 -4.06760738e+01] [-1.51569035e-02 -6.45029891e-05 9.99885125e-01 -5.27642542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934012739 meters 0.023144836353322627 Centerline is valid? [True, True] Translation: X:264.52, Y:-40.68, Z:-5.28 [[ 9.85910970e-01 1.66553351e-01 1.54770864e-02 2.64524406e+02] [-1.66534461e-01 9.86032439e-01 -2.51048505e-03 -4.06763875e+01] [-1.56790389e-02 -1.02353482e-04 9.99877071e-01 -5.27534309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters 0.02532739195566256 Centerline is valid? [True, True] Translation: X:264.55, Y:-40.67, Z:-5.27 [[ 9.85120824e-01 1.71097146e-01 1.62089245e-02 2.64554144e+02] [-1.71077048e-01 9.85254146e-01 -2.62881408e-03 -4.06700014e+01] [-1.64196927e-02 -1.83275478e-04 9.99865171e-01 -5.27454430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994012739 meters 0.025801161675119335 Centerline is valid? [True, True] Translation: X:264.58, Y:-40.67, Z:-5.27 [[ 9.84893919e-01 1.72337600e-01 1.68440098e-02 2.64583513e+02] [-1.72316088e-01 9.85037921e-01 -2.73119681e-03 -4.06711808e+01] [-1.70626763e-02 -2.12554754e-04 9.99854399e-01 -5.27391920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters 0.026809908368246784 Centerline is valid? [True, True] Translation: X:264.61, Y:-40.67, Z:-5.27 [[ 9.84726822e-01 1.73073650e-01 1.89366773e-02 2.64611974e+02] [-1.73046616e-01 9.84908852e-01 -3.06947040e-03 -4.06696022e+01] [-1.91821456e-02 -2.54338101e-04 9.99815973e-01 -5.27087798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05401273900003 meters 0.02613153278503337 Centerline is valid? [True, True] Translation: X:264.64, Y:-40.67, Z:-5.27 [[ 9.84760490e-01 1.72850282e-01 1.92238542e-02 2.64640270e+02] [-1.72822403e-01 9.84948077e-01 -3.11481167e-03 -4.06730369e+01] [-1.94728943e-02 -2.54969212e-04 9.99810353e-01 -5.27022128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters 0.025805992229264055 Centerline is valid? [True, True] Translation: X:264.67, Y:-40.67, Z:-5.27 [[ 9.84945097e-01 1.71937817e-01 1.79037295e-02 2.64668484e+02] [-1.71913499e-01 9.85107780e-01 -2.90014201e-03 -4.06723279e+01] [-1.81357474e-02 -2.21412140e-04 9.99835509e-01 -5.27296925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11401273900003 meters 0.026225054177997715 Centerline is valid? [True, True] Translation: X:264.70, Y:-40.67, Z:-5.27 [[ 9.84991382e-01 1.71716712e-01 1.74742246e-02 2.64696351e+02] [-1.71693531e-01 9.85146347e-01 -2.82946804e-03 -4.06727491e+01] [-1.77005355e-02 -2.13209697e-04 9.99843311e-01 -5.27441952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters 0.025968823992311728 Centerline is valid? [True, True] Translation: X:264.73, Y:-40.68, Z:-5.27 [[ 9.84892108e-01 1.72228895e-01 1.80206170e-02 2.64725508e+02] [-1.72204348e-01 9.85056930e-01 -2.91679424e-03 -4.06754074e+01] [-1.82536899e-02 -2.30500984e-04 9.99833361e-01 -5.27344870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17401273900003 meters 0.027581861770210395 Centerline is valid? [True, True] Translation: X:264.75, Y:-40.67, Z:-5.27 [[ 9.84470296e-01 1.74444227e-01 1.96837122e-02 2.64754315e+02] [-1.74415404e-01 9.84667011e-01 -3.18494253e-03 -4.06703257e+01] [-1.99374969e-02 -2.97661292e-04 9.99801184e-01 -5.26991730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters 0.030389094394201722 Centerline is valid? [True, True] Translation: X:264.78, Y:-40.67, Z:-5.27 [[ 9.84252508e-01 1.75600265e-01 2.02866393e-02 2.64782900e+02] [-1.75569920e-01 9.84461496e-01 -3.28123875e-03 -4.06662399e+01] [-2.05476017e-02 -3.32156169e-04 9.99788821e-01 -5.26893173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23401273900004 meters 0.029467687453052595 Centerline is valid? [True, True] Translation: X:264.81, Y:-40.67, Z:-5.27 [[ 9.84018331e-01 1.76827904e-01 2.09718203e-02 2.64812335e+02] [-1.76795786e-01 9.84241715e-01 -3.39050480e-03 -4.06666594e+01] [-2.12408762e-02 -3.71410580e-04 9.99774318e-01 -5.26877359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters 0.029316721634049005 Centerline is valid? [True, True] Translation: X:264.84, Y:-40.67, Z:-5.27 [[ 9.84049494e-01 1.76622679e-01 2.12372793e-02 2.64841209e+02] [-1.76589718e-01 9.84278563e-01 -3.43239861e-03 -4.06687350e+01] [-2.15096382e-02 -3.72635047e-04 9.99768572e-01 -5.26922173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294012739 meters 0.027683111417380918 Centerline is valid? [True, True] Translation: X:264.87, Y:-40.67, Z:-5.27 [[ 9.84526498e-01 1.73954346e-01 2.11532663e-02 2.64868432e+02] [-1.73921050e-01 9.84753668e-01 -3.41780396e-03 -4.06724002e+01] [-2.14252984e-02 -3.14079738e-04 9.99770403e-01 -5.27008990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters 0.026374717691357488 Centerline is valid? [True, True] Translation: X:264.90, Y:-40.68, Z:-5.27 [[ 9.84856208e-01 1.72051501e-01 2.13665685e-02 2.64897055e+02] [-1.72017110e-01 9.85087917e-01 -3.45100657e-03 -4.06770950e+01] [-2.16416993e-02 -2.76670128e-04 9.99765753e-01 -5.26998692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354012739 meters 0.024905232611475054 Centerline is valid? [True, True] Translation: X:264.93, Y:-40.68, Z:-5.27 [[ 9.85167624e-01 1.70219480e-01 2.16813626e-02 2.64925635e+02] [-1.70183647e-01 9.85406145e-01 -3.50081512e-03 -4.06819843e+01] [-2.19608549e-02 -2.40923658e-04 9.99758802e-01 -5.27011216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters 0.02424504502497698 Centerline is valid? [True, True] Translation: X:264.95, Y:-40.68, Z:-5.27 [[ 9.85412576e-01 1.68871469e-01 2.10827393e-02 2.64954483e+02] [-1.68837300e-01 9.85638060e-01 -3.40317298e-03 -4.06824098e+01] [-2.13546491e-02 -2.06023330e-04 9.99771942e-01 -5.27199671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414012739 meters 0.024159232556641368 Centerline is valid? [True, True] Translation: X:264.98, Y:-40.68, Z:-5.27 [[ 9.85410699e-01 1.68994796e-01 2.01621651e-02 2.64983027e+02] [-1.68963591e-01 9.85616923e-01 -3.25364893e-03 -4.06849194e+01] [-2.04220208e-02 -2.00491339e-04 9.99791429e-01 -5.27403547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters 0.0239783395624629 Centerline is valid? [True, True] Translation: X:265.01, Y:-40.69, Z:-5.28 [[ 9.85594489e-01 1.68128235e-01 1.83411887e-02 2.65011684e+02] [-1.68102277e-01 9.85765118e-01 -2.95898248e-03 -4.06852117e+01] [-1.85775926e-02 -1.66838774e-04 9.99827408e-01 -5.27817685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474012739 meters 0.023422216225724445 Centerline is valid? [True, True] Translation: X:265.04, Y:-40.69, Z:-5.28 [[ 9.85812390e-01 1.66834286e-01 1.84459582e-02 2.65040657e+02] [-1.66807821e-01 9.85984939e-01 -2.97497968e-03 -4.06890486e+01] [-1.86837656e-02 -1.44158265e-04 9.99825433e-01 -5.27870961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters 0.022367224733194156 Centerline is valid? [True, True] Translation: X:265.07, Y:-40.69, Z:-5.28 [[ 9.86326529e-01 1.63707415e-01 1.89699804e-02 2.65067567e+02] [-1.63678865e-01 9.86508933e-01 -3.05855170e-03 -4.06948604e+01] [-1.92147627e-02 -8.82541872e-05 9.99815376e-01 -5.27807839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534012739 meters 0.022345787251142984 Centerline is valid? [True, True] Translation: X:265.09, Y:-40.70, Z:-5.28 [[ 9.86488963e-01 1.62785130e-01 1.84534012e-02 2.65094515e+02] [-1.62757973e-01 9.86661541e-01 -2.97416789e-03 -4.06997082e+01] [-1.86914116e-02 -6.94543818e-05 9.99825298e-01 -5.27924383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters 0.02249700811300748 Centerline is valid? [True, True] Translation: X:265.12, Y:-40.70, Z:-5.28 [[ 9.86487657e-01 1.62946972e-01 1.70407260e-02 2.65122180e+02] [-1.62923854e-01 9.86634826e-01 -2.74555552e-03 -4.07011925e+01] [-1.72603536e-02 -6.78841189e-05 9.99851027e-01 -5.28213920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594012739 meters 0.02276778302064979 Centerline is valid? [True, True] Translation: X:265.15, Y:-40.70, Z:-5.28 [[ 9.86350724e-01 1.63814225e-01 1.66478232e-02 2.65151138e+02] [-1.63792301e-01 9.86491203e-01 -2.68124789e-03 -4.07029732e+01] [-1.68621576e-02 -8.21344707e-05 9.99857820e-01 -5.28280835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters 0.023215964762791034 Centerline is valid? [True, True] Translation: X:265.18, Y:-40.70, Z:-5.28 [[ 9.86156903e-01 1.65001981e-01 1.63984687e-02 2.65179936e+02] [-1.64980886e-01 9.86293230e-01 -2.64032069e-03 -4.07030829e+01] [-1.66093568e-02 -1.01663410e-04 9.99862050e-01 -5.28451942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654012739 meters 0.023251936371453945 Centerline is valid? [True, True] Translation: X:265.21, Y:-40.71, Z:-5.29 [[ 9.86191308e-01 1.64861004e-01 1.57338612e-02 2.65208862e+02] [-1.64841578e-01 9.86316805e-01 -2.53259641e-03 -4.07069909e+01] [-1.59360981e-02 -9.59699382e-05 9.99873008e-01 -5.28613759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters 0.022729529303184955 Centerline is valid? [True, True] Translation: X:265.24, Y:-40.71, Z:-5.29 [[ 9.86456943e-01 1.63209823e-01 1.62866106e-02 2.65236541e+02] [-1.63188796e-01 9.86591379e-01 -2.62076123e-03 -4.07138702e+01] [-1.64959636e-02 -7.25242654e-05 9.99863930e-01 -5.28636608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714012739 meters 0.022250659629592284 Centerline is valid? [True, True] Translation: X:265.26, Y:-40.72, Z:-5.29 [[ 9.86713206e-01 1.61558730e-01 1.71995849e-02 2.65263274e+02] [-1.61535044e-01 9.86863098e-01 -2.76680224e-03 -4.07204480e+01] [-1.74206367e-02 -4.82953913e-05 9.99848248e-01 -5.28534199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters 0.021940099306881265 Centerline is valid? [True, True] Translation: X:265.29, Y:-40.73, Z:-5.28 [[ 9.87192079e-01 1.58524441e-01 1.79388057e-02 2.65290739e+02] [-1.58498195e-01 9.87355053e-01 -2.88454146e-03 -4.07308006e+01] [-1.81692407e-02 4.32816434e-06 9.99834926e-01 -5.28352412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774012739 meters 0.02218217444075552 Centerline is valid? [True, True] Translation: X:265.32, Y:-40.74, Z:-5.29 [[ 9.87394478e-01 1.57402803e-01 1.66283362e-02 2.65317410e+02] [-1.57380104e-01 9.87534484e-01 -2.67312219e-03 -4.07371715e+01] [-1.68418123e-02 2.24568128e-05 9.99858166e-01 -5.28604513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters 0.022504427549911134 Centerline is valid? [True, True] Translation: X:265.35, Y:-40.74, Z:-5.29 [[ 9.87604776e-01 1.56247194e-01 1.49539349e-02 2.65345689e+02] [-1.56228717e-01 9.87717983e-01 -2.40311456e-03 -4.07442652e+01] [-1.51457503e-02 3.70933600e-05 9.99885296e-01 -5.28964193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834012739 meters 0.022514040198778246 Centerline is valid? [True, True] Translation: X:265.37, Y:-40.75, Z:-5.29 [[ 9.87677334e-01 1.55720031e-01 1.56446947e-02 2.65373279e+02] [-1.55699753e-01 9.87801230e-01 -2.51336009e-03 -4.07504024e+01] [-1.58452292e-02 4.65136904e-05 9.99874455e-01 -5.28912943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters 0.022338357120834002 Centerline is valid? [True, True] Translation: X:265.40, Y:-40.76, Z:-5.28 [[ 9.87789143e-01 1.54745429e-01 1.80682500e-02 2.65401595e+02] [-1.54718243e-01 9.87954375e-01 -2.90139281e-03 -4.07569394e+01] [-1.82995839e-02 7.04764240e-05 9.99832546e-01 -5.28470421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894012739 meters 0.022416290757788795 Centerline is valid? [True, True] Translation: X:265.43, Y:-40.76, Z:-5.28 [[ 9.87893678e-01 1.54051285e-01 1.82833700e-02 2.65428895e+02] [-1.54023345e-01 9.88062849e-01 -2.93506151e-03 -4.07622582e+01] [-1.85172687e-02 8.34628984e-05 9.99828537e-01 -5.28487017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters 0.022690284433210344 Centerline is valid? [True, True] Translation: X:265.46, Y:-40.77, Z:-5.29 [[ 9.87997117e-01 1.53414917e-01 1.80432807e-02 2.65457464e+02] [-1.53387619e-01 9.88161857e-01 -2.89542572e-03 -4.07686783e+01] [-1.82738832e-02 9.30563967e-05 9.99833014e-01 -5.28642821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954012739 meters 0.02328066198012414 Centerline is valid? [True, True] Translation: X:265.49, Y:-40.78, Z:-5.29 [[ 9.88272268e-01 1.51632277e-01 1.80437553e-02 2.65485105e+02] [-1.51604697e-01 9.88436967e-01 -2.89463790e-03 -4.07787035e+01] [-1.82740353e-02 1.25172311e-04 9.99833008e-01 -5.28774068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters 0.024020386706581597 Centerline is valid? [True, True] Translation: X:265.51, Y:-40.79, Z:-5.29 [[ 9.88527237e-01 1.49913752e-01 1.84328062e-02 2.65512042e+02] [-1.49884688e-01 9.88699065e-01 -2.95615250e-03 -4.07870464e+01] [-1.86676662e-02 1.59441852e-04 9.99825731e-01 -5.28727584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014012739 meters 0.026420866974423363 Centerline is valid? [True, True] Translation: X:265.54, Y:-40.80, Z:-5.28 [[ 9.89120841e-01 1.45707598e-01 2.02301416e-02 2.65538840e+02] [-1.45671736e-01 9.89327665e-01 -3.24306459e-03 -4.07990528e+01] [-2.04867779e-02 2.60822934e-04 9.99790090e-01 -5.28414334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters 0.026420866974423363 Centerline is valid? [True, True] Translation: X:265.57, Y:-40.80, Z:-5.28 [[ 9.89124152e-01 1.45685113e-01 2.02301655e-02 2.65567639e+02] [-1.45649250e-01 9.89330976e-01 -3.24291561e-03 -4.08036244e+01] [-2.04867739e-02 2.61137723e-04 9.99790090e-01 -5.28473562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074012739 meters 0.02805274494912525 Centerline is valid? [True, True] Translation: X:265.60, Y:-40.81, Z:-5.28 [[ 9.89473308e-01 1.43215269e-01 2.07836445e-02 2.65595979e+02] [-1.43176881e-01 9.89691510e-01 -3.33114141e-03 -4.08123645e+01] [-2.10464668e-02 3.20338109e-04 9.99778447e-01 -5.28425964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters 0.028421849703515738 Centerline is valid? [True, True] Translation: X:265.63, Y:-40.82, Z:-5.29 [[ 9.89673602e-01 1.41864242e-01 2.05109367e-02 2.65625630e+02] [-1.41826575e-01 9.89886063e-01 -3.28697041e-03 -4.08197066e+01] [-2.07697940e-02 3.44031947e-04 9.99784225e-01 -5.28547362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134012739 meters 0.03031762412534063 Centerline is valid? [True, True] Translation: X:265.65, Y:-40.83, Z:-5.29 [[ 9.89833436e-01 1.40782939e-01 2.02467981e-02 2.65654322e+02] [-1.40746010e-01 9.90040420e-01 -3.24464334e-03 -4.08327388e+01] [-2.05019389e-02 3.62000422e-04 9.99789748e-01 -5.28723102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters 0.03061510894344122 Centerline is valid? [True, True] Translation: X:265.69, Y:-40.84, Z:-5.28 [[ 9.90022077e-01 1.39460565e-01 2.01751939e-02 2.65685953e+02] [-1.39423616e-01 9.90227550e-01 -3.23342814e-03 -4.08416190e+01] [-2.04289686e-02 3.88266745e-04 9.99791231e-01 -5.28427299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194012739 meters 0.030580481195101716 Centerline is valid? [True, True] Translation: X:265.72, Y:-40.85, Z:-5.29 [[ 9.90110558e-01 1.38886568e-01 1.97889893e-02 2.65716009e+02] [-1.38850839e-01 9.90308217e-01 -3.17489817e-03 -4.08516761e+01] [-2.00381494e-02 3.95782424e-04 9.99799138e-01 -5.28846800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters 0.0330602861361635 Centerline is valid? [True, True] Translation: X:265.75, Y:-40.86, Z:-5.29 [[ 9.90184247e-01 1.38450896e-01 1.91443648e-02 2.65745594e+02] [-1.38417318e-01 9.90369221e-01 -3.07443763e-03 -4.08644558e+01] [-1.93856483e-02 3.94348080e-04 9.99812003e-01 -5.28963635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254012739 meters 0.03036037671655936 Centerline is valid? [True, True] Translation: X:265.78, Y:-40.87, Z:-5.29 [[ 9.90146686e-01 1.38619705e-01 1.98523765e-02 2.65778156e+02] [-1.38583566e-01 9.90345601e-01 -3.19135383e-03 -4.08720657e+01] [-2.01030982e-02 4.08695286e-04 9.99797829e-01 -5.28997610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters 0.0316832373062482 Centerline is valid? [True, True] Translation: X:265.81, Y:-40.88, Z:-5.29 [[ 9.90056737e-01 1.39315664e-01 1.94628733e-02 2.65807861e+02] [-1.39280988e-01 9.90247945e-01 -3.13256623e-03 -4.08823924e+01] [-1.97094859e-02 3.90610065e-04 9.99805673e-01 -5.29124434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314012739 meters 0.02775464627097987 Centerline is valid? [True, True] Translation: X:265.84, Y:-40.88, Z:-5.29 [[ 9.89582392e-01 1.42747166e-01 1.87066032e-02 2.65838949e+02] [-1.42715711e-01 9.89759137e-01 -3.01270101e-03 -4.08845928e+01] [-1.89450859e-02 3.11589697e-04 9.99820477e-01 -5.29228232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters 0.02638263713724987 Centerline is valid? [True, True] Translation: X:265.87, Y:-40.89, Z:-5.29 [[ 9.89170441e-01 1.45598435e-01 1.85184676e-02 2.65869813e+02] [-1.45568102e-01 9.89343737e-01 -2.98274488e-03 -4.08885169e+01] [-1.87554129e-02 2.54744887e-04 9.99824069e-01 -5.29287525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374012739 meters 0.024947741680130024 Centerline is valid? [True, True] Translation: X:265.90, Y:-40.89, Z:-5.29 [[ 9.88698366e-01 1.48791107e-01 1.83506939e-02 2.65899988e+02] [-1.48761836e-01 9.88868631e-01 -2.95758292e-03 -4.08915277e+01] [-1.85864876e-02 1.94274474e-04 9.99827237e-01 -5.29326700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters 0.02243359685808022 Centerline is valid? [True, True] Translation: X:265.93, Y:-40.89, Z:-5.29 [[ 9.87820822e-01 1.54403006e-01 1.92285196e-02 2.65931015e+02] [-1.54371902e-01 9.88007947e-01 -3.10049561e-03 -4.08911255e+01] [-1.94766560e-02 9.43909728e-05 9.99810307e-01 -5.29299147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434012739 meters 0.022084557815175983 Centerline is valid? [True, True] Translation: X:265.96, Y:-40.89, Z:-5.29 [[ 9.87492118e-01 1.56431676e-01 1.97090831e-02 2.65960219e+02] [-1.56399401e-01 9.87688781e-01 -3.17798799e-03 -4.08946837e+01] [-1.99635783e-02 5.57492906e-05 9.99800706e-01 -5.29347306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters 0.02212619423228429 Centerline is valid? [True, True] Translation: X:265.99, Y:-40.90, Z:-5.30 [[ 9.87235275e-01 1.58120336e-01 1.90911241e-02 2.65988818e+02] [-1.58090373e-01 9.87419849e-01 -3.07812213e-03 -4.09007376e+01] [-1.93376685e-02 2.07078246e-05 9.99813010e-01 -5.29516492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494012739 meters 0.02217257186939711 Centerline is valid? [True, True] Translation: X:266.02, Y:-40.91, Z:-5.30 [[ 9.87307276e-01 1.57699921e-01 1.88434798e-02 2.66018216e+02] [-1.57670659e-01 9.87487080e-01 -3.03798527e-03 -4.09076771e+01] [-1.90867829e-02 2.83610898e-05 9.99817830e-01 -5.29626694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters 0.022212377782946234 Centerline is valid? [True, True] Translation: X:266.05, Y:-40.92, Z:-5.30 [[ 9.87479535e-01 1.56613769e-01 1.88758041e-02 2.66047771e+02] [-1.56584217e-01 9.87659924e-01 -3.04273243e-03 -4.09154506e+01] [-1.91194090e-02 4.89829978e-05 9.99817206e-01 -5.29628635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55401273900003 meters 0.022864919603330192 Centerline is valid? [True, True] Translation: X:266.08, Y:-40.93, Z:-5.30 [[ 9.87888031e-01 1.53948120e-01 1.94220341e-02 2.66077494e+02] [-1.53916317e-01 9.88078927e-01 -3.13076823e-03 -4.09285137e+01] [-1.96724785e-02 1.03480501e-04 9.99806473e-01 -5.29691478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters 0.023116080602508103 Centerline is valid? [True, True] Translation: X:266.11, Y:-40.94, Z:-5.30 [[ 9.88051369e-01 1.52793341e-01 2.02160061e-02 2.66108274e+02] [-1.52758632e-01 9.88258153e-01 -3.25926178e-03 -4.09372919e+01] [-2.04766264e-02 1.32148620e-04 9.99790323e-01 -5.29634988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61401273900003 meters 0.02360512056126281 Centerline is valid? [True, True] Translation: X:266.14, Y:-40.95, Z:-5.29 [[ 9.88166877e-01 1.51871941e-01 2.14740760e-02 2.66139018e+02] [-1.51832543e-01 9.88400166e-01 -3.46284694e-03 -4.09473879e+01] [-2.17508896e-02 1.61407078e-04 9.99763408e-01 -5.29426565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters 0.023997894445049694 Centerline is valid? [True, True] Translation: X:266.17, Y:-40.95, Z:-5.29 [[ 9.88158623e-01 1.51958603e-01 2.12395696e-02 2.66170734e+02] [-1.51920006e-01 9.88386846e-01 -3.42851552e-03 -4.09545867e+01] [-2.15139036e-02 1.61201630e-04 9.99768536e-01 -5.29469521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67401273900003 meters 0.023122707028106995 Centerline is valid? [True, True] Translation: X:266.20, Y:-40.96, Z:-5.30 [[ 9.87923336e-01 1.53619226e-01 2.02142622e-02 2.66202895e+02] [-1.53584566e-01 9.88130112e-01 -3.26532392e-03 -4.09573138e+01] [-2.04759377e-02 1.21291009e-04 9.99790339e-01 -5.29723165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters 0.022773592175679064 Centerline is valid? [True, True] Translation: X:266.23, Y:-40.96, Z:-5.30 [[ 9.87748997e-01 1.54802021e-01 1.97041540e-02 2.66234634e+02] [-1.54769261e-01 9.87945507e-01 -3.18610347e-03 -4.09621428e+01] [-1.99598457e-02 9.74731488e-05 9.99800778e-01 -5.29882863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73401273900004 meters 0.022656866203660368 Centerline is valid? [True, True] Translation: X:266.26, Y:-40.97, Z:-5.30 [[ 9.87639058e-01 1.55595347e-01 1.89520381e-02 2.66264892e+02] [-1.55565126e-01 9.87820875e-01 -3.06758303e-03 -4.09701912e+01] [-1.91985205e-02 8.13886083e-05 9.99815688e-01 -5.30113905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters 0.022896384719403737 Centerline is valid? [True, True] Translation: X:266.30, Y:-40.98, Z:-5.30 [[ 9.87665293e-01 1.55510702e-01 1.82671857e-02 2.66295125e+02] [-1.55482561e-01 9.87834204e-01 -2.95947488e-03 -4.09771317e+01] [-1.85051809e-02 8.27417987e-05 9.99828761e-01 -5.30255246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794012739 meters 0.023435502081650423 Centerline is valid? [True, True] Translation: X:266.33, Y:-40.98, Z:-5.30 [[ 9.87877100e-01 1.54240169e-01 1.75728949e-02 2.66325303e+02] [-1.54213873e-01 9.88033380e-01 -2.84991353e-03 -4.09837120e+01] [-1.78021779e-02 1.05380120e-04 9.99841523e-01 -5.30445478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters 0.023612677265634086 Centerline is valid? [True, True] Translation: X:266.36, Y:-40.99, Z:-5.30 [[ 9.87942437e-01 1.53780765e-01 1.79225337e-02 2.66355654e+02] [-1.53753329e-01 9.88104986e-01 -2.90704491e-03 -4.09898027e+01] [-1.81563925e-02 1.16343798e-04 9.99835152e-01 -5.30485884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854012739 meters 0.023763388165446358 Centerline is valid? [True, True] Translation: X:266.39, Y:-41.00, Z:-5.30 [[ 9.88024148e-01 1.53095223e-01 1.92389167e-02 2.66387098e+02] [-1.53063471e-01 9.88211432e-01 -3.12093306e-03 -4.09985329e+01] [-1.94899174e-02 1.38781846e-04 9.99810044e-01 -5.30343913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters 0.023780999733949627 Centerline is valid? [True, True] Translation: X:266.42, Y:-41.00, Z:-5.30 [[ 9.88024870e-01 1.53093806e-01 1.92130734e-02 2.66419797e+02] [-1.53062078e-01 9.88211651e-01 -3.11990586e-03 -4.10044953e+01] [-1.94642213e-02 1.41751644e-04 9.99810544e-01 -5.30376568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914012739 meters 0.023247846156197058 Centerline is valid? [True, True] Translation: X:266.45, Y:-41.01, Z:-5.31 [[ 9.87767216e-01 1.54872046e-01 1.81817656e-02 2.66450813e+02] [-1.54843873e-01 9.87934531e-01 -2.95579138e-03 -4.10061413e+01] [-1.84201636e-02 1.04298823e-04 9.99830329e-01 -5.30538734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters 0.022933186662101663 Centerline is valid? [True, True] Translation: X:266.48, Y:-41.01, Z:-5.31 [[ 9.87533110e-01 1.56382324e-01 1.79701301e-02 2.66482494e+02] [-1.56354998e-01 9.87696594e-01 -2.92441243e-03 -4.10087391e+01] [-1.82063627e-02 7.82344584e-05 9.99834247e-01 -5.30652714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974012739 meters 0.031408265932996025 Centerline is valid? [True, True] Translation: X:266.51, Y:-41.01, Z:-5.29 [[ 9.86964029e-01 1.59821118e-01 1.89529927e-02 2.66514789e+02] [-1.59791344e-01 9.87145992e-01 -3.08483561e-03 -4.10093701e+01] [-1.92023926e-02 1.60976033e-05 9.99815617e-01 -5.29494397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters 0.022211671050990797 Centerline is valid? [True, True] Translation: X:266.55, Y:-41.01, Z:-5.30 [[ 9.86658289e-01 1.61484561e-01 2.06919747e-02 2.66545018e+02] [-1.61449428e-01 9.86875238e-01 -3.36841669e-03 -4.10121301e+01] [-2.09643448e-02 -1.72312296e-05 9.99780224e-01 -5.30277106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034012739 meters 0.022184563665556455 Centerline is valid? [True, True] Translation: X:266.58, Y:-41.02, Z:-5.30 [[ 9.86476322e-01 1.62471985e-01 2.16175943e-02 2.66575561e+02] [-1.62433868e-01 9.86713156e-01 -3.51936941e-03 -4.10160161e+01] [-2.19021636e-02 -3.96548650e-05 9.99760118e-01 -5.30212367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters 0.022260738222343104 Centerline is valid? [True, True] Translation: X:266.61, Y:-41.02, Z:-5.30 [[ 9.86380110e-01 1.62822890e-01 2.33020245e-02 2.66606073e+02] [-1.62778691e-01 9.86655312e-01 -3.79393214e-03 -4.10214597e+01] [-2.36088053e-02 -5.08138525e-05 9.99721272e-01 -5.30058558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094012739 meters 0.022311504644025162 Centerline is valid? [True, True] Translation: X:266.64, Y:-41.03, Z:-5.30 [[ 9.86311964e-01 1.63365995e-01 2.23665216e-02 2.66637670e+02] [-1.63325393e-01 9.86565532e-01 -3.64251747e-03 -4.10262897e+01] [-2.26611028e-02 -6.03623764e-05 9.99743202e-01 -5.30280836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters 0.02300894009876612 Centerline is valid? [True, True] Translation: X:266.67, Y:-41.03, Z:-5.31 [[ 9.85960235e-01 1.65803580e-01 1.97885707e-02 2.66668135e+02] [-1.65772224e-01 9.86158792e-01 -3.22593296e-03 -4.10286186e+01] [-2.00495442e-02 -9.97537521e-05 9.99798983e-01 -5.30804180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154012739 meters 0.024237744966259907 Centerline is valid? [True, True] Translation: X:266.70, Y:-41.03, Z:-5.31 [[ 9.85489364e-01 1.68675112e-01 1.89583779e-02 2.66698588e+02] [-1.68646859e-01 9.85671692e-01 -3.09085027e-03 -4.10286953e+01] [-1.92080860e-02 -1.51270814e-04 9.99815496e-01 -5.30978272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters 0.028024617389144264 Centerline is valid? [True, True] Translation: X:266.73, Y:-41.02, Z:-5.31 [[ 9.84063952e-01 1.76775546e-01 1.91975230e-02 2.66730008e+02] [-1.76748123e-01 9.84251141e-01 -3.12937467e-03 -4.10199662e+01] [-1.94483808e-02 -3.13621364e-04 9.99810813e-01 -5.30960275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214012739 meters 0.03146825049290015 Centerline is valid? [True, True] Translation: X:266.76, Y:-41.02, Z:-5.31 [[ 9.83519155e-01 1.79794464e-01 1.90793931e-02 2.66759864e+02] [-1.79767954e-01 9.83704129e-01 -3.10965498e-03 -4.10155301e+01] [-1.93275765e-02 -3.71458225e-04 9.99813136e-01 -5.31082435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters 0.03308513393984257 Centerline is valid? [True, True] Translation: X:266.79, Y:-41.02, Z:-5.31 [[ 9.83165079e-01 1.81775289e-01 1.85518726e-02 2.66788999e+02] [-1.81750589e-01 9.83340015e-01 -3.02302362e-03 -4.10153108e+01] [-1.87923097e-02 -3.99682531e-04 9.99823329e-01 -5.31288237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274012739 meters 0.034503344767763115 Centerline is valid? [True, True] Translation: X:266.82, Y:-41.01, Z:-5.31 [[ 9.83042630e-01 1.82450269e-01 1.84143110e-02 2.66817008e+02] [-1.82426068e-01 9.83214997e-01 -2.99975253e-03 -4.10145505e+01] [-1.86525324e-02 -4.10365747e-04 9.99825942e-01 -5.31395615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters 0.03328888255844606 Centerline is valid? [True, True] Translation: X:266.84, Y:-41.02, Z:-5.31 [[ 9.83394721e-01 1.80396673e-01 1.97955484e-02 2.66844594e+02] [-1.80368315e-01 9.83593859e-01 -3.22349604e-03 -4.10181448e+01] [-2.00522878e-02 -4.00520726e-04 9.99798852e-01 -5.31228671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334012739 meters 0.03043457258138617 Centerline is valid? [True, True] Translation: X:266.87, Y:-41.03, Z:-5.31 [[ 9.83655276e-01 1.78955500e-01 1.99305492e-02 2.66872526e+02] [-1.78926483e-01 9.83857098e-01 -3.24423144e-03 -4.10270715e+01] [-2.01893853e-02 -3.74897706e-04 9.99796103e-01 -5.31267616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters 0.028733882934217775 Centerline is valid? [True, True] Translation: X:266.90, Y:-41.03, Z:-5.31 [[ 9.83932254e-01 1.77446397e-01 1.97508576e-02 2.66900334e+02] [-1.77417616e-01 9.84130408e-01 -3.21403198e-03 -4.10344134e+01] [-2.00077379e-02 -3.41760342e-04 9.99799767e-01 -5.31359582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394012739 meters 0.026935401636690805 Centerline is valid? [True, True] Translation: X:266.93, Y:-41.04, Z:-5.32 [[ 9.84630003e-01 1.73637552e-01 1.88084435e-02 2.66928366e+02] [-1.73610774e-01 9.84809594e-01 -3.05976672e-03 -4.10418975e+01] [-1.90540260e-02 -2.52610320e-04 9.99818424e-01 -5.31643344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters 0.0250583594269015 Centerline is valid? [True, True] Translation: X:266.96, Y:-41.05, Z:-5.32 [[ 9.85126887e-01 1.70712484e-01 1.95515783e-02 2.66956092e+02] [-1.70682987e-01 9.85320864e-01 -3.17990718e-03 -4.10499159e+01] [-1.98074279e-02 -2.04509728e-04 9.99803793e-01 -5.31573778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454012739 meters 0.022427321325805754 Centerline is valid? [True, True] Translation: X:266.98, Y:-41.07, Z:-5.31 [[ 9.86191007e-01 1.64227816e-01 2.13663570e-02 2.66983496e+02] [-1.64191090e-01 9.86422434e-01 -3.47397089e-03 -4.10652957e+01] [-2.16467766e-02 -8.21665926e-05 9.99765678e-01 -5.31289822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters 0.022064599784665257 Centerline is valid? [True, True] Translation: X:267.01, Y:-41.08, Z:-5.31 [[ 9.86650988e-01 1.61397662e-01 2.16938481e-02 2.67013553e+02] [-1.61359126e-01 9.86889454e-01 -3.52676634e-03 -4.10770667e+01] [-2.19786418e-02 -2.08128867e-05 9.99758440e-01 -5.31328301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514012739 meters 0.022236304044204073 Centerline is valid? [True, True] Translation: X:267.04, Y:-41.09, Z:-5.31 [[ 9.87089035e-01 1.58717664e-01 2.15392644e-02 2.67043648e+02] [-1.58679024e-01 9.87324010e-01 -3.50226235e-03 -4.10880988e+01] [-2.18221038e-02 3.92153098e-05 9.99761869e-01 -5.31406065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters 0.022950412262037482 Centerline is valid? [True, True] Translation: X:267.07, Y:-41.10, Z:-5.32 [[ 9.87617088e-01 1.55521332e-01 2.06301241e-02 2.67073987e+02] [-1.55485147e-01 9.87832528e-01 -3.35635401e-03 -4.10996458e+01] [-2.09010923e-02 1.07114686e-04 9.99781543e-01 -5.31628706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574012739 meters 0.023327306090523182 Centerline is valid? [True, True] Translation: X:267.11, Y:-41.11, Z:-5.32 [[ 9.87844252e-01 1.54193952e-01 1.96966664e-02 2.67105130e+02] [-1.54160641e-01 9.88040590e-01 -3.20765353e-03 -4.11099839e+01] [-1.99557067e-02 1.32211385e-04 9.99800856e-01 -5.31926116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters 0.023427101228928368 Centerline is valid? [True, True] Translation: X:267.14, Y:-41.12, Z:-5.32 [[ 9.87901203e-01 1.53919969e-01 1.89698821e-02 2.67136840e+02] [-1.53888960e-01 9.88083309e-01 -3.09246900e-03 -4.11187885e+01] [-1.92198166e-02 1.35798416e-04 9.99815273e-01 -5.32084404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634012739 meters 0.023971023137506386 Centerline is valid? [True, True] Translation: X:267.17, Y:-41.13, Z:-5.32 [[ 9.87920054e-01 1.53864383e-01 1.84314653e-02 2.67167348e+02] [-1.53835032e-01 9.88091966e-01 -3.00828312e-03 -4.11278160e+01] [-1.86748505e-02 1.36538147e-04 9.99825600e-01 -5.32243668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters 0.023651451951877234 Centerline is valid? [True, True] Translation: X:267.20, Y:-41.13, Z:-5.33 [[ 9.87682333e-01 1.55523915e-01 1.72023652e-02 2.67198124e+02] [-1.55498548e-01 9.87832122e-01 -2.81071693e-03 -4.11330126e+01] [-1.74301826e-02 1.01152661e-04 9.99848078e-01 -5.32523449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694012739 meters 0.022771550047583345 Centerline is valid? [True, True] Translation: X:267.23, Y:-41.13, Z:-5.33 [[ 9.87334713e-01 1.57699866e-01 1.73469753e-02 2.67230706e+02] [-1.57674360e-01 9.87487087e-01 -2.83697467e-03 -4.11342238e+01] [-1.75773047e-02 6.58703366e-05 9.99845505e-01 -5.32545842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters 0.02222332701292141 Centerline is valid? [True, True] Translation: X:267.26, Y:-41.13, Z:-5.32 [[ 9.86674229e-01 1.61568802e-01 1.92220869e-02 2.67261614e+02] [-1.61538142e-01 9.86861450e-01 -3.14744669e-03 -4.11321528e+01] [-1.94780657e-02 4.04332057e-07 9.99810284e-01 -5.32181049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754012739 meters 0.022336217784341476 Centerline is valid? [True, True] Translation: X:267.29, Y:-41.13, Z:-5.32 [[ 9.86365432e-01 1.63419982e-01 1.94201983e-02 2.67292851e+02] [-1.63389041e-01 9.86556591e-01 -3.18011791e-03 -4.11341179e+01] [-1.96788195e-02 -3.62892128e-05 9.99806353e-01 -5.32166313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters 0.022704348986800616 Centerline is valid? [True, True] Translation: X:267.32, Y:-41.13, Z:-5.32 [[ 9.86033846e-01 1.65441326e-01 1.91421761e-02 2.67323684e+02] [-1.65411636e-01 9.86219632e-01 -3.13506963e-03 -4.11343611e+01] [-1.93970599e-02 -7.50539031e-05 9.99811857e-01 -5.32308814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814012739 meters 0.022685878970124022 Centerline is valid? [True, True] Translation: X:267.35, Y:-41.14, Z:-5.32 [[ 9.85956971e-01 1.65913548e-01 1.90143386e-02 2.67354014e+02] [-1.65884341e-01 9.86140298e-01 -3.11413264e-03 -4.11378337e+01] [-1.92674823e-02 -8.37802446e-05 9.99814361e-01 -5.32479287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters 0.02272158207039552 Centerline is valid? [True, True] Translation: X:267.38, Y:-41.14, Z:-5.33 [[ 9.86018656e-01 1.65608440e-01 1.84676679e-02 2.67383796e+02] [-1.65580835e-01 9.86191583e-01 -3.02459993e-03 -4.11429510e+01] [-1.87135579e-02 -7.55798986e-05 9.99824883e-01 -5.32685601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874012739 meters 0.022845357735640892 Centerline is valid? [True, True] Translation: X:267.41, Y:-41.15, Z:-5.33 [[ 9.86023783e-01 1.65560955e-01 1.86190874e-02 2.67413215e+02] [-1.65532886e-01 9.86199556e-01 -3.04941612e-03 -4.11472847e+01] [-1.88670000e-02 -7.52744658e-05 9.99821999e-01 -5.32745604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters 0.022849481915765843 Centerline is valid? [True, True] Translation: X:267.44, Y:-41.15, Z:-5.33 [[ 9.85920532e-01 1.66120563e-01 1.90961720e-02 2.67443273e+02] [-1.66091147e-01 9.86105446e-01 -3.12732935e-03 -4.11501400e+01] [-1.93503529e-02 -8.84068977e-05 9.99812760e-01 -5.32657736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934012739 meters 0.02338669200566428 Centerline is valid? [True, True] Translation: X:267.47, Y:-41.15, Z:-5.33 [[ 9.85640614e-01 1.67743553e-01 1.93566533e-02 2.67473233e+02] [-1.67713651e-01 9.85830658e-01 -3.16952234e-03 -4.11480975e+01] [-1.96140492e-02 -1.22365038e-04 9.99807619e-01 -5.32545380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters 0.02338669200566428 Centerline is valid? [True, True] Translation: X:267.50, Y:-41.15, Z:-5.33 [[ 9.85644492e-01 1.67720758e-01 1.93567266e-02 2.67502017e+02] [-1.67690860e-01 9.85834536e-01 -3.16907468e-03 -4.11527639e+01] [-1.96140492e-02 -1.22365135e-04 9.99807619e-01 -5.32604605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994012739 meters 0.023680338593167025 Centerline is valid? [True, True] Translation: X:267.53, Y:-41.15, Z:-5.33 [[ 9.85540738e-01 1.68396868e-01 1.87602662e-02 2.67531435e+02] [-1.68368915e-01 9.85719269e-01 -3.07099158e-03 -4.11545003e+01] [-1.90095013e-02 -1.32058365e-04 9.99819294e-01 -5.32867738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters 0.025331865580706093 Centerline is valid? [True, True] Translation: X:267.56, Y:-41.15, Z:-5.33 [[ 9.85108726e-01 1.71085842e-01 1.70420871e-02 2.67560348e+02] [-1.71063182e-01 9.85256112e-01 -2.78947710e-03 -4.11519613e+01] [-1.72680605e-02 -1.67335413e-04 9.99850882e-01 -5.33255564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05401273900003 meters 0.026680489277884828 Centerline is valid? [True, True] Translation: X:267.59, Y:-41.15, Z:-5.33 [[ 9.84759441e-01 1.73064007e-01 1.72537711e-02 2.67589044e+02] [-1.73041102e-01 9.84910558e-01 -2.82309786e-03 -4.11516457e+01] [-1.74819979e-02 -2.05539289e-04 9.99847157e-01 -5.33252792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters 0.03008949369173127 Centerline is valid? [True, True] Translation: X:267.62, Y:-41.15, Z:-5.33 [[ 9.83924808e-01 1.77615090e-01 1.85702169e-02 2.67619429e+02] [-1.77589388e-01 9.84099987e-01 -3.03728740e-03 -4.11453584e+01] [-1.88144183e-02 -3.09411044e-04 9.99822945e-01 -5.33012884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11401273900003 meters 0.03192401591643528 Centerline is valid? [True, True] Translation: X:267.65, Y:-41.14, Z:-5.33 [[ 9.83547408e-01 1.79631664e-01 1.91562252e-02 2.67647391e+02] [-1.79604709e-01 9.83733875e-01 -3.13246401e-03 -4.11447332e+01] [-1.94073174e-02 -3.59621395e-04 9.99811596e-01 -5.32931714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters 0.03516891345116552 Centerline is valid? [True, True] Translation: X:267.68, Y:-41.14, Z:-5.33 [[ 9.82962407e-01 1.82790873e-01 1.92977270e-02 2.67678248e+02] [-1.82764150e-01 9.83151725e-01 -3.15445996e-03 -4.11408485e+01] [-1.95492001e-02 -4.26217116e-04 9.99808805e-01 -5.32960741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17401273900003 meters 0.03585292320082185 Centerline is valid? [True, True] Translation: X:267.71, Y:-41.14, Z:-5.33 [[ 9.82895738e-01 1.83164146e-01 1.91537022e-02 2.67707672e+02] [-1.83137899e-01 9.83082250e-01 -3.13050323e-03 -4.11419434e+01] [-1.94030606e-02 -4.30810492e-04 9.99811650e-01 -5.33099826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters 0.03554794731583059 Centerline is valid? [True, True] Translation: X:267.74, Y:-41.14, Z:-5.33 [[ 9.82935462e-01 1.82913351e-01 1.95085603e-02 2.67736678e+02] [-1.82886091e-01 9.83128942e-01 -3.18759668e-03 -4.11441364e+01] [-1.97624842e-02 -4.34642516e-04 9.99804609e-01 -5.33165365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234012739 meters 0.03472673862639033 Centerline is valid? [True, True] Translation: X:267.76, Y:-41.15, Z:-5.33 [[ 9.83181122e-01 1.81534400e-01 2.00035547e-02 2.67764330e+02] [-1.81505472e-01 9.83384506e-01 -3.26754230e-03 -4.11455068e+01] [-2.02643571e-02 -4.18168740e-04 9.99794569e-01 -5.33150367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters 0.03214311691471754 Centerline is valid? [True, True] Translation: X:267.79, Y:-41.15, Z:-5.33 [[ 9.83666516e-01 1.78779058e-01 2.09340244e-02 2.67791390e+02] [-1.78746779e-01 9.83889173e-01 -3.41829539e-03 -4.11509374e+01] [-2.12078795e-02 -3.79426703e-04 9.99775016e-01 -5.33002326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294012739 meters 0.030530746018643008 Centerline is valid? [True, True] Translation: X:267.82, Y:-41.16, Z:-5.33 [[ 9.83982115e-01 1.76884477e-01 2.21603324e-02 2.67819882e+02] [-1.76847852e-01 9.84231554e-01 -3.61725805e-03 -4.11571337e+01] [-2.24507352e-02 -3.59689956e-04 9.99747886e-01 -5.32823315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters 0.028753500483614174 Centerline is valid? [True, True] Translation: X:267.85, Y:-41.16, Z:-5.33 [[ 9.84353763e-01 1.74755778e-01 2.25407902e-02 2.67847174e+02] [-1.74717351e-01 9.84611760e-01 -3.67831325e-03 -4.11630742e+01] [-2.28367336e-02 -3.17505677e-04 9.99739157e-01 -5.32770367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354012739 meters 0.02622926078141507 Centerline is valid? [True, True] Translation: X:267.87, Y:-41.17, Z:-5.33 [[ 9.84987224e-01 1.71337571e-01 2.10619241e-02 2.67874425e+02] [-1.71303263e-01 9.85212356e-01 -3.43588934e-03 -4.11703139e+01] [-2.13391648e-02 -2.23669210e-04 9.99772269e-01 -5.33252781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters 0.025061650228270473 Centerline is valid? [True, True] Translation: X:267.90, Y:-41.18, Z:-5.34 [[ 9.85326756e-01 1.69582103e-01 1.93156288e-02 2.67902737e+02] [-1.69552930e-01 9.85516048e-01 -3.15002875e-03 -4.11772746e+01] [-1.95700507e-02 -1.71213859e-04 9.99808474e-01 -5.33729559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414012739 meters 0.023148995034776926 Centerline is valid? [True, True] Translation: X:267.93, Y:-41.19, Z:-5.34 [[ 9.86003281e-01 1.65712024e-01 1.83590520e-02 2.67928470e+02] [-1.65685012e-01 9.86174182e-01 -2.99328356e-03 -4.11897973e+01] [-1.86012462e-02 -9.04323458e-05 9.99826978e-01 -5.33978314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters 0.022409931459717303 Centerline is valid? [True, True] Translation: X:267.96, Y:-41.20, Z:-5.34 [[ 9.86391176e-01 1.63380037e-01 1.84231098e-02 2.67955130e+02] [-1.63352449e-01 9.86563207e-01 -3.00271160e-03 -4.11996117e+01] [-1.86661454e-02 -4.76118666e-05 9.99825771e-01 -5.33948177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474012739 meters 0.02219425973072864 Centerline is valid? [True, True] Translation: X:267.98, Y:-41.22, Z:-5.34 [[ 9.87176547e-01 1.58447617e-01 1.94118196e-02 2.67982792e+02] [-1.58416056e-01 9.87367384e-01 -3.16272314e-03 -4.12157892e+01] [-1.96677235e-02 4.70222123e-05 9.99806571e-01 -5.33796369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters 0.0228829883960188 Centerline is valid? [True, True] Translation: X:268.01, Y:-41.23, Z:-5.34 [[ 9.87586696e-01 1.55868937e-01 1.94266102e-02 2.68011062e+02] [-1.55836838e-01 9.87777741e-01 -3.16465869e-03 -4.12271259e+01] [-1.96824451e-02 9.79933299e-05 9.99806277e-01 -5.33957180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534012739 meters 0.024088968805231103 Centerline is valid? [True, True] Translation: X:268.04, Y:-41.24, Z:-5.34 [[ 9.87919767e-01 1.53806840e-01 1.89206206e-02 2.68039121e+02] [-1.53776018e-01 9.88100925e-01 -3.08202234e-03 -4.12368924e+01] [-1.91695188e-02 1.35253107e-04 9.99816239e-01 -5.34127117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters 0.02554228006470319 Centerline is valid? [True, True] Translation: X:268.07, Y:-41.25, Z:-5.34 [[ 9.88230907e-01 1.51915048e-01 1.79302005e-02 2.68067374e+02] [-1.51887063e-01 9.88393541e-01 -2.92030697e-03 -4.12489438e+01] [-1.81657329e-02 1.62572114e-04 9.99834976e-01 -5.34418112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594012739 meters 0.025573502161059067 Centerline is valid? [True, True] Translation: X:268.10, Y:-41.26, Z:-5.34 [[ 9.88235794e-01 1.51886575e-01 1.79020571e-02 2.68095838e+02] [-1.51858677e-01 9.88397917e-01 -2.91555563e-03 -4.12568338e+01] [-1.81371897e-02 1.62673722e-04 9.99835494e-01 -5.34449223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters 0.025562517194948793 Centerline is valid? [True, True] Translation: X:268.12, Y:-41.27, Z:-5.34 [[ 9.88223451e-01 1.51828233e-01 1.90419966e-02 2.68124732e+02] [-1.51796666e-01 9.88406878e-01 -3.10075503e-03 -4.12672364e+01] [-1.92920225e-02 1.73727244e-04 9.99813877e-01 -5.34233317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654012739 meters 0.025105953210421646 Centerline is valid? [True, True] Translation: X:268.15, Y:-41.27, Z:-5.34 [[ 9.88140871e-01 1.52327329e-01 1.93391916e-02 2.68154292e+02] [-1.52294865e-01 9.88330085e-01 -3.14914959e-03 -4.12731227e+01] [-1.95932064e-02 1.66543851e-04 9.99808021e-01 -5.34231441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters 0.024228782200962657 Centerline is valid? [True, True] Translation: X:268.18, Y:-41.28, Z:-5.34 [[ 9.87930206e-01 1.53655283e-01 1.95949317e-02 2.68183581e+02] [-1.53622215e-01 9.88124503e-01 -3.19079373e-03 -4.12802236e+01] [-1.98525145e-02 1.42064690e-04 9.99802909e-01 -5.34238673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714012739 meters 0.02387205731348994 Centerline is valid? [True, True] Translation: X:268.21, Y:-41.29, Z:-5.34 [[ 9.87821185e-01 1.54297915e-01 2.00364544e-02 2.68213450e+02] [-1.54263472e-01 9.88024360e-01 -3.26269026e-03 -4.12860538e+01] [-2.02999313e-02 1.32061544e-04 9.99793926e-01 -5.34180981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters 0.023106622698312814 Centerline is valid? [True, True] Translation: X:268.24, Y:-41.29, Z:-5.34 [[ 9.87589998e-01 1.55689042e-01 2.06620144e-02 2.68243464e+02] [-1.55652720e-01 9.87806110e-01 -3.36455503e-03 -4.12919667e+01] [-2.09338885e-02 1.06702153e-04 9.99780856e-01 -5.34127572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774012739 meters 0.022482606466400382 Centerline is valid? [True, True] Translation: X:268.28, Y:-41.30, Z:-5.34 [[ 9.87509360e-01 1.56244278e-01 2.03221380e-02 2.68275045e+02] [-1.56209257e-01 9.87718440e-01 -3.30925712e-03 -4.12966482e+01] [-2.05896030e-02 9.34162934e-05 9.99788007e-01 -5.34268849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters 0.022750432293522232 Centerline is valid? [True, True] Translation: X:268.31, Y:-41.30, Z:-5.34 [[ 9.87382311e-01 1.57114966e-01 1.97752204e-02 2.68305178e+02] [-1.57081915e-01 9.87580317e-01 -3.22342105e-03 -4.13045160e+01] [-2.00360662e-02 7.64194284e-05 9.99799255e-01 -5.34428671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834012739 meters 0.021954204335698526 Centerline is valid? [True, True] Translation: X:268.34, Y:-41.31, Z:-5.35 [[ 9.86989069e-01 1.59707211e-01 1.86060363e-02 2.68336253e+02] [-1.59678359e-01 9.87164427e-01 -3.03569554e-03 -4.13076534e+01] [-1.88520396e-02 2.52169703e-05 9.99822284e-01 -5.34621148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters 0.02194869398655296 Centerline is valid? [True, True] Translation: X:268.37, Y:-41.31, Z:-5.35 [[ 9.86322452e-01 1.63678420e-01 1.94266734e-02 2.68365719e+02] [-1.63647718e-01 9.86513746e-01 -3.17056251e-03 -4.13084090e+01] [-1.96836330e-02 -5.19337739e-05 9.99806257e-01 -5.34507211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894012739 meters 0.022501339587037036 Centerline is valid? [True, True] Translation: X:268.40, Y:-41.31, Z:-5.34 [[ 9.85965296e-01 1.65725515e-01 2.01863684e-02 2.68395593e+02] [-1.65692788e-01 9.86171914e-01 -3.29478625e-03 -4.13109730e+01] [-2.04532597e-02 -9.61907539e-05 9.99790806e-01 -5.34489280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters 0.024079426775184896 Centerline is valid? [True, True] Translation: X:268.42, Y:-41.31, Z:-5.34 [[ 9.85656185e-01 1.67507624e-01 2.05689255e-02 2.68424716e+02] [-1.67474038e-01 9.85870771e-01 -3.35696737e-03 -4.13116244e+01] [-2.08406201e-02 -1.35945353e-04 9.99782801e-01 -5.34414696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954012739 meters 0.026269186534293495 Centerline is valid? [True, True] Translation: X:268.45, Y:-41.31, Z:-5.35 [[ 9.85218198e-01 1.70154496e-01 1.98128962e-02 2.68453344e+02] [-1.70123881e-01 9.85417380e-01 -3.23292786e-03 -4.13128601e+01] [-2.00740695e-02 -1.85507441e-04 9.99798478e-01 -5.34639425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters 0.02557980403690248 Centerline is valid? [True, True] Translation: X:268.48, Y:-41.32, Z:-5.35 [[ 9.85025565e-01 1.71360741e-01 1.89771485e-02 2.68482559e+02] [-1.71332894e-01 9.85208331e-01 -3.09576072e-03 -4.13201257e+01] [-1.92269367e-02 -2.02006319e-04 9.99815125e-01 -5.34815466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014012739 meters 0.03251076835198371 Centerline is valid? [True, True] Translation: X:268.51, Y:-41.31, Z:-5.35 [[ 9.84250305e-01 1.75827191e-01 1.83340180e-02 2.68512851e+02] [-1.75801981e-01 9.84421008e-01 -2.99046163e-03 -4.13124384e+01] [-1.85741969e-02 -2.79793923e-04 9.99827446e-01 -5.35079294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters 0.03085027305786435 Centerline is valid? [True, True] Translation: X:268.54, Y:-41.32, Z:-5.35 [[ 9.83807993e-01 1.78297186e-01 1.82194221e-02 2.68541141e+02] [-1.78272724e-01 9.83976630e-01 -2.97117331e-03 -4.13190560e+01] [-1.84572374e-02 -3.24961967e-04 9.99829598e-01 -5.35058064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074012739 meters 0.032908241137475584 Centerline is valid? [True, True] Translation: X:268.57, Y:-41.32, Z:-5.35 [[ 9.83414531e-01 1.80421957e-01 1.85412248e-02 2.68570246e+02] [-1.80397017e-01 9.83589233e-01 -3.02278391e-03 -4.13196455e+01] [-1.87823257e-02 -3.72132034e-04 9.99823527e-01 -5.35098104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters 0.03779306945609712 Centerline is valid? [True, True] Translation: X:268.60, Y:-41.31, Z:-5.35 [[ 9.82560004e-01 1.84985158e-01 1.88767094e-02 2.68601239e+02] [-1.84960166e-01 9.82741203e-01 -3.07655655e-03 -4.13140860e+01] [-1.91200374e-02 -4.68537876e-04 9.99817086e-01 -5.35045510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134012739 meters 0.048399280183426575 Centerline is valid? [True, True] Translation: X:268.63, Y:-41.30, Z:-5.35 [[ 9.82177624e-01 1.87013108e-01 1.87939426e-02 2.68632315e+02] [-1.86988709e-01 9.82357288e-01 -3.06288246e-03 -4.13014627e+01] [-1.90351657e-02 -5.05960451e-04 9.99818687e-01 -5.35143255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters 0.04111210933745959 Centerline is valid? [True, True] Translation: X:268.66, Y:-41.31, Z:-5.35 [[ 9.81977958e-01 1.88118204e-01 1.81887482e-02 2.68659393e+02] [-1.88095551e-01 9.82146262e-01 -2.96368029e-03 -4.13132905e+01] [-1.84215332e-02 -5.10953892e-04 9.99830179e-01 -5.35257469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194012739 meters 0.04137434641402741 Centerline is valid? [True, True] Translation: X:268.69, Y:-41.32, Z:-5.35 [[ 9.82033839e-01 1.87802151e-01 1.84361385e-02 2.68687209e+02] [-1.87778838e-01 9.82206745e-01 -3.00316292e-03 -4.13167060e+01] [-1.86721000e-02 -5.12709048e-04 9.99825530e-01 -5.35340759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters 0.037245936040715605 Centerline is valid? [True, True] Translation: X:268.71, Y:-41.33, Z:-5.35 [[ 9.82469297e-01 1.85370596e-01 1.97945167e-02 2.68714556e+02] [-1.85343251e-01 9.82668555e-01 -3.22324366e-03 -4.13272332e+01] [-2.00489438e-02 -5.02042151e-04 9.99798874e-01 -5.35171909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254012739 meters 0.036533193248489367 Centerline is valid? [True, True] Translation: X:268.74, Y:-41.33, Z:-5.35 [[ 9.82784465e-01 1.83649933e-01 2.01840738e-02 2.68741979e+02] [-1.83621157e-01 9.82991594e-01 -3.28572890e-03 -4.13325755e+01] [-2.04441988e-02 -4.77059668e-04 9.99790882e-01 -5.35136494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters 0.03369259746795841 Centerline is valid? [True, True] Translation: X:268.77, Y:-41.34, Z:-5.35 [[ 9.83287272e-01 1.81068950e-01 1.89783290e-02 2.68769529e+02] [-1.81043049e-01 9.83470323e-01 -3.08841929e-03 -4.13415058e+01] [-1.92238402e-02 -3.99091172e-04 9.99815125e-01 -5.35372606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314012739 meters 0.031094231406060976 Centerline is valid? [True, True] Translation: X:268.80, Y:-41.35, Z:-5.36 [[ 9.83554468e-01 1.79683921e-01 1.82837896e-02 2.68796871e+02] [-1.79659656e-01 9.83724331e-01 -2.97459889e-03 -4.13511217e+01] [-1.85206962e-02 -3.59179324e-04 9.99828413e-01 -5.35548652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters 0.03135198128898121 Centerline is valid? [True, True] Translation: X:268.82, Y:-41.36, Z:-5.36 [[ 9.83725596e-01 1.78751755e-01 1.82143484e-02 2.68824006e+02] [-1.78727530e-01 9.83894148e-01 -2.96246073e-03 -4.13564492e+01] [-1.84505359e-02 -3.41157065e-04 9.99829716e-01 -5.35623997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374012739 meters 0.033892344637593066 Centerline is valid? [True, True] Translation: X:268.85, Y:-41.36, Z:-5.35 [[ 9.83564688e-01 1.79517175e-01 1.93413597e-02 2.68852210e+02] [-1.79490031e-01 9.83754766e-01 -3.14454423e-03 -4.13568205e+01] [-1.95916545e-02 -3.78718594e-04 9.99807993e-01 -5.35339633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters 0.03293986787703426 Centerline is valid? [True, True] Translation: X:268.88, Y:-41.36, Z:-5.35 [[ 9.83379560e-01 1.80473673e-01 1.98467560e-02 2.68880579e+02] [-1.80445311e-01 9.83579730e-01 -3.22554256e-03 -4.13604422e+01] [-2.01029924e-02 -4.09321430e-04 9.99797831e-01 -5.35221700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434012739 meters 0.037899367163397465 Centerline is valid? [True, True] Translation: X:268.91, Y:-41.35, Z:-5.35 [[ 9.82904160e-01 1.82848095e-01 2.15867059e-02 2.68910792e+02] [-1.82815136e-01 9.83141050e-01 -3.50725404e-03 -4.13544358e+01] [-2.18640714e-02 -4.99081982e-04 9.99760828e-01 -5.34999531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters 0.03913888438301651 Centerline is valid? [True, True] Translation: X:268.94, Y:-41.36, Z:-5.35 [[ 9.82707718e-01 1.83789906e-01 2.25124798e-02 2.68939645e+02] [-1.83754331e-01 9.82965399e-01 -3.65660244e-03 -4.13574968e+01] [-2.28010353e-02 -5.43394215e-04 9.99739875e-01 -5.34892847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494012739 meters 0.036627122704326324 Centerline is valid? [True, True] Translation: X:268.97, Y:-41.36, Z:-5.35 [[ 9.82608620e-01 1.84238956e-01 2.31583141e-02 2.68968432e+02] [-1.84201459e-01 9.82881316e-01 -3.76047381e-03 -4.13622953e+01] [-2.34547000e-02 -5.70721261e-04 9.99724738e-01 -5.34873383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters 0.036821648308511874 Centerline is valid? [True, True] Translation: X:269.00, Y:-41.36, Z:-5.35 [[ 9.82647439e-01 1.84119327e-01 2.24518142e-02 2.68996380e+02] [-1.84084076e-01 9.82903744e-01 -3.64472281e-03 -4.13623110e+01] [-2.27390361e-02 -5.51543925e-04 9.99741283e-01 -5.35051405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55401273900003 meters 0.036136014061000116 Centerline is valid? [True, True] Translation: X:269.03, Y:-41.36, Z:-5.36 [[ 9.82865001e-01 1.83309236e-01 1.93420081e-02 2.69025843e+02] [-1.83282936e-01 9.83055193e-01 -3.13893610e-03 -4.13622795e+01] [-1.95896575e-02 -4.59909599e-04 9.99807998e-01 -5.35761364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters 0.03272323246035244 Centerline is valid? [True, True] Translation: X:269.05, Y:-41.37, Z:-5.36 [[ 9.83097606e-01 1.82154963e-01 1.84028920e-02 2.69053541e+02] [-1.82130968e-01 9.83269747e-01 -2.98574050e-03 -4.13705564e+01] [-1.86388744e-02 -4.16462188e-04 9.99826194e-01 -5.35949943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61401273900003 meters 0.032264670744126873 Centerline is valid? [True, True] Translation: X:269.08, Y:-41.37, Z:-5.36 [[ 9.83641415e-01 1.79069781e-01 1.95852233e-02 2.69081630e+02] [-1.79042011e-01 9.83836301e-01 -3.17656550e-03 -4.13692560e+01] [-1.98374806e-02 -3.81976402e-04 9.99803145e-01 -5.35813811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters 0.030838483642768907 Centerline is valid? [True, True] Translation: X:269.11, Y:-41.37, Z:-5.36 [[ 9.83978747e-01 1.77130078e-01 2.02672449e-02 2.69109025e+02] [-1.77099958e-01 9.84187385e-01 -3.28578452e-03 -4.13729428e+01] [-2.05287780e-02 -3.56186080e-04 9.99789199e-01 -5.35809546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67401273900003 meters 0.027262865821077013 Centerline is valid? [True, True] Translation: X:269.14, Y:-41.38, Z:-5.36 [[ 9.84367971e-01 1.74949071e-01 2.03106177e-02 2.69137136e+02] [-1.74918383e-01 9.84577435e-01 -3.29157650e-03 -4.13827447e+01] [-2.05732341e-02 -3.12577919e-04 9.99788300e-01 -5.35886374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters 0.02432702062009353 Centerline is valid? [True, True] Translation: X:269.16, Y:-41.39, Z:-5.36 [[ 9.85417248e-01 1.69039621e-01 1.94539128e-02 2.69164912e+02] [-1.69010328e-01 9.85609240e-01 -3.15206000e-03 -4.13937966e+01] [-1.97067793e-02 -1.81817901e-04 9.99805786e-01 -5.36122348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734012739 meters 0.021276452274521986 Centerline is valid? [True, True] Translation: X:269.19, Y:-41.41, Z:-5.36 [[ 9.86411882e-01 1.63205231e-01 1.88587110e-02 2.69192580e+02] [-1.63176644e-01 9.86592139e-01 -3.05518479e-03 -4.14066585e+01] [-1.91044782e-02 -6.36305893e-05 9.99817491e-01 -5.36266410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters 0.02116450685646578 Centerline is valid? [True, True] Translation: X:269.22, Y:-41.41, Z:-5.36 [[ 9.86747078e-01 1.61209874e-01 1.84819168e-02 2.69220014e+02] [-1.61182077e-01 9.86920147e-01 -2.99372101e-03 -4.14137420e+01] [-1.87227934e-02 -2.49082695e-05 9.99824713e-01 -5.36446117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794012739 meters 0.02128416029683005 Centerline is valid? [True, True] Translation: X:269.25, Y:-41.42, Z:-5.37 [[ 9.87039519e-01 1.59490829e-01 1.77669429e-02 2.69247878e+02] [-1.59464873e-01 9.87199410e-01 -2.87731046e-03 -4.14228514e+01] [-1.79984202e-02 6.81584074e-06 9.99838015e-01 -5.36713953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters 0.02163366483922696 Centerline is valid? [True, True] Translation: X:269.28, Y:-41.43, Z:-5.37 [[ 9.87374489e-01 1.57647177e-01 1.54592016e-02 2.69276192e+02] [-1.57627311e-01 9.87495502e-01 -2.50291054e-03 -4.14330421e+01] [-1.56604688e-02 3.45176380e-05 9.99877367e-01 -5.37115759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854012739 meters 0.02163366483922696 Centerline is valid? [True, True] Translation: X:269.30, Y:-41.44, Z:-5.37 [[ 9.87381660e-01 1.57602248e-01 1.54592417e-02 2.69304166e+02] [-1.57582380e-01 9.87502673e-01 -2.50266275e-03 -4.14374788e+01] [-1.56604678e-02 3.49792002e-05 9.99877367e-01 -5.37173288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters 0.021651645943007794 Centerline is valid? [True, True] Translation: X:269.33, Y:-41.44, Z:-5.37 [[ 9.87462143e-01 1.57052599e-01 1.59058886e-02 2.69332312e+02] [-1.57031508e-01 9.87590239e-01 -2.57415057e-03 -4.14438449e+01] [-1.61127773e-02 4.41505707e-05 9.99870180e-01 -5.37242300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914012739 meters 0.02138851542175475 Centerline is valid? [True, True] Translation: X:269.36, Y:-41.45, Z:-5.37 [[ 9.87369692e-01 1.57500502e-01 1.71663113e-02 2.69361053e+02] [-1.57476014e-01 9.87518906e-01 -2.77750462e-03 -4.14491083e+01] [-1.73895153e-02 3.91415978e-05 9.99848790e-01 -5.37065982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters 0.021071086701515074 Centerline is valid? [True, True] Translation: X:269.39, Y:-41.45, Z:-5.37 [[ 9.87096008e-01 1.59020720e-01 1.88117439e-02 2.69390662e+02] [-1.58991606e-01 9.87275246e-01 -3.04280414e-03 -4.14531929e+01] [-1.90562380e-02 1.26304338e-05 9.99818413e-01 -5.36783298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974012739 meters 0.021145426555879407 Centerline is valid? [True, True] Translation: X:269.42, Y:-41.45, Z:-5.36 [[ 9.86369646e-01 1.63334494e-01 1.99189548e-02 2.69420496e+02] [-1.63302741e-01 9.86570746e-01 -3.22139704e-03 -4.14533199e+01] [-2.01776234e-02 -7.53316664e-05 9.99796408e-01 -5.36450602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters 0.022080736492597616 Centerline is valid? [True, True] Translation: X:269.45, Y:-41.45, Z:-5.37 [[ 9.85978469e-01 1.65848447e-01 1.84594277e-02 2.69450054e+02] [-1.65821625e-01 9.86151245e-01 -2.98495618e-03 -4.14523694e+01] [-1.86988380e-02 -1.17869766e-04 9.99825154e-01 -5.36669625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034012739 meters 0.025324213188886217 Centerline is valid? [True, True] Translation: X:269.48, Y:-41.45, Z:-5.37 [[ 9.85032854e-01 1.71613136e-01 1.60999630e-02 2.69480903e+02] [-1.71593511e-01 9.85164399e-01 -2.60287483e-03 -4.14456750e+01] [-1.63077979e-02 -1.98731961e-04 9.99866999e-01 -5.37298744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters 0.02704755140068756 Centerline is valid? [True, True] Translation: X:269.51, Y:-41.45, Z:-5.37 [[ 9.84583957e-01 1.74156111e-01 1.62505363e-02 2.69509531e+02] [-1.74136468e-01 9.84718026e-01 -2.62695798e-03 -4.14457206e+01] [-1.64596968e-02 -2.43350302e-04 9.99864500e-01 -5.37343350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094012739 meters 0.030598026065369273 Centerline is valid? [True, True] Translation: X:269.54, Y:-41.44, Z:-5.37 [[ 9.83794701e-01 1.78302982e-01 1.88688234e-02 2.69539602e+02] [-1.78277286e-01 9.83975566e-01 -3.04884720e-03 -4.14401231e+01] [-1.91100798e-02 -3.64442910e-04 9.99817319e-01 -5.36907640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters 0.03119712730907536 Centerline is valid? [True, True] Translation: X:269.57, Y:-41.44, Z:-5.37 [[ 9.83543362e-01 1.79538010e-01 2.02128077e-02 2.69569076e+02] [-1.79508799e-01 9.83750949e-01 -3.26522665e-03 -4.14400038e+01] [-2.04706010e-02 -4.16884845e-04 9.99790368e-01 -5.36683271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154012739 meters 0.031965151577113 Centerline is valid? [True, True] Translation: X:269.60, Y:-41.44, Z:-5.37 [[ 9.83457465e-01 1.79926263e-01 2.09273755e-02 2.69597575e+02] [-1.79895060e-01 9.83680002e-01 -3.37961278e-03 -4.14405661e+01] [-2.11939218e-02 -4.41026052e-04 9.99775286e-01 -5.36654940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters 0.030592713275980586 Centerline is valid? [True, True] Translation: X:269.63, Y:-41.44, Z:-5.37 [[ 9.83798810e-01 1.78140253e-01 2.01482568e-02 2.69626284e+02] [-1.78110980e-01 9.84005030e-01 -3.25263873e-03 -4.14441362e+01] [-2.04054120e-02 -3.88683649e-04 9.99791712e-01 -5.36902480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214012739 meters 0.028303386593611164 Centerline is valid? [True, True] Translation: X:269.65, Y:-41.45, Z:-5.37 [[ 9.84047993e-01 1.76795627e-01 1.98205385e-02 2.69654302e+02] [-1.76767044e-01 9.84247520e-01 -3.19881296e-03 -4.14498061e+01] [-2.00738520e-02 -3.55832521e-04 9.99798437e-01 -5.37016304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters 0.027478448880325957 Centerline is valid? [True, True] Translation: X:269.68, Y:-41.45, Z:-5.37 [[ 9.84396704e-01 1.74794701e-01 2.02470239e-02 2.69682696e+02] [-1.74764472e-01 9.84604849e-01 -3.26662071e-03 -4.14479943e+01] [-2.05063059e-02 -3.22809797e-04 9.99789671e-01 -5.36941339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274012739 meters 0.02689082927590557 Centerline is valid? [True, True] Translation: X:269.71, Y:-41.45, Z:-5.37 [[ 9.84655695e-01 1.73346888e-01 2.01002255e-02 2.69710263e+02] [-1.73316819e-01 9.84860788e-01 -3.24171307e-03 -4.14499893e+01] [-2.03578648e-02 -2.91735918e-04 9.99792715e-01 -5.37053468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters 0.02579648193322557 Centerline is valid? [True, True] Translation: X:269.74, Y:-41.45, Z:-5.37 [[ 9.84961680e-01 1.71653568e-01 1.96352191e-02 2.69737863e+02] [-1.71624562e-01 9.85157342e-01 -3.16556716e-03 -4.14542259e+01] [-1.98871612e-02 -2.51923525e-04 9.99802199e-01 -5.37251068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334012739 meters 0.022856929586117278 Centerline is valid? [True, True] Translation: X:269.77, Y:-41.46, Z:-5.37 [[ 9.85701529e-01 1.67493633e-01 1.83950475e-02 2.69766107e+02] [-1.67467469e-01 9.85873145e-01 -2.96460968e-03 -4.14609337e+01] [-1.86317365e-02 -1.58351747e-04 9.99826402e-01 -5.37459918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters 0.021756829294854185 Centerline is valid? [True, True] Translation: X:269.79, Y:-41.46, Z:-5.38 [[ 9.86241936e-01 1.64320641e-01 1.80435626e-02 2.69794062e+02] [-1.64294952e-01 9.86406973e-01 -2.90713896e-03 -4.14610364e+01] [-1.82759989e-02 -9.73238878e-05 9.99832975e-01 -5.37583168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394012739 meters 0.021212449273341417 Centerline is valid? [True, True] Translation: X:269.82, Y:-41.46, Z:-5.38 [[ 9.86415359e-01 1.63272429e-01 1.80790706e-02 2.69823015e+02] [-1.63246483e-01 9.86581019e-01 -2.91168386e-03 -4.14642922e+01] [-1.83118656e-02 -7.92150126e-05 9.99832321e-01 -5.37656783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters 0.02124187287052159 Centerline is valid? [True, True] Translation: X:269.85, Y:-41.47, Z:-5.38 [[ 9.86535465e-01 1.62613735e-01 1.74513556e-02 2.69849846e+02] [-1.62589470e-01 9.86689804e-01 -2.80988173e-03 -4.14666847e+01] [-1.76760000e-02 -6.53586905e-05 9.99843765e-01 -5.37852894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454012739 meters 0.02115390858306717 Centerline is valid? [True, True] Translation: X:269.88, Y:-41.47, Z:-5.38 [[ 9.86666151e-01 1.61933126e-01 1.63575516e-02 2.69877801e+02] [-1.61911735e-01 9.86801733e-01 -2.63246969e-03 -4.14663164e+01] [-1.65679443e-02 -5.11108338e-05 9.99862741e-01 -5.38052749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters 0.020949623944253655 Centerline is valid? [True, True] Translation: X:269.91, Y:-41.47, Z:-5.38 [[ 9.86804378e-01 1.61100198e-01 1.62433234e-02 2.69905441e+02] [-1.61079011e-01 9.86938055e-01 -2.61294863e-03 -4.14686888e+01] [-1.64521006e-02 -3.79893225e-05 9.99864654e-01 -5.38073013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514012739 meters 0.020700343175917815 Centerline is valid? [True, True] Translation: X:269.93, Y:-41.47, Z:-5.38 [[ 9.87233677e-01 1.58465025e-01 1.60780504e-02 2.69932210e+02] [-1.58443935e-01 9.87364591e-01 -2.58527553e-03 -4.14744961e+01] [-1.62845735e-02 4.80148535e-06 9.99867398e-01 -5.38161966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters 0.020899040982573894 Centerline is valid? [True, True] Translation: X:269.96, Y:-41.48, Z:-5.38 [[ 9.87532260e-01 1.56642365e-01 1.55950512e-02 2.69960449e+02] [-1.56622318e-01 9.87655390e-01 -2.50622715e-03 -4.14815325e+01] [-1.57951178e-02 3.24470871e-05 9.99875249e-01 -5.38251176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574012739 meters 0.0214107972760344 Centerline is valid? [True, True] Translation: X:269.99, Y:-41.49, Z:-5.38 [[ 9.87943036e-01 1.54001397e-01 1.58784956e-02 2.69987049e+02] [-1.53980285e-01 9.88070627e-01 -2.55104685e-03 -4.14897639e+01] [-1.60819398e-02 7.53136965e-05 9.99870674e-01 -5.38369167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters 0.02140692474751532 Centerline is valid? [True, True] Translation: X:270.01, Y:-41.49, Z:-5.38 [[ 9.87987074e-01 1.53549140e-01 1.74414216e-02 2.70014596e+02] [-1.53523620e-01 9.88141009e-01 -2.80080846e-03 -4.14943432e+01] [-1.76646457e-02 8.94923692e-05 9.99843964e-01 -5.38072002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634012739 meters 0.02122491710590554 Centerline is valid? [True, True] Translation: X:270.04, Y:-41.50, Z:-5.38 [[ 9.87915365e-01 1.53826238e-01 1.89926354e-02 2.70043644e+02] [-1.53796051e-01 9.88097910e-01 -3.04869698e-03 -4.14984050e+01] [-1.92355529e-02 9.08622780e-05 9.99814976e-01 -5.37798696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters 0.020685604951625233 Centerline is valid? [True, True] Translation: X:270.07, Y:-41.50, Z:-5.38 [[ 9.87758498e-01 1.54758029e-01 1.95730093e-02 2.70072070e+02] [-1.54726170e-01 9.87952401e-01 -3.14093833e-03 -4.15004180e+01] [-1.98232870e-02 7.40317617e-05 9.99803497e-01 -5.37705372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694012739 meters 0.020811341806076092 Centerline is valid? [True, True] Translation: X:270.10, Y:-41.50, Z:-5.38 [[ 9.87720462e-01 1.55147357e-01 1.83735142e-02 2.70099326e+02] [-1.55119366e-01 9.87891337e-01 -2.94763789e-03 -4.15028597e+01] [-1.86083538e-02 6.13543879e-05 9.99826848e-01 -5.38078851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters 0.020891667076815466 Centerline is valid? [True, True] Translation: X:270.13, Y:-41.51, Z:-5.38 [[ 9.87778206e-01 1.54780425e-01 1.83639896e-02 2.70128219e+02] [-1.54752420e-01 9.87948893e-01 -2.94497786e-03 -4.15071718e+01] [-1.85985081e-02 6.71131048e-05 9.99827031e-01 -5.38184152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754012739 meters 0.02107200622468757 Centerline is valid? [True, True] Translation: X:270.16, Y:-41.51, Z:-5.38 [[ 9.87912539e-01 1.53849582e-01 1.89504891e-02 2.70155361e+02] [-1.53819606e-01 9.88094276e-01 -3.03811067e-03 -4.15142774e+01] [-1.91922819e-02 8.64308510e-05 9.99815807e-01 -5.38109482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters 0.022377153479508183 Centerline is valid? [True, True] Translation: X:270.18, Y:-41.52, Z:-5.38 [[ 9.88542768e-01 1.49667392e-01 1.95669877e-02 2.70182765e+02] [-1.49634638e-01 9.88736387e-01 -3.13573758e-03 -4.15248563e+01] [-1.98159104e-02 1.71911576e-04 9.99803631e-01 -5.37965351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814012739 meters 0.0250486022800339 Centerline is valid? [True, True] Translation: X:270.21, Y:-41.54, Z:-5.38 [[ 9.88967259e-01 1.46935828e-01 1.88048580e-02 2.70209425e+02] [-1.46905098e-01 9.89146003e-01 -3.01275318e-03 -4.15352486e+01] [-1.90434315e-02 2.16984740e-04 9.99818634e-01 -5.38237133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters 0.02749758283141574 Centerline is valid? [True, True] Translation: X:270.24, Y:-41.55, Z:-5.39 [[ 9.89590089e-01 1.42861038e-01 1.73833052e-02 2.70237092e+02] [-1.42834168e-01 9.89742719e-01 -2.78399451e-03 -4.15463134e+01] [-1.76027241e-02 2.72083451e-04 9.99845023e-01 -5.38529456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874012739 meters 0.029926309017000576 Centerline is valid? [True, True] Translation: X:270.26, Y:-41.56, Z:-5.39 [[ 9.89785095e-01 1.41483170e-01 1.75493059e-02 2.70264880e+02] [-1.41455579e-01 9.89940616e-01 -2.80997101e-03 -4.15564808e+01] [-1.77703343e-02 2.98820202e-04 9.99842050e-01 -5.38570827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters 0.028344920081083715 Centerline is valid? [True, True] Translation: X:270.29, Y:-41.56, Z:-5.38 [[ 9.89985983e-01 1.39865473e-01 1.91154961e-02 2.70294533e+02] [-1.39832449e-01 9.90170451e-01 -3.06002364e-03 -4.15598748e+01] [-1.93555911e-02 3.56413866e-04 9.99812599e-01 -5.38213715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934012739 meters 0.03169702131659869 Centerline is valid? [True, True] Translation: X:270.32, Y:-41.57, Z:-5.38 [[ 9.89979073e-01 1.39851129e-01 1.95728503e-02 2.70322812e+02] [-1.39816513e-01 9.90172474e-01 -3.13273770e-03 -4.15706019e+01] [-1.98186145e-02 3.64737090e-04 9.99803525e-01 -5.38293431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters 0.029409761158408185 Centerline is valid? [True, True] Translation: X:270.35, Y:-41.57, Z:-5.39 [[ 9.89960735e-01 1.40049286e-01 1.90772107e-02 2.70352373e+02] [-1.40016433e-01 9.90144471e-01 -3.05364629e-03 -4.15748498e+01] [-1.93168557e-02 3.51866937e-04 9.99813350e-01 -5.38571787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994012739 meters 0.028153376712192153 Centerline is valid? [True, True] Translation: X:270.38, Y:-41.58, Z:-5.39 [[ 9.90099821e-01 1.39310034e-01 1.71772789e-02 2.70381962e+02] [-1.39283296e-01 9.90248760e-01 -2.74910899e-03 -4.15806861e+01] [-1.73927576e-02 3.29384286e-04 9.99848680e-01 -5.38944597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters 0.02981280098407743 Centerline is valid? [True, True] Translation: X:270.41, Y:-41.59, Z:-5.39 [[ 9.90226629e-01 1.38464381e-01 1.66984821e-02 2.70410098e+02] [-1.38438991e-01 9.90367358e-01 -2.67252215e-03 -4.15900402e+01] [-1.69076807e-02 3.34681573e-04 9.99856999e-01 -5.39090424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05401273900003 meters 0.029185559776429844 Centerline is valid? [True, True] Translation: X:270.44, Y:-41.60, Z:-5.39 [[ 9.90299592e-01 1.37912904e-01 1.69336831e-02 2.70439969e+02] [-1.37886718e-01 9.90444299e-01 -2.70991400e-03 -4.15963231e+01] [-1.71456020e-02 3.48696739e-04 9.99852943e-01 -5.39053293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters 0.03061754561188304 Centerline is valid? [True, True] Translation: X:270.47, Y:-41.61, Z:-5.39 [[ 9.90338113e-01 1.37622353e-01 1.70443608e-02 2.70467689e+02] [-1.37595780e-01 9.90484710e-01 -2.72766269e-03 -4.16080908e+01] [-1.72575661e-02 3.56076211e-04 9.99851014e-01 -5.39049331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11401273900003 meters 0.032096993528721966 Centerline is valid? [True, True] Translation: X:270.50, Y:-41.62, Z:-5.39 [[ 9.90288522e-01 1.38042484e-01 1.65201527e-02 2.70496077e+02] [-1.38017584e-01 9.90426251e-01 -2.64348934e-03 -4.16166442e+01] [-1.67269067e-02 3.37745588e-04 9.99860038e-01 -5.39309297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters 0.029571180092079975 Centerline is valid? [True, True] Translation: X:270.53, Y:-41.62, Z:-5.40 [[ 9.90200160e-01 1.38925409e-01 1.42609415e-02 2.70525682e+02] [-1.38906944e-01 9.90302809e-01 -2.28212827e-03 -4.16214867e+01] [-1.44396960e-02 2.78819979e-04 9.99895703e-01 -5.39799262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17401273900003 meters 0.028359419822505654 Centerline is valid? [True, True] Translation: X:270.56, Y:-41.63, Z:-5.40 [[ 9.90077273e-01 1.39756158e-01 1.46700487e-02 2.70555552e+02] [-1.39736705e-01 9.90185912e-01 -2.34784469e-03 -4.16278665e+01] [-1.48542013e-02 2.74603402e-04 9.99889633e-01 -5.39754231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters 0.02749205641787468 Centerline is valid? [True, True] Translation: X:270.58, Y:-41.64, Z:-5.39 [[ 9.89736293e-01 1.41843431e-01 1.73928543e-02 2.70583921e+02] [-1.41816408e-01 9.89889063e-01 -2.78364429e-03 -4.16362870e+01] [-1.76118379e-02 2.88481669e-04 9.99844858e-01 -5.39266371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234012739 meters 0.026486836758627414 Centerline is valid? [True, True] Translation: X:270.61, Y:-41.64, Z:-5.39 [[ 9.89470228e-01 1.43580115e-01 1.82597475e-02 2.70613291e+02] [-1.43550630e-01 9.89638660e-01 -2.92215031e-03 -4.16398168e+01] [-1.84901147e-02 2.70182479e-04 9.99829007e-01 -5.39146923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters 0.024411651494425788 Centerline is valid? [True, True] Translation: X:270.64, Y:-41.64, Z:-5.39 [[ 9.89140013e-01 1.45896203e-01 1.77857308e-02 2.70643620e+02] [-1.45868608e-01 9.89299878e-01 -2.84606140e-03 -4.16412780e+01] [-1.80106508e-02 2.20773420e-04 9.99837771e-01 -5.39212668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294012739 meters 0.021741886112518715 Centerline is valid? [True, True] Translation: X:270.67, Y:-41.64, Z:-5.40 [[ 9.88239952e-01 1.52053103e-01 1.61756446e-02 2.70673910e+02] [-1.52031102e-01 9.88372321e-01 -2.58846362e-03 -4.16398794e+01] [-1.63811433e-02 9.88220986e-05 9.99865815e-01 -5.39579967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters 0.020993384726669694 Centerline is valid? [True, True] Translation: X:270.70, Y:-41.64, Z:-5.40 [[ 9.87762518e-01 1.55166896e-01 1.57620587e-02 2.70702208e+02] [-1.55146401e-01 9.87888269e-01 -2.52230405e-03 -4.16404268e+01] [-1.59625310e-02 4.60107136e-05 9.99872590e-01 -5.39693630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354012739 meters 0.020570901090611157 Centerline is valid? [True, True] Translation: X:270.73, Y:-41.64, Z:-5.40 [[ 9.87193634e-01 1.58656124e-01 1.66422175e-02 2.70731792e+02] [-1.58633790e-01 9.87333902e-01 -2.66202815e-03 -4.16376109e+01] [-1.68537727e-02 -1.20808025e-05 9.99857965e-01 -5.39534780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters 0.02065383100272876 Centerline is valid? [True, True] Translation: X:270.76, Y:-41.64, Z:-5.39 [[ 9.87015399e-01 1.59685404e-01 1.73543715e-02 2.70760751e+02] [-1.59661293e-01 9.87167955e-01 -2.77504852e-03 -4.16397796e+01] [-1.75748141e-02 -3.18057646e-05 9.99845551e-01 -5.39470197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414012739 meters 0.020723013930642513 Centerline is valid? [True, True] Translation: X:270.79, Y:-41.64, Z:-5.39 [[ 9.86828255e-01 1.60640102e-01 1.90985125e-02 2.70788674e+02] [-1.60611099e-01 9.87013047e-01 -3.05290610e-03 -4.16426682e+01] [-1.93409001e-02 -5.47390685e-05 9.99812946e-01 -5.39231009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters 0.020697086593411903 Centerline is valid? [True, True] Translation: X:270.82, Y:-41.65, Z:-5.39 [[ 9.86857268e-01 1.60374278e-01 1.98197952e-02 2.70816687e+02] [-1.60343014e-01 9.87056274e-01 -3.16692896e-03 -4.16472788e+01] [-2.00711471e-02 -5.26588436e-05 9.99798553e-01 -5.39142663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474012739 meters 0.020375498140157565 Centerline is valid? [True, True] Translation: X:270.84, Y:-41.65, Z:-5.39 [[ 9.87272895e-01 1.57729278e-01 2.03397392e-02 2.70843351e+02] [-1.57695812e-01 9.87482392e-01 -3.24898691e-03 -4.16545240e+01] [-2.05975946e-02 1.45018831e-07 9.99787847e-01 -5.39253036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters 0.02062809967170937 Centerline is valid? [True, True] Translation: X:270.87, Y:-41.66, Z:-5.39 [[ 9.87557277e-01 1.56018751e-01 1.97173560e-02 2.70872199e+02] [-1.55986984e-01 9.87754093e-01 -3.14840382e-03 -4.16628174e+01] [-1.99671091e-02 3.35782057e-05 9.99800637e-01 -5.39442096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534012739 meters 0.021232176075151796 Centerline is valid? [True, True] Translation: X:270.90, Y:-41.67, Z:-5.40 [[ 9.87968222e-01 1.53807222e-01 1.61904517e-02 2.70899319e+02] [-1.53785512e-01 9.88100873e-01 -2.58497399e-03 -4.16717648e+01] [-1.63953871e-02 6.40152580e-05 9.99865585e-01 -5.40114268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters 0.021701146854073008 Centerline is valid? [True, True] Translation: X:270.93, Y:-41.68, Z:-5.40 [[ 9.88127819e-01 1.52974980e-01 1.42151217e-02 2.70928239e+02] [-1.52958166e-01 9.88230060e-01 -2.26908238e-03 -4.16765339e+01] [-1.43949234e-02 6.78244836e-05 9.99896385e-01 -5.40470193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594012739 meters 0.02228624594565144 Centerline is valid? [True, True] Translation: X:270.96, Y:-41.68, Z:-5.41 [[ 9.88305626e-01 1.51915079e-01 1.31832912e-02 2.70955333e+02] [-1.51900523e-01 9.88393547e-01 -2.10434166e-03 -4.16822684e+01] [-1.33499612e-02 7.71838670e-05 9.99910882e-01 -5.40778041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters 0.023762053365371925 Centerline is valid? [True, True] Translation: X:270.98, Y:-41.69, Z:-5.41 [[ 9.88844982e-01 1.48275085e-01 1.41456931e-02 2.70981981e+02] [-1.48257973e-01 9.88946147e-01 -2.25661773e-03 -4.16941827e+01] [-1.43239289e-02 1.34233328e-04 9.99897398e-01 -5.40655067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654012739 meters 0.025015096437608495 Centerline is valid? [True, True] Translation: X:271.01, Y:-41.71, Z:-5.40 [[ 9.89306738e-01 1.45034616e-01 1.53993182e-02 2.71010226e+02] [-1.45013940e-01 9.89426562e-01 -2.45683898e-03 -4.17053858e+01] [-1.55928211e-02 1.97451554e-04 9.99878405e-01 -5.40373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters 0.026408762097580217 Centerline is valid? [True, True] Translation: X:271.04, Y:-41.71, Z:-5.40 [[ 9.89525454e-01 1.43532168e-01 1.54237431e-02 2.71038945e+02] [-1.43511250e-01 9.89645628e-01 -2.46030549e-03 -4.17138545e+01] [-1.56171729e-02 2.21054262e-04 9.99878020e-01 -5.40446783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714012739 meters 0.027139028176905132 Centerline is valid? [True, True] Translation: X:271.07, Y:-41.72, Z:-5.40 [[ 9.89675053e-01 1.42487713e-01 1.55093644e-02 2.71067923e+02] [-1.42466443e-01 9.89796542e-01 -2.47345356e-03 -4.17214156e+01] [-1.57035520e-02 2.38351310e-04 9.99876663e-01 -5.40477857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters 0.02968012327675332 Centerline is valid? [True, True] Translation: X:271.10, Y:-41.73, Z:-5.40 [[ 9.89898360e-01 1.40837982e-01 1.63064038e-02 2.71096379e+02] [-1.40814225e-01 9.90032618e-01 -2.60176685e-03 -4.17344782e+01] [-1.65102992e-02 2.79311133e-04 9.99863657e-01 -5.40448245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774012739 meters 0.02968012327675332 Centerline is valid? [True, True] Translation: X:271.13, Y:-41.74, Z:-5.41 [[ 9.89895248e-01 1.40859858e-01 1.63063805e-02 2.71126820e+02] [-1.40836102e-01 9.90029506e-01 -2.60191262e-03 -4.17393819e+01] [-1.65103029e-02 2.79093883e-04 9.99863657e-01 -5.40510870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters 0.028021469623629943 Centerline is valid? [True, True] Translation: X:271.16, Y:-41.74, Z:-5.40 [[ 9.89906701e-01 1.40764826e-01 1.64312638e-02 2.71158131e+02] [-1.40740685e-01 9.90043021e-01 -2.62221055e-03 -4.17433554e+01] [-1.66367731e-02 2.83196461e-04 9.99861559e-01 -5.40446421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834012739 meters 0.026956074602104415 Centerline is valid? [True, True] Translation: X:271.19, Y:-41.75, Z:-5.41 [[ 9.89609493e-01 1.43011595e-01 1.48571559e-02 2.71188749e+02] [-1.42992106e-01 9.89720988e-01 -2.37131552e-03 -4.17467245e+01] [-1.50435646e-02 2.22220336e-04 9.99886814e-01 -5.40803787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters 0.025323243928227674 Centerline is valid? [True, True] Translation: X:271.22, Y:-41.75, Z:-5.41 [[ 9.89370173e-01 1.44733488e-01 1.41024456e-02 2.71219911e+02] [-1.44716099e-01 9.89470658e-01 -2.25123844e-03 -4.17480944e+01] [-1.42797857e-02 1.86457249e-04 9.99898021e-01 -5.40950662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894012739 meters 0.02476363382771875 Centerline is valid? [True, True] Translation: X:271.25, Y:-41.75, Z:-5.40 [[ 9.89205353e-01 1.45525312e-01 1.71800049e-02 2.71248850e+02] [-1.45499618e-01 9.89354506e-01 -2.74285543e-03 -4.17536420e+01] [-1.73962701e-02 2.13563127e-04 9.99848651e-01 -5.40470474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters 0.025239593902866248 Centerline is valid? [True, True] Translation: X:271.28, Y:-41.76, Z:-5.40 [[ 9.89311295e-01 1.44450611e-01 1.99294158e-02 2.71278995e+02] [-1.44415822e-01 9.89511975e-01 -3.18152588e-03 -4.17609624e+01] [-2.01799690e-02 2.69396525e-04 9.99796327e-01 -5.40044776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954012739 meters 0.02602941159689098 Centerline is valid? [True, True] Translation: X:271.31, Y:-41.77, Z:-5.40 [[ 9.89440833e-01 1.43342614e-01 2.14413677e-02 2.71310403e+02] [-1.43302074e-01 9.89673075e-01 -3.42338664e-03 -4.17694847e+01] [-2.17106615e-02 3.14646071e-04 9.99764246e-01 -5.39827554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters 0.031150084938295523 Centerline is valid? [True, True] Translation: X:271.34, Y:-41.79, Z:-5.40 [[ 9.89865803e-01 1.40684140e-01 1.93304322e-02 2.71339071e+02] [-1.40650626e-01 9.90054472e-01 -3.08931811e-03 -4.17874254e+01] [-1.95727989e-02 3.39172964e-04 9.99808377e-01 -5.40372165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014012739 meters 0.029599509401183964 Centerline is valid? [True, True] Translation: X:271.37, Y:-41.80, Z:-5.41 [[ 9.90094472e-01 1.39306027e-01 1.75148010e-02 2.71370011e+02] [-1.39278277e-01 9.90249322e-01 -2.80030176e-03 -4.17952301e+01] [-1.77341187e-02 3.33132000e-04 9.99842683e-01 -5.40723876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters 0.030673146868029907 Centerline is valid? [True, True] Translation: X:271.40, Y:-41.81, Z:-5.41 [[ 9.90154844e-01 1.38849655e-01 1.77245054e-02 2.71399667e+02] [-1.38821108e-01 9.90313411e-01 -2.83689458e-03 -4.18054992e+01] [-1.79467172e-02 3.48429422e-04 9.99838884e-01 -5.40744029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074012739 meters 0.029520084740706137 Centerline is valid? [True, True] Translation: X:271.43, Y:-41.81, Z:-5.41 [[ 9.90246978e-01 1.38141967e-01 1.81030156e-02 2.71431019e+02] [-1.38112018e-01 9.90412368e-01 -2.90033674e-03 -4.18123509e+01] [-1.83301088e-02 3.71805676e-04 9.99831920e-01 -5.40705668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters 0.032811688720847665 Centerline is valid? [True, True] Translation: X:271.46, Y:-41.83, Z:-5.41 [[ 9.90537896e-01 1.36218766e-01 1.67070398e-02 2.71458968e+02] [-1.36192931e-01 9.90678709e-01 -2.67982579e-03 -4.18310327e+01] [-1.69163512e-02 3.79088276e-04 9.99856836e-01 -5.41067350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134012739 meters 0.03350909932736275 Centerline is valid? [True, True] Translation: X:271.49, Y:-41.84, Z:-5.41 [[ 9.90630754e-01 1.35658705e-01 1.57297829e-02 2.71489524e+02] [-1.35635737e-01 9.90755561e-01 -2.52282546e-03 -4.18409807e+01] [-1.59266131e-02 3.65667784e-04 9.99873097e-01 -5.41248747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters 0.03380313696590419 Centerline is valid? [True, True] Translation: X:271.52, Y:-41.85, Z:-5.41 [[ 9.90616985e-01 1.35671367e-01 1.64702450e-02 2.71521168e+02] [-1.35646141e-01 9.90753820e-01 -2.64439668e-03 -4.18534883e+01] [-1.66767270e-02 3.85459101e-04 9.99860859e-01 -5.41097138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194012739 meters 0.03254348020461992 Centerline is valid? [True, True] Translation: X:271.55, Y:-41.86, Z:-5.41 [[ 9.90451393e-01 1.36720844e-01 1.77044659e-02 2.71552603e+02] [-1.36691797e-01 9.90609535e-01 -2.84624317e-03 -4.18601522e+01] [-1.79273535e-02 3.99010255e-04 9.99839212e-01 -5.40960482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters 0.03014876246292166 Centerline is valid? [True, True] Translation: X:271.58, Y:-41.87, Z:-5.41 [[ 9.90015824e-01 1.39844364e-01 1.76698179e-02 2.71582094e+02] [-1.39815868e-01 9.90173437e-01 -2.84400994e-03 -4.18676587e+01] [-1.78939031e-02 3.45093910e-04 9.99839832e-01 -5.41037476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254012739 meters 0.029380590329245688 Centerline is valid? [True, True] Translation: X:271.61, Y:-41.87, Z:-5.41 [[ 9.89867718e-01 1.40992858e-01 1.68200755e-02 2.71613794e+02] [-1.40967208e-01 9.90010565e-01 -2.70693021e-03 -4.18727390e+01] [-1.70337102e-02 3.08423751e-04 9.99854868e-01 -5.41269138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters 0.02830223970713743 Centerline is valid? [True, True] Translation: X:271.65, Y:-41.88, Z:-5.42 [[ 9.89677344e-01 1.42456439e-01 1.56498556e-02 2.71646017e+02] [-1.42434380e-01 9.89801037e-01 -2.52098156e-03 -4.18768187e+01] [-1.58493734e-02 2.65880856e-04 9.99874355e-01 -5.41629158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314012739 meters 0.027866579330812224 Centerline is valid? [True, True] Translation: X:271.68, Y:-41.88, Z:-5.42 [[ 9.89565395e-01 1.43254375e-01 1.54438483e-02 2.71677862e+02] [-1.43232949e-01 9.89685870e-01 -2.49035263e-03 -4.18828440e+01] [-1.56413123e-02 2.52298859e-04 9.99877635e-01 -5.41674254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters 0.029455030038136553 Centerline is valid? [True, True] Translation: X:271.71, Y:-41.89, Z:-5.42 [[ 9.89556840e-01 1.43362991e-01 1.49771128e-02 2.71708256e+02] [-1.43342817e-01 9.89670143e-01 -2.41747476e-03 -4.18932907e+01] [-1.51689777e-02 2.45367147e-04 9.99884914e-01 -5.41907067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374012739 meters 0.029773560719903402 Centerline is valid? [True, True] Translation: X:271.74, Y:-41.90, Z:-5.42 [[ 9.89590352e-01 1.43270249e-01 1.35856682e-02 2.71739707e+02] [-1.43253610e-01 9.89683578e-01 -2.19514614e-03 -4.19021624e+01] [-1.37600119e-02 2.26099421e-04 9.99905301e-01 -5.42186014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters 0.027883828944941378 Centerline is valid? [True, True] Translation: X:271.77, Y:-41.91, Z:-5.42 [[ 9.89440645e-01 1.44226287e-01 1.43522893e-02 2.71772222e+02] [-1.44207775e-01 9.89544707e-01 -2.32188413e-03 -4.19058019e+01] [-1.45371086e-02 2.27654819e-04 9.99894305e-01 -5.42049499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434012739 meters 0.027756350385240117 Centerline is valid? [True, True] Translation: X:271.80, Y:-41.91, Z:-5.42 [[ 9.89197906e-01 1.45696938e-01 1.61215530e-02 2.71802850e+02] [-1.45673749e-01 9.89329241e-01 -2.60975662e-03 -4.19123121e+01] [-1.63297574e-02 2.33078713e-04 9.99866633e-01 -5.41793544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters 0.023976354347972004 Centerline is valid? [True, True] Translation: X:271.84, Y:-41.91, Z:-5.41 [[ 9.88621920e-01 1.49302685e-01 1.83141247e-02 2.71835648e+02] [-1.49273343e-01 9.88791519e-01 -2.96657232e-03 -4.19108485e+01] [-1.85517684e-02 1.99007797e-04 9.99827881e-01 -5.41380385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494012739 meters 0.023702821070562048 Centerline is valid? [True, True] Translation: X:271.87, Y:-41.91, Z:-5.41 [[ 9.88352348e-01 1.51030366e-01 1.86939756e-02 2.71866878e+02] [-1.51000041e-01 9.88529109e-01 -3.03134008e-03 -4.19146626e+01] [-1.89373635e-02 1.73240989e-04 9.99820657e-01 -5.41420628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters 0.02202990803675553 Centerline is valid? [True, True] Translation: X:271.90, Y:-41.92, Z:-5.42 [[ 9.87900210e-01 1.54015022e-01 1.82358922e-02 2.71899281e+02] [-1.53986623e-01 9.88068499e-01 -2.95979280e-03 -4.19157799e+01] [-1.84741632e-02 1.15896457e-04 9.99829331e-01 -5.41647019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55401273900003 meters 0.021677541178765365 Centerline is valid? [True, True] Translation: X:271.93, Y:-41.92, Z:-5.42 [[ 9.87773226e-01 1.54947461e-01 1.71854386e-02 2.71932248e+02] [-1.54922335e-01 9.87922707e-01 -2.79192564e-03 -4.19214548e+01] [-1.74104869e-02 9.53811117e-05 9.99848421e-01 -5.41834695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters 0.021589744520236744 Centerline is valid? [True, True] Translation: X:271.97, Y:-41.93, Z:-5.42 [[ 9.87674860e-01 1.55648993e-01 1.64851867e-02 2.71965120e+02] [-1.55625920e-01 9.87812424e-01 -2.68118855e-03 -4.19275965e+01] [-1.67015965e-02 8.26201803e-05 9.99860515e-01 -5.41986614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61401273900003 meters 0.02170142233848399 Centerline is valid? [True, True] Translation: X:272.00, Y:-41.93, Z:-5.42 [[ 9.87762433e-01 1.55083109e-01 1.65712051e-02 2.71997706e+02] [-1.55059655e-01 9.87901422e-01 -2.69875015e-03 -4.19334858e+01] [-1.67892477e-02 9.61986663e-05 9.99859046e-01 -5.42038372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters 0.021916232392899207 Centerline is valid? [True, True] Translation: X:272.03, Y:-41.94, Z:-5.42 [[ 9.87790217e-01 1.54888809e-01 1.67315031e-02 2.72029538e+02] [-1.54864852e-01 9.87931904e-01 -2.72600845e-03 -4.19399012e+01] [-1.69518139e-02 1.01602735e-04 9.99856303e-01 -5.42096960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67401273900003 meters 0.02150695652651168 Centerline is valid? [True, True] Translation: X:272.06, Y:-41.94, Z:-5.42 [[ 9.87586106e-01 1.56183702e-01 1.67431899e-02 2.72061465e+02] [-1.56159843e-01 9.87728022e-01 -2.73109999e-03 -4.19436962e+01] [-1.69642711e-02 8.25825092e-05 9.99856093e-01 -5.42212026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters 0.021280281043563578 Centerline is valid? [True, True] Translation: X:272.09, Y:-41.95, Z:-5.42 [[ 9.87398746e-01 1.57326119e-01 1.70940972e-02 2.72092113e+02] [-1.57301367e-01 9.87546702e-01 -2.79141768e-03 -4.19475308e+01] [-1.73203822e-02 6.73174631e-05 9.99849989e-01 -5.42175223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734012739 meters 0.020694174148997168 Centerline is valid? [True, True] Translation: X:272.12, Y:-41.95, Z:-5.42 [[ 9.86843091e-01 1.60590691e-01 1.87441750e-02 2.72124299e+02] [-1.60561456e-01 9.87021089e-01 -3.06415451e-03 -4.19475009e+01] [-1.89929707e-02 1.42476796e-05 9.99819617e-01 -5.41907489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters 0.02071982589209607 Centerline is valid? [True, True] Translation: X:272.16, Y:-41.95, Z:-5.42 [[ 9.86410472e-01 1.63255870e-01 1.84905939e-02 2.72157373e+02] [-1.63227832e-01 9.86583762e-01 -3.02571736e-03 -4.19480923e+01] [-1.87364858e-02 -3.35802744e-05 9.99824456e-01 -5.41951539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794012739 meters 0.022364983603010206 Centerline is valid? [True, True] Translation: X:272.19, Y:-41.94, Z:-5.42 [[ 9.85518912e-01 1.68660960e-01 1.74915556e-02 2.72189452e+02] [-1.68636656e-01 9.85674117e-01 -2.86589299e-03 -4.19416361e+01] [-1.77243379e-02 -1.25325701e-04 9.99842904e-01 -5.42355179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters 0.023676816220874447 Centerline is valid? [True, True] Translation: X:272.22, Y:-41.94, Z:-5.43 [[ 9.85083976e-01 1.71220160e-01 1.71235871e-02 2.72220584e+02] [-1.71197251e-01 9.85232779e-01 -2.80584048e-03 -4.19416112e+01] [-1.73511358e-02 -1.67522546e-04 9.99849444e-01 -5.42509680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854012739 meters 0.02469093970678784 Centerline is valid? [True, True] Translation: X:272.25, Y:-41.94, Z:-5.43 [[ 9.84740132e-01 1.73246934e-01 1.65037152e-02 2.72251115e+02] [-1.73225938e-01 9.84878399e-01 -2.70426936e-03 -4.19423993e+01] [-1.67226589e-02 -1.95868968e-04 9.99860147e-01 -5.42613273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters 0.027246015197212994 Centerline is valid? [True, True] Translation: X:272.28, Y:-41.94, Z:-5.43 [[ 9.84374895e-01 1.75431270e-01 1.51636175e-02 2.72280555e+02] [-1.75413803e-01 9.84491658e-01 -2.48470578e-03 -4.19368068e+01] [-1.53643500e-02 -2.14025829e-04 9.99881939e-01 -5.42942022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914012739 meters 0.024778474739835188 Centerline is valid? [True, True] Translation: X:272.31, Y:-41.94, Z:-5.43 [[ 9.84589940e-01 1.74112113e-01 1.63591725e-02 2.72309885e+02] [-1.74091602e-01 9.84725814e-01 -2.68060125e-03 -4.19421719e+01] [-1.65760246e-02 -2.08701517e-04 9.99862586e-01 -5.42681634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters 0.02383442516534802 Centerline is valid? [True, True] Translation: X:272.34, Y:-41.95, Z:-5.43 [[ 9.84860218e-01 1.72472461e-01 1.74241692e-02 2.72339361e+02] [-1.72448944e-01 9.85014321e-01 -2.85464403e-03 -4.19475153e+01] [-1.76554037e-02 -1.93354242e-04 9.99844113e-01 -5.42609180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974012739 meters 0.02292871119123113 Centerline is valid? [True, True] Translation: X:272.37, Y:-41.95, Z:-5.43 [[ 9.85203814e-01 1.70396063e-01 1.84018167e-02 2.72368032e+02] [-1.70369480e-01 9.85375641e-01 -3.01430977e-03 -4.19537585e+01] [-1.86463285e-02 -1.65398458e-04 9.99826128e-01 -5.42506312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters 0.021324642170304945 Centerline is valid? [True, True] Translation: X:272.40, Y:-41.96, Z:-5.43 [[ 9.85900043e-01 1.66338610e-01 1.82365583e-02 2.72397760e+02] [-1.66311813e-01 9.86068689e-01 -2.98695040e-03 -4.19647064e+01] [-1.84793443e-02 -8.81205415e-05 9.99829238e-01 -5.42675241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034012739 meters 0.020883434791881296 Centerline is valid? [True, True] Translation: X:272.43, Y:-41.97, Z:-5.43 [[ 9.86395042e-01 1.63517696e-01 1.69347369e-02 2.72428546e+02] [-1.63494173e-01 9.86540401e-01 -2.77365034e-03 -4.19724611e+01] [-1.71603430e-02 -3.28158656e-05 9.99852750e-01 -5.43001059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters 0.02072405143196288 Centerline is valid? [True, True] Translation: X:272.46, Y:-41.98, Z:-5.43 [[ 9.86560859e-01 1.62532827e-01 1.67556219e-02 2.72458947e+02] [-1.62509602e-01 9.86703137e-01 -2.74762822e-03 -4.19779980e+01] [-1.69794045e-02 -1.22469805e-05 9.99855839e-01 -5.43027560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094012739 meters 0.020699153364065744 Centerline is valid? [True, True] Translation: X:272.49, Y:-41.98, Z:-5.43 [[ 9.86568180e-01 1.62480392e-01 1.68329319e-02 2.72488761e+02] [-1.62456936e-01 9.86711773e-01 -2.76075749e-03 -4.19823232e+01] [-1.70578211e-02 -1.09510532e-05 9.99854505e-01 -5.42993115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters 0.020692257159619927 Centerline is valid? [True, True] Translation: X:272.52, Y:-41.98, Z:-5.43 [[ 9.86326856e-01 1.63934351e-01 1.68778386e-02 2.72519673e+02] [-1.63910979e-01 9.86471250e-01 -2.76836561e-03 -4.19826902e+01] [-1.71033327e-02 -3.59496934e-05 9.99853727e-01 -5.42863212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154012739 meters 0.021063047678660237 Centerline is valid? [True, True] Translation: X:272.55, Y:-41.98, Z:-5.43 [[ 9.86071394e-01 1.65484189e-01 1.66790194e-02 2.72550697e+02] [-1.65461586e-01 9.86212441e-01 -2.73575455e-03 -4.19839410e+01] [-1.69017805e-02 -6.20876991e-05 9.99857153e-01 -5.43000685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters 0.02224262740697053 Centerline is valid? [True, True] Translation: X:272.58, Y:-41.98, Z:-5.43 [[ 9.85601608e-01 1.68254271e-01 1.67323171e-02 2.72579979e+02] [-1.68231920e-01 9.85743622e-01 -2.74461549e-03 -4.19808962e+01] [-1.69555682e-02 -1.09812392e-04 9.99856238e-01 -5.43219504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214012739 meters 0.022420683110205175 Centerline is valid? [True, True] Translation: X:272.61, Y:-41.98, Z:-5.43 [[ 9.85398986e-01 1.69251021e-01 1.85183667e-02 2.72610163e+02] [-1.69223834e-01 9.85572966e-01 -3.03682219e-03 -4.19823783e+01] [-1.87651869e-02 -1.41267497e-04 9.99823908e-01 -5.42915241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters 0.022618562014815394 Centerline is valid? [True, True] Translation: X:272.64, Y:-41.98, Z:-5.43 [[ 9.85304093e-01 1.69725730e-01 1.92099206e-02 2.72638368e+02] [-1.69696574e-01 9.85491325e-01 -3.14974894e-03 -4.19847292e+01] [-1.94658036e-02 -1.56397190e-04 9.99810511e-01 -5.42834148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274012739 meters 0.02313742492512777 Centerline is valid? [True, True] Translation: X:272.67, Y:-41.99, Z:-5.43 [[ 9.85151474e-01 1.70579847e-01 1.94701845e-02 2.72667999e+02] [-1.70550072e-01 9.85343841e-01 -3.19193430e-03 -4.19865770e+01] [-1.97293060e-02 -1.76102580e-04 9.99805343e-01 -5.42794172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters 0.02458982330144692 Centerline is valid? [True, True] Translation: X:272.70, Y:-41.98, Z:-5.43 [[ 9.84830975e-01 1.72502534e-01 1.87303622e-02 2.72696533e+02] [-1.72475333e-01 9.85009052e-01 -3.07026627e-03 -4.19833898e+01] [-1.89792050e-02 -2.06832127e-04 9.99819857e-01 -5.42978937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334012739 meters 0.024881389076292254 Centerline is valid? [True, True] Translation: X:272.73, Y:-41.99, Z:-5.43 [[ 9.84738792e-01 1.73060290e-01 1.84295389e-02 2.72725034e+02] [-1.73034074e-01 9.84911209e-01 -3.01986014e-03 -4.19851551e+01] [-1.86740773e-02 -2.15164767e-04 9.99825601e-01 -5.43087140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters 0.025210640324733365 Centerline is valid? [True, True] Translation: X:272.75, Y:-41.99, Z:-5.43 [[ 9.84666953e-01 1.73412592e-01 1.89489911e-02 2.72754106e+02] [-1.73384959e-01 9.84849238e-01 -3.10405979e-03 -4.19870171e+01] [-1.92001825e-02 -2.29004966e-04 9.99815633e-01 -5.43073025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394012739 meters 0.024535653338410197 Centerline is valid? [True, True] Translation: X:272.78, Y:-41.99, Z:-5.43 [[ 9.84772755e-01 1.72726311e-01 1.97038498e-02 2.72782275e+02] [-1.72696315e-01 9.84969833e-01 -3.22675055e-03 -4.19922920e+01] [-1.99650423e-02 -2.25166217e-04 9.99800653e-01 -5.43020696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters 0.023658454641890963 Centerline is valid? [True, True] Translation: X:272.81, Y:-42.00, Z:-5.43 [[ 9.85101929e-01 1.70714787e-01 2.07521525e-02 2.72809765e+02] [-1.70681090e-01 9.85320467e-01 -3.39737487e-03 -4.19965136e+01] [-2.10275027e-02 -1.95239478e-04 9.99778879e-01 -5.42914372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454012739 meters 0.02303908162010692 Centerline is valid? [True, True] Translation: X:272.84, Y:-42.00, Z:-5.43 [[ 9.85302863e-01 1.69573198e-01 2.05717858e-02 2.72837596e+02] [-1.69539860e-01 9.85517581e-01 -3.36664408e-03 -4.20025165e+01] [-2.08447492e-02 -1.70573632e-04 9.99782710e-01 -5.43000207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters 0.021956341290978565 Centerline is valid? [True, True] Translation: X:272.87, Y:-42.01, Z:-5.43 [[ 9.85675717e-01 1.67513384e-01 1.95613498e-02 2.72866150e+02] [-1.67482853e-01 9.85869794e-01 -3.20041519e-03 -4.20097536e+01] [-1.98210563e-02 -1.21619125e-04 9.99803536e-01 -5.43150396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514012739 meters 0.021560417998555383 Centerline is valid? [True, True] Translation: X:272.89, Y:-42.01, Z:-5.43 [[ 9.85866971e-01 1.66498233e-01 1.85648581e-02 2.72894671e+02] [-1.66470560e-01 9.86041748e-01 -3.03700546e-03 -4.20139449e+01] [-1.88113811e-02 -9.64189447e-05 9.99823046e-01 -5.43334633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters 0.021460416990963745 Centerline is valid? [True, True] Translation: X:272.92, Y:-42.02, Z:-5.44 [[ 9.86064229e-01 1.65569434e-01 1.62510943e-02 2.72923007e+02] [-1.65548114e-01 9.86198133e-01 -2.65785626e-03 -4.20164493e+01] [-1.64668586e-02 -6.95210337e-05 9.99864410e-01 -5.43887027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574012739 meters 0.021603345624729393 Centerline is valid? [True, True] Translation: X:272.95, Y:-42.02, Z:-5.44 [[ 9.86079205e-01 1.65578039e-01 1.52222034e-02 2.72950517e+02] [-1.65559343e-01 9.86196689e-01 -2.48898647e-03 -4.20203384e+01] [-1.54242081e-02 -6.58401949e-05 9.99881038e-01 -5.44152993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters 0.021508606838058934 Centerline is valid? [True, True] Translation: X:272.98, Y:-42.02, Z:-5.44 [[ 9.86031001e-01 1.65879367e-01 1.50632432e-02 2.72978834e+02] [-1.65861109e-01 9.86146049e-01 -2.46208269e-03 -4.20243802e+01] [-1.52629665e-02 -7.07163599e-05 9.99883512e-01 -5.44028031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634012739 meters 0.021719715549276753 Centerline is valid? [True, True] Translation: X:273.01, Y:-42.02, Z:-5.44 [[ 9.85807994e-01 1.66933154e-01 1.77741525e-02 2.73007707e+02] [-1.66907923e-01 9.85968210e-01 -2.90417088e-03 -4.20227681e+01] [-1.80095518e-02 -1.03692004e-04 9.99837809e-01 -5.43548792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters 0.021719715549276753 Centerline is valid? [True, True] Translation: X:273.04, Y:-42.03, Z:-5.44 [[ 9.85815551e-01 1.66888499e-01 1.77743429e-02 2.73035675e+02] [-1.66863281e-01 9.85975769e-01 -2.90300539e-03 -4.20272434e+01] [-1.80095496e-02 -1.04057315e-04 9.99837809e-01 -5.43606321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694012739 meters 0.02147181874946292 Centerline is valid? [True, True] Translation: X:273.06, Y:-42.03, Z:-5.44 [[ 9.85747552e-01 1.67175482e-01 1.88181532e-02 2.73064059e+02] [-1.67147285e-01 9.85927150e-01 -3.07256123e-03 -4.20304993e+01] [-1.90669851e-02 -1.16633502e-04 9.99818202e-01 -5.43502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters 0.021882766733179994 Centerline is valid? [True, True] Translation: X:273.09, Y:-42.03, Z:-5.44 [[ 9.85811215e-01 1.66772953e-01 1.90533486e-02 2.73091701e+02] [-1.66743990e-01 9.85995319e-01 -3.11000748e-03 -4.20313679e+01] [-1.93051777e-02 -1.11151110e-04 9.99813632e-01 -5.43577991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754012739 meters 0.02130525476384197 Centerline is valid? [True, True] Translation: X:273.12, Y:-42.04, Z:-5.44 [[ 9.85927844e-01 1.66116635e-01 1.87496823e-02 2.73120262e+02] [-1.66088491e-01 9.86106107e-01 -3.05927377e-03 -4.20370630e+01] [-1.89973725e-02 -9.78832441e-05 9.99819529e-01 -5.43681197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters 0.02089237590090939 Centerline is valid? [True, True] Translation: X:273.15, Y:-42.04, Z:-5.44 [[ 9.86210117e-01 1.64413129e-01 1.89189715e-02 2.73147712e+02] [-1.64384178e-01 9.86391565e-01 -3.08598099e-03 -4.20410612e+01] [-1.91688897e-02 -6.65539057e-05 9.99816258e-01 -5.43761678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814012739 meters 0.020510067158455943 Centerline is valid? [True, True] Translation: X:273.18, Y:-42.05, Z:-5.44 [[ 9.86413045e-01 1.63099101e-01 1.96973985e-02 2.73176125e+02] [-1.63067481e-01 9.86609691e-01 -3.21170765e-03 -4.20485945e+01] [-1.99574709e-02 -4.39348386e-05 9.99800829e-01 -5.43645216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters 0.020315733570183923 Centerline is valid? [True, True] Translation: X:273.20, Y:-42.06, Z:-5.44 [[ 9.86778482e-01 1.60896614e-01 1.95066055e-02 2.73204377e+02] [-1.60865191e-01 9.86971266e-01 -3.17974498e-03 -4.20579569e+01] [-1.97640693e-02 -2.29876905e-07 9.99804672e-01 -5.43707448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874012739 meters 0.020406138898745076 Centerline is valid? [True, True] Translation: X:273.23, Y:-42.06, Z:-5.44 [[ 9.86859404e-01 1.60487657e-01 1.87677369e-02 2.73234023e+02] [-1.60458504e-01 9.87037847e-01 -3.05886284e-03 -4.20628347e+01] [-1.90153764e-02 7.22456742e-06 9.99819191e-01 -5.43931293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters 0.02053112116432475 Centerline is valid? [True, True] Translation: X:273.26, Y:-42.07, Z:-5.44 [[ 9.86898799e-01 1.60296799e-01 1.83220131e-02 2.73262990e+02] [-1.60268990e-01 9.87068861e-01 -2.98577212e-03 -4.20685020e+01] [-1.85636984e-02 1.02043855e-05 9.99827680e-01 -5.44161896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934012739 meters 0.020370087993480057 Centerline is valid? [True, True] Translation: X:273.29, Y:-42.07, Z:-5.44 [[ 9.86847651e-01 1.60559972e-01 1.87672526e-02 2.73291415e+02] [-1.60530852e-01 9.87026086e-01 -3.05784419e-03 -4.20743397e+01] [-1.90147353e-02 4.90330562e-06 9.99819204e-01 -5.44076863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters 0.020203128996395436 Centerline is valid? [True, True] Translation: X:273.32, Y:-42.08, Z:-5.44 [[ 9.86705825e-01 1.61138102e-01 2.11217037e-02 2.73320794e+02] [-1.61101361e-01 9.86931868e-01 -3.44083923e-03 -4.20800533e+01] [-2.14001328e-02 -7.63911707e-06 9.99770991e-01 -5.43703574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994012739 meters 0.020171977796426446 Centerline is valid? [True, True] Translation: X:273.35, Y:-42.08, Z:-5.44 [[ 9.86712174e-01 1.61023444e-01 2.16918604e-02 2.73350162e+02] [-1.60984677e-01 9.86950582e-01 -3.53318731e-03 -4.20848130e+01] [-2.19777203e-02 -5.81820607e-06 9.99758461e-01 -5.43636247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters 0.020214595378142856 Centerline is valid? [True, True] Translation: X:273.38, Y:-42.09, Z:-5.44 [[ 9.86704672e-01 1.61068661e-01 2.16973897e-02 2.73380678e+02] [-1.61029890e-01 9.86943203e-01 -3.53384076e-03 -4.20893661e+01] [-2.19832823e-02 -7.07110246e-06 9.99758338e-01 -5.43713865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05401273900003 meters 0.020473205037579986 Centerline is valid? [True, True] Translation: X:273.41, Y:-42.09, Z:-5.44 [[ 9.86377683e-01 1.63233677e-01 2.03429100e-02 2.73410183e+02] [-1.63200057e-01 9.86587433e-01 -3.31323013e-03 -4.20916066e+01] [-2.06108901e-02 -5.18678195e-05 9.99787572e-01 -5.44007756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters 0.02083225507623603 Centerline is valid? [True, True] Translation: X:273.44, Y:-42.09, Z:-5.44 [[ 9.86113599e-01 1.64982070e-01 1.89970321e-02 2.73439657e+02] [-1.64953084e-01 9.86296563e-01 -3.09360008e-03 -4.20919138e+01] [-1.92470960e-02 -8.29779117e-05 9.99814754e-01 -5.44236712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11401273900003 meters 0.02111282225753501 Centerline is valid? [True, True] Translation: X:273.47, Y:-42.09, Z:-5.44 [[ 9.86072187e-01 1.65273188e-01 1.86122411e-02 2.73467152e+02] [-1.65245425e-01 9.86247822e-01 -3.03048072e-03 -4.20937003e+01] [-1.88571394e-02 -8.73149275e-05 9.99822185e-01 -5.44404185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters 0.02105242069886611 Centerline is valid? [True, True] Translation: X:273.50, Y:-42.10, Z:-5.44 [[ 9.85996674e-01 1.65712870e-01 1.87030580e-02 2.73495358e+02] [-1.65684937e-01 9.86174039e-01 -3.04408306e-03 -4.20975600e+01] [-1.89489140e-02 -9.73592136e-05 9.99820448e-01 -5.44449968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17401273900003 meters 0.02200681673413281 Centerline is valid? [True, True] Translation: X:273.52, Y:-42.10, Z:-5.44 [[ 9.85758425e-01 1.67038583e-01 1.94535319e-02 2.73523136e+02] [-1.67008640e-01 9.85950351e-01 -3.16524902e-03 -4.20987719e+01] [-1.97089353e-02 -1.28737027e-04 9.99805752e-01 -5.44348954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters 0.022771960993203978 Centerline is valid? [True, True] Translation: X:273.55, Y:-42.10, Z:-5.45 [[ 9.85520911e-01 1.68511778e-01 1.87700353e-02 2.73551677e+02] [-1.68484191e-01 9.85699628e-01 -3.05292248e-03 -4.21009766e+01] [-1.90160702e-02 -1.53735256e-04 9.99819166e-01 -5.44509389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234012739 meters 0.025886656490921558 Centerline is valid? [True, True] Translation: X:273.58, Y:-42.10, Z:-5.45 [[ 9.84972651e-01 1.71982683e-01 1.58376996e-02 2.73579841e+02] [-1.71963499e-01 9.85099955e-01 -2.57549080e-03 -4.20969998e+01] [-1.60446570e-02 -1.86718244e-04 9.99871259e-01 -5.45197007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters 0.026154641696962386 Centerline is valid? [True, True] Translation: X:273.61, Y:-42.10, Z:-5.45 [[ 9.84708331e-01 1.73565561e-01 1.49832619e-02 2.73608464e+02] [-1.73548591e-01 9.84822296e-01 -2.43547528e-03 -4.20999747e+01] [-1.51785650e-02 -2.02091188e-04 9.99884779e-01 -5.45334318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294012739 meters 0.027335716207669194 Centerline is valid? [True, True] Translation: X:273.64, Y:-42.10, Z:-5.45 [[ 9.84266463e-01 1.75925905e-01 1.64196515e-02 2.73637546e+02] [-1.75905867e-01 9.84403376e-01 -2.66808720e-03 -4.21000781e+01] [-1.66329460e-02 -2.62204280e-04 9.99861629e-01 -5.45129029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters 0.027977807576908077 Centerline is valid? [True, True] Translation: X:273.67, Y:-42.10, Z:-5.45 [[ 9.84114596e-01 1.76676852e-01 1.74284699e-02 2.73666568e+02] [-1.76654410e-01 9.84268868e-01 -2.83110659e-03 -4.21028539e+01] [-1.76544914e-02 -2.92682765e-04 9.99844104e-01 -5.44943905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354012739 meters 0.02935215777473587 Centerline is valid? [True, True] Translation: X:273.69, Y:-42.10, Z:-5.45 [[ 9.83993416e-01 1.77277074e-01 1.81603182e-02 2.73694160e+02] [-1.77252826e-01 9.84160931e-01 -2.94911731e-03 -4.21039978e+01] [-1.83954865e-02 -3.17055699e-04 9.99830738e-01 -5.44920726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters 0.029466519621725015 Centerline is valid? [True, True] Translation: X:273.72, Y:-42.11, Z:-5.45 [[ 9.83711617e-01 1.78812325e-01 1.83740677e-02 2.73723244e+02] [-1.78787797e-01 9.83883138e-01 -2.98242123e-03 -4.21054184e+01] [-1.86112291e-02 -3.51216672e-04 9.99826734e-01 -5.44898621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414012739 meters 0.031351709627831785 Centerline is valid? [True, True] Translation: X:273.75, Y:-42.11, Z:-5.45 [[ 9.83670121e-01 1.79029808e-01 1.84775892e-02 2.73751222e+02] [-1.79005057e-01 9.83843585e-01 -2.99833987e-03 -4.21052198e+01] [-1.87158498e-02 -3.58204572e-04 9.99824779e-01 -5.45007248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters 0.03146523793921458 Centerline is valid? [True, True] Translation: X:273.78, Y:-42.11, Z:-5.45 [[ 9.83700196e-01 1.78847203e-01 1.86440772e-02 2.73778734e+02] [-1.78821992e-01 9.83876796e-01 -3.02425177e-03 -4.21067018e+01] [-1.88843539e-02 -3.59013963e-04 9.99821610e-01 -5.44979331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474012739 meters 0.029974587630987544 Centerline is valid? [True, True] Translation: X:273.81, Y:-42.11, Z:-5.45 [[ 9.83722425e-01 1.78719829e-01 1.86925898e-02 2.73806353e+02] [-1.78694492e-01 9.83899941e-01 -3.03060442e-03 -4.21116867e+01] [-1.89332671e-02 -3.58989321e-04 9.99820685e-01 -5.45027873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters 0.029998890984260913 Centerline is valid? [True, True] Translation: X:273.83, Y:-42.11, Z:-5.45 [[ 9.83849378e-01 1.77964989e-01 1.92058426e-02 2.73834470e+02] [-1.77938126e-01 9.84036756e-01 -3.11238145e-03 -4.21118812e+01] [-1.94531500e-02 -3.55337081e-04 9.99810706e-01 -5.45073617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534012739 meters 0.028962058832219667 Centerline is valid? [True, True] Translation: X:273.86, Y:-42.12, Z:-5.45 [[ 9.83937633e-01 1.77436109e-01 1.95745167e-02 2.73863240e+02] [-1.77408124e-01 9.84132259e-01 -3.17092498e-03 -4.21165501e+01] [-1.98265499e-02 -3.52685870e-04 9.99803372e-01 -5.45078434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters 0.029355551884766067 Centerline is valid? [True, True] Translation: X:273.89, Y:-42.12, Z:-5.45 [[ 9.83996639e-01 1.77071107e-01 1.99107440e-02 2.73891122e+02] [-1.77042097e-01 9.84197998e-01 -3.22442106e-03 -4.21189428e+01] [-2.01670661e-02 -3.52220369e-04 9.99796562e-01 -5.45031784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594012739 meters 0.028053886996849086 Centerline is valid? [True, True] Translation: X:273.92, Y:-42.12, Z:-5.45 [[ 9.83945573e-01 1.77153855e-01 2.16245230e-02 2.73919828e+02] [-1.77119697e-01 9.84183094e-01 -3.50010403e-03 -4.21220828e+01] [-2.19025469e-02 -3.86217095e-04 9.99760036e-01 -5.44766792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters 0.02761082155467433 Centerline is valid? [True, True] Translation: X:273.95, Y:-42.12, Z:-5.45 [[ 9.84119664e-01 1.76131237e-01 2.20516249e-02 2.73947983e+02] [-1.76095484e-01 9.84366623e-01 -3.56810759e-03 -4.21249551e+01] [-2.23353387e-02 -3.71746713e-04 9.99750466e-01 -5.44870662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654012739 meters 0.027782482546321093 Centerline is valid? [True, True] Translation: X:273.98, Y:-42.13, Z:-5.45 [[ 9.84263695e-01 1.75474414e-01 2.08256769e-02 2.73975484e+02] [-1.75442405e-01 9.84483934e-01 -3.36853955e-03 -4.21288289e+01] [-2.10936368e-02 -3.38175656e-04 9.99777447e-01 -5.45138539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters 0.026592845792012175 Centerline is valid? [True, True] Translation: X:274.00, Y:-42.14, Z:-5.46 [[ 9.84493468e-01 1.74364964e-01 1.92216312e-02 2.74003924e+02] [-1.74337506e-01 9.84681052e-01 -3.10799817e-03 -4.21360643e+01] [-1.94691020e-02 -2.91247339e-04 9.99810417e-01 -5.45500951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714012739 meters 0.025396679648555843 Centerline is valid? [True, True] Translation: X:274.03, Y:-42.14, Z:-5.46 [[ 9.84982567e-01 1.71649859e-01 1.85921766e-02 2.74031502e+02] [-1.71623697e-01 9.85157994e-01 -3.00558687e-03 -4.21434006e+01] [-1.88321399e-02 -2.30407415e-04 9.99822633e-01 -5.45564700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters 0.024369463072668403 Centerline is valid? [True, True] Translation: X:274.06, Y:-42.15, Z:-5.45 [[ 9.85240688e-01 1.70099932e-01 1.91520101e-02 2.74058434e+02] [-1.70071897e-01 9.85426796e-01 -3.09514646e-03 -4.21494527e+01] [-1.93993882e-02 -2.07754473e-04 9.99811793e-01 -5.45390542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774012739 meters 0.022260668229863705 Centerline is valid? [True, True] Translation: X:274.09, Y:-42.16, Z:-5.45 [[ 9.85610853e-01 1.67758037e-01 2.06999350e-02 2.74086600e+02] [-1.67724797e-01 9.85828185e-01 -3.34404105e-03 -4.21591982e+01] [-2.09675691e-02 -1.75969239e-04 9.99780141e-01 -5.45163004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters 0.02178057152777421 Centerline is valid? [True, True] Translation: X:274.11, Y:-42.17, Z:-5.45 [[ 9.85723039e-01 1.67105270e-01 2.06378026e-02 2.74114640e+02] [-1.67072101e-01 9.85939046e-01 -3.33325810e-03 -4.21657368e+01] [-2.09046204e-02 -1.62331743e-04 9.99781461e-01 -5.45308775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834012739 meters 0.021309000530976733 Centerline is valid? [True, True] Translation: X:274.14, Y:-42.17, Z:-5.46 [[ 9.85943030e-01 1.65923438e-01 1.96406364e-02 2.74142331e+02] [-1.65893181e-01 9.86138629e-01 -3.17128499e-03 -4.21725194e+01] [-1.98945807e-02 -1.31541319e-04 9.99802075e-01 -5.45550858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters 0.020914901889567693 Centerline is valid? [True, True] Translation: X:274.17, Y:-42.18, Z:-5.46 [[ 9.86180392e-01 1.64513384e-01 1.95852342e-02 2.74169885e+02] [-1.64483038e-01 9.86374845e-01 -3.16139106e-03 -4.21789310e+01] [-1.98384735e-02 -1.03736956e-04 9.99803193e-01 -5.45668520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894012739 meters 0.020094981721140843 Centerline is valid? [True, True] Translation: X:274.20, Y:-42.19, Z:-5.46 [[ 9.86928180e-01 1.60007689e-01 1.92433834e-02 2.74197049e+02] [-1.59977559e-01 9.87115768e-01 -3.10505798e-03 -4.21908900e+01] [-1.94922803e-02 -1.40402763e-05 9.99810007e-01 -5.45758142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters 0.020209021238341056 Centerline is valid? [True, True] Translation: X:274.22, Y:-42.20, Z:-5.46 [[ 9.87254591e-01 1.58017402e-01 1.89439546e-02 2.74224905e+02] [-1.57987854e-01 9.87436327e-01 -3.05581667e-03 -4.21985437e+01] [-1.91888212e-02 2.39542995e-05 9.99815877e-01 -5.45828166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954012739 meters 0.020519486429344053 Centerline is valid? [True, True] Translation: X:274.25, Y:-42.21, Z:-5.46 [[ 9.87524053e-01 1.56463171e-01 1.77628870e-02 2.74252039e+02] [-1.56436957e-01 9.87683792e-01 -2.86444709e-03 -4.22074460e+01] [-1.79922961e-02 4.99384222e-05 9.99838124e-01 -5.46159461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters 0.020343413110491305 Centerline is valid? [True, True] Translation: X:274.28, Y:-42.21, Z:-5.46 [[ 9.87462958e-01 1.56823660e-01 1.79790425e-02 2.74280368e+02] [-1.56796875e-01 9.87626619e-01 -2.89865175e-03 -4.22118691e+01] [-1.82111581e-02 4.32535658e-05 9.99834162e-01 -5.46175485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014012739 meters 0.020006937906289678 Centerline is valid? [True, True] Translation: X:274.31, Y:-42.22, Z:-5.46 [[ 9.87092505e-01 1.58958837e-01 1.95057763e-02 2.74309019e+02] [-1.58927747e-01 9.87285211e-01 -3.14374873e-03 -4.22170799e+01] [-1.97574911e-02 3.16173838e-06 9.99804802e-01 -5.45991025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters 0.020098466592657474 Centerline is valid? [True, True] Translation: X:274.34, Y:-42.22, Z:-5.46 [[ 9.86910308e-01 1.60034042e-01 1.99285915e-02 2.74337633e+02] [-1.60001829e-01 9.87111496e-01 -3.21086987e-03 -4.22215073e+01] [-2.01855902e-02 -1.97705062e-05 9.99796250e-01 -5.45959763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074012739 meters 0.020765882310949075 Centerline is valid? [True, True] Translation: X:274.37, Y:-42.22, Z:-5.46 [[ 9.86387478e-01 1.63195183e-01 2.01761189e-02 2.74366139e+02] [-1.63162847e-01 9.86593799e-01 -3.24972479e-03 -4.22221974e+01] [-2.04359733e-02 -8.65051646e-05 9.99791160e-01 -5.45957373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters 0.02170961612989769 Centerline is valid? [True, True] Translation: X:274.40, Y:-42.22, Z:-5.46 [[ 9.86067057e-01 1.65190906e-01 1.95888572e-02 2.74395346e+02] [-1.65160842e-01 9.86261603e-01 -3.15394275e-03 -4.22242547e+01] [-1.98407404e-02 -1.25313102e-04 9.99803145e-01 -5.46227440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134012739 meters 0.02453161621646955 Centerline is valid? [True, True] Translation: X:274.42, Y:-42.22, Z:-5.47 [[ 9.85203072e-01 1.70450557e-01 1.79308229e-02 2.74424334e+02] [-1.70426251e-01 9.85366207e-01 -2.88624062e-03 -4.22248666e+01] [-1.81603883e-02 -2.12349803e-04 9.99835064e-01 -5.46521000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters 0.02845020370668564 Centerline is valid? [True, True] Translation: X:274.45, Y:-42.22, Z:-5.47 [[ 9.84649277e-01 1.73624127e-01 1.79014973e-02 2.74452367e+02] [-1.73600435e-01 9.84811956e-01 -2.88095003e-03 -4.22222221e+01] [-1.81298110e-02 -2.70982346e-04 9.99835605e-01 -5.46565571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194012739 meters 0.02954532383731207 Centerline is valid? [True, True] Translation: X:274.48, Y:-42.22, Z:-5.46 [[ 9.84105244e-01 1.76605350e-01 1.86391708e-02 2.74480821e+02] [-1.76580224e-01 9.84281685e-01 -2.99833913e-03 -4.22236146e+01] [-1.88757172e-02 -3.40627703e-04 9.99821780e-01 -5.46490536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters 0.03266911630616356 Centerline is valid? [True, True] Translation: X:274.51, Y:-42.22, Z:-5.46 [[ 9.83456502e-01 1.80023609e-01 2.01198449e-02 2.74511064e+02] [-1.79995073e-01 9.83662191e-01 -3.23524018e-03 -4.22207222e+01] [-2.03735503e-02 -4.39754949e-04 9.99792341e-01 -5.46395122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254012739 meters 0.03258048904203324 Centerline is valid? [True, True] Translation: X:274.54, Y:-42.23, Z:-5.47 [[ 9.83551394e-01 1.79534874e-01 1.98465136e-02 2.74538176e+02] [-1.79507028e-01 9.83751518e-01 -3.19031522e-03 -4.22276486e+01] [-2.00968108e-02 -4.24749695e-04 9.99797948e-01 -5.46564669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters 0.031849136200802125 Centerline is valid? [True, True] Translation: X:274.57, Y:-42.23, Z:-5.47 [[ 9.83778879e-01 1.78356892e-01 1.91816404e-02 2.74566838e+02] [-1.78330678e-01 9.83965786e-01 -3.08238027e-03 -4.22335075e+01] [-1.94238416e-02 -3.88294333e-04 9.99811264e-01 -5.46716405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314012739 meters 0.029971766020539466 Centerline is valid? [True, True] Translation: X:274.60, Y:-42.24, Z:-5.47 [[ 9.83919188e-01 1.77666211e-01 1.83779359e-02 2.74595555e+02] [-1.77642056e-01 9.84090742e-01 -2.95169766e-03 -4.22353381e+01] [-1.86099735e-02 -3.60462338e-04 9.99826754e-01 -5.46908816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters 0.029986423334181618 Centerline is valid? [True, True] Translation: X:274.62, Y:-42.24, Z:-5.47 [[ 9.83912885e-01 1.77724598e-01 1.81494284e-02 2.74624656e+02] [-1.77701065e-01 9.84080200e-01 -2.91413586e-03 -4.22377775e+01] [-1.83784067e-02 -3.57916928e-04 9.99831039e-01 -5.47046551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374012739 meters 0.03107135586142363 Centerline is valid? [True, True] Translation: X:274.65, Y:-42.24, Z:-5.47 [[ 9.83860961e-01 1.78039232e-01 1.78785407e-02 2.74652768e+02] [-1.78016462e-01 9.84023324e-01 -2.86987565e-03 -4.22400006e+01] [-1.81038515e-02 -3.59115951e-04 9.99836047e-01 -5.47176616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters 0.03123132252140236 Centerline is valid? [True, True] Translation: X:274.68, Y:-42.24, Z:-5.47 [[ 9.83823192e-01 1.78311664e-01 1.72301133e-02 2.74681696e+02] [-1.78290585e-01 9.83973997e-01 -2.76423102e-03 -4.22428909e+01] [-1.74468781e-02 -3.52452394e-04 9.99847730e-01 -5.47259043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434012739 meters 0.032182782479263976 Centerline is valid? [True, True] Translation: X:274.71, Y:-42.24, Z:-5.47 [[ 9.83952331e-01 1.77574746e-01 1.74648077e-02 2.74710213e+02] [-1.77552987e-01 9.84107256e-01 -2.80113524e-03 -4.22432560e+01] [-1.76846548e-02 -3.44745219e-04 9.99843555e-01 -5.47297640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters 0.030396448854358302 Centerline is valid? [True, True] Translation: X:274.74, Y:-42.25, Z:-5.47 [[ 9.84113735e-01 1.76573268e-01 1.84942776e-02 2.74738721e+02] [-1.76548723e-01 9.84287438e-01 -2.96453343e-03 -4.22469055e+01] [-1.87271425e-02 -3.47703027e-04 9.99824571e-01 -5.47184514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494012739 meters 0.03009585854808248 Centerline is valid? [True, True] Translation: X:274.77, Y:-42.25, Z:-5.47 [[ 9.84183921e-01 1.76120813e-01 1.90648867e-02 2.74767570e+02] [-1.76094662e-01 9.84368496e-01 -3.05507647e-03 -4.22517728e+01] [-1.93049365e-02 -3.50467653e-04 9.99813581e-01 -5.47176532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters 0.030157018854241168 Centerline is valid? [True, True] Translation: X:274.79, Y:-42.25, Z:-5.47 [[ 9.84194747e-01 1.75997670e-01 1.96346466e-02 2.74794425e+02] [-1.75969926e-01 9.84390518e-01 -3.14545995e-03 -4.22520004e+01] [-1.98817536e-02 -3.59362160e-04 9.99802274e-01 -5.47116958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55401273900003 meters 0.030559316387382723 Centerline is valid? [True, True] Translation: X:274.82, Y:-42.25, Z:-5.47 [[ 9.84013898e-01 1.76958951e-01 2.00544018e-02 2.74823499e+02] [-1.76930257e-01 9.84218156e-01 -3.21031656e-03 -4.22520409e+01] [-2.03060006e-02 -3.89234359e-04 9.99793736e-01 -5.47076170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters 0.030559316387382723 Centerline is valid? [True, True] Translation: X:274.85, Y:-42.26, Z:-5.47 [[ 9.84026128e-01 1.76890911e-01 2.00545498e-02 2.74850664e+02] [-1.76862221e-01 9.84230387e-01 -3.20939207e-03 -4.22562505e+01] [-2.03060096e-02 -3.88766571e-04 9.99793736e-01 -5.47132009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61401273900003 meters 0.03506783393203746 Centerline is valid? [True, True] Translation: X:274.88, Y:-42.25, Z:-5.47 [[ 9.83334983e-01 1.80655946e-01 2.03896929e-02 2.74880357e+02] [-1.80627128e-01 9.83546238e-01 -3.26156186e-03 -4.22479821e+01] [-2.06434263e-02 -4.75723789e-04 9.99786789e-01 -5.47136854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters 0.03708876368355581 Centerline is valid? [True, True] Translation: X:274.91, Y:-42.25, Z:-5.47 [[ 9.82995811e-01 1.82523501e-01 2.01098729e-02 2.74909379e+02] [-1.82495881e-01 9.83201359e-01 -3.21571111e-03 -4.22471187e+01] [-2.03589972e-02 -5.08938428e-04 9.99792605e-01 -5.47233004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67401273900003 meters 0.039758455510483515 Centerline is valid? [True, True] Translation: X:274.94, Y:-42.24, Z:-5.47 [[ 9.82561020e-01 1.84896997e-01 1.96708661e-02 2.74939277e+02] [-1.84871063e-01 9.82757753e-01 -3.14462010e-03 -4.22397920e+01] [-1.99131270e-02 -5.46792799e-04 9.99801565e-01 -5.47349969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters 0.039724095284409316 Centerline is valid? [True, True] Translation: X:274.97, Y:-42.24, Z:-5.47 [[ 9.82497191e-01 1.85234167e-01 1.96868708e-02 2.74968879e+02] [-1.85208271e-01 9.82694253e-01 -3.14654610e-03 -4.22395985e+01] [-1.99290227e-02 -5.54698598e-04 9.99801243e-01 -5.47410809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734012739 meters 0.035942021030014176 Centerline is valid? [True, True] Translation: X:275.00, Y:-42.25, Z:-5.47 [[ 9.82515692e-01 1.85079580e-01 2.02104947e-02 2.74996908e+02] [-1.85052324e-01 9.82723371e-01 -3.22688860e-03 -4.22457090e+01] [-2.04585567e-02 -5.69530333e-04 9.99790540e-01 -5.47434545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters 0.03597211621177593 Centerline is valid? [True, True] Translation: X:275.03, Y:-42.24, Z:-5.47 [[ 9.82908241e-01 1.82917765e-01 2.07961934e-02 2.75025014e+02] [-1.82888445e-01 9.83128068e-01 -3.31932971e-03 -4.22441075e+01] [-2.10524858e-02 -5.40786951e-04 9.99778226e-01 -5.47392307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794012739 meters 0.0366603900054832 Centerline is valid? [True, True] Translation: X:275.05, Y:-42.24, Z:-5.48 [[ 9.83343801e-01 1.80672541e-01 1.98091466e-02 2.75054270e+02] [-1.80645506e-01 9.83543193e-01 -3.16061337e-03 -4.22406554e+01] [-2.00541873e-02 -4.70463749e-04 9.99798784e-01 -5.47586885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters 0.03579586236418377 Centerline is valid? [True, True] Translation: X:275.08, Y:-42.24, Z:-5.48 [[ 9.83599444e-01 1.79359648e-01 1.90328685e-02 2.75082533e+02] [-1.79334460e-01 9.83783479e-01 -3.03599268e-03 -4.22430735e+01] [-1.92687562e-02 -4.27048476e-04 9.99814249e-01 -5.47799803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854012739 meters 0.03304031151665593 Centerline is valid? [True, True] Translation: X:275.11, Y:-42.25, Z:-5.48 [[ 9.83763880e-01 1.78532141e-01 1.83003726e-02 2.75110390e+02] [-1.78508766e-01 9.83934000e-01 -2.91620115e-03 -4.22490786e+01] [-1.85269945e-02 -3.97923577e-04 9.99828281e-01 -5.47995155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters 0.031332952617307265 Centerline is valid? [True, True] Translation: X:275.14, Y:-42.25, Z:-5.48 [[ 9.83976382e-01 1.77493572e-01 1.69266459e-02 2.75139270e+02] [-1.77473433e-01 9.84121897e-01 -2.69657109e-03 -4.22518640e+01] [-1.71365069e-02 -3.50667684e-04 9.99853098e-01 -5.48245978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914012739 meters 0.030329405647831823 Centerline is valid? [True, True] Translation: X:275.17, Y:-42.26, Z:-5.48 [[ 9.84149999e-01 1.76552689e-01 1.66711554e-02 2.75168329e+02] [-1.76533026e-01 9.84291135e-01 -2.65545111e-03 -4.22554161e+01] [-1.68780975e-02 -3.29647309e-04 9.99857500e-01 -5.48281088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters 0.028467072656958206 Centerline is valid? [True, True] Translation: X:275.20, Y:-42.26, Z:-5.48 [[ 9.84554079e-01 1.74225797e-01 1.72811134e-02 2.75195910e+02] [-1.74204365e-01 9.84705682e-01 -2.74947576e-03 -4.22575580e+01] [-1.74958401e-02 -3.03437820e-04 9.99846890e-01 -5.48214038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974012739 meters 0.027693769727353754 Centerline is valid? [True, True] Translation: X:275.22, Y:-42.26, Z:-5.48 [[ 9.84725971e-01 1.73164419e-01 1.81340924e-02 2.75224092e+02] [-1.73140661e-01 9.84892885e-01 -2.88400166e-03 -4.22618659e+01] [-1.83595451e-02 -2.99797417e-04 9.99831404e-01 -5.48157096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters 0.026204712763569678 Centerline is valid? [True, True] Translation: X:275.25, Y:-42.27, Z:-5.48 [[ 9.85090142e-01 1.70921257e-01 1.95789519e-02 2.75251267e+02] [-1.70893138e-01 9.85284652e-01 -3.11277303e-03 -4.22685713e+01] [-1.98228799e-02 -2.79546508e-04 9.99803468e-01 -5.47918934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034012739 meters 0.025019738871773542 Centerline is valid? [True, True] Translation: X:275.28, Y:-42.27, Z:-5.48 [[ 9.85251622e-01 1.69923281e-01 2.01325585e-02 2.75279753e+02] [-1.69893367e-01 9.85457258e-01 -3.19954686e-03 -4.22747466e+01] [-2.03834534e-02 -2.68029424e-04 9.99792200e-01 -5.47902609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters 0.025070995784120736 Centerline is valid? [True, True] Translation: X:275.31, Y:-42.28, Z:-5.48 [[ 9.85397853e-01 1.69064819e-01 2.02029246e-02 2.75307766e+02] [-1.69034535e-01 9.85604902e-01 -3.20973770e-03 -4.22767888e+01] [-2.04547553e-02 -2.52123333e-04 9.99790748e-01 -5.47817164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094012739 meters 0.025229031201728955 Centerline is valid? [True, True] Translation: X:275.33, Y:-42.28, Z:-5.48 [[ 9.85390260e-01 1.69108504e-01 2.02076717e-02 2.75334088e+02] [-1.69078241e-01 9.85597407e-01 -3.20926029e-03 -4.22798355e+01] [-2.04593421e-02 -2.54303759e-04 9.99790653e-01 -5.47872451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters 0.025625625325249025 Centerline is valid? [True, True] Translation: X:275.36, Y:-42.28, Z:-5.48 [[ 9.85313378e-01 1.69533113e-01 2.03978216e-02 2.75362865e+02] [-1.69502408e-01 9.85524455e-01 -3.23752861e-03 -4.22833946e+01] [-2.06514203e-02 -2.67499628e-04 9.99786701e-01 -5.47961929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154012739 meters 0.0251015081999836 Centerline is valid? [True, True] Translation: X:275.39, Y:-42.29, Z:-5.48 [[ 9.85296123e-01 1.69678815e-01 2.00162125e-02 2.75391093e+02] [-1.69649297e-01 9.85499380e-01 -3.17603884e-03 -4.22872667e+01] [-2.02648715e-02 -2.66397625e-04 9.99794611e-01 -5.48113743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters 0.02430101842559492 Centerline is valid? [True, True] Translation: X:275.42, Y:-42.29, Z:-5.48 [[ 9.85483361e-01 1.68543378e-01 2.03880815e-02 2.75419321e+02] [-1.68512531e-01 9.85694206e-01 -3.23402474e-03 -4.22923810e+01] [-2.06414872e-02 -2.48569647e-04 9.99786911e-01 -5.48234279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214012739 meters 0.024551659870554594 Centerline is valid? [True, True] Translation: X:275.45, Y:-42.30, Z:-5.48 [[ 9.85660352e-01 1.67541614e-01 2.00867362e-02 2.75446844e+02] [-1.67511485e-01 9.85864979e-01 -3.18523940e-03 -4.22969425e+01] [-2.03364699e-02 -2.25194808e-04 9.99793167e-01 -5.48278375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters 0.023814474144294807 Centerline is valid? [True, True] Translation: X:275.47, Y:-42.30, Z:-5.48 [[ 9.85856186e-01 1.66431439e-01 1.97017030e-02 2.75474678e+02] [-1.66402256e-01 9.86053009e-01 -3.12298341e-03 -4.23043550e+01] [-1.99466862e-02 -1.99595314e-04 9.99801025e-01 -5.48418208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274012739 meters 0.023040361098446833 Centerline is valid? [True, True] Translation: X:275.50, Y:-42.31, Z:-5.49 [[ 9.86203921e-01 1.64489593e-01 1.85741524e-02 2.75501615e+02] [-1.64463325e-01 9.86378807e-01 -2.94348068e-03 -4.23108431e+01] [-1.88053222e-02 -1.51894657e-04 9.99823153e-01 -5.48732764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters 0.02238731959017661 Centerline is valid? [True, True] Translation: X:275.53, Y:-42.32, Z:-5.49 [[ 9.86351486e-01 1.63535606e-01 1.91533446e-02 2.75529766e+02] [-1.63507529e-01 9.86537422e-01 -3.03348884e-03 -4.23187221e+01] [-1.93915746e-02 -1.39629816e-04 9.99811956e-01 -5.48749163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334012739 meters 0.022253048266102745 Centerline is valid? [True, True] Translation: X:275.56, Y:-42.32, Z:-5.49 [[ 9.86436485e-01 1.62941983e-01 1.98234911e-02 2.75556606e+02] [-1.62911806e-01 9.86635643e-01 -3.13862691e-03 -4.23245116e+01] [-2.00699770e-02 -1.33424639e-04 9.99798569e-01 -5.48710540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters 0.021373895679791394 Centerline is valid? [True, True] Translation: X:275.58, Y:-42.33, Z:-5.48 [[ 9.86822546e-01 1.60374424e-01 2.14780696e-02 2.75583496e+02] [-1.60338422e-01 9.87056248e-01 -3.39919156e-03 -4.23327179e+01] [-2.17452062e-02 -8.93609144e-05 9.99763541e-01 -5.48450340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394012739 meters 0.021066315809201035 Centerline is valid? [True, True] Translation: X:275.61, Y:-42.34, Z:-5.49 [[ 9.87092220e-01 1.58702804e-01 2.15027920e-02 2.75611650e+02] [-1.58666349e-01 9.87326399e-01 -3.40182999e-03 -4.23409362e+01] [-2.17701542e-02 -5.38495951e-05 9.99763001e-01 -5.48514329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters 0.020836953577135716 Centerline is valid? [True, True] Translation: X:275.64, Y:-42.36, Z:-5.49 [[ 9.87614045e-01 1.55647568e-01 1.98073677e-02 2.75637469e+02] [-1.55616039e-01 9.87812651e-01 -3.13275639e-03 -4.23552401e+01] [-2.00535743e-02 1.16101142e-05 9.99798907e-01 -5.48897456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454012739 meters 0.021008557863031865 Centerline is valid? [True, True] Translation: X:275.67, Y:-42.36, Z:-5.49 [[ 9.87821030e-01 1.54442026e-01 1.89016466e-02 2.75665050e+02] [-1.54413114e-01 9.88001852e-01 -2.98844812e-03 -4.23643076e+01] [-1.91364038e-02 3.33897930e-05 9.99816882e-01 -5.49074584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters 0.021098358469295204 Centerline is valid? [True, True] Translation: X:275.69, Y:-42.37, Z:-5.49 [[ 9.87911518e-01 1.53952031e-01 1.81550429e-02 2.75693244e+02] [-1.53925291e-01 9.88078322e-01 -2.86957842e-03 -4.23718721e+01] [-1.83803818e-02 4.03693100e-05 9.99831066e-01 -5.49235551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514012739 meters 0.02097070092135698 Centerline is valid? [True, True] Translation: X:275.72, Y:-42.38, Z:-5.49 [[ 9.87726157e-01 1.55172724e-01 1.78456017e-02 2.75719281e+02] [-1.55147100e-01 9.87887355e-01 -2.81991624e-03 -4.23785877e+01] [-1.80670184e-02 1.66116740e-05 9.99836778e-01 -5.49304388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters 0.021159644380970944 Centerline is valid? [True, True] Translation: X:275.75, Y:-42.38, Z:-5.49 [[ 9.87123132e-01 1.58835418e-01 1.89534390e-02 2.75747869e+02] [-1.58807221e-01 9.87305073e-01 -2.99326714e-03 -4.23835818e+01] [-1.91882633e-02 -5.52197412e-05 9.99815887e-01 -5.49147132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574012739 meters 0.021546948487323563 Centerline is valid? [True, True] Translation: X:275.78, Y:-42.39, Z:-5.49 [[ 9.86831299e-01 1.60613023e-01 1.91688150e-02 2.75776592e+02] [-1.60584535e-01 9.87017451e-01 -3.02635684e-03 -4.23872121e+01] [-1.94060273e-02 -9.17116011e-05 9.99811681e-01 -5.49149747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters 0.02300418943362323 Centerline is valid? [True, True] Translation: X:275.81, Y:-42.39, Z:-5.49 [[ 9.86111176e-01 1.64916390e-01 1.96808011e-02 2.75805317e+02] [-1.64887234e-01 9.86307534e-01 -3.10623410e-03 -4.23875510e+01] [-1.99235913e-02 -1.82020701e-04 9.99801489e-01 -5.49136943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634012739 meters 0.024950670688941155 Centerline is valid? [True, True] Translation: X:275.83, Y:-42.39, Z:-5.49 [[ 9.85693627e-01 1.67314240e-01 2.03474496e-02 2.75833598e+02] [-1.67283613e-01 9.85903590e-01 -3.21015046e-03 -4.23875324e+01] [-2.05977275e-02 -2.39570028e-04 9.99787816e-01 -5.49137848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters 0.028677788477264092 Centerline is valid? [True, True] Translation: X:275.86, Y:-42.39, Z:-5.49 [[ 9.84959274e-01 1.71572479e-01 2.04478347e-02 2.75863157e+02] [-1.71542492e-01 9.85171444e-01 -3.22472906e-03 -4.23856176e+01] [-2.06978976e-02 -3.31445733e-04 9.99785721e-01 -5.49176811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694012739 meters 0.030581338327214578 Centerline is valid? [True, True] Translation: X:275.89, Y:-42.39, Z:-5.49 [[ 9.84686687e-01 1.73288441e-01 1.90589749e-02 2.75891045e+02] [-1.73262722e-01 9.84871057e-01 -3.00512681e-03 -4.23854943e+01] [-1.92913865e-02 -3.43101497e-04 9.99813845e-01 -5.49459504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters 0.031480329138242294 Centerline is valid? [True, True] Translation: X:275.92, Y:-42.39, Z:-5.50 [[ 9.84447935e-01 1.74797692e-01 1.75507798e-02 2.75919933e+02] [-1.74776148e-01 9.84604310e-01 -2.76584541e-03 -4.23870744e+01] [-1.77640368e-02 -3.44626886e-04 9.99842148e-01 -5.49778840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754012739 meters 0.02981252066215993 Centerline is valid? [True, True] Translation: X:275.95, Y:-42.39, Z:-5.50 [[ 9.84515973e-01 1.74558140e-01 1.60547580e-02 2.75946914e+02] [-1.74540090e-01 9.84646819e-01 -2.52952258e-03 -4.23925634e+01] [-1.62498151e-02 -3.11843521e-04 9.99867914e-01 -5.50109019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters 0.02884588684054227 Centerline is valid? [True, True] Translation: X:275.97, Y:-42.40, Z:-5.50 [[ 9.84837080e-01 1.72753858e-01 1.58754655e-02 2.75974015e+02] [-1.72735994e-01 9.84964987e-01 -2.50005831e-03 -4.23983157e+01] [-1.60686724e-02 -2.80114193e-04 9.99870851e-01 -5.50275116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814012739 meters 0.025296306058936152 Centerline is valid? [True, True] Translation: X:276.00, Y:-42.41, Z:-5.50 [[ 9.85602883e-01 1.68223258e-01 1.69674102e-02 2.76002148e+02] [-1.68202201e-01 9.85748896e-01 -2.67080851e-03 -4.24088516e+01] [-1.71748980e-02 -2.21599190e-04 9.99852476e-01 -5.50042128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters 0.023591084755790408 Centerline is valid? [True, True] Translation: X:276.03, Y:-42.42, Z:-5.50 [[ 9.86028537e-01 1.65573925e-01 1.82482685e-02 2.76030365e+02] [-1.65549128e-01 9.86197363e-01 -2.87171955e-03 -4.24169589e+01] [-1.84718762e-02 -1.89387511e-04 9.99829362e-01 -5.49838433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874012739 meters 0.021035551776284567 Centerline is valid? [True, True] Translation: X:276.06, Y:-42.43, Z:-5.50 [[ 9.87065154e-01 1.58934142e-01 2.10314023e-02 2.76056515e+02] [-1.58899720e-01 9.87289184e-01 -3.30851627e-03 -4.24330246e+01] [-2.12899122e-02 -7.61628281e-05 9.99773341e-01 -5.49524258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters 0.0207336723224406 Centerline is valid? [True, True] Translation: X:276.08, Y:-42.44, Z:-5.50 [[ 9.87656530e-01 1.55255654e-01 2.07427096e-02 2.76082628e+02] [-1.55221380e-01 9.87874325e-01 -3.26209561e-03 -4.24436717e+01] [-2.09976491e-02 2.11801185e-06 9.99779525e-01 -5.49667883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934012739 meters 0.02103983996845812 Centerline is valid? [True, True] Translation: X:276.11, Y:-42.45, Z:-5.50 [[ 9.88129688e-01 1.52382337e-01 1.94767538e-02 2.76110683e+02] [-1.52351582e-01 9.88321618e-01 -3.06191867e-03 -4.24531692e+01] [-1.97158792e-02 5.82584733e-05 9.99805621e-01 -5.49984160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters 0.02134940662449767 Centerline is valid? [True, True] Translation: X:276.14, Y:-42.46, Z:-5.50 [[ 9.88373608e-01 1.50955719e-01 1.81654023e-02 2.76138550e+02] [-1.50928741e-01 9.88540522e-01 -2.85497853e-03 -4.24609553e+01] [-1.83882117e-02 8.01041315e-05 9.99830919e-01 -5.50159909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994012739 meters 0.020707833147607806 Centerline is valid? [True, True] Translation: X:276.17, Y:-42.46, Z:-5.50 [[ 9.87914266e-01 1.53541260e-01 2.12246371e-02 2.76166361e+02] [-1.53505050e-01 9.88142237e-01 -3.33459729e-03 -4.24644754e+01] [-2.14849587e-02 3.62072558e-05 9.99769171e-01 -5.49671403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters 0.02048480435373395 Centerline is valid? [True, True] Translation: X:276.19, Y:-42.47, Z:-5.49 [[ 9.87674622e-01 1.54858752e-01 2.27509876e-02 2.76194849e+02] [-1.54817528e-01 9.87936621e-01 -3.57299703e-03 -4.24681919e+01] [-2.30298436e-02 6.70684163e-06 9.99734778e-01 -5.49475934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05401273900003 meters 0.0206236150009828 Centerline is valid? [True, True] Translation: X:276.22, Y:-42.47, Z:-5.49 [[ 9.87444810e-01 1.56254555e-01 2.31788780e-02 2.76222889e+02] [-1.56212177e-01 9.87716818e-01 -3.63904520e-03 -4.24710853e+01] [-2.34627851e-02 -2.74666947e-05 9.99724711e-01 -5.49465779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters 0.021105271587752824 Centerline is valid? [True, True] Translation: X:276.25, Y:-42.47, Z:-5.50 [[ 9.87095808e-01 1.58747754e-01 2.10004033e-02 2.76252181e+02] [-1.58713555e-01 9.87319170e-01 -3.29592111e-03 -4.24726870e+01] [-2.12573208e-02 -7.96587555e-05 9.99774034e-01 -5.49936777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11401273900003 meters 0.021265922242738322 Centerline is valid? [True, True] Translation: X:276.28, Y:-42.48, Z:-5.50 [[ 9.87068541e-01 1.59061389e-01 1.98788821e-02 2.76279023e+02] [-1.59030823e-01 9.87268691e-01 -3.11924130e-03 -4.24777523e+01] [-2.01219487e-02 -8.24500215e-05 9.99797530e-01 -5.50202241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters 0.020904399939867403 Centerline is valid? [True, True] Translation: X:276.31, Y:-42.49, Z:-5.50 [[ 9.87245822e-01 1.57912162e-01 2.02345129e-02 2.76306459e+02] [-1.57880286e-01 9.87453161e-01 -3.17333588e-03 -4.24882858e+01] [-2.04817421e-02 -6.17681006e-05 9.99790225e-01 -5.50195739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17401273900003 meters 0.020714847966203993 Centerline is valid? [True, True] Translation: X:276.33, Y:-42.49, Z:-5.50 [[ 9.87346989e-01 1.57162161e-01 2.11182032e-02 2.76334305e+02] [-1.57127291e-01 9.87572809e-01 -3.31083893e-03 -4.24948090e+01] [-2.13761019e-02 -4.92992180e-05 9.99771504e-01 -5.50055275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters 0.020729641011767108 Centerline is valid? [True, True] Translation: X:276.36, Y:-42.50, Z:-5.50 [[ 9.87392136e-01 1.56955514e-01 2.05362182e-02 2.76362444e+02] [-1.56922516e-01 9.87605673e-01 -3.21861755e-03 -4.24999653e+01] [-2.07868653e-02 -4.45573607e-05 9.99783929e-01 -5.50132071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234012739 meters 0.02068052139405652 Centerline is valid? [True, True] Translation: X:276.39, Y:-42.51, Z:-5.50 [[ 9.87457540e-01 1.56600387e-01 2.00978976e-02 2.76389942e+02] [-1.56568728e-01 9.87662046e-01 -3.14896128e-03 -4.25060130e+01] [-2.03430592e-02 -3.72367058e-05 9.99793058e-01 -5.50331458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters 0.0207058830417553 Centerline is valid? [True, True] Translation: X:276.42, Y:-42.52, Z:-5.50 [[ 9.87580729e-01 1.55772775e-01 2.04730472e-02 2.76417780e+02] [-1.55739774e-01 9.87792915e-01 -3.20638652e-03 -4.25166393e+01] [-2.07225987e-02 -2.19022014e-05 9.99785264e-01 -5.50327044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294012739 meters 0.020554702340267194 Centerline is valid? [True, True] Translation: X:276.45, Y:-42.52, Z:-5.50 [[ 9.87604439e-01 1.55484959e-01 2.14918265e-02 2.76445461e+02] [-1.55448546e-01 9.87838260e-01 -3.36485885e-03 -4.25235646e+01] [-2.17536334e-02 -1.77236461e-05 9.99763362e-01 -5.50189304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters 0.02056942899011128 Centerline is valid? [True, True] Translation: X:276.47, Y:-42.53, Z:-5.50 [[ 9.87501479e-01 1.55847536e-01 2.35026306e-02 2.76473849e+02] [-1.55804122e-01 9.87781122e-01 -3.67845932e-03 -4.25301441e+01] [-2.37887337e-02 -2.93227063e-05 9.99717008e-01 -5.49885785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354012739 meters 0.020692358142736074 Centerline is valid? [True, True] Translation: X:276.50, Y:-42.53, Z:-5.50 [[ 9.87386764e-01 1.56507875e-01 2.39303732e-02 2.76502521e+02] [-1.56463088e-01 9.87676710e-01 -3.74422888e-03 -4.25349105e+01] [-2.42214735e-02 -4.72180423e-05 9.99706616e-01 -5.49950397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters 0.021709010443570553 Centerline is valid? [True, True] Translation: X:276.53, Y:-42.54, Z:-5.50 [[ 9.86902160e-01 1.59838654e-01 2.18112522e-02 2.76530463e+02] [-1.59802284e-01 9.87143146e-01 -3.41165986e-03 -4.25371286e+01] [-2.20761432e-02 -1.18513432e-04 9.99756285e-01 -5.50303757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414012739 meters 0.022363670213216294 Centerline is valid? [True, True] Translation: X:276.56, Y:-42.54, Z:-5.51 [[ 9.86629822e-01 1.61655352e-01 2.07157486e-02 2.76558747e+02] [-1.61622965e-01 9.86847265e-01 -3.23932071e-03 -4.25402781e+01] [-2.09669334e-02 -1.52130293e-04 9.99780158e-01 -5.50606831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters 0.02520531759606261 Centerline is valid? [True, True] Translation: X:276.59, Y:-42.54, Z:-5.51 [[ 9.86058083e-01 1.65221993e-01 1.97774945e-02 2.76587530e+02] [-1.65193209e-01 9.86256379e-01 -3.09168837e-03 -4.25386985e+01] [-2.00164951e-02 -2.18523468e-04 9.99799626e-01 -5.50867267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474012739 meters 0.02520531759606261 Centerline is valid? [True, True] Translation: X:276.61, Y:-42.54, Z:-5.51 [[ 9.86069077e-01 1.65156348e-01 1.97776771e-02 2.76614708e+02] [-1.65127574e-01 9.86267374e-01 -3.09052035e-03 -4.25428043e+01] [-2.00164967e-02 -2.18373279e-04 9.99799626e-01 -5.50923101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters 0.025893019351318675 Centerline is valid? [True, True] Translation: X:276.64, Y:-42.55, Z:-5.51 [[ 9.85809740e-01 1.66715441e-01 1.96244106e-02 2.76642634e+02] [-1.66687447e-01 9.86005020e-01 -3.06523887e-03 -4.25473435e+01] [-1.98607900e-02 -2.49400553e-04 9.99802724e-01 -5.51073685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534012739 meters 0.027582485036380566 Centerline is valid? [True, True] Translation: X:276.67, Y:-42.55, Z:-5.51 [[ 9.85517741e-01 1.68504124e-01 1.90037202e-02 2.76670092e+02] [-1.68478226e-01 9.85700910e-01 -2.96722413e-03 -4.25494983e+01] [-1.92319738e-02 -2.77461031e-04 9.99815010e-01 -5.51243171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters 0.027092025417146958 Centerline is valid? [True, True] Translation: X:276.70, Y:-42.55, Z:-5.51 [[ 9.85515822e-01 1.68613783e-01 1.81095533e-02 2.76697995e+02] [-1.68590307e-01 9.85682160e-01 -2.82628049e-03 -4.25545110e+01] [-1.83268135e-02 -2.67751008e-04 9.99832014e-01 -5.51394459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594012739 meters 0.02631545013515627 Centerline is valid? [True, True] Translation: X:276.73, Y:-42.56, Z:-5.52 [[ 9.85712476e-01 1.67540492e-01 1.73521612e-02 2.76725964e+02] [-1.67518787e-01 9.85865167e-01 -2.70728801e-03 -4.25613354e+01] [-1.75604717e-02 -2.38205423e-04 9.99845775e-01 -5.51576352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters 0.025406709746648257 Centerline is valid? [True, True] Translation: X:276.75, Y:-42.57, Z:-5.52 [[ 9.85949415e-01 1.66121435e-01 1.75333859e-02 2.76753753e+02] [-1.66099065e-01 9.86105279e-01 -2.73470991e-03 -4.25685227e+01] [-1.77440583e-02 -2.15993360e-04 9.99842538e-01 -5.51655988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654012739 meters 0.023248887600383135 Centerline is valid? [True, True] Translation: X:276.78, Y:-42.58, Z:-5.51 [[ 9.86536135e-01 1.62361380e-01 1.96274622e-02 2.76780389e+02] [-1.62332622e-01 9.86731349e-01 -3.06027613e-03 -4.25784835e+01] [-1.98639029e-02 -1.67104416e-04 9.99802679e-01 -5.51318107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters 0.022257166799618592 Centerline is valid? [True, True] Translation: X:276.81, Y:-42.59, Z:-5.51 [[ 9.86774453e-01 1.60871116e-01 1.99163960e-02 2.76808636e+02] [-1.60841226e-01 9.86975412e-01 -3.10411808e-03 -4.25858878e+01] [-2.01563561e-02 -1.40313138e-04 9.99796830e-01 -5.51378802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714012739 meters 0.02176470140426927 Centerline is valid? [True, True] Translation: X:276.84, Y:-42.60, Z:-5.51 [[ 9.87043272e-01 1.59267547e-01 1.94789280e-02 2.76836450e+02] [-1.59238661e-01 9.87235452e-01 -3.03502139e-03 -4.25963207e+01] [-1.97136687e-02 -1.06100976e-04 9.99805661e-01 -5.51398988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters 0.02185551369014295 Centerline is valid? [True, True] Translation: X:276.86, Y:-42.60, Z:-5.52 [[ 9.87077433e-01 1.59130756e-01 1.88558840e-02 2.76863806e+02] [-1.59103681e-01 9.87257511e-01 -2.93706479e-03 -4.26013014e+01] [-1.90829904e-02 -1.00930189e-04 9.99817898e-01 -5.51545309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774012739 meters 0.022062065337971955 Centerline is valid? [True, True] Translation: X:276.89, Y:-42.61, Z:-5.51 [[ 9.86945433e-01 1.59784612e-01 2.01888361e-02 2.76892008e+02] [-1.59753738e-01 9.87151894e-01 -3.14337262e-03 -4.26053842e+01] [-2.04317104e-02 -1.22904776e-04 9.99791243e-01 -5.51356867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters 0.022077811046993443 Centerline is valid? [True, True] Translation: X:276.92, Y:-42.61, Z:-5.51 [[ 9.86852365e-01 1.60111077e-01 2.20647431e-02 2.76920773e+02] [-1.60074303e-01 9.87098993e-01 -3.43434261e-03 -4.26096710e+01] [-2.23299620e-02 -1.42809253e-04 9.99750645e-01 -5.51013680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834012739 meters 0.022222849719447924 Centerline is valid? [True, True] Translation: X:276.95, Y:-42.61, Z:-5.51 [[ 9.86832140e-01 1.59977141e-01 2.38671813e-02 2.76948429e+02] [-1.59934104e-01 9.87120707e-01 -3.71367075e-03 -4.26146478e+01] [-2.41538913e-02 -1.52406600e-04 9.99708241e-01 -5.50764572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters 0.021763905719896372 Centerline is valid? [True, True] Translation: X:276.98, Y:-42.62, Z:-5.51 [[ 9.86937920e-01 1.59445764e-01 2.30345600e-02 2.76976565e+02] [-1.59405562e-01 9.87206681e-01 -3.58286386e-03 -4.26209376e+01] [-2.33111440e-02 -1.35772767e-04 9.99728249e-01 -5.51020872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894012739 meters 0.021892493044942132 Centerline is valid? [True, True] Translation: X:277.00, Y:-42.62, Z:-5.51 [[ 9.87017044e-01 1.59208449e-01 2.12137887e-02 2.77003709e+02] [-1.59174318e-01 9.87244982e-01 -3.29870545e-03 -4.26245282e+01] [-2.14683882e-02 -1.20811842e-04 9.99769520e-01 -5.51377102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters 0.021398258226621572 Centerline is valid? [True, True] Translation: X:277.03, Y:-42.63, Z:-5.52 [[ 9.87242346e-01 1.58155807e-01 1.84198545e-02 2.77031436e+02] [-1.58129909e-01 9.87414165e-01 -2.86329947e-03 -4.26304958e+01] [-1.86408727e-02 -8.59594356e-05 9.99826240e-01 -5.51900024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954012739 meters 0.021106106339026307 Centerline is valid? [True, True] Translation: X:277.06, Y:-42.63, Z:-5.52 [[ 9.87419283e-01 1.56987012e-01 1.89271540e-02 2.77058998e+02] [-1.56959471e-01 9.87600665e-01 -2.94120660e-03 -4.26349622e+01] [-1.91542011e-02 -6.65919746e-05 9.99816539e-01 -5.51861462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters 0.0206289538854097 Centerline is valid? [True, True] Translation: X:277.09, Y:-42.64, Z:-5.51 [[ 9.87648961e-01 1.55124587e-01 2.20429541e-02 2.77087796e+02] [-1.55086801e-01 9.87894914e-01 -3.42386049e-03 -4.26402946e+01] [-2.23072472e-02 -3.69989939e-05 9.99751162e-01 -5.51428932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014012739 meters 0.020629750686047554 Centerline is valid? [True, True] Translation: X:277.12, Y:-42.65, Z:-5.51 [[ 9.87787845e-01 1.54154799e-01 2.26157342e-02 2.77116612e+02] [-1.54114794e-01 9.88046708e-01 -3.51178035e-03 -4.26455674e+01] [-2.28867595e-02 -1.65252762e-05 9.99738064e-01 -5.51449107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters 0.020733654264006533 Centerline is valid? [True, True] Translation: X:277.14, Y:-42.65, Z:-5.52 [[ 9.88116277e-01 1.52287019e-01 2.08539426e-02 2.77144719e+02] [-1.52252599e-01 9.88336311e-01 -3.23773561e-03 -4.26518562e+01] [-2.11037738e-02 2.41923007e-05 9.99777290e-01 -5.51805834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074012739 meters 0.02076951946684656 Centerline is valid? [True, True] Translation: X:277.17, Y:-42.66, Z:-5.52 [[ 9.88299993e-01 1.51240585e-01 1.97334736e-02 2.77173723e+02] [-1.51209569e-01 9.88496982e-01 -3.06310207e-03 -4.26573671e+01] [-1.99697444e-02 4.33737085e-05 9.99800584e-01 -5.52027392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters 0.02098585573946192 Centerline is valid? [True, True] Translation: X:277.20, Y:-42.66, Z:-5.52 [[ 9.88479536e-01 1.49959468e-01 2.05027858e-02 2.77201566e+02] [-1.49925721e-01 9.88692143e-01 -3.18200390e-03 -4.26637559e+01] [-2.07481148e-02 7.14507882e-05 9.99784732e-01 -5.51940227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134012739 meters 0.021038241750213516 Centerline is valid? [True, True] Translation: X:277.23, Y:-42.67, Z:-5.52 [[ 9.88550738e-01 1.49338774e-01 2.15724020e-02 2.77229925e+02] [-1.49301283e-01 9.88786086e-01 -3.34721727e-03 -4.26686649e+01] [-2.18303603e-02 8.81068035e-05 9.99761685e-01 -5.51754939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters 0.021174437022046872 Centerline is valid? [True, True] Translation: X:277.26, Y:-42.67, Z:-5.52 [[ 9.88586844e-01 1.48958030e-01 2.25290198e-02 2.77259475e+02] [-1.48917055e-01 9.88843514e-01 -3.49509328e-03 -4.26724414e+01] [-2.27982974e-02 1.00247955e-04 9.99740080e-01 -5.51668986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194012739 meters 0.021004057393804235 Centerline is valid? [True, True] Translation: X:277.29, Y:-42.68, Z:-5.52 [[ 9.88534298e-01 1.49382608e-01 2.20176731e-02 2.77289501e+02] [-1.49343588e-01 9.88779464e-01 -3.41527755e-03 -4.26753436e+01] [-2.22808061e-02 8.79206951e-05 9.99751748e-01 -5.51930345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters 0.021092282454506058 Centerline is valid? [True, True] Translation: X:277.32, Y:-42.68, Z:-5.52 [[ 9.88548642e-01 1.49430333e-01 2.10275381e-02 2.77318504e+02] [-1.49394760e-01 9.88772253e-01 -3.26144285e-03 -4.26814660e+01] [-2.12788047e-02 8.26909067e-05 9.99773577e-01 -5.52206311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254012739 meters 0.021068487056099417 Centerline is valid? [True, True] Translation: X:277.35, Y:-42.69, Z:-5.52 [[ 9.88598439e-01 1.49048096e-01 2.13960861e-02 2.77347858e+02] [-1.49011186e-01 9.88829943e-01 -3.31808995e-03 -4.26877906e+01] [-2.16516456e-02 9.20023791e-05 9.99765571e-01 -5.52189572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters 0.021248986663072802 Centerline is valid? [True, True] Translation: X:277.38, Y:-42.70, Z:-5.52 [[ 9.88669747e-01 1.48482560e-01 2.20240999e-02 2.77376590e+02] [-1.48443322e-01 9.88915021e-01 -3.41496695e-03 -4.26961651e+01] [-2.22870263e-02 1.06943944e-04 9.99751608e-01 -5.52036924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314012739 meters 0.021505786885423022 Centerline is valid? [True, True] Translation: X:277.41, Y:-42.70, Z:-5.52 [[ 9.88846492e-01 1.47359256e-01 2.16301872e-02 2.77405792e+02] [-1.47321146e-01 9.89083026e-01 -3.35363722e-03 -4.27034907e+01] [-2.18882405e-02 1.29648420e-04 9.99760415e-01 -5.52199677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters 0.021905765162199015 Centerline is valid? [True, True] Translation: X:277.44, Y:-42.71, Z:-5.52 [[ 9.89004329e-01 1.46349044e-01 2.12695591e-02 2.77435513e+02] [-1.46311966e-01 9.89233003e-01 -3.29749102e-03 -4.27121186e+01] [-2.15231345e-02 1.49241888e-04 9.99768339e-01 -5.52370194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374012739 meters 0.022571909688629287 Centerline is valid? [True, True] Translation: X:277.47, Y:-42.72, Z:-5.52 [[ 9.89191287e-01 1.44822173e-01 2.29594269e-02 2.77465323e+02] [-1.44778556e-01 9.89457679e-01 -3.55954501e-03 -4.27240828e+01] [-2.32328823e-02 1.97038245e-04 9.99730061e-01 -5.52172044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters 0.02210788930662652 Centerline is valid? [True, True] Translation: X:277.50, Y:-42.73, Z:-5.52 [[ 9.89093498e-01 1.45207333e-01 2.46755284e-02 2.77497270e+02] [-1.45157039e-01 9.89401228e-01 -3.82689464e-03 -4.27304677e+01] [-2.49696912e-02 2.03329978e-04 9.99688188e-01 -5.51858593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434012739 meters 0.02191697087588806 Centerline is valid? [True, True] Translation: X:277.53, Y:-42.74, Z:-5.52 [[ 9.88922976e-01 1.46457409e-01 2.41158639e-02 2.77528264e+02] [-1.46409644e-01 9.89216962e-01 -3.74411569e-03 -4.27350046e+01] [-2.44041751e-02 1.71846975e-04 9.99702159e-01 -5.51972363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters 0.021452146919832812 Centerline is valid? [True, True] Translation: X:277.56, Y:-42.74, Z:-5.52 [[ 9.88764523e-01 1.47751201e-01 2.26782123e-02 2.77559675e+02] [-1.47709227e-01 9.89024552e-01 -3.52416290e-03 -4.27385927e+01] [-2.29500081e-02 1.34786039e-04 9.99736605e-01 -5.52359144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494012739 meters 0.020861081198892194 Centerline is valid? [True, True] Translation: X:277.59, Y:-42.74, Z:-5.53 [[ 9.88359759e-01 1.50845445e-01 1.97645846e-02 2.77590085e+02] [-1.50814175e-01 9.88557357e-01 -3.07180034e-03 -4.27420408e+01] [-2.00017926e-02 5.52643311e-05 9.99799943e-01 -5.53043999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters 0.02064518399277952 Centerline is valid? [True, True] Translation: X:277.62, Y:-42.75, Z:-5.53 [[ 9.88177307e-01 1.52101896e-01 1.92515755e-02 2.77620577e+02] [-1.52072463e-01 9.88364817e-01 -2.99229956e-03 -4.27458201e+01] [-1.94827144e-02 2.92880149e-05 9.99810193e-01 -5.53231034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55401273900003 meters 0.020550480293795876 Centerline is valid? [True, True] Translation: X:277.65, Y:-42.75, Z:-5.53 [[ 9.88031876e-01 1.52942710e-01 2.00384485e-02 2.77650899e+02] [-1.52910994e-01 9.88235057e-01 -3.11460432e-03 -4.27504554e+01] [-2.02790533e-02 1.32292826e-05 9.99794359e-01 -5.53129864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters 0.020516476960390013 Centerline is valid? [True, True] Translation: X:277.68, Y:-42.76, Z:-5.53 [[ 9.88051330e-01 1.52779983e-01 2.03186253e-02 2.77679387e+02] [-1.52747339e-01 9.88260227e-01 -3.15815560e-03 -4.27568672e+01] [-2.05625922e-02 1.68038939e-05 9.99788567e-01 -5.53078729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61401273900003 meters 0.02069959841401213 Centerline is valid? [True, True] Translation: X:277.71, Y:-42.77, Z:-5.53 [[ 9.88148247e-01 1.52054958e-01 2.10316906e-02 2.77708846e+02] [-1.52019813e-01 9.88372040e-01 -3.26923478e-03 -4.27657804e+01] [-2.12842383e-02 3.32549554e-05 9.99773464e-01 -5.53107189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters 0.020670718211482666 Centerline is valid? [True, True] Translation: X:277.74, Y:-42.77, Z:-5.53 [[ 9.88125915e-01 1.52097933e-01 2.17576484e-02 2.77738523e+02] [-1.52060329e-01 9.88365427e-01 -3.38210126e-03 -4.27709716e+01] [-2.20189181e-02 3.34667186e-05 9.99757554e-01 -5.53122096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67401273900003 meters 0.020697223648007218 Centerline is valid? [True, True] Translation: X:277.77, Y:-42.78, Z:-5.53 [[ 9.88106719e-01 1.52279055e-01 2.13588886e-02 2.77768771e+02] [-1.52242854e-01 9.88337538e-01 -3.32037945e-03 -4.27766612e+01] [-2.16154157e-02 2.91510786e-05 9.99766359e-01 -5.53250846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters 0.020697572019634423 Centerline is valid? [True, True] Translation: X:277.80, Y:-42.78, Z:-5.54 [[ 9.87914565e-01 1.53800365e-01 1.92421592e-02 2.77798620e+02] [-1.53771268e-01 9.88101942e-01 -2.99154470e-03 -4.27826465e+01] [-1.94733155e-02 -3.50063994e-06 9.99810377e-01 -5.53652209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734012739 meters 0.02088781189923808 Centerline is valid? [True, True] Translation: X:277.83, Y:-42.79, Z:-5.54 [[ 9.87791812e-01 1.54694557e-01 1.83556365e-02 2.77827979e+02] [-1.54668235e-01 9.87962344e-01 -2.85369866e-03 -4.27873089e+01] [-1.85761293e-02 -2.01737236e-05 9.99827449e-01 -5.53857713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters 0.020924026374455982 Centerline is valid? [True, True] Translation: X:277.86, Y:-42.79, Z:-5.54 [[ 9.87644948e-01 1.55679242e-01 1.79284546e-02 2.77857927e+02] [-1.55654289e-01 9.87807659e-01 -2.78751409e-03 -4.27914716e+01] [-1.81438228e-02 -3.75666480e-05 9.99835387e-01 -5.53969334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794012739 meters 0.021385956860710743 Centerline is valid? [True, True] Translation: X:277.89, Y:-42.79, Z:-5.54 [[ 9.87305701e-01 1.57781356e-01 1.82344802e-02 2.77886941e+02] [-1.57755901e-01 9.87474069e-01 -2.83516304e-03 -4.27926900e+01] [-1.84534122e-02 -7.74242123e-05 9.99829718e-01 -5.54029921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters 0.02157953007094066 Centerline is valid? [True, True] Translation: X:277.92, Y:-42.80, Z:-5.54 [[ 9.87148277e-01 1.58659603e-01 1.91157055e-02 2.77916729e+02] [-1.58631807e-01 9.87333338e-01 -2.97142009e-03 -4.27966876e+01] [-1.93450176e-02 -9.91266928e-05 9.99812863e-01 -5.53956882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854012739 meters 0.02160066532022942 Centerline is valid? [True, True] Translation: X:277.95, Y:-42.80, Z:-5.54 [[ 9.87075693e-01 1.58749949e-01 2.19095725e-02 2.77945163e+02] [-1.58713469e-01 9.87318814e-01 -3.40507006e-03 -4.27981237e+01] [-2.21722879e-02 -1.16282365e-04 9.99754158e-01 -5.53520807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters 0.021356494088560305 Centerline is valid? [True, True] Translation: X:277.98, Y:-42.80, Z:-5.54 [[ 9.87132131e-01 1.58294783e-01 2.26476663e-02 2.77975537e+02] [-1.58255702e-01 9.87391893e-01 -3.51901253e-03 -4.28025785e+01] [-2.29191634e-02 -1.10391982e-04 9.99737315e-01 -5.53551404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914012739 meters 0.025852519115272494 Centerline is valid? [True, True] Translation: X:278.01, Y:-42.81, Z:-5.53 [[ 9.87442193e-01 1.56589936e-01 2.09166875e-02 2.78005804e+02] [-1.56556218e-01 9.87663702e-01 -3.25005166e-03 -4.28099049e+01] [-2.11675784e-02 -6.53993551e-05 9.99775940e-01 -5.53182030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters 0.020954766857959772 Centerline is valid? [True, True] Translation: X:278.03, Y:-42.82, Z:-5.54 [[ 9.87745724e-01 1.54739945e-01 2.03453710e-02 2.78034353e+02] [-1.54707652e-01 9.87955236e-01 -3.16127669e-03 -4.28176728e+01] [-2.05894916e-02 -2.50470519e-05 9.99788014e-01 -5.54132196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974012739 meters 0.021288461853823704 Centerline is valid? [True, True] Translation: X:278.06, Y:-42.83, Z:-5.55 [[ 9.88461688e-01 1.50287496e-01 1.88986519e-02 2.78063906e+02] [-1.50258823e-01 9.88642334e-01 -2.93623225e-03 -4.28299828e+01] [-1.91252863e-02 6.26638907e-05 9.99817093e-01 -5.54522051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters 0.022087632226378016 Centerline is valid? [True, True] Translation: X:278.09, Y:-42.84, Z:-5.55 [[ 9.88879505e-01 1.47501915e-01 1.89871035e-02 2.78093923e+02] [-1.47472452e-01 9.89061763e-01 -2.95036225e-03 -4.28401855e+01] [-1.92146021e-02 1.17478057e-04 9.99815376e-01 -5.54560064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034012739 meters 0.02445606810056082 Centerline is valid? [True, True] Translation: X:278.12, Y:-42.86, Z:-5.54 [[ 9.89568528e-01 1.42534452e-01 2.09298382e-02 2.78123600e+02] [-1.42497493e-01 9.89789813e-01 -3.25440837e-03 -4.28553756e+01] [-2.11800059e-02 2.38010622e-04 9.99775650e-01 -5.54227273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters 0.025515177818912455 Centerline is valid? [True, True] Translation: X:278.15, Y:-42.86, Z:-5.54 [[ 9.89825190e-01 1.40578711e-01 2.19936365e-02 2.78154991e+02] [-1.40537336e-01 9.90069461e-01 -3.42343209e-03 -4.28642379e+01] [-2.22564895e-02 2.97672246e-04 9.99752249e-01 -5.54089462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094012739 meters 0.026375956734167542 Centerline is valid? [True, True] Translation: X:278.19, Y:-42.87, Z:-5.54 [[ 9.89950507e-01 1.39624398e-01 2.24281532e-02 2.78186251e+02] [-1.39581038e-01 9.90204484e-01 -3.49493371e-03 -4.28725544e+01] [-2.26964358e-02 3.29266495e-04 9.99742348e-01 -5.54106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters 0.027591659233141348 Centerline is valid? [True, True] Translation: X:278.22, Y:-42.89, Z:-5.54 [[ 9.90006111e-01 1.39292961e-01 2.20311424e-02 2.78217082e+02] [-1.39250959e-01 9.90251160e-01 -3.43674676e-03 -4.28850281e+01] [-2.22950789e-02 3.34542585e-04 9.99751378e-01 -5.54284121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154012739 meters 0.02641656969012043 Centerline is valid? [True, True] Translation: X:278.25, Y:-42.89, Z:-5.55 [[ 9.89937512e-01 1.40001104e-01 2.05769852e-02 2.78248870e+02] [-1.39964547e-01 9.90151302e-01 -3.21331108e-03 -4.28928841e+01] [-2.08241957e-02 3.00928774e-04 9.99783108e-01 -5.54526995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters 0.025744911661479276 Centerline is valid? [True, True] Translation: X:278.28, Y:-42.90, Z:-5.55 [[ 9.89853312e-01 1.40697577e-01 1.98648547e-02 2.78281003e+02] [-1.40663624e-01 9.90052582e-01 -3.10324439e-03 -4.28982458e+01] [-2.01038696e-02 2.77494294e-04 9.99797858e-01 -5.54680420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214012739 meters 0.02529195610174554 Centerline is valid? [True, True] Translation: X:278.31, Y:-42.90, Z:-5.55 [[ 9.89772509e-01 1.41338249e-01 1.93359829e-02 2.78312333e+02] [-1.41306138e-01 9.89961328e-01 -3.02388467e-03 -4.29037479e+01] [-1.95692659e-02 2.60664845e-04 9.99808470e-01 -5.54852277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters 0.026639773557919116 Centerline is valid? [True, True] Translation: X:278.34, Y:-42.91, Z:-5.55 [[ 9.89705756e-01 1.41900006e-01 1.86253803e-02 2.78343232e+02] [-1.41870253e-01 9.89880967e-01 -2.91586671e-03 -4.29147693e+01] [-1.88506710e-02 2.43462653e-04 9.99822281e-01 -5.55132438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274012739 meters 0.02637707210996282 Centerline is valid? [True, True] Translation: X:278.38, Y:-42.92, Z:-5.55 [[ 9.89666266e-01 1.42206844e-01 1.83819352e-02 2.78375904e+02] [-1.42177854e-01 9.89836935e-01 -2.88113171e-03 -4.29214901e+01] [-1.86048350e-02 2.37854769e-04 9.99826887e-01 -5.55190364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters 0.025744882630114332 Centerline is valid? [True, True] Translation: X:278.41, Y:-42.93, Z:-5.55 [[ 9.89542737e-01 1.42915701e-01 1.95006130e-02 2.78407942e+02] [-1.42883135e-01 9.89734835e-01 -3.06040441e-03 -4.29284081e+01] [-1.97378158e-02 2.42092245e-04 9.99805161e-01 -5.55053571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334012739 meters 0.025106453500553898 Centerline is valid? [True, True] Translation: X:278.44, Y:-42.93, Z:-5.55 [[ 9.89359623e-01 1.44033939e-01 2.05368309e-02 2.78439701e+02] [-1.43998032e-01 9.89572721e-01 -3.22435685e-03 -4.29343891e+01] [-2.07871044e-02 2.32785243e-04 9.99783898e-01 -5.54921981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters 0.02380511982972078 Centerline is valid? [True, True] Translation: X:278.47, Y:-42.94, Z:-5.55 [[ 9.88935876e-01 1.46672975e-01 2.22006963e-02 2.78470368e+02] [-1.46631590e-01 9.89185018e-01 -3.48950607e-03 -4.29405267e+01] [-2.24724124e-02 1.95574346e-04 9.99747444e-01 -5.54685283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394012739 meters 0.02380511982972078 Centerline is valid? [True, True] Translation: X:278.50, Y:-42.95, Z:-5.55 [[ 9.88909021e-01 1.46854009e-01 2.22001645e-02 2.78502447e+02] [-1.46812594e-01 9.89158158e-01 -3.49288591e-03 -4.29457657e+01] [-2.24724181e-02 1.94882642e-04 9.99747444e-01 -5.54751316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters 0.023049718438415676 Centerline is valid? [True, True] Translation: X:278.53, Y:-42.95, Z:-5.55 [[ 9.88642069e-01 1.48654335e-01 2.21076695e-02 2.78534453e+02] [-1.48613622e-01 9.88889207e-01 -3.48242144e-03 -4.29506504e+01] [-2.23797128e-02 1.57367481e-04 9.99749530e-01 -5.54843091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454012739 meters 0.022535177734685927 Centerline is valid? [True, True] Translation: X:278.57, Y:-42.96, Z:-5.55 [[ 9.88400013e-01 1.50407267e-01 2.10491809e-02 2.78565275e+02] [-1.50370687e-01 9.88624115e-01 -3.31896537e-03 -4.29555953e+01] [-2.13089243e-02 1.15285623e-04 9.99772932e-01 -5.55156526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters 0.021776102951733385 Centerline is valid? [True, True] Translation: X:278.60, Y:-42.96, Z:-5.56 [[ 9.87794776e-01 1.54658764e-01 1.84972295e-02 2.78597192e+02] [-1.54631236e-01 9.87967948e-01 -2.91799983e-03 -4.29573203e+01] [-1.87259641e-02 2.21355313e-05 9.99824654e-01 -5.55611230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514012739 meters 0.021824169414805486 Centerline is valid? [True, True] Translation: X:278.63, Y:-42.96, Z:-5.55 [[ 9.87186341e-01 1.58253644e-01 2.04673452e-02 2.78630400e+02] [-1.58220633e-01 9.87398492e-01 -3.23256816e-03 -4.29599812e+01] [-2.07209914e-02 -4.72091666e-05 9.99785296e-01 -5.55356127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters 0.022014698459322368 Centerline is valid? [True, True] Translation: X:278.66, Y:-42.96, Z:-5.55 [[ 9.86822531e-01 1.60413559e-01 2.11844908e-02 2.78663499e+02] [-1.60378598e-01 9.87049888e-01 -3.35017635e-03 -4.29640482e+01] [-2.14475630e-02 -9.15094173e-05 9.99769970e-01 -5.55274837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574012739 meters 0.022771617678640763 Centerline is valid? [True, True] Translation: X:278.69, Y:-42.97, Z:-5.55 [[ 9.86449969e-01 1.62693650e-01 2.11479408e-02 2.78694845e+02] [-1.62659244e-01 9.86676623e-01 -3.34855433e-03 -4.29671010e+01] [-2.14109673e-02 -1.36726746e-04 9.99770750e-01 -5.55355651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters 0.02502066455929037 Centerline is valid? [True, True] Translation: X:278.73, Y:-42.97, Z:-5.56 [[ 9.85588940e-01 1.67964150e-01 2.00620635e-02 2.78727735e+02] [-1.67934216e-01 9.85793076e-01 -3.17966431e-03 -4.29654391e+01] [-2.03111129e-02 -2.35264935e-04 9.99793680e-01 -5.55570501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634012739 meters 0.027168832574409694 Centerline is valid? [True, True] Translation: X:278.76, Y:-42.96, Z:-5.56 [[ 9.85089921e-01 1.70909121e-01 1.96956668e-02 2.78758269e+02] [-1.70880790e-01 9.85286755e-01 -3.12500021e-03 -4.29642974e+01] [-1.99399707e-02 -2.87204900e-04 9.99801138e-01 -5.55712733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters 0.031403579581426165 Centerline is valid? [True, True] Translation: X:278.79, Y:-42.96, Z:-5.56 [[ 9.84195055e-01 1.75986451e-01 1.97195957e-02 2.78788720e+02] [-1.75959064e-01 9.84392512e-01 -3.12903606e-03 -4.29586771e+01] [-1.99624903e-02 -3.90259793e-04 9.99800653e-01 -5.55808323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694012739 meters 0.03366830331678146 Centerline is valid? [True, True] Translation: X:278.82, Y:-42.96, Z:-5.56 [[ 9.83832149e-01 1.78061338e-01 1.91953719e-02 2.78817420e+02] [-1.78035775e-01 9.84019300e-01 -3.04626871e-03 -4.29575647e+01] [-1.94310391e-02 -4.20445824e-04 9.99811111e-01 -5.56036756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters 0.03559723723173512 Centerline is valid? [True, True] Translation: X:278.85, Y:-42.95, Z:-5.56 [[ 9.83305327e-01 1.81062963e-01 1.80786638e-02 2.78847561e+02] [-1.81040809e-01 9.83471402e-01 -2.86822850e-03 -4.29549134e+01] [-1.82991788e-02 -4.52631569e-04 9.99832454e-01 -5.56240059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754012739 meters 0.03529343239017692 Centerline is valid? [True, True] Translation: X:278.88, Y:-42.96, Z:-5.56 [[ 9.83228293e-01 1.81444237e-01 1.84421617e-02 2.78876705e+02] [-1.81421263e-01 9.83401123e-01 -2.92524377e-03 -4.29578681e+01] [-1.86668111e-02 -4.69617822e-04 9.99825650e-01 -5.56193811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters 0.037205011014269436 Centerline is valid? [True, True] Translation: X:278.91, Y:-42.95, Z:-5.56 [[ 9.83180971e-01 1.81491818e-01 2.03935933e-02 2.78905470e+02] [-1.81463757e-01 9.83392316e-01 -3.23368247e-03 -4.29542744e+01] [-2.06417899e-02 -5.21402999e-04 9.99786800e-01 -5.55872071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814012739 meters 0.041230065204336634 Centerline is valid? [True, True] Translation: X:278.93, Y:-42.96, Z:-5.55 [[ 9.83372639e-01 1.80604742e-01 1.89784188e-02 2.78934749e+02] [-1.80580296e-01 9.83555645e-01 -3.00821545e-03 -4.29550331e+01] [-1.92096289e-02 -4.68931705e-04 9.99815368e-01 -5.55278029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters 0.03490330533500796 Centerline is valid? [True, True] Translation: X:278.96, Y:-42.96, Z:-5.56 [[ 9.83588508e-01 1.79511545e-01 1.81453295e-02 2.78963121e+02] [-1.79489027e-01 9.83755773e-01 -2.87535652e-03 -4.29572047e+01] [-1.83667323e-02 -4.28719905e-04 9.99831225e-01 -5.56459619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874012739 meters 0.034637140647422855 Centerline is valid? [True, True] Translation: X:278.99, Y:-42.96, Z:-5.57 [[ 9.83773763e-01 1.78550376e-01 1.75768904e-02 2.78991067e+02] [-1.78529107e-01 9.83930691e-01 -2.78451140e-03 -4.29583833e+01] [-1.77916175e-02 -3.98657292e-04 9.99841637e-01 -5.56651713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters 0.031233164412226677 Centerline is valid? [True, True] Translation: X:279.02, Y:-42.96, Z:-5.56 [[ 9.84316240e-01 1.75343794e-01 1.93931175e-02 2.79020195e+02] [-1.75317305e-01 9.84507192e-01 -3.07096357e-03 -4.29623401e+01] [-1.96311380e-02 -3.77149784e-04 9.99807220e-01 -5.56354774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934012739 meters 0.029401534436868954 Centerline is valid? [True, True] Translation: X:279.05, Y:-42.97, Z:-5.56 [[ 9.84700989e-01 1.73005854e-01 2.08071236e-02 2.79048793e+02] [-1.72974857e-01 9.84920732e-01 -3.29407730e-03 -4.29670672e+01] [-2.10632621e-02 -3.55428047e-04 9.99778082e-01 -5.56100827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters 0.026089966258985284 Centerline is valid? [True, True] Translation: X:279.08, Y:-42.97, Z:-5.56 [[ 9.85419022e-01 1.68666931e-01 2.23789371e-02 2.79077549e+02] [-1.68629980e-01 9.85673062e-01 -3.54176223e-03 -4.29730427e+01] [-2.26556936e-02 -2.83639823e-04 9.99743287e-01 -5.55814359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994012739 meters 0.02458399532651009 Centerline is valid? [True, True] Translation: X:279.11, Y:-42.98, Z:-5.56 [[ 9.85874111e-01 1.66108250e-01 2.14543026e-02 2.79106953e+02] [-1.66073709e-01 9.86107500e-01 -3.39426508e-03 -4.29801542e+01] [-2.17200641e-02 -2.16677534e-04 9.99764068e-01 -5.56074201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters 0.02203310982218042 Centerline is valid? [True, True] Translation: X:279.13, Y:-42.99, Z:-5.57 [[ 9.86998393e-01 1.59640324e-01 1.86852543e-02 2.79134904e+02] [-1.59612963e-01 9.87175244e-01 -2.95619290e-03 -4.29926846e+01] [-1.89175480e-02 -6.46511649e-05 9.99821045e-01 -5.56684321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05401273900003 meters 0.021638456783157668 Centerline is valid? [True, True] Translation: X:279.16, Y:-43.00, Z:-5.57 [[ 9.87593306e-01 1.55915454e-01 1.87038289e-02 2.79163576e+02] [-1.55887376e-01 9.87770404e-01 -2.95887482e-03 -4.30023645e+01] [-1.89364229e-02 6.47416494e-06 9.99820690e-01 -5.56771202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters 0.022891413239297952 Centerline is valid? [True, True] Translation: X:279.19, Y:-43.02, Z:-5.57 [[ 9.88542964e-01 1.49574933e-01 2.02520941e-02 2.79193392e+02] [-1.49540676e-01 9.88750383e-01 -3.20408891e-03 -4.30174127e+01] [-2.05035172e-02 1.38867707e-04 9.99789771e-01 -5.56539588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11401273900003 meters 0.0239869758730952 Centerline is valid? [True, True] Translation: X:279.22, Y:-43.03, Z:-5.57 [[ 9.88923029e-01 1.47055779e-01 2.01455033e-02 2.79224266e+02] [-1.47021348e-01 9.89128183e-01 -3.18772098e-03 -4.30275089e+01] [-2.03952579e-02 1.90591637e-04 9.99791977e-01 -5.56627809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters 0.02476239454377374 Centerline is valid? [True, True] Translation: X:279.26, Y:-43.04, Z:-5.57 [[ 9.89187198e-01 1.45310062e-01 1.98411953e-02 2.79255791e+02] [-1.45276246e-01 9.89386140e-01 -3.14289212e-03 -4.30369174e+01] [-2.00872974e-02 2.26454283e-04 9.99798204e-01 -5.56729439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17401273900003 meters 0.026252458479374394 Centerline is valid? [True, True] Translation: X:279.29, Y:-43.05, Z:-5.57 [[ 9.89398522e-01 1.43961021e-01 1.91256341e-02 2.79285659e+02] [-1.43929286e-01 9.89583328e-01 -3.03272971e-03 -4.30490947e+01] [-1.93630035e-02 2.47839423e-04 9.99812489e-01 -5.56964389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters 0.025310935422995968 Centerline is valid? [True, True] Translation: X:279.32, Y:-43.06, Z:-5.57 [[ 9.89115435e-01 1.45882904e-01 1.92050721e-02 2.79316095e+02] [-1.45851208e-01 9.89301841e-01 -3.04840101e-03 -4.30560630e+01] [-1.94443228e-02 2.14137528e-04 9.99810918e-01 -5.57010724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234012739 meters 0.02416902571559569 Centerline is valid? [True, True] Translation: X:279.35, Y:-43.06, Z:-5.57 [[ 9.88798347e-01 1.48040825e-01 1.90195278e-02 2.79348005e+02] [-1.48010081e-01 9.88981236e-01 -3.02182405e-03 -4.30590427e+01] [-1.92573094e-02 1.72892766e-04 9.99814546e-01 -5.57054816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters 0.022202054494984403 Centerline is valid? [True, True] Translation: X:279.38, Y:-43.06, Z:-5.57 [[ 9.88051985e-01 1.53166677e-01 1.71243961e-02 2.79380367e+02] [-1.53142474e-01 9.88200366e-01 -2.72365937e-03 -4.30567793e+01] [-1.73395083e-02 6.86446638e-05 9.99849657e-01 -5.57478888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294012739 meters 0.02203579913402998 Centerline is valid? [True, True] Translation: X:279.41, Y:-43.06, Z:-5.58 [[ 9.87722895e-01 1.55379982e-01 1.61413490e-02 2.79410279e+02] [-1.55358766e-01 9.87854777e-01 -2.56779823e-03 -4.30586943e+01] [-1.63442932e-02 2.85730415e-05 9.99866423e-01 -5.57775809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters 0.02197788063657389 Centerline is valid? [True, True] Translation: X:279.44, Y:-43.06, Z:-5.58 [[ 9.87321259e-01 1.57956620e-01 1.56983607e-02 2.79440808e+02] [-1.57936881e-01 9.87446052e-01 -2.49709679e-03 -4.30603440e+01] [-1.58957173e-02 -1.39133948e-05 9.99873655e-01 -5.57870247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354012739 meters 0.02203550525854056 Centerline is valid? [True, True] Translation: X:279.47, Y:-43.06, Z:-5.58 [[ 9.87211877e-01 1.58650266e-01 1.55821629e-02 2.79470984e+02] [-1.58630905e-01 9.87334843e-01 -2.47861350e-03 -4.30645758e+01] [-1.57780450e-02 -2.48959071e-05 9.99875519e-01 -5.58000171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters 0.02209914142897311 Centerline is valid? [True, True] Translation: X:279.50, Y:-43.07, Z:-5.58 [[ 9.87277798e-01 1.58340653e-01 1.45185220e-02 2.79501063e+02] [-1.58323812e-01 9.87384544e-01 -2.30942296e-03 -4.30703960e+01] [-1.47010398e-02 -1.85857377e-05 9.99891934e-01 -5.58218795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414012739 meters 0.022017595120732206 Centerline is valid? [True, True] Translation: X:279.53, Y:-43.08, Z:-5.58 [[ 9.87345933e-01 1.57931254e-01 1.43431807e-02 2.79530376e+02] [-1.57914772e-01 9.87450110e-01 -2.28160150e-03 -4.30751245e+01] [-1.45235115e-02 -1.22701495e-05 9.99894528e-01 -5.58348314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters 0.02201061234650193 Centerline is valid? [True, True] Translation: X:279.56, Y:-43.08, Z:-5.58 [[ 9.87464728e-01 1.57145901e-01 1.47843441e-02 2.79559006e+02] [-1.57128303e-01 9.87575398e-01 -2.35171791e-03 -4.30790037e+01] [-1.49702173e-02 -8.00404980e-07 9.99887940e-01 -5.58279681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474012739 meters 0.021904615969880224 Centerline is valid? [True, True] Translation: X:279.59, Y:-43.08, Z:-5.58 [[ 9.87475196e-01 1.56987043e-01 1.57418513e-02 2.79588485e+02] [-1.56967082e-01 9.87600662e-01 -2.50335498e-03 -4.30833036e+01] [-1.59396570e-02 1.04849001e-06 9.99872956e-01 -5.58139544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters 0.021765646338822917 Centerline is valid? [True, True] Translation: X:279.62, Y:-43.09, Z:-5.58 [[ 9.87415340e-01 1.57241747e-01 1.69108964e-02 2.79617931e+02] [-1.57218759e-01 9.87560141e-01 -2.68870035e-03 -4.30870723e+01] [-1.71233032e-02 -3.84616931e-06 9.99853385e-01 -5.58030981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534012739 meters 0.0215664450038282 Centerline is valid? [True, True] Translation: X:279.65, Y:-43.09, Z:-5.58 [[ 9.87168588e-01 1.58493183e-01 1.94445180e-02 2.79648484e+02] [-1.58463025e-01 9.87360071e-01 -3.09182568e-03 -4.30881352e+01] [-1.96887740e-02 -2.90839663e-05 9.99806157e-01 -5.57519794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters 0.021404605641092755 Centerline is valid? [True, True] Translation: X:279.68, Y:-43.09, Z:-5.57 [[ 9.87186888e-01 1.58093522e-01 2.16445531e-02 2.79678376e+02] [-1.58056057e-01 9.87424143e-01 -3.44166722e-03 -4.30930042e+01] [-2.19164596e-02 -2.34839695e-05 9.99759805e-01 -5.57281376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594012739 meters 0.0215254339177605 Centerline is valid? [True, True] Translation: X:279.71, Y:-43.10, Z:-5.57 [[ 9.87398112e-01 1.56734801e-01 2.18899881e-02 2.79708530e+02] [-1.56696136e-01 9.87640725e-01 -3.48122658e-03 -4.31010909e+01] [-2.21650730e-02 7.28001403e-06 9.99754325e-01 -5.57281306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters 0.021796162192876136 Centerline is valid? [True, True] Translation: X:279.74, Y:-43.11, Z:-5.57 [[ 9.87786106e-01 1.54344632e-01 2.13621997e-02 2.79740418e+02] [-1.54307178e-01 9.88017070e-01 -3.40060341e-03 -4.31103821e+01] [-2.16310828e-02 6.27280423e-05 9.99766019e-01 -5.57451216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654012739 meters 0.024048175094120963 Centerline is valid? [True, True] Translation: X:279.77, Y:-43.12, Z:-5.58 [[ 9.88795020e-01 1.48174057e-01 1.81344333e-02 2.79769982e+02] [-1.48145971e-01 9.88961283e-01 -2.88991482e-03 -4.31249271e+01] [-1.83624628e-02 1.70990155e-04 9.99831381e-01 -5.57970026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters 0.025115851317986625 Centerline is valid? [True, True] Translation: X:279.80, Y:-43.13, Z:-5.58 [[ 9.89093434e-01 1.46302076e-01 1.70258774e-02 2.79801352e+02] [-1.46277021e-01 9.89239943e-01 -2.71447095e-03 -4.31342718e+01] [-1.72398108e-02 1.94370765e-04 9.99851365e-01 -5.58189243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714012739 meters 0.027032753434538863 Centerline is valid? [True, True] Translation: X:279.83, Y:-43.15, Z:-5.58 [[ 9.89495430e-01 1.43557689e-01 1.70289045e-02 2.79831215e+02] [-1.43532168e-01 9.89641920e-01 -2.71788042e-03 -4.31472960e+01] [-1.72426904e-02 2.45134660e-04 9.99851304e-01 -5.58272002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters 0.027606938701267503 Centerline is valid? [True, True] Translation: X:279.86, Y:-43.16, Z:-5.58 [[ 9.89541910e-01 1.43182983e-01 1.74768975e-02 2.79862527e+02] [-1.43155994e-01 9.89696198e-01 -2.79214503e-03 -4.31554605e+01] [-1.76966067e-02 2.61021891e-04 9.99843369e-01 -5.58251344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774012739 meters 0.02527373149428772 Centerline is valid? [True, True] Translation: X:279.90, Y:-43.16, Z:-5.58 [[ 9.89294727e-01 1.44779321e-01 1.83000561e-02 2.79895025e+02] [-1.44749935e-01 9.89463939e-01 -2.92729084e-03 -4.31590341e+01] [-1.85310568e-02 2.47021453e-04 9.99828255e-01 -5.58043367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters 0.02512670865205963 Centerline is valid? [True, True] Translation: X:279.93, Y:-43.17, Z:-5.58 [[ 9.88963023e-01 1.47102754e-01 1.76895355e-02 2.79925352e+02] [-1.47075653e-01 9.89121196e-01 -2.83047055e-03 -4.31653264e+01] [-1.79134645e-02 1.97530732e-04 9.99839522e-01 -5.58187962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834012739 meters 0.02217918595630526 Centerline is valid? [True, True] Translation: X:279.96, Y:-43.16, Z:-5.58 [[ 9.88016007e-01 1.53464957e-01 1.65190015e-02 2.79958598e+02] [-1.53442170e-01 9.88154088e-01 -2.64565164e-03 -4.31628385e+01] [-1.67293336e-02 7.92347340e-05 9.99860052e-01 -5.58381501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters 0.021485098415760868 Centerline is valid? [True, True] Translation: X:279.99, Y:-43.16, Z:-5.58 [[ 9.87543571e-01 1.56444436e-01 1.68176898e-02 2.79989275e+02] [-1.56421193e-01 9.87686761e-01 -2.69688961e-03 -4.31629122e+01] [-1.70325230e-02 3.26528874e-05 9.99854936e-01 -5.58393043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894012739 meters 0.02138151957502261 Centerline is valid? [True, True] Translation: X:280.02, Y:-43.16, Z:-5.58 [[ 9.86957038e-01 1.60006609e-01 1.77113122e-02 2.80019416e+02] [-1.59981399e-01 9.87115943e-01 -2.84041518e-03 -4.31619912e+01] [-1.79376038e-02 -3.01127466e-05 9.99839108e-01 -5.58315562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters 0.0213420447549751 Centerline is valid? [True, True] Translation: X:280.05, Y:-43.17, Z:-5.58 [[ 9.86888846e-01 1.60437026e-01 1.76172172e-02 2.80048938e+02] [-1.60412148e-01 9.87046078e-01 -2.82554692e-03 -4.31668179e+01] [-1.78423274e-02 -3.75149008e-05 9.99840812e-01 -5.58393645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954012739 meters 0.021377668735755764 Centerline is valid? [True, True] Translation: X:280.08, Y:-43.17, Z:-5.59 [[ 9.87145467e-01 1.59058743e-01 1.56250618e-02 2.80078818e+02] [-1.59038997e-01 9.87269120e-01 -2.50623872e-03 -4.31728890e+01] [-1.58247802e-02 -1.09719649e-05 9.99874780e-01 -5.58798070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters 0.02167115408860129 Centerline is valid? [True, True] Translation: X:280.11, Y:-43.18, Z:-5.59 [[ 9.87313441e-01 1.58124661e-01 1.44485384e-02 2.80108853e+02] [-1.58107677e-01 9.87419157e-01 -2.31752597e-03 -4.31782331e+01] [-1.46332216e-02 3.69969669e-06 9.99892929e-01 -5.59109405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014012739 meters 0.021718018133794342 Centerline is valid? [True, True] Translation: X:280.14, Y:-43.18, Z:-5.59 [[ 9.87443465e-01 1.57382849e-01 1.36397070e-02 2.80138733e+02] [-1.57367642e-01 9.87537665e-01 -2.18779050e-03 -4.31832741e+01] [-1.38140451e-02 1.38709090e-05 9.99904581e-01 -5.59331667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters 0.021965417098541086 Centerline is valid? [True, True] Translation: X:280.17, Y:-43.19, Z:-5.59 [[ 9.87632634e-01 1.56197244e-01 1.35720497e-02 2.80167976e+02] [-1.56182075e-01 9.87725883e-01 -2.17701387e-03 -4.31869808e+01] [-1.37455083e-02 3.03790662e-05 9.99905526e-01 -5.59406533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074012739 meters 0.02216988894574139 Centerline is valid? [True, True] Translation: X:280.20, Y:-43.19, Z:-5.59 [[ 9.88042691e-01 1.53415238e-01 1.53429608e-02 2.80198529e+02] [-1.53395521e-01 9.88161808e-01 -2.46081125e-03 -4.31917190e+01] [-1.55388538e-02 7.78451158e-05 9.99879262e-01 -5.59051681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters 0.02310006297640471 Centerline is valid? [True, True] Translation: X:280.23, Y:-43.20, Z:-5.59 [[ 9.88377775e-01 1.51111301e-01 1.65755176e-02 2.80227687e+02] [-1.51087964e-01 9.88516747e-01 -2.65845622e-03 -4.32009614e+01] [-1.67868996e-02 1.23197826e-04 9.99859082e-01 -5.58939148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134012739 meters 0.026428689580126608 Centerline is valid? [True, True] Translation: X:280.26, Y:-43.22, Z:-5.59 [[ 9.89132567e-01 1.46058186e-01 1.68455301e-02 2.80257782e+02] [-1.46033348e-01 9.89275978e-01 -2.70185619e-03 -4.32184031e+01] [-1.70595065e-02 2.12484782e-04 9.99854453e-01 -5.58941236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters 0.02729048689339193 Centerline is valid? [True, True] Translation: X:280.29, Y:-43.23, Z:-5.59 [[ 9.89449488e-01 1.43853895e-01 1.71978721e-02 2.80289405e+02] [-1.43827667e-01 9.89598904e-01 -2.75883397e-03 -4.32271256e+01] [-1.74158644e-02 2.56197050e-04 9.99848300e-01 -5.58936393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194012739 meters 0.031112625310448574 Centerline is valid? [True, True] Translation: X:280.32, Y:-43.24, Z:-5.59 [[ 9.90215142e-01 1.38235343e-01 1.91039813e-02 2.80318128e+02] [-1.38201860e-01 9.90399329e-01 -3.06827095e-03 -4.32429462e+01] [-1.93447138e-02 3.98042597e-04 9.99812794e-01 -5.58654428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters 0.03540401324307573 Centerline is valid? [True, True] Translation: X:280.35, Y:-43.26, Z:-5.59 [[ 9.90669263e-01 1.34760952e-01 2.03444556e-02 2.80345866e+02] [-1.34722232e-01 9.90878014e-01 -3.26818109e-03 -4.32586661e+01] [-2.05992970e-02 4.96836079e-04 9.99787689e-01 -5.58526395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254012739 meters 0.03825818099281947 Centerline is valid? [True, True] Translation: X:280.38, Y:-43.27, Z:-5.58 [[ 9.91074836e-01 1.31626807e-01 2.10962802e-02 2.80375343e+02] [-1.31584463e-01 9.91299170e-01 -3.38898031e-03 -4.32731314e+01] [-2.13588057e-02 5.82790407e-04 9.99771705e-01 -5.58431305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters 0.03825818099281947 Centerline is valid? [True, True] Translation: X:280.41, Y:-43.28, Z:-5.58 [[ 9.91050871e-01 1.31807145e-01 2.10961766e-02 2.80407411e+02] [-1.31764827e-01 9.91275209e-01 -3.38962541e-03 -4.32784753e+01] [-2.13588937e-02 5.79557150e-04 9.99771705e-01 -5.58497338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314012739 meters 0.041127817477261144 Centerline is valid? [True, True] Translation: X:280.44, Y:-43.29, Z:-5.59 [[ 9.91423343e-01 1.29192678e-01 1.97232356e-02 2.80436306e+02] [-1.29155104e-01 9.91619329e-01 -3.17252020e-03 -4.32947761e+01] [-1.99678080e-02 5.97954047e-04 9.99800445e-01 -5.58684143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters 0.036705667465501725 Centerline is valid? [True, True] Translation: X:280.47, Y:-43.30, Z:-5.59 [[ 9.90837347e-01 1.33931438e-01 1.74276219e-02 2.80465823e+02] [-1.33902826e-01 9.90990501e-01 -2.80367818e-03 -4.32990752e+01] [-1.76461084e-02 4.44381229e-04 9.99844197e-01 -5.59231224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374012739 meters 0.031722858700168714 Centerline is valid? [True, True] Translation: X:280.50, Y:-43.30, Z:-5.59 [[ 9.90221192e-01 1.38432740e-01 1.72733203e-02 2.80497764e+02] [-1.38405319e-01 9.90371772e-01 -2.77872328e-03 -4.33003048e+01] [-1.74916751e-02 3.60831260e-04 9.99846944e-01 -5.59275261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters 0.029690393441333014 Centerline is valid? [True, True] Translation: X:280.53, Y:-43.30, Z:-5.59 [[ 9.89476835e-01 1.43679324e-01 1.70834525e-02 2.80527962e+02] [-1.43653268e-01 9.89624263e-01 -2.74908407e-03 -4.33044218e+01] [-1.73011857e-02 2.66061220e-04 9.99850288e-01 -5.59363468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434012739 meters 0.02177544503974513 Centerline is valid? [True, True] Translation: X:280.56, Y:-43.29, Z:-5.60 [[ 9.87823220e-01 1.54727377e-01 1.62703716e-02 2.80561040e+02] [-1.54705236e-01 9.87957202e-01 -2.61842015e-03 -4.32913193e+01] [-1.64795721e-02 6.94245389e-05 9.99864200e-01 -5.59541526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters 0.022011871024680392 Centerline is valid? [True, True] Translation: X:280.59, Y:-43.28, Z:-5.60 [[ 9.86389047e-01 1.63678412e-01 1.56851767e-02 2.80593599e+02] [-1.63658967e-01 9.86513746e-01 -2.52409991e-03 -4.32846673e+01] [-1.58867831e-02 -7.72753191e-05 9.99873794e-01 -5.59814501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494012739 meters 0.02300301150777592 Centerline is valid? [True, True] Translation: X:280.63, Y:-43.29, Z:-5.60 [[ 9.85857548e-01 1.66805842e-01 1.61464068e-02 2.80625054e+02] [-1.66785626e-01 9.85989754e-01 -2.60013570e-03 -4.32874777e+01] [-1.63539095e-02 -1.29625160e-04 9.99866257e-01 -5.59737021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters 0.030065702196571134 Centerline is valid? [True, True] Translation: X:280.66, Y:-43.29, Z:-5.59 [[ 9.85154262e-01 1.70807852e-01 1.71976145e-02 2.80656771e+02] [-1.70785520e-01 9.85304336e-01 -2.76985856e-03 -4.32894798e+01] [-1.74179977e-02 -2.08365556e-04 9.99848273e-01 -5.58759516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55401273900003 meters 0.02492327172636514 Centerline is valid? [True, True] Translation: X:280.69, Y:-43.30, Z:-5.60 [[ 9.84933007e-01 1.72059668e-01 1.73908804e-02 2.80687917e+02] [-1.72037025e-01 9.85086502e-01 -2.80100039e-03 -4.32955329e+01] [-1.76134607e-02 -2.33077587e-04 9.99844844e-01 -5.59517867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters 0.026728057899326745 Centerline is valid? [True, True] Translation: X:280.72, Y:-43.30, Z:-5.60 [[ 9.84798465e-01 1.72889221e-01 1.67720404e-02 2.80718590e+02] [-1.72868232e-01 9.84941248e-01 -2.70420729e-03 -4.32995804e+01] [-1.69870027e-02 -2.36253791e-04 9.99855683e-01 -5.59849860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61401273900003 meters 0.026017629188001934 Centerline is valid? [True, True] Translation: X:280.75, Y:-43.31, Z:-5.60 [[ 9.84862062e-01 1.72564012e-01 1.63823353e-02 2.80749622e+02] [-1.72543900e-01 9.84998280e-01 -2.64396281e-03 -4.33072992e+01] [-1.65928249e-02 -2.22733350e-04 9.99862305e-01 -5.59984780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters 0.025196576558859027 Centerline is valid? [True, True] Translation: X:280.78, Y:-43.31, Z:-5.60 [[ 9.84931951e-01 1.72190844e-01 1.61047933e-02 2.80780627e+02] [-1.72171315e-01 9.85063586e-01 -2.60179887e-03 -4.33142004e+01] [-1.63122514e-02 -2.10188599e-04 9.99866924e-01 -5.60025161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67401273900003 meters 0.02571236517915831 Centerline is valid? [True, True] Translation: X:280.81, Y:-43.32, Z:-5.60 [[ 9.84835940e-01 1.72664644e-01 1.68846562e-02 2.80811274e+02] [-1.72643190e-01 9.84980644e-01 -2.73110918e-03 -4.33181289e+01] [-1.71026255e-02 -2.25326426e-04 9.99853714e-01 -5.59871364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters 0.02717867076002439 Centerline is valid? [True, True] Translation: X:280.84, Y:-43.32, Z:-5.60 [[ 9.84639944e-01 1.73611258e-01 1.85286484e-02 2.80842356e+02] [-1.73585556e-01 9.84814227e-01 -2.99888086e-03 -4.33211461e+01] [-1.87679160e-02 -2.63487843e-04 9.99823832e-01 -5.59619515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734012739 meters 0.02608130113994099 Centerline is valid? [True, True] Translation: X:280.87, Y:-43.33, Z:-5.60 [[ 9.84651370e-01 1.73495268e-01 1.90018811e-02 2.80873226e+02] [-1.73468156e-01 9.84834667e-01 -3.07850230e-03 -4.33292515e+01] [-1.92478168e-02 -2.64969775e-04 9.99814709e-01 -5.59634670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters 0.025612047689969185 Centerline is valid? [True, True] Translation: X:280.90, Y:-43.34, Z:-5.60 [[ 9.84754663e-01 1.72946755e-01 1.86459988e-02 2.80904592e+02] [-1.72920493e-01 9.84931144e-01 -3.02389411e-03 -4.33356931e+01] [-1.88879976e-02 -2.46481482e-04 9.99821575e-01 -5.59836040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794012739 meters 0.024603780486309033 Centerline is valid? [True, True] Translation: X:280.93, Y:-43.34, Z:-5.60 [[ 9.85049216e-01 1.71359005e-01 1.77238316e-02 2.80934726e+02] [-1.71334969e-01 9.85208633e-01 -2.87715624e-03 -4.33445291e+01] [-1.79546985e-02 -2.02571644e-04 9.99838781e-01 -5.60028803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters 0.02322965917278468 Centerline is valid? [True, True] Translation: X:280.97, Y:-43.35, Z:-5.60 [[ 9.85299654e-01 1.69795580e-01 1.88162760e-02 2.80965916e+02] [-1.69768145e-01 9.85479289e-01 -3.05756130e-03 -4.33515582e+01] [-1.90622107e-02 -1.81790187e-04 9.99818283e-01 -5.59732980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854012739 meters 0.02325252320264775 Centerline is valid? [True, True] Translation: X:281.00, Y:-43.36, Z:-5.60 [[ 9.85276594e-01 1.69839068e-01 1.96143818e-02 2.80997890e+02] [-1.69809197e-01 9.85471794e-01 -3.19071673e-03 -4.33551499e+01] [-1.98713284e-02 -1.86963908e-04 9.99802528e-01 -5.59640402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters 0.023656953765224746 Centerline is valid? [True, True] Translation: X:281.03, Y:-43.36, Z:-5.60 [[ 9.85122369e-01 1.70716886e-01 1.97398798e-02 2.81029522e+02] [-1.70686735e-01 9.85320102e-01 -3.21473892e-03 -4.33576189e+01] [-1.99989106e-02 -2.02424405e-04 9.99799981e-01 -5.59693676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914012739 meters 0.025170165678343702 Centerline is valid? [True, True] Translation: X:281.06, Y:-43.36, Z:-5.60 [[ 9.84691866e-01 1.73300991e-01 1.86734139e-02 2.81062231e+02] [-1.73274414e-01 9.84868880e-01 -3.04423591e-03 -4.33567598e+01] [-1.89184333e-02 -2.37990513e-04 9.99821002e-01 -5.60004099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters 0.027100555815996515 Centerline is valid? [True, True] Translation: X:281.09, Y:-43.36, Z:-5.60 [[ 9.84422690e-01 1.74903728e-01 1.79067816e-02 2.81092750e+02] [-1.74879496e-01 9.84585507e-01 -2.92244854e-03 -4.33564363e+01] [-1.81419048e-02 -2.54604289e-04 9.99835390e-01 -5.60234756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974012739 meters 0.026949916977342708 Centerline is valid? [True, True] Translation: X:281.12, Y:-43.36, Z:-5.60 [[ 9.84040075e-01 1.77034280e-01 1.79998348e-02 2.81123850e+02] [-1.77010149e-01 9.84204642e-01 -2.93777159e-03 -4.33573583e+01] [-1.82356072e-02 -2.95268454e-04 9.99833674e-01 -5.60204731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters 0.028283541550880465 Centerline is valid? [True, True] Translation: X:281.15, Y:-43.36, Z:-5.60 [[ 9.83850394e-01 1.78085816e-01 1.79956536e-02 2.81153586e+02] [-1.78061853e-01 9.84014910e-01 -2.93813896e-03 -4.33575660e+01] [-1.82312324e-02 -3.13650258e-04 9.99833748e-01 -5.60284848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034012739 meters 0.0301284275600332 Centerline is valid? [True, True] Translation: X:281.18, Y:-43.36, Z:-5.60 [[ 9.83695916e-01 1.78980596e-01 1.75582368e-02 2.81184039e+02] [-1.78957930e-01 9.83852551e-01 -2.86651049e-03 -4.33558910e+01] [-1.77877658e-02 -3.22411058e-04 9.99841733e-01 -5.60358407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters 0.030846723036969628 Centerline is valid? [True, True] Translation: X:281.21, Y:-43.36, Z:-5.60 [[ 9.83601960e-01 1.79508695e-01 1.74302267e-02 2.81213260e+02] [-1.79486444e-01 9.83756331e-01 -2.84546262e-03 -4.33570572e+01] [-1.76578811e-02 -3.29686794e-04 9.99844033e-01 -5.60443067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094012739 meters 0.029934085017361646 Centerline is valid? [True, True] Translation: X:281.24, Y:-43.36, Z:-5.61 [[ 9.83504594e-01 1.80059551e-01 1.72415753e-02 2.81242730e+02] [-1.80037874e-01 9.83655654e-01 -2.81403835e-03 -4.33578216e+01] [-1.74664675e-02 -3.36516917e-04 9.99847393e-01 -5.60529615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters 0.03145520376518163 Centerline is valid? [True, True] Translation: X:281.27, Y:-43.36, Z:-5.61 [[ 9.83517812e-01 1.79988816e-01 1.72261244e-02 2.81271898e+02] [-1.79967174e-01 9.83668600e-01 -2.81113344e-03 -4.33591085e+01] [-1.74507703e-02 -3.35337122e-04 9.99847667e-01 -5.60711837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154012739 meters 0.030691995481118044 Centerline is valid? [True, True] Translation: X:281.30, Y:-43.37, Z:-5.61 [[ 9.83706972e-01 1.78951133e-01 1.72361787e-02 2.81298702e+02] [-1.78929316e-01 9.83857912e-01 -2.81220739e-03 -4.33661472e+01] [-1.74611985e-02 -3.17669662e-04 9.99847491e-01 -5.60733644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters 0.028934540429005506 Centerline is valid? [True, True] Translation: X:281.33, Y:-43.37, Z:-5.61 [[ 9.83799053e-01 1.78458053e-01 1.70923021e-02 2.81327880e+02] [-1.78436543e-01 9.83947473e-01 -2.78766371e-03 -4.33731986e+01] [-1.73154085e-02 -3.07390381e-04 9.99850030e-01 -5.60772419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214012739 meters 0.028846269466610227 Centerline is valid? [True, True] Translation: X:281.36, Y:-43.37, Z:-5.61 [[ 9.83844909e-01 1.78303661e-01 1.60311957e-02 2.81357523e+02] [-1.78284726e-01 9.83975468e-01 -2.61420080e-03 -4.33747253e+01] [-1.62404249e-02 -2.86149189e-04 9.99868075e-01 -5.61041252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters 0.028444306110064977 Centerline is valid? [True, True] Translation: X:281.39, Y:-43.38, Z:-5.61 [[ 9.83863842e-01 1.78201400e-01 1.60063113e-02 2.81386397e+02] [-1.78182512e-01 9.83993994e-01 -2.60999994e-03 -4.33799133e+01] [-1.62152198e-02 -2.84160178e-04 9.99868484e-01 -5.61131648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274012739 meters 0.027529030097545776 Centerline is valid? [True, True] Translation: X:281.41, Y:-43.39, Z:-5.61 [[ 9.83931190e-01 1.77811622e-01 1.62000051e-02 2.81414970e+02] [-1.77792228e-01 9.84064504e-01 -2.64118345e-03 -4.33872717e+01] [-1.64114831e-02 -2.81492238e-04 9.99865283e-01 -5.61128308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters 0.028435732148095322 Centerline is valid? [True, True] Translation: X:281.44, Y:-43.39, Z:-5.61 [[ 9.83822824e-01 1.78452998e-01 1.57219036e-02 2.81443526e+02] [-1.78434819e-01 9.83948397e-01 -2.56286584e-03 -4.33888667e+01] [-1.59268929e-02 -2.83929117e-04 9.99873119e-01 -5.61209201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334012739 meters 0.03140605655143551 Centerline is valid? [True, True] Translation: X:281.47, Y:-43.38, Z:-5.61 [[ 9.83246935e-01 1.81538881e-01 1.64042306e-02 2.81472693e+02] [-1.81519526e-01 9.83383706e-01 -2.67369025e-03 -4.33844002e+01] [-1.66170319e-02 -3.48790437e-04 9.99861867e-01 -5.61049384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters 0.03194855966514515 Centerline is valid? [True, True] Translation: X:281.50, Y:-43.39, Z:-5.61 [[ 9.82919623e-01 1.83218748e-01 1.73177511e-02 2.81501851e+02] [-1.83197453e-01 9.83072088e-01 -2.82168358e-03 -4.33873413e+01] [-1.75415831e-02 -3.99079742e-04 9.99846055e-01 -5.60991625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394012739 meters 0.03335702824522242 Centerline is valid? [True, True] Translation: X:281.53, Y:-43.39, Z:-5.61 [[ 9.82603033e-01 1.84842464e-01 1.80151026e-02 2.81530157e+02] [-1.84819709e-01 9.82768062e-01 -2.93439765e-03 -4.33894214e+01] [-1.82470687e-02 -4.46197996e-04 9.99833409e-01 -5.60952822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters 0.03714879559158674 Centerline is valid? [True, True] Translation: X:281.56, Y:-43.38, Z:-5.61 [[ 9.81943366e-01 1.88359536e-01 1.75473954e-02 2.81559259e+02] [-1.88338527e-01 9.82100013e-01 -2.85713338e-03 -4.33848032e+01] [-1.77714656e-02 -4.99307441e-04 9.99841950e-01 -5.61156858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454012739 meters 0.03927412618506466 Centerline is valid? [True, True] Translation: X:281.59, Y:-43.38, Z:-5.61 [[ 9.81658582e-01 1.89938378e-01 1.64268365e-02 2.81587725e+02] [-1.89920200e-01 9.81795889e-01 -2.67397848e-03 -4.33836796e+01] [-1.66356917e-02 -4.94854150e-04 9.99861495e-01 -5.61406758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters 0.041983891528450924 Centerline is valid? [True, True] Translation: X:281.62, Y:-43.38, Z:-5.62 [[ 9.81089397e-01 1.92985625e-01 1.48372521e-02 2.81617843e+02] [-1.92971156e-01 9.81201460e-01 -2.41432036e-03 -4.33817167e+01] [-1.50242626e-02 -4.94497590e-04 9.99887007e-01 -5.61679845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514012739 meters 0.045270929718086474 Centerline is valid? [True, True] Translation: X:281.65, Y:-43.38, Z:-5.62 [[ 9.80980610e-01 1.93567478e-01 1.44455495e-02 2.81646230e+02] [-1.93553831e-01 9.81086842e-01 -2.35021703e-03 -4.33798705e+01] [-1.46272642e-02 -4.90474122e-04 9.99892896e-01 -5.61866083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters 0.04405497078861933 Centerline is valid? [True, True] Translation: X:281.68, Y:-43.38, Z:-5.62 [[ 9.80985172e-01 1.93512278e-01 1.48690878e-02 2.81675160e+02] [-1.93497828e-01 9.81097724e-01 -2.41813544e-03 -4.33791124e+01] [-1.50559671e-02 -5.04981171e-04 9.99886525e-01 -5.61812920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574012739 meters 0.041717111214655635 Centerline is valid? [True, True] Translation: X:281.70, Y:-43.38, Z:-5.62 [[ 9.81105733e-01 1.92740303e-01 1.68141715e-02 2.81703782e+02] [-1.92721727e-01 9.81249644e-01 -2.73354776e-03 -4.33806617e+01] [-1.70257646e-02 -5.58556787e-04 9.99854895e-01 -5.61503783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters 0.04192194700651114 Centerline is valid? [True, True] Translation: X:281.73, Y:-43.38, Z:-5.61 [[ 9.81186523e-01 1.92293545e-01 1.72104739e-02 2.81731826e+02] [-1.92274029e-01 9.81337288e-01 -2.79715493e-03 -4.33832136e+01] [-1.74271546e-02 -5.64596439e-04 9.99847976e-01 -5.61432706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634012739 meters 0.04701608333706779 Centerline is valid? [True, True] Translation: X:281.76, Y:-43.37, Z:-5.61 [[ 9.81242899e-01 1.91930537e-01 1.80289255e-02 2.81761911e+02] [-1.91909080e-01 9.81408338e-01 -2.92903319e-03 -4.33738422e+01] [-1.82559087e-02 -5.85821481e-04 9.99833175e-01 -5.61389639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters 0.04163463810245273 Centerline is valid? [True, True] Translation: X:281.79, Y:-43.38, Z:-5.61 [[ 9.81340388e-01 1.91441563e-01 1.79212480e-02 2.81790131e+02] [-1.91420300e-01 9.81503845e-01 -2.91044899e-03 -4.33802896e+01] [-1.81469548e-02 -5.74349536e-04 9.99835165e-01 -5.61370601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694012739 meters 0.04092761235367001 Centerline is valid? [True, True] Translation: X:281.82, Y:-43.38, Z:-5.61 [[ 9.81494055e-01 1.90633137e-01 1.81225614e-02 2.81819755e+02] [-1.90611272e-01 9.81661187e-01 -2.94224678e-03 -4.33807347e+01] [-1.83511048e-02 -5.66566756e-04 9.99831444e-01 -5.61464748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters 0.03831805948042643 Centerline is valid? [True, True] Translation: X:281.85, Y:-43.38, Z:-5.62 [[ 9.82078839e-01 1.87657628e-01 1.74862451e-02 2.81849364e+02] [-1.87636811e-01 9.82234377e-01 -2.83831134e-03 -4.33826100e+01] [-1.77082218e-02 -4.93617763e-04 9.99843075e-01 -5.61583787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754012739 meters 0.03508378792734646 Centerline is valid? [True, True] Translation: X:281.88, Y:-43.38, Z:-5.62 [[ 9.82876566e-01 1.83550858e-01 1.62091976e-02 2.81878000e+02] [-1.83532417e-01 9.83010138e-01 -2.63072147e-03 -4.33847010e+01] [-1.64166768e-02 -3.89238742e-04 9.99865162e-01 -5.61822762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters 0.032452345855014324 Centerline is valid? [True, True] Translation: X:281.91, Y:-43.39, Z:-5.62 [[ 9.83382558e-01 1.80818494e-01 1.62300970e-02 2.81906526e+02] [-1.80799643e-01 9.83516423e-01 -2.63358437e-03 -4.33903439e+01] [-1.64387677e-02 -3.44574804e-04 9.99864815e-01 -5.61887815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814012739 meters 0.029011015033814872 Centerline is valid? [True, True] Translation: X:281.94, Y:-43.40, Z:-5.62 [[ 9.84078631e-01 1.76919058e-01 1.69969088e-02 2.81935469e+02] [-1.76897816e-01 9.84225361e-01 -2.75713309e-03 -4.33986940e+01] [-1.72165781e-02 -2.93480300e-04 9.99851741e-01 -5.61896429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters 0.022340685583766874 Centerline is valid? [True, True] Translation: X:281.96, Y:-43.42, Z:-5.62 [[ 9.85607382e-01 1.68056491e-01 1.83058462e-02 2.81961850e+02] [-1.68030334e-01 9.85777355e-01 -2.96877647e-03 -4.34150961e+01] [-1.85444108e-02 -1.49889442e-04 9.99828026e-01 -5.61719123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874012739 meters 0.020385392014476453 Centerline is valid? [True, True] Translation: X:281.99, Y:-43.43, Z:-5.62 [[ 9.86361861e-01 1.63558619e-01 1.84080666e-02 2.81989344e+02] [-1.63531396e-01 9.86533615e-01 -2.98472575e-03 -4.34259947e+01] [-1.86483541e-02 -6.62771774e-05 9.99826102e-01 -5.61774028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters 0.02048953706849147 Centerline is valid? [True, True] Translation: X:282.02, Y:-43.44, Z:-5.62 [[ 9.87476445e-01 1.56867153e-01 1.68216432e-02 2.82016351e+02] [-1.56843461e-01 9.87619711e-01 -2.72680283e-03 -4.34409228e+01] [-1.70411322e-02 5.42888199e-05 9.99854788e-01 -5.62118878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934012739 meters 0.02109269718891783 Centerline is valid? [True, True] Translation: X:282.04, Y:-43.45, Z:-5.62 [[ 9.87827158e-01 1.54731798e-01 1.59867629e-02 2.82044457e+02] [-1.54710131e-01 9.87956509e-01 -2.59077669e-03 -4.34498820e+01] [-1.61951020e-02 8.59253874e-05 9.99868847e-01 -5.62386889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters 0.022259519997968224 Centerline is valid? [True, True] Translation: X:282.07, Y:-43.46, Z:-5.62 [[ 9.88227104e-01 1.52065838e-01 1.68277062e-02 2.82071087e+02] [-1.52041459e-01 9.88370357e-01 -2.72619197e-03 -4.34625436e+01] [-1.70465667e-02 1.35587780e-04 9.99854688e-01 -5.62343516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994012739 meters 0.021863734522818673 Centerline is valid? [True, True] Translation: X:282.10, Y:-43.47, Z:-5.62 [[ 9.88274143e-01 1.51626739e-01 1.79875305e-02 2.82100164e+02] [-1.51598824e-01 9.88437812e-01 -2.91339968e-03 -4.34682614e+01] [-1.82213046e-02 1.52349115e-04 9.99833967e-01 -5.62166332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters 0.02265532550584547 Centerline is valid? [True, True] Translation: X:282.13, Y:-43.48, Z:-5.62 [[ 9.88288215e-01 1.51495978e-01 1.83131652e-02 2.82128854e+02] [-1.51467029e-01 9.88457862e-01 -2.96562888e-03 -4.34776476e+01] [-1.85510729e-02 1.57055345e-04 9.99827902e-01 -5.62172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05401273900003 meters 0.021711192069136874 Centerline is valid? [True, True] Translation: X:282.16, Y:-43.48, Z:-5.63 [[ 9.88164413e-01 1.52462322e-01 1.69213971e-02 2.82158130e+02] [-1.52437745e-01 9.88309275e-01 -2.74046181e-03 -4.34847580e+01] [-1.71413909e-02 1.28567217e-04 9.99853067e-01 -5.62566862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters 0.021239922474266353 Centerline is valid? [True, True] Translation: X:282.19, Y:-43.49, Z:-5.63 [[ 9.88060994e-01 1.53241196e-01 1.58936487e-02 2.82188386e+02] [-1.53219615e-01 9.88188810e-01 -2.57401543e-03 -4.34905764e+01] [-1.61003709e-02 1.08065513e-04 9.99870375e-01 -5.62739270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11401273900003 meters 0.021104105794303895 Centerline is valid? [True, True] Translation: X:282.22, Y:-43.50, Z:-5.63 [[ 9.87758419e-01 1.55145701e-01 1.62208919e-02 2.82216873e+02] [-1.55123477e-01 9.87891596e-01 -2.62706058e-03 -4.34988342e+01] [-1.64320599e-02 7.86600582e-05 9.99864981e-01 -5.62816296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters 0.020474858164169572 Centerline is valid? [True, True] Translation: X:282.25, Y:-43.50, Z:-5.63 [[ 9.87632393e-01 1.55888012e-01 1.67685568e-02 2.82246245e+02] [-1.55864372e-01 9.87774733e-01 -2.71557866e-03 -4.35044314e+01] [-1.69868829e-02 6.83728783e-05 9.99855710e-01 -5.62726256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17401273900003 meters 0.020082880425974142 Centerline is valid? [True, True] Translation: X:282.28, Y:-43.51, Z:-5.63 [[ 9.87281492e-01 1.58000499e-01 1.76379617e-02 2.82275822e+02] [-1.57974690e-01 9.87439032e-01 -2.85587769e-03 -4.35132068e+01] [-1.78676419e-02 3.32036603e-05 9.99840360e-01 -5.62670446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters 0.020082880425974142 Centerline is valid? [True, True] Translation: X:282.31, Y:-43.52, Z:-5.63 [[ 9.87281492e-01 1.58000499e-01 1.76379617e-02 2.82305430e+02] [-1.57974690e-01 9.87439032e-01 -2.85587769e-03 -4.35180009e+01] [-1.78676419e-02 3.32036602e-05 9.99840360e-01 -5.62731366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234012739 meters 0.0199856913474276 Centerline is valid? [True, True] Translation: X:282.33, Y:-43.53, Z:-5.63 [[ 9.87247048e-01 1.58252842e-01 1.73003842e-02 2.82334845e+02] [-1.58228051e-01 9.87398621e-01 -2.80121832e-03 -4.35250747e+01] [-1.75256763e-02 2.80884544e-05 9.99846413e-01 -5.62798546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters 0.020306920987534907 Centerline is valid? [True, True] Translation: X:282.36, Y:-43.54, Z:-5.63 [[ 9.87438640e-01 1.57198566e-01 1.59230279e-02 2.82363587e+02] [-1.57177429e-01 9.87567015e-01 -2.57815000e-03 -4.35350593e+01] [-1.61303386e-02 4.30243487e-05 9.99869897e-01 -5.63060327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294012739 meters 0.020334546955676224 Centerline is valid? [True, True] Translation: X:282.39, Y:-43.54, Z:-5.63 [[ 9.87466542e-01 1.57079232e-01 1.53604174e-02 2.82393245e+02] [-1.57059544e-01 9.87586003e-01 -2.48729772e-03 -4.35423085e+01] [-1.55604360e-02 4.36231223e-05 9.99878928e-01 -5.63175650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters 0.020412919271152415 Centerline is valid? [True, True] Translation: X:282.42, Y:-43.55, Z:-5.63 [[ 9.87412646e-01 1.57420119e-01 1.53353417e-02 2.82423203e+02] [-1.57400537e-01 9.87531723e-01 -2.48323723e-03 -4.35485895e+01] [-1.55350479e-02 3.81888384e-05 9.99879323e-01 -5.63264384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354012739 meters 0.020175513265060677 Centerline is valid? [True, True] Translation: X:282.45, Y:-43.55, Z:-5.63 [[ 9.86971407e-01 1.60120189e-01 1.57786659e-02 2.82452899e+02] [-1.60099802e-01 9.87097526e-01 -2.55507575e-03 -4.35514323e+01] [-1.59842013e-02 -4.37458057e-06 9.99872244e-01 -5.63267886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters 0.020406852146378895 Centerline is valid? [True, True] Translation: X:282.48, Y:-43.55, Z:-5.63 [[ 9.86553170e-01 1.62663110e-01 1.59234536e-02 2.82482335e+02] [-1.62642681e-01 9.86681666e-01 -2.57832873e-03 -4.35529950e+01] [-1.61307787e-02 -4.61748061e-05 9.99869889e-01 -5.63264263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414012739 meters 0.022958445942328824 Centerline is valid? [True, True] Translation: X:282.51, Y:-43.55, Z:-5.63 [[ 9.85532301e-01 1.68818732e-01 1.50438976e-02 2.82512097e+02] [-1.68801215e-01 9.85647105e-01 -2.43586221e-03 -4.35496282e+01] [-1.52391933e-02 -1.38807299e-04 9.99883867e-01 -5.63444100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters 0.027334977366407914 Centerline is valid? [True, True] Translation: X:282.54, Y:-43.54, Z:-5.64 [[ 9.84511147e-01 1.74736062e-01 1.43216789e-02 2.82541768e+02] [-1.74720818e-01 9.84615285e-01 -2.31848431e-03 -4.35435692e+01] [-1.45064667e-02 -2.19721803e-04 9.99894752e-01 -5.63579812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474012739 meters 0.029641165907948765 Centerline is valid? [True, True] Translation: X:282.57, Y:-43.54, Z:-5.64 [[ 9.84014638e-01 1.77460504e-01 1.49318975e-02 2.82570782e+02] [-1.77444257e-01 9.84127886e-01 -2.41658213e-03 -4.35424425e+01] [-1.51237446e-02 -2.71627257e-04 9.99885593e-01 -5.63607822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters 0.030330467417539135 Centerline is valid? [True, True] Translation: X:282.60, Y:-43.54, Z:-5.64 [[ 9.83663522e-01 1.79349522e-01 1.54862889e-02 2.82599533e+02] [-1.79332296e-01 9.83785368e-01 -2.50529957e-03 -4.35444257e+01] [-1.56845087e-02 -3.12819943e-04 9.99876942e-01 -5.63553156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534012739 meters 0.03322385491324263 Centerline is valid? [True, True] Translation: X:282.63, Y:-43.54, Z:-5.63 [[ 9.83225139e-01 1.81630612e-01 1.66926952e-02 2.82628147e+02] [-1.81610940e-01 9.83366757e-01 -2.69962283e-03 -4.35440701e+01] [-1.69053757e-02 -3.77239038e-04 9.99857023e-01 -5.63466391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters 0.03310989967168643 Centerline is valid? [True, True] Translation: X:282.66, Y:-43.55, Z:-5.63 [[ 9.83059331e-01 1.82546663e-01 1.64641402e-02 2.82657181e+02] [-1.82527671e-01 9.83197114e-01 -2.66164275e-03 -4.35466069e+01] [-1.66733691e-02 -3.88608419e-04 9.99860914e-01 -5.63480701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594012739 meters 0.034611675793773396 Centerline is valid? [True, True] Translation: X:282.68, Y:-43.55, Z:-5.64 [[ 9.83021707e-01 1.82730291e-01 1.66722778e-02 2.82684879e+02] [-1.82710856e-01 9.83162999e-01 -2.69451316e-03 -4.35468322e+01] [-1.68839358e-02 -3.97441210e-04 9.99857377e-01 -5.63561793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters 0.032783028697332774 Centerline is valid? [True, True] Translation: X:282.71, Y:-43.55, Z:-5.63 [[ 9.83103014e-01 1.82209703e-01 1.75524151e-02 2.82712807e+02] [-1.82188098e-01 9.83259608e-01 -2.83561519e-03 -4.35524675e+01] [-1.77752574e-02 -4.10139291e-04 9.99841924e-01 -5.63464047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654012739 meters 0.031014042111105693 Centerline is valid? [True, True] Translation: X:282.74, Y:-43.56, Z:-5.63 [[ 9.83282077e-01 1.81093462e-01 1.90135354e-02 2.82741031e+02] [-1.81067922e-01 9.83465799e-01 -3.07066378e-03 -4.35571640e+01] [-1.92552390e-02 -4.23412686e-04 9.99814511e-01 -5.63269245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters 0.031044324623184395 Centerline is valid? [True, True] Translation: X:282.77, Y:-43.56, Z:-5.63 [[ 9.83475440e-01 1.80019874e-01 1.92068765e-02 2.82769215e+02] [-1.79993626e-01 9.83662889e-01 -3.10094063e-03 -4.35596046e+01] [-1.94513226e-02 -4.07416395e-04 9.99810722e-01 -5.63310763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714012739 meters 0.030097581795370983 Centerline is valid? [True, True] Translation: X:282.80, Y:-43.56, Z:-5.63 [[ 9.83790226e-01 1.78342849e-01 1.87248408e-02 2.82796823e+02] [-1.78317619e-01 9.83968340e-01 -3.02199558e-03 -4.35640259e+01] [-1.89636018e-02 -3.65959300e-04 9.99820108e-01 -5.63491975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters 0.02960835783898596 Centerline is valid? [True, True] Translation: X:282.82, Y:-43.57, Z:-5.64 [[ 9.83938634e-01 1.77557949e-01 1.83831486e-02 2.82824626e+02] [-1.77533515e-01 9.84110286e-01 -2.96575574e-03 -4.35702530e+01] [-1.86176391e-02 -3.45503329e-04 9.99826617e-01 -5.63592094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774012739 meters 0.02758139883172501 Centerline is valid? [True, True] Translation: X:282.85, Y:-43.58, Z:-5.64 [[ 9.84374125e-01 1.75281168e-01 1.68551101e-02 2.82852127e+02] [-1.75260305e-01 9.84518377e-01 -2.71851834e-03 -4.35783684e+01] [-1.70706707e-02 -2.77992626e-04 9.99854247e-01 -5.63899299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters 0.027453687760528138 Centerline is valid? [True, True] Translation: X:282.88, Y:-43.58, Z:-5.64 [[ 9.84496376e-01 1.74631761e-01 1.64509555e-02 2.82879282e+02] [-1.74611809e-01 9.84633780e-01 -2.65260863e-03 -4.35816223e+01] [-1.66613962e-02 -2.61047517e-04 9.99861155e-01 -5.64033609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834012739 meters 0.02837083178967683 Centerline is valid? [True, True] Translation: X:282.91, Y:-43.58, Z:-5.64 [[ 9.84210665e-01 1.76322313e-01 1.54857626e-02 2.82908575e+02] [-1.76304856e-01 9.84332448e-01 -2.49606753e-03 -4.35825321e+01] [-1.56832510e-02 -2.73558858e-04 9.99876973e-01 -5.64172058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters 0.02959504953181261 Centerline is valid? [True, True] Translation: X:282.94, Y:-43.59, Z:-5.64 [[ 9.83902734e-01 1.78102578e-01 1.46588611e-02 2.82937312e+02] [-1.78087143e-01 9.84011885e-01 -2.36212716e-03 -4.35850806e+01] [-1.48451945e-02 -2.86451330e-04 9.99889763e-01 -5.64339216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894012739 meters 0.03268111217491892 Centerline is valid? [True, True] Translation: X:282.97, Y:-43.58, Z:-5.64 [[ 9.83271961e-01 1.81569637e-01 1.44470373e-02 2.82966309e+02] [-1.81555029e-01 9.83378033e-01 -2.32729840e-03 -4.35815357e+01] [-1.46294658e-02 -3.34565013e-04 9.99892928e-01 -5.64430952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters 0.03321431259509424 Centerline is valid? [True, True] Translation: X:283.00, Y:-43.58, Z:-5.64 [[ 9.83154600e-01 1.82149263e-01 1.51221299e-02 2.82995601e+02] [-1.82133339e-01 9.83270826e-01 -2.43525892e-03 -4.35824285e+01] [-1.53127298e-02 -3.60008003e-04 9.99882688e-01 -5.64439716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954012739 meters 0.03324670909502501 Centerline is valid? [True, True] Translation: X:283.02, Y:-43.59, Z:-5.64 [[ 9.83193104e-01 1.81710475e-01 1.76811845e-02 2.83023424e+02] [-1.81688651e-01 9.83351988e-01 -2.84637255e-03 -4.35857335e+01] [-1.79040437e-02 -4.13936710e-04 9.99839624e-01 -5.64105181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters 0.03546005052573532 Centerline is valid? [True, True] Translation: X:283.05, Y:-43.59, Z:-5.63 [[ 9.83378826e-01 1.80647898e-01 1.82324122e-02 2.83051933e+02] [-1.80624532e-01 9.83547747e-01 -2.93394779e-03 -4.35925283e+01] [-1.84624594e-02 -4.08038781e-04 9.99829471e-01 -5.63311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014012739 meters 0.031191476378144126 Centerline is valid? [True, True] Translation: X:283.08, Y:-43.60, Z:-5.64 [[ 9.83651199e-01 1.79028024e-01 1.94752547e-02 2.83078879e+02] [-1.79001066e-01 9.83843892e-01 -3.13295141e-03 -4.35985948e+01] [-1.97214965e-02 -4.04359935e-04 9.99805431e-01 -5.63827403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters 0.02893707201969719 Centerline is valid? [True, True] Translation: X:283.11, Y:-43.60, Z:-5.64 [[ 9.84186434e-01 1.76262097e-01 1.75708889e-02 2.83107749e+02] [-1.76239730e-01 9.84343219e-01 -2.82560648e-03 -4.36032946e+01] [-1.77938327e-02 -3.15765156e-04 9.99841627e-01 -5.64225787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074012739 meters 0.028059026376336504 Centerline is valid? [True, True] Translation: X:283.14, Y:-43.61, Z:-5.65 [[ 9.84564969e-01 1.74322677e-01 1.56021414e-02 2.83135383e+02] [-1.74304806e-01 9.84688551e-01 -2.50852951e-03 -4.36087535e+01] [-1.58005436e-02 -2.49717947e-04 9.99875132e-01 -5.64825242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters 0.027372237113377444 Centerline is valid? [True, True] Translation: X:283.16, Y:-43.62, Z:-5.65 [[ 9.84671543e-01 1.73670799e-01 1.61370890e-02 2.83163296e+02] [-1.73651603e-01 9.84803733e-01 -2.59398662e-03 -4.36151204e+01] [-1.63423652e-02 -2.48006557e-04 9.99866424e-01 -5.64703565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134012739 meters 0.026985977935019795 Centerline is valid? [True, True] Translation: X:283.19, Y:-43.62, Z:-5.65 [[ 9.84767037e-01 1.73036147e-01 1.70989838e-02 2.83190809e+02] [-1.73014513e-01 9.84915442e-01 -2.74777120e-03 -4.36207744e+01] [-1.73165170e-02 -2.52457855e-04 9.99850026e-01 -5.64504450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters 0.02561108235317427 Centerline is valid? [True, True] Translation: X:283.22, Y:-43.63, Z:-5.64 [[ 9.84756773e-01 1.72901235e-01 1.89541836e-02 2.83218720e+02] [-1.72874650e-01 9.84939128e-01 -3.04463877e-03 -4.36274193e+01] [-1.91951388e-02 -2.78469204e-04 9.99815718e-01 -5.64145628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194012739 meters 0.027561532903973594 Centerline is valid? [True, True] Translation: X:283.25, Y:-43.63, Z:-5.64 [[ 9.84603315e-01 1.73695151e-01 1.96546991e-02 2.83246832e+02] [-1.73666743e-01 9.84799422e-01 -3.15615754e-03 -4.36269845e+01] [-1.99041456e-02 -3.05804407e-04 9.99801846e-01 -5.64105031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters 0.030538813927512773 Centerline is valid? [True, True] Translation: X:283.28, Y:-43.63, Z:-5.64 [[ 9.84148452e-01 1.76270232e-01 1.95097350e-02 2.83275385e+02] [-1.76242774e-01 9.84341749e-01 -3.13155947e-03 -4.36251927e+01] [-1.97562474e-02 -3.56530402e-04 9.99804763e-01 -5.64202128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254012739 meters 0.030784640069756418 Centerline is valid? [True, True] Translation: X:283.30, Y:-43.63, Z:-5.64 [[ 9.84047749e-01 1.76886946e-01 1.90009281e-02 2.83303900e+02] [-1.76861042e-01 9.84231110e-01 -3.04848730e-03 -4.36275762e+01] [-1.92405422e-02 -3.60666891e-04 9.99814819e-01 -5.64383672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters 0.030145574644259897 Centerline is valid? [True, True] Translation: X:283.33, Y:-43.63, Z:-5.65 [[ 9.84014338e-01 1.77181937e-01 1.79539551e-02 2.83332492e+02] [-1.77158873e-01 9.84178053e-01 -2.87973609e-03 -4.36299630e+01] [-1.81801258e-02 -3.47000851e-04 9.99834668e-01 -5.64612613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314012739 meters 0.029486999423251104 Centerline is valid? [True, True] Translation: X:283.36, Y:-43.64, Z:-5.65 [[ 9.84080789e-01 1.76813351e-01 1.79454744e-02 2.83361231e+02] [-1.76790263e-01 9.84244341e-01 -2.87752024e-03 -4.36354196e+01] [-1.81715157e-02 -3.40872758e-04 9.99834826e-01 -5.64673482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters 0.028528734233270542 Centerline is valid? [True, True] Translation: X:283.39, Y:-43.64, Z:-5.65 [[ 9.84292617e-01 1.75621724e-01 1.80292450e-02 2.83389482e+02] [-1.75598237e-01 9.84457671e-01 -2.89007671e-03 -4.36406134e+01] [-1.82565888e-02 -3.21222458e-04 9.99833283e-01 -5.64612051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374012739 meters 0.028730096934220198 Centerline is valid? [True, True] Translation: X:283.42, Y:-43.64, Z:-5.65 [[ 9.84252031e-01 1.75769161e-01 1.87920420e-02 2.83418761e+02] [-1.75743689e-01 9.84431352e-01 -3.01140205e-03 -4.36429287e+01] [-1.90287869e-02 -3.38604200e-04 9.99818879e-01 -5.64529700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters 0.0295474616508821 Centerline is valid? [True, True] Translation: X:283.45, Y:-43.64, Z:-5.65 [[ 9.84189737e-01 1.76076435e-01 1.91742029e-02 2.83446865e+02] [-1.76049992e-01 9.84376435e-01 -3.07170905e-03 -4.36422124e+01] [-1.94154891e-02 -3.52473742e-04 9.99811439e-01 -5.64540131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434012739 meters 0.029619858252281955 Centerline is valid? [True, True] Translation: X:283.47, Y:-43.65, Z:-5.65 [[ 9.84207394e-01 1.76036408e-01 1.86276306e-02 2.83474644e+02] [-1.76011464e-01 9.84383597e-01 -2.98308184e-03 -4.36450211e+01] [-1.88618650e-02 -3.42705327e-04 9.99822040e-01 -5.64748323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters 0.028444218115736292 Centerline is valid? [True, True] Translation: X:283.50, Y:-43.65, Z:-5.65 [[ 9.84503777e-01 1.74461641e-01 1.77609086e-02 2.83503260e+02] [-1.74438731e-01 9.84663926e-01 -2.84303415e-03 -4.36479015e+01] [-1.79845264e-02 -2.99212500e-04 9.99838221e-01 -5.65035781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494012739 meters 0.02803423817424081 Centerline is valid? [True, True] Translation: X:283.53, Y:-43.65, Z:-5.65 [[ 9.84662859e-01 1.73648538e-01 1.68890576e-02 2.83530770e+02] [-1.73627714e-01 9.84807652e-01 -2.70282393e-03 -4.36518148e+01] [-1.71018146e-02 -2.71038125e-04 9.99853717e-01 -5.65216449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters 0.02809400496705576 Centerline is valid? [True, True] Translation: X:283.56, Y:-43.66, Z:-5.65 [[ 9.84850954e-01 1.72641683e-01 1.62310448e-02 2.83558534e+02] [-1.72622334e-01 9.84984665e-01 -2.59622085e-03 -4.36564110e+01] [-1.64355462e-02 -2.44950258e-04 9.99864897e-01 -5.65473735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55401273900003 meters 0.0262921847497786 Centerline is valid? [True, True] Translation: X:283.59, Y:-43.67, Z:-5.66 [[ 9.85412889e-01 1.69491696e-01 1.52971535e-02 2.83585556e+02] [-1.69474144e-01 9.85531599e-01 -2.44595301e-03 -4.36659370e+01] [-1.54903969e-02 -1.82198371e-04 9.99880000e-01 -5.65697551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters 0.02386251958679336 Centerline is valid? [True, True] Translation: X:283.61, Y:-43.68, Z:-5.66 [[ 9.85739390e-01 1.67574281e-01 1.53855655e-02 2.83612868e+02] [-1.67556303e-01 9.85859441e-01 -2.45939040e-03 -4.36754051e+01] [-1.55801355e-02 -1.53630476e-04 9.99878611e-01 -5.65650250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61401273900003 meters 0.022126171630844866 Centerline is valid? [True, True] Translation: X:283.64, Y:-43.68, Z:-5.66 [[ 9.86354402e-01 1.63773211e-01 1.68323975e-02 2.83639459e+02] [-1.63751153e-01 9.86498010e-01 -2.68984001e-03 -4.36832872e+01] [-1.70456503e-02 -1.03188955e-04 9.99854707e-01 -5.65548948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters 0.021454386066487495 Centerline is valid? [True, True] Translation: X:283.67, Y:-43.69, Z:-5.65 [[ 9.86506143e-01 1.62774647e-01 1.76080919e-02 2.83667410e+02] [-1.62750371e-01 9.86663269e-01 -2.81257947e-03 -4.36909402e+01] [-1.78310741e-02 -9.10965654e-05 9.99841010e-01 -5.65424389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67401273900003 meters 0.02155900889129544 Centerline is valid? [True, True] Translation: X:283.70, Y:-43.70, Z:-5.65 [[ 9.86391700e-01 1.63492979e-01 1.73626088e-02 2.83695719e+02] [-1.63469501e-01 9.86544492e-01 -2.77257656e-03 -4.36981885e+01] [-1.75822829e-02 -1.03410495e-04 9.99845414e-01 -5.65454247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters 0.023084264947774435 Centerline is valid? [True, True] Translation: X:283.72, Y:-43.70, Z:-5.66 [[ 9.86085361e-01 1.65500687e-01 1.56583514e-02 2.83724092e+02] [-1.65481852e-01 9.86209667e-01 -2.50003893e-03 -4.36986358e+01] [-1.58561757e-02 -1.25921196e-04 9.99874275e-01 -5.65785732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734012739 meters 0.02485986013698642 Centerline is valid? [True, True] Translation: X:283.75, Y:-43.70, Z:-5.66 [[ 9.85677990e-01 1.68007287e-01 1.45757306e-02 2.83752708e+02] [-1.67991252e-01 9.85785741e-01 -2.32636736e-03 -4.36979619e+01] [-1.47593940e-02 -1.55546118e-04 9.99891062e-01 -5.66087855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters 0.028619447279417704 Centerline is valid? [True, True] Translation: X:283.78, Y:-43.69, Z:-5.66 [[ 9.84880247e-01 1.72557187e-01 1.53269588e-02 2.83783457e+02] [-1.72540024e-01 9.84999473e-01 -2.44517646e-03 -4.36946630e+01] [-1.55189791e-02 -2.36307845e-04 9.99879545e-01 -5.66040378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794012739 meters 0.030154218654847013 Centerline is valid? [True, True] Translation: X:283.81, Y:-43.70, Z:-5.66 [[ 9.84622865e-01 1.73824396e-01 1.74038168e-02 2.83810711e+02] [-1.73802469e-01 9.84776622e-01 -2.77621795e-03 -4.36978213e+01] [-1.76214464e-02 -2.91298660e-04 9.99844688e-01 -5.65724385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters 0.028967825186124087 Centerline is valid? [True, True] Translation: X:283.84, Y:-43.71, Z:-5.66 [[ 9.84743509e-01 1.73101716e-01 1.77768804e-02 2.83839022e+02] [-1.73078751e-01 9.84903911e-01 -2.83406593e-03 -4.37052008e+01] [-1.79991007e-02 -2.85972223e-04 9.99837962e-01 -5.65786712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854012739 meters 0.026414567322172455 Centerline is valid? [True, True] Translation: X:283.87, Y:-43.72, Z:-5.66 [[ 9.85386464e-01 1.69468271e-01 1.71470392e-02 2.83865581e+02] [-1.69446367e-01 9.85535621e-01 -2.73294064e-03 -4.37170257e+01] [-1.73621646e-02 -2.12500773e-04 9.99849244e-01 -5.66112749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters 0.024877369056364396 Centerline is valid? [True, True] Translation: X:283.89, Y:-43.73, Z:-5.66 [[ 9.85679191e-01 1.67751409e-01 1.72045655e-02 2.83893160e+02] [-1.67729113e-01 9.85829311e-01 -2.74110381e-03 -4.37259638e+01] [-1.74205890e-02 -1.83857540e-04 9.99848233e-01 -5.66119776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914012739 meters 0.024913333187878025 Centerline is valid? [True, True] Translation: X:283.92, Y:-43.73, Z:-5.66 [[ 9.85724331e-01 1.67403937e-01 1.79851484e-02 2.83919935e+02] [-1.67379529e-01 9.85888374e-01 -2.86464686e-03 -4.37326369e+01] [-1.82109019e-02 -1.86593564e-04 9.99834150e-01 -5.65870231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters 0.02622845164629898 Centerline is valid? [True, True] Translation: X:283.95, Y:-43.73, Z:-5.66 [[ 9.85470098e-01 1.68819837e-01 1.86694543e-02 2.83948035e+02] [-1.68793811e-01 9.85646901e-01 -2.97257419e-03 -4.37344800e+01] [-1.89033193e-02 -2.21905367e-04 9.99821292e-01 -5.65744499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974012739 meters 0.03142111366213476 Centerline is valid? [True, True] Translation: X:283.98, Y:-43.73, Z:-5.66 [[ 9.84540091e-01 1.74110537e-01 1.91397357e-02 2.83978502e+02] [-1.74084206e-01 9.84726058e-01 -3.04615880e-03 -4.37292171e+01] [-1.93777648e-02 -3.32860232e-04 9.99812178e-01 -5.65619080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters 0.03163964655501375 Centerline is valid? [True, True] Translation: X:284.01, Y:-43.73, Z:-5.66 [[ 9.83957736e-01 1.77412018e-01 1.87656339e-02 2.84007472e+02] [-1.77387323e-01 9.84136588e-01 -2.98575783e-03 -4.37325838e+01] [-1.89976562e-02 -3.90926044e-04 9.99819452e-01 -5.65777949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034012739 meters 0.03898456695226921 Centerline is valid? [True, True] Translation: X:284.04, Y:-43.73, Z:-5.66 [[ 9.83361889e-01 1.80661999e-01 1.89904739e-02 2.84036989e+02] [-1.80637326e-01 9.83545134e-01 -3.02085875e-03 -4.37251383e+01] [-1.92237426e-02 -4.59791059e-04 9.99815101e-01 -5.65903233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters 0.040290495515478544 Centerline is valid? [True, True] Translation: X:284.07, Y:-43.73, Z:-5.66 [[ 9.82354943e-01 1.85958056e-01 1.99591505e-02 2.84067500e+02] [-1.85931913e-01 9.82557505e-01 -3.17395192e-03 -4.37278025e+01] [-2.02012351e-02 -5.93095688e-04 9.99795758e-01 -5.65728434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094012739 meters 0.040290495515478544 Centerline is valid? [True, True] Translation: X:284.09, Y:-43.73, Z:-5.66 [[ 9.82367680e-01 1.85890755e-01 1.99591495e-02 2.84094677e+02] [-1.85864598e-01 9.82570240e-01 -3.17395846e-03 -4.37319869e+01] [-2.02012759e-02 -5.91705095e-04 9.99795758e-01 -5.65784281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters 0.04009309562194733 Centerline is valid? [True, True] Translation: X:284.12, Y:-43.74, Z:-5.66 [[ 9.82116280e-01 1.87207024e-01 2.00285443e-02 2.84123396e+02] [-1.87180987e-01 9.82320285e-01 -3.18358123e-03 -4.37358778e+01] [-2.02704341e-02 -6.22315737e-04 9.99794340e-01 -5.65814152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154012739 meters 0.042928373934011776 Centerline is valid? [True, True] Translation: X:284.15, Y:-43.73, Z:-5.66 [[ 9.82022426e-01 1.87816789e-01 1.88893802e-02 2.84152255e+02] [-1.87793759e-01 9.82203896e-01 -3.00166996e-03 -4.37335161e+01] [-1.91169869e-02 -5.99600494e-04 9.99817074e-01 -5.66076306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters 0.043069742206259164 Centerline is valid? [True, True] Translation: X:284.18, Y:-43.74, Z:-5.66 [[ 9.82041127e-01 1.87723784e-01 1.88416035e-02 2.84180370e+02] [-1.87700874e-01 9.82221678e-01 -2.99297113e-03 -4.37376504e+01] [-1.90684833e-02 -5.97364705e-04 9.99818001e-01 -5.66205775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214012739 meters 0.04196671863368506 Centerline is valid? [True, True] Translation: X:284.21, Y:-43.74, Z:-5.66 [[ 9.82077522e-01 1.87491031e-01 1.92575863e-02 2.84208920e+02] [-1.87467080e-01 9.82266127e-01 -3.05766700e-03 -4.37446939e+01] [-1.94893598e-02 -6.07297435e-04 9.99809880e-01 -5.66233791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters 0.04359288806158595 Centerline is valid? [True, True] Translation: X:284.24, Y:-43.75, Z:-5.66 [[ 9.82079078e-01 1.87476787e-01 1.93167876e-02 2.84236026e+02] [-1.87452703e-01 9.82268844e-01 -3.06618204e-03 -4.37455026e+01] [-1.95491166e-02 -6.09750827e-04 9.99808712e-01 -5.66264370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274012739 meters 0.042676438346438486 Centerline is valid? [True, True] Translation: X:284.26, Y:-43.75, Z:-5.67 [[ 9.82093597e-01 1.87521683e-01 1.81048642e-02 2.84264317e+02] [-1.87500561e-01 9.82260296e-01 -2.87235941e-03 -4.37476974e+01] [-1.83223189e-02 -5.73746412e-04 9.99831968e-01 -5.66672784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters 0.04347053662943352 Centerline is valid? [True, True] Translation: X:284.29, Y:-43.75, Z:-5.67 [[ 9.82107989e-01 1.87477267e-01 1.77812414e-02 2.84290949e+02] [-1.87456899e-01 9.82268780e-01 -2.82028528e-03 -4.37504113e+01] [-1.79946977e-02 -5.63391669e-04 9.99837924e-01 -5.66855323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334012739 meters 0.044185883599497926 Centerline is valid? [True, True] Translation: X:284.32, Y:-43.75, Z:-5.66 [[ 9.82253629e-01 1.86493114e-01 1.99530923e-02 2.84318913e+02] [-1.86467300e-01 9.82456076e-01 -3.16295390e-03 -4.37541365e+01] [-2.01929059e-02 -6.13776310e-04 9.99795914e-01 -5.66480297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters 0.0401710558613643 Centerline is valid? [True, True] Translation: X:284.35, Y:-43.76, Z:-5.66 [[ 9.82364355e-01 1.85736213e-01 2.15019212e-02 2.84347013e+02] [-1.85706083e-01 9.82599431e-01 -3.40716323e-03 -4.37629017e+01] [-2.17606091e-02 -6.45961849e-04 9.99763001e-01 -5.66225182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394012739 meters 0.03935353959950969 Centerline is valid? [True, True] Translation: X:284.38, Y:-43.76, Z:-5.67 [[ 9.82823503e-01 1.83455119e-01 2.00544417e-02 2.84375198e+02] [-1.83428453e-01 9.83027929e-01 -3.17691550e-03 -4.37637428e+01] [-2.02968977e-02 -5.56207995e-04 9.99793842e-01 -5.66628729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters 0.034755156433487935 Centerline is valid? [True, True] Translation: X:284.40, Y:-43.77, Z:-5.67 [[ 9.83118914e-01 1.81995038e-01 1.88416118e-02 2.84402998e+02] [-1.81971251e-01 9.83299324e-01 -2.98373615e-03 -4.37740163e+01] [-1.90699693e-02 -4.95264228e-04 9.99818029e-01 -5.66962306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454012739 meters 0.031215962441703327 Centerline is valid? [True, True] Translation: X:284.43, Y:-43.78, Z:-5.67 [[ 9.83977487e-01 1.77381126e-01 1.80066814e-02 2.84431090e+02] [-1.77358645e-01 9.84142157e-01 -2.85062576e-03 -4.37825723e+01] [-1.82267815e-02 -3.88689035e-04 9.99833803e-01 -5.67100720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters 0.02954636539812228 Centerline is valid? [True, True] Translation: X:284.46, Y:-43.79, Z:-5.67 [[ 9.84456894e-01 1.74681853e-01 1.81899518e-02 2.84457996e+02] [-1.74658458e-01 9.84624869e-01 -2.87925794e-03 -4.37889653e+01] [-1.84132331e-02 -3.42523602e-04 9.99830403e-01 -5.67077227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514012739 meters 0.032507241744804106 Centerline is valid? [True, True] Translation: X:284.49, Y:-43.80, Z:-5.66 [[ 9.85317205e-01 1.69635247e-01 1.93362054e-02 2.84485797e+02] [-1.69607863e-01 9.85506881e-01 -3.05941383e-03 -4.38007893e+01] [-1.95749479e-02 -2.65079397e-04 9.99808357e-01 -5.65852263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters 0.0243687412857288 Centerline is valid? [True, True] Translation: X:284.51, Y:-43.81, Z:-5.67 [[ 9.85659065e-01 1.67460218e-01 2.08154348e-02 2.84512543e+02] [-1.67428010e-01 9.85878805e-01 -3.29289399e-03 -4.38076757e+01] [-2.10729247e-02 -2.39416015e-04 9.99777913e-01 -5.66721580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574012739 meters 0.02405604593188538 Centerline is valid? [True, True] Translation: X:284.54, Y:-43.81, Z:-5.67 [[ 9.85865323e-01 1.66230760e-01 2.09021522e-02 2.84539554e+02] [-1.66198035e-01 9.86086856e-01 -3.30531427e-03 -4.38123447e+01] [-2.11607825e-02 -2.15301916e-04 9.99776062e-01 -5.66754831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters 0.023049556637710678 Centerline is valid? [True, True] Translation: X:284.57, Y:-43.82, Z:-5.67 [[ 9.86083171e-01 1.65065197e-01 1.98358376e-02 2.84567174e+02] [-1.65035513e-01 9.86282641e-01 -3.13557913e-03 -4.38193947e+01] [-2.00813172e-02 -1.81675814e-04 9.99798334e-01 -5.67084203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634012739 meters 0.023279396243191103 Centerline is valid? [True, True] Translation: X:284.59, Y:-43.82, Z:-5.67 [[ 9.86104668e-01 1.65078433e-01 1.86197337e-02 2.84594926e+02] [-1.65052295e-01 9.86280427e-01 -2.94252748e-03 -4.38237019e+01] [-1.88500268e-02 -1.71589703e-04 9.99822308e-01 -5.67344862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters 0.024403689589919935 Centerline is valid? [True, True] Translation: X:284.62, Y:-43.83, Z:-5.68 [[ 9.85850177e-01 1.66739980e-01 1.72397011e-02 2.84623736e+02] [-1.66717844e-01 9.86000884e-01 -2.72346810e-03 -4.38256017e+01] [-1.74524715e-02 -1.89234275e-04 9.99847676e-01 -5.67732864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694012739 meters 0.0247159188871734 Centerline is valid? [True, True] Translation: X:284.65, Y:-43.83, Z:-5.68 [[ 9.85656695e-01 1.67875296e-01 1.72848386e-02 2.84652558e+02] [-1.67853232e-01 9.85808217e-01 -2.72978791e-03 -4.38289577e+01] [-1.74977999e-02 -2.10682301e-04 9.99846880e-01 -5.67722890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters 0.025237188820487807 Centerline is valid? [True, True] Translation: X:284.68, Y:-43.83, Z:-5.68 [[ 9.85455976e-01 1.68984767e-01 1.79071971e-02 2.84681437e+02] [-1.68961286e-01 9.85618634e-01 -2.82717098e-03 -4.38321198e+01] [-1.81274160e-02 -2.39570500e-04 9.99835656e-01 -5.67646283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754012739 meters 0.027019174348949827 Centerline is valid? [True, True] Translation: X:284.71, Y:-43.83, Z:-5.68 [[ 9.85222133e-01 1.70253401e-01 1.87384238e-02 2.84709323e+02] [-1.70227936e-01 9.85400276e-01 -2.95746757e-03 -4.38321734e+01] [-1.89683669e-02 -2.76040704e-04 9.99820046e-01 -5.67569772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters 0.026039318931709084 Centerline is valid? [True, True] Translation: X:284.74, Y:-43.84, Z:-5.68 [[ 9.85390614e-01 1.69336574e-01 1.81786448e-02 2.84737552e+02] [-1.69312478e-01 9.85558248e-01 -2.86768770e-03 -4.38385770e+01] [-1.84017177e-02 -2.52078856e-04 9.99830642e-01 -5.67738245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814012739 meters 0.02626039411292164 Centerline is valid? [True, True] Translation: X:284.77, Y:-43.84, Z:-5.68 [[ 9.85522079e-01 1.68544585e-01 1.84107171e-02 2.84765298e+02] [-1.68519748e-01 9.85694002e-01 -2.90343991e-03 -4.38423743e+01] [-1.86366924e-02 -2.41165252e-04 9.99826293e-01 -5.67824634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters 0.024559719545349832 Centerline is valid? [True, True] Translation: X:284.79, Y:-43.85, Z:-5.68 [[ 9.85670121e-01 1.67589733e-01 1.91857609e-02 2.84792854e+02] [-1.67562607e-01 9.85856798e-01 -3.02421825e-03 -4.38505173e+01] [-1.94212408e-02 -2.33934549e-04 9.99811363e-01 -5.67714427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874012739 meters 0.02355130717249313 Centerline is valid? [True, True] Translation: X:284.82, Y:-43.86, Z:-5.67 [[ 9.85951082e-01 1.65769718e-01 2.05150018e-02 2.84820549e+02] [-1.65738332e-01 9.86164467e-01 -3.23267153e-03 -4.38573499e+01] [-2.07670449e-02 -2.12866192e-04 9.99784319e-01 -5.67478509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters 0.022958839314729203 Centerline is valid? [True, True] Translation: X:284.85, Y:-43.86, Z:-5.68 [[ 9.86141697e-01 1.64678467e-01 2.01384360e-02 2.84848330e+02] [-1.64648015e-01 9.86347285e-01 -3.17237342e-03 -4.38633332e+01] [-2.03859133e-02 -1.87343805e-04 9.99792168e-01 -5.67626073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934012739 meters 0.02180101711132266 Centerline is valid? [True, True] Translation: X:284.88, Y:-43.87, Z:-5.68 [[ 9.86562850e-01 1.62247775e-01 1.92198252e-02 2.84875968e+02] [-1.62219594e-01 9.86750040e-01 -3.02678145e-03 -4.38719037e+01] [-1.94562518e-02 -1.31722098e-04 9.99810701e-01 -5.67804398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters 0.021492853252241158 Centerline is valid? [True, True] Translation: X:284.90, Y:-43.88, Z:-5.68 [[ 9.86769243e-01 1.61016120e-01 1.89808106e-02 2.84903147e+02] [-1.60988424e-01 9.86951771e-01 -2.98822748e-03 -4.38772343e+01] [-1.92142975e-02 -1.06999823e-04 9.99815383e-01 -5.67932399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994012739 meters 0.02112349867788173 Centerline is valid? [True, True] Translation: X:284.93, Y:-43.88, Z:-5.68 [[ 9.87014966e-01 1.59500951e-01 1.89974810e-02 2.84930956e+02] [-1.59472949e-01 9.87197772e-01 -2.98966228e-03 -4.38841571e+01] [-1.92311249e-02 -7.87429080e-05 9.99815062e-01 -5.68031675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters 0.020814744322716534 Centerline is valid? [True, True] Translation: X:284.96, Y:-43.89, Z:-5.68 [[ 9.87178704e-01 1.58391458e-01 1.97573421e-02 2.84959497e+02] [-1.58360969e-01 9.87376393e-01 -3.10826653e-03 -4.38901160e+01] [-2.00002560e-02 -6.03772998e-05 9.99799973e-01 -5.67965268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05401273900003 meters 0.0205688858353265 Centerline is valid? [True, True] Translation: X:284.99, Y:-43.90, Z:-5.68 [[ 9.87351902e-01 1.57225527e-01 2.04048012e-02 2.84987576e+02] [-1.57192778e-01 9.87562723e-01 -3.20911932e-03 -4.38961822e+01] [-2.06555765e-02 -3.89573129e-05 9.99786650e-01 -5.67890627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters 0.020536528244123196 Centerline is valid? [True, True] Translation: X:285.01, Y:-43.90, Z:-5.68 [[ 9.87719364e-01 1.54903647e-01 2.03793708e-02 2.85014923e+02] [-1.54870505e-01 9.87929583e-01 -3.20414487e-03 -4.39047831e+01] [-2.06297170e-02 8.63247733e-06 9.99787185e-01 -5.67978109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11401273900003 meters 0.02062173106675715 Centerline is valid? [True, True] Translation: X:285.04, Y:-43.91, Z:-5.68 [[ 9.87929587e-01 1.53536202e-01 2.05369288e-02 2.85043351e+02] [-1.53502260e-01 9.88143023e-01 -3.22842308e-03 -4.39118840e+01] [-2.07891027e-02 3.69896828e-05 9.99783883e-01 -5.68057133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters 0.021209612775453204 Centerline is valid? [True, True] Translation: X:285.07, Y:-43.92, Z:-5.68 [[ 9.88336012e-01 1.50834799e-01 2.09950239e-02 2.85070397e+02] [-1.50798727e-01 9.88558979e-01 -3.29991106e-03 -4.39219966e+01] [-2.12525608e-02 9.53980495e-05 9.99774134e-01 -5.68035796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17401273900003 meters 0.021618049556123217 Centerline is valid? [True, True] Translation: X:285.10, Y:-43.93, Z:-5.68 [[ 9.88603020e-01 1.49131813e-01 2.05857170e-02 2.85100120e+02] [-1.49096780e-01 9.88817317e-01 -3.23487388e-03 -4.39291391e+01] [-2.08379360e-02 1.28741971e-04 9.99782858e-01 -5.68194225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters 0.033120736221425605 Centerline is valid? [True, True] Translation: X:285.13, Y:-43.94, Z:-5.68 [[ 9.89163674e-01 1.45736760e-01 1.77770538e-02 2.85128782e+02] [-1.45710087e-01 9.89323388e-01 -2.79348791e-03 -4.39423256e+01] [-1.79943690e-02 1.72920700e-04 9.99838073e-01 -5.67560376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234012739 meters 0.024961176072563502 Centerline is valid? [True, True] Translation: X:285.16, Y:-43.95, Z:-5.69 [[ 9.89431005e-01 1.43975140e-01 1.72466172e-02 2.85157019e+02] [-1.43949763e-01 9.89581285e-01 -2.71040655e-03 -4.39510358e+01] [-1.74571608e-02 1.99113806e-04 9.99847592e-01 -5.68996033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters 0.025009526115548197 Centerline is valid? [True, True] Translation: X:285.19, Y:-43.96, Z:-5.69 [[ 9.89631178e-01 1.42540724e-01 1.76712872e-02 2.85186502e+02] [-1.42513857e-01 9.89788911e-01 -2.77690348e-03 -4.39591104e+01] [-1.78866659e-02 2.29706963e-04 9.99839994e-01 -5.68981970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294012739 meters 0.025652276027508848 Centerline is valid? [True, True] Translation: X:285.22, Y:-43.97, Z:-5.69 [[ 9.89687972e-01 1.41996100e-01 1.88368057e-02 2.85215924e+02] [-1.41965474e-01 9.89867184e-01 -2.96004070e-03 -4.39676485e+01] [-1.90662500e-02 2.55340637e-04 9.99818190e-01 -5.68839562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters 0.026766005095147403 Centerline is valid? [True, True] Translation: X:285.25, Y:-43.98, Z:-5.69 [[ 9.89928180e-01 1.40226178e-01 1.94632308e-02 2.85246090e+02] [-1.40193136e-01 9.90119452e-01 -3.05862862e-03 -4.39801275e+01] [-1.96998232e-02 2.99211296e-04 9.99805895e-01 -5.68792345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354012739 meters 0.028072808316359495 Centerline is valid? [True, True] Translation: X:285.28, Y:-43.99, Z:-5.69 [[ 9.90051283e-01 1.39416338e-01 1.90142743e-02 2.85276460e+02] [-1.39384593e-01 9.90233805e-01 -2.99120991e-03 -4.39893355e+01] [-1.92456007e-02 3.11154338e-04 9.99814738e-01 -5.68918730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters 0.028773756354158773 Centerline is valid? [True, True] Translation: X:285.31, Y:-44.00, Z:-5.69 [[ 9.90075733e-01 1.39228065e-01 1.91203649e-02 2.85307551e+02] [-1.39195872e-01 9.90260291e-01 -3.01088788e-03 -4.39966210e+01] [-1.93533382e-02 3.19531158e-04 9.99812656e-01 -5.68961336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414012739 meters 0.02747980083359772 Centerline is valid? [True, True] Translation: X:285.34, Y:-44.00, Z:-5.69 [[ 9.89987525e-01 1.39758107e-01 1.98083861e-02 2.85339939e+02] [-1.39723588e-01 9.90185622e-01 -3.12283722e-03 -4.40010128e+01] [-2.00504209e-02 3.23871111e-04 9.99798918e-01 -5.68905274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters 0.02761136244074222 Centerline is valid? [True, True] Translation: X:285.37, Y:-44.01, Z:-5.69 [[ 9.89940541e-01 1.40107993e-01 1.96844098e-02 2.85371789e+02] [-1.40073910e-01 9.90136177e-01 -3.10655966e-03 -4.40075837e+01] [-1.99255001e-02 3.18037113e-04 9.99801417e-01 -5.68997906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474012739 meters 0.02722854163054215 Centerline is valid? [True, True] Translation: X:285.40, Y:-44.01, Z:-5.69 [[ 9.90024017e-01 1.39586624e-01 1.91838562e-02 2.85403129e+02] [-1.39554089e-01 9.90209811e-01 -3.03090689e-03 -4.40144854e+01] [-1.94191167e-02 3.23485041e-04 9.99811379e-01 -5.69134486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters 0.02760589811822124 Centerline is valid? [True, True] Translation: X:285.43, Y:-44.02, Z:-5.69 [[ 9.90144660e-01 1.38773091e-01 1.88568971e-02 2.85434619e+02] [-1.38741447e-01 9.90324147e-01 -2.98243870e-03 -4.40215270e+01] [-1.90883228e-02 3.36812553e-04 9.99817745e-01 -5.69265573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534012739 meters 0.028864591449287578 Centerline is valid? [True, True] Translation: X:285.47, Y:-44.03, Z:-5.70 [[ 9.90389971e-01 1.37177274e-01 1.76096995e-02 2.85465460e+02] [-1.37149376e-01 9.90546453e-01 -2.78801339e-03 -4.40328988e+01] [-1.78256774e-02 3.46061212e-04 9.99841050e-01 -5.69549030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters 0.032177207281426416 Centerline is valid? [True, True] Translation: X:285.49, Y:-44.05, Z:-5.70 [[ 9.90468014e-01 1.36617238e-01 1.75739637e-02 2.85494580e+02] [-1.36589309e-01 9.90623845e-01 -2.78549710e-03 -4.40452255e+01] [-1.77897344e-02 3.58530233e-04 9.99841686e-01 -5.69644684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594012739 meters 0.03177961381093326 Centerline is valid? [True, True] Translation: X:285.53, Y:-44.05, Z:-5.69 [[ 9.90560097e-01 1.35802994e-01 1.86612261e-02 2.85525575e+02] [-1.35771304e-01 9.90735781e-01 -2.96060840e-03 -4.40524123e+01] [-1.88904039e-02 3.99001536e-04 9.99821481e-01 -5.69454978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters 0.032371526534579274 Centerline is valid? [True, True] Translation: X:285.56, Y:-44.06, Z:-5.69 [[ 9.90589955e-01 1.35426273e-01 1.97804491e-02 2.85555755e+02] [-1.35390555e-01 9.90787332e-01 -3.14008723e-03 -4.40592164e+01] [-2.00234687e-02 4.32452894e-04 9.99799417e-01 -5.69326852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654012739 meters 0.03440948856831339 Centerline is valid? [True, True] Translation: X:285.59, Y:-44.07, Z:-5.69 [[ 9.90824389e-01 1.33791804e-01 1.91515958e-02 2.85586141e+02] [-1.33757985e-01 9.91009358e-01 -3.04186408e-03 -4.40711527e+01] [-1.93863872e-02 4.52274262e-04 9.99811964e-01 -5.69444204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters 0.038030458642391095 Centerline is valid? [True, True] Translation: X:285.62, Y:-44.08, Z:-5.69 [[ 9.90891851e-01 1.33443417e-01 1.80608601e-02 2.85618449e+02] [-1.33413232e-01 9.91056338e-01 -2.87136069e-03 -4.40750825e+01] [-1.82824941e-02 4.35650175e-04 9.99832766e-01 -5.68610772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714012739 meters 0.03486381144974941 Centerline is valid? [True, True] Translation: X:285.65, Y:-44.09, Z:-5.70 [[ 9.90936885e-01 1.33086774e-01 1.82208893e-02 2.85648277e+02] [-1.33055932e-01 9.91104288e-01 -2.90004268e-03 -4.40861631e+01] [-1.84447588e-02 4.49361860e-04 9.99829780e-01 -5.69799780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters 0.03525750442415669 Centerline is valid? [True, True] Translation: X:285.68, Y:-44.09, Z:-5.70 [[ 9.90840479e-01 1.33873868e-01 1.76898959e-02 2.85678791e+02] [-1.33844873e-01 9.90998288e-01 -2.81830538e-03 -4.40942828e+01] [-1.79079540e-02 4.24789182e-04 9.99839549e-01 -5.69857097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774012739 meters 0.03274859083048407 Centerline is valid? [True, True] Translation: X:285.71, Y:-44.10, Z:-5.70 [[ 9.90731748e-01 1.34703250e-01 1.74825224e-02 2.85710796e+02] [-1.34675015e-01 9.90885901e-01 -2.78785012e-03 -4.40965859e+01] [-1.76987174e-02 4.07552655e-04 9.99843282e-01 -5.69916494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters 0.0313570858902173 Centerline is valid? [True, True] Translation: X:285.74, Y:-44.10, Z:-5.70 [[ 9.90505473e-01 1.36091454e-01 1.94428583e-02 2.85742652e+02] [-1.36056726e-01 9.90696185e-01 -3.10412050e-03 -4.41021277e+01] [-1.96844098e-02 4.29316706e-04 9.99806151e-01 -5.69639612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834012739 meters 0.034365219045088796 Centerline is valid? [True, True] Translation: X:285.77, Y:-44.11, Z:-5.69 [[ 9.90424871e-01 1.36369080e-01 2.14953073e-02 2.85773560e+02] [-1.36326611e-01 9.90657989e-01 -3.43576563e-03 -4.41137081e+01] [-2.17630301e-02 4.72485340e-04 9.99763046e-01 -5.69422320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters 0.031515971006500346 Centerline is valid? [True, True] Translation: X:285.81, Y:-44.12, Z:-5.69 [[ 9.90401753e-01 1.36421941e-01 2.22130965e-02 2.85806091e+02] [-1.36376534e-01 9.90650702e-01 -3.55344372e-03 -4.41165535e+01] [-2.24901873e-02 4.89991787e-04 9.99746944e-01 -5.69440809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894012739 meters 0.03553271360675784 Centerline is valid? [True, True] Translation: X:285.83, Y:-44.13, Z:-5.70 [[ 9.90537902e-01 1.35737769e-01 2.02465756e-02 2.85834949e+02] [-1.35699830e-01 9.90744691e-01 -3.24244449e-03 -4.41332614e+01] [-2.04993094e-02 4.64307287e-04 9.99789759e-01 -5.69847176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters 0.03136950924076657 Centerline is valid? [True, True] Translation: X:285.87, Y:-44.14, Z:-5.70 [[ 9.90530561e-01 1.36125178e-01 1.78645685e-02 2.85867478e+02] [-1.36095663e-01 9.90691562e-01 -2.86331822e-03 -4.41361984e+01] [-1.80880469e-02 4.04913915e-04 9.99836316e-01 -5.70282235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954012739 meters 0.03466235032722992 Centerline is valid? [True, True] Translation: X:285.90, Y:-44.15, Z:-5.71 [[ 9.90363711e-01 1.37455140e-01 1.69057787e-02 2.85896786e+02] [-1.37428843e-01 9.90507926e-01 -2.71310614e-03 -4.41484113e+01] [-1.71182382e-02 3.63620263e-04 9.99853406e-01 -5.70656993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters 0.030976204116761233 Centerline is valid? [True, True] Translation: X:285.93, Y:-44.15, Z:-5.71 [[ 9.90119875e-01 1.39257847e-01 1.64281829e-02 2.85928768e+02] [-1.39233240e-01 9.90256102e-01 -2.63779046e-03 -4.41503708e+01] [-1.66354414e-02 3.24379616e-04 9.99861569e-01 -5.70766191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014012739 meters 0.030976204116761233 Centerline is valid? [True, True] Translation: X:285.96, Y:-44.16, Z:-5.71 [[ 9.90094013e-01 1.39441651e-01 1.64277685e-02 2.85960831e+02] [-1.39417027e-01 9.90230236e-01 -2.64036890e-03 -4.41557147e+01] [-1.66354505e-02 3.23902802e-04 9.99861569e-01 -5.70832234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters 0.028414895411373015 Centerline is valid? [True, True] Translation: X:285.99, Y:-44.16, Z:-5.71 [[ 9.89579687e-01 1.43082295e-01 1.61089973e-02 2.85990838e+02] [-1.43059039e-01 9.89710760e-01 -2.59283133e-03 -4.41611363e+01] [-1.63142363e-02 2.61275531e-04 9.99866880e-01 -5.70896068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074012739 meters 0.026497952577999084 Centerline is valid? [True, True] Translation: X:286.02, Y:-44.16, Z:-5.71 [[ 9.89299520e-01 1.45023171e-01 1.59605925e-02 2.86023323e+02] [-1.45000594e-01 9.89428233e-01 -2.56893362e-03 -4.41647157e+01] [-1.61644157e-02 2.27149402e-04 9.99869321e-01 -5.70917176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters 0.024825194757679286 Centerline is valid? [True, True] Translation: X:286.05, Y:-44.17, Z:-5.71 [[ 9.88762240e-01 1.48684204e-01 1.55640777e-02 2.86054464e+02] [-1.48663174e-01 9.88884715e-01 -2.50602058e-03 -4.41699691e+01] [-1.57636842e-02 1.64053325e-04 9.99875732e-01 -5.71151143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134012739 meters 0.02323669077669703 Centerline is valid? [True, True] Translation: X:286.09, Y:-44.17, Z:-5.71 [[ 9.88500631e-01 1.50382710e-01 1.58601310e-02 2.86086356e+02] [-1.50361083e-01 9.88627848e-01 -2.55417361e-03 -4.41728233e+01] [-1.60638707e-02 1.40055755e-04 9.99870958e-01 -5.71086450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters 0.021941356283230375 Centerline is valid? [True, True] Translation: X:286.12, Y:-44.18, Z:-5.71 [[ 9.87884496e-01 1.54248931e-01 1.70730480e-02 2.86117479e+02] [-1.54224389e-01 9.88032014e-01 -2.75284467e-03 -4.41762887e+01] [-1.72933413e-02 8.64121773e-05 9.99850455e-01 -5.71037695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194012739 meters 0.021292681535118225 Centerline is valid? [True, True] Translation: X:286.15, Y:-44.18, Z:-5.71 [[ 9.87498050e-01 1.56640429e-01 1.76458756e-02 2.86150058e+02] [-1.56614540e-01 9.87655696e-01 -2.84819440e-03 -4.41788414e+01] [-1.78741919e-02 4.89857351e-05 9.99840243e-01 -5.70957202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters 0.021246711404622805 Centerline is valid? [True, True] Translation: X:286.18, Y:-44.18, Z:-5.71 [[ 9.86558662e-01 1.62449867e-01 1.76648770e-02 2.86183591e+02] [-1.62424801e-01 9.86716797e-01 -2.85417198e-03 -4.41768687e+01] [-1.78938907e-02 -5.34060398e-05 9.99839890e-01 -5.70891392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254012739 meters 0.022043037426806675 Centerline is valid? [True, True] Translation: X:286.22, Y:-44.18, Z:-5.71 [[ 9.86033236e-01 1.65615220e-01 1.76084350e-02 2.86215833e+02] [-1.65590757e-01 9.86190442e-01 -2.84847017e-03 -4.41777931e+01] [-1.78370203e-02 -1.07107808e-04 9.99840902e-01 -5.70953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters 0.024595969298134974 Centerline is valid? [True, True] Translation: X:286.25, Y:-44.17, Z:-5.71 [[ 9.85059243e-01 1.71166845e-01 1.89789190e-02 2.86248056e+02] [-1.71139386e-01 9.85242032e-01 -3.07376986e-03 -4.41712995e+01] [-1.92249562e-02 -2.20195125e-04 9.99815159e-01 -5.70817114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314012739 meters 0.02658318885550211 Centerline is valid? [True, True] Translation: X:286.28, Y:-44.17, Z:-5.71 [[ 9.84616318e-01 1.73611385e-01 1.97431816e-02 2.86278539e+02] [-1.73582155e-01 9.84814200e-01 -3.19779861e-03 -4.41694696e+01] [-1.99985399e-02 -2.78459322e-04 9.99799970e-01 -5.70802212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters 0.027912187529307506 Centerline is valid? [True, True] Translation: X:286.31, Y:-44.17, Z:-5.71 [[ 9.84398069e-01 1.74777027e-01 2.03330230e-02 2.86308484e+02] [-1.74746271e-01 9.84607990e-01 -3.29344843e-03 -4.41704253e+01] [-2.05956760e-02 -3.11055670e-04 9.99787838e-01 -5.70826073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374012739 meters 0.026964211923770954 Centerline is valid? [True, True] Translation: X:286.34, Y:-44.18, Z:-5.71 [[ 9.84627976e-01 1.73616311e-01 1.91082673e-02 2.86338664e+02] [-1.73588934e-01 9.84813335e-01 -3.09483799e-03 -4.41752515e+01] [-1.93553908e-02 -2.69719688e-04 9.99812630e-01 -5.71121162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters 0.025608316889013848 Centerline is valid? [True, True] Translation: X:286.37, Y:-44.18, Z:-5.71 [[ 9.85035333e-01 1.71415287e-01 1.79497195e-02 2.86367368e+02] [-1.71390759e-01 9.85198840e-01 -2.90743954e-03 -4.41822063e+01] [-1.81824224e-02 -2.12485391e-04 9.99834664e-01 -5.71423017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434012739 meters 0.021661527421038655 Centerline is valid? [True, True] Translation: X:286.40, Y:-44.20, Z:-5.71 [[ 9.86207883e-01 1.64501380e-01 1.82567336e-02 2.86396699e+02] [-1.64474826e-01 9.86376849e-01 -2.95686674e-03 -4.41999477e+01] [-1.84944280e-02 -8.66877959e-05 9.99828960e-01 -5.71425803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters 0.020871288505264454 Centerline is valid? [True, True] Translation: X:286.43, Y:-44.21, Z:-5.71 [[ 9.86780184e-01 1.60929807e-01 1.91433059e-02 2.86427573e+02] [-1.60899928e-01 9.86965854e-01 -3.10105672e-03 -4.42116949e+01] [-1.93928418e-02 -2.00952226e-05 9.99811941e-01 -5.71340735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494012739 meters 0.021427474442981428 Centerline is valid? [True, True] Translation: X:286.46, Y:-44.22, Z:-5.71 [[ 9.87587174e-01 1.55849174e-01 1.95603890e-02 2.86458173e+02] [-1.55816912e-01 9.87780860e-01 -3.17207126e-03 -4.42232923e+01] [-1.98157426e-02 8.48574803e-05 9.99803645e-01 -5.71269065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters 0.021828505579477457 Centerline is valid? [True, True] Translation: X:286.49, Y:-44.23, Z:-5.71 [[ 9.87754046e-01 1.54878986e-01 1.88266804e-02 2.86489013e+02] [-1.54848863e-01 9.87933444e-01 -3.05625492e-03 -4.42310030e+01] [-1.90728569e-02 1.03538094e-04 9.99818091e-01 -5.71485106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55401273900003 meters 0.022579408981216378 Centerline is valid? [True, True] Translation: X:286.52, Y:-44.24, Z:-5.72 [[ 9.87982540e-01 1.53361405e-01 1.92556631e-02 2.86519474e+02] [-1.53329532e-01 9.88170157e-01 -3.12961808e-03 -4.42433189e+01] [-1.95078342e-02 1.39546205e-04 9.99809694e-01 -5.71561388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters 0.02253491719651055 Centerline is valid? [True, True] Translation: X:286.55, Y:-44.25, Z:-5.72 [[ 9.87975864e-01 1.53356542e-01 1.96332336e-02 2.86551633e+02] [-1.53323340e-01 9.88170911e-01 -3.19430313e-03 -4.42508805e+01] [-1.98908577e-02 1.45661432e-04 9.99802147e-01 -5.71518051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61401273900003 meters 0.022237956015973857 Centerline is valid? [True, True] Translation: X:286.58, Y:-44.26, Z:-5.72 [[ 9.87802406e-01 1.54614015e-01 1.84638340e-02 2.86582897e+02] [-1.54584807e-01 9.87974945e-01 -3.00741253e-03 -4.42555985e+01] [-1.87067935e-02 1.16501127e-04 9.99825006e-01 -5.71735627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters 0.021868338054221507 Centerline is valid? [True, True] Translation: X:286.62, Y:-44.26, Z:-5.72 [[ 9.87596975e-01 1.56053942e-01 1.73026702e-02 2.86615854e+02] [-1.56028468e-01 9.87748531e-01 -2.82090738e-03 -4.42594278e+01] [-1.75309008e-02 8.62104797e-05 9.99846318e-01 -5.72055111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67401273900003 meters 0.021598754219802067 Centerline is valid? [True, True] Translation: X:286.65, Y:-44.26, Z:-5.72 [[ 9.87381327e-01 1.57474067e-01 1.67341817e-02 2.86648216e+02] [-1.57450391e-01 9.87523121e-01 -2.73128238e-03 -4.42640675e+01] [-1.69554975e-02 6.20137692e-05 9.99856243e-01 -5.72201576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters 0.021112022129306053 Centerline is valid? [True, True] Translation: X:286.68, Y:-44.27, Z:-5.72 [[ 9.86984517e-01 1.59772686e-01 1.82825410e-02 2.86678920e+02] [-1.59744746e-01 9.87153832e-01 -2.98800813e-03 -4.42684106e+01] [-1.85250825e-02 2.85778944e-05 9.99828396e-01 -5.72009173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734012739 meters 0.020869443769590247 Centerline is valid? [True, True] Translation: X:286.71, Y:-44.27, Z:-5.72 [[ 9.86755924e-01 1.61090531e-01 1.90417344e-02 2.86712118e+02] [-1.61060406e-01 9.86939634e-01 -3.11521393e-03 -4.42722499e+01] [-1.92948739e-02 7.08630865e-06 9.99813837e-01 -5.71851099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters 0.020896728860350062 Centerline is valid? [True, True] Translation: X:286.75, Y:-44.27, Z:-5.72 [[ 9.86437661e-01 1.63087457e-01 1.85262426e-02 2.86745470e+02] [-1.63059229e-01 9.86611616e-01 -3.03431230e-03 -4.42748927e+01] [-1.87730644e-02 -2.77149143e-05 9.99823770e-01 -5.72019081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794012739 meters 0.021017563883465498 Centerline is valid? [True, True] Translation: X:286.78, Y:-44.28, Z:-5.72 [[ 9.86461553e-01 1.63060044e-01 1.74650341e-02 2.86777729e+02] [-1.63034898e-01 9.86616147e-01 -2.86363983e-03 -4.42814557e+01] [-1.76982299e-02 -2.25394577e-05 9.99843374e-01 -5.72275175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters 0.021060900937478245 Centerline is valid? [True, True] Translation: X:286.81, Y:-44.29, Z:-5.72 [[ 9.86487840e-01 1.62974241e-01 1.67672096e-02 2.86808840e+02] [-1.62950999e-01 9.86630324e-01 -2.75233647e-03 -4.42897387e+01] [-1.69915974e-02 -1.70870935e-05 9.99855632e-01 -5.72494356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854012739 meters 0.02097352390494762 Centerline is valid? [True, True] Translation: X:286.84, Y:-44.30, Z:-5.72 [[ 9.86409487e-01 1.63379794e-01 1.74174057e-02 2.86841229e+02] [-1.63354720e-01 9.86563248e-01 -2.86231296e-03 -4.42956047e+01] [-1.76510165e-02 -2.18027851e-05 9.99844208e-01 -5.72447039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters 0.02088817308119797 Centerline is valid? [True, True] Translation: X:286.87, Y:-44.30, Z:-5.72 [[ 9.86048864e-01 1.65323377e-01 1.93860588e-02 2.86874524e+02] [-1.65292610e-01 9.86239412e-01 -3.18994986e-03 -4.42993009e+01] [-1.96466685e-02 -5.89258113e-05 9.99806984e-01 -5.72118228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914012739 meters 0.021313297013723833 Centerline is valid? [True, True] Translation: X:286.91, Y:-44.30, Z:-5.72 [[ 9.85792924e-01 1.66807744e-01 1.96847147e-02 2.86905069e+02] [-1.66776240e-01 9.85989437e-01 -3.24292628e-03 -4.43026742e+01] [-1.99498660e-02 -8.60889237e-05 9.99800978e-01 -5.72106086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters 0.022758012079290717 Centerline is valid? [True, True] Translation: X:286.94, Y:-44.30, Z:-5.72 [[ 9.85185737e-01 1.70466966e-01 1.87103643e-02 2.86936816e+02] [-1.70439137e-01 9.85363380e-01 -3.08377611e-03 -4.43038666e+01] [-1.89621898e-02 -1.50886116e-04 9.99820190e-01 -5.72274979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974012739 meters 0.023898702678527534 Centerline is valid? [True, True] Translation: X:286.97, Y:-44.31, Z:-5.72 [[ 9.84867776e-01 1.72337074e-01 1.83138684e-02 2.86969322e+02] [-1.72310685e-01 9.85038020e-01 -3.02112135e-03 -4.43067935e+01] [-1.85605079e-02 -1.80270152e-04 9.99827723e-01 -5.72487466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters 0.025688191645553273 Centerline is valid? [True, True] Translation: X:287.00, Y:-44.31, Z:-5.72 [[ 9.84385280e-01 1.74985142e-01 1.91264167e-02 2.86999897e+02] [-1.74956794e-01 9.84571046e-01 -3.15854845e-03 -4.43082101e+01] [-1.93840152e-02 -2.37067946e-04 9.99812084e-01 -5.72308823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034012739 meters 0.026589124517016092 Centerline is valid? [True, True] Translation: X:287.03, Y:-44.31, Z:-5.72 [[ 9.84163247e-01 1.76190626e-01 1.94824571e-02 2.87030414e+02] [-1.76161449e-01 9.84356029e-01 -3.21734518e-03 -4.43120780e+01] [-1.97445402e-02 -2.65664984e-04 9.99805022e-01 -5.72216977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters 0.027493034246674004 Centerline is valid? [True, True] Translation: X:287.06, Y:-44.32, Z:-5.72 [[ 9.83956897e-01 1.77285405e-01 1.99677470e-02 2.87060869e+02] [-1.77254981e-01 9.84159437e-01 -3.29748549e-03 -4.43152918e+01] [-2.02360427e-02 -2.94799036e-04 9.99795187e-01 -5.72143165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094012739 meters 0.027517872928658104 Centerline is valid? [True, True] Translation: X:287.09, Y:-44.32, Z:-5.72 [[ 9.83981594e-01 1.77089846e-01 2.04794950e-02 2.87090977e+02] [-1.77057795e-01 9.84194644e-01 -3.38223525e-03 -4.43195644e+01] [-2.07547688e-02 -2.97996997e-04 9.99784552e-01 -5.72207089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters 0.026430704009701492 Centerline is valid? [True, True] Translation: X:287.12, Y:-44.33, Z:-5.73 [[ 9.84273408e-01 1.75563207e-01 1.95810567e-02 2.87121712e+02] [-1.75533601e-01 9.84468128e-01 -3.23406280e-03 -4.43264161e+01] [-1.98447087e-02 -2.53931374e-04 9.99803042e-01 -5.72592781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154012739 meters 0.02549903602923409 Centerline is valid? [True, True] Translation: X:287.15, Y:-44.33, Z:-5.73 [[ 9.84527856e-01 1.74280725e-01 1.81969936e-02 2.87152494e+02] [-1.74254930e-01 9.84695986e-01 -3.00584407e-03 -4.43339428e+01] [-1.84423673e-02 -2.11578643e-04 9.99829903e-01 -5.72875445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters 0.02449287202471358 Centerline is valid? [True, True] Translation: X:287.18, Y:-44.34, Z:-5.73 [[ 9.84842653e-01 1.72598044e-01 1.71716053e-02 2.87181749e+02] [-1.72574812e-01 9.84992328e-01 -2.83685884e-03 -4.43418166e+01] [-1.74035358e-02 -1.69526982e-04 9.99848533e-01 -5.73153272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214012739 meters 0.022925060832971245 Centerline is valid? [True, True] Translation: X:287.21, Y:-44.35, Z:-5.73 [[ 9.85276638e-01 1.70157694e-01 1.66224321e-02 2.87212073e+02] [-1.70135574e-01 9.85416838e-01 -2.74627233e-03 -4.43524598e+01] [-1.68473238e-02 -1.22229063e-04 9.99858066e-01 -5.73277870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters 0.02192446372751983 Centerline is valid? [True, True] Translation: X:287.24, Y:-44.36, Z:-5.73 [[ 9.85429409e-01 1.69271122e-01 1.66183078e-02 2.87242797e+02] [-1.69248890e-01 9.85569519e-01 -2.74544155e-03 -4.43629131e+01] [-1.68432216e-02 -1.07191296e-04 9.99858137e-01 -5.73303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274012739 meters 0.021406156738765413 Centerline is valid? [True, True] Translation: X:287.27, Y:-44.37, Z:-5.74 [[ 9.85770397e-01 1.67358473e-01 1.57437510e-02 2.87273163e+02] [-1.67338234e-01 9.85896109e-01 -2.60351270e-03 -4.43744663e+01] [-1.59574227e-02 -6.80657456e-05 9.99872670e-01 -5.73574042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters 0.02151548411592179 Centerline is valid? [True, True] Translation: X:287.30, Y:-44.38, Z:-5.74 [[ 9.85898167e-01 1.66617676e-01 1.55998459e-02 2.87304623e+02] [-1.66597667e-01 9.86021575e-01 -2.58266351e-03 -4.43809982e+01] [-1.58121020e-02 -5.26547100e-05 9.99874980e-01 -5.73758663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334012739 meters 0.020778784181904226 Centerline is valid? [True, True] Translation: X:287.34, Y:-44.39, Z:-5.73 [[ 9.86107414e-01 1.65145647e-01 1.78629261e-02 2.87335461e+02] [-1.65119124e-01 9.86269190e-01 -2.95984375e-03 -4.43916250e+01] [-1.81064589e-02 -3.07868356e-05 9.99836064e-01 -5.73300061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters 0.020611753869400846 Centerline is valid? [True, True] Translation: X:287.37, Y:-44.40, Z:-5.73 [[ 9.86097728e-01 1.65145487e-01 1.83912805e-02 2.87366500e+02] [-1.65117312e-01 9.86269216e-01 -3.05056522e-03 -4.43979573e+01] [-1.86425409e-02 -2.85633736e-05 9.99826212e-01 -5.73334212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394012739 meters 0.02090827710828876 Centerline is valid? [True, True] Translation: X:287.40, Y:-44.40, Z:-5.73 [[ 9.85989329e-01 1.65849599e-01 1.78592672e-02 2.87398582e+02] [-1.65823091e-01 9.86151058e-01 -2.96539417e-03 -4.44041486e+01] [-1.81037447e-02 -3.76318804e-05 9.99836113e-01 -5.73454792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters 0.021715453346541364 Centerline is valid? [True, True] Translation: X:287.43, Y:-44.41, Z:-5.74 [[ 9.85602438e-01 1.68315208e-01 1.60569322e-02 2.87429371e+02] [-1.68294062e-01 9.85733222e-01 -2.66895981e-03 -4.44068896e+01] [-1.62770781e-02 -7.17530446e-05 9.99867517e-01 -5.73961399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454012739 meters 0.021470360671655815 Centerline is valid? [True, True] Translation: X:287.46, Y:-44.41, Z:-5.74 [[ 9.85432100e-01 1.69270601e-01 1.64632729e-02 2.87461744e+02] [-1.69248463e-01 9.85569610e-01 -2.73895165e-03 -4.44122740e+01] [-1.66893254e-02 -8.73327553e-05 9.99860720e-01 -5.73805649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters 0.0215189819715013 Centerline is valid? [True, True] Translation: X:287.49, Y:-44.42, Z:-5.74 [[ 9.85427690e-01 1.69144798e-01 1.79528378e-02 2.87492740e+02] [-1.69118378e-01 9.85591208e-01 -2.99079462e-03 -4.44159372e+01] [-1.82000365e-02 -8.89429828e-05 9.99834362e-01 -5.73678871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514012739 meters 0.02136624272423339 Centerline is valid? [True, True] Translation: X:287.52, Y:-44.42, Z:-5.73 [[ 9.85453749e-01 1.68811638e-01 1.95841451e-02 2.87523550e+02] [-1.68780064e-01 9.85648326e-01 -3.26603133e-03 -4.44205899e+01] [-1.98544240e-02 -8.68904492e-05 9.99802878e-01 -5.73381576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters 0.020604661202500717 Centerline is valid? [True, True] Translation: X:287.55, Y:-44.43, Z:-5.73 [[ 9.85706010e-01 1.67167571e-01 2.09443330e-02 2.87554976e+02] [-1.67131042e-01 9.85928496e-01 -3.49494669e-03 -4.44302020e+01] [-2.12338565e-02 -5.54582360e-05 9.99774535e-01 -5.73226724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574012739 meters 0.02045930913724132 Centerline is valid? [True, True] Translation: X:287.59, Y:-44.44, Z:-5.74 [[ 9.86220955e-01 1.64329051e-01 1.90838070e-02 2.87587049e+02] [-1.64298138e-01 9.86405577e-01 -3.18733752e-03 -4.44406181e+01] [-1.93481458e-02 7.98509304e-06 9.99812807e-01 -5.73631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters 0.020886615651798272 Centerline is valid? [True, True] Translation: X:287.62, Y:-44.45, Z:-5.74 [[ 9.86567643e-01 1.62301944e-01 1.85030931e-02 2.87618816e+02] [-1.62272462e-01 9.86741140e-01 -3.09380518e-03 -4.44492729e+01] [-1.87598938e-02 4.97056201e-05 9.99824016e-01 -5.73822947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634012739 meters 0.02133804513407688 Centerline is valid? [True, True] Translation: X:287.65, Y:-44.46, Z:-5.74 [[ 9.86887673e-01 1.60338591e-01 1.85541783e-02 2.87648754e+02] [-1.60308527e-01 9.87062069e-01 -3.10615670e-03 -4.44579972e+01] [-1.88121624e-02 9.10347671e-05 9.99823031e-01 -5.73832120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters 0.02143828793011988 Centerline is valid? [True, True] Translation: X:287.68, Y:-44.47, Z:-5.74 [[ 9.87034192e-01 1.59208173e-01 2.04024926e-02 2.87680807e+02] [-1.59171503e-01 9.87245026e-01 -3.41924898e-03 -4.44652591e+01] [-2.06866318e-02 1.27420236e-04 9.99786001e-01 -5.73543963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694012739 meters 0.021590963227712763 Centerline is valid? [True, True] Translation: X:287.71, Y:-44.47, Z:-5.74 [[ 9.86914162e-01 1.59948964e-01 2.04148309e-02 2.87712199e+02] [-1.59912323e-01 9.87125278e-01 -3.42542376e-03 -4.44716608e+01] [-2.06998886e-02 1.16016186e-04 9.99785728e-01 -5.73536615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters 0.020845869424462156 Centerline is valid? [True, True] Translation: X:287.74, Y:-44.47, Z:-5.74 [[ 9.86572205e-01 1.62261624e-01 1.86131618e-02 2.87744822e+02] [-1.62231538e-01 9.86747770e-01 -3.12517058e-03 -4.44737142e+01] [-1.88735912e-02 6.35645547e-05 9.99821876e-01 -5.73881425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754012739 meters 0.020771866543687224 Centerline is valid? [True, True] Translation: X:287.78, Y:-44.48, Z:-5.74 [[ 9.86420607e-01 1.63276908e-01 1.77493068e-02 2.87777493e+02] [-1.63249663e-01 9.86580280e-01 -2.98301378e-03 -4.44779237e+01] [-1.79981733e-02 4.49379188e-05 9.99838019e-01 -5.74087302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters 0.020570082977476516 Centerline is valid? [True, True] Translation: X:287.81, Y:-44.48, Z:-5.74 [[ 9.86183971e-01 1.64592935e-01 1.87173898e-02 2.87809538e+02] [-1.64562798e-01 9.86361579e-01 -3.14968068e-03 -4.44812554e+01] [-1.89805294e-02 2.59785518e-05 9.99819853e-01 -5.74089736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814012739 meters 0.020449759055004214 Centerline is valid? [True, True] Translation: X:287.84, Y:-44.49, Z:-5.74 [[ 9.86112363e-01 1.64988410e-01 1.90061253e-02 2.87842045e+02] [-1.64957340e-01 9.86295506e-01 -3.20184151e-03 -4.44857365e+01] [-1.92739227e-02 2.21756278e-05 9.99814240e-01 -5.74050176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters 0.020538520280201148 Centerline is valid? [True, True] Translation: X:287.87, Y:-44.49, Z:-5.74 [[ 9.86084094e-01 1.65173383e-01 1.88656322e-02 2.87873525e+02] [-1.65142735e-01 9.86264545e-01 -3.18186435e-03 -4.44920930e+01] [-1.91320635e-02 2.20637371e-05 9.99816965e-01 -5.74183299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874012739 meters 0.020875859217190918 Centerline is valid? [True, True] Translation: X:287.91, Y:-44.50, Z:-5.75 [[ 9.86369236e-01 1.63651514e-01 1.71438587e-02 2.87905175e+02] [-1.63625926e-01 9.86518210e-01 -2.89424694e-03 -4.45020091e+01] [-1.73863767e-02 4.96163788e-05 9.99848844e-01 -5.74512685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters 0.020875859217190918 Centerline is valid? [True, True] Translation: X:287.94, Y:-44.51, Z:-5.75 [[ 9.86338152e-01 1.63838813e-01 1.71433103e-02 2.87937183e+02] [-1.63813197e-01 9.86487122e-01 -2.89749149e-03 -4.45076146e+01] [-1.73863764e-02 4.96059248e-05 9.99848844e-01 -5.74578718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934012739 meters 0.021115456338823665 Centerline is valid? [True, True] Translation: X:287.97, Y:-44.52, Z:-5.75 [[ 9.86486432e-01 1.62986160e-01 1.67341496e-02 2.87968544e+02] [-1.62961572e-01 9.86628353e-01 -2.83175408e-03 -4.45155661e+01] [-1.69719232e-02 6.64636511e-05 9.99855964e-01 -5.74663713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters 0.021442565583917477 Centerline is valid? [True, True] Translation: X:288.00, Y:-44.53, Z:-5.74 [[ 9.86628001e-01 1.61959936e-01 1.82802455e-02 2.87999071e+02] [-1.61930373e-01 9.86797330e-01 -3.09583344e-03 -4.45257951e+01] [-1.85402984e-02 9.43089902e-05 9.99828109e-01 -5.74485429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994012739 meters 0.021432465745848225 Centerline is valid? [True, True] Translation: X:288.03, Y:-44.53, Z:-5.74 [[ 9.86569378e-01 1.62193132e-01 1.93455455e-02 2.88030693e+02] [-1.62160019e-01 9.86759028e-01 -3.27868234e-03 -4.45329437e+01] [-1.96211714e-02 9.75735805e-05 9.99807482e-01 -5.74403860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters 0.021000234231166058 Centerline is valid? [True, True] Translation: X:288.06, Y:-44.54, Z:-5.75 [[ 9.86330658e-01 1.63739982e-01 1.84675762e-02 2.88063437e+02] [-1.63710019e-01 9.86503530e-01 -3.13302809e-03 -4.45393658e+01] [-1.87313311e-02 6.68744069e-05 9.99824551e-01 -5.74695170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05401273900003 meters 0.020886040355445494 Centerline is valid? [True, True] Translation: X:288.10, Y:-44.54, Z:-5.75 [[ 9.86058616e-01 1.65529096e-01 1.69859969e-02 2.88096275e+02] [-1.65503963e-01 9.86204906e-01 -2.88460003e-03 -4.45441206e+01] [-1.72291587e-02 3.31349087e-05 9.99851566e-01 -5.75014574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters 0.021257081885329723 Centerline is valid? [True, True] Translation: X:288.13, Y:-44.54, Z:-5.75 [[ 9.85096369e-01 1.71269007e-01 1.58767397e-02 2.88127542e+02] [-1.71247747e-01 9.85224301e-01 -2.69919241e-03 -4.45438949e+01] [-1.61044378e-02 -5.98912644e-05 9.99870313e-01 -5.75171063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11401273900003 meters 0.02413858948366928 Centerline is valid? [True, True] Translation: X:288.16, Y:-44.54, Z:-5.75 [[ 9.83917318e-01 1.77861019e-01 1.64975353e-02 2.88159561e+02] [-1.77838943e-01 9.84055602e-01 -2.80742434e-03 -4.45402170e+01] [-1.67338234e-02 -1.71630813e-04 9.99859965e-01 -5.75136978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters 0.026024353036268943 Centerline is valid? [True, True] Translation: X:288.19, Y:-44.54, Z:-5.75 [[ 9.83366874e-01 1.80840185e-01 1.69239082e-02 2.88192351e+02] [-1.80817349e-01 9.83512469e-01 -2.88263922e-03 -4.45413453e+01] [-1.71661718e-02 -2.25444301e-04 9.99852625e-01 -5.75140834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17401273900003 meters 0.026259236409219937 Centerline is valid? [True, True] Translation: X:288.22, Y:-44.55, Z:-5.75 [[ 9.82899829e-01 1.83352595e-01 1.70221151e-02 2.88224223e+02] [-1.83329822e-01 9.83047178e-01 -2.90214193e-03 -4.45454203e+01] [-1.72656575e-02 -2.68146533e-04 9.99850901e-01 -5.75121963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters 0.030210708958555252 Centerline is valid? [True, True] Translation: X:288.26, Y:-44.54, Z:-5.75 [[ 9.82051122e-01 1.87725142e-01 1.82993322e-02 2.88256385e+02] [-1.87699514e-01 9.82221531e-01 -3.12350203e-03 -4.45404676e+01] [-1.85603579e-02 -3.67337091e-04 9.99827674e-01 -5.74803458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234012739 meters 0.03159284164366138 Centerline is valid? [True, True] Translation: X:288.29, Y:-44.54, Z:-5.75 [[ 9.81646062e-01 1.89730722e-01 1.93200024e-02 2.88288598e+02] [-1.89702508e-01 9.81836072e-01 -3.29952994e-03 -4.45405003e+01] [-1.95950974e-02 -4.26082324e-04 9.99807907e-01 -5.74677511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters 0.0351335502715562 Centerline is valid? [True, True] Translation: X:288.32, Y:-44.53, Z:-5.75 [[ 9.80917589e-01 1.93389695e-01 2.00277005e-02 2.88320126e+02] [-1.93360127e-01 9.81121888e-01 -3.42089419e-03 -4.45338033e+01] [-2.03111810e-02 -5.16943437e-04 9.99793573e-01 -5.74701160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294012739 meters 0.03562912018681875 Centerline is valid? [True, True] Translation: X:288.35, Y:-44.54, Z:-5.75 [[ 9.80704681e-01 1.94466429e-01 2.00283961e-02 2.88350347e+02] [-1.94437060e-01 9.80909027e-01 -3.42220151e-03 -4.45355225e+01] [-2.03115379e-02 -5.38093416e-04 9.99793555e-01 -5.74738128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters 0.041209593109439245 Centerline is valid? [True, True] Translation: X:288.38, Y:-44.53, Z:-5.75 [[ 9.80486681e-01 1.95688636e-01 1.87570429e-02 2.88380570e+02] [-1.95663104e-01 9.80665937e-01 -3.20478744e-03 -4.45264090e+01] [-1.90215335e-02 -5.27809837e-04 9.99818935e-01 -5.75009782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354012739 meters 0.03791545364869258 Centerline is valid? [True, True] Translation: X:288.41, Y:-44.53, Z:-5.75 [[ 9.80443760e-01 1.96019858e-01 1.74999671e-02 2.88409053e+02] [-1.95997696e-01 9.80599799e-01 -2.98945483e-03 -4.45316182e+01] [-1.77464568e-02 -4.98960893e-04 9.99842395e-01 -5.75259292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters 0.03754139769467601 Centerline is valid? [True, True] Translation: X:288.44, Y:-44.53, Z:-5.75 [[ 9.80507263e-01 1.95782129e-01 1.65790569e-02 2.88437862e+02] [-1.95762216e-01 9.80647306e-01 -2.83139831e-03 -4.45331071e+01] [-1.68125447e-02 -4.69346326e-04 9.99858549e-01 -5.75455965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414012739 meters 0.035299189731869275 Centerline is valid? [True, True] Translation: X:288.47, Y:-44.54, Z:-5.75 [[ 9.80900427e-01 1.93819385e-01 1.63828805e-02 2.88466872e+02] [-1.93799680e-01 9.81037135e-01 -2.79712251e-03 -4.45354199e+01] [-1.66143507e-02 -4.31298334e-04 9.99861879e-01 -5.75475650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters 0.0328490469614095 Centerline is valid? [True, True] Translation: X:288.50, Y:-44.54, Z:-5.75 [[ 9.81399089e-01 1.91086384e-01 1.84884166e-02 2.88496591e+02] [-1.91060824e-01 9.81573127e-01 -3.15555053e-03 -4.45375688e+01] [-1.87507156e-02 -4.35557683e-04 9.99824095e-01 -5.75242195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474012739 meters 0.0324892814234481 Centerline is valid? [True, True] Translation: X:288.52, Y:-44.54, Z:-5.75 [[ 9.81619660e-01 1.89842681e-01 1.95601547e-02 2.88524771e+02] [-1.89813834e-01 9.81814426e-01 -3.33798611e-03 -4.45394610e+01] [-1.98381343e-02 -4.36155166e-04 9.99803110e-01 -5.75105816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters 0.033118423154738015 Centerline is valid? [True, True] Translation: X:288.55, Y:-44.54, Z:-5.75 [[ 9.81833872e-01 1.88701988e-01 1.98445843e-02 2.88552941e+02] [-1.88672088e-01 9.82034309e-01 -3.38529959e-03 -4.45403108e+01] [-2.01268754e-02 -4.20317341e-04 9.99797346e-01 -5.75177528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534012739 meters 0.03009981228048817 Centerline is valid? [True, True] Translation: X:288.58, Y:-44.55, Z:-5.75 [[ 9.82102606e-01 1.87398032e-01 1.88798584e-02 2.88582198e+02] [-1.87370748e-01 9.82283990e-01 -3.21962171e-03 -4.45457836e+01] [-1.91487335e-02 -3.75534337e-04 9.99816576e-01 -5.75451137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters 0.031344469873225526 Centerline is valid? [True, True] Translation: X:288.61, Y:-44.55, Z:-5.76 [[ 9.82143754e-01 1.87273296e-01 1.79543844e-02 2.88610250e+02] [-1.87248607e-01 9.82307786e-01 -3.06146180e-03 -4.45453304e+01] [-1.82100616e-02 -3.55137885e-04 9.99834120e-01 -5.75692083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594012739 meters 0.03247666129417548 Centerline is valid? [True, True] Translation: X:288.64, Y:-44.54, Z:-5.76 [[ 9.82162698e-01 1.87345850e-01 1.60613653e-02 2.88639265e+02] [-1.87326117e-01 9.82293963e-01 -2.73782785e-03 -4.45424212e+01] [-1.62899028e-02 -3.19720805e-04 9.99867260e-01 -5.76135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters 0.0333410964319375 Centerline is valid? [True, True] Translation: X:288.67, Y:-44.54, Z:-5.76 [[ 9.82190488e-01 1.87222647e-01 1.57963506e-02 2.88666050e+02] [-1.87203557e-01 9.82317455e-01 -2.69184412e-03 -4.45435047e+01] [-1.60210051e-02 -3.13229321e-04 9.99871606e-01 -5.76332049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654012739 meters 0.03039816027019916 Centerline is valid? [True, True] Translation: X:288.69, Y:-44.55, Z:-5.76 [[ 9.82254602e-01 1.86865031e-01 1.60423463e-02 2.88694342e+02] [-1.86845318e-01 9.82385546e-01 -2.73233495e-03 -4.45515309e+01] [-1.62703470e-02 -3.13588713e-04 9.99867580e-01 -5.76217368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters 0.03027164322168645 Centerline is valid? [True, True] Translation: X:288.72, Y:-44.55, Z:-5.76 [[ 9.82406601e-01 1.85999791e-01 1.67734416e-02 2.88722989e+02] [-1.85978127e-01 9.82549734e-01 -2.85600096e-03 -4.45521890e+01] [-1.70119562e-02 -3.13739068e-04 9.99855237e-01 -5.76146951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714012739 meters 0.029702860615030337 Centerline is valid? [True, True] Translation: X:288.75, Y:-44.56, Z:-5.76 [[ 9.82555380e-01 1.85209020e-01 1.68090337e-02 2.88751324e+02] [-1.85187163e-01 9.82699103e-01 -2.86124942e-03 -4.45555379e+01] [-1.70481516e-02 -3.01481254e-04 9.99854624e-01 -5.76256768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters 0.02900256149022567 Centerline is valid? [True, True] Translation: X:288.78, Y:-44.56, Z:-5.77 [[ 9.82833444e-01 1.83800075e-01 1.59985655e-02 2.88779341e+02] [-1.83780099e-01 9.82963612e-01 -2.72257584e-03 -4.45591572e+01] [-1.62264174e-02 -2.64379372e-04 9.99868308e-01 -5.76540952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774012739 meters 0.028144837896069835 Centerline is valid? [True, True] Translation: X:288.81, Y:-44.56, Z:-5.76 [[ 9.82925477e-01 1.83262172e-01 1.65070797e-02 2.88808044e+02] [-1.83240844e-01 9.83064040e-01 -2.80830652e-03 -4.45646420e+01] [-1.67421728e-02 -2.64415208e-04 9.99859805e-01 -5.76467427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters 0.02660506010438235 Centerline is valid? [True, True] Translation: X:288.84, Y:-44.57, Z:-5.76 [[ 9.83119634e-01 1.82130692e-01 1.74412133e-02 2.88836400e+02] [-1.82106719e-01 9.83274297e-01 -2.96633791e-03 -4.45711322e+01] [-1.76897579e-02 -2.59897085e-04 9.99843490e-01 -5.76301678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834012739 meters 0.02634590177724946 Centerline is valid? [True, True] Translation: X:288.86, Y:-44.57, Z:-5.76 [[ 9.83396722e-01 1.80499323e-01 1.87318237e-02 2.88864104e+02] [-1.80471394e-01 9.83575077e-01 -3.18485956e-03 -4.45729626e+01] [-1.89990199e-02 -2.48577883e-04 9.99819471e-01 -5.76124045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters 0.026145886016783606 Centerline is valid? [True, True] Translation: X:288.89, Y:-44.58, Z:-5.76 [[ 9.83450817e-01 1.80222088e-01 1.85604407e-02 2.88892761e+02] [-1.80194640e-01 9.83625915e-01 -3.15454938e-03 -4.45766304e+01] [-1.88250500e-02 -2.42147772e-04 9.99822764e-01 -5.76216247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894012739 meters 0.02675715163864407 Centerline is valid? [True, True] Translation: X:288.92, Y:-44.58, Z:-5.76 [[ 9.83515284e-01 1.80005080e-01 1.72004797e-02 2.88921468e+02] [-1.79981487e-01 9.83665656e-01 -2.92267367e-03 -4.45803185e+01] [-1.74456173e-02 -2.21273690e-04 9.99847789e-01 -5.76114026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters 0.026267643267841735 Centerline is valid? [True, True] Translation: X:288.95, Y:-44.58, Z:-5.76 [[ 9.83580273e-01 1.79616737e-01 1.75406616e-02 2.88948908e+02] [-1.79592155e-01 9.83736641e-01 -2.97963808e-03 -4.45822523e+01] [-1.77905844e-02 -2.19451980e-04 9.99841711e-01 -5.76492494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954012739 meters 0.02429425602492065 Centerline is valid? [True, True] Translation: X:288.98, Y:-44.59, Z:-5.76 [[ 9.83743884e-01 1.78679883e-01 1.79295704e-02 2.88977263e+02] [-1.78654063e-01 9.83907240e-01 -3.04457469e-03 -4.45893529e+01] [-1.81850383e-02 -2.08108862e-04 9.99834617e-01 -5.76327435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters 0.025326487494057418 Centerline is valid? [True, True] Translation: X:289.00, Y:-44.59, Z:-5.76 [[ 9.83811319e-01 1.78325036e-01 1.77614641e-02 2.89004950e+02] [-1.78299657e-01 9.83971616e-01 -3.01517583e-03 -4.45917979e+01] [-1.80144579e-02 -2.00498838e-04 9.99837706e-01 -5.76489906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014012739 meters 0.03030686999811086 Centerline is valid? [True, True] Translation: X:289.03, Y:-44.60, Z:-5.76 [[ 9.83987036e-01 1.77426602e-01 1.70092293e-02 2.89033178e+02] [-1.77403211e-01 9.84134020e-01 -2.88642122e-03 -4.45992634e+01] [-1.72514891e-02 -1.77290833e-04 9.99851166e-01 -5.75780860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters 0.023566253402678764 Centerline is valid? [True, True] Translation: X:289.06, Y:-44.60, Z:-5.77 [[ 9.84304197e-01 1.75621780e-01 1.73850072e-02 2.89060397e+02] [-1.75597077e-01 9.84457702e-01 -2.94936687e-03 -4.46040991e+01] [-1.76327773e-02 -1.49682261e-04 9.99844519e-01 -5.76702687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074012739 meters 0.023185877136235482 Centerline is valid? [True, True] Translation: X:289.09, Y:-44.61, Z:-5.77 [[ 9.84351987e-01 1.75312169e-01 1.77991258e-02 2.89088942e+02] [-1.75286244e-01 9.84512885e-01 -3.01850365e-03 -4.46082639e+01] [-1.80526492e-02 -1.48671857e-04 9.99837027e-01 -5.76711337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters 0.02377120957318965 Centerline is valid? [True, True] Translation: X:289.12, Y:-44.61, Z:-5.77 [[ 9.84231319e-01 1.76092824e-01 1.67340203e-02 2.89116777e+02] [-1.76070033e-01 9.84373554e-01 -2.83716391e-03 -4.46094109e+01] [-1.69721313e-02 -1.53933941e-04 9.99855951e-01 -5.76985152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134012739 meters 0.02427284279973656 Centerline is valid? [True, True] Translation: X:289.15, Y:-44.61, Z:-5.77 [[ 9.84044825e-01 1.77262873e-01 1.52858185e-02 2.89145056e+02] [-1.77244011e-01 9.84163527e-01 -2.59082101e-03 -4.46119418e+01] [-1.55030015e-02 -1.59835783e-04 9.99879808e-01 -5.77185107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters 0.027125644263553017 Centerline is valid? [True, True] Translation: X:289.17, Y:-44.60, Z:-5.77 [[ 9.83337391e-01 1.81181457e-01 1.48611646e-02 2.89174081e+02] [-1.81164088e-01 9.83449660e-01 -2.51802184e-03 -4.46037437e+01] [-1.50714262e-02 -2.16244308e-04 9.99886396e-01 -5.77274665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194012739 meters 0.028633338130681633 Centerline is valid? [True, True] Translation: X:289.20, Y:-44.60, Z:-5.77 [[ 9.82851539e-01 1.83724694e-01 1.57508655e-02 2.89203154e+02] [-1.83705530e-01 9.82977702e-01 -2.66746473e-03 -4.46020450e+01] [-1.59728287e-02 -2.71799277e-04 9.99872389e-01 -5.77096314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters 0.030771338457721217 Centerline is valid? [True, True] Translation: X:289.23, Y:-44.60, Z:-5.77 [[ 9.82204716e-01 1.87068897e-01 1.67069785e-02 2.89233797e+02] [-1.87047839e-01 9.82346735e-01 -2.82816029e-03 -4.45983906e+01] [-1.69411066e-02 -3.47171852e-04 9.99856429e-01 -5.77086131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254012739 meters 0.03222070109970388 Centerline is valid? [True, True] Translation: X:289.26, Y:-44.60, Z:-5.77 [[ 9.82234381e-01 1.86992333e-01 1.57952021e-02 2.89261712e+02] [-1.86973505e-01 9.82361319e-01 -2.67360406e-03 -4.45982854e+01] [-1.60165390e-02 -3.27178466e-04 9.99871673e-01 -5.77335120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters 0.030878388303036134 Centerline is valid? [True, True] Translation: X:289.29, Y:-44.60, Z:-5.78 [[ 9.82648906e-01 1.84938743e-01 1.40992754e-02 2.89290236e+02] [-1.84923541e-01 9.82750015e-01 -2.38572348e-03 -4.45995553e+01] [-1.42972759e-02 -2.62959385e-04 9.99897754e-01 -5.77677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314012739 meters 0.029958536946004453 Centerline is valid? [True, True] Translation: X:289.32, Y:-44.60, Z:-5.78 [[ 9.82990172e-01 1.83016414e-01 1.53399555e-02 2.89317963e+02] [-1.82998197e-01 9.83109824e-01 -2.59490116e-03 -4.46024120e+01] [-1.55557705e-02 -2.56421866e-04 9.99878969e-01 -5.77514292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters 0.02681957006762109 Centerline is valid? [True, True] Translation: X:289.35, Y:-44.61, Z:-5.77 [[ 9.83380288e-01 1.80737550e-01 1.72379462e-02 2.89346216e+02] [-1.80714216e-01 9.83531330e-01 -2.91477524e-03 -4.46098599e+01] [-1.74808695e-02 -2.48809413e-04 9.99847167e-01 -5.77133444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374012739 meters 0.023364978689386733 Centerline is valid? [True, True] Translation: X:289.37, Y:-44.62, Z:-5.77 [[ 9.84245007e-01 1.75641529e-01 2.02933390e-02 2.89374021e+02] [-1.75608129e-01 9.84454173e-01 -3.43026521e-03 -4.46173779e+01] [-2.05803593e-02 -1.87453895e-04 9.99788184e-01 -5.76703949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters 0.0226473349744575 Centerline is valid? [True, True] Translation: X:289.40, Y:-44.62, Z:-5.77 [[ 9.84702555e-01 1.73121060e-01 1.97478115e-02 2.89401277e+02] [-1.73088944e-01 9.84900544e-01 -3.33713014e-03 -4.46224893e+01] [-2.00273578e-02 -1.32047269e-04 9.99799424e-01 -5.76855359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434012739 meters 0.021475073632528364 Centerline is valid? [True, True] Translation: X:289.43, Y:-44.63, Z:-5.77 [[ 9.85426094e-01 1.69218579e-01 1.73345473e-02 2.89428554e+02] [-1.69193249e-01 9.85578546e-01 -2.92821305e-03 -4.46312346e+01] [-1.75800660e-02 -4.73508290e-05 9.99845458e-01 -5.77374671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters 0.021359745149858934 Centerline is valid? [True, True] Translation: X:289.46, Y:-44.64, Z:-5.77 [[ 9.85733036e-01 1.67405445e-01 1.74870942e-02 2.89456201e+02] [-1.67379392e-01 9.85888136e-01 -2.95339841e-03 -4.46365099e+01] [-1.77347337e-02 -1.57168121e-05 9.99842727e-01 -5.77362633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494012739 meters 0.021200848087980003 Centerline is valid? [True, True] Translation: X:289.48, Y:-44.64, Z:-5.77 [[ 9.86087665e-01 1.65182863e-01 1.85940615e-02 2.89483865e+02] [-1.65153034e-01 9.86262957e-01 -3.13914277e-03 -4.46407826e+01] [-1.88571666e-02 2.46042997e-05 9.99822188e-01 -5.77103384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters 0.021140321865975566 Centerline is valid? [True, True] Translation: X:289.51, Y:-44.65, Z:-5.77 [[ 9.86248693e-01 1.64189493e-01 1.88500686e-02 2.89512088e+02] [-1.64158677e-01 9.86428816e-01 -3.18121098e-03 -4.46454488e+01] [-1.91165722e-02 4.30628461e-05 9.99817261e-01 -5.77113679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55401273900003 meters 0.02179451651714123 Centerline is valid? [True, True] Translation: X:289.54, Y:-44.65, Z:-5.77 [[ 9.86643592e-01 1.61791477e-01 1.89193275e-02 2.89539263e+02] [-1.61760011e-01 9.86824964e-01 -3.19197648e-03 -4.46536281e+01] [-1.91864993e-02 8.89525151e-05 9.99815918e-01 -5.77152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters 0.02243434512529378 Centerline is valid? [True, True] Translation: X:289.57, Y:-44.66, Z:-5.77 [[ 9.86944792e-01 1.59954312e-01 1.88307030e-02 2.89567543e+02] [-1.59922828e-01 9.87124411e-01 -3.17585435e-03 -4.46604849e+01] [-1.90962382e-02 1.22933642e-04 9.99817643e-01 -5.77250854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61401273900003 meters 0.02398248150903217 Centerline is valid? [True, True] Translation: X:289.59, Y:-44.67, Z:-5.77 [[ 9.87247704e-01 1.58074264e-01 1.88281218e-02 2.89594282e+02] [-1.58042463e-01 9.87427214e-01 -3.17455734e-03 -4.46688841e+01] [-1.90932156e-02 1.58431707e-04 9.99817695e-01 -5.77364896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters 0.023949435538427842 Centerline is valid? [True, True] Translation: X:289.62, Y:-44.67, Z:-5.77 [[ 9.87547796e-01 1.56243881e-01 1.83629964e-02 2.89622541e+02] [-1.56213335e-01 9.87718489e-01 -3.09508593e-03 -4.46731520e+01] [-1.86210593e-02 1.88000385e-04 9.99826595e-01 -5.77447485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67401273900003 meters 0.024093127200344545 Centerline is valid? [True, True] Translation: X:289.65, Y:-44.68, Z:-5.78 [[ 9.87563506e-01 1.56202351e-01 1.78647119e-02 2.89649744e+02] [-1.56173448e-01 9.87725059e-01 -3.01028609e-03 -4.46781291e+01] [-1.81156374e-02 1.82855013e-04 9.99835882e-01 -5.77639005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters 0.02398944987916006 Centerline is valid? [True, True] Translation: X:289.68, Y:-44.68, Z:-5.78 [[ 9.87513715e-01 1.56634401e-01 1.68026058e-02 2.89678095e+02] [-1.56608913e-01 9.87656639e-01 -2.83033417e-03 -4.46817987e+01] [-1.70385329e-02 1.63555972e-04 9.99854820e-01 -5.77820568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734012739 meters 0.02397817282812762 Centerline is valid? [True, True] Translation: X:289.71, Y:-44.69, Z:-5.78 [[ 9.87545400e-01 1.56459308e-01 1.65701151e-02 2.89706843e+02] [-1.56434509e-01 9.87684392e-01 -2.79039457e-03 -4.46856041e+01] [-1.68026273e-02 1.63503498e-04 9.99858813e-01 -5.77892762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters 0.024368385586288916 Centerline is valid? [True, True] Translation: X:289.73, Y:-44.69, Z:-5.78 [[ 9.87641819e-01 1.55872990e-01 1.63477345e-02 2.89734383e+02] [-1.55848783e-01 9.87777091e-01 -2.75221653e-03 -4.46919111e+01] [-1.65769139e-02 1.70429605e-04 9.99862579e-01 -5.77998234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794012739 meters 0.024562766297087396 Centerline is valid? [True, True] Translation: X:289.76, Y:-44.70, Z:-5.78 [[ 9.87699354e-01 1.55493275e-01 1.64871734e-02 2.89762517e+02] [-1.55468618e-01 9.87836935e-01 -2.77465861e-03 -4.46984297e+01] [-1.67180796e-02 1.77290459e-04 9.99860227e-01 -5.78069064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters 0.024975222845832225 Centerline is valid? [True, True] Translation: X:289.79, Y:-44.70, Z:-5.78 [[ 9.87774196e-01 1.54973653e-01 1.68909881e-02 2.89789471e+02] [-1.54947711e-01 9.87918585e-01 -2.84182436e-03 -4.47048266e+01] [-1.71273290e-02 1.89860826e-04 9.99853299e-01 -5.78066557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854012739 meters 0.024975222845832225 Centerline is valid? [True, True] Translation: X:289.82, Y:-44.71, Z:-5.78 [[ 9.87781211e-01 1.54928912e-01 1.68911589e-02 2.89817418e+02] [-1.54902981e-01 9.87925603e-01 -2.84080901e-03 -4.47094365e+01] [-1.71273318e-02 1.89606909e-04 9.99853299e-01 -5.78124089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters 0.02544686396862759 Centerline is valid? [True, True] Translation: X:289.85, Y:-44.71, Z:-5.78 [[ 9.87975287e-01 1.53450546e-01 1.89146257e-02 2.89845413e+02] [-1.53417777e-01 9.88156300e-01 -3.18014426e-03 -4.47140813e+01] [-1.91786014e-02 2.40064108e-04 9.99816045e-01 -5.77786606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914012739 meters 0.02585221960209764 Centerline is valid? [True, True] Translation: X:289.87, Y:-44.72, Z:-5.78 [[ 9.88018094e-01 1.53199247e-01 1.87146376e-02 2.89873589e+02] [-1.53167144e-01 9.88195291e-01 -3.14538428e-03 -4.47199773e+01] [-1.89755872e-02 2.41228987e-04 9.99819918e-01 -5.77912025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters 0.0259854738014743 Centerline is valid? [True, True] Translation: X:289.90, Y:-44.73, Z:-5.78 [[ 9.88061427e-01 1.53180689e-01 1.64406039e-02 2.89901508e+02] [-1.53155920e-01 9.88198174e-01 -2.76272828e-03 -4.47266277e+01] [-1.66697714e-02 2.11769430e-04 9.99861027e-01 -5.78366954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974012739 meters 0.025900401053854 Centerline is valid? [True, True] Translation: X:289.93, Y:-44.73, Z:-5.79 [[ 9.88083392e-01 1.53143825e-01 1.54330654e-02 2.89929918e+02] [-1.53122005e-01 9.88203891e-01 -2.59275244e-03 -4.47310530e+01] [-1.56480793e-02 1.98713714e-04 9.99877542e-01 -5.78603804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters 0.026303070145801723 Centerline is valid? [True, True] Translation: X:289.96, Y:-44.74, Z:-5.79 [[ 9.88137555e-01 1.52840592e-01 1.49641757e-02 2.89958266e+02] [-1.52820053e-01 9.88250836e-01 -2.51330262e-03 -4.47357904e+01] [-1.51724938e-02 1.96662581e-04 9.99884872e-01 -5.78766188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034012739 meters 0.028314521337793407 Centerline is valid? [True, True] Translation: X:289.99, Y:-44.75, Z:-5.79 [[ 9.88553271e-01 1.50077635e-01 1.54639730e-02 2.89985214e+02] [-1.50055376e-01 9.88674184e-01 -2.59643574e-03 -4.47469428e+01] [-1.56784978e-02 2.46262768e-04 9.99877054e-01 -5.78784479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters 0.029936915724606793 Centerline is valid? [True, True] Translation: X:290.01, Y:-44.76, Z:-5.79 [[ 9.88847020e-01 1.48072031e-01 1.60076615e-02 2.90013604e+02] [-1.48047926e-01 9.88976537e-01 -2.68709021e-03 -4.47578218e+01] [-1.62290845e-02 2.87220073e-04 9.99868258e-01 -5.78711939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094012739 meters 0.03174581327342775 Centerline is valid? [True, True] Translation: X:290.04, Y:-44.77, Z:-5.78 [[ 9.89132382e-01 1.45891333e-01 1.82441974e-02 2.90041655e+02] [-1.45859660e-01 9.89300553e-01 -3.06198464e-03 -4.47701819e+01] [-1.84957116e-02 3.67615736e-04 9.99828872e-01 -5.78295179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters 0.03185264989064868 Centerline is valid? [True, True] Translation: X:290.07, Y:-44.78, Z:-5.78 [[ 9.89087545e-01 1.46026702e-01 1.95456303e-02 2.90070449e+02] [-1.45990373e-01 9.89280572e-01 -3.28049616e-03 -4.47763800e+01] [-1.98151523e-02 3.91224032e-04 9.99803584e-01 -5.78091883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154012739 meters 0.028761454057261243 Centerline is valid? [True, True] Translation: X:290.10, Y:-44.78, Z:-5.78 [[ 9.88896563e-01 1.47130210e-01 2.08875145e-02 2.90100936e+02] [-1.47088962e-01 9.89117053e-01 -3.50597662e-03 -4.47790336e+01] [-2.11760319e-02 3.94725398e-04 9.99775685e-01 -5.77909935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters 0.03003517824391013 Centerline is valid? [True, True] Translation: X:290.13, Y:-44.79, Z:-5.78 [[ 9.88673776e-01 1.48626100e-01 2.08433892e-02 2.90130733e+02] [-1.48585355e-01 9.88893397e-01 -3.49869832e-03 -4.47884098e+01] [-2.11318878e-02 3.62048898e-04 9.99776631e-01 -5.77978206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214012739 meters 0.026093465900747632 Centerline is valid? [True, True] Translation: X:290.16, Y:-44.79, Z:-5.78 [[ 9.88238184e-01 1.51715467e-01 1.91757138e-02 2.90160929e+02] [-1.51681507e-01 9.88424171e-01 -3.22165870e-03 -4.47907892e+01] [-1.94425144e-02 2.75164988e-04 9.99810939e-01 -5.78305556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters 0.02523501398767315 Centerline is valid? [True, True] Translation: X:290.19, Y:-44.80, Z:-5.79 [[ 9.87987135e-01 1.53433625e-01 1.84267209e-02 2.90190412e+02] [-1.53402565e-01 9.88158929e-01 -3.09582247e-03 -4.47963206e+01] [-1.86835320e-02 2.31926529e-04 9.99825421e-01 -5.78517047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274012739 meters 0.02488817816674814 Centerline is valid? [True, True] Translation: X:290.22, Y:-44.80, Z:-5.79 [[ 9.87710072e-01 1.55275347e-01 1.78432305e-02 2.90218992e+02] [-1.55246523e-01 9.87871211e-01 -2.99784408e-03 -4.48016652e+01] [-1.80923050e-02 1.90901295e-04 9.99836303e-01 -5.78683107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters 0.022629202829515877 Centerline is valid? [True, True] Translation: X:290.25, Y:-44.80, Z:-5.79 [[ 9.87175427e-01 1.58620266e-01 1.80079873e-02 2.90249059e+02] [-1.58591471e-01 9.87339655e-01 -3.02508942e-03 -4.48033293e+01] [-1.82598405e-02 1.30380748e-04 9.99833267e-01 -5.78756398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334012739 meters 0.022380797948899335 Centerline is valid? [True, True] Translation: X:290.28, Y:-44.81, Z:-5.79 [[ 9.87071899e-01 1.59210959e-01 1.84644579e-02 2.90278028e+02] [-1.59180797e-01 9.87244577e-01 -3.10131927e-03 -4.48087468e+01] [-1.87227000e-02 1.22037971e-04 9.99824707e-01 -5.78771782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters 0.022587269145610135 Centerline is valid? [True, True] Translation: X:290.31, Y:-44.82, Z:-5.79 [[ 9.87108075e-01 1.58998676e-01 1.83594466e-02 2.90306273e+02] [-1.58968827e-01 9.87278788e-01 -3.08326351e-03 -4.48162088e+01] [-1.86161270e-02 1.24934618e-04 9.99826697e-01 -5.78874174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394012739 meters 0.022746067617671954 Centerline is valid? [True, True] Translation: X:290.34, Y:-44.82, Z:-5.79 [[ 9.87180029e-01 1.58531583e-01 1.85291182e-02 2.90335350e+02] [-1.58501111e-01 9.87353898e-01 -3.11106799e-03 -4.48216915e+01] [-1.87879996e-02 1.34298371e-04 9.99823481e-01 -5.78904891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters 0.022949406551164224 Centerline is valid? [True, True] Translation: X:290.36, Y:-44.83, Z:-5.79 [[ 9.87221199e-01 1.58240294e-01 1.88232358e-02 2.90364073e+02] [-1.58208802e-01 9.87400623e-01 -3.15999726e-03 -4.48267731e+01] [-1.90861137e-02 1.41614687e-04 9.99817834e-01 -5.78990362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454012739 meters 0.023023824740608656 Centerline is valid? [True, True] Translation: X:290.39, Y:-44.83, Z:-5.79 [[ 9.87130077e-01 1.58981373e-01 1.72955060e-02 2.90391904e+02] [-1.58954906e-01 9.87281576e-01 -2.90318763e-03 -4.48332647e+01] [-1.75370872e-02 1.16618301e-04 9.99846207e-01 -5.79427252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters 0.022921925799836155 Centerline is valid? [True, True] Translation: X:290.42, Y:-44.84, Z:-5.80 [[ 9.87043656e-01 1.59831682e-01 1.40944968e-02 2.90421209e+02] [-1.59814199e-01 9.87144279e-01 -2.36543460e-03 -4.48391871e+01] [-1.42913733e-02 8.22865012e-05 9.99897870e-01 -5.80054461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514012739 meters 0.02288373940873832 Centerline is valid? [True, True] Translation: X:290.45, Y:-44.84, Z:-5.80 [[ 9.87004132e-01 1.60110021e-01 1.36975903e-02 2.90449786e+02] [-1.60093537e-01 9.87099172e-01 -2.29866677e-03 -4.48436387e+01] [-1.38889196e-02 7.58979173e-05 9.99903541e-01 -5.80171775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters 0.022586158838002003 Centerline is valid? [True, True] Translation: X:290.48, Y:-44.85, Z:-5.80 [[ 9.86939968e-01 1.60468208e-01 1.41227850e-02 2.90478492e+02] [-1.60450731e-01 9.87041007e-01 -2.36933740e-03 -4.48470383e+01] [-1.43199712e-02 7.23826116e-05 9.99897461e-01 -5.80066592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574012739 meters 0.02167745496260992 Centerline is valid? [True, True] Translation: X:290.51, Y:-44.85, Z:-5.80 [[ 9.86447891e-01 1.63233297e-01 1.65966910e-02 2.90506728e+02] [-1.63209567e-01 9.86587497e-01 -2.78345254e-03 -4.48468673e+01] [-1.68284400e-02 3.69921229e-05 9.99858391e-01 -5.79667576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters 0.021399132269010315 Centerline is valid? [True, True] Translation: X:290.54, Y:-44.85, Z:-5.80 [[ 9.86129501e-01 1.65070098e-01 1.73340838e-02 2.90536120e+02] [-1.65044517e-01 9.86281837e-01 -2.90601279e-03 -4.48482876e+01] [-1.75759878e-02 4.80947149e-06 9.99845530e-01 -5.79530153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634012739 meters 0.02170592764760825 Centerline is valid? [True, True] Translation: X:290.57, Y:-44.85, Z:-5.80 [[ 9.85538156e-01 1.68631854e-01 1.66685753e-02 2.90565869e+02] [-1.68608721e-01 9.85679103e-01 -2.79366360e-03 -4.48471551e+01] [-1.69009670e-02 -5.72050970e-05 9.99857167e-01 -5.79638707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters 0.02199161886182871 Centerline is valid? [True, True] Translation: X:290.59, Y:-44.85, Z:-5.80 [[ 9.85406665e-01 1.69391493e-01 1.67399657e-02 2.90593932e+02] [-1.69368284e-01 9.85548841e-01 -2.80483693e-03 -4.48507707e+01] [-1.69731693e-02 -7.13142729e-05 9.99855943e-01 -5.79722197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694012739 meters 0.021895337181012327 Centerline is valid? [True, True] Translation: X:290.62, Y:-44.86, Z:-5.80 [[ 9.85375404e-01 1.69492362e-01 1.75400224e-02 2.90621596e+02] [-1.69466919e-01 9.85531498e-01 -2.93774631e-03 -4.48561406e+01] [-1.77841702e-02 -7.76705941e-05 9.99841846e-01 -5.79603983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters 0.021224793467420462 Centerline is valid? [True, True] Translation: X:290.65, Y:-44.87, Z:-5.79 [[ 9.85741377e-01 1.67036747e-01 2.03140979e-02 2.90649412e+02] [-1.67002125e-01 9.85950670e-01 -3.40096267e-03 -4.48659842e+01] [-2.05967842e-02 -4.00278962e-05 9.99787863e-01 -5.79233324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754012739 meters 0.02119142207576043 Centerline is valid? [True, True] Translation: X:290.68, Y:-44.88, Z:-5.79 [[ 9.86251751e-01 1.63910775e-01 2.09938559e-02 2.90677988e+02] [-1.63873110e-01 9.86475168e-01 -3.51377362e-03 -4.48760198e+01] [-2.12858629e-02 2.51369301e-05 9.99773430e-01 -5.79171327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters 0.021296184135034226 Centerline is valid? [True, True] Translation: X:290.71, Y:-44.88, Z:-5.79 [[ 9.86393799e-01 1.63069599e-01 2.08705611e-02 2.90708272e+02] [-1.63032191e-01 9.86614567e-01 -3.49289719e-03 -4.48827211e+01] [-2.11607850e-02 4.27988014e-05 9.99776085e-01 -5.79285754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814012739 meters 0.02117654012373966 Centerline is valid? [True, True] Translation: X:290.74, Y:-44.89, Z:-5.79 [[ 9.86346033e-01 1.63432700e-01 2.02794394e-02 2.90736557e+02] [-1.63397459e-01 9.86554485e-01 -3.39396106e-03 -4.48867913e+01] [-2.05614561e-02 3.40111519e-05 9.99788590e-01 -5.79374524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters 0.021235539892015664 Centerline is valid? [True, True] Translation: X:290.77, Y:-44.88, Z:-5.80 [[ 9.85820208e-01 1.66762811e-01 1.86730585e-02 2.90765054e+02] [-1.66733536e-01 9.85997041e-01 -3.12475808e-03 -4.48836908e+01] [-1.89326738e-02 -3.29753991e-05 9.99820760e-01 -5.79678161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874012739 meters 0.021759969545792252 Centerline is valid? [True, True] Translation: X:290.79, Y:-44.89, Z:-5.80 [[ 9.85468559e-01 1.68944994e-01 1.75871502e-02 2.90794226e+02] [-1.68919391e-01 9.85625478e-01 -2.94203870e-03 -4.48850522e+01] [-1.78313860e-02 -7.15240564e-05 9.99841006e-01 -5.79956011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters 0.02343392275202665 Centerline is valid? [True, True] Translation: X:290.82, Y:-44.88, Z:-5.80 [[ 9.84750746e-01 1.73190182e-01 1.64660234e-02 2.90823975e+02] [-1.73168344e-01 9.84888390e-01 -2.75376121e-03 -4.48837950e+01] [-1.66941197e-02 -1.39625601e-04 9.99860634e-01 -5.80338621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934012739 meters 0.024529486585444384 Centerline is valid? [True, True] Translation: X:290.85, Y:-44.89, Z:-5.80 [[ 9.84341053e-01 1.75502454e-01 1.64796594e-02 2.90853237e+02] [-1.75480917e-01 9.84478977e-01 -2.75524697e-03 -4.48850713e+01] [-1.67074308e-02 -1.79763039e-04 9.99860405e-01 -5.80350272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters 0.025844808146235465 Centerline is valid? [True, True] Translation: X:290.88, Y:-44.89, Z:-5.80 [[ 9.83940250e-01 1.77693144e-01 1.69331378e-02 2.90882755e+02] [-1.77670745e-01 9.84085919e-01 -2.83020843e-03 -4.48855633e+01] [-1.71665711e-02 -2.23767218e-04 9.99852619e-01 -5.80368280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994012739 meters 0.02920099119873872 Centerline is valid? [True, True] Translation: X:290.91, Y:-44.88, Z:-5.80 [[ 9.83357772e-01 1.80874533e-01 1.70849747e-02 2.90911907e+02] [-1.80852222e-01 9.83506138e-01 -2.85483613e-03 -4.48820415e+01] [-1.73195446e-02 -2.82530343e-04 9.99849966e-01 -5.80396704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters 0.02908385173567755 Centerline is valid? [True, True] Translation: X:290.94, Y:-44.89, Z:-5.80 [[ 9.83194335e-01 1.81722840e-01 1.74845282e-02 2.90940230e+02] [-1.81699635e-01 9.83349742e-01 -2.92009505e-03 -4.48853016e+01] [-1.77240543e-02 -3.05911478e-04 9.99842870e-01 -5.80316798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05401273900003 meters 0.03034899038587945 Centerline is valid? [True, True] Translation: X:290.97, Y:-44.88, Z:-5.80 [[ 9.82823614e-01 1.83581208e-01 1.88595922e-02 2.90969711e+02] [-1.83554569e-01 9.83004479e-01 -3.14876419e-03 -4.48846403e+01] [-1.91171175e-02 -3.67084512e-04 9.99817184e-01 -5.80108913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters 0.03089203248826947 Centerline is valid? [True, True] Translation: X:291.00, Y:-44.89, Z:-5.80 [[ 9.82683348e-01 1.84316827e-01 1.89932879e-02 2.90998275e+02] [-1.84289964e-01 9.82866806e-01 -3.17015781e-03 -4.48863373e+01] [-1.92521857e-02 -3.85011063e-04 9.99814585e-01 -5.80129736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11401273900003 meters 0.033089436554862385 Centerline is valid? [True, True] Translation: X:291.03, Y:-44.88, Z:-5.80 [[ 9.82519575e-01 1.85191210e-01 1.89604923e-02 2.91027241e+02] [-1.85164620e-01 9.82702424e-01 -3.16378213e-03 -4.48845326e+01] [-1.92184264e-02 -4.02334482e-04 9.99815228e-01 -5.80179453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters 0.0325667037918769 Centerline is valid? [True, True] Translation: X:291.06, Y:-44.88, Z:-5.80 [[ 9.82343224e-01 1.86153835e-01 1.86692359e-02 2.91056681e+02] [-1.86128251e-01 9.82520522e-01 -3.11406752e-03 -4.48843877e+01] [-1.89226030e-02 -4.15789107e-04 9.99820865e-01 -5.80368342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17401273900003 meters 0.032378366090176594 Centerline is valid? [True, True] Translation: X:291.09, Y:-44.89, Z:-5.80 [[ 9.82462053e-01 1.85543313e-01 1.84930496e-02 2.91085107e+02] [-1.85518118e-01 9.82636005e-01 -3.08379816e-03 -4.48875052e+01] [-1.87441145e-02 -4.01081080e-04 9.99824233e-01 -5.80496197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters 0.030266540480914247 Centerline is valid? [True, True] Translation: X:291.11, Y:-44.89, Z:-5.81 [[ 9.82891019e-01 1.83290048e-01 1.81659839e-02 2.91113863e+02] [-1.83265367e-01 9.83058815e-01 -3.02840499e-03 -4.48909392e+01] [-1.84133071e-02 -3.52603639e-04 9.99830399e-01 -5.80582409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234012739 meters 0.030709663274699327 Centerline is valid? [True, True] Translation: X:291.14, Y:-44.89, Z:-5.81 [[ 9.83023864e-01 1.82557369e-01 1.83545497e-02 2.91142098e+02] [-1.82532061e-01 9.83195143e-01 -3.05896370e-03 -4.48917555e+01] [-1.86045405e-02 -3.43259479e-04 9.99826862e-01 -5.80549235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters 0.029091584467708414 Centerline is valid? [True, True] Translation: X:291.17, Y:-44.90, Z:-5.80 [[ 9.83046752e-01 1.82376849e-01 1.89147883e-02 2.91170778e+02] [-1.82349962e-01 9.83228642e-01 -3.15114651e-03 -4.48960823e+01] [-1.91722578e-02 -3.51386595e-04 9.99816134e-01 -5.80496985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294012739 meters 0.031233533632638887 Centerline is valid? [True, True] Translation: X:291.20, Y:-44.89, Z:-5.80 [[ 9.82753099e-01 1.83942060e-01 1.90174703e-02 2.91200093e+02] [-1.83915191e-01 9.82937012e-01 -3.16735174e-03 -4.48901622e+01] [-1.92755846e-02 -3.84876936e-04 9.99814135e-01 -5.80473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters 0.03267519885637116 Centerline is valid? [True, True] Translation: X:291.23, Y:-44.89, Z:-5.81 [[ 9.82511273e-01 1.85306695e-01 1.82490386e-02 2.91229615e+02] [-1.85282219e-01 9.82680656e-01 -3.03772978e-03 -4.48886432e+01] [-1.84958889e-02 -3.96618626e-04 9.99828858e-01 -5.80652617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354012739 meters 0.036652091252898665 Centerline is valid? [True, True] Translation: X:291.26, Y:-44.88, Z:-5.81 [[ 9.82017935e-01 1.88133185e-01 1.57060733e-02 2.91260386e+02] [-1.88115426e-01 9.82143449e-01 -2.61382789e-03 -4.48787037e+01] [-1.59173647e-02 -3.87728791e-04 9.99873236e-01 -5.81214743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters 0.03771454396761184 Centerline is valid? [True, True] Translation: X:291.29, Y:-44.88, Z:-5.81 [[ 9.81793805e-01 1.89288473e-01 1.58365893e-02 2.91289338e+02] [-1.89270578e-01 9.81921436e-01 -2.63489722e-03 -4.48773768e+01] [-1.60490422e-02 -4.10474654e-04 9.99871122e-01 -5.81242249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414012739 meters 0.03783865600439483 Centerline is valid? [True, True] Translation: X:291.32, Y:-44.88, Z:-5.81 [[ 9.81740309e-01 1.89415123e-01 1.75464020e-02 2.91318033e+02] [-1.89393202e-01 9.81896991e-01 -2.91789609e-03 -4.48774784e+01] [-1.77814530e-02 -4.58553063e-04 9.99841792e-01 -5.80991397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters 0.03478361994866444 Centerline is valid? [True, True] Translation: X:291.35, Y:-44.88, Z:-5.81 [[ 9.82074479e-01 1.87383857e-01 2.04207790e-02 2.91347469e+02] [-1.87353817e-01 9.82286641e-01 -3.39147303e-03 -4.48789226e+01] [-2.06945657e-02 -4.95231790e-04 9.99785722e-01 -5.80533775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474012739 meters 0.03428840732213727 Centerline is valid? [True, True] Translation: X:291.38, Y:-44.88, Z:-5.81 [[ 9.82468596e-01 1.85365576e-01 1.98761310e-02 2.91375720e+02] [-1.85336765e-01 9.82669531e-01 -3.29800132e-03 -4.48803781e+01] [-2.01430043e-02 -4.43595116e-04 9.99797011e-01 -5.80686842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters 0.02839534281873244 Centerline is valid? [True, True] Translation: X:291.40, Y:-44.89, Z:-5.81 [[ 9.83591449e-01 1.79654852e-01 1.64923151e-02 2.91404388e+02] [-1.79634228e-01 9.83729668e-01 -2.73564863e-03 -4.48895574e+01] [-1.67154522e-02 -2.71823697e-04 9.99860250e-01 -5.81480808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534012739 meters 0.025480762831322622 Centerline is valid? [True, True] Translation: X:291.43, Y:-44.90, Z:-5.82 [[ 9.84311809e-01 1.75759235e-01 1.54581523e-02 2.91432195e+02] [-1.75740641e-01 9.84433164e-01 -2.56377542e-03 -4.48979136e+01] [-1.56681250e-02 -1.93071174e-04 9.99877229e-01 -5.81751770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters 0.02271871079469217 Centerline is valid? [True, True] Translation: X:291.46, Y:-44.91, Z:-5.82 [[ 9.85044214e-01 1.71625481e-01 1.52509058e-02 2.91459907e+02] [-1.71606898e-01 9.85162260e-01 -2.52869704e-03 -4.49073018e+01] [-1.54586057e-02 -1.26282250e-04 9.99880501e-01 -5.81736738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594012739 meters 0.020746150186868813 Centerline is valid? [True, True] Translation: X:291.49, Y:-44.92, Z:-5.81 [[ 9.86328463e-01 1.63900190e-01 1.71140402e-02 2.91487111e+02] [-1.63875641e-01 9.86476927e-01 -2.83664811e-03 -4.49171005e+01] [-1.73475330e-02 -6.70754030e-06 9.99849520e-01 -5.81453633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters 0.02094220401414819 Centerline is valid? [True, True] Translation: X:291.52, Y:-44.93, Z:-5.81 [[ 9.86919136e-01 1.60203360e-01 1.80416572e-02 2.91515239e+02] [-1.60175477e-01 9.87084029e-01 -2.98946148e-03 -4.49253615e+01] [-1.82875534e-02 6.05256945e-05 9.99832767e-01 -5.81332598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654012739 meters 0.02363082095347217 Centerline is valid? [True, True] Translation: X:291.54, Y:-44.94, Z:-5.81 [[ 9.87999116e-01 1.53397827e-01 1.80790897e-02 2.91540599e+02] [-1.53368703e-01 9.88164496e-01 -2.99480610e-03 -4.49403805e+01] [-1.83245113e-02 1.86099237e-04 9.99832075e-01 -5.81469117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters 0.025895903077051304 Centerline is valid? [True, True] Translation: X:291.57, Y:-44.95, Z:-5.82 [[ 9.88518706e-01 1.50042565e-01 1.78324344e-02 2.91567214e+02] [-1.50013704e-01 9.88679508e-01 -2.95288685e-03 -4.49508927e+01] [-1.80736212e-02 2.43874355e-04 9.99836629e-01 -5.81632909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714012739 meters 0.025895903077051304 Centerline is valid? [True, True] Translation: X:291.59, Y:-44.96, Z:-5.82 [[ 9.88528977e-01 1.49974867e-01 1.78325996e-02 2.91594352e+02] [-1.49946012e-01 9.88689779e-01 -2.95188895e-03 -4.49552519e+01] [-1.80736181e-02 2.44100557e-04 9.99836629e-01 -5.81688744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters 0.029353114172396836 Centerline is valid? [True, True] Translation: X:291.62, Y:-44.97, Z:-5.82 [[ 9.89443146e-01 1.43908520e-01 1.71055055e-02 2.91621977e+02] [-1.43881085e-01 9.89590937e-01 -2.83028594e-03 -4.49685904e+01] [-1.73347555e-02 3.39248330e-04 9.99849684e-01 -5.81886439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774012739 meters 0.031166441887737307 Centerline is valid? [True, True] Translation: X:291.65, Y:-44.98, Z:-5.82 [[ 9.89739793e-01 1.41917239e-01 1.65722770e-02 2.91648921e+02] [-1.41891217e-01 9.89878460e-01 -2.74155648e-03 -4.49781730e+01] [-1.67936142e-02 3.61966978e-04 9.99858912e-01 -5.81998387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters 0.032921637901503854 Centerline is valid? [True, True] Translation: X:291.68, Y:-44.99, Z:-5.82 [[ 9.89921112e-01 1.40665694e-01 1.64120157e-02 2.91675772e+02] [-1.40640017e-01 9.90057079e-01 -2.71405995e-03 -4.49881183e+01] [-1.66306074e-02 3.78519071e-04 9.99861630e-01 -5.82115058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834012739 meters 0.0339177940469003 Centerline is valid? [True, True] Translation: X:291.70, Y:-45.00, Z:-5.82 [[ 9.90081505e-01 1.39450142e-01 1.70959327e-02 2.91702932e+02] [-1.39422119e-01 9.90229007e-01 -2.82604699e-03 -4.49991257e+01] [-1.73229811e-02 4.14465690e-04 9.99849860e-01 -5.81973557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters 0.03559757527735556 Centerline is valid? [True, True] Translation: X:291.73, Y:-45.01, Z:-5.82 [[ 9.90136455e-01 1.39044521e-01 1.72169206e-02 2.91729981e+02] [-1.39016054e-01 9.90286040e-01 -2.84519412e-03 -4.50091005e+01] [-1.74452848e-02 4.23702060e-04 9.99847730e-01 -5.82024899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894012739 meters 0.03810027006624443 Centerline is valid? [True, True] Translation: X:291.76, Y:-45.02, Z:-5.82 [[ 9.90351788e-01 1.37756908e-01 1.50456174e-02 2.91758703e+02] [-1.37735028e-01 9.90465993e-01 -2.48587716e-03 -4.50200810e+01] [-1.52446192e-02 3.89584353e-04 9.99883718e-01 -5.81650657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters 0.039546684441275244 Centerline is valid? [True, True] Translation: X:291.79, Y:-45.03, Z:-5.82 [[ 9.90455333e-01 1.37098704e-01 1.42189341e-02 2.91788354e+02] [-1.37079099e-01 9.90557319e-01 -2.34898566e-03 -4.50252111e+01] [-1.44067121e-02 3.77446711e-04 9.99896147e-01 -5.81562763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954012739 meters 0.03710317623064067 Centerline is valid? [True, True] Translation: X:291.82, Y:-45.04, Z:-5.82 [[ 9.90510102e-01 1.36565502e-01 1.54790516e-02 2.91815011e+02] [-1.36542210e-01 9.90630955e-01 -2.55673983e-03 -4.50400252e+01] [-1.56831901e-02 4.18932719e-04 9.99876923e-01 -5.82467814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters 0.037161538552302205 Centerline is valid? [True, True] Translation: X:291.84, Y:-45.05, Z:-5.82 [[ 9.90438031e-01 1.36993658e-01 1.62863233e-02 2.91842575e+02] [-1.36967938e-01 9.90571830e-01 -2.68957900e-03 -4.50477684e+01] [-1.65012284e-02 4.33157200e-04 9.99863752e-01 -5.82346570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014012739 meters 0.03371383360044313 Centerline is valid? [True, True] Translation: X:291.87, Y:-45.05, Z:-5.82 [[ 9.90294651e-01 1.37825681e-01 1.79049288e-02 2.91871988e+02] [-1.37794738e-01 9.90456395e-01 -2.95644784e-03 -4.50522595e+01] [-1.81415257e-02 4.60549505e-04 9.99835323e-01 -5.82091144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters 0.035792697872048716 Centerline is valid? [True, True] Translation: X:291.90, Y:-45.06, Z:-5.82 [[ 9.90203467e-01 1.38481499e-01 1.78876560e-02 2.91900245e+02] [-1.38450731e-01 9.90364920e-01 -2.95313342e-03 -4.50620018e+01] [-1.81242613e-02 4.47643907e-04 9.99835642e-01 -5.82180724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074012739 meters 0.03342131297154989 Centerline is valid? [True, True] Translation: X:291.93, Y:-45.06, Z:-5.82 [[ 9.90069851e-01 1.39416084e-01 1.80234592e-02 2.91930795e+02] [-1.39385006e-01 9.90233794e-01 -2.97530802e-03 -4.50646101e+01] [-1.82622442e-02 4.33562804e-04 9.99833137e-01 -5.82171708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters 0.030203267688037327 Centerline is valid? [True, True] Translation: X:291.96, Y:-45.07, Z:-5.82 [[ 9.89588807e-01 1.42773911e-01 1.81549593e-02 2.91960720e+02] [-1.42742942e-01 9.89755258e-01 -2.99706175e-03 -4.50665460e+01] [-1.83968687e-02 3.74366455e-04 9.99830693e-01 -5.82144621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134012739 meters 0.028611332084778732 Centerline is valid? [True, True] Translation: X:291.99, Y:-45.07, Z:-5.82 [[ 9.89214413e-01 1.45262015e-01 1.88093737e-02 2.91989055e+02] [-1.45229231e-01 9.89393163e-01 -3.10463396e-03 -4.50690199e+01] [-1.90608512e-02 3.39477786e-04 9.99818268e-01 -5.82213545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters 0.02838087234080939 Centerline is valid? [True, True] Translation: X:292.02, Y:-45.07, Z:-5.82 [[ 9.89225923e-01 1.45121541e-01 1.92824031e-02 2.92018609e+02] [-1.45087074e-01 9.89413774e-01 -3.18198178e-03 -4.50737038e+01] [-1.95400493e-02 3.50071414e-04 9.99809014e-01 -5.82295567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194012739 meters 0.029534480447304296 Centerline is valid? [True, True] Translation: X:292.05, Y:-45.08, Z:-5.82 [[ 9.89410118e-01 1.43819056e-01 1.95881861e-02 2.92046964e+02] [-1.43783243e-01 9.89603928e-01 -3.23195449e-03 -4.50809969e+01] [-1.98493625e-02 3.81275570e-04 9.99802909e-01 -5.82295098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters 0.031500430926896125 Centerline is valid? [True, True] Translation: X:292.08, Y:-45.09, Z:-5.82 [[ 9.89704507e-01 1.41802425e-01 1.94180610e-02 2.92075598e+02] [-1.41766847e-01 9.89894892e-01 -3.20365161e-03 -4.50903022e+01] [-1.96761250e-02 4.17831156e-04 9.99806319e-01 -5.82391510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254012739 meters 0.03513222259486119 Centerline is valid? [True, True] Translation: X:292.10, Y:-45.10, Z:-5.83 [[ 9.90241107e-01 1.38135929e-01 1.84665951e-02 2.92103755e+02] [-1.38103119e-01 9.90413170e-01 -3.04644780e-03 -4.51035648e+01] [-1.87103829e-02 4.66423451e-04 9.99824837e-01 -5.82547038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters 0.037051614990293795 Centerline is valid? [True, True] Translation: X:292.13, Y:-45.12, Z:-5.83 [[ 9.90531129e-01 1.35992491e-01 1.88182055e-02 2.92133860e+02] [-1.35958037e-01 9.90709733e-01 -3.10426742e-03 -4.51155969e+01] [-1.90655364e-02 5.16387239e-04 9.99818103e-01 -5.82653008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314012739 meters 0.03659882986511653 Centerline is valid? [True, True] Translation: X:292.17, Y:-45.12, Z:-5.83 [[ 9.90552471e-01 1.35786328e-01 1.91800844e-02 2.92165052e+02] [-1.35750439e-01 9.90738002e-01 -3.16693687e-03 -4.51232493e+01] [-1.94324652e-02 5.33312268e-04 9.99811030e-01 -5.82684459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters 0.04054735564230059 Centerline is valid? [True, True] Translation: X:292.20, Y:-45.14, Z:-5.83 [[ 9.90557612e-01 1.35800451e-01 1.88110108e-02 2.92195530e+02] [-1.35765875e-01 9.90736070e-01 -3.10905403e-03 -4.51367117e+01] [-1.90589579e-02 5.25803790e-04 9.99818223e-01 -5.82808996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374012739 meters 0.0366435254453769 Centerline is valid? [True, True] Translation: X:292.23, Y:-45.14, Z:-5.83 [[ 9.90567061e-01 1.35777014e-01 1.84797229e-02 2.92227711e+02] [-1.35743580e-01 9.90739286e-01 -3.05754891e-03 -4.51397504e+01] [-1.87237323e-02 5.20203503e-04 9.99824560e-01 -5.82814973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters 0.0354475473717855 Centerline is valid? [True, True] Translation: X:292.26, Y:-45.15, Z:-5.83 [[ 9.90523088e-01 1.36157019e-01 1.80355000e-02 2.92260011e+02] [-1.36125183e-01 9.90687142e-01 -2.98693182e-03 -4.51454990e+01] [-1.82742296e-02 5.03539186e-04 9.99832886e-01 -5.82898090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434012739 meters 0.036122083077354095 Centerline is valid? [True, True] Translation: X:292.29, Y:-45.15, Z:-5.83 [[ 9.90375790e-01 1.37276967e-01 1.76303323e-02 2.92289751e+02] [-1.37246662e-01 9.90532588e-01 -2.92328594e-03 -4.51546009e+01] [-1.78647185e-02 4.75447366e-04 9.99840300e-01 -5.83029079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters 0.03374698393404188 Centerline is valid? [True, True] Translation: X:292.32, Y:-45.16, Z:-5.83 [[ 9.90066171e-01 1.39659956e-01 1.62503544e-02 2.92320541e+02] [-1.39634484e-01 9.90199442e-01 -2.69726724e-03 -4.51631625e+01] [-1.64677921e-02 4.01363196e-04 9.99864316e-01 -5.83360932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494012739 meters 0.03348017280563301 Centerline is valid? [True, True] Translation: X:292.35, Y:-45.17, Z:-5.84 [[ 9.89902160e-01 1.40850110e-01 1.59674805e-02 2.92351245e+02] [-1.40825672e-01 9.90030861e-01 -2.65034304e-03 -4.51714618e+01] [-1.61815996e-02 3.74949140e-04 9.99868999e-01 -5.83520476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters 0.033110793024554865 Centerline is valid? [True, True] Translation: X:292.38, Y:-45.18, Z:-5.83 [[ 9.89805652e-01 1.41431576e-01 1.67892891e-02 2.92381719e+02] [-1.41404589e-01 9.89947958e-01 -2.78974324e-03 -4.51831402e+01] [-1.70150803e-02 3.87221096e-04 9.99855158e-01 -5.83396407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55401273900003 meters 0.0344866338910364 Centerline is valid? [True, True] Translation: X:292.41, Y:-45.19, Z:-5.83 [[ 9.89740779e-01 1.41786085e-01 1.76038839e-02 2.92411832e+02] [-1.41756416e-01 9.89897239e-01 -2.92822222e-03 -4.51936666e+01] [-1.78412172e-02 4.02717439e-04 9.99840752e-01 -5.83325736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters 0.030794036726796276 Centerline is valid? [True, True] Translation: X:292.44, Y:-45.20, Z:-5.83 [[ 9.89317622e-01 1.44442019e-01 1.96760304e-02 2.92443620e+02] [-1.44405411e-01 9.89513185e-01 -3.27629145e-03 -4.51993623e+01] [-1.99429256e-02 3.99967602e-04 9.99801040e-01 -5.82948484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61401273900003 meters 0.029757183565765687 Centerline is valid? [True, True] Translation: X:292.47, Y:-45.21, Z:-5.83 [[ 9.88938167e-01 1.46939909e-01 2.02475774e-02 2.92474493e+02] [-1.46901595e-01 9.89145354e-01 -3.37490952e-03 -4.52057693e+01] [-2.05237060e-02 3.63175412e-04 9.99789301e-01 -5.82903094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters 0.027846570249223292 Centerline is valid? [True, True] Translation: X:292.51, Y:-45.21, Z:-5.83 [[ 9.88599713e-01 1.49175485e-01 2.04275018e-02 2.92506512e+02] [-1.49136899e-01 9.88810685e-01 -3.40805489e-03 -4.52106681e+01] [-2.07073303e-02 3.22707812e-04 9.99785528e-01 -5.83005888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67401273900003 meters 0.025130917110158885 Centerline is valid? [True, True] Translation: X:292.54, Y:-45.22, Z:-5.83 [[ 9.88243805e-01 1.51499012e-01 2.05482535e-02 2.92538034e+02] [-1.51460401e-01 9.88457370e-01 -3.43149494e-03 -4.52171510e+01] [-2.08309407e-02 2.78906902e-04 9.99782974e-01 -5.83144883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters 0.026597837708987448 Centerline is valid? [True, True] Translation: X:292.57, Y:-45.23, Z:-5.83 [[ 9.88227125e-01 1.51570429e-01 2.08219882e-02 2.92567974e+02] [-1.51530769e-01 9.88446420e-01 -3.47859532e-03 -4.52295915e+01] [-2.11086719e-02 2.82470357e-04 9.99777147e-01 -5.83153568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734012739 meters 0.025426564808166886 Centerline is valid? [True, True] Translation: X:292.60, Y:-45.24, Z:-5.83 [[ 9.88274038e-01 1.51316407e-01 2.04394235e-02 2.92599903e+02] [-1.51278061e-01 9.88485338e-01 -3.41837387e-03 -4.52411017e+01] [-2.07213265e-02 2.86253797e-04 9.99785249e-01 -5.83257862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters 0.025096271345741876 Centerline is valid? [True, True] Translation: X:292.63, Y:-45.25, Z:-5.83 [[ 9.88187874e-01 1.51919438e-01 2.01298216e-02 2.92630947e+02] [-1.51882290e-01 9.88392842e-01 -3.37049685e-03 -4.52497578e+01] [-2.04082155e-02 2.73320727e-04 9.99791693e-01 -5.83358504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794012739 meters 0.02507000599265459 Centerline is valid? [True, True] Translation: X:292.66, Y:-45.26, Z:-5.83 [[ 9.88061347e-01 1.52786692e-01 1.97737601e-02 2.92660905e+02] [-1.52750954e-01 9.88259157e-01 -3.31423571e-03 -4.52584732e+01] [-2.00479706e-02 2.54207481e-04 9.99798987e-01 -5.83478412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters 0.023080515938178666 Centerline is valid? [True, True] Translation: X:292.69, Y:-45.27, Z:-5.84 [[ 9.87560640e-01 1.56006422e-01 1.96463401e-02 2.92691879e+02] [-1.55971717e-01 9.87756022e-01 -3.29598998e-03 -4.52661063e+01] [-1.99199864e-02 1.90716563e-04 9.99801559e-01 -5.83535569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854012739 meters 0.021998149136791493 Centerline is valid? [True, True] Translation: X:292.72, Y:-45.27, Z:-5.84 [[ 9.87224723e-01 1.58158629e-01 1.93182537e-02 2.92723329e+02] [-1.58125423e-01 9.87413706e-01 -3.24415725e-03 -4.52705838e+01] [-1.95881999e-02 1.48005210e-04 9.99808122e-01 -5.83627330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters 0.020849421612411784 Centerline is valid? [True, True] Translation: X:292.75, Y:-45.27, Z:-5.84 [[ 9.86351628e-01 1.63762310e-01 1.70988783e-02 2.92754752e+02] [-1.63737093e-01 9.86499825e-01 -2.87400133e-03 -4.52731890e+01] [-1.73386935e-02 3.50552687e-05 9.99849673e-01 -5.84217777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914012739 meters 0.020874518565984924 Centerline is valid? [True, True] Translation: X:292.79, Y:-45.28, Z:-5.84 [[ 9.85788149e-01 1.67206302e-01 1.62412168e-02 2.92787178e+02] [-1.67183976e-01 9.85921930e-01 -2.73246024e-03 -4.52764699e+01] [-1.64694564e-02 -2.16442666e-05 9.99864369e-01 -5.84453228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters 0.021459202378299718 Centerline is valid? [True, True] Translation: X:292.82, Y:-45.28, Z:-5.85 [[ 9.85229526e-01 1.70507831e-01 1.58070060e-02 2.92817605e+02] [-1.70487054e-01 9.85356319e-01 -2.66269337e-03 -4.52790103e+01] [-1.60295433e-02 -7.15257523e-05 9.99871516e-01 -5.84579929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974012739 meters 0.023486763739123638 Centerline is valid? [True, True] Translation: X:292.85, Y:-45.28, Z:-5.84 [[ 9.84181062e-01 1.76400791e-01 1.64437695e-02 2.92848317e+02] [-1.76379124e-01 9.84318409e-01 -2.77020985e-03 -4.52786713e+01] [-1.66745722e-02 -1.73949582e-04 9.99860955e-01 -5.84345695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters 0.026420916530842397 Centerline is valid? [True, True] Translation: X:292.88, Y:-45.27, Z:-5.84 [[ 9.83228298e-01 1.81576113e-01 1.70946843e-02 2.92879121e+02] [-1.81553477e-01 9.83376856e-01 -2.87994033e-03 -4.52745518e+01] [-1.73334452e-02 -2.71960526e-04 9.99849728e-01 -5.84328010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034012739 meters 0.031064586947167797 Centerline is valid? [True, True] Translation: X:292.91, Y:-45.27, Z:-5.84 [[ 9.82634977e-01 1.84745624e-01 1.72498429e-02 2.92908685e+02] [-1.84723071e-01 9.82786317e-01 -2.90560006e-03 -4.52689442e+01] [-1.74897064e-02 -3.31299702e-04 9.99846988e-01 -5.84460910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters 0.03380459609172746 Centerline is valid? [True, True] Translation: X:292.94, Y:-45.27, Z:-5.85 [[ 9.81987702e-01 1.88187978e-01 1.68949218e-02 2.92939011e+02] [-1.88166855e-01 9.82132953e-01 -2.84568779e-03 -4.52669440e+01] [-1.71285837e-02 -3.84633887e-04 9.99853221e-01 -5.84524105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094012739 meters 0.040116789628729346 Centerline is valid? [True, True] Translation: X:292.97, Y:-45.25, Z:-5.84 [[ 9.80528289e-01 1.95618279e-01 1.72558506e-02 2.92972015e+02] [-1.95597399e-01 9.80679975e-01 -2.90600225e-03 -4.52540551e+01] [-1.74909342e-02 -5.25782072e-04 9.99846884e-01 -5.84467815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters 0.04289988427383794 Centerline is valid? [True, True] Translation: X:293.00, Y:-45.25, Z:-5.84 [[ 9.79882502e-01 1.98769945e-01 1.79106518e-02 2.93002959e+02] [-1.98747976e-01 9.80045991e-01 -3.01631715e-03 -4.52493252e+01] [-1.81528157e-02 -6.04069398e-04 9.99835042e-01 -5.84432113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154012739 meters 0.051956423041297696 Centerline is valid? [True, True] Translation: X:293.04, Y:-45.23, Z:-5.84 [[ 9.78850370e-01 2.03732054e-01 1.85796478e-02 2.93035907e+02] [-2.03709313e-01 9.79026419e-01 -3.12848349e-03 -4.52318099e+01] [-1.88273384e-02 -7.22530059e-04 9.99822489e-01 -5.84496805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters 0.04875995344632147 Centerline is valid? [True, True] Translation: X:293.06, Y:-45.24, Z:-5.85 [[ 9.78736754e-01 2.04282439e-01 1.85216371e-02 2.93064564e+02] [-2.04259937e-01 9.78911718e-01 -3.11881007e-03 -4.52367035e+01] [-1.87681657e-02 -7.30734393e-04 9.99823595e-01 -5.84564682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214012739 meters 0.04697615859474995 Centerline is valid? [True, True] Translation: X:293.09, Y:-45.24, Z:-5.85 [[ 9.79263967e-01 2.01844670e-01 1.73439192e-02 2.93094684e+02] [-2.01824571e-01 9.79417336e-01 -2.91966935e-03 -4.52360173e+01] [-1.75762548e-02 -6.41302065e-04 9.99845320e-01 -5.84802261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters 0.04215384172395489 Centerline is valid? [True, True] Translation: X:293.12, Y:-45.24, Z:-5.85 [[ 9.79909578e-01 1.98694536e-01 1.72539701e-02 2.93124049e+02] [-1.98674164e-01 9.80061295e-01 -2.90414148e-03 -4.52437857e+01] [-1.74869853e-02 -5.82122042e-04 9.99846922e-01 -5.84894752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274012739 meters 0.04010814357660496 Centerline is valid? [True, True] Translation: X:293.15, Y:-45.25, Z:-5.85 [[ 9.80694873e-01 1.94813062e-01 1.68948760e-02 2.93152881e+02] [-1.94792962e-01 9.80840261e-01 -2.84317891e-03 -4.52478456e+01] [-1.71250630e-02 -5.02711971e-04 9.99853229e-01 -5.85035709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters 0.033039438689922054 Centerline is valid? [True, True] Translation: X:293.18, Y:-45.26, Z:-5.85 [[ 9.82139501e-01 1.87453507e-01 1.62229166e-02 2.93182420e+02] [-1.87433977e-01 9.82273411e-01 -2.72964135e-03 -4.52573700e+01] [-1.64470205e-02 -3.59837183e-04 9.99864674e-01 -5.85287614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334012739 meters 0.029585502036509125 Centerline is valid? [True, True] Translation: X:293.21, Y:-45.26, Z:-5.85 [[ 9.82875382e-01 1.83480235e-01 1.70583520e-02 2.93211803e+02] [-1.83458042e-01 9.83023351e-01 -2.87026048e-03 -4.52639612e+01] [-1.72953944e-02 -3.08383486e-04 9.99850376e-01 -5.85143987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters 0.028820021615336762 Centerline is valid? [True, True] Translation: X:293.24, Y:-45.27, Z:-5.85 [[ 9.82938370e-01 1.83082893e-01 1.76865746e-02 2.93240810e+02] [-1.83058983e-01 9.83097430e-01 -2.97535443e-03 -4.52681919e+01] [-1.79323626e-02 -3.13096330e-04 9.99839153e-01 -5.84983955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394012739 meters 0.030120456487370693 Centerline is valid? [True, True] Translation: X:293.27, Y:-45.27, Z:-5.85 [[ 9.82901949e-01 1.83256730e-01 1.79089235e-02 2.93269367e+02] [-1.83232259e-01 9.83065037e-01 -3.01191050e-03 -4.52680094e+01] [-1.81575894e-02 -3.21079803e-04 9.99835086e-01 -5.84982555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters 0.029992278992600804 Centerline is valid? [True, True] Translation: X:293.30, Y:-45.27, Z:-5.85 [[ 9.82877099e-01 1.83316291e-01 1.86479620e-02 2.93298318e+02] [-1.83289790e-01 9.83053927e-01 -3.13504897e-03 -4.52675329e+01] [-1.89066578e-02 -3.36613206e-04 9.99821197e-01 -5.84863946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454012739 meters 0.028302137629660808 Centerline is valid? [True, True] Translation: X:293.33, Y:-45.27, Z:-5.85 [[ 9.82987551e-01 1.82700036e-01 1.88724812e-02 2.93326701e+02] [-1.82672806e-01 9.83168647e-01 -3.17143131e-03 -4.52732090e+01] [-1.91342525e-02 -3.30011615e-04 9.99816869e-01 -5.84920729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters 0.025501488281694545 Centerline is valid? [True, True] Translation: X:293.35, Y:-45.28, Z:-5.85 [[ 9.83723494e-01 1.78739258e-01 1.84489759e-02 2.93354511e+02] [-1.78712556e-01 9.83896446e-01 -3.09938496e-03 -4.52802352e+01] [-1.87058636e-02 -2.48125827e-04 9.99824999e-01 -5.85108035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514012739 meters 0.023882305331619443 Centerline is valid? [True, True] Translation: X:293.38, Y:-45.29, Z:-5.85 [[ 9.84197258e-01 1.76101365e-01 1.85490421e-02 2.93382711e+02] [-1.76073921e-01 9.84372018e-01 -3.11527785e-03 -4.52869744e+01] [-1.88077627e-02 -1.99954648e-04 9.99823098e-01 -5.85175476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters 0.02270992458371796 Centerline is valid? [True, True] Translation: X:293.41, Y:-45.29, Z:-5.85 [[ 9.84656065e-01 1.73554104e-01 1.82045946e-02 2.93409718e+02] [-1.73527250e-01 9.84824325e-01 -3.05656987e-03 -4.52929447e+01] [-1.84588079e-02 -1.49323190e-04 9.99829611e-01 -5.85253263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574012739 meters 0.021435737468448516 Centerline is valid? [True, True] Translation: X:293.44, Y:-45.30, Z:-5.86 [[ 9.85504374e-01 1.68864005e-01 1.63118336e-02 2.93436326e+02] [-1.68841817e-01 9.85639358e-01 -2.73789466e-03 -4.53015757e+01] [-1.65399170e-02 -5.59124574e-05 9.99863205e-01 -5.85645432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters 0.021286109698237778 Centerline is valid? [True, True] Translation: X:293.46, Y:-45.31, Z:-5.86 [[ 9.85850306e-01 1.66896362e-01 1.56453948e-02 2.93463842e+02] [-1.66875717e-01 9.85974444e-01 -2.62513726e-03 -4.53082539e+01] [-1.58640853e-02 -2.28441109e-05 9.99874157e-01 -5.85856606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634012739 meters 0.021133834373282482 Centerline is valid? [True, True] Translation: X:293.49, Y:-45.32, Z:-5.86 [[ 9.86281991e-01 1.64245503e-01 1.64696109e-02 2.93491872e+02] [-1.64222273e-01 9.86419492e-01 -2.76237894e-03 -4.53152079e+01] [-1.66996536e-02 1.98076585e-05 9.99860551e-01 -5.85604779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters 0.021133834373282482 Centerline is valid? [True, True] Translation: X:293.52, Y:-45.32, Z:-5.86 [[ 9.86289693e-01 1.64199234e-01 1.64697408e-02 2.93519819e+02] [-1.64176011e-01 9.86427195e-01 -2.76160467e-03 -4.53198045e+01] [-1.66996536e-02 1.98058865e-05 9.99860551e-01 -5.85662306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694012739 meters 0.02116767521267987 Centerline is valid? [True, True] Translation: X:293.55, Y:-45.33, Z:-5.86 [[ 9.86437533e-01 1.63214862e-01 1.73753399e-02 2.93546672e+02] [-1.63188877e-01 9.86590547e-01 -2.91259343e-03 -4.53252504e+01] [-1.76177247e-02 3.76292695e-05 9.99844795e-01 -5.85565192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters 0.021363383190861448 Centerline is valid? [True, True] Translation: X:293.58, Y:-45.33, Z:-5.85 [[ 9.86606719e-01 1.62079290e-01 1.83708148e-02 2.93575393e+02] [-1.62050067e-01 9.86777736e-01 -3.07827047e-03 -4.53312424e+01] [-1.86268349e-02 6.00505721e-05 9.99826504e-01 -5.85467903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754012739 meters 0.02259395304960138 Centerline is valid? [True, True] Translation: X:293.60, Y:-45.34, Z:-5.85 [[ 9.87033099e-01 1.59268457e-01 1.99804878e-02 2.93601483e+02] [-1.59233332e-01 9.87235303e-01 -3.34697533e-03 -4.53428046e+01] [-2.02585105e-02 1.22015785e-04 9.99794768e-01 -5.85242993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters 0.022804244457048352 Centerline is valid? [True, True] Translation: X:293.63, Y:-45.35, Z:-5.85 [[ 9.87283889e-01 1.57596969e-01 2.08258992e-02 2.93630470e+02] [-1.57558462e-01 9.87503503e-01 -3.48735672e-03 -4.53495988e+01] [-2.11152453e-02 1.61714454e-04 9.99777035e-01 -5.85147659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814012739 meters 0.02484439058118254 Centerline is valid? [True, True] Translation: X:293.66, Y:-45.36, Z:-5.85 [[ 9.87821372e-01 1.54140504e-01 2.12047598e-02 2.93659088e+02] [-1.54099798e-01 9.88048910e-01 -3.55029712e-03 -4.53607450e+01] [-2.14985844e-02 2.39410180e-04 9.99768850e-01 -5.85118063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters 0.02577784361824367 Centerline is valid? [True, True] Translation: X:293.69, Y:-45.37, Z:-5.85 [[ 9.88063276e-01 1.52610357e-01 2.10009662e-02 2.93688538e+02] [-1.52570089e-01 9.88286399e-01 -3.51593979e-03 -4.53691091e+01] [-2.12915380e-02 2.69851718e-04 9.99773273e-01 -5.85245333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874012739 meters 0.026640825662048263 Centerline is valid? [True, True] Translation: X:293.72, Y:-45.38, Z:-5.85 [[ 9.88298660e-01 1.51135526e-01 2.05866687e-02 2.93718039e+02] [-1.51096511e-01 9.88513007e-01 -3.44657894e-03 -4.53764942e+01] [-2.08710903e-02 2.95675528e-04 9.99782131e-01 -5.85382986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters 0.027352147609253145 Centerline is valid? [True, True] Translation: X:293.75, Y:-45.38, Z:-5.86 [[ 9.88416194e-01 1.50674125e-01 1.81861477e-02 2.93747879e+02] [-1.50643602e-01 9.88583449e-01 -3.04466639e-03 -4.53833981e+01] [-1.84372770e-02 2.69770774e-04 9.99829983e-01 -5.85769882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934012739 meters 0.026300905340427175 Centerline is valid? [True, True] Translation: X:293.78, Y:-45.39, Z:-5.86 [[ 9.88086618e-01 1.52953653e-01 1.70298628e-02 2.93776855e+02] [-1.52927221e-01 9.88233340e-01 -2.85138154e-03 -4.53866730e+01] [-1.72656075e-02 2.13082347e-04 9.99850916e-01 -5.85991955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters 0.02576540402536559 Centerline is valid? [True, True] Translation: X:293.81, Y:-45.39, Z:-5.86 [[ 9.87929151e-01 1.53976699e-01 1.69460671e-02 2.93806691e+02] [-1.53950684e-01 9.88074460e-01 -2.83694903e-03 -4.53904447e+01] [-1.71808001e-02 1.93846026e-04 9.99852380e-01 -5.86065837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994012739 meters 0.027941315366747863 Centerline is valid? [True, True] Translation: X:293.84, Y:-45.39, Z:-5.86 [[ 9.87897998e-01 1.54200381e-01 1.67268450e-02 2.93836523e+02] [-1.54175074e-01 9.88039578e-01 -2.79986459e-03 -4.53948663e+01] [-1.69585250e-02 1.87118065e-04 9.99856176e-01 -5.85727822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters 0.02681905981585624 Centerline is valid? [True, True] Translation: X:293.86, Y:-45.40, Z:-5.86 [[ 9.88109454e-01 1.52779057e-01 1.72703887e-02 2.93863612e+02] [-1.52751868e-01 9.88260346e-01 -2.89044841e-03 -4.54046418e+01] [-1.75092403e-02 2.17995272e-04 9.99846678e-01 -5.86083344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05401273900003 meters 0.02751537250421218 Centerline is valid? [True, True] Translation: X:293.89, Y:-45.41, Z:-5.86 [[ 9.88267542e-01 1.51732714e-01 1.74484368e-02 2.93892523e+02] [-1.51704810e-01 9.88421533e-01 -2.91958213e-03 -4.54131831e+01] [-1.76894068e-02 2.38316461e-04 9.99843502e-01 -5.86183822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters 0.029447768713580885 Centerline is valid? [True, True] Translation: X:293.92, Y:-45.43, Z:-5.86 [[ 9.88567439e-01 1.49679033e-01 1.81825868e-02 2.93920448e+02] [-1.49648393e-01 9.88734598e-01 -3.04193209e-03 -4.54260860e+01] [-1.84330661e-02 2.86160136e-04 9.99830056e-01 -5.86183039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11401273900003 meters 0.02979428309711916 Centerline is valid? [True, True] Translation: X:293.95, Y:-45.43, Z:-5.86 [[ 9.88625170e-01 1.49317331e-01 1.80168574e-02 2.93949833e+02] [-1.49287185e-01 9.88789285e-01 -3.01431497e-03 -4.54340736e+01] [-1.82649650e-02 2.90341725e-04 9.99833139e-01 -5.86238611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters 0.02950284151058994 Centerline is valid? [True, True] Translation: X:293.98, Y:-45.44, Z:-5.86 [[ 9.88625407e-01 1.49374244e-01 1.75254059e-02 2.93980670e+02] [-1.49345730e-01 9.88780692e-01 -2.93203443e-03 -4.54399349e+01] [-1.77667534e-02 2.81339186e-04 9.99842119e-01 -5.86340860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17401273900003 meters 0.03426659171056512 Centerline is valid? [True, True] Translation: X:294.01, Y:-45.44, Z:-5.86 [[ 9.88336783e-01 1.51558070e-01 1.48511142e-02 2.94011167e+02] [-1.51537835e-01 9.88448334e-01 -2.48501438e-03 -4.54435145e+01] [-1.50561831e-02 2.05525417e-04 9.99886628e-01 -5.86019868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters 0.027270414826242963 Centerline is valid? [True, True] Translation: X:294.04, Y:-45.45, Z:-5.87 [[ 9.88134286e-01 1.52902375e-01 1.45429355e-02 2.94040505e+02] [-1.52883116e-01 9.88241282e-01 -2.43351356e-03 -4.54474211e+01] [-1.47440192e-02 1.81268886e-04 9.99891285e-01 -5.86924738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234012739 meters 0.024949060169579138 Centerline is valid? [True, True] Translation: X:294.07, Y:-45.45, Z:-5.87 [[ 9.87458222e-01 1.57097014e-01 1.57095074e-02 2.94070572e+02] [-1.57075074e-01 9.87583167e-01 -2.62856229e-03 -4.54487488e+01] [-1.59273843e-02 1.28023404e-04 9.99873143e-01 -5.86818030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters 0.024360685745652665 Centerline is valid? [True, True] Translation: X:294.10, Y:-45.45, Z:-5.87 [[ 9.87219414e-01 1.58556818e-01 1.60487761e-02 2.94100580e+02] [-1.58534121e-01 9.87349849e-01 -2.68488569e-03 -4.54521909e+01] [-1.62714636e-02 1.06292669e-04 9.99867605e-01 -5.86817630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294012739 meters 0.024251050432110184 Centerline is valid? [True, True] Translation: X:294.13, Y:-45.46, Z:-5.87 [[ 9.87132514e-01 1.59056276e-01 1.64468989e-02 2.94128495e+02] [-1.59032510e-01 9.87269513e-01 -2.75132753e-03 -4.54571268e+01] [-1.66751378e-02 1.00333239e-04 9.99860955e-01 -5.86771041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters 0.024681947155532156 Centerline is valid? [True, True] Translation: X:294.16, Y:-45.46, Z:-5.87 [[ 9.87307431e-01 1.57921683e-01 1.68753715e-02 2.94156985e+02] [-1.57896504e-01 9.87451633e-01 -2.82256473e-03 -4.54647659e+01] [-1.71093573e-02 1.22176962e-04 9.99853617e-01 -5.86805695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354012739 meters 0.02529901138886672 Centerline is valid? [True, True] Translation: X:294.19, Y:-45.47, Z:-5.87 [[ 9.87521768e-01 1.56514021e-01 1.74389858e-02 2.94186203e+02] [-1.56486921e-01 9.87675725e-01 -2.91632936e-03 -4.54737038e+01] [-1.76805094e-02 1.50965533e-04 9.99843676e-01 -5.86785184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters 0.027459014984676955 Centerline is valid? [True, True] Translation: X:294.21, Y:-45.49, Z:-5.87 [[ 9.88138393e-01 1.52424832e-01 1.86865588e-02 2.94214609e+02] [-1.52392985e-01 9.88315037e-01 -3.12494532e-03 -4.54875666e+01] [-1.89445263e-02 2.40177983e-04 9.99820508e-01 -5.86625772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414012739 meters 0.029635555876620912 Centerline is valid? [True, True] Translation: X:294.24, Y:-45.50, Z:-5.86 [[ 9.88591453e-01 1.49229999e-01 2.04290377e-02 2.94243330e+02] [-1.49191246e-01 9.88802457e-01 -3.41666643e-03 -4.55042073e+01] [-2.07101518e-02 3.29853645e-04 9.99785467e-01 -5.86395300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters 0.030430296175041772 Centerline is valid? [True, True] Translation: X:294.27, Y:-45.52, Z:-5.86 [[ 9.88711793e-01 1.48266832e-01 2.15855807e-02 2.94274425e+02] [-1.48223259e-01 9.88947323e-01 -3.61364914e-03 -4.55156671e+01] [-2.18827866e-02 3.73372401e-04 9.99760473e-01 -5.86276744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474012739 meters 0.031611312692725706 Centerline is valid? [True, True] Translation: X:294.30, Y:-45.53, Z:-5.86 [[ 9.88867364e-01 1.47162415e-01 2.20127242e-02 2.94304265e+02] [-1.47116746e-01 9.89112257e-01 -3.68875580e-03 -4.55265540e+01] [-2.23159015e-02 4.09249876e-04 9.99750885e-01 -5.86276731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters 0.03240623830552256 Centerline is valid? [True, True] Translation: X:294.34, Y:-45.54, Z:-5.87 [[ 9.89088575e-01 1.45972109e-01 1.98980880e-02 2.94335138e+02] [-1.45934521e-01 9.89288627e-01 -3.33602638e-03 -4.55372360e+01] [-2.01719190e-02 3.95807638e-04 9.99796448e-01 -5.86739446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534012739 meters 0.03306421040892351 Centerline is valid? [True, True] Translation: X:294.37, Y:-45.55, Z:-5.87 [[ 9.89065217e-01 1.46319137e-01 1.84582334e-02 2.94365722e+02] [-1.46286800e-01 9.89237372e-01 -3.09746844e-03 -4.55464195e+01] [-1.87127932e-02 3.63402409e-04 9.99824834e-01 -5.87051291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters 0.03263887400152865 Centerline is valid? [True, True] Translation: X:294.40, Y:-45.56, Z:-5.87 [[ 9.88984058e-01 1.47055653e-01 1.68869100e-02 2.94395826e+02] [-1.47028646e-01 9.89128167e-01 -2.83657904e-03 -4.55578463e+01] [-1.71204533e-02 3.22471936e-04 9.99853382e-01 -5.87229590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594012739 meters 0.03136650647262497 Centerline is valid? [True, True] Translation: X:294.43, Y:-45.56, Z:-5.87 [[ 9.88873315e-01 1.47791646e-01 1.69468868e-02 2.94427186e+02] [-1.47764512e-01 9.89018469e-01 -2.84918996e-03 -4.55633626e+01] [-1.71818705e-02 3.13339454e-04 9.99852332e-01 -5.87184300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters 0.03637608588469327 Centerline is valid? [True, True] Translation: X:294.46, Y:-45.57, Z:-5.86 [[ 9.88408789e-01 1.50767757e-01 1.78086741e-02 2.94457710e+02] [-1.50738218e-01 9.88569171e-01 -2.99726171e-03 -4.55706579e+01] [-1.80569966e-02 2.78072022e-04 9.99836920e-01 -5.86471400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654012739 meters 0.029079293328775506 Centerline is valid? [True, True] Translation: X:294.49, Y:-45.58, Z:-5.87 [[ 9.88178664e-01 1.52227980e-01 1.81540415e-02 2.94488613e+02] [-1.52197477e-01 9.88345372e-01 -3.05826766e-03 -4.55756857e+01] [-1.84080168e-02 2.59115539e-04 9.99830525e-01 -5.87231510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters 0.02793171021305878 Centerline is valid? [True, True] Translation: X:294.52, Y:-45.58, Z:-5.87 [[ 9.87881874e-01 1.54173744e-01 1.78846048e-02 2.94519880e+02] [-1.54144411e-01 9.88043728e-01 -3.01550446e-03 -4.55809022e+01] [-1.81356832e-02 2.22150339e-04 9.99835510e-01 -5.87374420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714012739 meters 0.025961094262980544 Centerline is valid? [True, True] Translation: X:294.55, Y:-45.59, Z:-5.88 [[ 9.87382457e-01 1.57432078e-01 1.70594130e-02 2.94551434e+02] [-1.57405831e-01 9.87529805e-01 -2.87896176e-03 -4.55850062e+01] [-1.72999198e-02 1.57385248e-04 9.99850333e-01 -5.87510388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters 0.025784417059855874 Centerline is valid? [True, True] Translation: X:294.58, Y:-45.59, Z:-5.88 [[ 9.87151300e-01 1.58909783e-01 1.67329477e-02 2.94582297e+02] [-1.58884698e-01 9.87293099e-01 -2.82651827e-03 -4.55912146e+01] [-1.69694852e-02 1.31591837e-04 9.99855999e-01 -5.87709245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774012739 meters 0.024592884917617727 Centerline is valid? [True, True] Translation: X:294.61, Y:-45.60, Z:-5.88 [[ 9.86914203e-01 1.60408505e-01 1.64154822e-02 2.94614364e+02] [-1.60384531e-01 9.87050708e-01 -2.77522671e-03 -4.55966296e+01] [-1.66480833e-02 1.06121250e-04 9.99861405e-01 -5.87770713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters 0.024215451858823452 Centerline is valid? [True, True] Translation: X:294.65, Y:-45.60, Z:-5.88 [[ 9.86865817e-01 1.60689726e-01 1.65732100e-02 2.94646683e+02] [-1.60665287e-01 9.87004965e-01 -2.80443321e-03 -4.56021047e+01] [-1.68084842e-02 1.04859738e-04 9.99858722e-01 -5.87819579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834012739 meters 0.023997268547877978 Centerline is valid? [True, True] Translation: X:294.68, Y:-45.61, Z:-5.88 [[ 9.86793125e-01 1.60978461e-01 1.80350826e-02 2.94679172e+02] [-1.60949496e-01 9.86957913e-01 -3.05568626e-03 -4.56084756e+01] [-1.82917671e-02 1.12592746e-04 9.99832685e-01 -5.87636157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters 0.02377633713202538 Centerline is valid? [True, True] Translation: X:294.71, Y:-45.61, Z:-5.88 [[ 9.86594465e-01 1.62133895e-01 1.85462150e-02 2.94710658e+02] [-1.62103398e-01 9.86768762e-01 -3.14608544e-03 -4.56128174e+01] [-1.88109127e-02 9.75060151e-05 9.99823054e-01 -5.87580401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894012739 meters 0.023153625684226666 Centerline is valid? [True, True] Translation: X:294.74, Y:-45.62, Z:-5.88 [[ 9.86098606e-01 1.65127385e-01 1.85063938e-02 2.94742052e+02] [-1.65097486e-01 9.86272247e-01 -3.14251577e-03 -4.56154487e+01] [-1.87712580e-02 4.34713310e-05 9.99823803e-01 -5.87633272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters 0.02286703563330578 Centerline is valid? [True, True] Translation: X:294.77, Y:-45.62, Z:-5.88 [[ 9.85848521e-01 1.66684522e-01 1.78595829e-02 2.94773345e+02] [-1.66656883e-01 9.86010279e-01 -3.03535521e-03 -4.56195902e+01] [-1.81156790e-02 1.59780267e-05 9.99835897e-01 -5.87895281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954012739 meters 0.022838838529742587 Centerline is valid? [True, True] Translation: X:294.81, Y:-45.62, Z:-5.88 [[ 9.85650383e-01 1.67968260e-01 1.67327956e-02 2.94805410e+02] [-1.67944135e-01 9.85792404e-01 -2.84670373e-03 -4.56235192e+01] [-1.69732187e-02 -4.32026830e-06 9.99855945e-01 -5.88195317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters 0.022969677960147702 Centerline is valid? [True, True] Translation: X:294.84, Y:-45.63, Z:-5.88 [[ 9.85295026e-01 1.70032478e-01 1.68127151e-02 2.94838193e+02] [-1.70008377e-01 9.85438458e-01 -2.86300864e-03 -4.56252557e+01] [-1.70547005e-02 -3.73942189e-05 9.99854557e-01 -5.88306045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014012739 meters 0.023134307440706752 Centerline is valid? [True, True] Translation: X:294.87, Y:-45.63, Z:-5.88 [[ 9.85088220e-01 1.71129902e-01 1.77694894e-02 2.94868654e+02] [-1.71103093e-01 9.85248473e-01 -3.02955914e-03 -4.56279622e+01] [-1.80258105e-02 -5.60315745e-05 9.99837520e-01 -5.88167796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters 0.024021710625604403 Centerline is valid? [True, True] Translation: X:294.90, Y:-45.62, Z:-5.88 [[ 9.84389816e-01 1.74716268e-01 2.12347924e-02 2.94898968e+02] [-1.74678809e-01 9.84618812e-01 -3.62064434e-03 -4.56244059e+01] [-2.15407615e-02 -1.45142828e-04 9.99767960e-01 -5.87587351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074012739 meters 0.0248500116158397 Centerline is valid? [True, True] Translation: X:294.93, Y:-45.63, Z:-5.87 [[ 9.84013705e-01 1.76646566e-01 2.26499115e-02 2.94930884e+02] [-1.76604462e-01 9.84274327e-01 -3.86173340e-03 -4.56262159e+01] [-2.29758883e-02 -2.00076852e-04 9.99735999e-01 -5.87379102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters 0.026214616639517994 Centerline is valid? [True, True] Translation: X:294.96, Y:-45.62, Z:-5.88 [[ 9.83541489e-01 1.79439175e-01 2.11594428e-02 2.94962251e+02] [-1.79403067e-01 9.83769039e-01 -3.60806489e-03 -4.56246445e+01] [-2.14634329e-02 -2.47387428e-04 9.99769603e-01 -5.87799861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134012739 meters 0.026792927075762245 Centerline is valid? [True, True] Translation: X:294.99, Y:-45.63, Z:-5.88 [[ 9.83543701e-01 1.79637635e-01 1.92901011e-02 2.94991121e+02] [-1.79607664e-01 9.83732823e-01 -3.28930020e-03 -4.56274596e+01] [-1.95671878e-02 -2.29479507e-04 9.99808518e-01 -5.88248823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters 0.025787641425286303 Centerline is valid? [True, True] Translation: X:295.02, Y:-45.63, Z:-5.89 [[ 9.83783721e-01 1.78443865e-01 1.80935939e-02 2.95020596e+02] [-1.78417292e-01 9.83950075e-01 -3.08549074e-03 -4.56338652e+01] [-1.83537800e-02 -1.92754461e-04 9.99831537e-01 -5.88545137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194012739 meters 0.023779017299554922 Centerline is valid? [True, True] Translation: X:295.05, Y:-45.64, Z:-5.89 [[ 9.84640111e-01 1.73701681e-01 1.76515901e-02 2.95050398e+02] [-1.73675628e-01 9.84798312e-01 -3.01010119e-03 -4.56429061e+01] [-1.79061158e-02 -1.01784620e-04 9.99839667e-01 -5.88635254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters 0.023200432109888293 Centerline is valid? [True, True] Translation: X:295.08, Y:-45.65, Z:-5.89 [[ 9.85012322e-01 1.71578816e-01 1.76475362e-02 2.95079490e+02] [-1.71552432e-01 9.85170394e-01 -3.00953572e-03 -4.56515399e+01] [-1.79022028e-02 -6.30479777e-05 9.99839741e-01 -5.88698043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254012739 meters 0.022988881667240557 Centerline is valid? [True, True] Translation: X:295.11, Y:-45.66, Z:-5.89 [[ 9.85471055e-01 1.68928444e-01 1.76062383e-02 2.95109382e+02] [-1.68901764e-01 9.85628318e-01 -3.00226469e-03 -4.56627581e+01] [-1.78603750e-02 -1.50797560e-05 9.99840491e-01 -5.88766804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters 0.036733871320703965 Centerline is valid? [True, True] Translation: X:295.14, Y:-45.67, Z:-5.88 [[ 9.85637429e-01 1.68043550e-01 1.67398647e-02 2.95140587e+02] [-1.68019274e-01 9.85779572e-01 -2.85625098e-03 -4.56695380e+01] [-1.69817912e-02 2.60796625e-06 9.99855799e-01 -5.88007179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314012739 meters 0.023209037520404246 Centerline is valid? [True, True] Translation: X:295.17, Y:-45.67, Z:-5.89 [[ 9.85989950e-01 1.66043403e-01 1.59187572e-02 2.95171381e+02] [-1.66021184e-01 9.86118445e-01 -2.71650690e-03 -4.56743553e+01] [-1.61488381e-02 3.55975810e-05 9.99869598e-01 -5.89157022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters 0.023305444571716134 Centerline is valid? [True, True] Translation: X:295.20, Y:-45.68, Z:-5.89 [[ 9.86081486e-01 1.65468546e-01 1.62315430e-02 2.95201390e+02] [-1.65445360e-01 9.86215067e-01 -2.77033837e-03 -4.56816214e+01] [-1.64661962e-02 4.63458931e-05 9.99864422e-01 -5.89254384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374012739 meters 0.023749091696864563 Centerline is valid? [True, True] Translation: X:295.23, Y:-45.69, Z:-5.89 [[ 9.86378773e-01 1.63494788e-01 1.80656976e-02 2.95232187e+02] [-1.63465736e-01 9.86544194e-01 -3.08330142e-03 -4.56933504e+01] [-1.83267127e-02 8.81805269e-05 9.99832048e-01 -5.88985609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters 0.024301237122094674 Centerline is valid? [True, True] Translation: X:295.26, Y:-45.70, Z:-5.89 [[ 9.86615481e-01 1.61989670e-01 1.86879213e-02 2.95262343e+02] [-1.61958244e-01 9.86792446e-01 -3.19307304e-03 -4.57022441e+01] [-1.89583444e-02 1.23672373e-04 9.99820267e-01 -5.88934424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434012739 meters 0.026406020131588756 Centerline is valid? [True, True] Translation: X:295.29, Y:-45.72, Z:-5.89 [[ 9.87306834e-01 1.57802719e-01 1.79865903e-02 2.95293046e+02] [-1.57772864e-01 9.87470639e-01 -3.07589733e-03 -4.57156788e+01] [-1.82466148e-02 1.99058575e-04 9.99833497e-01 -5.89199096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters 0.027680010209543894 Centerline is valid? [True, True] Translation: X:295.32, Y:-45.73, Z:-5.89 [[ 9.87579745e-01 1.56163701e-01 1.72958265e-02 2.95323350e+02] [-1.56135796e-01 9.87731162e-01 -2.96054042e-03 -4.57265559e+01] [-1.75459557e-02 2.23272123e-04 9.99846033e-01 -5.89372163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494012739 meters 0.028527672511815472 Centerline is valid? [True, True] Translation: X:295.35, Y:-45.74, Z:-5.89 [[ 9.87766748e-01 1.55014783e-01 1.69489765e-02 2.95354310e+02] [-1.54987773e-01 9.87912121e-01 -2.90370568e-03 -4.57366943e+01] [-1.71942166e-02 2.41299802e-04 9.99852139e-01 -5.89489044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters 0.028527672511815472 Centerline is valid? [True, True] Translation: X:295.39, Y:-45.74, Z:-5.90 [[ 9.87737992e-01 1.55197960e-01 1.69485167e-02 2.95386312e+02] [-1.55170931e-01 9.87883361e-01 -2.90638652e-03 -4.57423782e+01] [-1.71942229e-02 2.40831274e-04 9.99852139e-01 -5.89555081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55401273900003 meters 0.02886935567708023 Centerline is valid? [True, True] Translation: X:295.42, Y:-45.75, Z:-5.89 [[ 9.87802109e-01 1.54576571e-01 1.87903327e-02 2.95417546e+02] [-1.54543158e-01 9.87980771e-01 -3.22622976e-03 -4.57531770e+01] [-1.90631869e-02 2.82959204e-04 9.99818241e-01 -5.89222972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters 0.029027454756438763 Centerline is valid? [True, True] Translation: X:295.45, Y:-45.76, Z:-5.89 [[ 9.87776090e-01 1.54581969e-01 2.00701496e-02 2.95448952e+02] [-1.54543768e-01 9.87979919e-01 -3.45004865e-03 -4.57618471e+01] [-2.03622201e-02 3.06159016e-04 9.99792622e-01 -5.89062505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61401273900003 meters 0.02941375834186568 Centerline is valid? [True, True] Translation: X:295.48, Y:-45.78, Z:-5.89 [[ 9.87823872e-01 1.54449843e-01 1.86880942e-02 2.95479872e+02] [-1.54416661e-01 9.88000588e-01 -3.21443045e-03 -4.57754383e+01] [-1.89603163e-02 2.89538017e-04 9.99820195e-01 -5.89388797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters 0.02940735784672172 Centerline is valid? [True, True] Translation: X:295.51, Y:-45.78, Z:-5.90 [[ 9.87787617e-01 1.54964780e-01 1.61722186e-02 2.95510638e+02] [-1.54939955e-01 9.87919965e-01 -2.78449916e-03 -4.57840638e+01] [-1.64083569e-02 2.44770972e-04 9.99865344e-01 -5.89965862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67401273900003 meters 0.02763794165085492 Centerline is valid? [True, True] Translation: X:295.54, Y:-45.79, Z:-5.90 [[ 9.87391953e-01 1.57557258e-01 1.52591666e-02 2.95542299e+02] [-1.57535444e-01 9.87509835e-01 -2.62872925e-03 -4.57907328e+01] [-1.54827525e-02 1.91726521e-04 9.99880117e-01 -5.90160554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters 0.025995795133192945 Centerline is valid? [True, True] Translation: X:295.57, Y:-45.79, Z:-5.90 [[ 9.86958374e-01 1.60145524e-01 1.63272200e-02 2.95574351e+02] [-1.60120855e-01 9.87093402e-01 -2.81563314e-03 -4.57945434e+01] [-1.65674022e-02 1.64584277e-04 9.99862738e-01 -5.89856765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734012739 meters 0.0226764229340079 Centerline is valid? [True, True] Translation: X:295.61, Y:-45.79, Z:-5.90 [[ 9.85706017e-01 1.67522108e-01 1.78882944e-02 2.95607411e+02] [-1.67493649e-01 9.85868318e-01 -3.08809608e-03 -4.57920851e+01] [-1.81528270e-02 4.77791908e-05 9.99835223e-01 -5.89540729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters 0.022521523820268147 Centerline is valid? [True, True] Translation: X:295.64, Y:-45.79, Z:-5.90 [[ 9.85070649e-01 1.71209430e-01 1.79762914e-02 2.95639422e+02] [-1.71181249e-01 9.85234658e-01 -3.10634368e-03 -4.57929781e+01] [-1.82427007e-02 -1.72360260e-05 9.99833588e-01 -5.89668202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794012739 meters 0.026990472934416077 Centerline is valid? [True, True] Translation: X:295.67, Y:-45.80, Z:-5.89 [[ 9.84490092e-01 1.74465337e-01 1.84690337e-02 2.95672275e+02] [-1.74436098e-01 9.84663313e-01 -3.19491369e-03 -4.57951984e+01] [-1.87431816e-02 -7.63052846e-05 9.99824328e-01 -5.89186973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters 0.02410307428873878 Centerline is valid? [True, True] Translation: X:295.70, Y:-45.79, Z:-5.90 [[ 9.83738470e-01 1.78602750e-01 1.89652339e-02 2.95704555e+02] [-1.78572610e-01 9.83921254e-01 -3.28472849e-03 -4.57933287e+01] [-1.92469582e-02 -1.55357536e-04 9.99814748e-01 -5.89735379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854012739 meters 0.024387857571943287 Centerline is valid? [True, True] Translation: X:295.74, Y:-45.80, Z:-5.90 [[ 9.83751780e-01 1.78609510e-01 1.81955310e-02 2.95735802e+02] [-1.78581716e-01 9.83920028e-01 -3.15422941e-03 -4.57985223e+01] [-1.84663228e-02 -1.46410368e-04 9.99829472e-01 -5.90000931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters 0.023779782714669538 Centerline is valid? [True, True] Translation: X:295.77, Y:-45.81, Z:-5.90 [[ 9.83885169e-01 1.77881474e-01 1.81150559e-02 2.95767142e+02] [-1.77853742e-01 9.84051911e-01 -3.14357086e-03 -4.58057417e+01] [-1.83853384e-02 -1.28917725e-04 9.99830967e-01 -5.90063887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914012739 meters 0.023055859383942834 Centerline is valid? [True, True] Translation: X:295.80, Y:-45.81, Z:-5.90 [[ 9.84082666e-01 1.76739810e-01 1.85565807e-02 2.95798204e+02] [-1.76710449e-01 9.84257602e-01 -3.22322523e-03 -4.58137516e+01] [-1.88341278e-02 -1.07221629e-04 9.99822616e-01 -5.90017402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters 0.0225756527269661 Centerline is valid? [True, True] Translation: X:295.83, Y:-45.82, Z:-5.90 [[ 9.84486532e-01 1.74327555e-01 1.99040431e-02 2.95829010e+02] [-1.74293210e-01 9.84687717e-01 -3.46084423e-03 -4.58213899e+01] [-2.02025873e-02 -6.19850347e-05 9.99795905e-01 -5.89856913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974012739 meters 0.022514222343168914 Centerline is valid? [True, True] Translation: X:295.86, Y:-45.83, Z:-5.90 [[ 9.84497245e-01 1.74215760e-01 2.03480465e-02 2.95861806e+02] [-1.74179774e-01 9.84707503e-01 -3.54127766e-03 -4.58272063e+01] [-2.06538204e-02 -5.78400494e-05 9.99786685e-01 -5.89763159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters 0.022751395856042342 Centerline is valid? [True, True] Translation: X:295.90, Y:-45.83, Z:-5.90 [[ 9.84103346e-01 1.76411160e-01 2.04867550e-02 2.95895135e+02] [-1.76375079e-01 9.84316561e-01 -3.56915786e-03 -4.58270508e+01] [-2.07950915e-02 -1.00932854e-04 9.99783754e-01 -5.89753441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034012739 meters 0.02380521960877993 Centerline is valid? [True, True] Translation: X:295.93, Y:-45.83, Z:-5.90 [[ 9.83751114e-01 1.78437129e-01 1.98478396e-02 2.95926455e+02] [-1.78403601e-01 9.83951306e-01 -3.46154978e-03 -4.58260832e+01] [-2.01469767e-02 -1.35622608e-04 9.99797020e-01 -5.89884279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters 0.023779394850969582 Centerline is valid? [True, True] Translation: X:295.96, Y:-45.83, Z:-5.90 [[ 9.83426459e-01 1.80297670e-01 1.91088861e-02 2.95958621e+02] [-1.80266889e-01 9.83612080e-01 -3.33550551e-03 -4.58297866e+01] [-1.93971151e-02 -1.64475075e-04 9.99811845e-01 -5.90079950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094012739 meters 0.024813485299481516 Centerline is valid? [True, True] Translation: X:295.99, Y:-45.83, Z:-5.90 [[ 9.83046155e-01 1.82464279e-01 1.80843732e-02 2.95989744e+02] [-1.82437022e-01 9.83212464e-01 -3.15965676e-03 -4.58301994e+01] [-1.83573057e-02 -1.93170776e-04 9.99831472e-01 -5.90328972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters 0.025190342843593044 Centerline is valid? [True, True] Translation: X:296.02, Y:-45.83, Z:-5.90 [[ 9.82904498e-01 1.83237877e-01 1.79618627e-02 2.96020737e+02] [-1.83211060e-01 9.83068583e-01 -3.14139188e-03 -4.58337500e+01] [-1.82333649e-02 -2.03123692e-04 9.99833738e-01 -5.90385482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154012739 meters 0.025648454292056967 Centerline is valid? [True, True] Translation: X:296.05, Y:-45.84, Z:-5.91 [[ 9.82756764e-01 1.84049859e-01 1.77423845e-02 2.96050804e+02] [-1.84023817e-01 9.82916885e-01 -3.10348759e-03 -4.58365946e+01] [-1.80104857e-02 -2.15047888e-04 9.99837775e-01 -5.90508136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters 0.027412233504054504 Centerline is valid? [True, True] Translation: X:296.08, Y:-45.84, Z:-5.91 [[ 9.82724700e-01 1.84185669e-01 1.81053545e-02 2.96081028e+02] [-1.84158573e-01 9.82891444e-01 -3.16700094e-03 -4.58355833e+01] [-1.83789142e-02 -2.21966203e-04 9.99831069e-01 -5.90631538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214012739 meters 0.0246273328017643 Centerline is valid? [True, True] Translation: X:296.11, Y:-45.85, Z:-5.90 [[ 9.83063213e-01 1.82266340e-01 1.91233179e-02 2.96110305e+02] [-1.82235753e-01 9.83249176e-01 -3.34478803e-03 -4.58495750e+01] [-1.94126289e-02 -1.96814183e-04 9.99811538e-01 -5.90452529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters 0.03102721478567939 Centerline is valid? [True, True] Translation: X:296.14, Y:-45.86, Z:-5.90 [[ 9.83374894e-01 1.80607085e-01 1.88387527e-02 2.96141098e+02] [-1.80577092e-01 9.83555314e-01 -3.29529576e-03 -4.58598136e+01] [-1.91241090e-02 -1.61336056e-04 9.99817104e-01 -5.89747662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274012739 meters 0.02318229199942146 Centerline is valid? [True, True] Translation: X:296.17, Y:-45.87, Z:-5.91 [[ 9.83673199e-01 1.78980269e-01 1.87909710e-02 2.96171684e+02] [-1.78950069e-01 9.83852655e-01 -3.29019519e-03 -4.58667562e+01] [-1.90764268e-02 -1.26168731e-04 9.99818020e-01 -5.90701871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters 0.022455497694567946 Centerline is valid? [True, True] Translation: X:296.20, Y:-45.88, Z:-5.91 [[ 9.84253343e-01 1.75882041e-01 1.76313456e-02 2.96202457e+02] [-1.75854909e-01 9.84411248e-01 -3.08975575e-03 -4.58784472e+01] [-1.78999274e-02 -5.94562570e-05 9.99839782e-01 -5.91024279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334012739 meters 0.0222323233278252 Centerline is valid? [True, True] Translation: X:296.23, Y:-45.89, Z:-5.91 [[ 9.84410574e-01 1.74975091e-01 1.78756630e-02 2.96234456e+02] [-1.74947000e-01 9.84572860e-01 -3.13553734e-03 -4.58876229e+01] [-1.81485336e-02 -4.06374936e-05 9.99835301e-01 -5.91032222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters 0.021938922273810182 Centerline is valid? [True, True] Translation: X:296.26, Y:-45.90, Z:-5.91 [[ 9.84550973e-01 1.73911903e-01 2.03477412e-02 2.96264729e+02] [-1.73875183e-01 9.84761214e-01 -3.57368128e-03 -4.58986310e+01] [-2.06591721e-02 -1.94958495e-05 9.99786576e-01 -5.90646960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394012739 meters 0.02196239859598556 Centerline is valid? [True, True] Translation: X:296.30, Y:-45.91, Z:-5.91 [[ 9.84540146e-01 1.73985348e-01 2.02434888e-02 2.96296086e+02] [-1.73948943e-01 9.84748241e-01 -3.55906037e-03 -4.59050339e+01] [-2.05539643e-02 -1.72956574e-05 9.99788745e-01 -5.90659356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters 0.02180649823725247 Centerline is valid? [True, True] Translation: X:296.33, Y:-45.91, Z:-5.91 [[ 9.84419229e-01 1.74689010e-01 2.00632026e-02 2.96328301e+02] [-1.74653324e-01 9.84623658e-01 -3.53096454e-03 -4.59107325e+01] [-2.03715246e-02 -2.81556159e-05 9.99792479e-01 -5.90780320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454012739 meters 0.022279383552316775 Centerline is valid? [True, True] Translation: X:296.36, Y:-45.91, Z:-5.91 [[ 9.84092594e-01 1.76674132e-01 1.86552219e-02 2.96359780e+02] [-1.76643571e-01 9.84269398e-01 -3.28653316e-03 -4.59142734e+01] [-1.89424094e-02 -6.10720791e-05 9.99820575e-01 -5.91187115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters 0.022563889125822623 Centerline is valid? [True, True] Translation: X:296.39, Y:-45.92, Z:-5.91 [[ 9.83760738e-01 1.78584685e-01 1.79533125e-02 2.96392614e+02] [-1.78556643e-01 9.83924541e-01 -3.16597480e-03 -4.59205614e+01] [-1.82300994e-02 -9.11215047e-05 9.99833814e-01 -5.91375481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514012739 meters 0.023063830374464626 Centerline is valid? [True, True] Translation: X:296.42, Y:-45.92, Z:-5.91 [[ 9.83501943e-01 1.80037753e-01 1.76163406e-02 2.96423811e+02] [-1.80010925e-01 9.83659695e-01 -3.11000980e-03 -4.59232229e+01] [-1.78884034e-02 -1.12433086e-04 9.99839983e-01 -5.91491734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters 0.02331120297513599 Centerline is valid? [True, True] Translation: X:296.46, Y:-45.93, Z:-5.91 [[ 9.83194204e-01 1.81693874e-01 1.77902556e-02 2.96455922e+02] [-1.81666734e-01 9.83355132e-01 -3.14352854e-03 -4.59276004e+01] [-1.80652991e-02 -1.41198593e-04 9.99836799e-01 -5.91487110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574012739 meters 0.025967490788256328 Centerline is valid? [True, True] Translation: X:296.49, Y:-45.93, Z:-5.91 [[ 9.82410793e-01 1.85773666e-01 1.88991551e-02 2.96486595e+02] [-1.85743721e-01 9.82592537e-01 -3.34306717e-03 -4.59267538e+01] [-1.91912226e-02 -2.26134114e-04 9.99815806e-01 -5.91250187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters 0.0267398681862248 Centerline is valid? [True, True] Translation: X:296.52, Y:-45.93, Z:-5.91 [[ 9.82091198e-01 1.87387733e-01 1.95631168e-02 2.96517463e+02] [-1.87355947e-01 9.82285990e-01 -3.46152392e-03 -4.59295417e+01] [-1.98652227e-02 -2.65734109e-04 9.99802632e-01 -5.91233575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634012739 meters 0.028167304728508646 Centerline is valid? [True, True] Translation: X:296.55, Y:-45.93, Z:-5.91 [[ 9.81379396e-01 1.91084677e-01 1.95224832e-02 2.96548844e+02] [-1.91053750e-01 9.81573497e-01 -3.45456185e-03 -4.59300688e+01] [-1.98228659e-02 -3.39607791e-04 9.99803450e-01 -5.91367431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters 0.031076671186599195 Centerline is valid? [True, True] Translation: X:296.58, Y:-45.93, Z:-5.91 [[ 9.81046036e-01 1.92827297e-01 1.91391890e-02 2.96579179e+02] [-1.92797898e-01 9.81232642e-01 -3.38698987e-03 -4.59297134e+01] [-1.94331011e-02 -3.67202426e-04 9.99811092e-01 -5.91468883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694012739 meters 0.0328243829039053 Centerline is valid? [True, True] Translation: X:296.61, Y:-45.93, Z:-5.92 [[ 9.80820520e-01 1.93982345e-01 1.90251620e-02 2.96607861e+02] [-1.93953517e-01 9.81004944e-01 -3.36660053e-03 -4.59316649e+01] [-1.93168390e-02 -3.87966189e-04 9.99813337e-01 -5.91562113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters 0.03481500429038047 Centerline is valid? [True, True] Translation: X:296.64, Y:-45.93, Z:-5.92 [[ 9.80485810e-01 1.95729353e-01 1.83737923e-02 2.96636350e+02] [-1.95702783e-01 9.80657868e-01 -3.25073976e-03 -4.59328119e+01] [-1.86546692e-02 -4.08498075e-04 9.99825903e-01 -5.91696289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754012739 meters 0.03738059973593974 Centerline is valid? [True, True] Translation: X:296.67, Y:-45.93, Z:-5.92 [[ 9.79892723e-01 1.98667489e-01 1.84791805e-02 2.96666070e+02] [-1.98641152e-01 9.80066839e-01 -3.26851965e-03 -4.59328511e+01] [-1.87601806e-02 -4.67927069e-04 9.99823903e-01 -5.91756426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters 0.036631778214716436 Centerline is valid? [True, True] Translation: X:296.69, Y:-45.94, Z:-5.92 [[ 9.79663915e-01 1.99744640e-01 1.89919160e-02 2.96694122e+02] [-1.99717036e-01 9.79847859e-01 -3.35855186e-03 -4.59384403e+01] [-1.92800409e-02 -5.02757094e-04 9.99813996e-01 -5.91751391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814012739 meters 0.03695177536694982 Centerline is valid? [True, True] Translation: X:296.72, Y:-45.94, Z:-5.92 [[ 9.79439813e-01 2.00732510e-01 2.01025623e-02 2.96723145e+02] [-2.00701810e-01 9.79645932e-01 -3.55394740e-03 -4.59422672e+01] [-2.04067862e-02 -5.53743066e-04 9.99791607e-01 -5.91677718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters 0.037852728272533526 Centerline is valid? [True, True] Translation: X:296.75, Y:-45.94, Z:-5.92 [[ 9.79300539e-01 2.01210448e-01 2.20183904e-02 2.96750949e+02] [-2.01173755e-01 9.79547841e-01 -3.89192945e-03 -4.59423519e+01] [-2.23511637e-02 -6.18153672e-04 9.99749990e-01 -5.91509282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874012739 meters 0.03904819508588355 Centerline is valid? [True, True] Translation: X:296.78, Y:-45.94, Z:-5.92 [[ 9.79449080e-01 2.00586607e-01 2.10834562e-02 2.96779148e+02] [-2.00552838e-01 9.79675802e-01 -3.72578042e-03 -4.59436783e+01] [-2.14022935e-02 -5.79134770e-04 9.99770777e-01 -5.91672964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters 0.03659707907398246 Centerline is valid? [True, True] Translation: X:296.81, Y:-45.95, Z:-5.92 [[ 9.79816755e-01 1.98968301e-01 1.92546650e-02 2.96807721e+02] [-1.98939845e-01 9.80005800e-01 -3.40154107e-03 -4.59501694e+01] [-1.95464822e-02 -4.97633133e-04 9.99808825e-01 -5.92077136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934012739 meters 0.03884844889879363 Centerline is valid? [True, True] Translation: X:296.84, Y:-45.95, Z:-5.92 [[ 9.80073873e-01 1.97654996e-01 1.96902328e-02 2.96836050e+02] [-1.97624982e-01 9.80271529e-01 -3.47802702e-03 -4.59504072e+01] [-1.99892241e-02 -4.82558502e-04 9.99800079e-01 -5.92033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters 0.031296550314425416 Centerline is valid? [True, True] Translation: X:296.86, Y:-45.96, Z:-5.92 [[ 9.80548555e-01 1.95161397e-01 2.08940327e-02 2.96864476e+02] [-1.95127062e-01 9.80771032e-01 -3.68941374e-03 -4.59630499e+01] [-2.12122932e-02 -4.59341891e-04 9.99774888e-01 -5.91841733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994012739 meters 0.03297264124562544 Centerline is valid? [True, True] Translation: X:296.89, Y:-45.96, Z:-5.92 [[ 9.80708653e-01 1.94359530e-01 2.08544972e-02 2.96893461e+02] [-1.94325149e-01 9.80930262e-01 -3.68215377e-03 -4.59629876e+01] [-2.11724691e-02 -4.41433209e-04 9.99775741e-01 -5.91875875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters 0.03500320825064118 Centerline is valid? [True, True] Translation: X:296.92, Y:-45.96, Z:-5.92 [[ 9.80825310e-01 1.93809086e-01 2.04877750e-02 2.96921693e+02] [-1.93775799e-01 9.81039173e-01 -3.61665098e-03 -4.59624232e+01] [-2.08002497e-02 -4.22732151e-04 9.99783562e-01 -5.91924679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05401273900003 meters 0.031118421494001066 Centerline is valid? [True, True] Translation: X:296.95, Y:-45.97, Z:-5.92 [[ 9.81225816e-01 1.91873032e-01 1.95099307e-02 2.96949738e+02] [-1.91842486e-01 9.81419689e-01 -3.44295857e-03 -4.59700770e+01] [-1.98080410e-02 -3.64513771e-04 9.99803735e-01 -5.92197144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters 0.029355447133115747 Centerline is valid? [True, True] Translation: X:296.98, Y:-45.98, Z:-5.92 [[ 9.81596088e-01 1.89964089e-01 1.95643746e-02 2.96978366e+02] [-1.89933010e-01 9.81790985e-01 -3.45166162e-03 -4.59764067e+01] [-1.98638183e-02 -3.27783011e-04 9.99802641e-01 -5.92321053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11401273900003 meters 0.025947985774647297 Centerline is valid? [True, True] Translation: X:297.01, Y:-45.99, Z:-5.93 [[ 9.82483308e-01 1.85389072e-01 1.89060997e-02 2.97006211e+02] [-1.85359215e-01 9.82665172e-01 -3.33488358e-03 -4.59861318e+01] [-1.91966167e-02 -2.27952355e-04 9.99815702e-01 -5.92553806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters 0.02555593134870632 Centerline is valid? [True, True] Translation: X:297.03, Y:-45.99, Z:-5.93 [[ 9.82862533e-01 1.83454363e-01 1.80481836e-02 2.97034466e+02] [-1.83426835e-01 9.83028211e-01 -3.18316145e-03 -4.59918487e+01] [-1.83258385e-02 -1.81911082e-04 9.99832051e-01 -5.92720870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17401273900003 meters 0.02273907925487001 Centerline is valid? [True, True] Translation: X:297.06, Y:-46.00, Z:-5.93 [[ 9.83378649e-01 1.80767696e-01 1.70138753e-02 2.97062926e+02] [-1.80742839e-01 9.83525813e-01 -3.00031415e-03 -4.60037106e+01] [-1.72759454e-02 -1.24691246e-04 9.99850752e-01 -5.92817429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters 0.02253006448990347 Centerline is valid? [True, True] Translation: X:297.09, Y:-46.01, Z:-5.93 [[ 9.83600026e-01 1.79570496e-01 1.68945339e-02 2.97092118e+02] [-1.79545809e-01 9.83745102e-01 -2.97930604e-03 -4.60086624e+01] [-1.71549104e-02 -1.02897249e-04 9.99852838e-01 -5.92957368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234012739 meters 0.02160433453647465 Centerline is valid? [True, True] Translation: X:297.12, Y:-46.02, Z:-5.93 [[ 9.84036647e-01 1.77021421e-01 1.83110539e-02 2.97120525e+02] [-1.76991982e-01 9.84206997e-01 -3.22888433e-03 -4.60168790e+01] [-1.85934490e-02 -6.35692164e-05 9.99827125e-01 -5.92868520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters 0.02109292439717454 Centerline is valid? [True, True] Translation: X:297.15, Y:-46.03, Z:-5.93 [[ 9.84227527e-01 1.75823474e-01 1.95519951e-02 2.97151532e+02] [-1.75789685e-01 9.84421710e-01 -3.44714198e-03 -4.60265750e+01] [-1.98534970e-02 -4.42670357e-05 9.99802899e-01 -5.92720919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294012739 meters 0.020922364674149003 Centerline is valid? [True, True] Translation: X:297.18, Y:-46.04, Z:-5.93 [[ 9.84430665e-01 1.74641750e-01 1.99129366e-02 2.97182583e+02] [-1.74606387e-01 9.84632042e-01 -3.51434151e-03 -4.60366714e+01] [-2.02206662e-02 -1.73003646e-05 9.99795541e-01 -5.92748123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters 0.021262917852789928 Centerline is valid? [True, True] Translation: X:297.21, Y:-46.05, Z:-5.93 [[ 9.85007320e-01 1.71555350e-01 1.81477903e-02 2.97212632e+02] [-1.71525398e-01 9.85174482e-01 -3.20590132e-03 -4.60519960e+01] [-1.84287295e-02 4.50293039e-05 9.99830176e-01 -5.93119428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354012739 meters 0.021510567420142027 Centerline is valid? [True, True] Translation: X:297.24, Y:-46.06, Z:-5.93 [[ 9.85220859e-01 1.70404085e-01 1.73869563e-02 2.97244034e+02] [-1.70376359e-01 9.85374266e-01 -3.07453545e-03 -4.60620195e+01] [-1.76565727e-02 6.67701453e-05 9.99844108e-01 -5.93311491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters 0.02153657278738211 Centerline is valid? [True, True] Translation: X:297.27, Y:-46.07, Z:-5.93 [[ 9.85194194e-01 1.70539990e-01 1.75644903e-02 2.97274371e+02] [-1.70511654e-01 9.85350753e-01 -3.10949278e-03 -4.60715113e+01] [-1.78374766e-02 6.85039468e-05 9.99840897e-01 -5.93257647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414012739 meters 0.02128109382368292 Centerline is valid? [True, True] Translation: X:297.31, Y:-46.08, Z:-5.93 [[ 9.84937248e-01 1.71969735e-01 1.80285208e-02 2.97306632e+02] [-1.71940058e-01 9.85102232e-01 -3.19505544e-03 -4.60765229e+01] [-1.83093890e-02 4.71041924e-05 9.99832368e-01 -5.93153008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters 0.021013697066771152 Centerline is valid? [True, True] Translation: X:297.34, Y:-46.08, Z:-5.93 [[ 9.84100236e-01 1.76665236e-01 1.83335759e-02 2.97339832e+02] [-1.76635292e-01 9.84270996e-01 -3.25278200e-03 -4.60751658e+01] [-1.86198605e-02 -3.72929976e-05 9.99826635e-01 -5.93147183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474012739 meters 0.021013697066771152 Centerline is valid? [True, True] Translation: X:297.37, Y:-46.08, Z:-5.93 [[ 9.84071094e-01 1.76827547e-01 1.83330377e-02 2.97370985e+02] [-1.76797575e-01 9.84241849e-01 -3.25581219e-03 -4.60808467e+01] [-1.86198602e-02 -3.72859440e-05 9.99826635e-01 -5.93211519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters 0.021670138251590986 Centerline is valid? [True, True] Translation: X:297.40, Y:-46.08, Z:-5.93 [[ 9.83521493e-01 1.79910334e-01 1.78253813e-02 2.97403079e+02] [-1.79882451e-01 9.83683010e-01 -3.16859362e-03 -4.60822455e+01] [-1.81045875e-02 -9.00933573e-05 9.99836094e-01 -5.93344567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534012739 meters 0.02244699269799553 Centerline is valid? [True, True] Translation: X:297.43, Y:-46.08, Z:-5.93 [[ 9.83036657e-01 1.82529628e-01 1.79406041e-02 2.97433545e+02] [-1.82501758e-01 9.83200344e-01 -3.19250582e-03 -4.60846446e+01] [-1.82219350e-02 -1.35841532e-04 9.99833958e-01 -5.93376323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters 0.023108923922102818 Centerline is valid? [True, True] Translation: X:297.46, Y:-46.09, Z:-5.93 [[ 9.82531869e-01 1.84997648e-01 2.01741567e-02 2.97464895e+02] [-1.84962924e-01 9.82738942e-01 -3.58996800e-03 -4.60900844e+01] [-2.04900650e-02 -2.04213052e-04 9.99790036e-01 -5.93069625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594012739 meters 0.023505516852196772 Centerline is valid? [True, True] Translation: X:297.50, Y:-46.10, Z:-5.93 [[ 9.82535939e-01 1.84934326e-01 2.05529404e-02 2.97496024e+02] [-1.84898260e-01 9.82750860e-01 -3.65797570e-03 -4.60954665e+01] [-2.08749051e-02 -2.06110326e-04 9.99782074e-01 -5.93020336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters 0.02260331045070947 Centerline is valid? [True, True] Translation: X:297.53, Y:-46.10, Z:-5.93 [[ 9.82834568e-01 1.83393100e-01 2.00794375e-02 2.97527215e+02] [-1.83358290e-01 9.83039645e-01 -3.57688894e-03 -4.61042737e+01] [-2.03948599e-02 -1.66241231e-04 9.99791989e-01 -5.93320982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654012739 meters 0.029022456544452426 Centerline is valid? [True, True] Translation: X:297.56, Y:-46.11, Z:-5.93 [[ 9.82886809e-01 1.83266684e-01 1.86237298e-02 2.97558511e+02] [-1.83236662e-01 9.83063223e-01 -3.32042102e-03 -4.61115943e+01] [-1.89168264e-02 -1.48952063e-04 9.99821050e-01 -5.92694428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters 0.023515460581984553 Centerline is valid? [True, True] Translation: X:297.59, Y:-46.11, Z:-5.94 [[ 9.82494277e-01 1.85445347e-01 1.77487836e-02 2.97590029e+02] [-1.85418377e-01 9.82654564e-01 -3.16770076e-03 -4.61099253e+01] [-1.80283586e-02 -1.78702780e-04 9.99837460e-01 -5.93788105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714012739 meters 0.02515823246492407 Centerline is valid? [True, True] Translation: X:297.62, Y:-46.11, Z:-5.94 [[ 9.82071991e-01 1.87699843e-01 1.74176462e-02 2.97620111e+02] [-1.87674223e-01 9.82226411e-01 -3.10863274e-03 -4.61089095e+01] [-1.76915620e-02 -2.15942085e-04 9.99843469e-01 -5.93879972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters 0.026009597631675607 Centerline is valid? [True, True] Translation: X:297.65, Y:-46.11, Z:-5.94 [[ 9.81674264e-01 1.89717071e-01 1.79742166e-02 2.97650117e+02] [-1.89690130e-01 9.81838767e-01 -3.20776468e-03 -4.61104368e+01] [-1.82563504e-02 -2.60551446e-04 9.99833305e-01 -5.93828017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774012739 meters 0.027036992954769315 Centerline is valid? [True, True] Translation: X:297.68, Y:-46.11, Z:-5.93 [[ 9.81371432e-01 1.91005668e-01 2.06627182e-02 2.97679132e+02] [-1.90970361e-01 9.81588879e-01 -3.68697543e-03 -4.61117697e+01] [-2.09865276e-02 -3.27674413e-04 9.99779705e-01 -5.93471800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters 0.03222174326572658 Centerline is valid? [True, True] Translation: X:297.71, Y:-46.12, Z:-5.92 [[ 9.81516561e-01 1.90196323e-01 2.12272973e-02 2.97709212e+02] [-1.90158888e-01 9.81746024e-01 -3.78696287e-03 -4.61181078e+01] [-2.15600811e-02 -3.19592459e-04 9.99767503e-01 -5.92442908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834012739 meters 0.023595137067394637 Centerline is valid? [True, True] Translation: X:297.74, Y:-46.13, Z:-5.93 [[ 9.82353383e-01 1.85679831e-01 2.24684669e-02 2.97738059e+02] [-1.85636706e-01 9.82610272e-01 -4.00841855e-03 -4.61273186e+01] [-2.28220288e-02 -2.33288659e-04 9.99739516e-01 -5.93359234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters 0.022434202480054052 Centerline is valid? [True, True] Translation: X:297.77, Y:-46.14, Z:-5.94 [[ 9.82850612e-01 1.83157778e-01 2.13986746e-02 2.97767778e+02] [-1.83118056e-01 9.83083517e-01 -3.81793362e-03 -4.61371447e+01] [-2.17359685e-02 -1.66025290e-04 9.99763732e-01 -5.93693790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894012739 meters 0.02144288897870055 Centerline is valid? [True, True] Translation: X:297.80, Y:-46.15, Z:-5.94 [[ 9.83432456e-01 1.80177980e-01 1.99123069e-02 2.97798118e+02] [-1.80142938e-01 9.83634021e-01 -3.55451610e-03 -4.61486206e+01] [-2.02268681e-02 -9.14349822e-05 9.99795412e-01 -5.94013836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters 0.0208632827143873 Centerline is valid? [True, True] Translation: X:297.83, Y:-46.16, Z:-5.94 [[ 9.84401451e-01 1.75044673e-01 1.76959228e-02 2.97827901e+02] [-1.75016122e-01 9.84560492e-01 -3.16145925e-03 -4.61640272e+01] [-1.79761031e-02 1.50732935e-05 9.99838417e-01 -5.94470589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954012739 meters 0.02119910760812291 Centerline is valid? [True, True] Translation: X:297.86, Y:-46.17, Z:-5.95 [[ 9.84703175e-01 1.73374913e-01 1.73435142e-02 2.97860144e+02] [-1.73347180e-01 9.84855897e-01 -3.10126822e-03 -4.61732865e+01] [-1.76185444e-02 4.73793809e-05 9.99844780e-01 -5.94554209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters 0.021456191208757486 Centerline is valid? [True, True] Translation: X:297.89, Y:-46.18, Z:-5.95 [[ 9.84795190e-01 1.72926507e-01 1.65788274e-02 2.97891221e+02] [-1.72901050e-01 9.84934729e-01 -2.96765230e-03 -4.61826726e+01] [-1.68422486e-02 5.60330420e-05 9.99858158e-01 -5.94670195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014012739 meters 0.021278053562455043 Centerline is valid? [True, True] Translation: X:297.92, Y:-46.19, Z:-5.95 [[ 9.84518966e-01 1.74490191e-01 1.66005807e-02 2.97923167e+02] [-1.74464837e-01 9.84658912e-01 -2.97462371e-03 -4.61869272e+01] [-1.68649524e-02 3.23558600e-05 9.99857776e-01 -5.94749609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters 0.021050313446082675 Centerline is valid? [True, True] Translation: X:297.96, Y:-46.18, Z:-5.94 [[ 9.83646068e-01 1.79196558e-01 1.81385358e-02 2.97955144e+02] [-1.79167020e-01 9.83813291e-01 -3.25389785e-03 -4.61834361e+01] [-1.84280199e-02 -4.91435762e-05 9.99830188e-01 -5.94462512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074012739 meters 0.021727340253416355 Centerline is valid? [True, True] Translation: X:297.99, Y:-46.18, Z:-5.94 [[ 9.83090003e-01 1.82005092e-01 2.02037906e-02 2.97985903e+02] [-1.81969030e-01 9.83297582e-01 -3.62465519e-03 -4.61833306e+01] [-2.05260441e-02 -1.13101896e-04 9.99789312e-01 -5.94150966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters 0.023117382186345802 Centerline is valid? [True, True] Translation: X:298.02, Y:-46.18, Z:-5.94 [[ 9.82539086e-01 1.84797581e-01 2.16055401e-02 2.98015910e+02] [-1.84757017e-01 9.82776587e-01 -3.87611612e-03 -4.61827223e+01] [-2.19497158e-02 -1.83339543e-04 9.99759059e-01 -5.93854562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134012739 meters 0.02561304693347421 Centerline is valid? [True, True] Translation: X:298.05, Y:-46.18, Z:-5.94 [[ 9.81691598e-01 1.89301535e-01 2.11313683e-02 2.98046722e+02] [-1.89263780e-01 9.81918964e-01 -3.79078450e-03 -4.61798787e+01] [-2.14668926e-02 -2.78021341e-04 9.99769521e-01 -5.94011797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters 0.02707524307896686 Centerline is valid? [True, True] Translation: X:298.08, Y:-46.18, Z:-5.94 [[ 9.81407079e-01 1.90922917e-01 1.97125495e-02 2.98076310e+02] [-1.90890397e-01 9.81604989e-01 -3.53582355e-03 -4.61792987e+01] [-2.00250066e-02 -2.92854136e-04 9.99799437e-01 -5.94323141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194012739 meters 0.028087830036233465 Centerline is valid? [True, True] Translation: X:298.11, Y:-46.18, Z:-5.95 [[ 9.80988765e-01 1.93218719e-01 1.80989097e-02 2.98107003e+02] [-1.93191708e-01 9.81155660e-01 -3.24577619e-03 -4.61766537e+01] [-1.83849924e-02 -3.12489300e-04 9.99830933e-01 -5.94820323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters 0.027799261370101917 Centerline is valid? [True, True] Translation: X:298.14, Y:-46.18, Z:-5.95 [[ 9.80964301e-01 1.93332968e-01 1.82044920e-02 2.98135856e+02] [-1.93305668e-01 9.81133153e-01 -3.26430753e-03 -4.61797405e+01] [-1.84921289e-02 -3.16862332e-04 9.99828956e-01 -5.94863983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254012739 meters 0.027474303523706476 Centerline is valid? [True, True] Translation: X:298.16, Y:-46.18, Z:-5.95 [[ 9.81138935e-01 1.92415100e-01 1.85153698e-02 2.98163113e+02] [-1.92386713e-01 9.81313577e-01 -3.31913097e-03 -4.61833767e+01] [-1.88080346e-02 -3.05582506e-04 9.99823067e-01 -5.94881712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters 0.025435598747323696 Centerline is valid? [True, True] Translation: X:298.19, Y:-46.19, Z:-5.95 [[ 9.81808615e-01 1.89058679e-01 1.75687097e-02 2.98191598e+02] [-1.89032604e-01 9.81965765e-01 -3.14831400e-03 -4.61890623e+01] [-1.78470875e-02 -2.30017134e-04 9.99840702e-01 -5.95037495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314012739 meters 0.025337288781974675 Centerline is valid? [True, True] Translation: X:298.22, Y:-46.19, Z:-5.95 [[ 9.82184566e-01 1.87129362e-01 1.72069970e-02 2.98219872e+02] [-1.87104059e-01 9.82335261e-01 -3.08318346e-03 -4.61906420e+01] [-1.74799940e-02 -1.91243762e-04 9.99847195e-01 -5.95185731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters 0.02412989589210805 Centerline is valid? [True, True] Translation: X:298.25, Y:-46.20, Z:-5.95 [[ 9.82266637e-01 1.86592516e-01 1.83162983e-02 2.98247693e+02] [-1.86563774e-01 9.82437375e-01 -3.28073227e-03 -4.61964363e+01] [-1.86067761e-02 -1.94603875e-04 9.99826860e-01 -5.95017855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374012739 meters 0.024192873363594124 Centerline is valid? [True, True] Translation: X:298.28, Y:-46.20, Z:-5.95 [[ 9.82223363e-01 1.86720835e-01 1.93027315e-02 2.98275999e+02] [-1.86688958e-01 9.82412992e-01 -3.45642191e-03 -4.61993346e+01] [-1.96086402e-02 -2.08628470e-04 9.99807710e-01 -5.94885748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters 0.024533983828810998 Centerline is valid? [True, True] Translation: X:298.30, Y:-46.20, Z:-5.95 [[ 9.82164784e-01 1.87032177e-01 1.92691773e-02 2.98304065e+02] [-1.87000488e-01 9.82353764e-01 -3.44948765e-03 -4.61980730e+01] [-1.95743140e-02 -2.15380259e-04 9.99808382e-01 -5.95020565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434012739 meters 0.024769567777716453 Centerline is valid? [True, True] Translation: X:298.33, Y:-46.20, Z:-5.95 [[ 9.82098263e-01 1.87367294e-01 1.94035732e-02 2.98332810e+02] [-1.87335253e-01 9.82289899e-01 -3.47225100e-03 -4.62000874e+01] [-1.97105203e-02 -2.24881619e-04 9.99805704e-01 -5.95079407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters 0.026484508639890367 Centerline is valid? [True, True] Translation: X:298.36, Y:-46.20, Z:-5.95 [[ 9.81604823e-01 1.89848458e-01 2.02369448e-02 2.98361583e+02] [-1.89814153e-01 9.81813363e-01 -3.62035519e-03 -4.61963286e+01] [-2.05562217e-02 -2.87500407e-04 9.99788657e-01 -5.94836641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494012739 meters 0.026982210206110604 Centerline is valid? [True, True] Translation: X:298.39, Y:-46.20, Z:-5.95 [[ 9.81440064e-01 1.90664514e-01 2.05534437e-02 2.98390201e+02] [-1.90629332e-01 9.81655208e-01 -3.67572212e-03 -4.61977032e+01] [-2.08772248e-02 -3.10588299e-04 9.99781999e-01 -5.94788476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters 0.027050381167285854 Centerline is valid? [True, True] Translation: X:298.42, Y:-46.20, Z:-5.95 [[ 9.81415802e-01 1.90760273e-01 2.08216719e-02 2.98419694e+02] [-1.90724211e-01 9.81636601e-01 -3.72267621e-03 -4.61978173e+01] [-2.11494540e-02 -3.17703681e-04 9.99776275e-01 -5.94770856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55401273900003 meters 0.027248605121545408 Centerline is valid? [True, True] Translation: X:298.45, Y:-46.20, Z:-5.95 [[ 9.81473808e-01 1.90446878e-01 2.09559037e-02 2.98447244e+02] [-1.90410299e-01 9.81697452e-01 -3.74564892e-03 -4.61994577e+01] [-2.12857044e-02 -3.13963584e-04 9.99773384e-01 -5.94819603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters 0.02721815346313315 Centerline is valid? [True, True] Translation: X:298.48, Y:-46.20, Z:-5.95 [[ 9.81477282e-01 1.90426374e-01 2.09795465e-02 2.98475466e+02] [-1.90389735e-01 9.81701430e-01 -3.74860866e-03 -4.62010831e+01] [-2.13094847e-02 -3.15116056e-04 9.99772877e-01 -5.94866003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61401273900003 meters 0.02903548518740462 Centerline is valid? [True, True] Translation: X:298.51, Y:-46.19, Z:-5.95 [[ 9.81123173e-01 1.92294510e-01 2.04973134e-02 2.98505139e+02] [-1.92259973e-01 9.81337200e-01 -3.66102046e-03 -4.61939275e+01] [-2.08187703e-02 -3.48900922e-04 9.99783205e-01 -5.95035579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters 0.031424077264304774 Centerline is valid? [True, True] Translation: X:298.53, Y:-46.19, Z:-5.95 [[ 9.80683309e-01 1.94594632e-01 1.98286744e-02 2.98534289e+02] [-1.94562804e-01 9.80883673e-01 -3.54046379e-03 -4.61893222e+01] [-2.01385782e-02 -3.85848757e-04 9.99797124e-01 -5.95148876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67401273900003 meters 0.03573609599592386 Centerline is valid? [True, True] Translation: X:298.57, Y:-46.18, Z:-5.95 [[ 9.79622256e-01 1.99964197e-01 1.88296641e-02 2.98567072e+02] [-1.99936517e-01 9.79803091e-01 -3.36047080e-03 -4.61765663e+01] [-1.91213369e-02 -4.72745462e-04 9.99817059e-01 -5.95405208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters 0.036342684466995914 Centerline is valid? [True, True] Translation: X:298.60, Y:-46.17, Z:-5.96 [[ 9.79274816e-01 2.01688320e-01 1.85109754e-02 2.98596150e+02] [-2.01661879e-01 9.79449628e-01 -3.30345095e-03 -4.61745975e+01] [-1.87968354e-02 -4.97971762e-04 9.99823200e-01 -5.95560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734012739 meters 0.03685278935533141 Centerline is valid? [True, True] Translation: X:298.63, Y:-46.17, Z:-5.96 [[ 9.79107805e-01 2.02529437e-01 1.81585712e-02 2.98625700e+02] [-2.02504158e-01 9.79276045e-01 -3.23944989e-03 -4.61726713e+01] [-1.84383377e-02 -5.05415492e-04 9.99829872e-01 -5.95710307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters 0.03546021833245901 Centerline is valid? [True, True] Translation: X:298.66, Y:-46.17, Z:-5.96 [[ 9.79452998e-01 2.00813221e-01 1.85977384e-02 2.98655833e+02] [-2.00786410e-01 9.79629427e-01 -3.31703179e-03 -4.61679491e+01] [-1.88849957e-02 -4.85296412e-04 9.99821545e-01 -5.95713825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794012739 meters 0.029450959460064714 Centerline is valid? [True, True] Translation: X:298.69, Y:-46.17, Z:-5.95 [[ 9.80929680e-01 1.93313784e-01 2.01678900e-02 2.98685131e+02] [-1.93280745e-01 9.81136913e-01 -3.59335477e-03 -4.61733269e+01] [-2.04821063e-02 -3.73236448e-04 9.99790150e-01 -5.95462980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters 0.02596427406902648 Centerline is valid? [True, True] Translation: X:298.71, Y:-46.18, Z:-5.96 [[ 9.81849792e-01 1.88581832e-01 2.01960057e-02 2.98711883e+02] [-1.88547706e-01 9.82057441e-01 -3.59801710e-03 -4.61810568e+01] [-2.05121583e-02 -2.75198203e-04 9.99789566e-01 -5.95523584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854012739 meters 0.023172074571343813 Centerline is valid? [True, True] Translation: X:298.74, Y:-46.19, Z:-5.96 [[ 9.82722217e-01 1.84036286e-01 1.96898560e-02 2.98739197e+02] [-1.84002968e-01 9.82919434e-01 -3.50621257e-03 -4.61900693e+01] [-1.99988125e-02 -1.77358972e-04 9.99799988e-01 -5.95676398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters 0.020952259950084998 Centerline is valid? [True, True] Translation: X:298.77, Y:-46.20, Z:-5.96 [[ 9.84192544e-01 1.76141876e-01 1.84139983e-02 2.98766102e+02] [-1.76111369e-01 9.84364790e-01 -3.27819128e-03 -4.62019710e+01] [-1.87035183e-02 -1.65430203e-05 9.99825074e-01 -5.96018864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914012739 meters 0.02108880283195608 Centerline is valid? [True, True] Translation: X:298.79, Y:-46.21, Z:-5.96 [[ 9.84702247e-01 1.73307883e-01 1.80516587e-02 2.98794023e+02] [-1.73278104e-01 9.84867695e-01 -3.21283528e-03 -4.62083753e+01] [-1.83353051e-02 3.57289301e-05 9.99831894e-01 -5.96100444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters 0.02201252326715579 Centerline is valid? [True, True] Translation: X:298.82, Y:-46.22, Z:-5.96 [[ 9.85342837e-01 1.69713584e-01 1.72276555e-02 2.98821052e+02] [-1.69685925e-01 9.85493425e-01 -3.06543183e-03 -4.62151983e+01] [-1.74979866e-02 9.72106474e-05 9.99846894e-01 -5.96180495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974012739 meters 0.022761474868456984 Centerline is valid? [True, True] Translation: X:298.85, Y:-46.22, Z:-5.96 [[ 9.85706404e-01 1.67563679e-01 1.74727923e-02 2.98848545e+02] [-1.67534909e-01 9.85861245e-01 -3.10796091e-03 -4.62236135e+01] [-1.77465301e-02 1.36234307e-04 9.99842509e-01 -5.96267759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters 0.026065775480997633 Centerline is valid? [True, True] Translation: X:298.88, Y:-46.24, Z:-5.96 [[ 9.86710766e-01 1.61365404e-01 1.90544051e-02 2.98875797e+02] [-1.61330052e-01 9.86894692e-01 -3.38828341e-03 -4.62402683e+01] [-1.93514429e-02 2.69207564e-04 9.99812707e-01 -5.96015650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034012739 meters 0.028713259408245134 Centerline is valid? [True, True] Translation: X:298.90, Y:-46.25, Z:-5.96 [[ 9.87209310e-01 1.58107366e-01 2.04899524e-02 2.98901904e+02] [-1.58065795e-01 9.87421862e-01 -3.64301637e-03 -4.62524411e+01] [-2.08082147e-02 3.57659048e-04 9.99783422e-01 -5.95850386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters 0.04146124633062864 Centerline is valid? [True, True] Translation: X:298.93, Y:-46.27, Z:-5.95 [[ 9.88312032e-01 1.50941306e-01 2.13553321e-02 2.98929372e+02] [-1.50894502e-01 9.88542585e-01 -3.79563558e-03 -4.62724694e+01] [-2.16835734e-02 5.28870112e-04 9.99764744e-01 -5.94836456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094012739 meters 0.03666272507286748 Centerline is valid? [True, True] Translation: X:298.96, Y:-46.28, Z:-5.96 [[ 9.88761089e-01 1.47929765e-01 2.16400923e-02 2.98957799e+02] [-1.47880988e-01 9.88997685e-01 -3.84600678e-03 -4.62845285e+01] [-2.19709400e-02 6.02623623e-04 9.99758428e-01 -5.95874553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters 0.04103137013998173 Centerline is valid? [True, True] Translation: X:298.99, Y:-46.30, Z:-5.96 [[ 9.89089652e-01 1.45821979e-01 2.09191682e-02 2.98985836e+02] [-1.45775928e-01 9.89310647e-01 -3.71789078e-03 -4.62990552e+01] [-2.12377060e-02 6.27816141e-04 9.99774257e-01 -5.96019326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154012739 meters 0.039723155327118446 Centerline is valid? [True, True] Translation: X:299.02, Y:-46.31, Z:-5.97 [[ 9.89362275e-01 1.44380262e-01 1.77940783e-02 2.99015923e+02] [-1.44346712e-01 9.89522120e-01 -3.16233999e-03 -4.63099082e+01] [-1.80642136e-02 5.60183173e-04 9.99836672e-01 -5.96580928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters 0.04099674095104555 Centerline is valid? [True, True] Translation: X:299.04, Y:-46.32, Z:-5.97 [[ 9.89387097e-01 1.44379773e-01 1.63600961e-02 2.99044368e+02] [-1.44351365e-01 9.89522215e-01 -2.91038236e-03 -4.63207274e+01] [-1.66088788e-02 5.17892552e-04 9.99861929e-01 -5.96935265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214012739 meters 0.04078984152218215 Centerline is valid? [True, True] Translation: X:299.07, Y:-46.33, Z:-5.97 [[ 9.89295141e-01 1.45052994e-01 1.59609974e-02 2.99072788e+02] [-1.45026047e-01 9.89423764e-01 -2.83920004e-03 -4.63290221e+01] [-1.62040246e-02 4.94046452e-04 9.99868584e-01 -5.97097781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters 0.03874497562228956 Centerline is valid? [True, True] Translation: X:299.10, Y:-46.34, Z:-5.97 [[ 9.88915612e-01 1.47333212e-01 1.84075411e-02 2.99101825e+02] [-1.47297769e-01 9.89086774e-01 -3.27413072e-03 -4.63386607e+01] [-1.86890437e-02 5.26449256e-04 9.99825206e-01 -5.96688110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274012739 meters 0.03688714106612983 Centerline is valid? [True, True] Translation: X:299.13, Y:-46.35, Z:-5.97 [[ 9.88597042e-01 1.49385657e-01 1.89687483e-02 2.99131084e+02] [-1.49348396e-01 9.88778880e-01 -3.37394017e-03 -4.63454874e+01] [-1.92599159e-02 5.02515148e-04 9.99814384e-01 -5.96686221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters 0.03315126452161283 Centerline is valid? [True, True] Translation: X:299.16, Y:-46.35, Z:-5.97 [[ 9.87923242e-01 1.53964593e-01 1.73946053e-02 2.99160325e+02] [-1.53933967e-01 9.88076293e-01 -3.09411836e-03 -4.63521483e+01] [-1.76635818e-02 3.79130845e-04 9.99843915e-01 -5.96973018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334012739 meters 0.03315126452161283 Centerline is valid? [True, True] Translation: X:299.19, Y:-46.36, Z:-5.97 [[ 9.87923242e-01 1.53964600e-01 1.73945462e-02 2.99189862e+02] [-1.53933968e-01 9.88076292e-01 -3.09445047e-03 -4.63574027e+01] [-1.76635745e-02 3.79468020e-04 9.99843915e-01 -5.97033953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters 0.031699384866229356 Centerline is valid? [True, True] Translation: X:299.22, Y:-46.36, Z:-5.97 [[ 9.87642910e-01 1.55880232e-01 1.62121918e-02 2.99218829e+02] [-1.55853880e-01 9.87775911e-01 -2.88419934e-03 -4.63627325e+01] [-1.64636022e-02 3.21826033e-04 9.99864414e-01 -5.97348247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394012739 meters 0.028588100148702156 Centerline is valid? [True, True] Translation: X:299.25, Y:-46.37, Z:-5.98 [[ 9.87007938e-01 1.59928897e-01 1.54297551e-02 2.99247172e+02] [-1.59905525e-01 9.87128507e-01 -2.74472054e-03 -4.63681682e+01] [-1.56701112e-02 2.41757870e-04 9.99877187e-01 -5.97672123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters 0.02787730237185006 Centerline is valid? [True, True] Translation: X:299.28, Y:-46.38, Z:-5.98 [[ 9.86655134e-01 1.62051858e-01 1.58379810e-02 2.99275248e+02] [-1.62027516e-01 9.86782220e-01 -2.81677255e-03 -4.63757909e+01] [-1.60851012e-02 2.12994394e-04 9.99870604e-01 -5.97659036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454012739 meters 0.02315056523374864 Centerline is valid? [True, True] Translation: X:299.30, Y:-46.37, Z:-5.97 [[ 9.85728692e-01 1.67478551e-01 1.70258757e-02 2.99304552e+02] [-1.67451239e-01 9.85875711e-01 -3.02743894e-03 -4.63749094e+01] [-1.72924284e-02 1.33229455e-04 9.99850466e-01 -5.97306771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters 0.02172110937007071 Centerline is valid? [True, True] Translation: X:299.33, Y:-46.38, Z:-5.97 [[ 9.85167197e-01 1.70677599e-01 1.77412088e-02 2.99333977e+02] [-1.70648477e-01 9.85326926e-01 -3.15379074e-03 -4.63751936e+01] [-1.80191721e-02 7.95009292e-05 9.99837638e-01 -5.97134291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514012739 meters 0.02095953326853176 Centerline is valid? [True, True] Translation: X:299.36, Y:-46.38, Z:-5.97 [[ 9.84629868e-01 1.73698399e-01 1.82452738e-02 2.99363120e+02] [-1.73668132e-01 9.84798896e-01 -3.24254154e-03 -4.63752064e+01] [-1.85311498e-02 2.40806311e-05 9.99828283e-01 -5.97123013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters 0.02126685413501584 Centerline is valid? [True, True] Translation: X:299.39, Y:-46.37, Z:-5.97 [[ 9.83837825e-01 1.78056664e-01 1.89461863e-02 2.99391915e+02] [-1.78024851e-01 9.84020234e-01 -3.36622683e-03 -4.63742798e+01] [-1.92428098e-02 -6.10707181e-05 9.99814838e-01 -5.97148908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574012739 meters 0.022000153503584387 Centerline is valid? [True, True] Translation: X:299.42, Y:-46.38, Z:-5.97 [[ 9.83453858e-01 1.80002282e-01 2.04373991e-02 2.99420511e+02] [-1.79965710e-01 9.83666187e-01 -3.62993625e-03 -4.63762431e+01] [-2.07569752e-02 -1.08156212e-04 9.99784545e-01 -5.96946063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters 0.022054253239571334 Centerline is valid? [True, True] Translation: X:299.45, Y:-46.38, Z:-5.97 [[ 9.83448414e-01 1.80032888e-01 2.04298081e-02 2.99449418e+02] [-1.79996369e-01 9.83660585e-01 -3.62767107e-03 -4.63798195e+01] [-2.07490971e-02 -1.09663913e-04 9.99784708e-01 -5.96947525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634012739 meters 0.022145059863328067 Centerline is valid? [True, True] Translation: X:299.48, Y:-46.38, Z:-5.97 [[ 9.83450878e-01 1.80122184e-01 1.95030501e-02 2.99478553e+02] [-1.80088937e-01 9.83644238e-01 -3.46227367e-03 -4.63831729e+01] [-1.98076952e-02 -1.07307489e-04 9.99803803e-01 -5.97164477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters 0.02216854957999425 Centerline is valid? [True, True] Translation: X:299.51, Y:-46.39, Z:-5.98 [[ 9.83565419e-01 1.79706083e-01 1.74582550e-02 2.99506245e+02] [-1.79679389e-01 9.83720344e-01 -3.09864441e-03 -4.63866065e+01] [-1.77308858e-02 -8.91690995e-05 9.99842792e-01 -5.97660339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694012739 meters 0.02182039378317198 Centerline is valid? [True, True] Translation: X:299.53, Y:-46.39, Z:-5.98 [[ 9.83838186e-01 1.78213583e-01 1.73879775e-02 2.99533421e+02] [-1.78186891e-01 9.83991827e-01 -3.08495915e-03 -4.63928421e+01] [-1.76594094e-02 -6.32090423e-05 9.99844058e-01 -5.97776660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters 0.02108275232441605 Centerline is valid? [True, True] Translation: X:299.56, Y:-46.40, Z:-5.98 [[ 9.84545332e-01 1.74133868e-01 1.86516948e-02 2.99560704e+02] [-1.74102445e-01 9.84721989e-01 -3.30800831e-03 -4.64049894e+01] [-1.89427703e-02 9.57847604e-06 9.99820570e-01 -5.97548780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754012739 meters 0.021268924138810985 Centerline is valid? [True, True] Translation: X:299.59, Y:-46.41, Z:-5.98 [[ 9.84924578e-01 1.71982738e-01 1.85879829e-02 2.99587505e+02] [-1.71951161e-01 9.85099962e-01 -3.29586886e-03 -4.64139547e+01] [-1.88778538e-02 4.99570113e-05 9.99821796e-01 -5.97593527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters 0.02149730450096711 Centerline is valid? [True, True] Translation: X:299.62, Y:-46.42, Z:-5.98 [[ 9.85226867e-01 1.70276261e-01 1.82760742e-02 2.99616207e+02] [-1.70245457e-01 9.85396361e-01 -3.23972410e-03 -4.64214494e+01] [-1.85608251e-02 8.04446063e-05 9.99827730e-01 -5.97579703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814012739 meters 0.021458335728628264 Centerline is valid? [True, True] Translation: X:299.64, Y:-46.43, Z:-5.98 [[ 9.85103988e-01 1.71019126e-01 1.79608300e-02 2.99643721e+02] [-1.70989506e-01 9.85267707e-01 -3.18347921e-03 -4.64251414e+01] [-1.82406617e-02 6.49446089e-05 9.99833623e-01 -5.97642703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters 0.02113638718509913 Centerline is valid? [True, True] Translation: X:299.67, Y:-46.43, Z:-5.98 [[ 9.84823815e-01 1.72649090e-01 1.77297816e-02 2.99672020e+02] [-1.72620511e-01 9.84983396e-01 -3.14145079e-03 -4.64267691e+01] [-1.80059091e-02 3.32515961e-05 9.99837880e-01 -5.97754742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874012739 meters 0.021493268421987694 Centerline is valid? [True, True] Translation: X:299.70, Y:-46.42, Z:-5.98 [[ 9.84167918e-01 1.76489947e-01 1.62728919e-02 2.99701488e+02] [-1.76466410e-01 9.84302442e-01 -2.88244576e-03 -4.64219950e+01] [-1.65261699e-02 -3.48081811e-05 9.99863433e-01 -5.98109913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters 0.022852881883660456 Centerline is valid? [True, True] Translation: X:299.73, Y:-46.42, Z:-5.98 [[ 9.83530662e-01 1.80052655e-01 1.57631953e-02 2.99731534e+02] [-1.80031045e-01 9.83656969e-01 -2.79108378e-03 -4.64173866e+01] [-1.60081189e-02 -9.27480321e-05 9.99871858e-01 -5.98265743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934012739 meters 0.022815845583769596 Centerline is valid? [True, True] Translation: X:299.76, Y:-46.42, Z:-5.98 [[ 9.83375061e-01 1.80883180e-01 1.59613530e-02 2.99759836e+02] [-1.80861143e-01 9.83504582e-01 -2.82548866e-03 -4.64216448e+01] [-1.62091472e-02 -1.08273473e-04 9.99868617e-01 -5.98128987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters 0.02241093547657535 Centerline is valid? [True, True] Translation: X:299.79, Y:-46.43, Z:-5.98 [[ 9.83423073e-01 1.80605389e-01 1.61478659e-02 2.99786791e+02] [-1.80582807e-01 9.83555633e-01 -2.85785639e-03 -4.64276017e+01] [-1.63984687e-02 -1.05545031e-04 9.99865531e-01 -5.98098086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994012739 meters 0.022056847752534553 Centerline is valid? [True, True] Translation: X:299.81, Y:-46.44, Z:-5.98 [[ 9.83910555e-01 1.77939157e-01 1.60522880e-02 2.99813822e+02] [-1.77916507e-01 9.84041489e-01 -2.83974106e-03 -4.64357760e+01] [-1.63014185e-02 -6.19157905e-05 9.99867121e-01 -5.98380220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters 0.021428455224394773 Centerline is valid? [True, True] Translation: X:299.84, Y:-46.44, Z:-5.98 [[ 9.84225254e-01 1.76163892e-01 1.63380389e-02 2.99841906e+02] [-1.76140201e-01 9.84360849e-01 -2.88923242e-03 -4.64441753e+01] [-1.65915043e-02 -3.41299387e-05 9.99862351e-01 -5.98310290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05401273900003 meters 0.020792732115371953 Centerline is valid? [True, True] Translation: X:299.87, Y:-46.45, Z:-5.98 [[ 9.84306188e-01 1.75420645e-01 1.92074453e-02 2.99870391e+02] [-1.75387778e-01 9.84493574e-01 -3.39568191e-03 -4.64493832e+01] [-1.95052791e-02 -2.63604266e-05 9.99809754e-01 -5.97627152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters 0.02081766353439294 Centerline is valid? [True, True] Translation: X:299.90, Y:-46.45, Z:-5.97 [[ 9.84222219e-01 1.75796505e-01 2.00552254e-02 2.99898124e+02] [-1.75760772e-01 9.84426527e-01 -3.54452419e-03 -4.64528774e+01] [-2.03660109e-02 -3.63224358e-05 9.99792591e-01 -5.97495864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11401273900003 meters 0.021389603229515754 Centerline is valid? [True, True] Translation: X:299.93, Y:-46.45, Z:-5.97 [[ 9.83879183e-01 1.77595590e-01 2.10133134e-02 2.99925876e+02] [-1.77556800e-01 9.84103552e-01 -3.71250414e-03 -4.64533863e+01] [-2.13386007e-02 -7.84011517e-05 9.99772303e-01 -5.97329162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters 0.02160435424532017 Centerline is valid? [True, True] Translation: X:299.96, Y:-46.46, Z:-5.97 [[ 9.83738856e-01 1.78343741e-01 2.12455508e-02 2.99955160e+02] [-1.78304290e-01 9.83968242e-01 -3.75225718e-03 -4.64558317e+01] [-2.15741389e-02 -9.69316729e-05 9.99767246e-01 -5.97368676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17401273900003 meters 0.021266857454924043 Centerline is valid? [True, True] Translation: X:299.98, Y:-46.46, Z:-5.98 [[ 9.83648409e-01 1.78853472e-01 2.11481355e-02 2.99983881e+02] [-1.78814520e-01 9.83875716e-01 -3.73414425e-03 -4.64604002e+01] [-2.14750016e-02 -1.08508627e-04 9.99769380e-01 -5.97507962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters 0.0217383329894545 Centerline is valid? [True, True] Translation: X:300.01, Y:-46.46, Z:-5.98 [[ 9.83573477e-01 1.79439413e-01 1.96140939e-02 3.00011756e+02] [-1.79406042e-01 9.83769020e-01 -3.46237501e-03 -4.64611455e+01] [-1.99170245e-02 -1.13386729e-04 9.99801630e-01 -5.97841536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234012739 meters 0.0217334011038312 Centerline is valid? [True, True] Translation: X:300.04, Y:-46.47, Z:-5.98 [[ 9.83613747e-01 1.79332086e-01 1.85472346e-02 3.00039796e+02] [-1.79302248e-01 9.83788591e-01 -3.27294227e-03 -4.64661408e+01] [-1.88335014e-02 -1.06249854e-04 9.99822628e-01 -5.98041509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters 0.02151909324059376 Centerline is valid? [True, True] Translation: X:300.07, Y:-46.47, Z:-5.98 [[ 9.83672827e-01 1.78992010e-01 1.86983667e-02 3.00068575e+02] [-1.78961640e-01 9.83850522e-01 -3.29868946e-03 -4.64709875e+01] [-1.89868369e-02 -1.01459188e-04 9.99819729e-01 -5.98073600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294012739 meters 0.02305731276835324 Centerline is valid? [True, True] Translation: X:300.10, Y:-46.47, Z:-5.98 [[ 9.83743904e-01 1.78632150e-01 1.83980236e-02 3.00096669e+02] [-1.78602702e-01 9.83915924e-01 -3.24480511e-03 -4.64737271e+01] [-1.86817349e-02 -9.38794725e-05 9.99825477e-01 -5.97840732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters 0.021298426163886223 Centerline is valid? [True, True] Translation: X:300.13, Y:-46.48, Z:-5.98 [[ 9.83801748e-01 1.78086472e-01 2.04775070e-02 3.00125554e+02] [-1.78049904e-01 9.84014837e-01 -3.61000950e-03 -4.64769857e+01] [-2.07930646e-02 -9.44844954e-05 9.99783796e-01 -5.97847417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354012739 meters 0.021124522804362653 Centerline is valid? [True, True] Translation: X:300.15, Y:-46.48, Z:-5.98 [[ 9.83818796e-01 1.77927304e-01 2.10345066e-02 3.00152757e+02] [-1.77888705e-01 9.84043630e-01 -3.70713983e-03 -4.64814441e+01] [-2.13584736e-02 -9.46472989e-05 9.99771877e-01 -5.97793809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters 0.021421849886788708 Centerline is valid? [True, True] Translation: X:300.18, Y:-46.49, Z:-5.98 [[ 9.83816863e-01 1.78171245e-01 1.89575019e-02 3.00181527e+02] [-1.78139959e-01 9.83999491e-01 -3.34004706e-03 -4.64856513e+01] [-1.92492726e-02 -9.10939903e-05 9.99814711e-01 -5.98285509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414012739 meters 0.021491324881459217 Centerline is valid? [True, True] Translation: X:300.21, Y:-46.49, Z:-5.99 [[ 9.83851764e-01 1.78088799e-01 1.78909512e-02 3.00210301e+02] [-1.78060936e-01 9.84014417e-01 -3.15132746e-03 -4.64907402e+01] [-1.81661700e-02 -8.52404214e-05 9.99834978e-01 -5.98557512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters 0.02145682990584144 Centerline is valid? [True, True] Translation: X:300.24, Y:-46.50, Z:-5.99 [[ 9.83937806e-01 1.77646214e-01 1.75560793e-02 3.00237882e+02] [-1.77619328e-01 9.84094415e-01 -3.09152111e-03 -4.64960314e+01] [-1.78260366e-02 -7.64344996e-05 9.99841101e-01 -5.98713505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474012739 meters 0.021146689245459507 Centerline is valid? [True, True] Translation: X:300.26, Y:-46.51, Z:-5.99 [[ 9.84348277e-01 1.75358420e-01 1.75469319e-02 3.00264678e+02] [-1.75331218e-01 9.84504659e-01 -3.08882393e-03 -4.65053975e+01] [-1.78166874e-02 -3.60464233e-05 9.99841270e-01 -5.98802719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters 0.020853146018915525 Centerline is valid? [True, True] Translation: X:300.29, Y:-46.51, Z:-5.99 [[ 9.84647661e-01 1.73669242e-01 1.75492831e-02 3.00292101e+02] [-1.73641784e-01 9.84804039e-01 -3.08813316e-03 -4.65137270e+01] [-1.78189186e-02 -6.56572682e-06 9.99841230e-01 -5.98873519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534012739 meters 0.02111649345610505 Centerline is valid? [True, True] Translation: X:300.32, Y:-46.53, Z:-5.99 [[ 9.85222221e-01 1.70342059e-01 1.79097221e-02 3.00318885e+02] [-1.70312927e-01 9.85384991e-01 -3.15066732e-03 -4.65264557e+01] [-1.81846625e-02 5.38502562e-05 9.99834644e-01 -5.98853399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters 0.02150004478853516 Centerline is valid? [True, True] Translation: X:300.35, Y:-46.54, Z:-5.99 [[ 9.85495328e-01 1.68783877e-01 1.76341008e-02 3.00345766e+02] [-1.68755400e-01 9.85653081e-01 -3.10135190e-03 -4.65353634e+01] [-1.79045640e-02 8.05180607e-05 9.99839697e-01 -5.98979889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594012739 meters 0.022970260377862907 Centerline is valid? [True, True] Translation: X:300.37, Y:-46.55, Z:-5.99 [[ 9.85999722e-01 1.65847759e-01 1.72935993e-02 3.00372177e+02] [-1.65819939e-01 9.86151360e-01 -3.04036265e-03 -4.65506918e+01] [-1.75583438e-02 1.30173149e-04 9.99845832e-01 -5.99137117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters 0.023292486858422185 Centerline is valid? [True, True] Translation: X:300.40, Y:-46.56, Z:-5.99 [[ 9.86253223e-01 1.64251633e-01 1.80549504e-02 3.00400562e+02] [-1.64221056e-01 9.86418458e-01 -3.17351615e-03 -4.65609546e+01] [-1.83309916e-02 1.64887508e-04 9.99831960e-01 -5.98985337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654012739 meters 0.02354381121501861 Centerline is valid? [True, True] Translation: X:300.43, Y:-46.57, Z:-5.99 [[ 9.86509997e-01 1.62590955e-01 1.90317162e-02 3.00429508e+02] [-1.62556679e-01 9.86693539e-01 -3.34469814e-03 -4.65706174e+01] [-1.93222891e-02 2.05845560e-04 9.99813286e-01 -5.98834018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters 0.025393513087844127 Centerline is valid? [True, True] Translation: X:300.46, Y:-46.59, Z:-5.99 [[ 9.86889004e-01 1.60190372e-01 1.97265741e-02 3.00457779e+02] [-1.60153069e-01 9.87086104e-01 -3.46678932e-03 -4.65884113e+01] [-2.00271735e-02 2.62064883e-04 9.99799402e-01 -5.98750263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714012739 meters 0.02615630720669317 Centerline is valid? [True, True] Translation: X:300.49, Y:-46.60, Z:-5.99 [[ 9.86992690e-01 1.59586649e-01 1.94301767e-02 3.00487820e+02] [-1.59550307e-01 9.87183887e-01 -3.41644716e-03 -4.66000914e+01] [-1.97263767e-02 2.71917718e-04 9.99805379e-01 -5.98872013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters 0.025181358614396316 Centerline is valid? [True, True] Translation: X:300.52, Y:-46.61, Z:-5.99 [[ 9.86931804e-01 1.59846317e-01 2.03658588e-02 3.00519594e+02] [-1.59806376e-01 9.87141872e-01 -3.58430836e-03 -4.66126856e+01] [-2.06769305e-02 2.82873822e-04 9.99786169e-01 -5.98729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774012739 meters 0.02470788536555183 Centerline is valid? [True, True] Translation: X:300.55, Y:-46.62, Z:-5.99 [[ 9.86755255e-01 1.60878232e-01 2.07908732e-02 3.00550777e+02] [-1.60836746e-01 9.86974225e-01 -3.66333328e-03 -4.66218144e+01] [-2.11094066e-02 2.70876961e-04 9.99777135e-01 -5.98721442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters 0.024536684507377806 Centerline is valid? [True, True] Translation: X:300.58, Y:-46.63, Z:-5.99 [[ 9.86504785e-01 1.62447839e-01 2.04697030e-02 3.00580780e+02] [-1.62407890e-01 9.86717104e-01 -3.61024116e-03 -4.66312746e+01] [-2.07842819e-02 2.37078908e-04 9.99783955e-01 -5.98837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834012739 meters 0.02213908977309899 Centerline is valid? [True, True] Translation: X:300.61, Y:-46.64, Z:-5.99 [[ 9.85815187e-01 1.66826244e-01 1.83690192e-02 3.00612620e+02] [-1.66794782e-01 9.85986302e-01 -3.24251607e-03 -4.66388123e+01] [-1.86525381e-02 1.32665030e-04 9.99826017e-01 -5.99216811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters 0.020631459576088414 Centerline is valid? [True, True] Translation: X:300.64, Y:-46.64, Z:-5.99 [[ 9.84701154e-01 1.73376117e-01 1.74458960e-02 3.00643434e+02] [-1.73348740e-01 9.84855686e-01 -3.08094132e-03 -4.66406277e+01] [-1.77158515e-02 9.58238751e-06 9.99843062e-01 -5.99309425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894012739 meters 0.02085136107376739 Centerline is valid? [True, True] Translation: X:300.67, Y:-46.64, Z:-5.99 [[ 9.84153440e-01 1.76360197e-01 1.84143447e-02 3.00674225e+02] [-1.76330214e-01 9.84325698e-01 -3.25222965e-03 -4.66427638e+01] [-1.86992765e-02 -4.63123349e-05 9.99825152e-01 -5.99168652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters 0.02114563492215107 Centerline is valid? [True, True] Translation: X:300.70, Y:-46.65, Z:-5.99 [[ 9.83758324e-01 1.78394116e-01 1.98771197e-02 3.00704751e+02] [-1.78359594e-01 9.83959110e-01 -3.51057609e-03 -4.66469708e+01] [-2.01845392e-02 -9.17165587e-05 9.99796267e-01 -5.98962510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954012739 meters 0.021424883155805416 Centerline is valid? [True, True] Translation: X:300.73, Y:-46.65, Z:-5.99 [[ 9.83538315e-01 1.79285327e-01 2.25644506e-02 3.00733807e+02] [-1.79241072e-01 9.83797111e-01 -3.98522263e-03 -4.66540773e+01] [-2.29133333e-02 -1.24857177e-04 9.99737447e-01 -5.98656943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters 0.021205223816656397 Centerline is valid? [True, True] Translation: X:300.76, Y:-46.66, Z:-5.99 [[ 9.83698270e-01 1.78650132e-01 2.05388310e-02 3.00764793e+02] [-1.78613323e-01 9.83912659e-01 -3.62774680e-03 -4.66626304e+01] [-2.08565132e-02 -9.99006034e-05 9.99782474e-01 -5.99122246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014012739 meters 0.02119533505220832 Centerline is valid? [True, True] Translation: X:300.80, Y:-46.67, Z:-6.00 [[ 9.83822717e-01 1.78147758e-01 1.88742430e-02 3.00795572e+02] [-1.78116523e-01 9.84003745e-01 -3.33680530e-03 -4.66689506e+01] [-1.91667702e-02 -7.89896843e-05 9.99816297e-01 -5.99511292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters 0.021266425471688204 Centerline is valid? [True, True] Translation: X:300.83, Y:-46.67, Z:-6.00 [[ 9.83907238e-01 1.77822716e-01 1.74822358e-02 3.00825689e+02] [-1.77795860e-01 9.84062537e-01 -3.09115547e-03 -4.66747307e+01] [-1.77532910e-02 -6.68589062e-05 9.99842396e-01 -5.99786258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074012739 meters 0.02097530487612528 Centerline is valid? [True, True] Translation: X:300.86, Y:-46.68, Z:-6.00 [[ 9.84103708e-01 1.76652281e-01 1.82719424e-02 3.00855912e+02] [-1.76622742e-01 9.84273320e-01 -3.23074564e-03 -4.66828682e+01] [-1.85553040e-02 -4.78518088e-05 9.99827834e-01 -5.99726785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters 0.020793581618484314 Centerline is valid? [True, True] Translation: X:300.89, Y:-46.69, Z:-6.00 [[ 9.84168629e-01 1.76168511e-01 1.94104237e-02 3.00886611e+02] [-1.76135073e-01 9.84360023e-01 -3.43248422e-03 -4.66896559e+01] [-1.97115407e-02 -4.07131040e-05 9.99805708e-01 -5.99594035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134012739 meters 0.02074447804736804 Centerline is valid? [True, True] Translation: X:300.92, Y:-46.70, Z:-5.99 [[ 9.84226097e-01 1.75760022e-01 2.01842618e-02 3.00917143e+02] [-1.75723709e-01 9.84433042e-01 -3.57271594e-03 -4.66967715e+01] [-2.04979948e-02 -3.04930817e-05 9.99789894e-01 -5.99465219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters 0.020857162934806675 Centerline is valid? [True, True] Translation: X:300.95, Y:-46.70, Z:-6.00 [[ 9.84034083e-01 1.76887617e-01 1.96899590e-02 3.00948036e+02] [-1.76853279e-01 9.84231054e-01 -3.48564137e-03 -4.67032973e+01] [-1.99960359e-02 -5.22438965e-05 9.99800058e-01 -5.99584912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194012739 meters 0.021382185264067016 Centerline is valid? [True, True] Translation: X:300.98, Y:-46.71, Z:-6.00 [[ 9.83802444e-01 1.78328083e-01 1.82166511e-02 3.00978328e+02] [-1.78298885e-01 9.83971082e-01 -3.22767642e-03 -4.67087813e+01] [-1.85002433e-02 -7.26126420e-05 9.99828853e-01 -5.99956516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters 0.021764572156210516 Centerline is valid? [True, True] Translation: X:301.01, Y:-46.71, Z:-6.00 [[ 9.83613783e-01 1.79344722e-01 1.84227496e-02 3.01007359e+02] [-1.79315033e-01 9.83786289e-01 -3.26445290e-03 -4.67126255e+01] [-1.87095109e-02 -9.25150867e-05 9.99824958e-01 -5.99982930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254012739 meters 0.022630853677754102 Centerline is valid? [True, True] Translation: X:301.04, Y:-46.71, Z:-5.99 [[ 9.83016224e-01 1.82373178e-01 2.04726004e-02 3.01037699e+02] [-1.82337176e-01 9.83229371e-01 -3.62742002e-03 -4.67140965e+01] [-2.07908061e-02 -1.67103422e-04 9.99783834e-01 -5.99486030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters 0.022630853677754102 Centerline is valid? [True, True] Translation: X:301.07, Y:-46.72, Z:-6.00 [[ 9.83016224e-01 1.82373181e-01 2.04725733e-02 3.01067234e+02] [-1.82337176e-01 9.83229370e-01 -3.62757272e-03 -4.67193297e+01] [-2.07908074e-02 -1.66948376e-04 9.99783834e-01 -5.99546952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314012739 meters 0.023736548071898594 Centerline is valid? [True, True] Translation: X:301.10, Y:-46.72, Z:-5.99 [[ 9.82597028e-01 1.84568476e-01 2.09179148e-02 3.01097320e+02] [-1.84531385e-01 9.82819633e-01 -3.70647248e-03 -4.67217871e+01] [-2.12426353e-02 -2.18042949e-04 9.99774326e-01 -5.99419456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters 0.026671669572385506 Centerline is valid? [True, True] Translation: X:301.13, Y:-46.72, Z:-6.00 [[ 9.81734384e-01 1.89130402e-01 2.06710160e-02 3.01127220e+02] [-1.89095197e-01 9.81951930e-01 -3.66246965e-03 -4.67211861e+01] [-2.09906284e-02 -3.13217450e-04 9.99779623e-01 -5.99571222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374012739 meters 0.02775871291279152 Centerline is valid? [True, True] Translation: X:301.16, Y:-46.72, Z:-6.00 [[ 9.81453565e-01 1.90597507e-01 2.05302393e-02 3.01156492e+02] [-1.90563110e-01 9.81668209e-01 -3.63703122e-03 -4.67245731e+01] [-2.08470923e-02 -3.42729004e-04 9.99782617e-01 -5.99685461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters 0.02979366861962435 Centerline is valid? [True, True] Translation: X:301.19, Y:-46.72, Z:-6.00 [[ 9.80975845e-01 1.93048054e-01 2.04655763e-02 3.01186410e+02] [-1.93014417e-01 9.81189224e-01 -3.62507624e-03 -4.67232284e+01] [-2.07804169e-02 -3.94039054e-04 9.99783986e-01 -5.99719021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434012739 meters 0.0306673612117723 Centerline is valid? [True, True] Translation: X:301.22, Y:-46.72, Z:-6.00 [[ 9.80800448e-01 1.93945223e-01 2.03894865e-02 3.01215115e+02] [-1.93912045e-01 9.81012273e-01 -3.61085300e-03 -4.67233432e+01] [-2.07026442e-02 -4.12240780e-04 9.99785592e-01 -5.99818028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters 0.030942474228222133 Centerline is valid? [True, True] Translation: X:301.24, Y:-46.72, Z:-6.00 [[ 9.80740720e-01 1.94248057e-01 2.03797119e-02 3.01244592e+02] [-1.94215002e-01 9.80952352e-01 -3.60790096e-03 -4.67246010e+01] [-2.06923540e-02 -4.19630399e-04 9.99785802e-01 -5.99904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494012739 meters 0.029980463702449868 Centerline is valid? [True, True] Translation: X:301.27, Y:-46.73, Z:-6.00 [[ 9.80969567e-01 1.93020634e-01 2.10176767e-02 3.01273740e+02] [-1.92985217e-01 9.81194613e-01 -3.71980199e-03 -4.67269662e+01] [-2.13404297e-02 -4.07088333e-04 9.99772184e-01 -5.99911785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters 0.028327959470700197 Centerline is valid? [True, True] Translation: X:301.30, Y:-46.73, Z:-6.00 [[ 9.81293498e-01 1.91367604e-01 2.10121641e-02 3.01301916e+02] [-1.91331848e-01 9.81518366e-01 -3.71781205e-03 -4.67322856e+01] [-2.13352937e-02 -3.72031397e-04 9.99772307e-01 -5.99986893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55401273900003 meters 0.02545419082606819 Centerline is valid? [True, True] Translation: X:301.33, Y:-46.74, Z:-6.00 [[ 9.82238609e-01 1.86440054e-01 2.11523240e-02 3.01330091e+02] [-1.86402698e-01 9.82466302e-01 -3.74158681e-03 -4.67380222e+01] [-2.14790272e-02 -2.67719228e-04 9.99769263e-01 -5.99990552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters 0.023530686323406096 Centerline is valid? [True, True] Translation: X:301.36, Y:-46.75, Z:-6.00 [[ 9.82783813e-01 1.83517665e-01 2.13832334e-02 3.01358963e+02] [-1.83478814e-01 9.83016390e-01 -3.78166273e-03 -4.67464070e+01] [-2.17140708e-02 -2.06813389e-04 9.99764200e-01 -6.00019978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61401273900003 meters 0.021441788153147276 Centerline is valid? [True, True] Translation: X:301.39, Y:-46.76, Z:-6.00 [[ 9.83816620e-01 1.77853877e-01 2.17452613e-02 3.01387323e+02] [-1.77812322e-01 9.84056905e-01 -3.84531222e-03 -4.67595340e+01] [-2.20824782e-02 -8.34933384e-05 9.99756149e-01 -5.99954517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters 0.021066366500116764 Centerline is valid? [True, True] Translation: X:301.42, Y:-46.77, Z:-6.00 [[ 9.84175143e-01 1.75850741e-01 2.18129598e-02 3.01416217e+02] [-1.75808406e-01 9.84416840e-01 -3.85862859e-03 -4.67668211e+01] [-2.21515877e-02 -3.73353379e-05 9.99754623e-01 -5.99922353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67401273900003 meters 0.021064808967864133 Centerline is valid? [True, True] Translation: X:301.45, Y:-46.77, Z:-6.00 [[ 9.84339920e-01 1.74978810e-01 2.13854477e-02 3.01446253e+02] [-1.74937917e-01 9.84572199e-01 -3.78276982e-03 -4.67719333e+01] [-2.17174219e-02 -1.75943373e-05 9.99764149e-01 -6.00076024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters 0.021132096590073878 Centerline is valid? [True, True] Translation: X:301.48, Y:-46.78, Z:-6.00 [[ 9.84313697e-01 1.75105851e-01 2.15519550e-02 3.01476615e+02] [-1.75064349e-01 9.84549613e-01 -3.81222250e-03 -4.67774365e+01] [-2.18865114e-02 -2.05561560e-05 9.99760461e-01 -6.00118972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734012739 meters 0.021049602438897547 Centerline is valid? [True, True] Translation: X:301.51, Y:-46.78, Z:-6.00 [[ 9.84311204e-01 1.75059401e-01 2.20377126e-02 3.01505953e+02] [-1.75015995e-01 9.84557873e-01 -3.89814584e-03 -4.67841187e+01] [-2.23798105e-02 -1.99635769e-05 9.99749540e-01 -6.00099136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters 0.021143828697547544 Centerline is valid? [True, True] Translation: X:301.53, Y:-46.79, Z:-6.00 [[ 9.84199420e-01 1.75684764e-01 2.20536994e-02 3.01534804e+02] [-1.75641453e-01 9.84446475e-01 -3.90094940e-03 -4.67893692e+01] [-2.23960240e-02 -3.42316702e-05 9.99749177e-01 -6.00052374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794012739 meters 0.021348402809811158 Centerline is valid? [True, True] Translation: X:301.56, Y:-46.79, Z:-6.00 [[ 9.84016325e-01 1.76815815e-01 2.11669440e-02 3.01564394e+02] [-1.76776184e-01 9.84243956e-01 -3.74385646e-03 -4.67925229e+01] [-2.14954098e-02 -5.77957241e-05 9.99768945e-01 -6.00293414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters 0.022429533077371257 Centerline is valid? [True, True] Translation: X:301.59, Y:-46.79, Z:-6.01 [[ 9.83460399e-01 1.80029659e-01 1.98737216e-02 3.01593023e+02] [-1.79995383e-01 9.83661175e-01 -3.51490413e-03 -4.67923557e+01] [-2.01817954e-02 -1.20409119e-04 9.99796320e-01 -6.00593970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854012739 meters 0.0229717462994983 Centerline is valid? [True, True] Translation: X:301.62, Y:-46.80, Z:-6.01 [[ 9.83168956e-01 1.81605292e-01 1.99579939e-02 3.01622971e+02] [-1.81571061e-01 9.83371493e-01 -3.52929276e-03 -4.67955605e+01] [-2.02670605e-02 -1.53903039e-04 9.99794590e-01 -6.00682241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters 0.024460923118320637 Centerline is valid? [True, True] Translation: X:301.65, Y:-46.79, Z:-6.01 [[ 9.82718372e-01 1.84028544e-01 1.99523431e-02 3.01651247e+02] [-1.83994841e-01 9.82920878e-01 -3.52782099e-03 -4.67946289e+01] [-2.02607943e-02 -2.04273683e-04 9.99794708e-01 -6.00777495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914012739 meters 0.025205841706567273 Centerline is valid? [True, True] Translation: X:301.68, Y:-46.80, Z:-6.01 [[ 9.82509738e-01 1.85167634e-01 1.96866038e-02 3.01679820e+02] [-1.85135073e-01 9.82706923e-01 -3.47968645e-03 -4.67971987e+01] [-1.99904872e-02 -2.25855018e-04 9.99800145e-01 -6.00833816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters 0.02554894682024029 Centerline is valid? [True, True] Translation: X:301.71, Y:-46.80, Z:-6.01 [[ 9.82314752e-01 1.86236845e-01 1.93278293e-02 3.01708670e+02] [-1.86205685e-01 9.82504849e-01 -3.41538060e-03 -4.68015158e+01] [-1.96257557e-02 -2.43972953e-04 9.99807367e-01 -6.00969063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974012739 meters 0.027012377072381955 Centerline is valid? [True, True] Translation: X:301.74, Y:-46.80, Z:-6.01 [[ 9.82041119e-01 1.87605109e-01 1.99890723e-02 3.01736734e+02] [-1.87572084e-01 9.82244493e-01 -3.53123263e-03 -4.68044602e+01] [-2.02966335e-02 -2.81576318e-04 9.99793962e-01 -6.00920035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters 0.027095810087228382 Centerline is valid? [True, True] Translation: X:301.76, Y:-46.81, Z:-6.01 [[ 9.82130889e-01 1.87047629e-01 2.07870303e-02 3.01763707e+02] [-1.87011816e-01 9.82350805e-01 -3.67092181e-03 -4.68094069e+01] [-2.11067932e-02 -2.82094592e-04 9.99777187e-01 -6.00852286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034012739 meters 0.02538464466728989 Centerline is valid? [True, True] Translation: X:301.79, Y:-46.82, Z:-6.01 [[ 9.82532322e-01 1.84801728e-01 2.18759495e-02 3.01791222e+02] [-1.84761531e-01 9.82775794e-01 -3.86216015e-03 -4.68179929e+01] [-2.22128875e-02 -2.47136741e-04 9.99753233e-01 -6.00743855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters 0.024725317462276887 Centerline is valid? [True, True] Translation: X:301.82, Y:-46.83, Z:-6.01 [[ 9.82749501e-01 1.83691089e-01 2.14709646e-02 3.01819198e+02] [-1.83652123e-01 9.82983996e-01 -3.78969042e-03 -4.68252243e+01] [-2.18017470e-02 -2.18871881e-04 9.99762290e-01 -6.00832507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094012739 meters 0.024224144643597564 Centerline is valid? [True, True] Translation: X:301.85, Y:-46.83, Z:-6.01 [[ 9.82979876e-01 1.82704389e-01 1.92268018e-02 3.01846424e+02] [-1.82672970e-01 9.83167877e-01 -3.39281057e-03 -4.68319711e+01] [-1.95230553e-02 -1.77152474e-04 9.99809391e-01 -6.01298742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters 0.024415288494320304 Centerline is valid? [True, True] Translation: X:301.87, Y:-46.84, Z:-6.02 [[ 9.82955210e-01 1.82915527e-01 1.84652151e-02 3.01874375e+02] [-1.82886604e-01 9.83128618e-01 -3.25739455e-03 -4.68365347e+01] [-1.87495095e-02 -1.75167553e-04 9.99824197e-01 -6.01527271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154012739 meters 0.02533270298833679 Centerline is valid? [True, True] Translation: X:301.90, Y:-46.84, Z:-6.01 [[ 9.82696872e-01 1.84171221e-01 1.96930998e-02 3.01902681e+02] [-1.84138595e-01 9.82894153e-01 -3.47304580e-03 -4.68396864e+01] [-1.99958677e-02 -2.13308487e-04 9.99800040e-01 -6.01340426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters 0.025329913284071456 Centerline is valid? [True, True] Translation: X:301.93, Y:-46.84, Z:-6.01 [[ 9.82621792e-01 1.84430397e-01 2.09724210e-02 3.01930633e+02] [-1.84393474e-01 9.82845549e-01 -3.69765719e-03 -4.68448276e+01] [-2.12946110e-02 -2.33779031e-04 9.99773217e-01 -6.01094196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214012739 meters 0.025187435462551463 Centerline is valid? [True, True] Translation: X:301.96, Y:-46.85, Z:-6.01 [[ 9.82625619e-01 1.84222567e-01 2.25596738e-02 3.01959119e+02] [-1.84179813e-01 9.82884523e-01 -3.97640674e-03 -4.68508866e+01] [-2.29060981e-02 -2.47717381e-04 9.99737590e-01 -6.00854979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters 0.023868198721152974 Centerline is valid? [True, True] Translation: X:301.99, Y:-46.86, Z:-6.01 [[ 9.82835315e-01 1.83066387e-01 2.28350926e-02 3.01987973e+02] [-1.83022293e-01 9.83100528e-01 -4.02399080e-03 -4.68610565e+01] [-2.31858491e-02 -2.24410751e-04 9.99731147e-01 -6.00792670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274012739 meters 0.023182096584237876 Centerline is valid? [True, True] Translation: X:302.02, Y:-46.87, Z:-6.01 [[ 9.82933457e-01 1.82635172e-01 2.20502604e-02 3.02018570e+02] [-1.82593953e-01 9.83180732e-01 -3.88550993e-03 -4.68696048e+01] [-2.23890219e-02 -2.07046508e-04 9.99749313e-01 -6.01082105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters 0.0243527689458094 Centerline is valid? [True, True] Translation: X:302.05, Y:-46.87, Z:-6.01 [[ 9.82748977e-01 1.83809098e-01 2.04612766e-02 3.02047260e+02] [-1.83773851e-01 9.82961936e-01 -3.60598304e-03 -4.68743549e+01] [-2.07754685e-02 -2.16471455e-04 9.99784143e-01 -6.01402553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334012739 meters 0.0252656793574401 Centerline is valid? [True, True] Translation: X:302.08, Y:-46.88, Z:-6.01 [[ 9.82498622e-01 1.85072220e-01 2.10886319e-02 3.02075897e+02] [-1.85035066e-01 9.82724891e-01 -3.71671870e-03 -4.68775141e+01] [-2.14121849e-02 -2.50465385e-04 9.99770702e-01 -6.01306462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters 0.0288037175006296 Centerline is valid? [True, True] Translation: X:302.11, Y:-46.87, Z:-6.01 [[ 9.81716421e-01 1.88903565e-01 2.34160676e-02 3.02105890e+02] [-1.88858866e-01 9.81995573e-01 -4.12599882e-03 -4.68745401e+01] [-2.37738906e-02 -3.71771189e-04 9.99717292e-01 -6.00850566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394012739 meters 0.03027361581188042 Centerline is valid? [True, True] Translation: X:302.14, Y:-46.88, Z:-6.01 [[ 9.81237806e-01 1.91275462e-01 2.42087788e-02 3.02135259e+02] [-1.91228429e-01 9.81536296e-01 -4.26474651e-03 -4.68762263e+01] [-2.45775364e-02 -4.44676231e-04 9.99697828e-01 -6.00827669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters 0.03156947155692457 Centerline is valid? [True, True] Translation: X:302.17, Y:-46.88, Z:-6.01 [[ 9.80802775e-01 1.93517530e-01 2.40183771e-02 3.02165055e+02] [-1.93471931e-01 9.81096691e-01 -4.23018190e-03 -4.68792116e+01] [-2.43829646e-02 -4.97907639e-04 9.99702567e-01 -6.01008797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454012739 meters 0.03296105190954235 Centerline is valid? [True, True] Translation: X:302.19, Y:-46.88, Z:-6.02 [[ 9.80467267e-01 1.95472969e-01 2.17774513e-02 3.02194445e+02] [-1.95435975e-01 9.80708964e-01 -3.83502890e-03 -4.68815667e+01] [-2.21069862e-02 -4.95977119e-04 9.99755488e-01 -6.01556272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters 0.03253900860000759 Centerline is valid? [True, True] Translation: X:302.22, Y:-46.88, Z:-6.02 [[ 9.80742688e-01 1.94312357e-01 1.96592926e-02 3.02222558e+02] [-1.94281985e-01 9.80939615e-01 -3.46160201e-03 -4.68843162e+01] [-1.99572109e-02 -4.24505519e-04 9.99800745e-01 -6.02006119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514012739 meters 0.03165846964510543 Centerline is valid? [True, True] Translation: X:302.25, Y:-46.89, Z:-6.02 [[ 9.81016918e-01 1.92998433e-01 1.89053549e-02 3.02250903e+02] [-1.92970118e-01 9.81198990e-01 -3.32798313e-03 -4.68902391e+01] [-1.91922106e-02 -3.83360816e-04 9.99815739e-01 -6.02230101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters 0.030042106619291607 Centerline is valid? [True, True] Translation: X:302.28, Y:-46.90, Z:-6.02 [[ 9.81313835e-01 1.91494303e-01 1.87906824e-02 3.02278872e+02] [-1.91466072e-01 9.81493661e-01 -3.30691534e-03 -4.68982061e+01] [-1.90761911e-02 -3.52656383e-04 9.99817971e-01 -6.02343245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574012739 meters 0.02786967016899619 Centerline is valid? [True, True] Translation: X:302.31, Y:-46.91, Z:-6.02 [[ 9.81882591e-01 1.88525460e-01 1.90978832e-02 3.02305938e+02] [-1.88495755e-01 9.82068257e-01 -3.36004883e-03 -4.69080247e+01] [-1.93888796e-02 -3.00696462e-04 9.99811973e-01 -6.02281770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters 0.027267677759802312 Centerline is valid? [True, True] Translation: X:302.33, Y:-46.91, Z:-6.02 [[ 9.82095927e-01 1.87445067e-01 1.87599707e-02 3.02334046e+02] [-1.87416223e-01 9.82275049e-01 -3.29971954e-03 -4.69130500e+01] [-1.90459673e-02 -2.75281737e-04 9.99818571e-01 -6.02392212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634012739 meters 0.027271810570674702 Centerline is valid? [True, True] Translation: X:302.36, Y:-46.92, Z:-6.03 [[ 9.82295875e-01 1.86470634e-01 1.79865427e-02 3.02362316e+02] [-1.86443971e-01 9.82460504e-01 -3.16289416e-03 -4.69153694e+01] [-1.82608547e-02 -2.46584553e-04 9.99833226e-01 -6.02638881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters 0.026913506535676562 Centerline is valid? [True, True] Translation: X:302.39, Y:-46.92, Z:-6.03 [[ 9.82362295e-01 1.86154794e-01 1.76270992e-02 3.02390945e+02] [-1.86129154e-01 9.82520400e-01 -3.09864386e-03 -4.69204315e+01] [-1.78958119e-02 -2.36926165e-04 9.99839829e-01 -6.02709412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694012739 meters 0.027364805967509273 Centerline is valid? [True, True] Translation: X:302.42, Y:-46.92, Z:-6.03 [[ 9.82238721e-01 1.86828924e-01 1.73795562e-02 3.02420197e+02] [-1.86804118e-01 9.82392433e-01 -3.05434293e-03 -4.69226015e+01] [-1.76441841e-02 -2.46478779e-04 9.99844299e-01 -6.02710094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters 0.02694598220448024 Centerline is valid? [True, True] Translation: X:302.45, Y:-46.93, Z:-6.02 [[ 9.82075276e-01 1.87576262e-01 1.85283258e-02 3.02448640e+02] [-1.87548219e-01 9.82250003e-01 -3.25531261e-03 -4.69258254e+01] [-1.88100674e-02 -2.77992463e-04 9.99823036e-01 -6.02498280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754012739 meters 0.02986422130066692 Centerline is valid? [True, True] Translation: X:302.48, Y:-46.92, Z:-6.02 [[ 9.81370396e-01 1.91023797e-01 2.05439913e-02 3.02478178e+02] [-1.90990097e-01 9.81585331e-01 -3.60835549e-03 -4.69216633e+01] [-2.08549623e-02 -3.82565641e-04 9.99782438e-01 -6.02239820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters 0.033201565722148274 Centerline is valid? [True, True] Translation: X:302.51, Y:-46.92, Z:-6.02 [[ 9.81116012e-01 1.92341645e-01 2.03975935e-02 3.02507206e+02] [-1.92308724e-01 9.81327940e-01 -3.58188567e-03 -4.69187142e+01] [-2.07056742e-02 -4.08389788e-04 9.99785531e-01 -6.02259068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814012739 meters 0.03189115093731167 Centerline is valid? [True, True] Translation: X:302.54, Y:-46.92, Z:-6.02 [[ 9.80895719e-01 1.93466285e-01 2.03564577e-02 3.02535808e+02] [-1.93433767e-01 9.81106829e-01 -3.57327632e-03 -4.69201644e+01] [-2.06631682e-02 -4.32614861e-04 9.99786400e-01 -6.02376137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters 0.033267578836774524 Centerline is valid? [True, True] Translation: X:302.56, Y:-46.92, Z:-6.02 [[ 9.81001540e-01 1.92905257e-01 2.05800844e-02 3.02564459e+02] [-1.92871918e-01 9.81217295e-01 -3.61151905e-03 -4.69204428e+01] [-2.08902157e-02 -4.26414597e-04 9.99781685e-01 -6.02350874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874012739 meters 0.03177543973445062 Centerline is valid? [True, True] Translation: X:302.59, Y:-46.93, Z:-6.02 [[ 9.81308840e-01 1.91263957e-01 2.12381555e-02 3.02592372e+02] [-1.91228100e-01 9.81538555e-01 -3.72552688e-03 -4.69265155e+01] [-2.15586275e-02 -4.05439666e-04 9.99767504e-01 -6.02319371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters 0.025431388344456542 Centerline is valid? [True, True] Translation: X:302.62, Y:-46.94, Z:-6.02 [[ 9.82409233e-01 1.85428617e-01 2.20980994e-02 3.02620455e+02] [-1.85388341e-01 9.82657694e-01 -3.87540187e-03 -4.69418971e+01] [-2.24334778e-02 -2.89499406e-04 9.99748296e-01 -6.02253236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934012739 meters 0.024342225759510932 Centerline is valid? [True, True] Translation: X:302.65, Y:-46.95, Z:-6.02 [[ 9.82988792e-01 1.82324706e-01 2.21525556e-02 3.02647398e+02] [-1.82283452e-01 9.83238350e-01 -3.88457656e-03 -4.69480906e+01] [-2.24894965e-02 -2.19549081e-04 9.99747055e-01 -6.02266790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters 0.02196471148994669 Centerline is valid? [True, True] Translation: X:302.67, Y:-46.96, Z:-6.03 [[ 9.83947712e-01 1.77178854e-01 2.13202720e-02 3.02674001e+02] [-1.77139459e-01 9.84178665e-01 -3.73743857e-03 -4.69612532e+01] [-2.16451520e-02 -9.92173248e-05 9.99765711e-01 -6.02596854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994012739 meters 0.021443211970569788 Centerline is valid? [True, True] Translation: X:302.70, Y:-46.97, Z:-6.03 [[ 9.84330522e-01 1.75072869e-01 2.10455306e-02 3.02701430e+02] [-1.75034009e-01 9.84555477e-01 -3.68890003e-03 -4.69704103e+01] [-2.13663187e-02 -5.25866968e-05 9.99771713e-01 -6.02749685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters 0.021331252052508055 Centerline is valid? [True, True] Translation: X:302.73, Y:-46.98, Z:-6.03 [[ 9.84609005e-01 1.73484832e-01 2.11688568e-02 3.02730621e+02] [-1.73445168e-01 9.84836541e-01 -3.70955985e-03 -4.69774831e+01] [-2.14914160e-02 -1.91698901e-05 9.99769033e-01 -6.02719830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05401273900003 meters 0.021296724616180894 Centerline is valid? [True, True] Translation: X:302.76, Y:-46.98, Z:-6.03 [[ 9.84625780e-01 1.73478548e-01 2.04271052e-02 3.02759564e+02] [-1.73441624e-01 9.84837648e-01 -3.57911945e-03 -4.69814442e+01] [-2.07382827e-02 -1.88170250e-05 9.99784939e-01 -6.02905889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters 0.021636269725863345 Centerline is valid? [True, True] Translation: X:302.79, Y:-46.99, Z:-6.04 [[ 9.84593256e-01 1.74037259e-01 1.69455489e-02 3.02788805e+02] [-1.74011938e-01 9.84739068e-01 -2.96877531e-03 -4.69853276e+01] [-1.72036215e-02 -2.56916586e-05 9.99852006e-01 -6.03645388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11401273900003 meters 0.021795840498055233 Centerline is valid? [True, True] Translation: X:302.82, Y:-46.99, Z:-6.04 [[ 9.84609162e-01 1.74128997e-01 1.49630062e-02 3.02816800e+02] [-1.74109269e-01 9.84722850e-01 -2.62119752e-03 -4.69900492e+01] [-1.51908406e-02 -2.43429684e-05 9.99884612e-01 -6.04129189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters 0.021795840498055233 Centerline is valid? [True, True] Translation: X:302.84, Y:-46.99, Z:-6.04 [[ 9.84616928e-01 1.74085067e-01 1.49630900e-02 3.02844716e+02] [-1.74065341e-01 9.84730617e-01 -2.62071905e-03 -4.69948442e+01] [-1.51908409e-02 -2.41510172e-05 9.99884612e-01 -6.04186717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17401273900003 meters 0.022109265345918592 Centerline is valid? [True, True] Translation: X:302.87, Y:-47.00, Z:-6.04 [[ 9.84609088e-01 1.74193787e-01 1.41939776e-02 3.02871734e+02] [-1.74176056e-01 9.84711391e-01 -2.48547218e-03 -4.69992046e+01] [-1.44099252e-02 -2.50325376e-05 9.99896171e-01 -6.04429803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters 0.021669109814903914 Centerline is valid? [True, True] Translation: X:302.90, Y:-47.00, Z:-6.04 [[ 9.84633498e-01 1.73936576e-01 1.55866380e-02 3.02899749e+02] [-1.73915178e-01 9.84756857e-01 -2.72834674e-03 -4.70031722e+01] [-1.58236079e-02 -2.43313151e-05 9.99874799e-01 -6.04195714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234012739 meters 0.02152723021581179 Centerline is valid? [True, True] Translation: X:302.93, Y:-47.01, Z:-6.04 [[ 9.84703977e-01 1.73432583e-01 1.67097960e-02 3.02928219e+02] [-1.73407937e-01 9.84845744e-01 -2.92381362e-03 -4.70092227e+01] [-1.69636560e-02 -1.85203601e-05 9.99856107e-01 -6.03968336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters 0.02143451471393642 Centerline is valid? [True, True] Translation: X:302.96, Y:-47.02, Z:-6.04 [[ 9.84925936e-01 1.72031157e-01 1.80605072e-02 3.02956025e+02] [-1.72002146e-01 9.85091509e-01 -3.15922801e-03 -4.70180118e+01] [-1.83347380e-02 5.15961229e-06 9.99831905e-01 -6.03834554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294012739 meters 0.02153461764675647 Centerline is valid? [True, True] Translation: X:302.98, Y:-47.03, Z:-6.04 [[ 9.85122512e-01 1.70950464e-01 1.75947526e-02 3.02983414e+02] [-1.70922773e-01 9.85279624e-01 -3.07692432e-03 -4.70255672e+01] [-1.78617529e-02 2.38035180e-05 9.99840466e-01 -6.04073089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters 0.02187590029133166 Centerline is valid? [True, True] Translation: X:303.01, Y:-47.03, Z:-6.04 [[ 9.85346636e-01 1.69717791e-01 1.69669520e-02 3.03009896e+02] [-1.69691867e-01 9.85492704e-01 -2.96662929e-03 -4.70332336e+01] [-1.72242971e-02 4.40044400e-05 9.99851650e-01 -6.04304097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354012739 meters 0.021712478134877946 Centerline is valid? [True, True] Translation: X:303.04, Y:-47.04, Z:-6.04 [[ 9.85268135e-01 1.70104571e-01 1.76390652e-02 3.03039450e+02] [-1.70076634e-01 9.85426016e-01 -3.08304664e-03 -4.70373608e+01] [-1.79064341e-02 3.76347755e-05 9.99839666e-01 -6.04143795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters 0.021519039937860706 Centerline is valid? [True, True] Translation: X:303.07, Y:-47.04, Z:-6.04 [[ 9.85118560e-01 1.70863330e-01 1.86318549e-02 3.03068860e+02] [-1.70832304e-01 9.85294739e-01 -3.25611168e-03 -4.70414442e+01] [-1.89142187e-02 2.47333433e-05 9.99821110e-01 -6.03946307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414012739 meters 0.021395685727148277 Centerline is valid? [True, True] Translation: X:303.10, Y:-47.04, Z:-6.04 [[ 9.84650214e-01 1.73428035e-01 1.96639852e-02 3.03097411e+02] [-1.73393996e-01 9.84846544e-01 -3.43598306e-03 -4.70428246e+01] [-1.99619037e-02 -2.63755247e-05 9.99800741e-01 -6.03825721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters 0.021502789926781864 Centerline is valid? [True, True] Translation: X:303.13, Y:-47.05, Z:-6.04 [[ 9.84344576e-01 1.75209380e-01 1.91684244e-02 3.03127010e+02] [-1.75177386e-01 9.84531193e-01 -3.34870090e-03 -4.70451869e+01] [-1.94586356e-02 -6.15989284e-05 9.99810661e-01 -6.03897993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474012739 meters 0.022559052634276367 Centerline is valid? [True, True] Translation: X:303.16, Y:-47.04, Z:-6.04 [[ 9.83801585e-01 1.78386322e-01 1.76850421e-02 3.03155305e+02] [-1.78359608e-01 9.83960521e-01 -3.08925033e-03 -4.70438057e+01] [-1.79524633e-02 -1.15087807e-04 9.99838835e-01 -6.04274661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters 0.023511616716147776 Centerline is valid? [True, True] Translation: X:303.18, Y:-47.05, Z:-6.05 [[ 9.83642507e-01 1.79328989e-01 1.69862347e-02 3.03183478e+02] [-1.79304501e-01 9.83789153e-01 -2.96620873e-03 -4.70454083e+01] [-1.72428007e-02 -1.28019356e-04 9.99851324e-01 -6.04550093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534012739 meters 0.02345844726961923 Centerline is valid? [True, True] Translation: X:303.21, Y:-47.05, Z:-6.05 [[ 9.83514194e-01 1.80032592e-01 1.69734211e-02 3.03211965e+02] [-1.80008264e-01 9.83660636e-01 -2.96292331e-03 -4.70502681e+01] [-1.72295090e-02 -1.41278938e-04 9.99851551e-01 -6.04515277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters 0.023933016440476355 Centerline is valid? [True, True] Translation: X:303.24, Y:-47.05, Z:-6.04 [[ 9.83307699e-01 1.80737996e-01 2.09700948e-02 3.03240064e+02] [-1.80701049e-01 9.83531260e-01 -3.65934994e-03 -4.70536585e+01] [-2.12861273e-02 -1.91051144e-04 9.99773406e-01 -6.03891822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594012739 meters 0.02272500850609929 Centerline is valid? [True, True] Translation: X:303.27, Y:-47.06, Z:-6.04 [[ 9.83506814e-01 1.79513532e-01 2.21187249e-02 3.03268539e+02] [-1.79472145e-01 9.83755489e-01 -3.85848080e-03 -4.70627883e+01] [-2.24520665e-02 -1.74852842e-04 9.99747905e-01 -6.03755855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters 0.022478780692282638 Centerline is valid? [True, True] Translation: X:303.30, Y:-47.07, Z:-6.04 [[ 9.83818199e-01 1.78024826e-01 2.02215950e-02 3.03296308e+02] [-1.77989930e-01 9.84025988e-01 -3.52708004e-03 -4.70695569e+01] [-2.05264828e-02 -1.29234747e-04 9.99789301e-01 -6.04128359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654012739 meters 0.02187189118496004 Centerline is valid? [True, True] Translation: X:303.32, Y:-47.08, Z:-6.05 [[ 9.84208800e-01 1.76120699e-01 1.77351949e-02 3.03324529e+02] [-1.76093554e-01 9.84368576e-01 -3.09305808e-03 -4.70794463e+01] [-1.80027201e-02 -7.88385103e-05 9.99837935e-01 -6.04684223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters 0.021636536464959538 Centerline is valid? [True, True] Translation: X:303.35, Y:-47.09, Z:-6.05 [[ 9.84968244e-01 1.72122818e-01 1.45359798e-02 3.03351173e+02] [-1.72104150e-01 9.85075497e-01 -2.53491051e-03 -4.70943248e+01] [-1.47553535e-02 -4.89610910e-06 9.99891134e-01 -6.05322932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714012739 meters 0.021597973335177625 Centerline is valid? [True, True] Translation: X:303.38, Y:-47.10, Z:-6.05 [[ 9.85137401e-01 1.71130715e-01 1.47844731e-02 3.03379926e+02] [-1.71111301e-01 9.85248333e-01 -2.57764160e-03 -4.71023289e+01] [-1.50074912e-02 9.54071504e-06 9.99887381e-01 -6.05297796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters 0.021373852211623648 Centerline is valid? [True, True] Translation: X:303.41, Y:-47.11, Z:-6.05 [[ 9.84895278e-01 1.72351234e-01 1.66235827e-02 3.03409291e+02] [-1.72326871e-01 9.85035559e-01 -2.89783256e-03 -4.71082766e+01] [-1.68742651e-02 -1.06283931e-05 9.99857619e-01 -6.04906080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774012739 meters 0.021552189571742455 Centerline is valid? [True, True] Translation: X:303.44, Y:-47.11, Z:-6.05 [[ 9.84534779e-01 1.74267413e-01 1.79481863e-02 3.03437984e+02] [-1.74239339e-01 9.84698363e-01 -3.12829740e-03 -4.71119464e+01] [-1.82187100e-02 -4.73625191e-05 9.99834024e-01 -6.04740330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters 0.022898188224024417 Centerline is valid? [True, True] Translation: X:303.47, Y:-47.11, Z:-6.04 [[ 9.83690289e-01 1.78782926e-01 1.97504491e-02 3.03466902e+02] [-1.78749855e-01 9.83888532e-01 -3.44165850e-03 -4.71119663e+01] [-2.00475502e-02 -1.44863882e-04 9.99799017e-01 -6.04456294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834012739 meters 0.023606472730614832 Centerline is valid? [True, True] Translation: X:303.50, Y:-47.11, Z:-6.05 [[ 9.83347484e-01 1.80646067e-01 1.98676740e-02 3.03496905e+02] [-1.80613001e-01 9.83548151e-01 -3.46115414e-03 -4.71148012e+01] [-2.01660579e-02 -1.84843007e-04 9.99796627e-01 -6.04505323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters 0.024619146137632508 Centerline is valid? [True, True] Translation: X:303.53, Y:-47.12, Z:-6.05 [[ 9.83130200e-01 1.81905019e-01 1.91200120e-02 3.03525383e+02] [-1.81874641e-01 9.83316085e-01 -3.33047227e-03 -4.71163461e+01] [-1.94068450e-02 -2.03157460e-04 9.99811649e-01 -6.04710328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894012739 meters 0.02482117383510374 Centerline is valid? [True, True] Translation: X:303.55, Y:-47.12, Z:-6.05 [[ 9.83129625e-01 1.82134743e-01 1.68248727e-02 3.03553389e+02] [-1.82111263e-01 9.83273564e-01 -2.93020697e-03 -4.71214765e+01] [-1.70771450e-02 -1.83225534e-04 9.99854158e-01 -6.05191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters 0.02335154294565834 Centerline is valid? [True, True] Translation: X:303.58, Y:-47.13, Z:-6.05 [[ 9.83632952e-01 1.79493001e-01 1.57632273e-02 3.03580814e+02] [-1.79472063e-01 9.83759242e-01 -2.74457657e-03 -4.71302077e+01] [-1.59998528e-02 -1.29402977e-04 9.99871986e-01 -6.05382152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954012739 meters 0.022911994679233657 Centerline is valid? [True, True] Translation: X:303.61, Y:-47.14, Z:-6.05 [[ 9.83904562e-01 1.77925196e-01 1.65661766e-02 3.03609208e+02] [-1.77901859e-01 9.84044010e-01 -2.88373748e-03 -4.71352318e+01] [-1.68149364e-02 -1.09831140e-04 9.99858613e-01 -6.05356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters 0.022173536361812803 Centerline is valid? [True, True] Translation: X:303.64, Y:-47.14, Z:-6.05 [[ 9.84180995e-01 1.76341948e-01 1.70671498e-02 3.03637788e+02] [-1.76316952e-01 9.84328964e-01 -2.97026127e-03 -4.71421934e+01] [-1.73234715e-02 -8.59531210e-05 9.99849934e-01 -6.05303178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014012739 meters 0.02164678512513093 Centerline is valid? [True, True] Translation: X:303.67, Y:-47.15, Z:-6.05 [[ 9.84586891e-01 1.74061429e-01 1.70667426e-02 3.03666231e+02] [-1.74036098e-01 9.84734795e-01 -2.96977741e-03 -4.71488526e+01] [-1.73231389e-02 -4.62253797e-05 9.99849942e-01 -6.05337530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters 0.021528194045003324 Centerline is valid? [True, True] Translation: X:303.69, Y:-47.15, Z:-6.05 [[ 9.84818135e-01 1.72613874e-01 1.83764022e-02 3.03694449e+02] [-1.72584263e-01 9.84989568e-01 -3.19721034e-03 -4.71540566e+01] [-1.86524473e-02 -2.28071181e-05 9.99826028e-01 -6.05171402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074012739 meters 0.021369038074478982 Centerline is valid? [True, True] Translation: X:303.72, Y:-47.16, Z:-6.05 [[ 9.84830888e-01 1.72439996e-01 1.93020407e-02 3.03723795e+02] [-1.72407308e-01 9.85020024e-01 -3.35751999e-03 -4.71587111e+01] [-1.95918673e-02 -2.12234844e-05 9.99808061e-01 -6.04996181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters 0.02135902494619129 Centerline is valid? [True, True] Translation: X:303.75, Y:-47.16, Z:-6.05 [[ 9.84751760e-01 1.72851256e-01 1.96574343e-02 3.03752703e+02] [-1.72817445e-01 9.84947939e-01 -3.41885045e-03 -4.71624550e+01] [-1.99525020e-02 -3.04285537e-05 9.99800929e-01 -6.04992414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134012739 meters 0.021590220994923397 Centerline is valid? [True, True] Translation: X:303.78, Y:-47.17, Z:-6.05 [[ 9.84488513e-01 1.74471101e-01 1.84987319e-02 3.03781729e+02] [-1.74441447e-01 9.84662293e-01 -3.21713558e-03 -4.71673431e+01] [-1.87763010e-02 -5.97125495e-05 9.99823708e-01 -6.05216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters 0.021966338693913363 Centerline is valid? [True, True] Translation: X:303.81, Y:-47.17, Z:-6.05 [[ 9.84304376e-01 1.75537939e-01 1.82023934e-02 3.03810287e+02] [-1.75509418e-01 9.84472664e-01 -3.16519683e-03 -4.71717353e+01] [-1.84753708e-02 -7.91743752e-05 9.99829313e-01 -6.05314271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194012739 meters 0.02230139703536212 Centerline is valid? [True, True] Translation: X:303.84, Y:-47.18, Z:-6.05 [[ 9.84031373e-01 1.77037124e-01 1.84421611e-02 3.03839553e+02] [-1.77008123e-01 9.84204168e-01 -3.20621053e-03 -4.71761634e+01] [-1.87184701e-02 -1.09400567e-04 9.99824788e-01 -6.05333597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters 0.024873782719750923 Centerline is valid? [True, True] Translation: X:303.87, Y:-47.17, Z:-6.05 [[ 9.83434372e-01 1.80239930e-01 1.92458454e-02 3.03869256e+02] [-1.80208968e-01 9.83622659e-01 -3.34544983e-03 -4.71744468e+01] [-1.95336333e-02 -1.78243587e-04 9.99809184e-01 -6.05342358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254012739 meters 0.02403185054291027 Centerline is valid? [True, True] Translation: X:303.90, Y:-47.18, Z:-6.05 [[ 9.83249538e-01 1.81225291e-01 1.94355516e-02 3.03897709e+02] [-1.81193922e-01 9.83441586e-01 -3.37770413e-03 -4.71821528e+01] [-1.97258551e-02 -2.00477789e-04 9.99805406e-01 -6.05420424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters 0.02515399535772815 Centerline is valid? [True, True] Translation: X:303.93, Y:-47.19, Z:-6.06 [[ 9.82918519e-01 1.83102455e-01 1.85654773e-02 3.03927239e+02] [-1.83074175e-01 9.83093810e-01 -3.22606198e-03 -4.71854681e+01] [-1.88423057e-02 -2.27903382e-04 9.99822442e-01 -6.05547845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314012739 meters 0.025879862064843384 Centerline is valid? [True, True] Translation: X:303.95, Y:-47.19, Z:-6.06 [[ 9.82796520e-01 1.83796104e-01 1.81657051e-02 3.03954922e+02] [-1.83769154e-01 9.82964362e-01 -3.15622857e-03 -4.71883046e+01] [-1.84363433e-02 -2.36365815e-04 9.99830008e-01 -6.05720940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters 0.026351520814041227 Centerline is valid? [True, True] Translation: X:303.98, Y:-47.19, Z:-6.06 [[ 9.82657408e-01 1.84541040e-01 1.81389712e-02 3.03983964e+02] [-1.84514317e-01 9.82824777e-01 -3.15046076e-03 -4.71919070e+01] [-1.84088197e-02 -2.51076276e-04 9.99830512e-01 -6.05897002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374012739 meters 0.028037430195898806 Centerline is valid? [True, True] Translation: X:304.01, Y:-47.19, Z:-6.06 [[ 9.82371051e-01 1.86096280e-01 1.77565016e-02 3.04012403e+02] [-1.86070940e-01 9.82531475e-01 -3.08321977e-03 -4.71923778e+01] [-1.80200974e-02 -2.75103098e-04 9.99837587e-01 -6.06115191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters 0.028551106421952847 Centerline is valid? [True, True] Translation: X:304.04, Y:-47.19, Z:-6.06 [[ 9.82206977e-01 1.87011771e-01 1.72061379e-02 3.04041113e+02] [-1.86988137e-01 9.82357632e-01 -2.98662297e-03 -4.71949895e+01] [-1.74611145e-02 -2.83861740e-04 9.99847503e-01 -6.06218224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434012739 meters 0.031328420592281817 Centerline is valid? [True, True] Translation: X:304.07, Y:-47.19, Z:-6.07 [[ 9.81606679e-01 1.90289151e-01 1.54391591e-02 3.04071947e+02] [-1.90270538e-01 9.81728040e-01 -2.67916362e-03 -4.71912846e+01] [-1.56668711e-02 -3.07732206e-04 9.99877220e-01 -6.06516894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters 0.03366258091920611 Centerline is valid? [True, True] Translation: X:304.10, Y:-47.19, Z:-6.07 [[ 9.81255130e-01 1.92150179e-01 1.47200178e-02 3.04100884e+02] [-1.92133472e-01 9.81365480e-01 -2.55422779e-03 -4.71890720e+01] [-1.49365127e-02 -3.21858997e-04 9.99888392e-01 -6.06709774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494012739 meters 0.03670591589239492 Centerline is valid? [True, True] Translation: X:304.13, Y:-47.18, Z:-6.07 [[ 9.80566867e-01 1.95556063e-01 1.56986176e-02 3.04131767e+02] [-1.95537513e-01 9.80692442e-01 -2.72292179e-03 -4.71822448e+01] [-1.59279995e-02 -3.99661773e-04 9.99873061e-01 -6.06633102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters 0.03725025706853262 Centerline is valid? [True, True] Translation: X:304.16, Y:-47.18, Z:-6.07 [[ 9.80556066e-01 1.95499973e-01 1.70165467e-02 3.04159698e+02] [-1.95478179e-01 9.80703611e-01 -2.95092177e-03 -4.71821021e+01] [-1.72650939e-02 -4.32819327e-04 9.99850853e-01 -6.06502529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55401273900003 meters 0.03533884804259932 Centerline is valid? [True, True] Translation: X:304.19, Y:-47.18, Z:-6.06 [[ 9.80918318e-01 1.93500724e-01 1.88871173e-02 3.04189169e+02] [-1.93473529e-01 9.81100033e-01 -3.27403902e-03 -4.71831930e+01] [-1.91636804e-02 -4.42592403e-04 9.99816262e-01 -6.06186949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters 0.03481806944703046 Centerline is valid? [True, True] Translation: X:304.22, Y:-47.19, Z:-6.06 [[ 9.81105571e-01 1.92523822e-01 1.91425484e-02 3.04216435e+02] [-1.92495713e-01 9.81292206e-01 -3.31768101e-03 -4.71862174e+01] [-1.94231662e-02 -4.29863186e-04 9.99811260e-01 -6.06238141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61401273900003 meters 0.03379547421124535 Centerline is valid? [True, True] Translation: X:304.25, Y:-47.19, Z:-6.06 [[ 9.81315193e-01 1.91508342e-01 1.85754543e-02 3.04245368e+02] [-1.91481721e-01 9.81490905e-01 -3.21789428e-03 -4.71900623e+01] [-1.88478931e-02 -3.99091412e-04 9.99822283e-01 -6.06369907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters 0.029820042497987274 Centerline is valid? [True, True] Translation: X:304.27, Y:-47.20, Z:-6.07 [[ 9.82234653e-01 1.86820688e-01 1.76951067e-02 3.04274880e+02] [-1.86795785e-01 9.82393986e-01 -3.06450781e-03 -4.71951568e+01] [-1.79560799e-02 -2.95305594e-04 9.99838733e-01 -6.06664902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67401273900003 meters 0.024771206313554183 Centerline is valid? [True, True] Translation: X:304.30, Y:-47.21, Z:-6.07 [[ 9.83268317e-01 1.81285714e-01 1.78579583e-02 3.04302546e+02] [-1.81259436e-01 9.83430451e-01 -3.09278869e-03 -4.72064064e+01] [-1.81227384e-02 -1.95882325e-04 9.99835751e-01 -6.06745153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters 0.024124724681060947 Centerline is valid? [True, True] Translation: X:304.33, Y:-47.21, Z:-6.07 [[ 9.83695780e-01 1.78887845e-01 1.84865341e-02 3.04329736e+02] [-1.78859273e-01 9.83869460e-01 -3.20100613e-03 -4.72129620e+01] [-1.87609574e-02 -1.57671818e-04 9.99823985e-01 -6.06711799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734012739 meters 0.022668343734837452 Centerline is valid? [True, True] Translation: X:304.36, Y:-47.22, Z:-6.06 [[ 9.84119264e-01 1.76386550e-01 1.99263487e-02 3.04356650e+02] [-1.76352870e-01 9.84320969e-01 -3.44886143e-03 -4.72215190e+01] [-2.02222557e-02 -1.19977814e-04 9.99795502e-01 -6.06495806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters 0.02135302129880097 Centerline is valid? [True, True] Translation: X:304.38, Y:-47.23, Z:-6.06 [[ 9.84917514e-01 1.71733209e-01 2.10996727e-02 3.04382643e+02] [-1.71694404e-01 9.85143494e-01 -3.65067019e-03 -4.72335042e+01] [-2.14131466e-02 -2.70867235e-05 9.99770712e-01 -6.06304245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794012739 meters 0.02142626190367146 Centerline is valid? [True, True] Translation: X:304.41, Y:-47.24, Z:-6.07 [[ 9.85251042e-01 1.69897567e-01 2.03764862e-02 3.04410093e+02] [-1.69861007e-01 9.85461728e-01 -3.52443647e-03 -4.72428862e+01] [-2.06790405e-02 1.12842358e-05 9.99786166e-01 -6.06551257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters 0.02190427769791077 Centerline is valid? [True, True] Translation: X:304.44, Y:-47.26, Z:-6.07 [[ 9.85765565e-01 1.67041127e-01 1.90659883e-02 3.04435556e+02] [-1.67008600e-01 9.85949926e-01 -3.29696873e-03 -4.72568012e+01] [-1.93488391e-02 6.58542246e-05 9.99812792e-01 -6.06838770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854012739 meters 0.02205709706901058 Centerline is valid? [True, True] Translation: X:304.46, Y:-47.26, Z:-6.07 [[ 9.85881800e-01 1.66347721e-01 1.91183660e-02 3.04462620e+02] [-1.66314907e-01 9.86067153e-01 -3.30483974e-03 -4.72644878e+01] [-1.94017453e-02 7.85120758e-05 9.99811765e-01 -6.06883513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters 0.022238379298484334 Centerline is valid? [True, True] Translation: X:304.49, Y:-47.27, Z:-6.07 [[ 9.85929185e-01 1.66182672e-01 1.80820739e-02 3.04490294e+02] [-1.66153310e-01 9.86094982e-01 -3.12473862e-03 -4.72735058e+01] [-1.83499197e-02 7.63745818e-05 9.99831623e-01 -6.07115056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914012739 meters 0.022256074338334212 Centerline is valid? [True, True] Translation: X:304.52, Y:-47.28, Z:-6.07 [[ 9.85911077e-01 1.66318424e-01 1.78193718e-02 3.04516906e+02] [-1.66289945e-01 9.86072095e-01 -3.07858399e-03 -4.72807326e+01] [-1.80832105e-02 7.20276994e-05 9.99836483e-01 -6.07254416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters 0.022194166002553403 Centerline is valid? [True, True] Translation: X:304.54, Y:-47.29, Z:-6.07 [[ 9.85885098e-01 1.66426741e-01 1.82404244e-02 3.04543843e+02] [-1.66396938e-01 9.86053819e-01 -3.15029001e-03 -4.72879996e+01] [-1.85103327e-02 7.06732155e-05 9.99828667e-01 -6.07246856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974012739 meters 0.022186032594999877 Centerline is valid? [True, True] Translation: X:304.57, Y:-47.30, Z:-6.07 [[ 9.85890219e-01 1.66202689e-01 1.99284311e-02 3.04571048e+02] [-1.66167092e-01 9.86091608e-01 -3.44062387e-03 -4.72969152e+01] [-2.02230996e-02 8.06279904e-05 9.99795489e-01 -6.07015918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters 0.021958722475563446 Centerline is valid? [True, True] Translation: X:304.60, Y:-47.30, Z:-6.07 [[ 9.85780071e-01 1.66926468e-01 1.93185440e-02 3.04600288e+02] [-1.66893176e-01 9.85969346e-01 -3.33427776e-03 -4.73026269e+01] [-1.96040714e-02 6.27314078e-05 9.99807820e-01 -6.07113363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034012739 meters 0.02167416257290482 Centerline is valid? [True, True] Translation: X:304.63, Y:-47.31, Z:-6.07 [[ 9.85585800e-01 1.68178178e-01 1.83502230e-02 3.04629970e+02] [-1.68148365e-01 9.85756612e-01 -3.16675181e-03 -4.73062320e+01] [-1.86214322e-02 3.55456207e-05 9.99826605e-01 -6.07238837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters 0.021546675444635927 Centerline is valid? [True, True] Translation: X:304.66, Y:-47.31, Z:-6.07 [[ 9.85302302e-01 1.69871491e-01 1.79736069e-02 3.04658348e+02] [-1.69843178e-01 9.85466223e-01 -3.10137329e-03 -4.73086113e+01] [-1.82392174e-02 3.09574428e-06 9.99833652e-01 -6.07367388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094012739 meters 0.021546675444635927 Centerline is valid? [True, True] Translation: X:304.69, Y:-47.31, Z:-6.07 [[ 9.85309928e-01 1.69827239e-01 1.79737073e-02 3.04686275e+02] [-1.69798928e-01 9.85473850e-01 -3.10079098e-03 -4.73133354e+01] [-1.82392173e-02 3.32389247e-06 9.99833652e-01 -6.07424915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters 0.022350191328345953 Centerline is valid? [True, True] Translation: X:304.71, Y:-47.31, Z:-6.07 [[ 9.84444631e-01 1.74708949e-01 1.85890238e-02 3.04714890e+02] [-1.74679553e-01 9.84620117e-01 -3.20606896e-03 -4.73093962e+01] [-1.88632557e-02 -9.09250005e-05 9.99822069e-01 -6.07390098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154012739 meters 0.02377369429124301 Centerline is valid? [True, True] Translation: X:304.74, Y:-47.31, Z:-6.07 [[ 9.83916789e-01 1.77614820e-01 1.89928484e-02 3.04744139e+02] [-1.77584696e-01 9.84100073e-01 -3.27458735e-03 -4.73079063e+01] [-1.92724788e-02 -1.50917744e-04 9.99814257e-01 -6.07389457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters 0.027544177642780086 Centerline is valid? [True, True] Translation: X:304.78, Y:-47.30, Z:-6.08 [[ 9.82903436e-01 1.83145217e-01 1.89384381e-02 3.04776012e+02] [-1.83116307e-01 9.83085837e-01 -3.26431904e-03 -4.72988976e+01] [-1.92159547e-02 -2.59426446e-04 9.99815323e-01 -6.07505300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214012739 meters 0.02995183595607231 Centerline is valid? [True, True] Translation: X:304.81, Y:-47.30, Z:-6.08 [[ 9.82416090e-01 1.85735050e-01 1.90030881e-02 3.04805037e+02] [-1.85706435e-01 9.82599814e-01 -3.27506282e-03 -4.72972368e+01] [-1.92807248e-02 -3.11521335e-04 9.99814061e-01 -6.07557569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters 0.03370202370531234 Centerline is valid? [True, True] Translation: X:304.84, Y:-47.29, Z:-6.07 [[ 9.81353221e-01 1.91207210e-01 1.96382099e-02 3.04837005e+02] [-1.91177767e-01 9.81549599e-01 -3.38334882e-03 -4.72921610e+01] [-1.99227978e-02 -4.34128864e-04 9.99801427e-01 -6.07438736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274012739 meters 0.03847960916789677 Centerline is valid? [True, True] Translation: X:304.87, Y:-47.29, Z:-6.08 [[ 9.80824103e-01 1.93938732e-01 1.92833259e-02 3.04867307e+02] [-1.93910870e-01 9.81013525e-01 -3.32223339e-03 -4.72867295e+01] [-1.95615132e-02 -4.80719913e-04 9.99808540e-01 -6.07556321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters 0.04104368078635884 Centerline is valid? [True, True] Translation: X:304.90, Y:-47.28, Z:-6.08 [[ 9.80286132e-01 1.96688539e-01 1.87807724e-02 3.04897434e+02] [-1.96662626e-01 9.80465882e-01 -3.23501257e-03 -4.72834721e+01] [-1.90501964e-02 -5.22238064e-04 9.99818392e-01 -6.07690263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334012739 meters 0.04649537564440135 Centerline is valid? [True, True] Translation: X:304.93, Y:-47.27, Z:-6.08 [[ 9.79008597e-01 2.03048581e-01 1.77042676e-02 3.04930293e+02] [-2.03026603e-01 9.79168475e-01 -3.04895602e-03 -4.72705488e+01] [-1.79545469e-02 -6.09483162e-04 9.99838618e-01 -6.07870433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters 0.05266457016534767 Centerline is valid? [True, True] Translation: X:304.96, Y:-47.26, Z:-6.08 [[ 9.77746199e-01 2.09021793e-01 1.79516000e-02 3.04963991e+02] [-2.09000202e-01 9.77910711e-01 -3.09147435e-03 -4.72561657e+01] [-1.82012475e-02 -7.29210741e-04 9.99834078e-01 -6.07962274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394012739 meters 0.055782604261287276 Centerline is valid? [True, True] Translation: X:304.99, Y:-47.25, Z:-6.08 [[ 9.77408989e-01 2.10555022e-01 1.83915950e-02 3.04994101e+02] [-2.10532632e-01 9.77581700e-01 -3.16719196e-03 -4.72516427e+01] [-1.86461548e-02 -7.76389006e-04 9.99825844e-01 -6.07936630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters 0.05641003417479933 Centerline is valid? [True, True] Translation: X:305.02, Y:-47.25, Z:-6.08 [[ 9.77329423e-01 2.10856426e-01 1.91511337e-02 3.05023952e+02] [-2.10832217e-01 9.77516702e-01 -3.29741156e-03 -4.72504722e+01] [-1.94158335e-02 -8.15018648e-04 9.99811163e-01 -6.07841692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454012739 meters 0.05672465194605695 Centerline is valid? [True, True] Translation: X:305.05, Y:-47.24, Z:-6.08 [[ 9.77469683e-01 2.10118358e-01 2.00821873e-02 3.05053390e+02] [-2.10091650e-01 9.77675593e-01 -3.45438114e-03 -4.72441290e+01] [-2.03596933e-02 -8.42547024e-04 9.99792365e-01 -6.07651454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters 0.05334279355121792 Centerline is valid? [True, True] Translation: X:305.08, Y:-47.25, Z:-6.08 [[ 9.77806889e-01 2.08542231e-01 2.00953902e-02 3.05082179e+02] [-2.08515179e-01 9.78013026e-01 -3.45551057e-03 -4.72487787e+01] [-2.03741733e-02 -8.11371851e-04 9.99792096e-01 -6.07690049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514012739 meters 0.04900499540218997 Centerline is valid? [True, True] Translation: X:305.11, Y:-47.25, Z:-6.08 [[ 9.79060474e-01 2.02533460e-01 2.05130546e-02 3.05111553e+02] [-2.02504017e-01 9.79275090e-01 -3.52428330e-03 -4.72501875e+01] [-2.08017087e-02 -7.03489483e-04 9.99783374e-01 -6.07808137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters 0.045029956612855714 Centerline is valid? [True, True] Translation: X:305.14, Y:-47.26, Z:-6.08 [[ 9.79822695e-01 1.98835138e-01 2.02995981e-02 3.05140617e+02] [-1.98805513e-01 9.80032757e-01 -3.48748974e-03 -4.72569145e+01] [-2.05877066e-02 -6.18550425e-04 9.99787859e-01 -6.07905882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574012739 meters 0.04105430138395721 Centerline is valid? [True, True] Translation: X:305.17, Y:-47.27, Z:-6.08 [[ 9.80547530e-01 1.95294590e-01 1.96612380e-02 3.05169874e+02] [-1.95266092e-01 9.80744485e-01 -3.37760683e-03 -4.72653219e+01] [-1.99422791e-02 -5.27269069e-04 9.99800994e-01 -6.08140371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters 0.032332574467213354 Centerline is valid? [True, True] Translation: X:305.20, Y:-47.28, Z:-6.08 [[ 9.81951231e-01 1.88289686e-01 1.78542599e-02 3.05197626e+02] [-1.88265031e-01 9.82113472e-01 -3.06699280e-03 -4.72811004e+01] [-1.81123923e-02 -3.49695429e-04 9.99835896e-01 -6.08466817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634012739 meters 0.028930846109096995 Centerline is valid? [True, True] Translation: X:305.22, Y:-47.29, Z:-6.08 [[ 9.82481583e-01 1.85482265e-01 1.80629124e-02 3.05224926e+02] [-1.85456555e-01 9.82647566e-01 -3.10284048e-03 -4.72902573e+01] [-1.83249988e-02 -3.01401890e-04 9.99832038e-01 -6.08473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters 0.02551268650149774 Centerline is valid? [True, True] Translation: X:305.25, Y:-47.30, Z:-6.08 [[ 9.83323550e-01 1.80779495e-01 1.98386291e-02 3.05253304e+02] [-1.80747544e-01 9.83523624e-01 -3.40685264e-03 -4.72983423e+01] [-2.01276495e-02 -2.35745055e-04 9.99797391e-01 -6.08150459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694012739 meters 0.02413728919849853 Centerline is valid? [True, True] Translation: X:305.28, Y:-47.31, Z:-6.08 [[ 9.83717549e-01 1.78552588e-01 2.04635300e-02 3.05281136e+02] [-1.78518178e-01 9.83930350e-01 -3.51096091e-03 -4.73056663e+01] [-2.07615794e-02 -1.99318222e-04 9.99784435e-01 -6.08123425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters 0.023913227420296407 Centerline is valid? [True, True] Translation: X:305.31, Y:-47.31, Z:-6.08 [[ 9.84073537e-01 1.76542642e-01 2.07838797e-02 3.05308452e+02] [-1.76506718e-01 9.84292980e-01 -3.56492043e-03 -4.73110469e+01] [-2.10867873e-02 -1.60350527e-04 9.99777636e-01 -6.08205710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754012739 meters 0.02185962850133882 Centerline is valid? [True, True] Translation: X:305.34, Y:-47.32, Z:-6.08 [[ 9.84831456e-01 1.72252464e-01 2.08827987e-02 3.05335213e+02] [-1.72215258e-01 9.85052833e-01 -3.58067190e-03 -4.73243142e+01] [-2.11874396e-02 -6.99782464e-05 9.99775519e-01 -6.08229757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters 0.021458475330822173 Centerline is valid? [True, True] Translation: X:305.36, Y:-47.33, Z:-6.08 [[ 9.85184742e-01 1.70225933e-01 2.08364082e-02 3.05363398e+02] [-1.70188458e-01 9.85405059e-01 -3.57179457e-03 -4.73324339e+01] [-2.11403142e-02 -2.72386791e-05 9.99776518e-01 -6.08263274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814012739 meters 0.021552013072419857 Centerline is valid? [True, True] Translation: X:305.39, Y:-47.35, Z:-6.08 [[ 9.85707352e-01 1.67176427e-01 2.08100345e-02 3.05389259e+02] [-1.67138387e-01 9.85926996e-01 -3.56633874e-03 -4.73451666e+01] [-2.11133826e-02 3.72107210e-05 9.99777087e-01 -6.08313447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters 0.021669840524657234 Centerline is valid? [True, True] Translation: X:305.42, Y:-47.35, Z:-6.08 [[ 9.85881282e-01 1.66167901e-01 2.06476570e-02 3.05416071e+02] [-1.66130260e-01 9.86097473e-01 -3.53716898e-03 -4.73533398e+01] [-2.09483663e-02 5.70280657e-05 9.99780557e-01 -6.08324680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874012739 meters 0.021977997554212786 Centerline is valid? [True, True] Translation: X:305.44, Y:-47.36, Z:-6.09 [[ 9.86056163e-01 1.65189762e-01 2.01391530e-02 3.05443551e+02] [-1.65153770e-01 9.86261799e-01 -3.44898145e-03 -4.73604846e+01] [-2.04322137e-02 7.48323816e-05 9.99791238e-01 -6.08505652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters 0.022421231483109476 Centerline is valid? [True, True] Translation: X:305.47, Y:-47.37, Z:-6.09 [[ 9.86175096e-01 1.64723571e-01 1.80228928e-02 3.05471583e+02] [-1.64694685e-01 9.86339769e-01 -3.08566698e-03 -4.73672000e+01] [-1.82849780e-02 7.47332867e-05 9.99832813e-01 -6.09053337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934012739 meters 0.02214395886986262 Centerline is valid? [True, True] Translation: X:305.50, Y:-47.37, Z:-6.09 [[ 9.86064236e-01 1.65472336e-01 1.72112931e-02 3.05498568e+02] [-1.65446118e-01 9.86214430e-01 -2.94607122e-03 -4.73722477e+01] [-1.74615189e-02 5.74738296e-05 9.99847534e-01 -6.09327428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters 0.02183456286853985 Centerline is valid? [True, True] Translation: X:305.53, Y:-47.38, Z:-6.10 [[ 9.85707208e-01 1.67693953e-01 1.61257265e-02 3.05525030e+02] [-1.67671251e-01 9.85839103e-01 -2.75931403e-03 -4.73783342e+01] [-1.63600920e-02 1.60549928e-05 9.99866165e-01 -6.09608568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994012739 meters 0.021769802342401615 Centerline is valid? [True, True] Translation: X:305.55, Y:-47.38, Z:-6.10 [[ 9.85575320e-01 1.68494663e-01 1.58378726e-02 3.05552802e+02] [-1.68472887e-01 9.85702566e-01 -2.70883137e-03 -4.73834442e+01] [-1.60678553e-02 1.50521573e-06 9.99870904e-01 -6.09667608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters 0.02189422801745628 Centerline is valid? [True, True] Translation: X:305.58, Y:-47.39, Z:-6.10 [[ 9.85470337e-01 1.69117912e-01 1.57272311e-02 3.05579515e+02] [-1.69096532e-01 9.85595826e-01 -2.68905718e-03 -4.73882061e+01] [-1.59554611e-02 -9.43415794e-06 9.99872703e-01 -6.09799575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05401273900003 meters 0.021888701246728422 Centerline is valid? [True, True] Translation: X:305.61, Y:-47.40, Z:-6.10 [[ 9.85345733e-01 1.69752760e-01 1.66669288e-02 3.05607451e+02] [-1.69728877e-01 9.85486682e-01 -2.84750804e-03 -4.73971981e+01] [-1.69084087e-02 -2.30792167e-05 9.99857042e-01 -6.09724135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters 0.021927091270950886 Centerline is valid? [True, True] Translation: X:305.63, Y:-47.40, Z:-6.10 [[ 9.85334772e-01 1.69739955e-01 1.74279719e-02 3.05633125e+02] [-1.69713852e-01 9.85488887e-01 -2.97680171e-03 -4.74045281e+01] [-1.76803548e-02 -2.46220060e-05 9.99843690e-01 -6.09724135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11401273900003 meters 0.02186039751684651 Centerline is valid? [True, True] Translation: X:305.66, Y:-47.41, Z:-6.10 [[ 9.85244239e-01 1.70232844e-01 1.77360511e-02 3.05660100e+02] [-1.70205916e-01 9.85403865e-01 -3.02799457e-03 -4.74114303e+01] [-1.79926374e-02 -3.54666122e-05 9.99838119e-01 -6.09589612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters 0.021922003473851173 Centerline is valid? [True, True] Translation: X:305.69, Y:-47.42, Z:-6.10 [[ 9.85115936e-01 1.70945187e-01 1.80093371e-02 3.05688146e+02] [-1.70917562e-01 9.85280539e-01 -3.07350160e-03 -4.74160586e+01] [-1.82696497e-02 -5.03565813e-05 9.99833095e-01 -6.09508196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17401273900003 meters 0.022713784986414135 Centerline is valid? [True, True] Translation: X:305.72, Y:-47.42, Z:-6.10 [[ 9.84632933e-01 1.73664043e-01 1.84061633e-02 3.05716756e+02] [-1.73635687e-01 9.84804950e-01 -3.13987190e-03 -4.74160265e+01] [-1.86717636e-02 -1.04345537e-04 9.99825662e-01 -6.09519770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters 0.02349459755823547 Centerline is valid? [True, True] Translation: X:305.74, Y:-47.42, Z:-6.09 [[ 9.84280216e-01 1.75633142e-01 1.85864701e-02 3.05744335e+02] [-1.75604609e-01 9.84455676e-01 -3.16902773e-03 -4.74174359e+01] [-1.88541423e-02 -1.44658525e-04 9.99822234e-01 -6.09468608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234012739 meters 0.024256720155618385 Centerline is valid? [True, True] Translation: X:305.77, Y:-47.42, Z:-6.09 [[ 9.83972474e-01 1.77300904e-01 1.90409951e-02 3.05772938e+02] [-1.77271293e-01 9.84156673e-01 -3.24537263e-03 -4.74199634e+01] [-1.93147299e-02 -1.82064489e-04 9.99813437e-01 -6.09449458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters 0.02554256963094029 Centerline is valid? [True, True] Translation: X:305.80, Y:-47.42, Z:-6.09 [[ 9.83571338e-01 1.79486041e-01 1.92920601e-02 3.05801803e+02] [-1.79456081e-01 9.83760494e-01 -3.28725902e-03 -4.74194620e+01] [-1.95687837e-02 -2.28823756e-04 9.99808487e-01 -6.09411038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294012739 meters 0.02650843311438134 Centerline is valid? [True, True] Translation: X:305.83, Y:-47.42, Z:-6.10 [[ 9.83515903e-01 1.79826834e-01 1.89414441e-02 3.05830014e+02] [-1.79798049e-01 9.83698254e-01 -3.22586373e-03 -4.74207384e+01] [-1.92127623e-02 -2.32946405e-04 9.99815391e-01 -6.09526994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters 0.026050728306598585 Centerline is valid? [True, True] Translation: X:305.86, Y:-47.42, Z:-6.10 [[ 9.83507346e-01 1.79866849e-01 1.90057220e-02 3.05857907e+02] [-1.79837898e-01 9.83690938e-01 -3.23568381e-03 -4.74242001e+01] [-1.92777487e-02 -2.35630281e-04 9.99814139e-01 -6.09615518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354012739 meters 0.025765494538095342 Centerline is valid? [True, True] Translation: X:305.89, Y:-47.43, Z:-6.10 [[ 9.83635749e-01 1.79120967e-01 1.94008326e-02 3.05886564e+02] [-1.79090681e-01 9.83827031e-01 -3.30153130e-03 -4.74287459e+01] [-1.96784370e-02 -2.27004119e-04 9.99806335e-01 -6.09605415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters 0.02485986366839853 Centerline is valid? [True, True] Translation: X:305.91, Y:-47.43, Z:-6.10 [[ 9.83927240e-01 1.77496272e-01 1.95514456e-02 3.05913916e+02] [-1.77465212e-01 9.84121453e-01 -3.32625250e-03 -4.74326736e+01] [-1.98313944e-02 -1.96910988e-04 9.99803319e-01 -6.09657202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414012739 meters 0.024496570217021226 Centerline is valid? [True, True] Translation: X:305.94, Y:-47.44, Z:-6.10 [[ 9.84065646e-01 1.76791543e-01 1.89619169e-02 3.05942568e+02] [-1.76762227e-01 9.84248301e-01 -3.22439151e-03 -4.74366383e+01] [-1.92332797e-02 -1.78737745e-04 9.99815007e-01 -6.09835094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters 0.02444868247235206 Centerline is valid? [True, True] Translation: X:305.97, Y:-47.44, Z:-6.10 [[ 9.84123825e-01 1.76546735e-01 1.82084402e-02 3.05970061e+02] [-1.76519675e-01 9.84292244e-01 -3.09549903e-03 -4.74404637e+01] [-1.84689267e-02 -1.67793597e-04 9.99829421e-01 -6.10077918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474012739 meters 0.024590388390466206 Centerline is valid? [True, True] Translation: X:306.00, Y:-47.44, Z:-6.10 [[ 9.84196633e-01 1.76157527e-01 1.80419822e-02 3.05997158e+02] [-1.76130917e-01 9.84361976e-01 -3.06597648e-03 -4.74425021e+01] [-1.82999361e-02 -1.60227133e-04 9.99832529e-01 -6.10214061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters 0.024346705750774203 Centerline is valid? [True, True] Translation: X:306.03, Y:-47.45, Z:-6.10 [[ 9.84180591e-01 1.76224503e-01 1.82616627e-02 3.06025408e+02] [-1.76197281e-01 9.84349987e-01 -3.10178812e-03 -4.74461830e+01] [-1.85224785e-02 -1.64935646e-04 9.99828431e-01 -6.10074703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534012739 meters 0.02390876922375952 Centerline is valid? [True, True] Translation: X:306.05, Y:-47.45, Z:-6.10 [[ 9.84200798e-01 1.76004351e-01 1.92680671e-02 3.06054403e+02] [-1.75974030e-01 9.84389374e-01 -3.27130469e-03 -4.74496446e+01] [-1.95430444e-02 -1.71058739e-04 9.99809002e-01 -6.10003848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters 0.02398064453897797 Centerline is valid? [True, True] Translation: X:306.08, Y:-47.45, Z:-6.10 [[ 9.84280874e-01 1.75543588e-01 1.93806741e-02 3.06081948e+02] [-1.75512841e-01 9.84471646e-01 -3.28949460e-03 -4.74536948e+01] [-1.96571738e-02 -1.63770555e-04 9.99806766e-01 -6.10073549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594012739 meters 0.023867310483499597 Centerline is valid? [True, True] Translation: X:306.11, Y:-47.46, Z:-6.10 [[ 9.84279570e-01 1.75556196e-01 1.93325983e-02 3.06109147e+02] [-1.75525626e-01 9.84469398e-01 -3.28018689e-03 -4.74583785e+01] [-1.96082085e-02 -1.64745478e-04 9.99807727e-01 -6.10102357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters 0.024609249217152997 Centerline is valid? [True, True] Translation: X:306.14, Y:-47.46, Z:-6.10 [[ 9.84167468e-01 1.76187542e-01 1.92962431e-02 3.06136603e+02] [-1.76157235e-01 9.84356601e-01 -3.27268291e-03 -4.74598608e+01] [-1.95709902e-02 -1.78304781e-04 9.99808454e-01 -6.10134665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654012739 meters 0.02466229930648259 Centerline is valid? [True, True] Translation: X:306.16, Y:-47.46, Z:-6.10 [[ 9.83997478e-01 1.77231389e-01 1.83847084e-02 3.06164804e+02] [-1.77204083e-01 9.84169192e-01 -3.11684523e-03 -4.74635744e+01] [-1.86460664e-02 -1.90877550e-04 9.99826129e-01 -6.10496197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters 0.02581593637493154 Centerline is valid? [True, True] Translation: X:306.19, Y:-47.46, Z:-6.11 [[ 9.83970517e-01 1.77434471e-01 1.78613900e-02 3.06192824e+02] [-1.77408744e-01 9.84132599e-01 -3.02738157e-03 -4.74648252e+01] [-1.81151380e-02 -1.89912561e-04 9.99835889e-01 -6.10681223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714012739 meters 0.02563533478037304 Centerline is valid? [True, True] Translation: X:306.22, Y:-47.47, Z:-6.11 [[ 9.84048740e-01 1.77039703e-01 1.74648437e-02 3.06220908e+02] [-1.77015074e-01 9.84203694e-01 -2.95850119e-03 -4.74691313e+01] [-1.77127358e-02 -1.80231228e-04 9.99843101e-01 -6.10807824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters 0.024150304762797996 Centerline is valid? [True, True] Translation: X:306.25, Y:-47.48, Z:-6.11 [[ 9.84322345e-01 1.75627148e-01 1.62673566e-02 3.06248951e+02] [-1.75605598e-01 9.84456746e-01 -2.75499751e-03 -4.74760832e+01] [-1.64983613e-02 -1.44833282e-04 9.99863882e-01 -6.10991227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774012739 meters 0.024333229371054255 Centerline is valid? [True, True] Translation: X:306.28, Y:-47.48, Z:-6.11 [[ 9.84397356e-01 1.75256477e-01 1.57166599e-02 3.06275193e+02] [-1.75236323e-01 9.84522803e-01 -2.66117306e-03 -4.74807274e+01] [-1.59397979e-02 -1.34477969e-04 9.99872944e-01 -6.11197055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters 0.02418259691203656 Centerline is valid? [True, True] Translation: X:306.30, Y:-47.49, Z:-6.11 [[ 9.84391042e-01 1.75298964e-01 1.56380890e-02 3.06302860e+02] [-1.75279038e-01 9.84515238e-01 -2.64653935e-03 -4.74876884e+01] [-1.58598725e-02 -1.35799568e-04 9.99874215e-01 -6.11303835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834012739 meters 0.02405038553786314 Centerline is valid? [True, True] Translation: X:306.33, Y:-47.49, Z:-6.11 [[ 9.84436083e-01 1.75008405e-01 1.60516635e-02 3.06330799e+02] [-1.74987393e-01 9.84566930e-01 -2.71527007e-03 -4.74926299e+01] [-1.62791321e-02 -1.35828907e-04 9.99867477e-01 -6.11280575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters 0.02451407580430605 Centerline is valid? [True, True] Translation: X:306.36, Y:-47.49, Z:-6.11 [[ 9.84483406e-01 1.74682377e-01 1.66880077e-02 3.06358279e+02] [-1.74659632e-01 9.84624826e-01 -2.82212953e-03 -4.74945570e+01] [-1.69244030e-02 -1.36381596e-04 9.99856763e-01 -6.11293407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894012739 meters 0.023829929932276925 Centerline is valid? [True, True] Translation: X:306.39, Y:-47.50, Z:-6.11 [[ 9.84490041e-01 1.74555922e-01 1.75951384e-02 3.06386587e+02] [-1.74530637e-01 9.84647251e-01 -2.97442088e-03 -4.75004659e+01] [-1.78442074e-02 -1.42602966e-04 9.99840769e-01 -6.11159520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters 0.023643060687043544 Centerline is valid? [True, True] Translation: X:306.42, Y:-47.51, Z:-6.11 [[ 9.84542567e-01 1.74154514e-01 1.86047925e-02 3.06415177e+02] [-1.74126189e-01 9.84718328e-01 -3.14418268e-03 -4.75062699e+01] [-1.88680537e-02 -1.43999921e-04 9.99821972e-01 -6.11018324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954012739 meters 0.023643060687043544 Centerline is valid? [True, True] Translation: X:306.44, Y:-47.51, Z:-6.11 [[ 9.84554345e-01 1.74087905e-01 1.86049288e-02 3.06442300e+02] [-1.74059583e-01 9.84730106e-01 -3.14337551e-03 -4.75107135e+01] [-1.88680572e-02 -1.43542135e-04 9.99821972e-01 -6.11074154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters 0.023733444359416454 Centerline is valid? [True, True] Translation: X:306.47, Y:-47.52, Z:-6.11 [[ 9.84581728e-01 1.74043235e-01 1.75434528e-02 3.06468819e+02] [-1.74018063e-01 9.84738003e-01 -2.96303191e-03 -4.75161198e+01] [-1.77914003e-02 -1.35530595e-04 9.99841711e-01 -6.11276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014012739 meters 0.02394965351003354 Centerline is valid? [True, True] Translation: X:306.50, Y:-47.52, Z:-6.11 [[ 9.84602852e-01 1.73983818e-01 1.69367649e-02 3.06495482e+02] [-1.73960386e-01 9.84748503e-01 -2.85838846e-03 -4.75201399e+01] [-1.71757672e-02 -1.31948723e-04 9.99852477e-01 -6.11442703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters 0.024103084985895723 Centerline is valid? [True, True] Translation: X:306.52, Y:-47.53, Z:-6.12 [[ 9.84549587e-01 1.74286876e-01 1.69173260e-02 3.06523929e+02] [-1.74263568e-01 9.84694910e-01 -2.85365416e-03 -4.75251280e+01] [-1.71557593e-02 -1.38509559e-04 9.99852820e-01 -6.11558605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074012739 meters 0.024421013927721183 Centerline is valid? [True, True] Translation: X:306.55, Y:-47.53, Z:-6.11 [[ 9.84381002e-01 1.75025393e-01 1.89777548e-02 3.06551737e+02] [-1.74996217e-01 9.84563905e-01 -3.20025012e-03 -4.75288396e+01] [-1.92449374e-02 -1.70769879e-04 9.99814784e-01 -6.11242831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters 0.0247633580366592 Centerline is valid? [True, True] Translation: X:306.58, Y:-47.53, Z:-6.11 [[ 9.84290019e-01 1.75483819e-01 1.94573414e-02 3.06580714e+02] [-1.75453261e-01 9.84482298e-01 -3.27998926e-03 -4.75333021e+01] [-1.97309932e-02 -1.85393306e-04 9.99805308e-01 -6.11164246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134012739 meters 0.024910812925507814 Centerline is valid? [True, True] Translation: X:306.61, Y:-47.54, Z:-6.11 [[ 9.84230076e-01 1.75827857e-01 1.93835428e-02 3.06608869e+02] [-1.75797614e-01 9.84420910e-01 -3.26668281e-03 -4.75372698e+01] [-1.96559387e-02 -1.92413112e-04 9.99806785e-01 -6.11273576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters 0.02504963073601078 Centerline is valid? [True, True] Translation: X:306.64, Y:-47.54, Z:-6.12 [[ 9.84321401e-01 1.75422279e-01 1.83957720e-02 3.06635347e+02] [-1.75394982e-01 9.84493267e-01 -3.09949036e-03 -4.75426120e+01] [-1.86542333e-02 -1.75631409e-04 9.99825979e-01 -6.11570111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194012739 meters 0.024441331794492042 Centerline is valid? [True, True] Translation: X:306.66, Y:-47.55, Z:-6.12 [[ 9.84415073e-01 1.74953455e-01 1.78396221e-02 3.06663614e+02] [-1.74927733e-01 9.84576692e-01 -3.00437144e-03 -4.75493464e+01] [-1.80901013e-02 -1.63096135e-04 9.99836347e-01 -6.11684861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters 0.02405283535618994 Centerline is valid? [True, True] Translation: X:306.69, Y:-47.56, Z:-6.12 [[ 9.84668618e-01 1.73540027e-01 1.76513948e-02 3.06690896e+02] [-1.73514631e-01 9.84826807e-01 -2.97190609e-03 -4.75554342e+01] [-1.78993115e-02 -1.36432595e-04 9.99839785e-01 -6.11774456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254012739 meters 0.022807211150699176 Centerline is valid? [True, True] Translation: X:306.72, Y:-47.56, Z:-6.12 [[ 9.84925802e-01 1.72036980e-01 1.80122990e-02 3.06718914e+02] [-1.72010303e-01 9.85090486e-01 -3.03161109e-03 -4.75644240e+01] [-1.82652936e-02 -1.12389023e-04 9.99833169e-01 -6.11728531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters 0.022100129580689982 Centerline is valid? [True, True] Translation: X:306.75, Y:-47.57, Z:-6.12 [[ 9.85339774e-01 1.69612745e-01 1.83588216e-02 3.06745934e+02] [-1.69584627e-01 9.85510787e-01 -3.08904537e-03 -4.75746781e+01] [-1.86167582e-02 -6.96146546e-05 9.99826691e-01 -6.11781414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314012739 meters 0.02225690513201036 Centerline is valid? [True, True] Translation: X:306.77, Y:-47.60, Z:-6.12 [[ 9.86587541e-01 1.62104743e-01 1.91592283e-02 3.06769963e+02] [-1.62072720e-01 9.86773554e-01 -3.22280798e-03 -4.75963187e+01] [-1.94282523e-02 7.43939522e-05 9.99811251e-01 -6.11745235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters 0.02344608667473803 Centerline is valid? [True, True] Translation: X:306.80, Y:-47.61, Z:-6.12 [[ 9.87199244e-01 1.58284257e-01 1.95894319e-02 3.06796922e+02] [-1.58250060e-01 9.87393575e-01 -3.29353873e-03 -4.76083668e+01] [-1.98637945e-02 1.51350174e-04 9.99802684e-01 -6.11695794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374012739 meters 0.028752719546347564 Centerline is valid? [True, True] Translation: X:306.82, Y:-47.63, Z:-6.12 [[ 9.88156332e-01 1.52173363e-01 1.97568176e-02 3.06822646e+02] [-1.52137375e-01 9.88353779e-01 -3.32075846e-03 -4.76299431e+01] [-2.00320563e-02 2.75678123e-04 9.99799300e-01 -6.11687276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters 0.02934961668786492 Centerline is valid? [True, True] Translation: X:306.85, Y:-47.64, Z:-6.12 [[ 9.88517201e-01 1.49835735e-01 1.95703004e-02 3.06851158e+02] [-1.49799979e-01 9.88710853e-01 -3.28873693e-03 -4.76389605e+01] [-1.98421387e-02 3.19342436e-04 9.99803074e-01 -6.11765808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434012739 meters 0.029671166261951272 Centerline is valid? [True, True] Translation: X:306.88, Y:-47.65, Z:-6.12 [[ 9.88819948e-01 1.47909765e-01 1.89159194e-02 3.06879687e+02] [-1.47876016e-01 9.89000800e-01 -3.17835786e-03 -4.76474805e+01] [-1.91779696e-02 3.45612857e-04 9.99816026e-01 -6.11901746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters 0.03261072441755069 Centerline is valid? [True, True] Translation: X:306.91, Y:-47.66, Z:-6.12 [[ 9.89353237e-01 1.44457658e-01 1.76679786e-02 3.06908333e+02] [-1.44427672e-01 9.89510908e-01 -2.96822905e-03 -4.76625722e+01] [-1.79114410e-02 3.84881987e-04 9.99839503e-01 -6.12174133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494012739 meters 0.034454671224143585 Centerline is valid? [True, True] Translation: X:306.94, Y:-47.67, Z:-6.12 [[ 9.89596791e-01 1.42750986e-01 1.78982751e-02 3.06936264e+02] [-1.42719934e-01 9.89758546e-01 -3.00694387e-03 -4.76731745e+01] [-1.81442149e-02 4.21221354e-04 9.99835291e-01 -6.12238892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters 0.03736495767059073 Centerline is valid? [True, True] Translation: X:306.96, Y:-47.69, Z:-6.12 [[ 9.89925047e-01 1.40263554e-01 1.93529705e-02 3.06964227e+02] [-1.40226779e-01 9.90114075e-01 -3.25107415e-03 -4.76889871e+01] [-1.96176557e-02 5.04515007e-04 9.99807428e-01 -6.12030057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55401273900003 meters 0.039797021273557706 Centerline is valid? [True, True] Translation: X:306.99, Y:-47.70, Z:-6.12 [[ 9.89951813e-01 1.40023134e-01 1.97213151e-02 3.06994221e+02] [-1.39984894e-01 9.90148096e-01 -3.31316214e-03 -4.77010558e+01] [-1.99909420e-02 5.19184667e-04 9.99800026e-01 -6.11972219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters 0.03733279344726462 Centerline is valid? [True, True] Translation: X:307.03, Y:-47.71, Z:-6.12 [[ 9.89908793e-01 1.40342776e-01 1.96083329e-02 3.07026356e+02] [-1.40305002e-01 9.90102845e-01 -3.29587927e-03 -4.77059097e+01] [-1.98768190e-02 5.11472685e-04 9.99802306e-01 -6.12024377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61401273900003 meters 0.03738367664450204 Centerline is valid? [True, True] Translation: X:307.06, Y:-47.72, Z:-6.12 [[ 9.89871354e-01 1.40678199e-01 1.90878984e-02 3.07056481e+02] [-1.40642408e-01 9.90055251e-01 -3.21140123e-03 -4.77182000e+01] [-1.93498482e-02 4.94306096e-04 9.99812652e-01 -6.12180654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters 0.037467110985662244 Centerline is valid? [True, True] Translation: X:307.09, Y:-47.73, Z:-6.12 [[ 9.89860503e-01 1.40796541e-01 1.87754693e-02 3.07087239e+02] [-1.40761871e-01 9.90038432e-01 -3.16210779e-03 -4.77263423e+01] [-1.90336501e-02 4.87175414e-04 9.99818725e-01 -6.12320962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67401273900003 meters 0.03732271324466597 Centerline is valid? [True, True] Translation: X:307.12, Y:-47.73, Z:-6.13 [[ 9.89745449e-01 1.41683048e-01 1.81620580e-02 3.07117967e+02] [-1.41650720e-01 9.89911968e-01 -3.06074776e-03 -4.77337980e+01] [-1.84124946e-02 4.56692574e-04 9.99830371e-01 -6.12551771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters 0.03704005345377303 Centerline is valid? [True, True] Translation: X:307.15, Y:-47.74, Z:-6.13 [[ 9.89619822e-01 1.42536624e-01 1.83280633e-02 3.07149469e+02] [-1.42503798e-01 9.89789427e-01 -3.09143960e-03 -4.77404083e+01] [-1.85815666e-02 4.47531272e-04 9.99827248e-01 -6.12658249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734012739 meters 0.03623223795660581 Centerline is valid? [True, True] Translation: X:307.18, Y:-47.75, Z:-6.13 [[ 9.89496281e-01 1.43413734e-01 1.81552080e-02 3.07181148e+02] [-1.43381619e-01 9.89662729e-01 -3.06512523e-03 -4.77475664e+01] [-1.84071138e-02 4.29806883e-04 9.99830482e-01 -6.12728454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters 0.03342898429356651 Centerline is valid? [True, True] Translation: X:307.21, Y:-47.75, Z:-6.13 [[ 9.89425980e-01 1.43980252e-01 1.74904785e-02 3.07212162e+02] [-1.43950489e-01 9.89580478e-01 -2.95553012e-03 -4.77543015e+01] [-1.77337741e-02 4.06515352e-04 9.99842662e-01 -6.12840001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794012739 meters 0.03391020549437175 Centerline is valid? [True, True] Translation: X:307.24, Y:-47.76, Z:-6.13 [[ 9.89253119e-01 1.45134183e-01 1.77294832e-02 3.07242354e+02] [-1.45103731e-01 9.89411903e-01 -2.99895870e-03 -4.77630384e+01] [-1.79770131e-02 3.94115086e-04 9.99838323e-01 -6.12771818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters 0.034162318919844996 Centerline is valid? [True, True] Translation: X:307.27, Y:-47.77, Z:-6.13 [[ 9.88982106e-01 1.46885832e-01 1.84104938e-02 3.07272756e+02] [-1.46853243e-01 9.89153380e-01 -3.11711162e-03 -4.77702152e+01] [-1.86686617e-02 3.79126892e-04 9.99825653e-01 -6.12817956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854012739 meters 0.033760474288117584 Centerline is valid? [True, True] Translation: X:307.30, Y:-47.78, Z:-6.13 [[ 9.88670579e-01 1.48977010e-01 1.83394853e-02 3.07303173e+02] [-1.48944976e-01 9.88840601e-01 -3.10807673e-03 -4.77762729e+01] [-1.85978596e-02 3.41289818e-04 9.99826987e-01 -6.12935818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters 0.028025251097703627 Centerline is valid? [True, True] Translation: X:307.34, Y:-47.77, Z:-6.13 [[ 9.88308812e-01 1.51398881e-01 1.80019601e-02 3.07336899e+02] [-1.51368366e-01 9.88472707e-01 -3.05360947e-03 -4.77727591e+01] [-1.82567593e-02 2.92981859e-04 9.99833289e-01 -6.12975972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914012739 meters 0.02547671038427011 Centerline is valid? [True, True] Translation: X:307.37, Y:-47.77, Z:-6.13 [[ 9.87585125e-01 1.56270885e-01 1.59697149e-02 3.07367445e+02] [-1.56247492e-01 9.87714219e-01 -2.70991377e-03 -4.77717724e+01] [-1.61969951e-02 1.81042633e-04 9.99868804e-01 -6.13423669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters 0.022811558177330313 Centerline is valid? [True, True] Translation: X:307.40, Y:-47.77, Z:-6.14 [[ 9.86719681e-01 1.61645203e-01 1.59718194e-02 3.07396908e+02] [-1.61622500e-01 9.86848935e-01 -2.71065319e-03 -4.77688420e+01] [-1.61999371e-02 9.32494644e-05 9.99868768e-01 -6.13517338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974012739 meters 0.022098192088438214 Centerline is valid? [True, True] Translation: X:307.43, Y:-47.77, Z:-6.13 [[ 9.86292787e-01 1.64105415e-01 1.72032485e-02 3.07426042e+02] [-1.64079462e-01 9.86442806e-01 -2.91898888e-03 -4.77698706e+01] [-1.74490426e-02 5.62779114e-05 9.99847752e-01 -6.13288216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters 0.02142131569871149 Centerline is valid? [True, True] Translation: X:307.46, Y:-47.77, Z:-6.13 [[ 9.85940503e-01 1.66119348e-01 1.80467839e-02 3.07455722e+02] [-1.66091137e-01 9.86105654e-01 -3.06148443e-03 -4.77691704e+01] [-1.83046075e-02 2.10306504e-05 9.99832456e-01 -6.13062921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034012739 meters 0.02132510073267104 Centerline is valid? [True, True] Translation: X:307.49, Y:-47.77, Z:-6.13 [[ 9.85586816e-01 1.68149051e-01 1.85613702e-02 3.07485517e+02] [-1.68119583e-01 9.85761582e-01 -3.14792935e-03 -4.77689036e+01] [-1.88264070e-02 -1.79721481e-05 9.99822767e-01 -6.13068446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters 0.022033207690814394 Centerline is valid? [True, True] Translation: X:307.51, Y:-47.77, Z:-6.13 [[ 9.85022644e-01 1.71450258e-01 1.83084702e-02 3.07514562e+02] [-1.71422185e-01 9.85192774e-01 -3.10357672e-03 -4.77655897e+01] [-1.85694816e-02 -8.13846119e-05 9.99827569e-01 -6.13299604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094012739 meters 0.022311186074213313 Centerline is valid? [True, True] Translation: X:307.54, Y:-47.77, Z:-6.13 [[ 9.84936445e-01 1.71959613e-01 1.81684086e-02 3.07541983e+02] [-1.71932074e-01 9.85103996e-01 -3.07878474e-03 -4.77675298e+01] [-1.84271985e-02 -9.13248628e-05 9.99830201e-01 -6.13425903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters 0.021695338390322144 Centerline is valid? [True, True] Translation: X:307.57, Y:-47.77, Z:-6.13 [[ 9.85175947e-01 1.70483017e-01 1.90760216e-02 3.07570510e+02] [-1.70452403e-01 9.85360612e-01 -3.23141881e-03 -4.77715188e+01] [-1.93476623e-02 -6.80376236e-05 9.99812814e-01 -6.13319967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154012739 meters 0.021522897269776405 Centerline is valid? [True, True] Translation: X:307.60, Y:-47.78, Z:-6.13 [[ 9.85373146e-01 1.69245350e-01 1.98940815e-02 3.07598315e+02] [-1.69211821e-01 9.85573949e-01 -3.36898768e-03 -4.77762195e+01] [-2.01772740e-02 -4.66037839e-05 9.99796417e-01 -6.13248240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters 0.021341416000710548 Centerline is valid? [True, True] Translation: X:307.63, Y:-47.78, Z:-6.13 [[ 9.85685859e-01 1.67424563e-01 1.98091788e-02 3.07626324e+02] [-1.67390976e-01 9.85884890e-01 -3.35341390e-03 -4.77825358e+01] [-2.00910139e-02 -1.04651232e-05 9.99798155e-01 -6.13257715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214012739 meters 0.021801254052156133 Centerline is valid? [True, True] Translation: X:307.65, Y:-47.79, Z:-6.14 [[ 9.86400183e-01 1.63407061e-01 1.76864644e-02 3.07653346e+02] [-1.63379655e-01 9.86558730e-01 -2.99328775e-03 -4.77917923e+01] [-1.79378602e-02 6.29711250e-05 9.99839102e-01 -6.13706474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters 0.022314768828856895 Centerline is valid? [True, True] Translation: X:307.68, Y:-47.80, Z:-6.14 [[ 9.86681091e-01 1.61733006e-01 1.74028590e-02 3.07682357e+02] [-1.61706224e-01 9.86834549e-01 -2.94464023e-03 -4.77994524e+01] [-1.76499880e-02 9.12702265e-05 9.99844223e-01 -6.13919146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274012739 meters 0.02356713254801856 Centerline is valid? [True, True] Translation: X:307.71, Y:-47.81, Z:-6.14 [[ 9.87130752e-01 1.58684298e-01 1.98033586e-02 3.07709705e+02] [-1.58649013e-01 9.87329361e-01 -3.35027611e-03 -4.78117352e+01] [-2.00840736e-02 1.65377274e-04 9.99798281e-01 -6.13579877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters 0.024031551305128143 Centerline is valid? [True, True] Translation: X:307.74, Y:-47.82, Z:-6.13 [[ 9.87336910e-01 1.57173475e-01 2.15017545e-02 3.07738910e+02] [-1.57131537e-01 9.87570987e-01 -3.63681252e-03 -4.78194369e+01] [-2.18061193e-02 2.12155513e-04 9.99762196e-01 -6.13360832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334012739 meters 0.0248105813751083 Centerline is valid? [True, True] Translation: X:307.77, Y:-47.83, Z:-6.13 [[ 9.87568749e-01 1.55637681e-01 2.20199733e-02 3.07769706e+02] [-1.55593319e-01 9.87814177e-01 -3.72426721e-03 -4.78280431e+01] [-2.23312781e-02 2.51809170e-04 9.99750594e-01 -6.13254705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters 0.027572964943527158 Centerline is valid? [True, True] Translation: X:307.80, Y:-47.84, Z:-6.14 [[ 9.88126081e-01 1.52283302e-01 2.04118414e-02 3.07798839e+02] [-1.52244458e-01 9.88336837e-01 -3.45277921e-03 -4.78421375e+01] [-2.06995754e-02 3.04191478e-04 9.99785695e-01 -6.13639187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394012739 meters 0.02906447349798212 Centerline is valid? [True, True] Translation: X:307.83, Y:-47.85, Z:-6.14 [[ 9.88404159e-01 1.50640384e-01 1.90969670e-02 3.07829938e+02] [-1.50606024e-01 9.88588576e-01 -3.23307642e-03 -4.78529624e+01] [-1.93660753e-02 3.19467896e-04 9.99812409e-01 -6.13974086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters 0.030385685785692125 Centerline is valid? [True, True] Translation: X:307.86, Y:-47.86, Z:-6.14 [[ 9.88636861e-01 1.49227388e-01 1.81202426e-02 3.07860689e+02] [-1.49196165e-01 9.88802850e-01 -3.07052435e-03 -4.78634543e+01] [-1.83755539e-02 3.32162841e-04 9.99831100e-01 -6.14218707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454012739 meters 0.031731623498240887 Centerline is valid? [True, True] Translation: X:307.89, Y:-47.87, Z:-6.14 [[ 9.88820738e-01 1.48057312e-01 1.76799617e-02 3.07890105e+02] [-1.48027350e-01 9.88978721e-01 -2.99875905e-03 -4.78742456e+01] [-1.79290942e-02 3.48117261e-04 9.99839200e-01 -6.14289429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters 0.03386305317413995 Centerline is valid? [True, True] Translation: X:307.92, Y:-47.88, Z:-6.14 [[ 9.88770538e-01 1.48325164e-01 1.82337026e-02 3.07921040e+02] [-1.48293289e-01 9.88938582e-01 -3.09548751e-03 -4.78849702e+01] [-1.84911507e-02 3.56791119e-04 9.99828960e-01 -6.14274640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514012739 meters 0.03090119161788798 Centerline is valid? [True, True] Translation: X:307.95, Y:-47.89, Z:-6.14 [[ 9.88617196e-01 1.49413943e-01 1.76497430e-02 3.07953390e+02] [-1.49384198e-01 9.88774679e-01 -2.99932377e-03 -4.78890041e+01] [-1.78997597e-02 3.28590366e-04 9.99839732e-01 -6.14419598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters 0.03060580544169161 Centerline is valid? [True, True] Translation: X:307.99, Y:-47.90, Z:-6.15 [[ 9.88520408e-01 1.50108138e-01 1.71741245e-02 3.07985177e+02] [-1.50080032e-01 9.88669536e-01 -2.92118897e-03 -4.78951856e+01] [-1.74180279e-02 3.10161758e-04 9.99848247e-01 -6.14513461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574012739 meters 0.030177364411912596 Centerline is valid? [True, True] Translation: X:308.02, Y:-47.90, Z:-6.15 [[ 9.88376337e-01 1.51043288e-01 1.72667683e-02 3.08015634e+02] [-1.51014970e-01 9.88527105e-01 -2.93977873e-03 -4.79004523e+01] [-1.75127024e-02 2.98067225e-04 9.99846596e-01 -6.14519191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters 0.028570395816047867 Centerline is valid? [True, True] Translation: X:308.05, Y:-47.91, Z:-6.14 [[ 9.88026670e-01 1.53004972e-01 1.98186293e-02 3.08046772e+02] [-1.52967992e-01 9.88225372e-01 -3.37764677e-03 -4.79052863e+01] [-2.01020691e-02 3.05589166e-04 9.99797886e-01 -6.14084075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634012739 meters 0.027999216752538275 Centerline is valid? [True, True] Translation: X:308.08, Y:-47.91, Z:-6.14 [[ 9.87886271e-01 1.53757197e-01 2.09628429e-02 3.08078682e+02] [-1.53715921e-01 9.88108612e-01 -3.57595222e-03 -4.79116330e+01] [-2.12633940e-02 3.10311389e-04 9.99773860e-01 -6.13900884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters 0.028391877488520182 Centerline is valid? [True, True] Translation: X:308.11, Y:-47.92, Z:-6.14 [[ 9.87863088e-01 1.53940387e-01 2.07093552e-02 3.08109711e+02] [-1.53900076e-01 9.88080090e-01 -3.53597331e-03 -4.79220003e+01] [-2.10068307e-02 3.05886182e-04 9.99779285e-01 -6.14031142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694012739 meters 0.028659631377008995 Centerline is valid? [True, True] Translation: X:308.14, Y:-47.93, Z:-6.14 [[ 9.87902381e-01 1.53772858e-01 2.00697459e-02 3.08142216e+02] [-1.53734896e-01 9.88106177e-01 -3.43006749e-03 -4.79297671e+01] [-2.03584911e-02 3.03151537e-04 9.99792698e-01 -6.14242999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters 0.029257620105199698 Centerline is valid? [True, True] Translation: X:308.17, Y:-47.94, Z:-6.14 [[ 9.87963938e-01 1.53450559e-01 1.94982945e-02 3.08173915e+02] [-1.53414598e-01 9.88156280e-01 -3.33582985e-03 -4.79372739e+01] [-1.97792471e-02 3.04356578e-04 9.99804325e-01 -6.14369983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754012739 meters 0.03034671618235743 Centerline is valid? [True, True] Translation: X:308.20, Y:-47.95, Z:-6.14 [[ 9.88105659e-01 1.52589023e-01 1.90734738e-02 3.08204133e+02] [-1.52554395e-01 9.88289679e-01 -3.26609001e-03 -4.79479757e+01] [-1.93484867e-02 3.17499760e-04 9.99812750e-01 -6.14497078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters 0.031214205686801763 Centerline is valid? [True, True] Translation: X:308.23, Y:-47.96, Z:-6.15 [[ 9.88250235e-01 1.51671759e-01 1.88984290e-02 3.08234989e+02] [-1.51637544e-01 9.88430860e-01 -3.23882996e-03 -4.79577228e+01] [-1.91710295e-02 3.35063104e-04 9.99816163e-01 -6.14646511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814012739 meters 0.03344979811874014 Centerline is valid? [True, True] Translation: X:308.26, Y:-47.97, Z:-6.15 [[ 9.88480458e-01 1.50196366e-01 1.86396065e-02 3.08263996e+02] [-1.50162765e-01 9.88656119e-01 -3.19736040e-03 -4.79712064e+01] [-1.89083929e-02 3.61553423e-04 9.99821155e-01 -6.14774904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters 0.03085921644629908 Centerline is valid? [True, True] Translation: X:308.30, Y:-47.97, Z:-6.15 [[ 9.88509643e-01 1.49982415e-01 1.88138731e-02 3.08297140e+02] [-1.49948092e-01 9.88688595e-01 -3.22994969e-03 -4.79742728e+01] [-1.90854974e-02 3.71732038e-04 9.99817786e-01 -6.14813916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874012739 meters 0.03370305356056505 Centerline is valid? [True, True] Translation: X:308.33, Y:-47.99, Z:-6.15 [[ 9.88484983e-01 1.50091540e-01 1.92345340e-02 3.08327520e+02] [-1.50055612e-01 9.88672031e-01 -3.30594293e-03 -4.79855264e+01] [-1.95128398e-02 3.81625179e-04 9.99809534e-01 -6.14770706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters 0.03370305356056505 Centerline is valid? [True, True] Translation: X:308.36, Y:-47.99, Z:-6.15 [[ 9.88459289e-01 1.50260734e-01 1.92339593e-02 3.08359520e+02] [-1.50224773e-01 9.88646330e-01 -3.30928294e-03 -4.79912396e+01] [-1.95128385e-02 3.81674284e-04 9.99809534e-01 -6.14836753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934012739 meters 0.031373215631298114 Centerline is valid? [True, True] Translation: X:308.39, Y:-48.00, Z:-6.15 [[ 9.88413324e-01 1.50448284e-01 2.01100545e-02 3.08392559e+02] [-1.50408935e-01 9.88617800e-01 -3.46372421e-03 -4.79963128e+01] [-2.04022692e-02 3.98859273e-04 9.99791772e-01 -6.14744973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters 0.03222338571750983 Centerline is valid? [True, True] Translation: X:308.42, Y:-48.01, Z:-6.15 [[ 9.88464738e-01 1.50189576e-01 1.95077753e-02 3.08422308e+02] [-1.50152428e-01 9.88657137e-01 -3.36356989e-03 -4.80050245e+01] [-1.97916744e-02 3.95630401e-04 9.99804047e-01 -6.14945445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994012739 meters 0.0317608986032402 Centerline is valid? [True, True] Translation: X:308.45, Y:-48.01, Z:-6.15 [[ 9.88526127e-01 1.49902285e-01 1.85850019e-02 3.08453304e+02] [-1.49868467e-01 9.88700742e-01 -3.20713001e-03 -4.80121682e+01] [-1.88557613e-02 3.85026057e-04 9.99822140e-01 -6.15200066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters 0.03219257065111911 Centerline is valid? [True, True] Translation: X:308.48, Y:-48.02, Z:-6.16 [[ 9.88578338e-01 1.49693766e-01 1.74541404e-02 3.08484105e+02] [-1.49663858e-01 9.88732341e-01 -3.01468949e-03 -4.80229539e+01] [-1.77087533e-02 3.68002732e-04 9.99843120e-01 -6.15528797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05401273900003 meters 0.032198267740666094 Centerline is valid? [True, True] Translation: X:308.51, Y:-48.03, Z:-6.16 [[ 9.88467672e-01 1.50370006e-01 1.79031399e-02 3.08514207e+02] [-1.50338594e-01 9.88629721e-01 -3.09535060e-03 -4.80310363e+01] [-1.81650241e-02 3.68121116e-04 9.99834935e-01 -6.15505399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters 0.032726654963569045 Centerline is valid? [True, True] Translation: X:308.54, Y:-48.04, Z:-6.15 [[ 9.87967535e-01 1.53517206e-01 1.87781159e-02 3.08543697e+02] [-1.53483155e-01 9.88145920e-01 -3.24985479e-03 -4.80419604e+01] [-1.90544272e-02 3.28626553e-04 9.99818394e-01 -6.15337329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11401273900003 meters 0.028110496877931695 Centerline is valid? [True, True] Translation: X:308.58, Y:-48.04, Z:-6.15 [[ 9.87619555e-01 1.55775028e-01 1.84866096e-02 3.08576164e+02] [-1.55742418e-01 9.87792520e-01 -3.19962020e-03 -4.80407233e+01] [-1.87593556e-02 2.80858212e-04 9.99823988e-01 -6.15408871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters 0.025687520941249514 Centerline is valid? [True, True] Translation: X:308.61, Y:-48.04, Z:-6.16 [[ 9.87042641e-01 1.59512316e-01 1.73967022e-02 3.08607940e+02] [-1.59483970e-01 9.87195918e-01 -3.01364286e-03 -4.80429119e+01] [-1.76546666e-02 2.00098862e-04 9.99844124e-01 -6.15744618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17401273900003 meters 0.02526785604647876 Centerline is valid? [True, True] Translation: X:308.64, Y:-48.05, Z:-6.16 [[ 9.86852592e-01 1.60732887e-01 1.69381389e-02 3.08638525e+02] [-1.60706147e-01 9.86997927e-01 -2.93710463e-03 -4.80485202e+01] [-1.71899973e-02 1.76426285e-04 9.99852226e-01 -6.15975186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters 0.024738110578807506 Centerline is valid? [True, True] Translation: X:308.67, Y:-48.06, Z:-6.16 [[ 9.86728119e-01 1.61530002e-01 1.66035163e-02 3.08670738e+02] [-1.61504401e-01 9.86867789e-01 -2.88025791e-03 -4.80551286e+01] [-1.68507235e-02 1.60490512e-04 9.99858004e-01 -6.16102023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234012739 meters 0.025050174053730223 Centerline is valid? [True, True] Translation: X:308.70, Y:-48.07, Z:-6.16 [[ 9.86747349e-01 1.61369172e-01 1.70194121e-02 3.08701547e+02] [-1.61342191e-01 9.86894098e-01 -2.95570707e-03 -4.80655163e+01] [-1.72733174e-02 1.70586873e-04 9.99850791e-01 -6.16167366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters 0.02504775792079195 Centerline is valid? [True, True] Translation: X:308.73, Y:-48.07, Z:-6.16 [[ 9.86904242e-01 1.60406212e-01 1.70253744e-02 3.08733311e+02] [-1.60379018e-01 9.87051068e-01 -2.95971295e-03 -4.80728448e+01] [-1.72796703e-02 1.90440448e-04 9.99850677e-01 -6.16159281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294012739 meters 0.02665972534099784 Centerline is valid? [True, True] Translation: X:308.76, Y:-48.09, Z:-6.16 [[ 9.87261291e-01 1.58274393e-01 1.62591594e-02 3.08762195e+02] [-1.58249249e-01 9.87395143e-01 -2.82969358e-03 -4.80855212e+01] [-1.65020831e-02 2.20647164e-04 9.99863807e-01 -6.16343616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters 0.027013311373683898 Centerline is valid? [True, True] Translation: X:308.79, Y:-48.09, Z:-6.16 [[ 9.87319728e-01 1.57948041e-01 1.58798911e-02 3.08793348e+02] [-1.57924018e-01 9.87447400e-01 -2.76347409e-03 -4.80933377e+01] [-1.61170425e-02 2.20616272e-04 9.99870088e-01 -6.16383753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354012739 meters 0.026738719255870333 Centerline is valid? [True, True] Translation: X:308.82, Y:-48.10, Z:-6.16 [[ 9.87089992e-01 1.59359528e-01 1.60589024e-02 3.08823548e+02] [-1.59335102e-01 9.87220593e-01 -2.79741395e-03 -4.81010311e+01] [-1.62994737e-02 2.02552465e-04 9.99867134e-01 -6.16320742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters 0.028035111854809707 Centerline is valid? [True, True] Translation: X:308.85, Y:-48.11, Z:-6.16 [[ 9.86861441e-01 1.60680934e-01 1.69154877e-02 3.08853698e+02] [-1.60653978e-01 9.87006383e-01 -2.94943307e-03 -4.81102603e+01] [-1.71696120e-02 1.93141385e-04 9.99852573e-01 -6.16361905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414012739 meters 0.02409575584994265 Centerline is valid? [True, True] Translation: X:308.89, Y:-48.11, Z:-6.16 [[ 9.86611679e-01 1.62080625e-01 1.80904989e-02 3.08886921e+02] [-1.62049976e-01 9.86777502e-01 -3.15719061e-03 -4.81078509e+01] [-1.83630168e-02 1.83356214e-04 9.99831369e-01 -6.16036577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters 0.023443430565380285 Centerline is valid? [True, True] Translation: X:308.92, Y:-48.11, Z:-6.16 [[ 9.86103260e-01 1.64927624e-01 1.99809780e-02 3.08917884e+02] [-1.64890741e-01 9.86305661e-01 -3.49095065e-03 -4.81115851e+01] [-2.02831059e-02 1.47759548e-04 9.99794266e-01 -6.15847146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474012739 meters 0.02351048947116882 Centerline is valid? [True, True] Translation: X:308.95, Y:-48.12, Z:-6.16 [[ 9.85890771e-01 1.66111884e-01 2.06453128e-02 3.08948695e+02] [-1.66072695e-01 9.86106903e-01 -3.61042448e-03 -4.81182489e+01] [-2.09582198e-02 1.30861449e-04 9.99780344e-01 -6.15817207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters 0.023036365617129708 Centerline is valid? [True, True] Translation: X:308.98, Y:-48.13, Z:-6.16 [[ 9.86068888e-01 1.65033000e-01 2.07907759e-02 3.08980318e+02] [-1.64992953e-01 9.86288033e-01 -3.63889528e-03 -4.81252437e+01] [-2.11062313e-02 1.57869906e-04 9.99777226e-01 -6.15826019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534012739 meters 0.024139586769284033 Centerline is valid? [True, True] Translation: X:309.01, Y:-48.13, Z:-6.16 [[ 9.86374567e-01 1.63200011e-01 2.07597969e-02 3.09011736e+02] [-1.63159604e-01 9.86592984e-01 -3.63690288e-03 -4.81342849e+01] [-2.10750126e-02 2.00188252e-04 9.99777877e-01 -6.15903384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters 0.025341453505721912 Centerline is valid? [True, True] Translation: X:309.04, Y:-48.14, Z:-6.16 [[ 9.86764883e-01 1.60785834e-01 2.10471125e-02 3.09042946e+02] [-1.60743677e-01 9.86989285e-01 -3.69075375e-03 -4.81426202e+01] [-2.13666955e-02 2.58715924e-04 9.99771673e-01 -6.15960364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594012739 meters 0.027709617475557172 Centerline is valid? [True, True] Translation: X:309.07, Y:-48.15, Z:-6.16 [[ 9.87134078e-01 1.58464151e-01 2.13407094e-02 3.09073052e+02] [-1.58420188e-01 9.87364681e-01 -3.74588924e-03 -4.81535297e+01] [-2.16646518e-02 3.16895735e-04 9.99765244e-01 -6.16005068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters 0.02989357320067533 Centerline is valid? [True, True] Translation: X:309.10, Y:-48.17, Z:-6.16 [[ 9.87654365e-01 1.55108039e-01 2.19169458e-02 3.09102941e+02] [-1.55060764e-01 9.87897430e-01 -3.85055454e-03 -4.81667809e+01] [-2.22489464e-02 4.04558624e-04 9.99752380e-01 -6.16017379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654012739 meters 0.03103644769302931 Centerline is valid? [True, True] Translation: X:309.13, Y:-48.18, Z:-6.16 [[ 9.87696405e-01 1.55023792e-01 2.05775344e-02 3.09133893e+02] [-1.54982038e-01 9.87910662e-01 -3.61825337e-03 -4.81779527e+01] [-2.08896809e-02 3.84587632e-04 9.99781713e-01 -6.16312049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters 0.029511661423275982 Centerline is valid? [True, True] Translation: X:309.17, Y:-48.18, Z:-6.17 [[ 9.87495378e-01 1.56431180e-01 1.95490327e-02 3.09165804e+02] [-1.56393706e-01 9.87688802e-01 -3.44072001e-03 -4.81818059e+01] [-1.98465965e-02 3.40349446e-04 9.99802979e-01 -6.16531817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714012739 meters 0.02821737727577662 Centerline is valid? [True, True] Translation: X:309.20, Y:-48.19, Z:-6.17 [[ 9.87160732e-01 1.58710907e-01 1.80148897e-02 3.09196907e+02] [-1.58679414e-01 9.87325059e-01 -3.17346077e-03 -4.81857424e+01] [-1.82902149e-02 2.74123716e-04 9.99832682e-01 -6.16815446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters 0.026422533916636702 Centerline is valid? [True, True] Translation: X:309.23, Y:-48.19, Z:-6.17 [[ 9.86773059e-01 1.61264905e-01 1.65094046e-02 3.09228810e+02] [-1.61238771e-01 9.86911134e-01 -2.91075214e-03 -4.81883557e+01] [-1.67627174e-02 2.10295681e-04 9.99859474e-01 -6.17151025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774012739 meters 0.02430071893363689 Centerline is valid? [True, True] Translation: X:309.26, Y:-48.19, Z:-6.17 [[ 9.85948881e-01 1.66222634e-01 1.65782923e-02 3.09260289e+02] [-1.66196957e-01 9.86088241e-01 -2.92440574e-03 -4.81898258e+01] [-1.68337615e-02 1.28052844e-04 9.99858294e-01 -6.17258928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters 0.02241373384946569 Centerline is valid? [True, True] Translation: X:309.29, Y:-48.19, Z:-6.17 [[ 9.85575190e-01 1.68281219e-01 1.79715618e-02 3.09293203e+02] [-1.68251352e-01 9.85739023e-01 -3.17203810e-03 -4.81914621e+01] [-1.82490642e-02 1.02542487e-04 9.99833467e-01 -6.17003709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834012739 meters 0.021515535028316338 Centerline is valid? [True, True] Translation: X:309.32, Y:-48.20, Z:-6.17 [[ 9.85105569e-01 1.70850218e-01 1.94221620e-02 3.09324757e+02] [-1.70815797e-01 9.85297011e-01 -3.42989640e-03 -4.81971633e+01] [-1.97225968e-02 6.11979497e-05 9.99805489e-01 -6.16760058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters 0.021377566016058665 Centerline is valid? [True, True] Translation: X:309.36, Y:-48.20, Z:-6.17 [[ 9.84890516e-01 1.72158024e-01 1.87693160e-02 3.09357550e+02] [-1.72126060e-01 9.85069345e-01 -3.31751836e-03 -4.82019925e+01] [-1.90602152e-02 3.67039548e-05 9.99818337e-01 -6.16918186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894012739 meters 0.02135296502456386 Centerline is valid? [True, True] Translation: X:309.39, Y:-48.20, Z:-6.17 [[ 9.84388030e-01 1.75211100e-01 1.67713244e-02 3.09390516e+02] [-1.75185975e-01 9.84530888e-01 -2.96713558e-03 -4.82008382e+01] [-1.70317620e-02 -1.72880783e-05 9.99854949e-01 -6.17331212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters 0.02162479923204396 Centerline is valid? [True, True] Translation: X:309.42, Y:-48.20, Z:-6.18 [[ 9.84122322e-01 1.76741961e-01 1.62952427e-02 3.09423879e+02] [-1.76718408e-01 9.84257221e-01 -2.88560895e-03 -4.82033159e+01] [-1.65487185e-02 -3.98771710e-05 9.99863060e-01 -6.17554585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954012739 meters 0.021850546203097874 Centerline is valid? [True, True] Translation: X:309.46, Y:-48.21, Z:-6.17 [[ 9.83827091e-01 1.78277292e-01 1.73626689e-02 3.09455624e+02] [-1.78250729e-01 9.83980286e-01 -3.07810545e-03 -4.82056772e+01] [-1.76332803e-02 -6.65848722e-05 9.99844519e-01 -6.17469617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters 0.021945615985632105 Centerline is valid? [True, True] Translation: X:309.49, Y:-48.21, Z:-6.17 [[ 9.83658928e-01 1.79095898e-01 1.84329158e-02 3.09488643e+02] [-1.79066040e-01 9.83831618e-01 -3.27119324e-03 -4.82099476e+01] [-1.87207426e-02 -8.29707950e-05 9.99824748e-01 -6.17286326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014012739 meters 0.022134825133661305 Centerline is valid? [True, True] Translation: X:309.52, Y:-48.21, Z:-6.17 [[ 9.83436458e-01 1.80255578e-01 1.89910365e-02 3.09522154e+02] [-1.80224033e-01 9.83619802e-01 -3.37377660e-03 -4.82128310e+01] [-1.92881016e-02 -1.04746288e-04 9.99813962e-01 -6.17163873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters 0.0230544562281641 Centerline is valid? [True, True] Translation: X:309.55, Y:-48.21, Z:-6.17 [[ 9.83126852e-01 1.82016155e-01 1.82129566e-02 3.09554307e+02] [-1.81987385e-01 9.83295531e-01 -3.23875241e-03 -4.82107136e+01] [-1.84982241e-02 -1.30423884e-04 9.99828885e-01 -6.17489861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074012739 meters 0.022947700705291833 Centerline is valid? [True, True] Translation: X:309.59, Y:-48.21, Z:-6.18 [[ 9.83106774e-01 1.82160480e-01 1.78502291e-02 3.09586252e+02] [-1.82132823e-01 9.83268805e-01 -3.17677372e-03 -4.82147866e+01] [-1.81302561e-02 -1.28004859e-04 9.99835625e-01 -6.17704048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters 0.02216974227491822 Centerline is valid? [True, True] Translation: X:309.62, Y:-48.22, Z:-6.18 [[ 9.83451632e-01 1.80171225e-01 1.90057268e-02 3.09616700e+02] [-1.80139436e-01 9.83635258e-01 -3.38568857e-03 -4.82191918e+01] [-1.93047066e-02 -9.40199557e-05 9.99813642e-01 -6.17568277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134012739 meters 0.02155109227091108 Centerline is valid? [True, True] Translation: X:309.65, Y:-48.23, Z:-6.17 [[ 9.83672624e-01 1.78864490e-01 1.98913059e-02 3.09648447e+02] [-1.78829339e-01 9.83873716e-01 -3.54654080e-03 -4.82263101e+01] [-2.02048832e-02 -6.85139800e-05 9.99795858e-01 -6.17442765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters 0.02117423482543677 Centerline is valid? [True, True] Translation: X:309.68, Y:-48.23, Z:-6.17 [[ 9.83958311e-01 1.77219124e-01 2.04798623e-02 3.09679457e+02] [-1.77181437e-01 9.84171418e-01 -3.65476811e-03 -4.82338369e+01] [-2.08033899e-02 -3.25119822e-05 9.99783586e-01 -6.17347269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194012739 meters 0.02115563871777862 Centerline is valid? [True, True] Translation: X:309.71, Y:-48.24, Z:-6.18 [[ 9.84487443e-01 1.74329537e-01 1.98415475e-02 3.09711372e+02] [-1.74293512e-01 9.84687367e-01 -3.54404671e-03 -4.82435621e+01] [-2.01555532e-02 3.08164812e-05 9.99796856e-01 -6.17638823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters 0.021313229733939315 Centerline is valid? [True, True] Translation: X:309.74, Y:-48.25, Z:-6.18 [[ 9.84648261e-01 1.73489560e-01 1.92139360e-02 3.09742234e+02] [-1.73455547e-01 9.84835707e-01 -3.43557770e-03 -4.82506498e+01] [-1.95186071e-02 5.00718372e-05 9.99809493e-01 -6.17865247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254012739 meters 0.021529376149674016 Centerline is valid? [True, True] Translation: X:309.77, Y:-48.26, Z:-6.18 [[ 9.84846713e-01 1.72318540e-01 1.95773609e-02 3.09774472e+02] [-1.72282924e-01 9.85041276e-01 -3.50419865e-03 -4.82588218e+01] [-1.98883469e-02 7.82535433e-05 9.99802204e-01 -6.17754349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters 0.021827293418978176 Centerline is valid? [True, True] Translation: X:309.81, Y:-48.27, Z:-6.18 [[ 9.84951594e-01 1.71655991e-01 2.01141142e-02 3.09805615e+02] [-1.71618174e-01 9.85156947e-01 -3.60431699e-03 -4.82668865e+01] [-2.04342620e-02 9.81302089e-05 9.99791194e-01 -6.17635417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314012739 meters 0.022465084351777714 Centerline is valid? [True, True] Translation: X:309.84, Y:-48.28, Z:-6.17 [[ 9.85061929e-01 1.70906807e-01 2.10679576e-02 3.09836749e+02] [-1.70865061e-01 9.85287191e-01 -3.77924820e-03 -4.82769650e+01] [-2.14038880e-02 1.23015657e-04 9.99770903e-01 -6.17450403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters 0.02266294092426266 Centerline is valid? [True, True] Translation: X:309.87, Y:-48.28, Z:-6.18 [[ 9.85106268e-01 1.70742353e-01 2.03147672e-02 3.09868472e+02] [-1.70703434e-01 9.85315702e-01 -3.64753964e-03 -4.82844138e+01] [-2.06392487e-02 1.25413640e-04 9.99786980e-01 -6.17713211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374012739 meters 0.02228915614589332 Centerline is valid? [True, True] Translation: X:309.90, Y:-48.29, Z:-6.18 [[ 9.85098096e-01 1.70929789e-01 1.90984086e-02 3.09900921e+02] [-1.70895367e-01 9.85283205e-01 -3.43222538e-03 -4.82908763e+01] [-1.94040108e-02 1.17249138e-04 9.99811718e-01 -6.18020035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters 0.02192034212359057 Centerline is valid? [True, True] Translation: X:309.93, Y:-48.30, Z:-6.18 [[ 9.84937892e-01 1.71959952e-01 1.80865638e-02 3.09933333e+02] [-1.71929195e-01 9.85103937e-01 -3.25357132e-03 -4.82978495e+01] [-1.83766292e-02 9.49573129e-05 9.99831131e-01 -6.18244398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434012739 meters 0.02193369333339117 Centerline is valid? [True, True] Translation: X:309.96, Y:-48.30, Z:-6.18 [[ 9.84861399e-01 1.72411503e-01 1.79526988e-02 3.09964289e+02] [-1.72381213e-01 9.85025008e-01 -3.23291576e-03 -4.83042776e+01] [-1.82412492e-02 8.92659462e-05 9.99833611e-01 -6.18323846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters 0.02185971759628825 Centerline is valid? [True, True] Translation: X:310.00, Y:-48.31, Z:-6.18 [[ 9.84711659e-01 1.73296828e-01 1.76396565e-02 3.09997190e+02] [-1.73267672e-01 9.84869638e-01 -3.17958283e-03 -4.83102833e+01] [-1.79237738e-02 7.45900537e-05 9.99839353e-01 -6.18460660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494012739 meters 0.021750224396072534 Centerline is valid? [True, True] Translation: X:310.03, Y:-48.32, Z:-6.19 [[ 9.84562733e-01 1.74144791e-01 1.76016242e-02 3.10028690e+02] [-1.74115835e-01 9.84720056e-01 -3.17617231e-03 -4.83161749e+01] [-1.78857863e-02 6.24193862e-05 9.99840035e-01 -6.18691941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters 0.021634904944874883 Centerline is valid? [True, True] Translation: X:310.06, Y:-48.32, Z:-6.19 [[ 9.84378510e-01 1.75183035e-01 1.76026289e-02 3.10059964e+02] [-1.75154181e-01 9.84535882e-01 -3.17971204e-03 -4.83217600e+01] [-1.78874514e-02 4.68661485e-05 9.99840006e-01 -6.18778556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55401273900003 meters 0.021253034189773704 Centerline is valid? [True, True] Translation: X:310.09, Y:-48.32, Z:-6.19 [[ 9.83907032e-01 1.77773490e-01 1.79871823e-02 3.10092925e+02] [-1.77743759e-01 9.84071433e-01 -3.25112719e-03 -4.83225495e+01] [-1.82786365e-02 1.69750298e-06 9.99832932e-01 -6.18645501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters 0.02117491121582757 Centerline is valid? [True, True] Translation: X:310.12, Y:-48.33, Z:-6.19 [[ 9.83760432e-01 1.78566206e-01 1.81527855e-02 3.10124557e+02] [-1.78535994e-01 9.83927899e-01 -3.28463033e-03 -4.83266810e+01] [-1.84475560e-02 -9.63624783e-06 9.99829829e-01 -6.18674188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61401273900003 meters 0.02140082661876357 Centerline is valid? [True, True] Translation: X:310.16, Y:-48.33, Z:-6.19 [[ 9.83692847e-01 1.79026181e-01 1.72629384e-02 3.10157444e+02] [-1.78998879e-01 9.83844310e-01 -3.12653650e-03 -4.83323410e+01] [-1.75437756e-02 -1.44950227e-05 9.99846096e-01 -6.18905015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters 0.0213985264729333 Centerline is valid? [True, True] Translation: X:310.19, Y:-48.34, Z:-6.19 [[ 9.83649872e-01 1.79278213e-01 1.70953737e-02 3.10189777e+02] [-1.79251419e-01 9.83798415e-01 -3.09943198e-03 -4.83381683e+01] [-1.73740622e-02 -1.56141260e-05 9.99849059e-01 -6.19058476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67401273900003 meters 0.021488124889188543 Centerline is valid? [True, True] Translation: X:310.22, Y:-48.34, Z:-6.19 [[ 9.83587010e-01 1.79585746e-01 1.74801070e-02 3.10222435e+02] [-1.79557720e-01 9.83742324e-01 -3.17262485e-03 -4.83437531e+01] [-1.77656793e-02 -1.81355688e-05 9.99842178e-01 -6.18997732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters 0.021434077731051306 Centerline is valid? [True, True] Translation: X:310.26, Y:-48.35, Z:-6.19 [[ 9.83214988e-01 1.81359084e-01 1.99291353e-02 3.10255117e+02] [-1.81322929e-01 9.83416941e-01 -3.62151933e-03 -4.83465275e+01] [-2.02554447e-02 -5.28771023e-05 9.99794836e-01 -6.18620999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734012739 meters 0.021628632257460985 Centerline is valid? [True, True] Translation: X:310.29, Y:-48.35, Z:-6.18 [[ 9.82915159e-01 1.82878865e-01 2.08113350e-02 3.10287678e+02] [-1.82839690e-01 9.83135450e-01 -3.78605333e-03 -4.83501916e+01] [-2.11527503e-02 -8.37688182e-05 9.99776252e-01 -6.18454790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters 0.021628632257460985 Centerline is valid? [True, True] Translation: X:310.32, Y:-48.36, Z:-6.19 [[ 9.82880677e-01 1.83064178e-01 2.08106167e-02 3.10319616e+02] [-1.83024961e-01 9.83100961e-01 -3.78999738e-03 -4.83561971e+01] [-2.11527500e-02 -8.37471151e-05 9.99776252e-01 -6.18520824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794012739 meters 0.02211058682067024 Centerline is valid? [True, True] Translation: X:310.35, Y:-48.36, Z:-6.19 [[ 9.82528157e-01 1.84984108e-01 2.04768027e-02 3.10351782e+02] [-1.84946474e-01 9.82741505e-01 -3.73311690e-03 -4.83579051e+01] [-2.08139712e-02 -1.19220003e-04 9.99783359e-01 -6.18697953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters 0.022162997793187932 Centerline is valid? [True, True] Translation: X:310.38, Y:-48.36, Z:-6.19 [[ 9.82477335e-01 1.85335513e-01 1.97239341e-02 3.10384554e+02] [-1.85300602e-01 9.82675294e-01 -3.59908025e-03 -4.83628429e+01] [-2.00492601e-02 -1.18842083e-04 9.99798986e-01 -6.18893412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854012739 meters 0.02232946369003683 Centerline is valid? [True, True] Translation: X:310.42, Y:-48.37, Z:-6.19 [[ 9.82469566e-01 1.85390486e-01 1.95938625e-02 3.10415715e+02] [-1.85355969e-01 9.82664925e-01 -3.57916668e-03 -4.83675269e+01] [-1.99177449e-02 -1.15417042e-04 9.99801615e-01 -6.19050301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters 0.022040768332615767 Centerline is valid? [True, True] Translation: X:310.45, Y:-48.38, Z:-6.19 [[ 9.82575614e-01 1.84812990e-01 1.97312307e-02 3.10447899e+02] [-1.84777798e-01 9.82773702e-01 -3.60788970e-03 -4.83754055e+01] [-2.00581196e-02 -1.00868930e-04 9.99798811e-01 -6.19007630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914012739 meters 0.022125595681007058 Centerline is valid? [True, True] Translation: X:310.48, Y:-48.38, Z:-6.19 [[ 9.82541415e-01 1.84945978e-01 2.01830001e-02 3.10479097e+02] [-1.84909103e-01 9.82748683e-01 -3.69446206e-03 -4.83811393e+01] [-2.05180926e-02 -1.02058459e-04 9.99789477e-01 -6.18945939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters 0.02233786337615492 Centerline is valid? [True, True] Translation: X:310.51, Y:-48.39, Z:-6.19 [[ 9.82267434e-01 1.86268519e-01 2.13243267e-02 3.10511290e+02] [-1.86227579e-01 9.82498866e-01 -3.90741235e-03 -4.83870601e+01] [-2.16789547e-02 -1.33053827e-04 9.99764975e-01 -6.18781869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974012739 meters 0.02275367546025202 Centerline is valid? [True, True] Translation: X:310.54, Y:-48.39, Z:-6.19 [[ 9.82055751e-01 1.87308759e-01 2.19529101e-02 3.10543521e+02] [-1.87265532e-01 9.82301076e-01 -4.02690664e-03 -4.83924129e+01] [-2.23186421e-02 -1.56376569e-04 9.99750896e-01 -6.18765713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters 0.02322807998201182 Centerline is valid? [True, True] Translation: X:310.57, Y:-48.40, Z:-6.19 [[ 9.81822211e-01 1.88510017e-01 2.21160308e-02 3.10574348e+02] [-1.88466356e-01 9.82071250e-01 -4.06099550e-03 -4.83965608e+01] [-2.24850563e-02 -1.80952160e-04 9.99747163e-01 -6.18786794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034012739 meters 0.02354342391250759 Centerline is valid? [True, True] Translation: X:310.61, Y:-48.40, Z:-6.19 [[ 9.81692271e-01 1.89238404e-01 2.16589911e-02 3.10606611e+02] [-1.89196633e-01 9.81931154e-01 -3.98041208e-03 -4.84017254e+01] [-2.20208850e-02 -1.90268427e-04 9.99757493e-01 -6.18965667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters 0.023614515913737297 Centerline is valid? [True, True] Translation: X:310.64, Y:-48.41, Z:-6.19 [[ 9.81652490e-01 1.89535405e-01 2.08499029e-02 3.10638667e+02] [-1.89496684e-01 9.81873870e-01 -3.83547965e-03 -4.84074588e+01] [-2.11989340e-02 -1.85879316e-04 9.99775260e-01 -6.19191368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094012739 meters 0.024144766940830384 Centerline is valid? [True, True] Translation: X:310.67, Y:-48.41, Z:-6.19 [[ 9.81572449e-01 1.90044013e-01 1.99699786e-02 3.10669078e+02] [-1.90008533e-01 9.81775554e-01 -3.67675359e-03 -4.84135784e+01] [-2.03047818e-02 -1.85466310e-04 9.99793819e-01 -6.19487220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters 0.024172610087511825 Centerline is valid? [True, True] Translation: X:310.70, Y:-48.42, Z:-6.20 [[ 9.81515920e-01 1.90367669e-01 1.96633830e-02 3.10700071e+02] [-1.90333276e-01 9.81712848e-01 -3.62327767e-03 -4.84203769e+01] [-1.99935506e-02 -1.86291386e-04 9.99800092e-01 -6.19530973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154012739 meters 0.024662908896103352 Centerline is valid? [True, True] Translation: X:310.73, Y:-48.43, Z:-6.20 [[ 9.81395902e-01 1.91040341e-01 1.91225224e-02 3.10729446e+02] [-1.91007933e-01 9.81582167e-01 -3.52405914e-03 -4.84263636e+01] [-1.94435644e-02 -1.94056274e-04 9.99810937e-01 -6.19690821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters 0.024632576603297957 Centerline is valid? [True, True] Translation: X:310.76, Y:-48.43, Z:-6.20 [[ 9.81410955e-01 1.90977322e-01 1.89789263e-02 3.10760177e+02] [-1.90945383e-01 9.81594431e-01 -3.49780278e-03 -4.84315915e+01] [-1.92976094e-02 -1.91156387e-04 9.99813766e-01 -6.19777233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214012739 meters 0.024015293929611388 Centerline is valid? [True, True] Translation: X:310.79, Y:-48.44, Z:-6.20 [[ 9.81403217e-01 1.91022365e-01 1.89256711e-02 3.10792180e+02] [-1.90990609e-01 9.81585666e-01 -3.48824371e-03 -4.84387874e+01] [-1.92435000e-02 -1.91251841e-04 9.99814808e-01 -6.19868855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters 0.024580419517773545 Centerline is valid? [True, True] Translation: X:310.82, Y:-48.44, Z:-6.20 [[ 9.81299955e-01 1.91494366e-01 1.95014449e-02 3.10823538e+02] [-1.91460663e-01 9.81493692e-01 -3.59831323e-03 -4.84442716e+01] [-1.98296019e-02 -2.02734966e-04 9.99803354e-01 -6.19901414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274012739 meters 0.023979020081139373 Centerline is valid? [True, True] Translation: X:310.86, Y:-48.45, Z:-6.20 [[ 9.81208415e-01 1.91892728e-01 2.01798945e-02 3.10855286e+02] [-1.91856645e-01 9.81415883e-01 -3.72731291e-03 -4.84527566e+01] [-2.05201132e-02 -2.14376064e-04 9.99789417e-01 -6.19810229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters 0.023852595115069843 Centerline is valid? [True, True] Translation: X:310.89, Y:-48.46, Z:-6.20 [[ 9.81238670e-01 1.91567246e-01 2.17407922e-02 3.10887120e+02] [-1.91525182e-01 9.81479466e-01 -4.02021883e-03 -4.84595815e+01] [-2.21082834e-02 -2.19115016e-04 9.99755558e-01 -6.19605462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334012739 meters 0.023883860457506158 Centerline is valid? [True, True] Translation: X:310.92, Y:-48.47, Z:-6.20 [[ 9.81231936e-01 1.91568026e-01 2.20358655e-02 3.10918692e+02] [-1.91524715e-01 9.81479314e-01 -4.07914486e-03 -4.84654916e+01] [-2.24091798e-02 -2.17825649e-04 9.99748859e-01 -6.19604960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters 0.02429650026141256 Centerline is valid? [True, True] Translation: X:310.95, Y:-48.47, Z:-6.20 [[ 9.81308341e-01 1.91155928e-01 2.22115103e-02 3.10949877e+02] [-1.91111731e-01 9.81559661e-01 -4.11550501e-03 -4.84703422e+01] [-2.25886257e-02 -2.06300789e-04 9.99744823e-01 -6.19606906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394012739 meters 0.02309902589202353 Centerline is valid? [True, True] Translation: X:310.98, Y:-48.48, Z:-6.20 [[ 9.81669385e-01 1.89259756e-01 2.24936106e-02 3.10979996e+02] [-1.89213884e-01 9.81927043e-01 -4.16989170e-03 -4.84801515e+01] [-2.28762773e-02 -1.62648401e-04 9.99738290e-01 -6.19642780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters 0.021986981392609566 Centerline is valid? [True, True] Translation: X:311.01, Y:-48.49, Z:-6.20 [[ 9.81956931e-01 1.87900267e-01 2.13090326e-02 3.11011523e+02] [-1.87858741e-01 9.82188106e-01 -3.95206413e-03 -4.84889735e+01] [-2.16720723e-02 -1.22331275e-04 9.99765126e-01 -6.19963306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454012739 meters 0.02191845581412693 Centerline is valid? [True, True] Translation: X:311.04, Y:-48.49, Z:-6.20 [[ 9.81981292e-01 1.87826761e-01 2.08290625e-02 3.11044157e+02] [-1.87787040e-01 9.82202166e-01 -3.86439640e-03 -4.84947045e+01] [-2.11841873e-02 -1.16663003e-04 9.99775583e-01 -6.20110464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters 0.021866596783554765 Centerline is valid? [True, True] Translation: X:311.08, Y:-48.50, Z:-6.20 [[ 9.81996098e-01 1.87806689e-01 2.03054647e-02 3.11076506e+02] [-1.87768855e-01 9.82206005e-01 -3.77110586e-03 -4.84998893e+01] [-2.06523883e-02 -1.09522629e-04 9.99786711e-01 -6.20266746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514012739 meters 0.021787061931190805 Centerline is valid? [True, True] Translation: X:311.11, Y:-48.50, Z:-6.20 [[ 9.82059068e-01 1.87523008e-01 1.98773460e-02 3.11109686e+02] [-1.87486619e-01 9.82260206e-01 -3.69537547e-03 -4.85040281e+01] [-2.02176939e-02 -9.76594178e-05 9.99795597e-01 -6.20468227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters 0.021711859701777757 Centerline is valid? [True, True] Translation: X:311.14, Y:-48.51, Z:-6.21 [[ 9.82164713e-01 1.86944418e-01 2.01062264e-02 3.11140866e+02] [-1.86906984e-01 9.82370489e-01 -3.74187932e-03 -4.85088567e+01] [-2.04512869e-02 -8.28523047e-05 9.99790847e-01 -6.20525405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574012739 meters 0.02126795793185752 Centerline is valid? [True, True] Translation: X:311.17, Y:-48.52, Z:-6.21 [[ 9.82695926e-01 1.84114475e-01 2.02627159e-02 3.11172501e+02] [-1.84075803e-01 9.82904807e-01 -3.77349730e-03 -4.85162001e+01] [-2.06110764e-02 -2.16752773e-05 9.99787569e-01 -6.20631576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters 0.02124560790236534 Centerline is valid? [True, True] Translation: X:311.20, Y:-48.52, Z:-6.21 [[ 9.82990912e-01 1.82556492e-01 2.00497927e-02 3.11204133e+02] [-1.82518237e-01 9.83195366e-01 -3.73713406e-03 -4.85239369e+01] [-2.03951014e-02 1.41159944e-05 9.99791998e-01 -6.20805827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634012739 meters 0.021457467288868746 Centerline is valid? [True, True] Translation: X:311.24, Y:-48.53, Z:-6.21 [[ 9.83300503e-01 1.80920303e-01 1.96968167e-02 3.11236217e+02] [-1.80882981e-01 9.83497759e-01 -3.67505724e-03 -4.85317871e+01] [-2.00366675e-02 5.08667269e-05 9.99799245e-01 -6.20944367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters 0.02228098536068685 Centerline is valid? [True, True] Translation: X:311.27, Y:-48.54, Z:-6.21 [[ 9.83871209e-01 1.77881519e-01 1.88575870e-02 3.11267748e+02] [-1.77846683e-01 9.84051906e-01 -3.52200376e-03 -4.85397431e+01] [-1.91833438e-02 1.11438799e-04 9.99815977e-01 -6.21077590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694012739 meters 0.022670272885160634 Centerline is valid? [True, True] Translation: X:311.30, Y:-48.55, Z:-6.21 [[ 9.83963811e-01 1.77447025e-01 1.81044897e-02 3.11298938e+02] [-1.77414786e-01 9.84130347e-01 -3.38439472e-03 -4.85457065e+01] [-1.84177285e-02 1.18117756e-04 9.99830372e-01 -6.21279018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters 0.022132131370862514 Centerline is valid? [True, True] Translation: X:311.33, Y:-48.55, Z:-6.21 [[ 9.83717878e-01 1.78802868e-01 1.81292635e-02 3.11331682e+02] [-1.78770732e-01 9.83884915e-01 -3.39114014e-03 -4.85465345e+01] [-1.84434544e-02 9.49434855e-05 9.99829901e-01 -6.21352103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754012739 meters 0.02153843069294029 Centerline is valid? [True, True] Translation: X:311.36, Y:-48.55, Z:-6.21 [[ 9.83363165e-01 1.80669696e-01 1.88506476e-02 3.11363410e+02] [-1.80635232e-01 9.83543825e-01 -3.52938120e-03 -4.85481319e+01] [-1.91780903e-02 6.55723633e-05 9.99816081e-01 -6.21234941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters 0.020974519904865804 Centerline is valid? [True, True] Translation: X:311.40, Y:-48.54, Z:-6.21 [[ 9.82333652e-01 1.85936070e-01 2.11748292e-02 3.11396173e+02] [-1.85893729e-01 9.82561844e-01 -3.96801233e-03 -4.85410254e+01] [-2.15433758e-02 -3.83559166e-05 9.99767914e-01 -6.20802154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814012739 meters 0.02165591823497652 Centerline is valid? [True, True] Translation: X:311.43, Y:-48.54, Z:-6.21 [[ 9.81811668e-01 1.88618003e-01 2.16586412e-02 3.11427366e+02] [-1.88574356e-01 9.82050528e-01 -4.05869538e-03 -4.85398856e+01] [-2.20354230e-02 -9.93898439e-05 9.99757186e-01 -6.20783293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters 0.022350689758044776 Centerline is valid? [True, True] Translation: X:311.46, Y:-48.54, Z:-6.21 [[ 9.81410921e-01 1.90700837e-01 2.15822880e-02 3.11458062e+02] [-1.90657995e-01 9.81648190e-01 -4.04462268e-03 -4.85402332e+01] [-2.19575269e-02 -1.45398898e-04 9.99758894e-01 -6.20890514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874012739 meters 0.02388512549265886 Centerline is valid? [True, True] Translation: X:311.49, Y:-48.54, Z:-6.21 [[ 9.80952640e-01 1.93196287e-01 2.01770385e-02 3.11488033e+02] [-1.93159371e-01 9.81160109e-01 -3.78126444e-03 -4.85362310e+01] [-2.05274315e-02 -1.88142733e-04 9.99789272e-01 -6.21282238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters 0.023746108382656717 Centerline is valid? [True, True] Translation: X:311.52, Y:-48.54, Z:-6.21 [[ 9.80900994e-01 1.93451729e-01 2.02402421e-02 3.11517387e+02] [-1.93414652e-01 9.81109775e-01 -3.79238101e-03 -4.85397721e+01] [-2.05915420e-02 -1.94809065e-04 9.99787953e-01 -6.21365518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934012739 meters 0.023566772118381454 Centerline is valid? [True, True] Translation: X:311.55, Y:-48.54, Z:-6.21 [[ 9.81076299e-01 1.92464360e-01 2.11368343e-02 3.11545759e+02] [-1.92423706e-01 9.81303947e-01 -3.95985049e-03 -4.85422815e+01] [-2.15037890e-02 -1.82312520e-04 9.99768750e-01 -6.21210291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters 0.022796176601678486 Centerline is valid? [True, True] Translation: X:311.57, Y:-48.55, Z:-6.21 [[ 9.81254295e-01 1.91508518e-01 2.15521713e-02 3.11574551e+02] [-1.91466030e-01 9.81490938e-01 -4.03717647e-03 -4.85490774e+01] [-2.19264145e-02 -1.65011937e-04 9.99759574e-01 -6.21196149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994012739 meters 0.02237171663228915 Centerline is valid? [True, True] Translation: X:311.60, Y:-48.55, Z:-6.21 [[ 9.81520118e-01 1.90133342e-01 2.16233762e-02 3.11602412e+02] [-1.90090251e-01 9.81758267e-01 -4.04999425e-03 -4.85546392e+01] [-2.19989673e-02 -1.35242191e-04 9.99757984e-01 -6.21200078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters 0.021454841127994534 Centerline is valid? [True, True] Translation: X:311.63, Y:-48.56, Z:-6.21 [[ 9.81946669e-01 1.87929904e-01 2.15195586e-02 3.11631675e+02] [-1.87886708e-01 9.82182439e-01 -4.02999157e-03 -4.85613179e+01] [-2.18934885e-02 -8.60022368e-05 9.99760305e-01 -6.21270925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05401273900003 meters 0.02127418075364417 Centerline is valid? [True, True] Translation: X:311.66, Y:-48.57, Z:-6.21 [[ 9.82102501e-01 1.87201051e-01 2.07471447e-02 3.11660095e+02] [-1.87160749e-01 9.82321618e-01 -3.88486637e-03 -4.85651777e+01] [-2.11076198e-02 -6.77141629e-05 9.99777207e-01 -6.21467092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters 0.021257499568363536 Centerline is valid? [True, True] Translation: X:311.69, Y:-48.57, Z:-6.22 [[ 9.82127347e-01 1.87132826e-01 2.01786832e-02 3.11689448e+02] [-1.87094699e-01 9.82334618e-01 -3.77788904e-03 -4.85694007e+01] [-2.05291861e-02 -6.49565173e-05 9.99789252e-01 -6.21680830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11401273900003 meters 0.02140978468898547 Centerline is valid? [True, True] Translation: X:311.72, Y:-48.57, Z:-6.22 [[ 9.82141114e-01 1.87114903e-01 1.96683955e-02 3.11718391e+02] [-1.87078686e-01 9.82338032e-01 -3.68190318e-03 -4.85736853e+01] [-2.00099519e-02 -6.33890895e-05 9.99799779e-01 -6.21868413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters 0.02107659179735774 Centerline is valid? [True, True] Translation: X:311.75, Y:-48.58, Z:-6.22 [[ 9.82403447e-01 1.85744089e-01 1.95602084e-02 3.11746817e+02] [-1.85708006e-01 9.82598154e-01 -3.66119771e-03 -4.85803190e+01] [-1.98998705e-02 -3.57140420e-05 9.99801977e-01 -6.21868445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17401273900003 meters 0.02097917659534618 Centerline is valid? [True, True] Translation: X:311.78, Y:-48.59, Z:-6.22 [[ 9.82604059e-01 1.84685643e-01 1.95058073e-02 3.11775070e+02] [-1.84649561e-01 9.82797646e-01 -3.65056291e-03 -4.85883453e+01] [-1.98444681e-02 -1.46808311e-05 9.99803079e-01 -6.21908423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters 0.020916658495364223 Centerline is valid? [True, True] Translation: X:311.80, Y:-48.60, Z:-6.22 [[ 9.83079014e-01 1.82134949e-01 1.95579134e-02 3.11803752e+02] [-1.82098178e-01 9.83273542e-01 -3.65986239e-03 -4.85987381e+01] [-1.98973676e-02 3.64735126e-05 9.99802027e-01 -6.21993917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234012739 meters 0.02120608298593671 Centerline is valid? [True, True] Translation: X:311.83, Y:-48.61, Z:-6.22 [[ 9.83270229e-01 1.81058308e-01 1.99385770e-02 3.11832320e+02] [-1.81019879e-01 9.83472361e-01 -3.73062790e-03 -4.86052637e+01] [-2.02845005e-02 5.89365538e-05 9.99794247e-01 -6.22026218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters 0.021632214932861972 Centerline is valid? [True, True] Translation: X:311.86, Y:-48.61, Z:-6.22 [[ 9.83487107e-01 1.79812745e-01 2.05057736e-02 3.11862443e+02] [-1.79771838e-01 9.83700854e-01 -3.83628295e-03 -4.86120329e+01] [-2.08613596e-02 8.65742128e-05 9.99782374e-01 -6.22070741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294012739 meters 0.02186890992867022 Centerline is valid? [True, True] Translation: X:311.89, Y:-48.62, Z:-6.22 [[ 9.83730964e-01 1.78431168e-01 2.08736298e-02 3.11893263e+02] [-1.78388469e-01 9.83952389e-01 -3.90512443e-03 -4.86198252e+01] [-2.12354538e-02 1.17976966e-04 9.99774495e-01 -6.22074585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters 0.022255804819432932 Centerline is valid? [True, True] Translation: X:311.92, Y:-48.63, Z:-6.22 [[ 9.83784961e-01 1.78228809e-01 2.00410180e-02 3.11923861e+02] [-1.78189397e-01 9.83989064e-01 -3.74982119e-03 -4.86280458e+01] [-2.03884687e-02 1.17920785e-04 9.99792127e-01 -6.22236706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354012739 meters 0.0222415428732552 Centerline is valid? [True, True] Translation: X:311.95, Y:-48.63, Z:-6.22 [[ 9.83741945e-01 1.78558773e-01 1.91976690e-02 3.11952575e+02] [-1.78522636e-01 9.83929242e-01 -3.59381371e-03 -4.86331623e+01] [-1.95308548e-02 1.08166818e-04 9.99809249e-01 -6.22412511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters 0.021989156839064182 Centerline is valid? [True, True] Translation: X:311.98, Y:-48.64, Z:-6.22 [[ 9.83604794e-01 1.79290688e-01 1.94025218e-02 3.11982112e+02] [-1.79253927e-01 9.83796138e-01 -3.63172400e-03 -4.86366479e+01] [-1.97392603e-02 9.42029094e-05 9.99805157e-01 -6.22441541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414012739 meters 0.021592344344202766 Centerline is valid? [True, True] Translation: X:312.01, Y:-48.64, Z:-6.22 [[ 9.83431671e-01 1.80173464e-01 1.99917731e-02 3.12011204e+02] [-1.80134627e-01 9.83634849e-01 -3.74156072e-03 -4.86399246e+01] [-2.03387347e-02 7.83587164e-05 9.99793143e-01 -6.22451491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters 0.021511843523514748 Centerline is valid? [True, True] Translation: X:312.04, Y:-48.64, Z:-6.23 [[ 9.83354153e-01 1.80619223e-01 1.97814510e-02 3.12041008e+02] [-1.80581299e-01 9.83553095e-01 -3.70176478e-03 -4.86441887e+01] [-2.01247173e-02 6.79856595e-05 9.99797475e-01 -6.22722944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474012739 meters 0.021646245685873425 Centerline is valid? [True, True] Translation: X:312.07, Y:-48.65, Z:-6.23 [[ 9.83470255e-01 1.80030654e-01 1.93706407e-02 3.12070869e+02] [-1.79994183e-01 9.83660997e-01 -3.62444634e-03 -4.86507040e+01] [-1.97066552e-02 7.79325113e-05 9.99805802e-01 -6.22822628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters 0.022642637993576614 Centerline is valid? [True, True] Translation: X:312.10, Y:-48.66, Z:-6.23 [[ 9.83970913e-01 1.77222253e-01 1.98372346e-02 3.12099817e+02] [-1.77183432e-01 9.84170846e-01 -3.71174944e-03 -4.86614990e+01] [-2.01810325e-02 1.37424170e-04 9.99796333e-01 -6.22831857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534012739 meters 0.023226068015127443 Centerline is valid? [True, True] Translation: X:312.13, Y:-48.67, Z:-6.23 [[ 9.84203604e-01 1.75907477e-01 1.99956202e-02 3.12130149e+02] [-1.75867758e-01 9.84406690e-01 -3.74161763e-03 -4.86707657e+01] [-2.03420009e-02 1.65928663e-04 9.99793066e-01 -6.22856234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters 0.02516695203288159 Centerline is valid? [True, True] Translation: X:312.16, Y:-48.68, Z:-6.23 [[ 9.84677024e-01 1.73427244e-01 1.82797790e-02 3.12159537e+02] [-1.73393619e-01 9.84846664e-01 -3.42071724e-03 -4.86842441e+01] [-1.85960250e-02 1.98704626e-04 9.99827059e-01 -6.23158316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594012739 meters 0.024534771878263098 Centerline is valid? [True, True] Translation: X:312.19, Y:-48.69, Z:-6.23 [[ 9.84856155e-01 1.72479777e-01 1.75806822e-02 3.12191503e+02] [-1.72448480e-01 9.85013037e-01 -3.29236182e-03 -4.86886572e+01] [-1.78850669e-02 2.10740891e-04 9.99840027e-01 -6.23268222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters 0.0240274592655463 Centerline is valid? [True, True] Translation: X:312.22, Y:-48.69, Z:-6.23 [[ 9.84504734e-01 1.74341973e-01 1.88495574e-02 3.12222479e+02] [-1.74306267e-01 9.84685147e-01 -3.53357276e-03 -4.86927631e+01] [-1.91769292e-02 1.93223121e-04 9.99816087e-01 -6.23168060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654012739 meters 0.023073530724399043 Centerline is valid? [True, True] Translation: X:312.25, Y:-48.70, Z:-6.23 [[ 9.84128394e-01 1.76330731e-01 1.99694365e-02 3.12253423e+02] [-1.76290996e-01 9.84330963e-01 -3.74693477e-03 -4.86960857e+01] [-2.03172344e-02 1.67033054e-04 9.99793570e-01 -6.23094360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters 0.02210515562496895 Centerline is valid? [True, True] Translation: X:312.28, Y:-48.70, Z:-6.23 [[ 9.83733880e-01 1.78456185e-01 2.05193209e-02 3.12284675e+02] [-1.78414652e-01 9.83947851e-01 -3.85209637e-03 -4.86985651e+01] [-2.08773721e-02 1.28490230e-04 9.99782036e-01 -6.23006270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714012739 meters 0.02210515562496895 Centerline is valid? [True, True] Translation: X:312.31, Y:-48.70, Z:-6.23 [[ 9.83729766e-01 1.78478877e-01 2.05192323e-02 3.12314965e+02] [-1.78437338e-01 9.83943735e-01 -3.85256794e-03 -4.87042981e+01] [-2.08773721e-02 1.28488555e-04 9.99782036e-01 -6.23068887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters 0.021001518459370674 Centerline is valid? [True, True] Translation: X:312.35, Y:-48.70, Z:-6.23 [[ 9.83087078e-01 1.82038600e-01 2.00436055e-02 3.12346854e+02] [-1.81999695e-01 9.83291384e-01 -3.76373466e-03 -4.87028916e+01] [-2.03938495e-02 5.21488345e-05 9.99792022e-01 -6.23096220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774012739 meters 0.02077613403881748 Centerline is valid? [True, True] Translation: X:312.38, Y:-48.71, Z:-6.23 [[ 9.82929507e-01 1.82869252e-01 2.02094446e-02 3.12376058e+02] [-1.82829866e-01 9.83137241e-01 -3.79536797e-03 -4.87065827e+01] [-2.05627137e-02 3.56891352e-05 9.99788564e-01 -6.23133583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters 0.02105273775424062 Centerline is valid? [True, True] Translation: X:312.41, Y:-48.71, Z:-6.23 [[ 9.83091494e-01 1.81798538e-01 2.19181676e-02 3.12405078e+02] [-1.81751948e-01 9.83335796e-01 -4.11602614e-03 -4.87142986e+01] [-2.23012064e-02 6.27606144e-05 9.99751295e-01 -6.23036714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834012739 meters 0.021320451547447272 Centerline is valid? [True, True] Translation: X:312.43, Y:-48.72, Z:-6.23 [[ 9.83312835e-01 1.80545633e-01 2.23414842e-02 3.12433989e+02] [-1.80496897e-01 9.83566605e-01 -4.19578784e-03 -4.87228307e+01] [-2.27318690e-02 9.32034684e-05 9.99741593e-01 -6.23040211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters 0.021844369147343147 Centerline is valid? [True, True] Translation: X:312.46, Y:-48.73, Z:-6.23 [[ 9.83576781e-01 1.79117125e-01 2.22209583e-02 3.12463816e+02] [-1.79068542e-01 9.83827749e-01 -4.17343692e-03 -4.87318903e+01] [-2.26091294e-02 1.25821063e-04 9.99744373e-01 -6.23128788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894012739 meters 0.02339544428336314 Centerline is valid? [True, True] Translation: X:312.49, Y:-48.74, Z:-6.23 [[ 9.84144100e-01 1.76192781e-01 2.04082123e-02 3.12492826e+02] [-1.76151163e-01 9.84355664e-01 -3.83346998e-03 -4.87443111e+01] [-2.07643691e-02 1.77756540e-04 9.99784381e-01 -6.23435148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters 0.02405266119097379 Centerline is valid? [True, True] Translation: X:312.52, Y:-48.75, Z:-6.24 [[ 9.84323034e-01 1.75314211e-01 1.93155761e-02 3.12522853e+02] [-1.75276706e-01 9.84512515e-01 -3.63102062e-03 -4.87536829e+01] [-1.96529959e-02 1.88526679e-04 9.99806843e-01 -6.23703720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954012739 meters 0.023667553355972808 Centerline is valid? [True, True] Translation: X:312.55, Y:-48.76, Z:-6.24 [[ 9.84202025e-01 1.75993351e-01 1.93058136e-02 3.12553959e+02] [-1.75955980e-01 9.84391339e-01 -3.63095116e-03 -4.87598211e+01] [-1.96434990e-02 1.76616120e-04 9.99807032e-01 -6.23769240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters 0.022437550964824814 Centerline is valid? [True, True] Translation: X:312.59, Y:-48.76, Z:-6.24 [[ 9.83851809e-01 1.77928866e-01 1.94148276e-02 3.12585503e+02] [-1.77891442e-01 9.84043342e-01 -3.65182483e-03 -4.87637990e+01] [-1.97547969e-02 1.39122795e-04 9.99804845e-01 -6.23783527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014012739 meters 0.02066245758242723 Centerline is valid? [True, True] Translation: X:312.62, Y:-48.76, Z:-6.24 [[ 9.82744690e-01 1.83845779e-01 2.03372651e-02 3.12616339e+02] [-1.83805907e-01 9.82955100e-01 -3.82878885e-03 -4.87608539e+01] [-2.06945252e-02 2.46124423e-05 9.99785845e-01 -6.23614191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters 0.02078244393977057 Centerline is valid? [True, True] Translation: X:312.65, Y:-48.76, Z:-6.24 [[ 9.82098101e-01 1.87240947e-01 2.05948250e-02 3.12645323e+02] [-1.87200810e-01 9.82314016e-01 -3.87701780e-03 -4.87598451e+01] [-2.09565218e-02 -4.77561135e-05 9.99780387e-01 -6.23577714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074012739 meters 0.022837979563206285 Centerline is valid? [True, True] Translation: X:312.68, Y:-48.75, Z:-6.24 [[ 9.81056540e-01 1.92628069e-01 2.05546306e-02 3.12675879e+02] [-1.92589284e-01 9.81271828e-01 -3.86872220e-03 -4.87539314e+01] [-2.09149044e-02 -1.63166378e-04 9.99781246e-01 -6.23759446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters 0.024401466275655537 Centerline is valid? [True, True] Translation: X:312.70, Y:-48.75, Z:-6.24 [[ 9.80632765e-01 1.94799052e-01 2.03152325e-02 3.12704878e+02] [-1.94761651e-01 9.80843151e-01 -3.82272765e-03 -4.87538007e+01] [-2.06707204e-02 -2.07936239e-04 9.99786316e-01 -6.23890720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134012739 meters 0.02604221978616157 Centerline is valid? [True, True] Translation: X:312.73, Y:-48.75, Z:-6.24 [[ 9.80202255e-01 1.96981245e-01 2.00481659e-02 3.12733692e+02] [-1.96945295e-01 9.80407225e-01 -3.77155442e-03 -4.87531250e+01] [-2.03982922e-02 -2.51505816e-04 9.99791902e-01 -6.24013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters 0.02872802948326642 Centerline is valid? [True, True] Translation: X:312.76, Y:-48.75, Z:-6.24 [[ 9.79626271e-01 1.99938634e-01 1.88920986e-02 3.12762605e+02] [-1.99907280e-01 9.79808377e-01 -3.55304717e-03 -4.87489771e+01] [-1.92210279e-02 -2.96009700e-04 9.99815215e-01 -6.24236880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194012739 meters 0.02904034428452046 Centerline is valid? [True, True] Translation: X:312.79, Y:-48.75, Z:-6.24 [[ 9.79585267e-01 2.00147039e-01 1.88113745e-02 3.12791688e+02] [-2.00116012e-01 9.79765826e-01 -3.53677938e-03 -4.87513978e+01] [-1.91386178e-02 -2.99880270e-04 9.99816795e-01 -6.24362589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters 0.027920036624731692 Centerline is valid? [True, True] Translation: X:312.82, Y:-48.75, Z:-6.24 [[ 9.79982461e-01 1.98190124e-01 1.88427748e-02 3.12819596e+02] [-1.98158648e-01 9.80163561e-01 -3.54184319e-03 -4.87548561e+01] [-1.91709596e-02 -2.62914574e-04 9.99816186e-01 -6.24429027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254012739 meters 0.026342072624010195 Centerline is valid? [True, True] Translation: X:312.85, Y:-48.76, Z:-6.25 [[ 9.80325708e-01 1.96471052e-01 1.89902906e-02 3.12847697e+02] [-1.96438781e-01 9.80509598e-01 -3.56838901e-03 -4.87611208e+01] [-1.93212473e-02 -2.32246054e-04 9.99813300e-01 -6.24516346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters 0.023973634096740574 Centerline is valid? [True, True] Translation: X:312.87, Y:-48.77, Z:-6.25 [[ 9.80961745e-01 1.93244225e-01 1.92541746e-02 3.12874969e+02] [-1.93210457e-01 9.81150671e-01 -3.61659155e-03 -4.87658022e+01] [-1.95901317e-02 -1.72369908e-04 9.99808080e-01 -6.24538337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314012739 meters 0.02341485711375893 Centerline is valid? [True, True] Translation: X:312.90, Y:-48.77, Z:-6.25 [[ 9.81134412e-01 1.92366140e-01 1.92492699e-02 3.12903507e+02] [-1.92332243e-01 9.81323211e-01 -3.61448300e-03 -4.87700705e+01] [-1.95850595e-02 -1.55961618e-04 9.99808182e-01 -6.24565185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters 0.02291514230321709 Centerline is valid? [True, True] Translation: X:312.93, Y:-48.77, Z:-6.25 [[ 9.81305265e-01 1.91490893e-01 1.92669397e-02 3.12932014e+02] [-1.91456782e-01 9.81494380e-01 -3.61693704e-03 -4.87742306e+01] [-1.96030035e-02 -1.39466901e-04 9.99807833e-01 -6.24580751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374012739 meters 0.022087834366544084 Centerline is valid? [True, True] Translation: X:312.96, Y:-48.78, Z:-6.24 [[ 9.81593412e-01 1.89905383e-01 2.02563517e-02 3.12959668e+02] [-1.89867360e-01 9.81802390e-01 -3.80172406e-03 -4.87782196e+01] [-2.06097024e-02 -1.14272734e-04 9.99787591e-01 -6.24472109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters 0.021761596389114894 Centerline is valid? [True, True] Translation: X:312.99, Y:-48.78, Z:-6.24 [[ 9.81710840e-01 1.89194198e-01 2.11986464e-02 3.12987853e+02] [-1.89152415e-01 9.81939685e-01 -3.97736166e-03 -4.87828767e+01] [-2.15682859e-02 -1.05156124e-04 9.99767372e-01 -6.24374855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434012739 meters 0.021209616933568255 Centerline is valid? [True, True] Translation: X:313.02, Y:-48.79, Z:-6.24 [[ 9.81930875e-01 1.88016233e-01 2.14861228e-02 3.13016152e+02] [-1.87973048e-01 9.82165917e-01 -4.03034134e-03 -4.87861219e+01] [-2.18607071e-02 -8.12954001e-05 9.99761023e-01 -6.24372322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters 0.021029309611787932 Centerline is valid? [True, True] Translation: X:313.05, Y:-48.79, Z:-6.25 [[ 9.82148440e-01 1.87004799e-01 2.03383332e-02 3.13045018e+02] [-1.86965906e-01 9.82358999e-01 -3.81419469e-03 -4.87908990e+01] [-2.06928173e-02 -5.64695241e-05 9.99785879e-01 -6.24640042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494012739 meters 0.02071121163412352 Centerline is valid? [True, True] Translation: X:313.07, Y:-48.80, Z:-6.25 [[ 9.82495934e-01 1.85314817e-01 1.89778497e-02 3.13072873e+02] [-1.85280653e-01 9.82679204e-01 -3.55828459e-03 -4.87967894e+01] [-1.93085411e-02 -2.02282439e-05 9.99813573e-01 -6.24922472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters 0.021241219525495302 Centerline is valid? [True, True] Translation: X:313.10, Y:-48.80, Z:-6.25 [[ 9.83354924e-01 1.80807268e-01 1.79394685e-02 3.13099783e+02] [-1.80776004e-01 9.83518545e-01 -3.36280733e-03 -4.88045377e+01] [-1.82518199e-02 6.38077184e-05 9.99833420e-01 -6.25248501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55401273900003 meters 0.022279309472798794 Centerline is valid? [True, True] Translation: X:313.13, Y:-48.81, Z:-6.25 [[ 9.83793872e-01 1.78335294e-01 1.86048734e-02 3.13126177e+02] [-1.78301248e-01 9.83969771e-01 -3.48638873e-03 -4.88120214e+01] [-1.89283792e-02 1.12615729e-04 9.99820836e-01 -6.25183982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters 0.023957937416024318 Centerline is valid? [True, True] Translation: X:313.15, Y:-48.82, Z:-6.25 [[ 9.84571545e-01 1.73788113e-01 2.04099323e-02 3.13154591e+02] [-1.73746191e-01 9.84783044e-01 -3.82321848e-03 -4.88193480e+01] [-2.07637852e-02 2.18084125e-04 9.99784386e-01 -6.24854699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61401273900003 meters 0.027513676865876927 Centerline is valid? [True, True] Translation: X:313.18, Y:-48.83, Z:-6.25 [[ 9.84958757e-01 1.71522060e-01 2.08909136e-02 3.13182554e+02] [-1.71477642e-01 9.85180242e-01 -3.91269388e-03 -4.88313829e+01] [-2.12524286e-02 2.71517497e-04 9.99774105e-01 -6.24849360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters 0.02979176959473351 Centerline is valid? [True, True] Translation: X:313.21, Y:-48.84, Z:-6.25 [[ 9.85902134e-01 1.66038580e-01 2.06923169e-02 3.13212617e+02] [-1.65993799e-01 9.86119182e-01 -3.87527382e-03 -4.88395416e+01] [-2.10485356e-02 3.85844439e-04 9.99778381e-01 -6.25006827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67401273900003 meters 0.036355011425662394 Centerline is valid? [True, True] Translation: X:313.24, Y:-48.86, Z:-6.25 [[ 9.86304461e-01 1.63652606e-01 2.05264553e-02 3.13241154e+02] [-1.63608017e-01 9.86517935e-01 -3.84449064e-03 -4.88561342e+01] [-2.08788772e-02 4.33545615e-04 9.99781918e-01 -6.25091644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters 0.03494883230381403 Centerline is valid? [True, True] Translation: X:313.27, Y:-48.86, Z:-6.25 [[ 9.86733385e-01 1.61019190e-01 2.07376004e-02 3.13272394e+02] [-1.60973062e-01 9.86951151e-01 -3.88574545e-03 -4.88607575e+01] [-2.10926782e-02 4.95999722e-04 9.99777402e-01 -6.25075591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734012739 meters 0.036970515509959674 Centerline is valid? [True, True] Translation: X:313.30, Y:-48.87, Z:-6.25 [[ 9.87050275e-01 1.58986375e-01 2.13327849e-02 3.13303224e+02] [-1.58937074e-01 9.87280621e-01 -3.99780529e-03 -4.88712915e+01] [-2.16970417e-02 5.55464403e-04 9.99764437e-01 -6.25041554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters 0.04011184910424478 Centerline is valid? [True, True] Translation: X:313.33, Y:-48.88, Z:-6.25 [[ 9.87438385e-01 1.56443932e-01 2.21524785e-02 3.13332452e+02] [-1.56390100e-01 9.87686636e-01 -4.15270125e-03 -4.88843234e+01] [-2.25293719e-02 6.36108285e-04 9.99745979e-01 -6.24973715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794012739 meters 0.0376722804061172 Centerline is valid? [True, True] Translation: X:313.36, Y:-48.89, Z:-6.25 [[ 9.87470016e-01 1.56363555e-01 2.12933406e-02 3.13364905e+02] [-1.56313732e-01 9.87699377e-01 -3.99475818e-03 -4.88903686e+01] [-2.16560538e-02 6.16262388e-04 9.99765290e-01 -6.25202194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters 0.040423996864597134 Centerline is valid? [True, True] Translation: X:313.39, Y:-48.90, Z:-6.25 [[ 9.87349272e-01 1.57184212e-01 2.08455682e-02 3.13394539e+02] [-1.57136564e-01 9.87569125e-01 -3.91464040e-03 -4.89028724e+01] [-2.12017592e-02 5.89516399e-04 9.99775044e-01 -6.25309826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854012739 meters 0.03995224973360904 Centerline is valid? [True, True] Translation: X:313.42, Y:-48.91, Z:-6.25 [[ 9.87186163e-01 1.58175526e-01 2.10709006e-02 3.13424696e+02] [-1.58126992e-01 9.87410841e-01 -3.96046987e-03 -4.89108312e+01] [-2.14320851e-02 5.77842908e-04 9.99770139e-01 -6.25325226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters 0.03708626043852631 Centerline is valid? [True, True] Translation: X:313.46, Y:-48.92, Z:-6.25 [[ 9.86772648e-01 1.60630957e-01 2.18503349e-02 3.13455351e+02] [-1.60579299e-01 9.87014385e-01 -4.11005284e-03 -4.89170255e+01] [-2.22267966e-02 5.46976270e-04 9.99752805e-01 -6.25237683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914012739 meters 0.03640787327281727 Centerline is valid? [True, True] Translation: X:313.49, Y:-48.92, Z:-6.25 [[ 9.86587292e-01 1.61802536e-01 2.15744165e-02 3.13485440e+02] [-1.61752441e-01 9.86823021e-01 -4.05874288e-03 -4.89239162e+01] [-2.19468458e-02 5.14589603e-04 9.99759007e-01 -6.25355759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters 0.03544907626712013 Centerline is valid? [True, True] Translation: X:313.52, Y:-48.93, Z:-6.26 [[ 9.86408548e-01 1.62957620e-01 2.10473318e-02 3.13517111e+02] [-1.62910164e-01 9.86632953e-01 -3.96149887e-03 -4.89311812e+01] [-2.14115475e-02 4.78832072e-04 9.99770632e-01 -6.25594338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974012739 meters 0.03462871377666699 Centerline is valid? [True, True] Translation: X:313.55, Y:-48.94, Z:-6.26 [[ 9.86203654e-01 1.64396262e-01 1.93964439e-02 3.13546986e+02] [-1.64356183e-01 9.86394291e-01 -3.65355680e-03 -4.89425916e+01] [-1.97331726e-02 4.15225589e-04 9.99805196e-01 -6.26033448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters 0.03467568131211848 Centerline is valid? [True, True] Translation: X:313.58, Y:-48.95, Z:-6.26 [[ 9.86181387e-01 1.64559338e-01 1.91441082e-02 3.13578344e+02] [-1.64520273e-01 9.86367100e-01 -3.60872919e-03 -4.89526179e+01] [-1.94769686e-02 4.09267651e-04 9.99810222e-01 -6.26163308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034012739 meters 0.035662801918028564 Centerline is valid? [True, True] Translation: X:313.61, Y:-48.97, Z:-6.26 [[ 9.86254753e-01 1.64038351e-01 1.98237594e-02 3.13607121e+02] [-1.63996285e-01 9.86453865e-01 -3.74047816e-03 -4.89665113e+01] [-2.01688059e-02 4.38041471e-04 9.99796493e-01 -6.26039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters 0.03365708606725042 Centerline is valid? [True, True] Translation: X:313.64, Y:-48.97, Z:-6.26 [[ 9.86277314e-01 1.63752366e-01 2.10290715e-02 3.13639052e+02] [-1.63704921e-01 9.86501363e-01 -3.96985244e-03 -4.89730722e+01] [-2.13952804e-02 4.72812904e-04 9.99770983e-01 -6.25881111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094012739 meters 0.03358907085182828 Centerline is valid? [True, True] Translation: X:313.67, Y:-48.98, Z:-6.26 [[ 9.86185429e-01 1.64217436e-01 2.17009937e-02 3.13668686e+02] [-1.64166944e-01 9.86424048e-01 -4.10030961e-03 -4.89824525e+01] [-2.20797244e-02 4.81079789e-04 9.99756097e-01 -6.25834106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters 0.03356988601984263 Centerline is valid? [True, True] Translation: X:313.70, Y:-48.99, Z:-6.26 [[ 9.86143894e-01 1.64485533e-01 2.15575812e-02 3.13700119e+02] [-1.64435698e-01 9.86379381e-01 -4.07649287e-03 -4.89925263e+01] [-2.19344777e-02 4.75172636e-04 9.99759297e-01 -6.25929446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154012739 meters 0.03562959327236787 Centerline is valid? [True, True] Translation: X:313.73, Y:-49.01, Z:-6.26 [[ 9.86027936e-01 1.65401488e-01 1.97802458e-02 3.13728388e+02] [-1.65359649e-01 9.86226227e-01 -3.74375278e-03 -4.90097211e+01] [-2.01270195e-02 4.20590321e-04 9.99797343e-01 -6.26449979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters 0.03245880307804054 Centerline is valid? [True, True] Translation: X:313.76, Y:-49.01, Z:-6.27 [[ 9.85857364e-01 1.66513976e-01 1.89302506e-02 3.13759954e+02] [-1.66475809e-01 9.86039020e-01 -3.58555520e-03 -4.90144088e+01] [-1.92630108e-02 3.83417214e-04 9.99814377e-01 -6.26676243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214012739 meters 0.031292408556803895 Centerline is valid? [True, True] Translation: X:313.79, Y:-49.02, Z:-6.27 [[ 9.85278717e-01 1.69997638e-01 1.80735360e-02 3.13789076e+02] [-1.69963378e-01 9.85444423e-01 -3.42631420e-03 -4.90240810e+01] [-1.83929306e-02 3.04035220e-04 9.99830790e-01 -6.26834556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters 0.029369989163249604 Centerline is valid? [True, True] Translation: X:313.82, Y:-49.03, Z:-6.27 [[ 9.84933391e-01 1.71983281e-01 1.81098244e-02 3.13820965e+02] [-1.71949219e-01 9.85099832e-01 -3.43314531e-03 -4.90301286e+01] [-1.84304286e-02 2.67449289e-04 9.99830109e-01 -6.26856338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274012739 meters 0.027833656661076508 Centerline is valid? [True, True] Translation: X:313.85, Y:-49.04, Z:-6.27 [[ 9.84657174e-01 1.73483759e-01 1.88052147e-02 3.13852789e+02] [-1.73447245e-01 9.84836698e-01 -3.56802355e-03 -4.90373734e+01] [-1.91390596e-02 2.51567301e-04 9.99816800e-01 -6.26822206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters 0.027165053230941164 Centerline is valid? [True, True] Translation: X:313.88, Y:-49.05, Z:-6.27 [[ 9.84458564e-01 1.74439582e-01 2.03019351e-02 3.13883198e+02] [-1.74397204e-01 9.84667847e-01 -3.85318416e-03 -4.90504548e+01] [-2.06628106e-02 2.52699431e-04 9.99786469e-01 -6.26561533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334012739 meters 0.025805314114796186 Centerline is valid? [True, True] Translation: X:313.92, Y:-49.06, Z:-6.26 [[ 9.84484713e-01 1.74197484e-01 2.10970703e-02 3.13915563e+02] [-1.74151636e-01 9.84710701e-01 -4.00542270e-03 -4.90580847e+01] [-2.14722455e-02 2.69188089e-04 9.99769409e-01 -6.26488704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters 0.026953376342175647 Centerline is valid? [True, True] Translation: X:313.94, Y:-49.07, Z:-6.27 [[ 9.84552877e-01 1.73746822e-01 2.16257933e-02 3.13945000e+02] [-1.73698449e-01 9.84790312e-01 -4.10985118e-03 -4.90702591e+01] [-2.20109453e-02 2.89999033e-04 9.99757688e-01 -6.26501645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394012739 meters 0.025943719434168046 Centerline is valid? [True, True] Translation: X:313.98, Y:-49.08, Z:-6.27 [[ 9.84725316e-01 1.72848078e-01 2.09665053e-02 3.13975547e+02] [-1.72802341e-01 9.84948450e-01 -3.98762862e-03 -4.90834944e+01] [-2.13401809e-02 3.03657652e-04 9.99772226e-01 -6.26741573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters 0.02787456867637894 Centerline is valid? [True, True] Translation: X:314.01, Y:-49.10, Z:-6.27 [[ 9.84688369e-01 1.73121237e-01 2.04414765e-02 3.14005085e+02] [-1.73077750e-01 9.84900478e-01 -3.89118759e-03 -4.90984097e+01] [-2.08064672e-02 2.93642393e-04 9.99783479e-01 -6.26910578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454012739 meters 0.02535919675658604 Centerline is valid? [True, True] Translation: X:314.04, Y:-49.11, Z:-6.27 [[ 9.84309297e-01 1.75320603e-01 1.99472896e-02 3.14035880e+02] [-1.75279573e-01 9.84511364e-01 -3.80066651e-03 -4.91077792e+01] [-2.03046684e-02 2.44678978e-04 9.99793809e-01 -6.26885997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters 0.023054325094383092 Centerline is valid? [True, True] Translation: X:314.07, Y:-49.11, Z:-6.27 [[ 9.83825479e-01 1.78008023e-01 2.00142760e-02 3.14067996e+02] [-1.77967206e-01 9.84029017e-01 -3.81669489e-03 -4.91116673e+01] [-2.03740307e-02 1.93076890e-04 9.99792409e-01 -6.26891355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514012739 meters 0.02150445449690189 Centerline is valid? [True, True] Translation: X:314.10, Y:-49.11, Z:-6.27 [[ 9.83133973e-01 1.81827119e-01 1.96593576e-02 3.14099388e+02] [-1.81788434e-01 9.83330507e-01 -3.75232861e-03 -4.91146680e+01] [-2.00139212e-02 1.15197906e-04 9.99799695e-01 -6.26996364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters 0.021241150709908015 Centerline is valid? [True, True] Translation: X:314.13, Y:-49.11, Z:-6.27 [[ 9.81227276e-01 1.91966362e-01 1.84918826e-02 3.14132596e+02] [-1.91933901e-01 9.81401502e-01 -3.53109782e-03 -4.91074676e+01] [-1.88258134e-02 -8.44096844e-05 9.99822775e-01 -6.27326808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574012739 meters 0.023649797080584775 Centerline is valid? [True, True] Translation: X:314.17, Y:-49.11, Z:-6.27 [[ 9.80173833e-01 1.97275033e-01 1.84883110e-02 3.14165837e+02] [-1.97243474e-01 9.80348167e-01 -3.53330622e-03 -4.91052045e+01] [-1.88220149e-02 -1.83444396e-04 9.99822833e-01 -6.27354024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters 0.023649797080584775 Centerline is valid? [True, True] Translation: X:314.20, Y:-49.11, Z:-6.27 [[ 9.80138367e-01 1.97451220e-01 1.84877593e-02 3.14197717e+02] [-1.97419638e-01 9.80312696e-01 -3.53619088e-03 -4.91115026e+01] [-1.88220103e-02 -1.83890401e-04 9.99822833e-01 -6.27420056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634012739 meters 0.031211542355110374 Centerline is valid? [True, True] Translation: X:314.23, Y:-49.10, Z:-6.27 [[ 9.78204737e-01 2.06781882e-01 1.88877034e-02 3.14230061e+02] [-2.06750581e-01 9.78386998e-01 -3.61649630e-03 -4.91005068e+01] [-1.92273094e-02 -3.67369838e-04 9.99815071e-01 -6.27367309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters 0.03313325894339323 Centerline is valid? [True, True] Translation: X:314.26, Y:-49.10, Z:-6.27 [[ 9.77511282e-01 2.10030501e-01 1.89441787e-02 3.14261424e+02] [-2.09999626e-01 9.77694738e-01 -3.62708005e-03 -4.91024997e+01] [-1.92834213e-02 -4.32758778e-04 9.99813964e-01 -6.27400383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694012739 meters 0.040456434747892026 Centerline is valid? [True, True] Translation: X:314.29, Y:-49.10, Z:-6.28 [[ 9.77068359e-01 2.12086463e-01 1.88879230e-02 3.14292322e+02] [-2.12056147e-01 9.77250792e-01 -3.61674720e-03 -4.90959803e+01] [-1.92253008e-02 -4.71490911e-04 9.99815066e-01 -6.27507634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters 0.03708895265822854 Centerline is valid? [True, True] Translation: X:314.32, Y:-49.10, Z:-6.28 [[ 9.76713706e-01 2.13711798e-01 1.89104246e-02 3.14320851e+02] [-2.13681701e-01 9.76896624e-01 -3.62171420e-03 -4.91027994e+01] [-1.92475330e-02 -5.03433791e-04 9.99814622e-01 -6.27595600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754012739 meters 0.03756609694683907 Centerline is valid? [True, True] Translation: X:314.35, Y:-49.11, Z:-6.28 [[ 9.76646082e-01 2.13996806e-01 1.91780742e-02 3.14350673e+02] [-2.13965914e-01 9.76834223e-01 -3.67251937e-03 -4.91050301e+01] [-1.95197066e-02 -5.16702527e-04 9.99809339e-01 -6.27625823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters 0.038209569223884514 Centerline is valid? [True, True] Translation: X:314.38, Y:-49.11, Z:-6.28 [[ 9.76643375e-01 2.13991435e-01 1.93748195e-02 3.14379700e+02] [-2.13959914e-01 9.76835397e-01 -3.70974796e-03 -4.91064783e+01] [-1.97198638e-02 -5.22333951e-04 9.99805408e-01 -6.27701937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814012739 meters 0.0373735703713304 Centerline is valid? [True, True] Translation: X:314.41, Y:-49.11, Z:-6.28 [[ 9.76851057e-01 2.13078974e-01 1.89568871e-02 3.14408466e+02] [-2.13048639e-01 9.77034855e-01 -3.62909535e-03 -4.91076951e+01] [-1.92948233e-02 -4.93653360e-04 9.99813716e-01 -6.27768957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters 0.03704817455781033 Centerline is valid? [True, True] Translation: X:314.44, Y:-49.11, Z:-6.28 [[ 9.76950434e-01 2.12609421e-01 1.91071765e-02 3.14437444e+02] [-2.12578531e-01 9.77137142e-01 -3.65697479e-03 -4.91106577e+01] [-1.94478392e-02 -4.89092412e-04 9.99810753e-01 -6.27787858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874012739 meters 0.03622121131594624 Centerline is valid? [True, True] Translation: X:314.47, Y:-49.11, Z:-6.28 [[ 9.77167073e-01 2.11592543e-01 1.93159749e-02 3.14466167e+02] [-2.11560793e-01 9.77357852e-01 -3.69604228e-03 -4.91106769e+01] [-1.96606747e-02 -4.74852133e-04 9.99806597e-01 -6.27768939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters 0.033937659653078996 Centerline is valid? [True, True] Translation: X:314.49, Y:-49.12, Z:-6.28 [[ 9.77314033e-01 2.10857602e-01 1.99085887e-02 3.14494162e+02] [-2.10823745e-01 9.77516673e-01 -3.80828186e-03 -4.91169395e+01] [-2.02639826e-02 -4.75315913e-04 9.99794551e-01 -6.27714355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934012739 meters 0.03322395453565908 Centerline is valid? [True, True] Translation: X:314.52, Y:-49.12, Z:-6.28 [[ 9.77493611e-01 2.09956854e-01 2.06000114e-02 3.14522884e+02] [-2.09920425e-01 9.77710538e-01 -3.93953031e-03 -4.91221382e+01] [-2.09679796e-02 -4.73497440e-04 9.99780036e-01 -6.27666369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters 0.029676629172223523 Centerline is valid? [True, True] Translation: X:314.55, Y:-49.13, Z:-6.28 [[ 9.78244316e-01 2.06374085e-01 2.11611830e-02 3.14551313e+02] [-2.06334827e-01 9.78473081e-01 -4.04584347e-03 -4.91308543e+01] [-2.15406052e-02 -4.08465664e-04 9.99767891e-01 -6.27663570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994012739 meters 0.02702446073614353 Centerline is valid? [True, True] Translation: X:314.58, Y:-49.14, Z:-6.28 [[ 9.78861132e-01 2.03473413e-01 2.07232988e-02 3.14580764e+02] [-2.03435123e-01 9.79080413e-01 -3.96165231e-03 -4.91393218e+01] [-2.10958669e-02 -3.37939384e-04 9.99777400e-01 -6.27864579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters 0.025172198724925175 Centerline is valid? [True, True] Translation: X:314.61, Y:-49.15, Z:-6.28 [[ 9.79564535e-01 2.00122602e-01 2.01063484e-02 3.14610322e+02] [-2.00085852e-01 9.79770829e-01 -3.84371447e-03 -4.91481977e+01] [-2.04688278e-02 -2.57829480e-04 9.99790458e-01 -6.28054381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05401273900003 meters 0.02128948335718233 Centerline is valid? [True, True] Translation: X:314.64, Y:-49.17, Z:-6.28 [[ 9.81104052e-01 1.92442500e-01 2.00180786e-02 3.14637779e+02] [-1.92404462e-01 9.81308247e-01 -3.82733022e-03 -4.91680046e+01] [-2.03804466e-02 -9.65584509e-05 9.99792292e-01 -6.28190686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters 0.020581250718869692 Centerline is valid? [True, True] Translation: X:314.67, Y:-49.18, Z:-6.28 [[ 9.81818004e-01 1.88770332e-01 1.99792301e-02 3.14668194e+02] [-1.88731658e-01 9.82021263e-01 -3.82096880e-03 -4.91818345e+01] [-2.03413144e-02 -1.92172640e-05 9.99793094e-01 -6.28261781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11401273900003 meters 0.021455359351712285 Centerline is valid? [True, True] Translation: X:314.70, Y:-49.20, Z:-6.29 [[ 9.82793220e-01 1.83833365e-01 1.79661035e-02 3.14696976e+02] [-1.83801218e-01 9.82957419e-01 -3.43864761e-03 -4.91972676e+01] [-1.82920529e-02 7.72878588e-05 9.99832683e-01 -6.28691065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters 0.021964308986783174 Centerline is valid? [True, True] Translation: X:314.73, Y:-49.21, Z:-6.29 [[ 9.82945861e-01 1.83052855e-01 1.75808527e-02 3.14727329e+02] [-1.83021900e-01 9.83103069e-01 -3.36752891e-03 -4.92060301e+01] [-1.79002260e-02 9.24175369e-05 9.99839774e-01 -6.28911687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17401273900003 meters 0.021577279563782498 Centerline is valid? [True, True] Translation: X:314.76, Y:-49.21, Z:-6.29 [[ 9.82907754e-01 1.83233516e-01 1.78276664e-02 3.14760045e+02] [-1.83201664e-01 9.83069413e-01 -3.41767635e-03 -4.92116696e+01] [-1.81520664e-02 9.32024329e-05 9.99835233e-01 -6.28838530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters 0.021452908175717232 Centerline is valid? [True, True] Translation: X:314.79, Y:-49.22, Z:-6.29 [[ 9.82798141e-01 1.83773055e-01 1.83106093e-02 3.14791359e+02] [-1.83739477e-01 9.82968695e-01 -3.51399085e-03 -4.92179262e+01] [-1.86445325e-02 8.91619026e-05 9.99826172e-01 -6.28747820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234012739 meters 0.021088523886902886 Centerline is valid? [True, True] Translation: X:314.82, Y:-49.22, Z:-6.29 [[ 9.82537898e-01 1.85097361e-01 1.89273903e-02 3.14822382e+02] [-1.85061659e-01 9.82720185e-01 -3.63598173e-03 -4.92221900e+01] [-1.92733391e-02 6.97556134e-05 9.99814250e-01 -6.28686291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters 0.021125247969276464 Centerline is valid? [True, True] Translation: X:314.85, Y:-49.23, Z:-6.29 [[ 9.82534884e-01 1.85068573e-01 1.93603956e-02 3.14854479e+02] [-1.85031152e-01 9.82725607e-01 -3.72224333e-03 -4.92293717e+01] [-1.97148268e-02 7.49576145e-05 9.99805641e-01 -6.28708873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294012739 meters 0.02195109308971691 Centerline is valid? [True, True] Translation: X:314.88, Y:-49.24, Z:-6.29 [[ 9.82923840e-01 1.83011250e-01 1.91730868e-02 3.14883311e+02] [-1.82974085e-01 9.83110812e-01 -3.68996936e-03 -4.92431730e+01] [-1.95245748e-02 1.18780850e-04 9.99809370e-01 -6.28789692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters 0.02211149340981444 Centerline is valid? [True, True] Translation: X:314.92, Y:-49.25, Z:-6.29 [[ 9.83045647e-01 1.82449132e-01 1.82638992e-02 3.14915772e+02] [-1.82415285e-01 9.83215286e-01 -3.51640919e-03 -4.92514744e+01] [-1.85989106e-02 1.25176368e-04 9.99827017e-01 -6.28968702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354012739 meters 0.02244074057294888 Centerline is valid? [True, True] Translation: X:314.95, Y:-49.26, Z:-6.29 [[ 9.83021842e-01 1.82674996e-01 1.72599235e-02 3.14946815e+02] [-1.82644746e-01 9.83173348e-01 -3.32632775e-03 -4.92588920e+01] [-1.75771337e-02 1.17418482e-04 9.99845503e-01 -6.29243872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters 0.0214222936659146 Centerline is valid? [True, True] Translation: X:314.98, Y:-49.26, Z:-6.30 [[ 9.82472876e-01 1.85678066e-01 1.64530521e-02 3.14978790e+02] [-1.85650951e-01 9.82610631e-01 -3.17374131e-03 -4.92621928e+01] [-1.67562380e-02 6.35899901e-05 9.99859602e-01 -6.29540653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414012739 meters 0.020918717645300976 Centerline is valid? [True, True] Translation: X:315.01, Y:-49.27, Z:-6.30 [[ 9.81988170e-01 1.88231961e-01 1.63695535e-02 3.15010672e+02] [-1.88205430e-01 9.82124599e-01 -3.16035638e-03 -4.92660723e+01] [-1.66718213e-02 2.25937212e-05 9.99861015e-01 -6.29579179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters 0.02098105614171094 Centerline is valid? [True, True] Translation: X:315.04, Y:-49.27, Z:-6.30 [[ 9.81382148e-01 1.91382636e-01 1.61791637e-02 3.15043354e+02] [-1.91357103e-01 9.81515505e-01 -3.12622096e-03 -4.92690222e+01] [-1.64784045e-02 -2.79804580e-05 9.99864221e-01 -6.29650018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474012739 meters 0.022958388738793637 Centerline is valid? [True, True] Translation: X:315.08, Y:-49.27, Z:-6.30 [[ 9.80135301e-01 1.97659975e-01 1.62888539e-02 3.15075765e+02] [-1.97634905e-01 9.80270635e-01 -3.15078668e-03 -4.92655584e+01] [-1.65902696e-02 -1.31048845e-04 9.99862363e-01 -6.29672360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters 0.024109432401221265 Centerline is valid? [True, True] Translation: X:315.11, Y:-49.27, Z:-6.30 [[ 9.79554627e-01 2.00484123e-01 1.66987883e-02 3.15107359e+02] [-2.00458131e-01 9.79696935e-01 -3.23323272e-03 -4.92688624e+01] [-1.70079635e-02 -1.80279812e-04 9.99855338e-01 -6.29605178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534012739 meters 0.02628871369601831 Centerline is valid? [True, True] Translation: X:315.14, Y:-49.27, Z:-6.30 [[ 9.78821380e-01 2.03912058e-01 1.81267506e-02 3.15138804e+02] [-2.03882009e-01 9.78989175e-01 -3.51019712e-03 -4.92726708e+01] [-1.84616641e-02 -2.59862329e-04 9.99829535e-01 -6.29557564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters 0.027868161048714608 Centerline is valid? [True, True] Translation: X:315.17, Y:-49.28, Z:-6.30 [[ 9.78523765e-01 2.05293118e-01 1.86004781e-02 3.15169459e+02] [-2.05261718e-01 9.78700490e-01 -3.60240894e-03 -4.92760591e+01] [-1.89438468e-02 -2.92923313e-04 9.99820506e-01 -6.29540931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594012739 meters 0.029143010268548052 Centerline is valid? [True, True] Translation: X:315.20, Y:-49.28, Z:-6.30 [[ 9.78100172e-01 2.07287324e-01 1.87621436e-02 3.15199515e+02] [-2.07255738e-01 9.78280049e-01 -3.63396050e-03 -4.92795090e+01] [-1.91079047e-02 -3.34184518e-04 9.99817371e-01 -6.29626290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters 0.03332584043637268 Centerline is valid? [True, True] Translation: X:315.23, Y:-49.28, Z:-6.30 [[ 9.77070833e-01 2.12167290e-01 1.78221412e-02 3.15230336e+02] [-2.12139600e-01 9.77233275e-01 -3.45190778e-03 -4.92781265e+01] [-1.81487713e-02 -4.08023482e-04 9.99835214e-01 -6.29815716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654012739 meters 0.036107212606369614 Centerline is valid? [True, True] Translation: X:315.26, Y:-49.28, Z:-6.30 [[ 9.76556527e-01 2.14536706e-01 1.76451340e-02 3.15259320e+02] [-2.14509950e-01 9.76715824e-01 -3.41758924e-03 -4.92795132e+01] [-1.79674799e-02 -4.47587736e-04 9.99838472e-01 -6.29835903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters 0.04018421486982342 Centerline is valid? [True, True] Translation: X:315.29, Y:-49.28, Z:-6.29 [[ 9.75474204e-01 2.19252349e-01 1.94546962e-02 3.15291040e+02] [-2.19220775e-01 9.75668007e-01 -3.76729641e-03 -4.92768079e+01] [-1.98073132e-02 -5.89973112e-04 9.99803642e-01 -6.29464612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714012739 meters 0.04446273942284796 Centerline is valid? [True, True] Translation: X:315.32, Y:-49.27, Z:-6.29 [[ 9.74882061e-01 2.21804401e-01 2.01934510e-02 3.15320824e+02] [-2.21770930e-01 9.75090952e-01 -3.91034324e-03 -4.92742253e+01] [-2.05577827e-02 -6.66196939e-04 9.99788444e-01 -6.29430202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters 0.05123863833538063 Centerline is valid? [True, True] Translation: X:315.35, Y:-49.27, Z:-6.30 [[ 9.73558784e-01 2.27631967e-01 1.91567481e-02 3.15352394e+02] [-2.27602983e-01 9.73746952e-01 -3.70892944e-03 -4.92689482e+01] [-1.94980960e-02 -7.49272173e-04 9.99809613e-01 -6.29759266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774012739 meters 0.05240924101075065 Centerline is valid? [True, True] Translation: X:315.38, Y:-49.27, Z:-6.30 [[ 9.73022734e-01 2.30006518e-01 1.79933573e-02 3.15381466e+02] [-2.29981352e-01 9.73188801e-01 -3.48370576e-03 -4.92720272e+01] [-1.83122089e-02 -7.48411737e-04 9.99832037e-01 -6.30020397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters 0.05489216643271779 Centerline is valid? [True, True] Translation: X:315.41, Y:-49.27, Z:-6.30 [[ 9.72487811e-01 2.32272120e-01 1.78078588e-02 3.15410957e+02] [-2.32247860e-01 9.72650527e-01 -3.44721481e-03 -4.92726301e+01] [-1.81215151e-02 -7.83462694e-04 9.99835485e-01 -6.30078936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834012739 meters 0.05932386441014866 Centerline is valid? [True, True] Translation: X:315.44, Y:-49.27, Z:-6.30 [[ 9.71508266e-01 2.36280598e-01 1.85248095e-02 3.15442455e+02] [-2.36255090e-01 9.71684455e-01 -3.58498891e-03 -4.92677437e+01] [-1.88473327e-02 -8.93734180e-04 9.99821974e-01 -6.29939801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters 0.0617425989487232 Centerline is valid? [True, True] Translation: X:315.47, Y:-49.27, Z:-6.30 [[ 9.71226833e-01 2.37422481e-01 1.86816533e-02 3.15471246e+02] [-2.37396754e-01 9.71406049e-01 -3.61515422e-03 -4.92677034e+01] [-1.90057899e-02 -9.23829071e-04 9.99818947e-01 -6.29903128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894012739 meters 0.06026050263786905 Centerline is valid? [True, True] Translation: X:315.50, Y:-49.27, Z:-6.30 [[ 9.70942621e-01 2.38629575e-01 1.80652478e-02 3.15500766e+02] [-2.38605741e-01 9.71110233e-01 -3.49503324e-03 -4.92711640e+01] [-1.83773653e-02 -9.16995105e-04 9.99830701e-01 -6.30164561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters 0.06389843239621308 Centerline is valid? [True, True] Translation: X:315.53, Y:-49.27, Z:-6.30 [[ 9.70971177e-01 2.38542887e-01 1.76710333e-02 3.15529003e+02] [-2.38520072e-01 9.71131551e-01 -3.41849441e-03 -4.92688422e+01] [-1.79763555e-02 -8.95636600e-04 9.99838011e-01 -6.30285004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954012739 meters 0.06410945894910933 Centerline is valid? [True, True] Translation: X:315.56, Y:-49.27, Z:-6.30 [[ 9.71023563e-01 2.38309400e-01 1.79407521e-02 3.15556770e+02] [-2.38285872e-01 9.71188863e-01 -3.46913571e-03 -4.92712196e+01] [-1.82505863e-02 -9.06415243e-04 9.99833033e-01 -6.30365397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters 0.06511047239080309 Centerline is valid? [True, True] Translation: X:315.58, Y:-49.27, Z:-6.30 [[ 9.71206746e-01 2.37534260e-01 1.83011447e-02 3.15584839e+02] [-2.37509659e-01 9.71378734e-01 -3.53780998e-03 -4.92736392e+01] [-1.86176939e-02 -9.10753730e-04 9.99826261e-01 -6.30422278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014012739 meters 0.05612352045655186 Centerline is valid? [True, True] Translation: X:315.61, Y:-49.29, Z:-6.30 [[ 9.71949816e-01 2.34420008e-01 1.89951270e-02 3.15612318e+02] [-2.34392944e-01 9.72135010e-01 -3.67028515e-03 -4.92902985e+01] [-1.93262162e-02 -8.84990767e-04 9.99812840e-01 -6.30315454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters 0.05259964546401008 Centerline is valid? [True, True] Translation: X:315.64, Y:-49.30, Z:-6.30 [[ 9.72886197e-01 2.30509699e-01 1.89136469e-02 3.15640793e+02] [-2.30482137e-01 9.73069695e-01 -3.65409790e-03 -4.92978844e+01] [-1.92466016e-02 -8.04236340e-04 9.99814444e-01 -6.30326184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074012739 meters 0.05365691787281644 Centerline is valid? [True, True] Translation: X:315.67, Y:-49.30, Z:-6.30 [[ 9.73251492e-01 2.28948708e-01 1.90793809e-02 3.15669275e+02] [-2.28920367e-01 9.73438175e-01 -3.68587396e-03 -4.93005056e+01] [-1.94164738e-02 -7.80376536e-04 9.99811178e-01 -6.30320763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters 0.05112267613837669 Centerline is valid? [True, True] Translation: X:315.70, Y:-49.31, Z:-6.30 [[ 9.73337637e-01 2.28538508e-01 1.95958036e-02 3.15696706e+02] [-2.28508547e-01 9.73534550e-01 -3.78470084e-03 -4.93084368e+01] [-1.99421417e-02 -7.94016830e-04 9.99800820e-01 -6.30243849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134012739 meters 0.05477497546681617 Centerline is valid? [True, True] Translation: X:315.72, Y:-49.31, Z:-6.30 [[ 9.73167366e-01 2.29258497e-01 1.96422563e-02 3.15724766e+02] [-2.29228559e-01 9.73365236e-01 -3.79276270e-03 -4.93080564e+01] [-1.99886125e-02 -8.11573222e-04 9.99799878e-01 -6.30265659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters 0.05592912136778359 Centerline is valid? [True, True] Translation: X:315.75, Y:-49.31, Z:-6.30 [[ 9.72552555e-01 2.31766037e-01 2.06405641e-02 3.15754955e+02] [-2.31733566e-01 9.72771134e-01 -3.98430925e-03 -4.93099832e+01] [-2.10019725e-02 -9.08161385e-04 9.99779022e-01 -6.30170841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194012739 meters 0.05299650008688248 Centerline is valid? [True, True] Translation: X:315.78, Y:-49.32, Z:-6.30 [[ 9.72165922e-01 2.33323213e-01 2.13001874e-02 3.15783526e+02] [-2.33289014e-01 9.72398752e-01 -4.11132991e-03 -4.93181498e+01] [-2.16715443e-02 -9.72204872e-04 9.99764672e-01 -6.30220924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters 0.057557938098776136 Centerline is valid? [True, True] Translation: X:315.81, Y:-49.32, Z:-6.30 [[ 9.72238366e-01 2.33072721e-01 2.07284057e-02 3.15811731e+02] [-2.33040287e-01 9.72458853e-01 -4.00045194e-03 -4.93174422e+01] [-2.10899179e-02 -9.41160759e-04 9.99777140e-01 -6.30359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254012739 meters 0.05729928343476942 Centerline is valid? [True, True] Translation: X:315.84, Y:-49.32, Z:-6.31 [[ 9.72421723e-01 2.32332195e-01 2.04387709e-02 3.15838636e+02] [-2.32300523e-01 9.72636066e-01 -3.94335005e-03 -4.93227689e+01] [-2.07956529e-02 -9.13337917e-04 9.99783330e-01 -6.30530646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters 0.0523095034980024 Centerline is valid? [True, True] Translation: X:315.87, Y:-49.33, Z:-6.31 [[ 9.72920771e-01 2.30263120e-01 2.01014522e-02 3.15867359e+02] [-2.30232067e-01 9.73128030e-01 -3.87714887e-03 -4.93338055e+01] [-2.04540510e-02 -8.55840224e-04 9.99790428e-01 -6.30633326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314012739 meters 0.050631691023496336 Centerline is valid? [True, True] Translation: X:315.90, Y:-49.34, Z:-6.31 [[ 9.73284161e-01 2.28758593e-01 1.96837213e-02 3.15895304e+02] [-2.28728514e-01 9.73482848e-01 -3.79635986e-03 -4.93404185e+01] [-2.00302150e-02 -8.07291402e-04 9.99799049e-01 -6.30798173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters 0.05346799429395928 Centerline is valid? [True, True] Translation: X:315.92, Y:-49.34, Z:-6.31 [[ 9.73677080e-01 2.27159801e-01 1.87448202e-02 3.15923600e+02] [-2.27132244e-01 9.73857217e-01 -3.61444868e-03 -4.93410148e+01] [-1.90758359e-02 -7.38247241e-04 9.99817767e-01 -6.31006166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374012739 meters 0.046973207575372024 Centerline is valid? [True, True] Translation: X:315.95, Y:-49.35, Z:-6.31 [[ 9.74468784e-01 2.23914089e-01 1.65248254e-02 3.15951345e+02] [-2.23892223e-01 9.74608704e-01 -3.18538546e-03 -4.93547063e+01] [-1.68184913e-02 -5.95721192e-04 9.99858382e-01 -6.31475649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters 0.048528483436411265 Centerline is valid? [True, True] Translation: X:315.98, Y:-49.36, Z:-6.32 [[ 9.74833557e-01 2.22315675e-01 1.65914809e-02 3.15979276e+02] [-2.22293401e-01 9.74974572e-01 -3.19819570e-03 -4.93577449e+01] [-1.68872810e-02 -5.70468223e-04 9.99857237e-01 -6.31569722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434012739 meters 0.04262819308535208 Centerline is valid? [True, True] Translation: X:316.01, Y:-49.37, Z:-6.31 [[ 9.75520301e-01 2.19134820e-01 1.84410870e-02 3.16007350e+02] [-2.19106759e-01 9.75694420e-01 -3.55345854e-03 -4.93704832e+01] [-1.87715522e-02 -5.74095857e-04 9.99823634e-01 -6.31132377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters 0.04100234277635055 Centerline is valid? [True, True] Translation: X:316.04, Y:-49.38, Z:-6.31 [[ 9.75836683e-01 2.17669544e-01 1.90456838e-02 3.16035248e+02] [-2.17639338e-01 9.76022362e-01 -3.66976319e-03 -4.93772413e+01] [-1.93878090e-02 -5.64000471e-04 9.99811880e-01 -6.31061143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494012739 meters 0.0388136027447976 Centerline is valid? [True, True] Translation: X:316.06, Y:-49.39, Z:-6.31 [[ 9.76258469e-01 2.15774237e-01 1.89968362e-02 3.16063424e+02] [-2.15743843e-01 9.76443138e-01 -3.65949922e-03 -4.93855320e+01] [-1.93389560e-02 -5.25833337e-04 9.99812847e-01 -6.31149182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters 0.0388136027447976 Centerline is valid? [True, True] Translation: X:316.09, Y:-49.39, Z:-6.31 [[ 9.76273013e-01 2.15708399e-01 1.89971047e-02 3.16090452e+02] [-2.15678020e-01 9.76457685e-01 -3.65810486e-03 -4.93906005e+01] [-1.93389528e-02 -5.25948859e-04 9.99812847e-01 -6.31205033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55401273900003 meters 0.03788761828381667 Centerline is valid? [True, True] Translation: X:316.12, Y:-49.40, Z:-6.31 [[ 9.76741594e-01 2.13596756e-01 1.87692486e-02 3.16117885e+02] [-2.13566737e-01 9.76921796e-01 -3.61290539e-03 -4.93976766e+01] [-1.91077929e-02 -4.79612217e-04 9.99817314e-01 -6.31340426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters 0.03321987550519521 Centerline is valid? [True, True] Translation: X:316.15, Y:-49.41, Z:-6.31 [[ 9.77570305e-01 2.09746461e-01 1.90452509e-02 3.16145868e+02] [-2.09714839e-01 9.77755723e-01 -3.66510534e-03 -4.94109564e+01] [-1.93903459e-02 -4.11173583e-04 9.99811905e-01 -6.31316239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61401273900003 meters 0.03295258810112738 Centerline is valid? [True, True] Translation: X:316.17, Y:-49.42, Z:-6.31 [[ 9.77914403e-01 2.08072422e-01 1.97303931e-02 3.16173791e+02] [-2.08038148e-01 9.78113344e-01 -3.79672506e-03 -4.94162610e+01] [-2.00885545e-02 -3.91802319e-04 9.99798128e-01 -6.31231446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters 0.028971481132235383 Centerline is valid? [True, True] Translation: X:316.20, Y:-49.43, Z:-6.31 [[ 9.78600181e-01 2.04729290e-01 2.06785784e-02 3.16200535e+02] [-2.04690918e-01 9.78818575e-01 -3.97818207e-03 -4.94285043e+01] [-2.10550270e-02 -3.39667491e-04 9.99778261e-01 -6.31071607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67401273900003 meters 0.028487469162472138 Centerline is valid? [True, True] Translation: X:316.23, Y:-49.44, Z:-6.31 [[ 9.78964399e-01 2.03044806e-01 2.00377779e-02 3.16227604e+02] [-2.03008440e-01 9.79169403e-01 -3.85400001e-03 -4.94352400e+01] [-2.04029137e-02 -2.94909239e-04 9.99791795e-01 -6.31240865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters 0.027457280163640848 Centerline is valid? [True, True] Translation: X:316.26, Y:-49.44, Z:-6.31 [[ 9.79229478e-01 2.01813047e-01 1.95223839e-02 3.16255236e+02] [-2.01778306e-01 9.79424027e-01 -3.75376514e-03 -4.94422892e+01] [-1.98782506e-02 -2.63396056e-04 9.99802373e-01 -6.31443472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734012739 meters 0.026528872632973842 Centerline is valid? [True, True] Translation: X:316.28, Y:-49.45, Z:-6.31 [[ 9.79363448e-01 2.01184394e-01 1.92892602e-02 3.16284053e+02] [-2.01150372e-01 9.79553356e-01 -3.70808152e-03 -4.94471265e+01] [-1.96408677e-02 -2.48482361e-04 9.99807069e-01 -6.31489379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters 0.02714557805470847 Centerline is valid? [True, True] Translation: X:316.31, Y:-49.45, Z:-6.31 [[ 9.79222238e-01 2.01790701e-01 2.01077553e-02 3.16312527e+02] [-2.01753878e-01 9.79428629e-01 -3.86446093e-03 -4.94498736e+01] [-2.04739234e-02 -2.72651507e-04 9.99790350e-01 -6.31310732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794012739 meters 0.029097469578358147 Centerline is valid? [True, True] Translation: X:316.34, Y:-49.45, Z:-6.31 [[ 9.78719903e-01 2.04043667e-01 2.17608208e-02 3.16341241e+02] [-2.04001120e-01 9.78961726e-01 -4.18106597e-03 -4.94502064e+01] [-2.21561307e-02 -3.47139330e-04 9.99754463e-01 -6.31044315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters 0.030464204588623704 Centerline is valid? [True, True] Translation: X:316.37, Y:-49.45, Z:-6.31 [[ 9.78469586e-01 2.05290425e-01 2.12864029e-02 3.16368742e+02] [-2.05250034e-01 9.78701030e-01 -4.08873528e-03 -4.94521817e+01] [-2.16724027e-02 -3.68331820e-04 9.99765058e-01 -6.31182552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854012739 meters 0.03135598294757841 Centerline is valid? [True, True] Translation: X:316.40, Y:-49.45, Z:-6.31 [[ 9.78347247e-01 2.05944750e-01 2.05772786e-02 3.16396038e+02] [-2.05907170e-01 9.78563550e-01 -3.95162096e-03 -4.94546123e+01] [-2.09499904e-02 -3.70951716e-04 9.99780456e-01 -6.31465053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters 0.031156840682438118 Centerline is valid? [True, True] Translation: X:316.42, Y:-49.46, Z:-6.32 [[ 9.78577712e-01 2.05080464e-01 1.81015271e-02 3.16423233e+02] [-2.05051255e-01 9.78745067e-01 -3.47509774e-03 -4.94593628e+01] [-1.84294550e-02 -3.11087667e-04 9.99830115e-01 -6.32091546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914012739 meters 0.02685375777800008 Centerline is valid? [True, True] Translation: X:316.45, Y:-49.47, Z:-6.32 [[ 9.79022400e-01 2.03003086e-01 1.74610208e-02 3.16450456e+02] [-2.02975595e-01 9.79178062e-01 -3.35114670e-03 -4.94732154e+01] [-1.77777417e-02 -2.63313407e-04 9.99841929e-01 -6.32224461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters 0.0253698697705138 Centerline is valid? [True, True] Translation: X:316.48, Y:-49.48, Z:-6.32 [[ 9.79606592e-01 2.00191418e-01 1.71558186e-02 3.16477427e+02] [-2.00164458e-01 9.79756782e-01 -3.29198024e-03 -4.94827138e+01] [-1.74675558e-02 -2.09139587e-04 9.99847409e-01 -6.32327633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974012739 meters 0.022709992739107614 Centerline is valid? [True, True] Translation: X:316.51, Y:-49.50, Z:-6.32 [[ 9.80694536e-01 1.94767268e-01 1.74338076e-02 3.16505205e+02] [-1.94738587e-01 9.80849478e-01 -3.34435220e-03 -4.94975338e+01] [-1.77513114e-02 -1.15247132e-04 9.99842426e-01 -6.32333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters 0.02205126942183846 Centerline is valid? [True, True] Translation: X:316.53, Y:-49.51, Z:-6.32 [[ 9.81036182e-01 1.93045129e-01 1.73662681e-02 3.16533033e+02] [-1.93016402e-01 9.81189875e-01 -3.33124794e-03 -4.95056551e+01] [-1.76826876e-02 -8.38998320e-05 9.99843646e-01 -6.32425163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034012739 meters 0.02199904440153745 Centerline is valid? [True, True] Translation: X:316.56, Y:-49.51, Z:-6.32 [[ 9.81110227e-01 1.92717871e-01 1.68090593e-02 3.16561402e+02] [-1.92690921e-01 9.81254206e-01 -3.22373262e-03 -4.95117079e+01] [-1.71152310e-02 -7.61160843e-05 9.99853521e-01 -6.32480853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters 0.022518126172587225 Centerline is valid? [True, True] Translation: X:316.59, Y:-49.51, Z:-6.33 [[ 9.80925402e-01 1.93685428e-01 1.64715391e-02 3.16590050e+02] [-1.93659693e-01 9.81063681e-01 -3.15861157e-03 -4.95148636e+01] [-1.67714058e-02 -9.15108817e-05 9.99859346e-01 -6.32580426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094012739 meters 0.022643383048490073 Centerline is valid? [True, True] Translation: X:316.62, Y:-49.52, Z:-6.32 [[ 9.80744483e-01 1.94559042e-01 1.69421852e-02 3.16619261e+02] [-1.94531953e-01 9.80890803e-01 -3.24842064e-03 -4.95190723e+01] [-1.72504432e-02 -1.09925747e-04 9.99851194e-01 -6.32459740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters 0.022526957914175316 Centerline is valid? [True, True] Translation: X:316.65, Y:-49.52, Z:-6.32 [[ 9.80740375e-01 1.94358461e-01 1.93159671e-02 3.16648132e+02] [-1.94323220e-01 9.80930565e-01 -3.70301992e-03 -4.95245072e+01] [-1.96673358e-02 -1.21839783e-04 9.99806572e-01 -6.32154411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154012739 meters 0.022024766644609544 Centerline is valid? [True, True] Translation: X:316.68, Y:-49.53, Z:-6.32 [[ 9.81020324e-01 1.92848725e-01 2.02111939e-02 3.16676150e+02] [-1.92809832e-01 9.81228495e-01 -3.87412639e-03 -4.95329367e+01] [-2.05789198e-02 -9.63201787e-05 9.99788227e-01 -6.32113102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters 0.021309817191819708 Centerline is valid? [True, True] Translation: X:316.70, Y:-49.55, Z:-6.32 [[ 9.82050538e-01 1.87526424e-01 2.02627969e-02 3.16704621e+02] [-1.87486211e-01 9.82259558e-01 -3.88334882e-03 -4.95527318e+01] [-2.06315565e-02 1.46497658e-05 9.99787147e-01 -6.32208778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214012739 meters 0.02173478858058789 Centerline is valid? [True, True] Translation: X:316.73, Y:-49.57, Z:-6.32 [[ 9.82682720e-01 1.84268738e-01 1.94859767e-02 3.16734939e+02] [-1.84230846e-01 9.82875895e-01 -3.73765534e-03 -4.95664471e+01] [-1.98410298e-02 8.30113474e-05 9.99803144e-01 -6.32284170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters 0.02299128353221045 Centerline is valid? [True, True] Translation: X:316.77, Y:-49.58, Z:-6.32 [[ 9.83278180e-01 1.81045129e-01 1.96642211e-02 3.16765059e+02] [-1.81005829e-01 9.83474777e-01 -3.77520712e-03 -4.95795893e+01] [-2.00227483e-02 1.52740145e-04 9.99799513e-01 -6.32345553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274012739 meters 0.02614939130523982 Centerline is valid? [True, True] Translation: X:316.79, Y:-49.60, Z:-6.32 [[ 9.84226567e-01 1.75617741e-01 2.13652440e-02 3.16794426e+02] [-1.75569985e-01 9.84458392e-01 -4.10551329e-03 -4.95988707e+01] [-2.17541947e-02 2.89659689e-04 9.99763308e-01 -6.32206492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters 0.026973325247951555 Centerline is valid? [True, True] Translation: X:316.82, Y:-49.61, Z:-6.32 [[ 9.84416171e-01 1.74502210e-01 2.17664894e-02 3.16824677e+02] [-1.74452342e-01 9.84656730e-01 -4.18391037e-03 -4.96099019e+01] [-2.21626219e-02 3.21493979e-04 9.99754327e-01 -6.32138090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334012739 meters 0.027709685820416146 Centerline is valid? [True, True] Translation: X:316.86, Y:-49.62, Z:-6.32 [[ 9.84447290e-01 1.74522976e-01 2.01311747e-02 3.16855140e+02] [-1.74480260e-01 9.84653056e-01 -3.87271825e-03 -4.96226737e+01] [-2.04981010e-02 2.99994397e-04 9.99789847e-01 -6.32423631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters 0.02732298786120981 Centerline is valid? [True, True] Translation: X:316.89, Y:-49.63, Z:-6.33 [[ 9.84328460e-01 1.75274297e-01 1.94011068e-02 3.16886366e+02] [-1.75234703e-01 9.84519601e-01 -3.73564183e-03 -4.96297430e+01] [-1.97555319e-02 2.77351385e-04 9.99804802e-01 -6.32638645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394012739 meters 0.024947344106153083 Centerline is valid? [True, True] Translation: X:316.92, Y:-49.63, Z:-6.33 [[ 9.83789728e-01 1.78250979e-01 1.96050871e-02 3.16918405e+02] [-1.78211073e-01 9.83985030e-01 -3.77818924e-03 -4.96349651e+01] [-1.99645781e-02 2.23100157e-04 9.99800663e-01 -6.32605711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters 0.024680004416422215 Centerline is valid? [True, True] Translation: X:316.95, Y:-49.64, Z:-6.33 [[ 9.83511691e-01 1.79776458e-01 1.96259522e-02 3.16949166e+02] [-1.79736704e-01 9.83707470e-01 -3.78555440e-03 -4.96424922e+01] [-1.99867494e-02 1.95633049e-04 9.99800226e-01 -6.32631933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454012739 meters 0.024011709614392373 Centerline is valid? [True, True] Translation: X:316.98, Y:-49.65, Z:-6.33 [[ 9.83284548e-01 1.81011840e-01 1.96522788e-02 3.16980124e+02] [-1.80972158e-01 9.83480902e-01 -3.79397534e-03 -4.96486383e+01] [-2.00143953e-02 1.74042013e-04 9.99799677e-01 -6.32695169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters 0.023510349806518196 Centerline is valid? [True, True] Translation: X:317.01, Y:-49.65, Z:-6.33 [[ 9.83099651e-01 1.82021322e-01 1.95784396e-02 3.17011845e+02] [-1.81982080e-01 9.83294571e-01 -3.78266337e-03 -4.96549187e+01] [-1.99398987e-02 1.55809880e-04 9.99801168e-01 -6.32864098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514012739 meters 0.023264875013949044 Centerline is valid? [True, True] Translation: X:317.04, Y:-49.66, Z:-6.33 [[ 9.83141767e-01 1.81966234e-01 1.79040441e-02 3.17043670e+02] [-1.81933362e-01 9.83304769e-01 -3.46172801e-03 -4.96632616e+01] [-1.82350495e-02 1.46026470e-04 9.99833717e-01 -6.33193942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters 0.02407884571263705 Centerline is valid? [True, True] Translation: X:317.07, Y:-49.67, Z:-6.33 [[ 9.83299396e-01 1.81040146e-01 1.86215850e-02 3.17072848e+02] [-1.81004343e-01 9.83475691e-01 -3.60450385e-03 -4.96741835e+01] [-1.89664361e-02 1.73718702e-04 9.99820106e-01 -6.32993049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574012739 meters 0.023841078868415883 Centerline is valid? [True, True] Translation: X:317.10, Y:-49.68, Z:-6.33 [[ 9.83167809e-01 1.81605886e-01 2.00090382e-02 3.17104646e+02] [-1.81564627e-01 9.83371380e-01 -3.87494657e-03 -4.96812886e+01] [-2.03800286e-02 1.76789175e-04 9.99792290e-01 -6.32809927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters 0.023318098507942336 Centerline is valid? [True, True] Translation: X:317.14, Y:-49.69, Z:-6.33 [[ 9.82961396e-01 1.82602417e-01 2.10535336e-02 3.17135832e+02] [-1.82556878e-01 9.83186823e-01 -4.08136368e-03 -4.96878073e+01] [-2.14448237e-02 1.68355585e-04 9.99770019e-01 -6.32689823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634012739 meters 0.02275959322738435 Centerline is valid? [True, True] Translation: X:317.17, Y:-49.69, Z:-6.33 [[ 9.82711975e-01 1.83917670e-01 2.12476909e-02 3.17166877e+02] [-1.83871517e-01 9.82941641e-01 -4.12255820e-03 -4.96935722e+01] [-2.16434515e-02 1.44442169e-04 9.99765743e-01 -6.32734443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters 0.021671365498474534 Centerline is valid? [True, True] Translation: X:317.20, Y:-49.69, Z:-6.33 [[ 9.82000644e-01 1.87802943e-01 2.01193869e-02 3.17199464e+02] [-1.87762316e-01 9.82206725e-01 -3.90658660e-03 -4.96928885e+01] [-2.04950655e-02 5.86078811e-05 9.99789952e-01 -6.33060552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694012739 meters 0.02132270685114041 Centerline is valid? [True, True] Translation: X:317.23, Y:-49.69, Z:-6.33 [[ 9.81509915e-01 1.90415159e-01 1.95026459e-02 3.17232594e+02] [-1.90377438e-01 9.81703655e-01 -3.78995522e-03 -4.96945085e+01] [-1.98674837e-02 7.01484839e-06 9.99802622e-01 -6.33301861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters 0.02176582240751857 Centerline is valid? [True, True] Translation: X:317.26, Y:-49.69, Z:-6.34 [[ 9.80880481e-01 1.93693791e-01 1.88731959e-02 3.17264768e+02] [-1.93659004e-01 9.81062033e-01 -3.67121248e-03 -4.96938998e+01] [-1.92268670e-02 -5.39436546e-05 9.99815145e-01 -6.33504546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754012739 meters 0.021742055739246993 Centerline is valid? [True, True] Translation: X:317.30, Y:-49.70, Z:-6.34 [[ 9.80813365e-01 1.94060521e-01 1.85918634e-02 3.17297181e+02] [-1.94026771e-01 9.80989557e-01 -3.61957146e-03 -4.96993387e+01] [-1.89408397e-02 -5.71951548e-05 9.99820605e-01 -6.33590567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters 0.021678828075533712 Centerline is valid? [True, True] Translation: X:317.33, Y:-49.71, Z:-6.34 [[ 9.80980871e-01 1.93249101e-01 1.82020825e-02 3.17330003e+02] [-1.93216548e-01 9.81149725e-01 -3.54710758e-03 -4.97058288e+01] [-1.85444436e-02 -3.72988513e-05 9.99828036e-01 -6.33772392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814012739 meters 0.021577708893385443 Centerline is valid? [True, True] Translation: X:317.36, Y:-49.71, Z:-6.34 [[ 9.81474911e-01 1.90739861e-01 1.80361766e-02 3.17360534e+02] [-1.90707412e-01 9.81640619e-01 -3.51821751e-03 -4.97142727e+01] [-1.83761079e-02 1.34096486e-05 9.99831145e-01 -6.33893997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters 0.021668031516012373 Centerline is valid? [True, True] Translation: X:317.39, Y:-49.72, Z:-6.34 [[ 9.81773245e-01 1.89164471e-01 1.83874347e-02 3.17392143e+02] [-1.89130407e-01 9.81945416e-01 -3.59008410e-03 -4.97236471e+01] [-1.87345736e-02 4.70255069e-05 9.99824491e-01 -6.33824067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874012739 meters 0.022859135055767386 Centerline is valid? [True, True] Translation: X:317.42, Y:-49.74, Z:-6.34 [[ 9.82509895e-01 1.85111928e-01 2.01960546e-02 3.17421545e+02] [-1.85069889e-01 9.82717434e-01 -3.94740707e-03 -4.97352351e+01] [-2.05777271e-02 1.40684932e-04 9.99788246e-01 -6.33501471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters 0.023732706730332797 Centerline is valid? [True, True] Translation: X:317.45, Y:-49.74, Z:-6.33 [[ 9.82824361e-01 1.83329554e-01 2.11317261e-02 3.17452250e+02] [-1.83283043e-01 9.83051493e-01 -4.13367073e-03 -4.97432268e+01] [-2.15313989e-02 1.89585223e-04 9.99768155e-01 -6.33417740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934012739 meters 0.025334116431818304 Centerline is valid? [True, True] Translation: X:317.48, Y:-49.75, Z:-6.33 [[ 9.83179486e-01 1.81427183e-01 2.10303689e-02 3.17482080e+02] [-1.81380614e-01 9.83404354e-01 -4.11707367e-03 -4.97532068e+01] [-2.14283054e-02 2.33321160e-04 9.99770360e-01 -6.33497875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters 0.02517191965916939 Centerline is valid? [True, True] Translation: X:317.51, Y:-49.76, Z:-6.34 [[ 9.83223281e-01 1.81347926e-01 1.96191055e-02 3.17514014e+02] [-1.81307325e-01 9.83418975e-01 -3.84359597e-03 -4.97597538e+01] [-1.99908288e-02 2.22025501e-04 9.99800139e-01 -6.33778494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994012739 meters 0.02525495626304929 Centerline is valid? [True, True] Translation: X:317.54, Y:-49.77, Z:-6.34 [[ 9.83192529e-01 1.81666142e-01 1.81621547e-02 3.17544837e+02] [-1.81631342e-01 9.83360245e-01 -3.56146481e-03 -4.97672605e+01] [-1.85069385e-02 2.02789059e-04 9.99828711e-01 -6.34103881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters 0.025832246806119584 Centerline is valid? [True, True] Translation: X:317.58, Y:-49.78, Z:-6.34 [[ 9.83274786e-01 1.81221463e-01 1.81514958e-02 3.17575011e+02] [-1.81186590e-01 9.83442289e-01 -3.56141010e-03 -4.97773569e+01] [-1.84963525e-02 2.13037128e-04 9.99828905e-01 -6.34220425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05401273900003 meters 0.0264505018072822 Centerline is valid? [True, True] Translation: X:317.61, Y:-49.79, Z:-6.34 [[ 9.83385086e-01 1.80527761e-01 1.90656681e-02 3.17605576e+02] [-1.80489087e-01 9.83569860e-01 -3.74430692e-03 -4.97866508e+01] [-1.94283678e-02 2.40950555e-04 9.99811222e-01 -6.34099528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters 0.025966933465531084 Centerline is valid? [True, True] Translation: X:317.64, Y:-49.80, Z:-6.34 [[ 9.83521065e-01 1.79755433e-01 1.93468024e-02 3.17636557e+02] [-1.79715398e-01 9.83711297e-01 -3.80271981e-03 -4.97973542e+01] [-1.97152276e-02 2.63136732e-04 9.99805601e-01 -6.34066519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11401273900003 meters 0.026868190448740913 Centerline is valid? [True, True] Translation: X:317.67, Y:-49.81, Z:-6.34 [[ 9.83406950e-01 1.80394538e-01 1.91984924e-02 3.17665686e+02] [-1.80355172e-01 9.83594300e-01 -3.77686527e-03 -4.98087562e+01] [-1.95648535e-02 2.51648163e-04 9.99808558e-01 -6.34163438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters 0.026000723228907747 Centerline is valid? [True, True] Translation: X:317.70, Y:-49.82, Z:-6.34 [[ 9.83166191e-01 1.81764137e-01 1.86021553e-02 3.17696563e+02] [-1.81727369e-01 9.83342133e-01 -3.66241256e-03 -4.98165262e+01] [-1.89579783e-02 2.20239461e-04 9.99820257e-01 -6.34339767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17401273900003 meters 0.024969148888219377 Centerline is valid? [True, True] Translation: X:317.73, Y:-49.82, Z:-6.34 [[ 9.82875288e-01 1.83374034e-01 1.81695508e-02 3.17727974e+02] [-1.83339176e-01 9.83043198e-01 -3.58027583e-03 -4.98222982e+01] [-1.85179829e-02 1.87774182e-04 9.99828510e-01 -6.34480290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters 0.022681964763299194 Centerline is valid? [True, True] Translation: X:317.76, Y:-49.82, Z:-6.35 [[ 9.82176198e-01 1.87187480e-01 1.70517966e-02 3.17760749e+02] [-1.87157342e-01 9.82324201e-01 -3.36061762e-03 -4.98233553e+01] [-1.73794580e-02 1.09349700e-04 9.99848960e-01 -6.34803561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234012739 meters 0.02174432093355536 Centerline is valid? [True, True] Translation: X:317.79, Y:-49.83, Z:-6.35 [[ 9.81483935e-01 1.90780349e-01 1.70922339e-02 3.17791489e+02] [-1.90750562e-01 9.81632750e-01 -3.37150066e-03 -4.98307184e+01] [-1.74215126e-02 4.87205216e-05 9.99848233e-01 -6.34834103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters 0.021285083120907485 Centerline is valid? [True, True] Translation: X:317.82, Y:-49.84, Z:-6.35 [[ 9.81122404e-01 1.92605060e-01 1.73816093e-02 3.17823636e+02] [-1.92574494e-01 9.81276358e-01 -3.43125012e-03 -4.98370069e+01] [-1.77170384e-02 1.92217457e-05 9.99843041e-01 -6.34770029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294012739 meters 0.021142991464720078 Centerline is valid? [True, True] Translation: X:317.86, Y:-49.84, Z:-6.35 [[ 9.80810808e-01 1.94169459e-01 1.75607573e-02 3.17856334e+02] [-1.94138454e-01 9.80968002e-01 -3.46982159e-03 -4.98421795e+01] [-1.79002744e-02 -5.97975193e-06 9.99839777e-01 -6.34795082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters 0.021192767514508812 Centerline is valid? [True, True] Translation: X:317.89, Y:-49.85, Z:-6.35 [[ 9.80555320e-01 1.95450839e-01 1.76134820e-02 3.17889059e+02] [-1.95419796e-01 9.80713500e-01 -3.48342866e-03 -4.98477323e+01] [-1.79546186e-02 -2.63285599e-05 9.99838802e-01 -6.34926232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354012739 meters 0.02230300858737148 Centerline is valid? [True, True] Translation: X:317.92, Y:-49.85, Z:-6.35 [[ 9.79736901e-01 1.99458773e-01 1.82154459e-02 3.17920469e+02] [-1.99426200e-01 9.79906214e-01 -3.60594381e-03 -4.98509768e+01] [-1.85686658e-02 -9.97609476e-05 9.99827582e-01 -6.34783334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters 0.022775558292989447 Centerline is valid? [True, True] Translation: X:317.95, Y:-49.86, Z:-6.35 [[ 9.79265705e-01 2.01699165e-01 1.88713103e-02 3.17952739e+02] [-2.01664566e-01 9.79447511e-01 -3.73858790e-03 -4.98561827e+01] [-1.92375280e-02 -1.44603693e-04 9.99814931e-01 -6.34608070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414012739 meters 0.022775558292989447 Centerline is valid? [True, True] Translation: X:317.98, Y:-49.86, Z:-6.35 [[ 9.79228804e-01 2.01878293e-01 1.88707143e-02 3.17984574e+02] [-2.01843669e-01 9.79410605e-01 -3.74159415e-03 -4.98626877e+01] [-1.92375243e-02 -1.45057435e-04 9.99814931e-01 -6.34674100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters 0.026265538292754714 Centerline is valid? [True, True] Translation: X:318.02, Y:-49.85, Z:-6.35 [[ 9.77972226e-01 2.07795893e-01 1.97785863e-02 3.18017727e+02] [-2.07758985e-01 9.78172170e-01 -3.92555931e-03 -4.98549570e+01] [-2.01625778e-02 -2.70091052e-04 9.99796678e-01 -6.34532332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474012739 meters 0.02972090245820215 Centerline is valid? [True, True] Translation: X:318.05, Y:-49.85, Z:-6.35 [[ 9.77075622e-01 2.11925546e-01 2.02679943e-02 3.18048974e+02] [-2.11887640e-01 9.77285747e-01 -4.02445100e-03 -4.98518792e+01] [-2.06605059e-02 -3.62344507e-04 9.99786483e-01 -6.34541150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters 0.03662673991792734 Centerline is valid? [True, True] Translation: X:318.08, Y:-49.84, Z:-6.34 [[ 9.75390651e-01 2.19430899e-01 2.15211068e-02 3.18082189e+02] [-2.19389983e-01 9.75627887e-01 -4.27326617e-03 -4.98431295e+01] [-2.19342786e-02 -5.53411374e-04 9.99759262e-01 -6.34273240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534012739 meters 0.039898280542042475 Centerline is valid? [True, True] Translation: X:318.11, Y:-49.84, Z:-6.34 [[ 9.74705775e-01 2.22434426e-01 2.17158632e-02 3.18112433e+02] [-2.22393514e-01 9.74947452e-01 -4.31181004e-03 -4.98414719e+01] [-2.21309205e-02 -6.26720975e-04 9.99754885e-01 -6.34191347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters 0.04220324929448925 Centerline is valid? [True, True] Translation: X:318.14, Y:-49.84, Z:-6.34 [[ 9.74262850e-01 2.24346191e-01 2.19245697e-02 3.18142464e+02] [-2.24304989e-01 9.74509275e-01 -4.35248279e-03 -4.98403581e+01] [-2.23421594e-02 -6.77328067e-04 9.99750153e-01 -6.34207733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594012739 meters 0.04136689609339477 Centerline is valid? [True, True] Translation: X:318.17, Y:-49.84, Z:-6.35 [[ 9.73922269e-01 2.25962268e-01 2.04075187e-02 3.18172006e+02] [-2.25926939e-01 9.74135828e-01 -4.05063366e-03 -4.98413061e+01] [-2.07949855e-02 -6.65605906e-04 9.99783539e-01 -6.34656292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters 0.044157405485838276 Centerline is valid? [True, True] Translation: X:318.20, Y:-49.84, Z:-6.35 [[ 9.74122064e-01 2.25236846e-01 1.88299936e-02 3.18200059e+02] [-2.25206644e-01 9.74303855e-01 -3.73692065e-03 -4.98409891e+01] [-1.91878275e-02 -6.00422804e-04 9.99815716e-01 -6.35053502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654012739 meters 0.0394063613746926 Centerline is valid? [True, True] Translation: X:318.23, Y:-49.85, Z:-6.35 [[ 9.74485454e-01 2.23803555e-01 1.70314218e-02 3.18227530e+02] [-2.23778645e-01 9.74634136e-01 -3.37905079e-03 -4.98517752e+01] [-1.73556487e-02 -5.18432660e-04 9.99849245e-01 -6.35405880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters 0.037210073793824405 Centerline is valid? [True, True] Translation: X:318.26, Y:-49.86, Z:-6.36 [[ 9.75077832e-01 2.21254276e-01 1.64245737e-02 3.18255651e+02] [-2.21230762e-01 9.75216046e-01 -3.25785175e-03 -4.98557496e+01] [-1.67383215e-02 -4.56961939e-04 9.99859800e-01 -6.35514775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714012739 meters 0.036726019438068344 Centerline is valid? [True, True] Translation: X:318.28, Y:-49.86, Z:-6.35 [[ 9.75239967e-01 2.20455445e-01 1.75043802e-02 3.18284242e+02] [-2.20428620e-01 9.75396931e-01 -3.47138450e-03 -4.98595980e+01] [-1.78390043e-02 -4.73033461e-04 9.99840760e-01 -6.35366140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters 0.036803787981742844 Centerline is valid? [True, True] Translation: X:318.31, Y:-49.86, Z:-6.35 [[ 9.75268200e-01 2.20238298e-01 1.86287393e-02 3.18312245e+02] [-2.20207894e-01 9.75445971e-01 -3.69342515e-03 -4.98612491e+01] [-1.89847624e-02 -5.00115364e-04 9.99819648e-01 -6.35205706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774012739 meters 0.037366332906507344 Centerline is valid? [True, True] Translation: X:318.34, Y:-49.86, Z:-6.35 [[ 9.75223485e-01 2.20487077e-01 1.80167664e-02 3.18340159e+02] [-2.20458699e-01 9.75389773e-01 -3.57105627e-03 -4.98648158e+01] [-1.83607414e-02 -4.89374934e-04 9.99831308e-01 -6.35373862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters 0.03783459037787424 Centerline is valid? [True, True] Translation: X:318.37, Y:-49.87, Z:-6.36 [[ 9.75230673e-01 2.20534268e-01 1.70226454e-02 3.18367995e+02] [-2.20508959e-01 9.75379117e-01 -3.37307146e-03 -4.98662831e+01] [-1.73474107e-02 -4.64123067e-04 9.99849415e-01 -6.35635298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834012739 meters 0.0374787709980857 Centerline is valid? [True, True] Translation: X:318.40, Y:-49.87, Z:-6.36 [[ 9.75371272e-01 2.19845486e-01 1.78562098e-02 3.18395879e+02] [-2.19817543e-01 9.75534590e-01 -3.53714034e-03 -4.98702368e+01] [-1.81969747e-02 -4.75083103e-04 9.99834308e-01 -6.35595620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters 0.036052919630412635 Centerline is valid? [True, True] Translation: X:318.42, Y:-49.87, Z:-6.36 [[ 9.75805445e-01 2.17851945e-01 1.85543415e-02 3.18424088e+02] [-2.17821435e-01 9.75981722e-01 -3.67427403e-03 -4.98746314e+01] [-1.89091460e-02 -4.56156699e-04 9.99821102e-01 -6.35610964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894012739 meters 0.03480878294179805 Centerline is valid? [True, True] Translation: X:318.45, Y:-49.88, Z:-6.36 [[ 9.76120973e-01 2.16506587e-01 1.76845487e-02 3.18451907e+02] [-2.16478660e-01 9.76281071e-01 -3.50147435e-03 -4.98807111e+01] [-1.80231824e-02 -4.10464863e-04 9.99837485e-01 -6.35791561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters 0.03391125511156967 Centerline is valid? [True, True] Translation: X:318.48, Y:-49.89, Z:-6.36 [[ 9.76432894e-01 2.15170380e-01 1.67484335e-02 3.18479608e+02] [-2.15145148e-01 9.76576455e-01 -3.31539747e-03 -4.98861494e+01] [-1.70695012e-02 -3.66081066e-04 9.99854238e-01 -6.36028610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954012739 meters 0.032032113622023045 Centerline is valid? [True, True] Translation: X:318.51, Y:-49.89, Z:-6.36 [[ 9.76917392e-01 2.13011020e-01 1.60846360e-02 3.18507885e+02] [-2.12987467e-01 9.77049746e-01 -3.18329045e-03 -4.98898139e+01] [-1.63935654e-02 -3.16014072e-04 9.99865567e-01 -6.36159254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters 0.03130258910251377 Centerline is valid? [True, True] Translation: X:318.54, Y:-49.89, Z:-6.36 [[ 9.77046529e-01 2.12341611e-01 1.70622402e-02 3.18536669e+02] [-2.12315020e-01 9.77195444e-01 -3.37592896e-03 -4.98931887e+01] [-1.73899935e-02 -3.24130194e-04 9.99848730e-01 -6.36018825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014012739 meters 0.03101728862483819 Centerline is valid? [True, True] Translation: X:318.56, Y:-49.89, Z:-6.36 [[ 9.77109522e-01 2.11839766e-01 1.95165744e-02 3.18564966e+02] [-2.11804895e-01 9.77304345e-01 -3.86052200e-03 -4.98924768e+01] [-1.98914450e-02 -3.61553173e-04 9.99802080e-01 -6.35636911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters 0.03117731120850219 Centerline is valid? [True, True] Translation: X:318.59, Y:-49.89, Z:-6.36 [[ 9.77072401e-01 2.11912506e-01 2.05575664e-02 3.18594399e+02] [-2.11873861e-01 9.77288567e-01 -4.06504674e-03 -4.98946914e+01] [-2.09521088e-02 -3.83765973e-04 9.99780407e-01 -6.35552650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074012739 meters 0.03114090630454549 Centerline is valid? [True, True] Translation: X:318.62, Y:-49.90, Z:-6.36 [[ 9.77119152e-01 2.11686892e-01 2.06596720e-02 3.18623495e+02] [-2.11647831e-01 9.77337462e-01 -4.08429810e-03 -4.98970280e+01] [-2.10560637e-02 -3.81728874e-04 9.99778224e-01 -6.35545722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters 0.029430038125108436 Centerline is valid? [True, True] Translation: X:318.65, Y:-49.90, Z:-6.36 [[ 9.77527914e-01 2.09796342e-01 2.06075721e-02 3.18651130e+02] [-2.09757078e-01 9.77745048e-01 -4.07306199e-03 -4.99009401e+01] [-2.10034650e-02 -3.41052303e-04 9.99779345e-01 -6.35686224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134012739 meters 0.027977971010916796 Centerline is valid? [True, True] Translation: X:318.68, Y:-49.91, Z:-6.36 [[ 9.77906012e-01 2.08068415e-01 2.01833295e-02 3.18678191e+02] [-2.08030408e-01 9.78114229e-01 -3.98800318e-03 -4.99083720e+01] [-2.05713793e-02 -2.98853990e-04 9.99788342e-01 -6.35832814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters 0.024898549500688143 Centerline is valid? [True, True] Translation: X:318.71, Y:-49.92, Z:-6.36 [[ 9.78344617e-01 2.06074393e-01 1.93689372e-02 3.18705730e+02] [-2.06039021e-01 9.78536296e-01 -3.82604132e-03 -4.99201740e+01] [-1.97416572e-02 -2.47569944e-04 9.99805084e-01 -6.36057678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194012739 meters 0.023993809658054 Centerline is valid? [True, True] Translation: X:318.73, Y:-49.93, Z:-6.37 [[ 9.79075504e-01 2.02743433e-01 1.75002165e-02 3.18732739e+02] [-2.02714034e-01 9.79231880e-01 -3.45639766e-03 -4.99277577e+01] [-1.78375318e-02 -1.63465201e-04 9.99840885e-01 -6.36573890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters 0.023190452018372273 Centerline is valid? [True, True] Translation: X:318.76, Y:-49.94, Z:-6.37 [[ 9.79335661e-01 2.01562765e-01 1.65563946e-02 3.18760869e+02] [-2.01536299e-01 9.79475591e-01 -3.26900517e-03 -4.99355203e+01] [-1.68754941e-02 -1.35261164e-04 9.99857590e-01 -6.36794959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254012739 meters 0.02369985275305354 Centerline is valid? [True, True] Translation: X:318.79, Y:-49.94, Z:-6.37 [[ 9.79065791e-01 2.02869100e-01 1.65621779e-02 3.18789204e+02] [-2.02842816e-01 9.79205853e-01 -3.26941733e-03 -4.99411005e+01] [-1.68810453e-02 -1.58544130e-04 9.99857492e-01 -6.36669390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters 0.025393074474214194 Centerline is valid? [True, True] Translation: X:318.82, Y:-49.94, Z:-6.37 [[ 9.78726268e-01 2.04431416e-01 1.73979611e-02 3.18817426e+02] [-2.04402672e-01 9.78880870e-01 -3.43358459e-03 -4.99423703e+01] [-1.77324638e-02 -1.95650304e-04 9.99842748e-01 -6.36526305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314012739 meters 0.025207432240734556 Centerline is valid? [True, True] Translation: X:318.85, Y:-49.95, Z:-6.36 [[ 9.78313716e-01 2.06304768e-01 1.84557747e-02 3.18846217e+02] [-2.06272777e-01 9.78487753e-01 -3.64120899e-03 -4.99470069e+01] [-1.88099483e-02 -2.44679212e-04 9.99823047e-01 -6.36318511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters 0.03136752378591203 Centerline is valid? [True, True] Translation: X:318.88, Y:-49.94, Z:-6.36 [[ 9.77464927e-01 2.10149216e-01 1.99905647e-02 3.18877010e+02] [-2.10112507e-01 9.77669263e-01 -3.94297494e-03 -4.99393846e+01] [-2.03727737e-02 -3.46147948e-04 9.99792394e-01 -6.36195979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374012739 meters 0.030105196186384773 Centerline is valid? [True, True] Translation: X:318.90, Y:-49.95, Z:-6.36 [[ 9.77191406e-01 2.11500884e-01 1.90875001e-02 3.18904548e+02] [-2.11467687e-01 9.77377741e-01 -3.76421039e-03 -4.99466477e+01] [-1.94518316e-02 -3.58035460e-04 9.99810731e-01 -6.36428830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters 0.030707164933067247 Centerline is valid? [True, True] Translation: X:318.93, Y:-49.95, Z:-6.37 [[ 9.76904132e-01 2.13017598e-01 1.67875161e-02 3.18933400e+02] [-2.12992155e-01 9.77048303e-01 -3.30996061e-03 -4.99509413e+01] [-1.71072940e-02 -3.42095041e-04 9.99853601e-01 -6.36942992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434012739 meters 0.031905268534992294 Centerline is valid? [True, True] Translation: X:318.96, Y:-49.95, Z:-6.37 [[ 9.76788923e-01 2.13595647e-01 1.61338361e-02 3.18961035e+02] [-2.13572237e-01 9.76922098e-01 -3.18037999e-03 -4.99531729e+01] [-1.64408163e-02 -3.39179532e-04 9.99864783e-01 -6.37048004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters 0.0329597385767672 Centerline is valid? [True, True] Translation: X:318.99, Y:-49.96, Z:-6.37 [[ 9.76657217e-01 2.14216007e-01 1.58802422e-02 3.18989020e+02] [-2.14193423e-01 9.76786253e-01 -3.12953686e-03 -4.99554264e+01] [-1.61819992e-02 -3.44958680e-04 9.99869003e-01 -6.37165216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494012739 meters 0.03378291356171478 Centerline is valid? [True, True] Translation: X:319.02, Y:-49.96, Z:-6.37 [[ 9.76449095e-01 2.15198396e-01 1.53888310e-02 3.19017952e+02] [-2.15177331e-01 9.76570288e-01 -3.03138835e-03 -4.99584429e+01] [-1.56806251e-02 -3.51331175e-04 9.99876990e-01 -6.37271148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters 0.03582509541223379 Centerline is valid? [True, True] Translation: X:319.05, Y:-49.96, Z:-6.37 [[ 9.75926703e-01 2.17562881e-01 1.52795002e-02 3.19047434e+02] [-2.17542416e-01 9.76046230e-01 -3.00908284e-03 -4.99588589e+01] [-1.55681633e-02 -3.87295091e-04 9.99878734e-01 -6.37384647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55401273900003 meters 0.036889308811682786 Centerline is valid? [True, True] Translation: X:319.08, Y:-49.96, Z:-6.37 [[ 9.75409074e-01 2.19789538e-01 1.64224922e-02 3.19078013e+02] [-2.19766222e-01 9.75547206e-01 -3.23350039e-03 -4.99587853e+01] [-1.67316059e-02 -4.55123449e-04 9.99859913e-01 -6.37191100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters 0.04102873219802942 Centerline is valid? [True, True] Translation: X:319.11, Y:-49.96, Z:-6.37 [[ 9.75155445e-01 2.20877434e-01 1.68824580e-02 3.19106725e+02] [-2.20852963e-01 9.75301452e-01 -3.32375320e-03 -4.99561444e+01] [-1.71996279e-02 -4.87364837e-04 9.99851957e-01 -6.37193079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61401273900003 meters 0.041297600076995865 Centerline is valid? [True, True] Translation: X:319.13, Y:-49.96, Z:-6.37 [[ 9.74860267e-01 2.22127951e-01 1.75109321e-02 3.19134898e+02] [-2.22101845e-01 9.75017381e-01 -3.44639300e-03 -4.99598773e+01] [-1.78390034e-02 -5.29458712e-04 9.99840732e-01 -6.37101531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters 0.040229438214805235 Centerline is valid? [True, True] Translation: X:319.16, Y:-49.97, Z:-6.37 [[ 9.74656275e-01 2.22980680e-01 1.80211286e-02 3.19163353e+02] [-2.22953196e-01 9.74822702e-01 -3.54570223e-03 -4.99659479e+01] [-1.83580284e-02 -5.62027290e-04 9.99831319e-01 -6.37032940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67401273900003 meters 0.04214426018102102 Centerline is valid? [True, True] Translation: X:319.19, Y:-49.97, Z:-6.37 [[ 9.74700442e-01 2.22763425e-01 1.83168116e-02 3.19191387e+02] [-2.22735008e-01 9.74872368e-01 -3.60311016e-03 -4.99656455e+01] [-1.86591946e-02 -5.67842103e-04 9.99825741e-01 -6.37124187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters 0.040452358320599985 Centerline is valid? [True, True] Translation: X:319.22, Y:-49.97, Z:-6.37 [[ 9.75264184e-01 2.20291417e-01 1.82061153e-02 3.19219286e+02] [-2.20262957e-01 9.75433966e-01 -3.57888369e-03 -4.99708938e+01] [-1.85472606e-02 -5.19775702e-04 9.99827850e-01 -6.37255429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734012739 meters 0.03872232776500499 Centerline is valid? [True, True] Translation: X:319.25, Y:-49.98, Z:-6.37 [[ 9.75585324e-01 2.18854454e-01 1.83303942e-02 3.19246914e+02] [-2.18825367e-01 9.75757388e-01 -3.60246837e-03 -4.99778245e+01] [-1.86744338e-02 -4.96639960e-04 9.99825494e-01 -6.37327418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters 0.03650541232367595 Centerline is valid? [True, True] Translation: X:319.28, Y:-49.98, Z:-6.37 [[ 9.75905470e-01 2.17443246e-01 1.80817438e-02 3.19275240e+02] [-2.17414715e-01 9.76072856e-01 -3.55278538e-03 -4.99847438e+01] [-1.84216285e-02 -4.64054476e-04 9.99830200e-01 -6.37370510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794012739 meters 0.03599411635686103 Centerline is valid? [True, True] Translation: X:319.30, Y:-49.99, Z:-6.38 [[ 9.76218478e-01 2.16198304e-01 1.59930087e-02 3.19303795e+02] [-2.16175828e-01 9.76349395e-01 -3.14169569e-03 -4.99856904e+01] [-1.62939936e-02 -3.90320509e-04 9.99867168e-01 -6.37768685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters 0.03422999211289196 Centerline is valid? [True, True] Translation: X:319.33, Y:-49.99, Z:-6.38 [[ 9.76318453e-01 2.15808781e-01 1.51277613e-02 3.19332451e+02] [-2.15788631e-01 9.76435578e-01 -2.97129973e-03 -4.99916117e+01] [-1.54125169e-02 -3.63464144e-04 9.99881154e-01 -6.37997997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854012739 meters 0.031848424722341735 Centerline is valid? [True, True] Translation: X:319.36, Y:-50.00, Z:-6.38 [[ 9.76647497e-01 2.14259060e-01 1.58972404e-02 3.19360640e+02] [-2.14236617e-01 9.76776805e-01 -3.12162511e-03 -4.99971676e+01] [-1.61968922e-02 -3.57043653e-04 9.99868758e-01 -6.37883504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters 0.0311829387207449 Centerline is valid? [True, True] Translation: X:319.39, Y:-50.00, Z:-6.38 [[ 9.76857054e-01 2.13190070e-01 1.73288768e-02 3.19388517e+02] [-2.13163251e-01 9.77010674e-01 -3.40180265e-03 -5.00020305e+01] [-1.76557281e-02 -3.70804781e-04 9.99844057e-01 -6.37663761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914012739 meters 0.03205466395089777 Centerline is valid? [True, True] Translation: X:319.42, Y:-50.00, Z:-6.38 [[ 9.77061416e-01 2.12164802e-01 1.83599063e-02 3.19416714e+02] [-2.12134532e-01 9.77233829e-01 -3.60326400e-03 -5.00048136e+01] [-1.87064073e-02 -3.74159897e-04 9.99824950e-01 -6.37545847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters 0.029575781605795975 Centerline is valid? [True, True] Translation: X:319.44, Y:-50.01, Z:-6.38 [[ 9.77398031e-01 2.10560581e-01 1.89031672e-02 3.19444722e+02] [-2.10528216e-01 9.77580746e-01 -3.70868770e-03 -5.00112748e+01] [-1.92602758e-02 -3.54786017e-04 9.99814441e-01 -6.37506980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974012739 meters 0.029805821815461774 Centerline is valid? [True, True] Translation: X:319.47, Y:-50.01, Z:-6.38 [[ 9.77477755e-01 2.10213544e-01 1.86414812e-02 3.19472691e+02] [-2.10182023e-01 9.77655434e-01 -3.65648322e-03 -5.00147539e+01] [-1.89935876e-02 -3.43973207e-04 9.99819546e-01 -6.37671969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters 0.029521523963059165 Centerline is valid? [True, True] Translation: X:319.50, Y:-50.02, Z:-6.38 [[ 9.77489526e-01 2.10229805e-01 1.78228845e-02 3.19500802e+02] [-2.10201013e-01 9.77651942e-01 -3.49488383e-03 -5.00189262e+01] [-1.81593064e-02 -3.30176033e-04 9.99835052e-01 -6.37908719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034012739 meters 0.030964113561509635 Centerline is valid? [True, True] Translation: X:319.53, Y:-50.02, Z:-6.38 [[ 9.77388151e-01 2.10816769e-01 1.63918088e-02 3.19529310e+02] [-2.10792508e-01 9.77525545e-01 -3.21359782e-03 -5.00180058e+01] [-1.67008922e-02 -3.14338071e-04 9.99860481e-01 -6.38284768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters 0.030637429532389137 Centerline is valid? [True, True] Translation: X:319.56, Y:-50.02, Z:-6.38 [[ 9.77402595e-01 2.10750562e-01 1.63819501e-02 3.19557323e+02] [-2.10726337e-01 9.77539821e-01 -3.21072820e-03 -5.00217226e+01] [-1.66906714e-02 -3.13934268e-04 9.99860652e-01 -6.38341377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094012739 meters 0.02917585460358213 Centerline is valid? [True, True] Translation: X:319.58, Y:-50.03, Z:-6.38 [[ 9.77786933e-01 2.08919535e-01 1.68920651e-02 3.19584949e+02] [-2.08893527e-01 9.77932790e-01 -3.30942720e-03 -5.00270555e+01] [-1.72107083e-02 -2.92728376e-04 9.99851842e-01 -6.38266803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters 0.0279152568269148 Centerline is valid? [True, True] Translation: X:319.61, Y:-50.03, Z:-6.38 [[ 9.78175719e-01 2.07102845e-01 1.67533541e-02 3.19611985e+02] [-2.07077012e-01 9.78319142e-01 -3.28127383e-03 -5.00348789e+01] [-1.70696882e-02 -2.59572135e-04 9.99854269e-01 -6.38352142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154012739 meters 0.02653594136166615 Centerline is valid? [True, True] Translation: X:319.64, Y:-50.04, Z:-6.38 [[ 9.78578416e-01 2.05189157e-01 1.67837584e-02 3.19638884e+02] [-2.05162966e-01 9.78722309e-01 -3.28623820e-03 -5.00436076e+01] [-1.71009392e-02 -2.27563882e-04 9.99853742e-01 -6.38398016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters 0.022654537338339067 Centerline is valid? [True, True] Translation: X:319.67, Y:-50.06, Z:-6.38 [[ 9.79454252e-01 2.00753784e-01 1.91647259e-02 3.19666040e+02] [-2.00718809e-01 9.79641714e-01 -3.75113982e-03 -5.00583146e+01] [-1.95276204e-02 -1.72651109e-04 9.99809303e-01 -6.38098516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214012739 meters 0.021022689749402357 Centerline is valid? [True, True] Translation: X:319.69, Y:-50.07, Z:-6.38 [[ 9.80125281e-01 1.97302504e-01 2.06435236e-02 3.19692737e+02] [-1.97261175e-01 9.80342649e-01 -4.03978066e-03 -5.00715771e+01] [-2.10347855e-02 -1.12674558e-04 9.99778738e-01 -6.37974671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters 0.0206855599908554 Centerline is valid? [True, True] Translation: X:319.72, Y:-50.08, Z:-6.38 [[ 9.80420477e-01 1.95865285e-01 2.03095684e-02 3.19719556e+02] [-1.95824994e-01 9.80630809e-01 -3.97345001e-03 -5.00805616e+01] [-2.06944494e-02 -8.14693633e-05 9.99785844e-01 -6.38138174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274012739 meters 0.02053215518011368 Centerline is valid? [True, True] Translation: X:319.75, Y:-50.09, Z:-6.38 [[ 9.80666224e-01 1.94735283e-01 1.92854096e-02 3.19746189e+02] [-1.94698756e-01 9.80855834e-01 -3.77197225e-03 -5.00885254e+01] [-1.96507426e-02 -5.57994743e-05 9.99806904e-01 -6.38382643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters 0.02039735911622983 Centerline is valid? [True, True] Translation: X:319.77, Y:-50.10, Z:-6.39 [[ 9.80910901e-01 1.93603616e-01 1.82056076e-02 3.19772545e+02] [-1.93570890e-01 9.81079833e-01 -3.55976235e-03 -5.00966086e+01] [-1.85503374e-02 -3.22659689e-05 9.99827927e-01 -6.38640598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334012739 meters 0.02039735911622983 Centerline is valid? [True, True] Translation: X:319.80, Y:-50.10, Z:-6.39 [[ 9.80923321e-01 1.93540656e-01 1.82058326e-02 3.19799550e+02] [-1.93507940e-01 9.81092255e-01 -3.55861155e-03 -5.01017428e+01] [-1.85503373e-02 -3.22481011e-05 9.99827927e-01 -6.38696429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters 0.020313585878174438 Centerline is valid? [True, True] Translation: X:319.83, Y:-50.11, Z:-6.39 [[ 9.81265776e-01 1.91897402e-01 1.71132898e-02 3.19825103e+02] [-1.91868263e-01 9.81414992e-01 -3.34399766e-03 -5.01141282e+01] [-1.74369436e-02 -2.14673260e-06 9.99847965e-01 -6.38959563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394012739 meters 0.02034419120064465 Centerline is valid? [True, True] Translation: X:319.85, Y:-50.12, Z:-6.39 [[ 9.81504821e-01 1.90665010e-01 1.71796440e-02 3.19852214e+02] [-1.90635478e-01 9.81655160e-01 -3.35575211e-03 -5.01243381e+01] [-1.75043107e-02 1.86372350e-05 9.99846788e-01 -6.38949952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters 0.02050429411163253 Centerline is valid? [True, True] Translation: X:319.88, Y:-50.14, Z:-6.39 [[ 9.81723664e-01 1.89397048e-01 1.86388215e-02 3.19877676e+02] [-1.89362074e-01 9.81900584e-01 -3.63984310e-03 -5.01373818e+01] [-1.89908453e-02 4.38341957e-05 9.99819657e-01 -6.38686669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454012739 meters 0.02042410552128347 Centerline is valid? [True, True] Translation: X:319.91, Y:-50.15, Z:-6.39 [[ 9.81709273e-01 1.89400609e-01 1.93471800e-02 3.19905407e+02] [-1.89362950e-01 9.81899897e-01 -3.77699608e-03 -5.01451090e+01] [-1.97123594e-02 4.42730010e-05 9.99805692e-01 -6.38588228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters 0.02023213884795053 Centerline is valid? [True, True] Translation: X:319.93, Y:-50.15, Z:-6.39 [[ 9.81603183e-01 1.89928316e-01 1.95557151e-02 3.19933258e+02] [-1.89889963e-01 9.81797960e-01 -3.81679410e-03 -5.01519985e+01] [-1.99246785e-02 3.31432026e-05 9.99801483e-01 -6.38613786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514012739 meters 0.020400753837175677 Centerline is valid? [True, True] Translation: X:319.96, Y:-50.16, Z:-6.39 [[ 9.81005606e-01 1.93036568e-01 1.91019523e-02 3.19961151e+02] [-1.93000581e-01 9.81191563e-01 -3.72736106e-03 -5.01577780e+01] [-1.94621914e-02 -3.01257889e-05 9.99810593e-01 -6.38765890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters 0.020714444378201063 Centerline is valid? [True, True] Translation: X:319.99, Y:-50.16, Z:-6.39 [[ 9.80622053e-01 1.95011645e-01 1.87309475e-02 3.19988950e+02] [-1.94977419e-01 9.80800925e-01 -3.65409604e-03 -5.01614515e+01] [-1.90839219e-02 -6.88246287e-05 9.99817883e-01 -6.38856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574012739 meters 0.023390532687755566 Centerline is valid? [True, True] Translation: X:320.02, Y:-50.16, Z:-6.39 [[ 9.79668696e-01 1.99765025e-01 1.85251588e-02 3.20017089e+02] [-1.99732417e-01 9.79843819e-01 -3.61284318e-03 -5.01608203e+01] [-1.88734821e-02 -1.60685385e-04 9.99821867e-01 -6.38960230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters 0.02417229925154706 Centerline is valid? [True, True] Translation: X:320.05, Y:-50.17, Z:-6.39 [[ 9.79188017e-01 2.02140521e-01 1.81669227e-02 3.20045646e+02] [-2.02109590e-01 9.79356507e-01 -3.54193943e-03 -5.01657683e+01] [-1.85078634e-02 -2.03484644e-04 9.99828694e-01 -6.39014284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634012739 meters 0.027409966827350325 Centerline is valid? [True, True] Translation: X:320.07, Y:-50.17, Z:-6.39 [[ 9.78680768e-01 2.04587080e-01 1.81130335e-02 3.20073240e+02] [-2.04556766e-01 9.78848336e-01 -3.53061223e-03 -5.01667010e+01] [-1.84522303e-02 -2.49801263e-04 9.99829712e-01 -6.39103145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters 0.031325960921577085 Centerline is valid? [True, True] Translation: X:320.10, Y:-50.17, Z:-6.39 [[ 9.77832440e-01 2.08474213e-01 1.95505025e-02 3.20102494e+02] [-2.08439702e-01 9.78027801e-01 -3.80929232e-03 -5.01679190e+01] [-1.99150742e-02 -3.50251302e-04 9.99801614e-01 -6.38810251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694012739 meters 0.030906045680500937 Centerline is valid? [True, True] Translation: X:320.13, Y:-50.17, Z:-6.39 [[ 9.77564901e-01 2.09689609e-01 1.99281891e-02 3.20130721e+02] [-2.09654022e-01 9.77767928e-01 -3.88198776e-03 -5.01738484e+01] [-2.02991566e-02 -3.83130017e-04 9.99793877e-01 -6.38845633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters 0.031219874347370346 Centerline is valid? [True, True] Translation: X:320.16, Y:-50.18, Z:-6.39 [[ 9.77262909e-01 2.11101379e-01 1.98346905e-02 3.20158976e+02] [-2.11066435e-01 9.77464086e-01 -3.86285848e-03 -5.01790223e+01] [-2.02031523e-02 -4.11409085e-04 9.99795811e-01 -6.39051983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754012739 meters 0.03404322339209814 Centerline is valid? [True, True] Translation: X:320.19, Y:-50.18, Z:-6.39 [[ 9.77293035e-01 2.10928742e-01 2.01838756e-02 3.20186554e+02] [-2.10892540e-01 9.77501352e-01 -3.92987095e-03 -5.01804945e+01] [-2.05586884e-02 -4.15993274e-04 9.99788561e-01 -6.39016106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters 0.03038283129996066 Centerline is valid? [True, True] Translation: X:320.21, Y:-50.19, Z:-6.39 [[ 9.77498656e-01 2.09985165e-01 2.00650926e-02 3.20213317e+02] [-2.09949217e-01 9.77704492e-01 -3.90535409e-03 -5.01925022e+01] [-2.04377976e-02 -3.95172107e-04 9.99791048e-01 -6.38961970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814012739 meters 0.03003303949367497 Centerline is valid? [True, True] Translation: X:320.24, Y:-50.20, Z:-6.39 [[ 9.77593399e-01 2.09620803e-01 1.92422973e-02 3.20241362e+02] [-2.09587691e-01 9.77782685e-01 -3.74432674e-03 -5.01986111e+01] [-1.95996739e-02 -3.72519550e-04 9.99807839e-01 -6.39172464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters 0.030330099638755107 Centerline is valid? [True, True] Translation: X:320.27, Y:-50.20, Z:-6.39 [[ 9.77669302e-01 2.09330599e-01 1.85320098e-02 3.20269041e+02] [-2.09299849e-01 9.77844862e-01 -3.60527515e-03 -5.02042591e+01] [-1.88761250e-02 -3.53980021e-04 9.99821767e-01 -6.39461831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874012739 meters 0.03001439035358908 Centerline is valid? [True, True] Translation: X:320.30, Y:-50.21, Z:-6.40 [[ 9.77703188e-01 2.09174376e-01 1.85082905e-02 3.20295486e+02] [-2.09143698e-01 9.77878293e-01 -3.59957441e-03 -5.02129399e+01] [-1.88517943e-02 -3.51576942e-04 9.99822227e-01 -6.39635646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters 0.030285004000296028 Centerline is valid? [True, True] Translation: X:320.32, Y:-50.22, Z:-6.40 [[ 9.77635102e-01 2.09415061e-01 1.93633462e-02 3.20324193e+02] [-2.09381558e-01 9.77826770e-01 -3.76439765e-03 -5.02185186e+01] [-1.97223198e-02 -3.74120306e-04 9.99805426e-01 -6.39563659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934012739 meters 0.02973446548606726 Centerline is valid? [True, True] Translation: X:320.35, Y:-50.22, Z:-6.39 [[ 9.77430828e-01 2.10299479e-01 2.00774883e-02 3.20352129e+02] [-2.10263667e-01 9.77636928e-01 -3.90223817e-03 -5.02248617e+01] [-2.04491326e-02 -4.07398422e-04 9.99790812e-01 -6.39427535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters 0.033917806688263455 Centerline is valid? [True, True] Translation: X:320.38, Y:-50.22, Z:-6.40 [[ 9.76622647e-01 2.14074811e-01 1.94982229e-02 3.20382008e+02] [-2.14041806e-01 9.76817153e-01 -3.78870819e-03 -5.02225633e+01] [-1.98572655e-02 -4.73296607e-04 9.99802713e-01 -6.39544683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994012739 meters 0.03564920094962589 Centerline is valid? [True, True] Translation: X:320.41, Y:-50.23, Z:-6.40 [[ 9.76151406e-01 2.16284930e-01 1.86885337e-02 3.20411637e+02] [-2.16255027e-01 9.76330160e-01 -3.63070370e-03 -5.02256442e+01] [-1.90314456e-02 -4.97372839e-04 9.99818762e-01 -6.39716264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters 0.03978509619443739 Centerline is valid? [True, True] Translation: X:320.44, Y:-50.23, Z:-6.40 [[ 9.75695897e-01 2.18386773e-01 1.80203691e-02 3.20440483e+02] [-2.18359334e-01 9.75862156e-01 -3.50052057e-03 -5.02252105e+01] [-1.83498637e-02 -5.19472243e-04 9.99831492e-01 -6.39946567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05401273900003 meters 0.041926300601227234 Centerline is valid? [True, True] Translation: X:320.47, Y:-50.23, Z:-6.40 [[ 9.75212049e-01 2.20535290e-01 1.80456462e-02 3.20470410e+02] [-2.20508159e-01 9.75378834e-01 -3.50450419e-03 -5.02275632e+01] [-1.83742082e-02 -5.61577498e-04 9.99831022e-01 -6.40060558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters 0.042209655990220356 Centerline is valid? [True, True] Translation: X:320.50, Y:-50.23, Z:-6.40 [[ 9.75256200e-01 2.20355162e-01 1.78591046e-02 3.20497974e+02] [-2.20328565e-01 9.75419549e-01 -3.46793544e-03 -5.02313144e+01] [-1.81842972e-02 -5.52745340e-04 9.99834499e-01 -6.40152206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11401273900003 meters 0.03920770081800031 Centerline is valid? [True, True] Translation: X:320.53, Y:-50.24, Z:-6.41 [[ 9.75587146e-01 2.19026200e-01 1.60388139e-02 3.20526123e+02] [-2.19004584e-01 9.75718862e-01 -3.11356418e-03 -5.02397258e+01] [-1.63313254e-02 -4.75020573e-04 9.99866522e-01 -6.40504616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters 0.04454541221873645 Centerline is valid? [True, True] Translation: X:320.55, Y:-50.24, Z:-6.41 [[ 9.75826065e-01 2.17981285e-01 1.57369158e-02 3.20554694e+02] [-2.17960345e-01 9.75952846e-01 -3.05461853e-03 -5.02369390e+01] [-1.60243374e-02 -4.49247204e-04 9.99871501e-01 -6.40758019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17401273900003 meters 0.04008939011772898 Centerline is valid? [True, True] Translation: X:320.58, Y:-50.25, Z:-6.41 [[ 9.76019324e-01 2.17081251e-01 1.61866902e-02 3.20581586e+02] [-2.17058999e-01 9.76153435e-01 -3.14031685e-03 -5.02481162e+01] [-1.64823972e-02 -4.48456853e-04 9.99864055e-01 -6.40617320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters 0.036824663348750494 Centerline is valid? [True, True] Translation: X:320.61, Y:-50.26, Z:-6.40 [[ 9.76241245e-01 2.15892956e-01 1.85273508e-02 3.20609998e+02] [-2.15863608e-01 9.76416914e-01 -3.59342022e-03 -5.02561236e+01] [-1.88662128e-02 -4.91335760e-04 9.99821896e-01 -6.40223639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234012739 meters 0.03633255803685675 Centerline is valid? [True, True] Translation: X:320.64, Y:-50.26, Z:-6.40 [[ 9.76462349e-01 2.14751316e-01 2.00786677e-02 3.20637872e+02] [-2.14716622e-01 9.76668630e-01 -3.89352041e-03 -5.02607621e+01] [-2.04463436e-02 -5.09347631e-04 9.99790822e-01 -6.40075047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters 0.03323536798656515 Centerline is valid? [True, True] Translation: X:320.67, Y:-50.27, Z:-6.40 [[ 9.76919305e-01 2.12588769e-01 2.08491286e-02 3.20665878e+02] [-2.12550896e-01 9.77141639e-01 -4.04166268e-03 -5.02708148e+01] [-2.12317638e-02 -4.83122663e-04 9.99774464e-01 -6.39959058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294012739 meters 0.03260285806395991 Centerline is valid? [True, True] Translation: X:320.69, Y:-50.28, Z:-6.40 [[ 9.77142333e-01 2.11603847e-01 2.04125727e-02 3.20693681e+02] [-2.11567343e-01 9.77355415e-01 -3.95631085e-03 -5.02779395e+01] [-2.07875091e-02 -4.52754970e-04 9.99783814e-01 -6.40138859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters 0.030998126127839743 Centerline is valid? [True, True] Translation: X:320.72, Y:-50.29, Z:-6.40 [[ 9.77630979e-01 2.09465668e-01 1.90211257e-02 3.20719945e+02] [-2.09433583e-01 9.77815928e-01 -3.68579623e-03 -5.02870769e+01] [-1.93712074e-02 -3.80313933e-04 9.99812288e-01 -6.40433140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354012739 meters 0.031101981444671894 Centerline is valid? [True, True] Translation: X:320.75, Y:-50.29, Z:-6.40 [[ 9.77819786e-01 2.08565699e-01 1.92045716e-02 3.20746927e+02] [-2.08532842e-01 9.78008290e-01 -3.72011351e-03 -5.02924443e+01] [-1.95581183e-02 -3.67183291e-04 9.99808654e-01 -6.40462239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters 0.030424170391771015 Centerline is valid? [True, True] Translation: X:320.77, Y:-50.30, Z:-6.40 [[ 9.77869089e-01 2.08240272e-01 2.01998385e-02 3.20774736e+02] [-2.08203878e-01 9.78077627e-01 -3.91165354e-03 -5.02994412e+01] [-2.05715739e-02 -3.80599626e-04 9.99788310e-01 -6.40332395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414012739 meters 0.030275335751449233 Centerline is valid? [True, True] Translation: X:320.80, Y:-50.30, Z:-6.40 [[ 9.77939162e-01 2.07871331e-01 2.06035327e-02 3.20801612e+02] [-2.07833406e-01 9.78156104e-01 -3.98883186e-03 -5.03048215e+01] [-2.09826351e-02 -3.81267510e-04 9.99779768e-01 -6.40218755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters 0.030050304852585055 Centerline is valid? [True, True] Translation: X:320.83, Y:-50.31, Z:-6.40 [[ 9.78038448e-01 2.07452282e-01 2.01083184e-02 3.20830216e+02] [-2.07416093e-01 9.78245071e-01 -3.89180966e-03 -5.03099478e+01] [-2.04782282e-02 -3.64449370e-04 9.99790233e-01 -6.40368530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474012739 meters 0.028724417724461868 Centerline is valid? [True, True] Translation: X:320.86, Y:-50.32, Z:-6.41 [[ 9.78426872e-01 2.05743796e-01 1.87175704e-02 3.20858336e+02] [-2.05712144e-01 9.78605843e-01 -3.62181997e-03 -5.03187372e+01] [-1.90622908e-02 -3.06745561e-04 9.99818251e-01 -6.40756504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters 0.027451941393612383 Centerline is valid? [True, True] Translation: X:320.89, Y:-50.33, Z:-6.41 [[ 9.78619877e-01 2.04837651e-01 1.85653781e-02 3.20885755e+02] [-2.04806360e-01 9.78795921e-01 -3.59174794e-03 -5.03279601e+01] [-1.89074415e-02 -2.87351572e-04 9.99821197e-01 -6.40839617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534012739 meters 0.027597576540745836 Centerline is valid? [True, True] Translation: X:320.91, Y:-50.33, Z:-6.41 [[ 9.78767135e-01 2.04112503e-01 1.87878031e-02 3.20912880e+02] [-2.04080341e-01 9.78947399e-01 -3.63389212e-03 -5.03336249e+01] [-1.91339938e-02 -2.77487097e-04 9.99816890e-01 -6.40841837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters 0.026616065841676445 Centerline is valid? [True, True] Translation: X:320.94, Y:-50.34, Z:-6.41 [[ 9.78954289e-01 2.03196763e-01 1.89624778e-02 3.20941175e+02] [-2.03163853e-01 9.79137889e-01 -3.66644005e-03 -5.03408663e+01] [-1.93118893e-02 -2.63212847e-04 9.99813473e-01 -6.40787798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594012739 meters 0.02593696098126308 Centerline is valid? [True, True] Translation: X:320.97, Y:-50.35, Z:-6.41 [[ 9.79012999e-01 2.02887032e-01 1.92457981e-02 3.20969750e+02] [-2.02853089e-01 9.79202116e-01 -3.72029721e-03 -5.03476228e+01] [-1.96003263e-02 -2.61850278e-04 9.99807861e-01 -6.40769119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters 0.02681782936059795 Centerline is valid? [True, True] Translation: X:321.00, Y:-50.35, Z:-6.41 [[ 9.78941085e-01 2.03163303e-01 1.99756118e-02 3.20996945e+02] [-2.03126809e-01 9.79144828e-01 -3.86062811e-03 -5.03510919e+01] [-2.03433550e-02 -2.78254832e-04 9.99793014e-01 -6.40691921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654012739 meters 0.02708517947367599 Centerline is valid? [True, True] Translation: X:321.03, Y:-50.35, Z:-6.41 [[ 9.78730745e-01 2.04144599e-01 2.02758661e-02 3.21026041e+02] [-2.04107227e-01 9.78940698e-01 -3.91783418e-03 -5.03546412e+01] [-2.06486752e-02 -3.03946032e-04 9.99786747e-01 -6.40749881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters 0.030628932853699997 Centerline is valid? [True, True] Translation: X:321.06, Y:-50.35, Z:-6.41 [[ 9.78418866e-01 2.05650119e-01 2.01134449e-02 3.21055313e+02] [-2.05613681e-01 9.78625524e-01 -3.88549327e-03 -5.03513830e+01] [-2.04825828e-02 -3.33959530e-04 9.99790154e-01 -6.40780215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714012739 meters 0.03297182769444766 Centerline is valid? [True, True] Translation: X:321.08, Y:-50.35, Z:-6.41 [[ 9.77869112e-01 2.08295511e-01 1.96208926e-02 3.21084695e+02] [-2.08261395e-01 9.78065864e-01 -3.78897045e-03 -5.03480858e+01] [-1.99797508e-02 -3.81157298e-04 9.99800312e-01 -6.41030516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters 0.03321689064043876 Centerline is valid? [True, True] Translation: X:321.11, Y:-50.35, Z:-6.41 [[ 9.77891122e-01 2.08243895e-01 1.90639442e-02 3.21112605e+02] [-2.08211699e-01 9.78076860e-01 -3.68039824e-03 -5.03519225e+01] [-1.94124231e-02 -3.70307438e-04 9.99811493e-01 -6.41233209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774012739 meters 0.028853456982042246 Centerline is valid? [True, True] Translation: X:321.14, Y:-50.36, Z:-6.41 [[ 9.78382642e-01 2.05979425e-01 1.84359026e-02 3.21139926e+02] [-2.05948937e-01 9.78556272e-01 -3.55793728e-03 -5.03626082e+01] [-1.87734300e-02 -3.15830457e-04 9.99823714e-01 -6.41354540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters 0.028433887364238346 Centerline is valid? [True, True] Translation: X:321.17, Y:-50.37, Z:-6.41 [[ 9.78747942e-01 2.04254089e-01 1.82409862e-02 3.21167711e+02] [-2.04223957e-01 9.78917866e-01 -3.51948963e-03 -5.03663980e+01] [-1.85752974e-02 -2.80553153e-04 9.99827425e-01 -6.41406168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834012739 meters 0.026072783960704334 Centerline is valid? [True, True] Translation: X:321.20, Y:-50.37, Z:-6.41 [[ 9.79157720e-01 2.02224961e-01 1.88474178e-02 3.21196063e+02] [-2.02192441e-01 9.79339064e-01 -3.63519493e-03 -5.03738679e+01] [-1.91931396e-02 -2.51376231e-04 9.99815763e-01 -6.41319287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters 0.02382667620003543 Centerline is valid? [True, True] Translation: X:321.22, Y:-50.38, Z:-6.41 [[ 9.79814744e-01 1.98815892e-01 2.08640571e-02 3.21224111e+02] [-1.98775291e-01 9.80036835e-01 -4.02306236e-03 -5.03817805e+01] [-2.12473932e-02 -2.05403196e-04 9.99774228e-01 -6.41019758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894012739 meters 0.023230938952080102 Centerline is valid? [True, True] Translation: X:321.25, Y:-50.39, Z:-6.41 [[ 9.80124448e-01 1.97177882e-01 2.18391437e-02 3.21251364e+02] [-1.97133014e-01 9.80367712e-01 -4.20997866e-03 -5.03887373e+01] [-2.22405060e-02 -1.78913215e-04 9.99752633e-01 -6.40900080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters 0.02194254460771408 Centerline is valid? [True, True] Translation: X:321.28, Y:-50.40, Z:-6.41 [[ 9.80600020e-01 1.94674111e-01 2.29257700e-02 3.21279191e+02] [-1.94624014e-01 9.80867970e-01 -4.41807779e-03 -5.03978522e+01] [-2.33472389e-02 -1.29538219e-04 9.99727408e-01 -6.40762827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954012739 meters 0.021607210643901302 Centerline is valid? [True, True] Translation: X:321.31, Y:-50.40, Z:-6.41 [[ 9.80768892e-01 1.93841157e-01 2.27593177e-02 3.21307177e+02] [-1.93791585e-01 9.81032922e-01 -4.38495047e-03 -5.04044795e+01] [-2.31776238e-02 -1.09941248e-04 9.99731357e-01 -6.40845424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters 0.021406371816985306 Centerline is valid? [True, True] Translation: X:321.34, Y:-50.41, Z:-6.41 [[ 9.80877214e-01 1.93337433e-01 2.23724731e-02 3.21335337e+02] [-1.93289425e-01 9.81132319e-01 -4.30939811e-03 -5.04110758e+01] [-2.27835244e-02 -9.73720378e-05 9.99740417e-01 -6.40993966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014012739 meters 0.021693537640277354 Centerline is valid? [True, True] Translation: X:321.36, Y:-50.42, Z:-6.41 [[ 9.80798392e-01 1.93857041e-01 2.13063758e-02 3.21362465e+02] [-1.93813643e-01 9.81029784e-01 -4.10308432e-03 -5.04163982e+01] [-2.16976010e-02 -1.05167800e-04 9.99764574e-01 -6.41244702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters 0.021972287103790223 Centerline is valid? [True, True] Translation: X:321.39, Y:-50.42, Z:-6.41 [[ 9.80688253e-01 1.94464272e-01 2.08374222e-02 3.21391118e+02] [-1.94422925e-01 9.80909595e-01 -4.01160830e-03 -5.04215504e+01] [-2.12197419e-02 -1.17135448e-04 9.99774829e-01 -6.41432285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074012739 meters 0.02255622218979971 Centerline is valid? [True, True] Translation: X:321.42, Y:-50.43, Z:-6.42 [[ 9.80494650e-01 1.95472164e-01 2.05152087e-02 3.21419445e+02] [-1.95432325e-01 9.80709240e-01 -3.94865105e-03 -5.04258546e+01] [-2.08913061e-02 -1.37703712e-04 9.99781743e-01 -6.41510160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters 0.02398887366310426 Centerline is valid? [True, True] Translation: X:321.45, Y:-50.43, Z:-6.41 [[ 9.79994669e-01 1.97843128e-01 2.16459019e-02 3.21448274e+02] [-1.97799378e-01 9.80233675e-01 -4.16522148e-03 -5.04263590e+01] [-2.20421024e-02 -1.99651107e-04 9.99757023e-01 -6.41363686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134012739 meters 0.025166568618443144 Centerline is valid? [True, True] Translation: X:321.48, Y:-50.43, Z:-6.41 [[ 9.79703801e-01 1.99211137e-01 2.22572349e-02 3.21476493e+02] [-1.99165263e-01 9.79956563e-01 -4.28155639e-03 -5.04274843e+01] [-2.26640571e-02 -2.38210976e-04 9.99743109e-01 -6.41293598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters 0.02806212173001694 Centerline is valid? [True, True] Translation: X:321.51, Y:-50.42, Z:-6.41 [[ 9.78998863e-01 2.02565723e-01 2.29859547e-02 3.21506248e+02] [-2.02517750e-01 9.79268615e-01 -4.42043183e-03 -5.04244686e+01] [-2.34048520e-02 -3.27466113e-04 9.99726015e-01 -6.41248207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194012739 meters 0.027644712132947443 Centerline is valid? [True, True] Translation: X:321.54, Y:-50.43, Z:-6.41 [[ 9.78683559e-01 2.04063589e-01 2.31634156e-02 3.21535103e+02] [-2.04015317e-01 9.78957566e-01 -4.45349615e-03 -5.04291147e+01] [-2.35847974e-02 -3.67128120e-04 9.99721773e-01 -6.41413220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters 0.027644712132947443 Centerline is valid? [True, True] Translation: X:321.56, Y:-50.43, Z:-6.41 [[ 9.78697826e-01 2.03995124e-01 2.31636382e-02 3.21562126e+02] [-2.03946861e-01 9.78971836e-01 -4.45233850e-03 -5.04341726e+01] [-2.35848047e-02 -3.66657271e-04 9.99721773e-01 -6.41469058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254012739 meters 0.02814000245716379 Centerline is valid? [True, True] Translation: X:321.59, Y:-50.44, Z:-6.42 [[ 9.78363041e-01 2.05615902e-01 2.29752148e-02 3.21590780e+02] [-2.05568904e-01 9.78632688e-01 -4.41453506e-03 -5.04368588e+01] [-2.33919948e-02 -4.03971789e-04 9.99726288e-01 -6.41547296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters 0.032606664188997214 Centerline is valid? [True, True] Translation: X:321.62, Y:-50.43, Z:-6.42 [[ 9.78170022e-01 2.06632412e-01 2.20556917e-02 3.21620268e+02] [-2.06589385e-01 9.78418559e-01 -4.23673897e-03 -5.04291893e+01] [-2.24551456e-02 -4.12220710e-04 9.99747766e-01 -6.41639632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314012739 meters 0.02961088581799471 Centerline is valid? [True, True] Translation: X:321.65, Y:-50.44, Z:-6.42 [[ 9.78324055e-01 2.05984652e-01 2.12689125e-02 3.21648396e+02] [-2.05944519e-01 9.78555147e-01 -4.08409163e-03 -5.04376747e+01] [-2.16540640e-02 -3.84650890e-04 9.99765449e-01 -6.41909492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters 0.028263235226751993 Centerline is valid? [True, True] Translation: X:321.68, Y:-50.44, Z:-6.42 [[ 9.78939772e-01 2.03092459e-01 2.07454859e-02 3.21675699e+02] [-2.03053648e-01 9.79159514e-01 -3.98260257e-03 -5.04411053e+01] [-2.11219765e-02 -3.13718554e-04 9.99776857e-01 -6.42052759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374012739 meters 0.026325131496171918 Centerline is valid? [True, True] Translation: X:321.70, Y:-50.45, Z:-6.42 [[ 9.79349908e-01 2.01046180e-01 2.13117617e-02 3.21704279e+02] [-2.01004765e-01 9.79581725e-01 -4.09004204e-03 -5.04480302e+01] [-2.16988996e-02 -2.78183353e-04 9.99764512e-01 -6.42014612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters 0.02381855005092605 Centerline is valid? [True, True] Translation: X:321.73, Y:-50.46, Z:-6.42 [[ 9.79863027e-01 1.98447155e-01 2.20720467e-02 3.21732160e+02] [-1.98402091e-01 9.80111562e-01 -4.23512051e-03 -5.04569829e+01] [-2.24735158e-02 -2.29302223e-04 9.99747412e-01 -6.41985334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434012739 meters 0.021728189269840627 Centerline is valid? [True, True] Translation: X:321.76, Y:-50.47, Z:-6.42 [[ 9.80933397e-01 1.93078809e-01 2.21414803e-02 3.21758696e+02] [-1.93032116e-01 9.81183246e-01 -4.24735018e-03 -5.04692663e+01] [-2.25449229e-02 -1.07649175e-04 9.99745825e-01 -6.41966311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters 0.021094461346026595 Centerline is valid? [True, True] Translation: X:321.79, Y:-50.48, Z:-6.42 [[ 9.81392490e-01 1.90692444e-01 2.24760553e-02 3.21785807e+02] [-1.90643730e-01 9.81649830e-01 -4.31041762e-03 -5.04787325e+01] [-2.28855799e-02 -5.47075241e-05 9.99738089e-01 -6.41959823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494012739 meters 0.020802868388104682 Centerline is valid? [True, True] Translation: X:321.81, Y:-50.49, Z:-6.42 [[ 9.81904370e-01 1.87840298e-01 2.40796570e-02 3.21812512e+02] [-1.87783556e-01 9.82199584e-01 -4.61668929e-03 -5.04877340e+01] [-2.45182293e-02 1.13837891e-05 9.99699383e-01 -6.41665336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters 0.02096120700525376 Centerline is valid? [True, True] Translation: X:321.84, Y:-50.49, Z:-6.42 [[ 9.82026930e-01 1.87174471e-01 2.42657524e-02 3.21840615e+02] [-1.87116680e-01 9.82326685e-01 -4.65097193e-03 -5.04946604e+01] [-2.47074393e-02 2.68526592e-05 9.99694724e-01 -6.41783698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55401273900003 meters 0.0210888116310155 Centerline is valid? [True, True] Translation: X:321.87, Y:-50.50, Z:-6.42 [[ 9.82185621e-01 1.86329819e-01 2.43434783e-02 3.21868483e+02] [-1.86271426e-01 9.82487250e-01 -4.66470933e-03 -5.05028508e+01] [-2.47863315e-02 4.71160171e-05 9.99692771e-01 -6.41848790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters 0.021479412476780795 Centerline is valid? [True, True] Translation: X:321.90, Y:-50.51, Z:-6.42 [[ 9.82506984e-01 1.84628192e-01 2.43404639e-02 3.21895241e+02] [-1.84569318e-01 9.82808437e-01 -4.66302829e-03 -5.05148422e+01] [-2.47829398e-02 8.89550287e-05 9.99692852e-01 -6.41894332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61401273900003 meters 0.021546664980228787 Centerline is valid? [True, True] Translation: X:321.92, Y:-50.52, Z:-6.42 [[ 9.82524168e-01 1.84553464e-01 2.42131711e-02 3.21922816e+02] [-1.84495203e-01 9.82822472e-01 -4.63778889e-03 -5.05218884e+01] [-2.46531687e-02 8.95257620e-05 9.99696060e-01 -6.41949039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters 0.02123425195416943 Centerline is valid? [True, True] Translation: X:321.95, Y:-50.53, Z:-6.42 [[ 9.82339304e-01 1.85594638e-01 2.37512691e-02 3.21951539e+02] [-1.85538902e-01 9.82626392e-01 -4.54853577e-03 -5.05285377e+01] [-2.41828078e-02 6.14210553e-05 9.99707551e-01 -6.42177658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67401273900003 meters 0.02118933522143988 Centerline is valid? [True, True] Translation: X:321.98, Y:-50.54, Z:-6.42 [[ 9.82224063e-01 1.86232713e-01 2.35216179e-02 3.21979432e+02] [-1.86178247e-01 9.82505661e-01 -4.50394896e-03 -5.05355705e+01] [-2.39489054e-02 4.46734423e-05 9.99713183e-01 -6.42202288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters 0.02109801009419744 Centerline is valid? [True, True] Translation: X:322.01, Y:-50.54, Z:-6.42 [[ 9.82169943e-01 1.86530519e-01 2.34215443e-02 3.22007673e+02] [-1.86476621e-01 9.82449166e-01 -4.48394848e-03 -5.05429552e+01] [-2.38468699e-02 3.64289923e-05 9.99715622e-01 -6.42207740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734012739 meters 0.02127929526189071 Centerline is valid? [True, True] Translation: X:322.03, Y:-50.55, Z:-6.42 [[ 9.82384136e-01 1.85405608e-01 2.33702824e-02 3.22034658e+02] [-1.85351647e-01 9.82662076e-01 -4.47332928e-03 -5.05539883e+01] [-2.37944706e-02 6.28073880e-05 9.99716870e-01 -6.42291443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters 0.021563736591631064 Centerline is valid? [True, True] Translation: X:322.06, Y:-50.56, Z:-6.42 [[ 9.82604680e-01 1.84234351e-01 2.33612251e-02 3.22063995e+02] [-1.84180116e-01 9.82882341e-01 -4.47091127e-03 -5.05634218e+01] [-2.37850311e-02 9.04651818e-05 9.99717092e-01 -6.42456417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794012739 meters 0.022237680470641254 Centerline is valid? [True, True] Translation: X:322.09, Y:-50.58, Z:-6.42 [[ 9.82973520e-01 1.82195763e-01 2.38277727e-02 3.22093177e+02] [-1.82138726e-01 9.83262266e-01 -4.56081154e-03 -5.05796776e+01] [-2.42599103e-02 1.43196804e-04 9.99705675e-01 -6.42448076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters 0.023084589849296743 Centerline is valid? [True, True] Translation: X:322.12, Y:-50.59, Z:-6.42 [[ 9.83145699e-01 1.81238238e-01 2.40257483e-02 3.22122212e+02] [-1.81179870e-01 9.83439206e-01 -4.60251217e-03 -5.05914651e+01] [-2.44620140e-02 1.71958089e-04 9.99700745e-01 -6.42403405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854012739 meters 0.023635972689780585 Centerline is valid? [True, True] Translation: X:322.15, Y:-50.60, Z:-6.43 [[ 9.83464295e-01 1.79603826e-01 2.32474883e-02 3.22152986e+02] [-1.79548637e-01 9.83739001e-01 -4.45700065e-03 -5.06036187e+01] [-2.36699553e-02 2.09246154e-04 9.99719805e-01 -6.42662058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters 0.02468896581957647 Centerline is valid? [True, True] Translation: X:322.18, Y:-50.61, Z:-6.43 [[ 9.83610568e-01 1.78967894e-01 2.19258600e-02 3.22183046e+02] [-1.78918569e-01 9.83854891e-01 -4.20700717e-03 -5.06141420e+01] [-2.23247838e-02 2.15113221e-04 9.99750748e-01 -6.42942228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914012739 meters 0.024778357029119614 Centerline is valid? [True, True] Translation: X:322.21, Y:-50.62, Z:-6.43 [[ 9.83665652e-01 1.78813550e-01 2.06784787e-02 3.22214626e+02] [-1.78769594e-01 9.83882956e-01 -3.97005144e-03 -5.06234342e+01] [-2.10551017e-02 2.08520001e-04 9.99778295e-01 -6.43293837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters 0.024498431647888674 Centerline is valid? [True, True] Translation: X:322.25, Y:-50.63, Z:-6.44 [[ 9.83652659e-01 1.79030001e-01 1.93831236e-02 3.22245718e+02] [-1.78991356e-01 9.83843596e-01 -3.72471880e-03 -5.06344440e+01] [-1.97367984e-02 1.94417979e-04 9.99805192e-01 -6.43620523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974012739 meters 0.023800824309080596 Centerline is valid? [True, True] Translation: X:322.28, Y:-50.64, Z:-6.44 [[ 9.83441582e-01 1.80133159e-01 1.98670755e-02 3.22276767e+02] [-1.80092706e-01 9.83642218e-01 -3.82161350e-03 -5.06412941e+01] [-2.02304936e-02 1.80418236e-04 9.99795326e-01 -6.43515911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters 0.023028738465191993 Centerline is valid? [True, True] Translation: X:322.31, Y:-50.65, Z:-6.43 [[ 9.83101992e-01 1.81879648e-01 2.07429025e-02 3.22307333e+02] [-1.81835861e-01 9.83320787e-01 -3.99370530e-03 -5.06469545e+01] [-2.11233009e-02 1.54416096e-04 9.99776866e-01 -6.43367792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034012739 meters 0.021862501994202865 Centerline is valid? [True, True] Translation: X:322.34, Y:-50.65, Z:-6.43 [[ 9.82392742e-01 1.85403228e-01 2.30248259e-02 3.22338755e+02] [-1.85350151e-01 9.82662523e-01 -4.43698399e-03 -5.06527953e+01] [-2.34482646e-02 9.12059110e-05 9.99725047e-01 -6.43044714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters 0.021572837441207048 Centerline is valid? [True, True] Translation: X:322.37, Y:-50.66, Z:-6.43 [[ 9.82022141e-01 1.87246988e-01 2.38972759e-02 3.22371126e+02] [-1.87190255e-01 9.82312864e-01 -4.60932484e-03 -5.06595148e+01] [-2.43376837e-02 5.31218810e-05 9.99703793e-01 -6.43033972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094012739 meters 0.021468103912735938 Centerline is valid? [True, True] Translation: X:322.40, Y:-50.66, Z:-6.43 [[ 9.81414216e-01 1.90418204e-01 2.38126823e-02 3.22403388e+02] [-1.90362692e-01 9.81703065e-01 -4.59762766e-03 -5.06636221e+01] [-2.42524552e-02 -2.08691801e-05 9.99705866e-01 -6.42956008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters 0.02156804108855876 Centerline is valid? [True, True] Translation: X:322.44, Y:-50.67, Z:-6.43 [[ 9.81101647e-01 1.92189159e-01 2.24251227e-02 3.22435397e+02] [-1.92140303e-01 9.81357898e-01 -4.33359649e-03 -5.06671339e+01] [-2.28399415e-02 -5.70712181e-05 9.99739133e-01 -6.43367860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154012739 meters 0.02205315108459065 Centerline is valid? [True, True] Translation: X:322.47, Y:-50.67, Z:-6.44 [[ 9.80726113e-01 1.94293977e-01 2.06432137e-02 3.22466189e+02] [-1.94252978e-01 9.80943343e-01 -3.99236756e-03 -5.06690745e+01] [-2.10255160e-02 -9.45866151e-05 9.99778935e-01 -6.43792109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters 0.023887030724383296 Centerline is valid? [True, True] Translation: X:322.50, Y:-50.67, Z:-6.44 [[ 9.80055650e-01 1.97862295e-01 1.84779579e-02 3.22496524e+02] [-1.97830071e-01 9.80229814e-01 -3.57407191e-03 -5.06689074e+01] [-1.88198193e-02 -1.52706369e-04 9.99822880e-01 -6.44283869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214012739 meters 0.02487301643236492 Centerline is valid? [True, True] Translation: X:322.52, Y:-50.67, Z:-6.44 [[ 9.79868469e-01 1.98731117e-01 1.90716026e-02 3.22524857e+02] [-1.98696962e-01 9.80054036e-01 -3.68846740e-03 -5.06713980e+01] [-1.94242143e-02 -1.75256575e-04 9.99811317e-01 -6.44215228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters 0.02360862483978772 Centerline is valid? [True, True] Translation: X:322.55, Y:-50.68, Z:-6.44 [[ 9.79916518e-01 1.98232220e-01 2.16241860e-02 3.22553013e+02] [-1.98188217e-01 9.80155065e-01 -4.18079352e-03 -5.06800135e+01] [-2.20238234e-02 -1.88830247e-04 9.99757428e-01 -6.43789978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274012739 meters 0.02331272435372393 Centerline is valid? [True, True] Translation: X:322.58, Y:-50.69, Z:-6.44 [[ 9.80017227e-01 1.97689045e-01 2.20289866e-02 3.22582748e+02] [-1.97643253e-01 9.80264765e-01 -4.25856080e-03 -5.06873468e+01] [-2.24361102e-02 -1.80417639e-04 9.99748263e-01 -6.43786948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters 0.023311325326874806 Centerline is valid? [True, True] Translation: X:322.61, Y:-50.69, Z:-6.44 [[ 9.80091358e-01 1.97320373e-01 2.20363479e-02 3.22612172e+02] [-1.97274457e-01 9.80339044e-01 -4.26000941e-03 -5.06936934e+01] [-2.24436788e-02 -1.72010156e-04 9.99748094e-01 -6.43849706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334012739 meters 0.02311703237823479 Centerline is valid? [True, True] Translation: X:322.64, Y:-50.70, Z:-6.44 [[ 9.80189998e-01 1.96783410e-01 2.24467922e-02 3.22642623e+02] [-1.96735620e-01 9.80446971e-01 -4.33966266e-03 -5.06993407e+01] [-2.28618631e-02 -1.62389645e-04 9.99738620e-01 -6.43841622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters 0.022983447337994786 Centerline is valid? [True, True] Translation: X:322.67, Y:-50.71, Z:-6.44 [[ 9.80279632e-01 1.96353570e-01 2.22961542e-02 3.22672951e+02] [-1.96306296e-01 9.80533147e-01 -4.31106842e-03 -5.07055836e+01] [-2.27086119e-02 -1.50822889e-04 9.99742115e-01 -6.43962162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394012739 meters 0.022909746406313297 Centerline is valid? [True, True] Translation: X:322.70, Y:-50.71, Z:-6.44 [[ 9.80359729e-01 1.96153701e-01 2.04579184e-02 3.22703225e+02] [-1.96113849e-01 9.80573153e-01 -3.95608969e-03 -5.07119709e+01] [-2.08364871e-02 -1.33690096e-04 9.99782888e-01 -6.44355538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters 0.02309085680599608 Centerline is valid? [True, True] Translation: X:322.73, Y:-50.72, Z:-6.45 [[ 9.80296261e-01 1.96523869e-01 1.99401546e-02 3.22732503e+02] [-1.96486075e-01 9.80499031e-01 -3.85643680e-03 -5.07164631e+01] [-2.03091842e-02 -1.37512142e-04 9.99793738e-01 -6.44509289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454012739 meters 0.023408974609472534 Centerline is valid? [True, True] Translation: X:322.76, Y:-50.72, Z:-6.45 [[ 9.80180076e-01 1.97129403e-01 1.96727340e-02 3.22762188e+02] [-1.97092743e-01 9.80377466e-01 -3.80448701e-03 -5.07203068e+01] [-2.00366814e-02 -1.48270731e-04 9.99799235e-01 -6.44565437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters 0.02454548214476693 Centerline is valid? [True, True] Translation: X:322.79, Y:-50.72, Z:-6.44 [[ 9.79736140e-01 1.99282829e-01 2.00860625e-02 3.22792647e+02] [-1.99245075e-01 9.79941996e-01 -3.88392946e-03 -5.07203283e+01] [-2.04571767e-02 -1.96822973e-04 9.99790711e-01 -6.44475703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514012739 meters 0.02578637636031909 Centerline is valid? [True, True] Translation: X:322.82, Y:-50.72, Z:-6.45 [[ 9.79499456e-01 2.00449952e-01 2.00157866e-02 3.22821017e+02] [-2.00412714e-01 9.79703919e-01 -3.86986108e-03 -5.07216565e+01] [-2.03852581e-02 -2.20891300e-04 9.99792175e-01 -6.44552434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters 0.02762533998548065 Centerline is valid? [True, True] Translation: X:322.85, Y:-50.72, Z:-6.45 [[ 9.79041569e-01 2.02722325e-01 1.95259968e-02 3.22849892e+02] [-2.02687362e-01 9.79236228e-01 -3.77403022e-03 -5.07191539e+01] [-1.98856437e-02 -2.62740330e-04 9.99802227e-01 -6.44720120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574012739 meters 0.028247409890865702 Centerline is valid? [True, True] Translation: X:322.88, Y:-50.72, Z:-6.45 [[ 9.78742126e-01 2.04147507e-01 1.96887251e-02 3.22878752e+02] [-2.04112270e-01 9.78940094e-01 -3.80433400e-03 -5.07204305e+01] [-2.00507277e-02 -2.95248436e-04 9.99798920e-01 -6.44824245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters 0.030089801915598565 Centerline is valid? [True, True] Translation: X:322.91, Y:-50.72, Z:-6.45 [[ 9.78157108e-01 2.06917442e-01 1.98455230e-02 3.22907965e+02] [-2.06882230e-01 9.78358342e-01 -3.83369274e-03 -5.07181707e+01] [-2.02092908e-02 -3.55732243e-04 9.99795708e-01 -6.44865542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634012739 meters 0.032020367049068285 Centerline is valid? [True, True] Translation: X:322.94, Y:-50.72, Z:-6.45 [[ 9.78083296e-01 2.07307794e-01 1.94047618e-02 3.22936635e+02] [-2.07274232e-01 9.78275703e-01 -3.74720977e-03 -5.07182490e+01] [-1.97600328e-02 -3.57023818e-04 9.99804688e-01 -6.45058966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters 0.030732557182243412 Centerline is valid? [True, True] Translation: X:322.97, Y:-50.72, Z:-6.45 [[ 9.78253365e-01 2.06607375e-01 1.82687152e-02 3.22965187e+02] [-2.06577527e-01 9.78423879e-01 -3.52667226e-03 -5.07238066e+01] [-1.86031837e-02 -3.23927011e-04 9.99826893e-01 -6.45286659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694012739 meters 0.027348772752625972 Centerline is valid? [True, True] Translation: X:322.99, Y:-50.73, Z:-6.46 [[ 9.79124406e-01 2.02554586e-01 1.69421660e-02 3.22992551e+02] [-2.02528322e-01 9.79270947e-01 -3.26983497e-03 -5.07328895e+01] [-1.72532910e-02 -2.29693221e-04 9.99851125e-01 -6.45697617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters 0.02540431374369471 Centerline is valid? [True, True] Translation: X:323.02, Y:-50.74, Z:-6.46 [[ 9.79823493e-01 1.99138649e-01 1.70212005e-02 3.23019124e+02] [-1.99111633e-01 9.79971310e-01 -3.28455247e-03 -5.07426952e+01] [-1.73343695e-02 -1.70837356e-04 9.99849734e-01 -6.45750246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754012739 meters 0.0219939337928582 Centerline is valid? [True, True] Translation: X:323.05, Y:-50.76, Z:-6.45 [[ 9.81409874e-01 1.91032053e-01 1.84774071e-02 3.23045628e+02] [-1.90998801e-01 9.81583799e-01 -3.56431380e-03 -5.07634190e+01] [-1.88180216e-02 -3.11098337e-05 9.99822925e-01 -6.45495253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters 0.021871255433758195 Centerline is valid? [True, True] Translation: X:323.07, Y:-50.78, Z:-6.45 [[ 9.82081990e-01 1.87463192e-01 1.93007157e-02 3.23074089e+02] [-1.87426230e-01 9.82271628e-01 -3.72262872e-03 -5.07752609e+01] [-1.96564013e-02 3.84662412e-05 9.99806794e-01 -6.45396097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814012739 meters 0.022442549088517144 Centerline is valid? [True, True] Translation: X:323.10, Y:-50.79, Z:-6.45 [[ 9.82593690e-01 1.84702614e-01 1.98641508e-02 3.23102540e+02] [-1.84662899e-01 9.82794452e-01 -3.83130047e-03 -5.07861844e+01] [-2.02300285e-02 9.64399925e-05 9.99795347e-01 -6.45364301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters 0.02368588854101775 Centerline is valid? [True, True] Translation: X:323.13, Y:-50.80, Z:-6.46 [[ 9.83064470e-01 1.82240557e-01 1.93035341e-02 3.23131537e+02] [-1.82202575e-01 9.83253965e-01 -3.72330586e-03 -5.07995415e+01] [-1.96588138e-02 1.43096077e-04 9.99806737e-01 -6.45602799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874012739 meters 0.02382572251473159 Centerline is valid? [True, True] Translation: X:323.16, Y:-50.81, Z:-6.46 [[ 9.83096740e-01 1.82164462e-01 1.83550778e-02 3.23162204e+02] [-1.82130053e-01 9.83268066e-01 -3.54326048e-03 -5.08069456e+01] [-1.86934180e-02 1.40356544e-04 9.99825253e-01 -6.45809972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters 0.023163461868708726 Centerline is valid? [True, True] Translation: X:323.19, Y:-50.81, Z:-6.46 [[ 9.82715882e-01 1.84397163e-01 1.63457194e-02 3.23192002e+02] [-1.84370177e-01 9.82851809e-01 -3.15583134e-03 -5.08102487e+01] [-1.66473463e-02 8.76223940e-05 9.99861419e-01 -6.46241000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934012739 meters 0.022497894633097527 Centerline is valid? [True, True] Translation: X:323.22, Y:-50.81, Z:-6.46 [[ 9.82414988e-01 1.86040778e-01 1.57993458e-02 3.23222957e+02] [-1.86015782e-01 9.82542022e-01 -3.05011964e-03 -5.08129152e+01] [-1.60909678e-02 5.75555919e-05 9.99870530e-01 -6.46307322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters 0.022305353494020266 Centerline is valid? [True, True] Translation: X:323.25, Y:-50.82, Z:-6.46 [[ 9.82121753e-01 1.87568385e-01 1.59675594e-02 3.23253462e+02] [-1.87543056e-01 9.82251546e-01 -3.08259387e-03 -5.08174991e+01] [-1.62623570e-02 3.28776243e-05 9.99867759e-01 -6.46327602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994012739 meters 0.021892704122122884 Centerline is valid? [True, True] Translation: X:323.28, Y:-50.82, Z:-6.46 [[ 9.81754992e-01 1.89260803e-01 1.83707395e-02 3.23282150e+02] [-1.89227570e-01 9.81926855e-01 -3.54657214e-03 -5.08215299e+01] [-1.87099496e-02 5.61449689e-06 9.99824954e-01 -6.46039304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters 0.02193074564511505 Centerline is valid? [True, True] Translation: X:323.31, Y:-50.83, Z:-6.46 [[ 9.81705337e-01 1.89435312e-01 1.92065971e-02 3.23310841e+02] [-1.89399029e-01 9.81893203e-01 -3.70747131e-03 -5.08273116e+01] [-1.95611531e-02 1.93354018e-06 9.99808662e-01 -6.46013983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05401273900003 meters 0.022002844754700955 Centerline is valid? [True, True] Translation: X:323.34, Y:-50.84, Z:-6.46 [[ 9.81742476e-01 1.89332719e-01 1.82984436e-02 3.23340527e+02] [-1.89299773e-01 9.81912991e-01 -3.53194269e-03 -5.08363176e+01] [-1.86361918e-02 3.56693766e-06 9.99826331e-01 -6.46206088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters 0.021974538123663193 Centerline is valid? [True, True] Translation: X:323.37, Y:-50.84, Z:-6.46 [[ 9.81749293e-01 1.89338697e-01 1.78657080e-02 3.23370262e+02] [-1.89307291e-01 9.81911838e-01 -3.44841661e-03 -5.08431271e+01] [-1.81954689e-02 3.37177304e-06 9.99834449e-01 -6.46294694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11401273900003 meters 0.021971087151182876 Centerline is valid? [True, True] Translation: X:323.40, Y:-50.85, Z:-6.46 [[ 9.81690616e-01 1.89622894e-01 1.80746134e-02 3.23399076e+02] [-1.89590798e-01 9.81856995e-01 -3.48876148e-03 -5.08479949e+01] [-1.84082347e-02 -1.89596708e-06 9.99830554e-01 -6.46226452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters 0.021971087151182876 Centerline is valid? [True, True] Translation: X:323.43, Y:-50.85, Z:-6.46 [[ 9.81690616e-01 1.89622890e-01 1.80746576e-02 3.23428526e+02] [-1.89590797e-01 9.81856996e-01 -3.48853232e-03 -5.08536792e+01] [-1.84082346e-02 -2.12930437e-06 9.99830554e-01 -6.46287371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17401273900003 meters 0.02196721084954187 Centerline is valid? [True, True] Translation: X:323.46, Y:-50.85, Z:-6.46 [[ 9.81325035e-01 1.91404033e-01 1.91225486e-02 3.23457220e+02] [-1.91368449e-01 9.81511332e-01 -3.69081126e-03 -5.08542648e+01] [-1.94754343e-02 -3.75669711e-05 9.99810335e-01 -6.46122220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters 0.02280020978931592 Centerline is valid? [True, True] Translation: X:323.49, Y:-50.85, Z:-6.46 [[ 9.80729662e-01 1.94422135e-01 1.92188432e-02 3.23486428e+02] [-1.94386784e-01 9.80917950e-01 -3.70870683e-03 -5.08549781e+01] [-1.95731629e-02 -9.86503131e-05 9.99808422e-01 -6.46152510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234012739 meters 0.02342643284365376 Centerline is valid? [True, True] Translation: X:323.52, Y:-50.86, Z:-6.46 [[ 9.80403159e-01 1.96071693e-01 1.91190446e-02 3.23515516e+02] [-1.96037030e-01 9.80589554e-01 -3.68899279e-03 -5.08566501e+01] [-1.94712425e-02 -1.31340554e-04 9.99810409e-01 -6.46255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters 0.024240601758146962 Centerline is valid? [True, True] Translation: X:323.54, Y:-50.86, Z:-6.46 [[ 9.80093028e-01 1.97639667e-01 1.88737408e-02 3.23544557e+02] [-1.97606196e-01 9.80274725e-01 -3.64079827e-03 -5.08578201e+01] [-1.92210172e-02 -1.61247106e-04 9.99815246e-01 -6.46328875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294012739 meters 0.02495045857795487 Centerline is valid? [True, True] Translation: X:323.57, Y:-50.86, Z:-6.46 [[ 9.79882122e-01 1.98704658e-01 1.86409648e-02 3.23573079e+02] [-1.98672216e-01 9.80059399e-01 -3.59504167e-03 -5.08601354e+01] [-1.89836043e-02 -1.80724718e-04 9.99819779e-01 -6.46404028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters 0.025249219715962962 Centerline is valid? [True, True] Translation: X:323.60, Y:-50.87, Z:-6.47 [[ 9.79893146e-01 1.98731071e-01 1.77590427e-02 3.23600873e+02] [-1.98701644e-01 9.80054045e-01 -3.42420488e-03 -5.08653468e+01] [-1.80853175e-02 -1.73396080e-04 9.99836432e-01 -6.46656982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354012739 meters 0.023158865969545896 Centerline is valid? [True, True] Translation: X:323.63, Y:-50.88, Z:-6.47 [[ 9.80629947e-01 1.95079155e-01 1.75792716e-02 3.23627138e+02] [-1.95049751e-01 9.80787496e-01 -3.38854454e-03 -5.08773638e+01] [-1.79025642e-02 -1.05924309e-04 9.99839731e-01 -6.46863692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters 0.022275445409008516 Centerline is valid? [True, True] Translation: X:323.65, Y:-50.89, Z:-6.47 [[ 9.81075284e-01 1.92778193e-01 1.81067474e-02 3.23654396e+02] [-1.92746627e-01 9.81242357e-01 -3.48913000e-03 -5.08878257e+01] [-1.84397356e-02 -6.69152750e-05 9.99829971e-01 -6.46834038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414012739 meters 0.021818525579922414 Centerline is valid? [True, True] Translation: X:323.68, Y:-50.90, Z:-6.47 [[ 9.81513707e-01 1.90473359e-01 1.87280933e-02 3.23682745e+02] [-1.90439187e-01 9.81692365e-01 -3.60794568e-03 -5.08992589e+01] [-1.90724438e-02 -2.53147227e-05 9.99818104e-01 -6.46727036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters 0.02172530721518087 Centerline is valid? [True, True] Translation: X:323.71, Y:-50.91, Z:-6.47 [[ 9.81861098e-01 1.88650422e-01 1.89684663e-02 3.23711246e+02] [-1.88615036e-01 9.82044306e-01 -3.65376554e-03 -5.09112098e+01] [-1.93171587e-02 9.75229174e-06 9.99813406e-01 -6.46724254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474012739 meters 0.02213140913367928 Centerline is valid? [True, True] Translation: X:323.74, Y:-50.93, Z:-6.47 [[ 9.82395760e-01 1.85909462e-01 1.83369429e-02 3.23739866e+02] [-1.85875912e-01 9.82566877e-01 -3.53230948e-03 -5.09286308e+01] [-1.86739625e-02 6.17298653e-05 9.99825624e-01 -6.46806768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters 0.02242635651372471 Centerline is valid? [True, True] Translation: X:323.77, Y:-50.94, Z:-6.47 [[ 9.82543090e-01 1.85180219e-01 1.78146845e-02 3.23769689e+02] [-1.85148426e-01 9.82704575e-01 -3.43209702e-03 -5.09391972e+01] [-1.81421284e-02 7.38224284e-05 9.99835415e-01 -6.46983022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534012739 meters 0.02258847604052679 Centerline is valid? [True, True] Translation: X:323.80, Y:-50.95, Z:-6.47 [[ 9.82619453e-01 1.84820802e-01 1.73286234e-02 3.23800899e+02] [-1.84790666e-01 9.82772235e-01 -3.33841014e-03 -5.09532131e+01] [-1.76470976e-02 7.82188898e-05 9.99844275e-01 -6.47205756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters 0.022084765747698864 Centerline is valid? [True, True] Translation: X:323.83, Y:-50.96, Z:-6.47 [[ 9.82404823e-01 1.85930002e-01 1.76294792e-02 3.23832458e+02] [-1.85898928e-01 9.82562991e-01 -3.39967782e-03 -5.09617321e+01] [-1.79541759e-02 6.25585965e-05 9.99838809e-01 -6.47146403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594012739 meters 0.021416300301277096 Centerline is valid? [True, True] Translation: X:323.86, Y:-50.97, Z:-6.47 [[ 9.81677023e-01 1.89684732e-01 1.81638603e-02 3.23862479e+02] [-1.89652320e-01 9.81845050e-01 -3.50642049e-03 -5.09684731e+01] [-1.84992108e-02 -2.64581843e-06 9.99828875e-01 -6.46949720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters 0.021679830879390096 Centerline is valid? [True, True] Translation: X:323.89, Y:-50.97, Z:-6.47 [[ 9.81191697e-01 1.92159767e-01 1.83705719e-02 3.23894513e+02] [-1.92126994e-01 9.81363654e-01 -3.54918553e-03 -5.09723855e+01] [-1.87102223e-02 -4.70513908e-05 9.99824947e-01 -6.46983332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654012739 meters 0.02217620252543723 Centerline is valid? [True, True] Translation: X:323.93, Y:-50.98, Z:-6.47 [[ 9.80641942e-01 1.94948064e-01 1.83475742e-02 3.23926447e+02] [-1.94915798e-01 9.80813562e-01 -3.54804119e-03 -5.09758143e+01] [-1.86872334e-02 -9.68740602e-05 9.99825374e-01 -6.47093153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters 0.02667342837233996 Centerline is valid? [True, True] Translation: X:323.96, Y:-50.97, Z:-6.47 [[ 9.79284075e-01 2.01749553e-01 1.73152430e-02 3.23958030e+02] [-2.01721822e-01 9.79437121e-01 -3.35156228e-03 -5.09722397e+01] [-1.76353679e-02 -2.10730794e-04 9.99844463e-01 -6.47376246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714012739 meters 0.02971058264310599 Centerline is valid? [True, True] Translation: X:323.99, Y:-50.97, Z:-6.48 [[ 9.78546907e-01 2.05337396e-01 1.68078567e-02 3.23988549e+02] [-2.05311790e-01 9.78691209e-01 -3.25365522e-03 -5.09721141e+01] [-1.71177987e-02 -2.66996902e-04 9.99853444e-01 -6.47502703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters 0.03416236205939832 Centerline is valid? [True, True] Translation: X:324.02, Y:-50.97, Z:-6.48 [[ 9.77608046e-01 2.09785766e-01 1.65057794e-02 3.24018110e+02] [-2.09761710e-01 9.77747318e-01 -3.19489012e-03 -5.09671639e+01] [-1.68087240e-02 -3.38930222e-04 9.99858666e-01 -6.47544392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774012739 meters 0.03398507564674307 Centerline is valid? [True, True] Translation: X:324.05, Y:-50.97, Z:-6.47 [[ 9.77418721e-01 2.10604173e-01 1.72778974e-02 3.24046387e+02] [-2.10577957e-01 9.77571350e-01 -3.34352772e-03 -5.09722096e+01] [-1.75945384e-02 -3.70317738e-04 9.99845136e-01 -6.47462694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters 0.03236743659777876 Centerline is valid? [True, True] Translation: X:324.07, Y:-50.98, Z:-6.47 [[ 9.77420351e-01 2.10546722e-01 1.78755515e-02 3.24073893e+02] [-2.10518666e-01 9.77583721e-01 -3.45833514e-03 -5.09805478e+01] [-1.82029893e-02 -3.82890111e-04 9.99834239e-01 -6.47371526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834012739 meters 0.034846382273094875 Centerline is valid? [True, True] Translation: X:324.10, Y:-50.98, Z:-6.47 [[ 9.77556972e-01 2.09845270e-01 1.86367818e-02 3.24101466e+02] [-2.09814663e-01 9.77734531e-01 -3.60469365e-03 -5.09824988e+01] [-1.89782530e-02 -3.86476692e-04 9.99819822e-01 -6.47338802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters 0.030265115760131852 Centerline is valid? [True, True] Translation: X:324.13, Y:-50.99, Z:-6.47 [[ 9.77989306e-01 2.07738643e-01 1.95339154e-02 3.24129054e+02] [-2.07704623e-01 9.78184300e-01 -3.77698304e-03 -5.09943065e+01] [-1.98923947e-02 -3.63435519e-04 9.99802061e-01 -6.47224395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894012739 meters 0.029629701087236476 Centerline is valid? [True, True] Translation: X:324.16, Y:-51.00, Z:-6.47 [[ 9.78392228e-01 2.05840353e-01 1.94524518e-02 3.24157496e+02] [-2.05806249e-01 9.78585532e-01 -3.76076774e-03 -5.10009188e+01] [-1.98100056e-02 -3.23930216e-04 9.99803710e-01 -6.47306428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters 0.029731354157084132 Centerline is valid? [True, True] Translation: X:324.19, Y:-51.01, Z:-6.47 [[ 9.78493263e-01 2.05412754e-01 1.88821203e-02 3.24185972e+02] [-2.05380546e-01 9.78675384e-01 -3.65031395e-03 -5.10069693e+01] [-1.92292874e-02 -3.06212564e-04 9.99815053e-01 -6.47447637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954012739 meters 0.0297170408340867 Centerline is valid? [True, True] Translation: X:324.22, Y:-51.01, Z:-6.48 [[ 9.78521326e-01 2.05318394e-01 1.84491688e-02 3.24215236e+02] [-2.05287641e-01 9.78695187e-01 -3.56598242e-03 -5.10130449e+01] [-1.87882745e-02 -2.97996492e-04 9.99823440e-01 -6.47632541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters 0.028732587480180392 Centerline is valid? [True, True] Translation: X:324.24, Y:-51.02, Z:-6.48 [[ 9.78500921e-01 2.05441263e-01 1.81613846e-02 3.24244429e+02] [-2.05411490e-01 9.78669403e-01 -3.50995726e-03 -5.10199006e+01] [-1.84950814e-02 -2.96060658e-04 9.99828908e-01 -6.47729445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014012739 meters 0.030913006076528596 Centerline is valid? [True, True] Translation: X:324.27, Y:-51.02, Z:-6.48 [[ 9.78372472e-01 2.06053543e-01 1.81450721e-02 3.24273492e+02] [-2.06023937e-01 9.78540670e-01 -3.50640035e-03 -5.10219095e+01] [-1.84781972e-02 -3.07753610e-04 9.99829216e-01 -6.47820687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters 0.03213897538387849 Centerline is valid? [True, True] Translation: X:324.30, Y:-51.03, Z:-6.48 [[ 9.78202731e-01 2.06891499e-01 1.77573659e-02 3.24301243e+02] [-2.06863292e-01 9.78363842e-01 -3.43092376e-03 -5.10273135e+01] [-1.80829937e-02 -3.17208171e-04 9.99836439e-01 -6.47872563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074012739 meters 0.03256912629697795 Centerline is valid? [True, True] Translation: X:324.33, Y:-51.03, Z:-6.48 [[ 9.78115574e-01 2.07331282e-01 1.74259257e-02 3.24329953e+02] [-2.07304207e-01 9.78270738e-01 -3.36584714e-03 -5.10320671e+01] [-1.77451186e-02 -3.20280183e-04 9.99842492e-01 -6.48003413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters 0.030009745452773382 Centerline is valid? [True, True] Translation: X:324.36, Y:-51.04, Z:-6.48 [[ 9.78077919e-01 2.07484061e-01 1.77185879e-02 3.24358129e+02] [-2.07456108e-01 9.78238343e-01 -3.42153734e-03 -5.10410932e+01] [-1.80429165e-02 -3.29299167e-04 9.99837159e-01 -6.48009040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134012739 meters 0.030423363208533213 Centerline is valid? [True, True] Translation: X:324.39, Y:-51.05, Z:-6.48 [[ 9.78045494e-01 2.07473438e-01 1.95393170e-02 3.24385944e+02] [-2.07439454e-01 9.78240584e-01 -3.77261827e-03 -5.10459968e+01] [-1.98968710e-02 -3.63432953e-04 9.99801972e-01 -6.47860156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters 0.029769035111679845 Centerline is valid? [True, True] Translation: X:324.41, Y:-51.05, Z:-6.48 [[ 9.78155648e-01 2.06953613e-01 1.95379180e-02 3.24414984e+02] [-2.06919544e-01 9.78350692e-01 -3.77164710e-03 -5.10537270e+01] [-1.98954916e-02 -3.53519164e-04 9.99802003e-01 -6.47869046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194012739 meters 0.02900562040599067 Centerline is valid? [True, True] Translation: X:324.44, Y:-51.06, Z:-6.48 [[ 9.78556596e-01 2.05156677e-01 1.83773336e-02 3.24444610e+02] [-2.05126227e-01 9.78729099e-01 -3.54714227e-03 -5.10611124e+01] [-1.87141511e-02 -2.98593639e-04 9.99824830e-01 -6.48164825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters 0.027724884783309617 Centerline is valid? [True, True] Translation: X:324.47, Y:-51.07, Z:-6.48 [[ 9.78843216e-01 2.03814360e-01 1.80461969e-02 3.24474468e+02] [-2.03784765e-01 9.79009517e-01 -3.48345786e-03 -5.10680456e+01] [-1.83773772e-02 -2.67780902e-04 9.99831086e-01 -6.48279494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254012739 meters 0.02634490203654025 Centerline is valid? [True, True] Translation: X:324.50, Y:-51.08, Z:-6.48 [[ 9.79108901e-01 2.02486931e-01 1.85688792e-02 3.24504550e+02] [-2.02455358e-01 9.79284933e-01 -3.58435124e-03 -5.10752302e+01] [-1.89100079e-02 -2.49898884e-04 9.99821159e-01 -6.48307155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters 0.024200521074261735 Centerline is valid? [True, True] Translation: X:324.54, Y:-51.09, Z:-6.48 [[ 9.79519771e-01 2.00375595e-01 1.97645793e-02 3.24535617e+02] [-2.00339396e-01 9.79719129e-01 -3.81512685e-03 -5.10858977e+01] [-2.01281947e-02 -2.22631705e-04 9.99797383e-01 -6.48129006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314012739 meters 0.024138634281204215 Centerline is valid? [True, True] Translation: X:324.57, Y:-51.09, Z:-6.48 [[ 9.79805629e-01 1.98954636e-01 1.99494727e-02 3.24566043e+02] [-1.98917390e-01 9.80008682e-01 -3.85433801e-03 -5.10936258e+01] [-2.03174948e-02 -1.91794966e-04 9.99793560e-01 -6.48227647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters 0.022128307943762908 Centerline is valid? [True, True] Translation: X:324.60, Y:-51.11, Z:-6.48 [[ 9.80642502e-01 1.94730365e-01 2.05028810e-02 3.24595323e+02] [-1.94690028e-01 9.80856806e-01 -3.96466581e-03 -5.11090069e+01] [-2.08824312e-02 -1.03786688e-04 9.99781933e-01 -6.48171100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374012739 meters 0.021372600786909828 Centerline is valid? [True, True] Translation: X:324.63, Y:-51.12, Z:-6.48 [[ 9.81055304e-01 1.92611822e-01 2.07647923e-02 3.24625700e+02] [-1.92569902e-01 9.81275029e-01 -4.01872477e-03 -5.11193445e+01] [-2.11500260e-02 -5.60827586e-05 9.99776312e-01 -6.48235794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters 0.021213038690520533 Centerline is valid? [True, True] Translation: X:324.66, Y:-51.13, Z:-6.48 [[ 9.81449320e-01 1.90636638e-01 2.03692022e-02 3.24657020e+02] [-1.90595806e-01 9.81660671e-01 -3.94545453e-03 -5.11297467e+01] [-2.07477929e-02 -1.00208361e-05 9.99784741e-01 -6.48374843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434012739 meters 0.022052877541269132 Centerline is valid? [True, True] Translation: X:324.69, Y:-51.15, Z:-6.49 [[ 9.82350070e-01 1.86128728e-01 1.85590064e-02 3.24686348e+02] [-1.86093966e-01 9.82525364e-01 -3.59802003e-03 -5.11462408e+01] [-1.89043895e-02 8.07961111e-05 9.99821293e-01 -6.48821042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters 0.02284410737786623 Centerline is valid? [True, True] Translation: X:324.72, Y:-51.16, Z:-6.49 [[ 9.82771744e-01 1.83981297e-01 1.76233385e-02 3.24716225e+02] [-1.83949557e-01 9.82929737e-01 -3.41939068e-03 -5.11589267e+01] [-1.79516075e-02 1.18675216e-04 9.99838850e-01 -6.48995735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494012739 meters 0.024076820968289683 Centerline is valid? [True, True] Translation: X:324.75, Y:-51.18, Z:-6.49 [[ 9.83302400e-01 1.81095259e-01 1.79136260e-02 3.24745657e+02] [-1.81061929e-01 9.83465544e-01 -3.47881977e-03 -5.11768052e+01] [-1.82474317e-02 1.77256161e-04 9.99833486e-01 -6.48879869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters 0.02479962664083307 Centerline is valid? [True, True] Translation: X:324.78, Y:-51.19, Z:-6.49 [[ 9.83430530e-01 1.80348143e-01 1.84103373e-02 3.24775132e+02] [-1.80312745e-01 9.83602820e-01 -3.57867322e-03 -5.11880421e+01] [-1.87538668e-02 1.99758047e-04 9.99824111e-01 -6.48788314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55401273900003 meters 0.024105021794727746 Centerline is valid? [True, True] Translation: X:324.81, Y:-51.20, Z:-6.49 [[ 9.83320522e-01 1.80892955e-01 1.89338538e-02 3.24806768e+02] [-1.80855581e-01 9.83502771e-01 -3.68218279e-03 -5.11991589e+01] [-1.92875786e-02 1.96472768e-04 9.99813958e-01 -6.48749742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters 0.023681414563509688 Centerline is valid? [True, True] Translation: X:324.84, Y:-51.21, Z:-6.49 [[ 9.83000028e-01 1.82623227e-01 1.89658385e-02 3.24837351e+02] [-1.82585975e-01 9.83182958e-01 -3.69220094e-03 -5.12068904e+01] [-1.93211708e-02 1.66537513e-04 9.99813315e-01 -6.48861651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61401273900003 meters 0.022335838279474794 Centerline is valid? [True, True] Translation: X:324.87, Y:-51.21, Z:-6.49 [[ 9.82532266e-01 1.85101909e-01 1.91736613e-02 3.24869198e+02] [-1.85064248e-01 9.82719323e-01 -3.73574827e-03 -5.12114661e+01] [-1.95338216e-02 1.22134008e-04 9.99809189e-01 -6.48877560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters 0.021115242298673103 Centerline is valid? [True, True] Translation: X:324.90, Y:-51.21, Z:-6.49 [[ 9.81341167e-01 1.91245143e-01 1.98697876e-02 3.24900822e+02] [-1.91205882e-01 9.81542304e-01 -3.87495342e-03 -5.12115015e+01] [-2.02441031e-02 3.43104297e-06 9.99795067e-01 -6.48766202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67401273900003 meters 0.021317753165521335 Centerline is valid? [True, True] Translation: X:324.93, Y:-51.22, Z:-6.49 [[ 9.80764819e-01 1.94162171e-01 2.00355108e-02 3.24933973e+02] [-1.94122795e-01 9.80969443e-01 -3.91051966e-03 -5.12153877e+01] [-2.04134989e-02 -5.40492531e-05 9.99791621e-01 -6.48843510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters 0.02234915313905033 Centerline is valid? [True, True] Translation: X:324.97, Y:-51.22, Z:-6.49 [[ 9.80185268e-01 1.97193689e-01 1.87480518e-02 3.24965006e+02] [-1.97159698e-01 9.80364543e-01 -3.66271774e-03 -5.12208487e+01] [-1.91021901e-02 -1.06218266e-04 9.99817531e-01 -6.49116758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734012739 meters 0.022366314614142926 Centerline is valid? [True, True] Translation: X:325.00, Y:-51.23, Z:-6.49 [[ 9.80098302e-01 1.97693282e-01 1.80190297e-02 3.24996986e+02] [-1.97661919e-01 9.80263921e-01 -3.52295790e-03 -5.12301774e+01] [-1.83598698e-02 -1.08830940e-04 9.99831437e-01 -6.49244868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters 0.02270305701477322 Centerline is valid? [True, True] Translation: X:325.03, Y:-51.24, Z:-6.49 [[ 9.79839841e-01 1.98881640e-01 1.89731382e-02 3.25028281e+02] [-1.98847015e-01 9.80023508e-01 -3.71336823e-03 -5.12382022e+01] [-1.93326422e-02 -1.34245761e-04 9.99813098e-01 -6.49098597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794012739 meters 0.023259637960906628 Centerline is valid? [True, True] Translation: X:325.06, Y:-51.24, Z:-6.49 [[ 9.79461721e-01 2.00640018e-01 1.99579722e-02 3.25060035e+02] [-2.00601994e-01 9.79665021e-01 -3.90987835e-03 -5.12439221e+01] [-2.03366053e-02 -1.74032835e-04 9.99793175e-01 -6.48994865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters 0.024688786001468278 Centerline is valid? [True, True] Translation: X:325.09, Y:-51.25, Z:-6.49 [[ 9.78939516e-01 2.03068128e-01 2.09942793e-02 3.25091594e+02] [-2.03026531e-01 9.79164583e-01 -4.11657402e-03 -5.12485549e+01] [-2.13927997e-02 -2.32518724e-04 9.99771121e-01 -6.48815258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854012739 meters 0.028752484180158716 Centerline is valid? [True, True] Translation: X:325.12, Y:-51.25, Z:-6.49 [[ 9.77715201e-01 2.08860872e-01 2.12160743e-02 3.25123762e+02] [-2.08819677e-01 9.77945298e-01 -4.16360833e-03 -5.12478425e+01] [-2.16177749e-02 -3.59510619e-04 9.99766244e-01 -6.48848842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters 0.030436498706134532 Centerline is valid? [True, True] Translation: X:325.16, Y:-51.25, Z:-6.49 [[ 9.77099468e-01 2.11774967e-01 2.06880099e-02 3.25155331e+02] [-2.11736384e-01 9.77318369e-01 -4.06306171e-03 -5.12506505e+01] [-2.10792268e-02 -4.10388974e-04 9.99777724e-01 -6.49024625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914012739 meters 0.0355662137376885 Centerline is valid? [True, True] Translation: X:325.19, Y:-51.25, Z:-6.49 [[ 9.76146420e-01 2.16209230e-01 1.97922904e-02 3.25187191e+02] [-2.16174767e-01 9.76346935e-01 -3.89010278e-03 -5.12466024e+01] [-2.01652182e-02 -4.81283860e-04 9.99796545e-01 -6.49200472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters 0.034992393402024174 Centerline is valid? [True, True] Translation: X:325.22, Y:-51.25, Z:-6.49 [[ 9.75704348e-01 2.18248492e-01 1.91994986e-02 3.25218599e+02] [-2.18216447e-01 9.75893098e-01 -3.77407486e-03 -5.12525223e+01] [-1.95603443e-02 -5.07265120e-04 9.99808549e-01 -6.49319531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974012739 meters 0.03745567742143145 Centerline is valid? [True, True] Translation: X:325.25, Y:-51.25, Z:-6.49 [[ 9.75384763e-01 2.19694474e-01 1.89446894e-02 3.25249592e+02] [-2.19663484e-01 9.75568584e-01 -3.72722190e-03 -5.12534561e+01] [-1.93006939e-02 -5.25981042e-04 9.99813586e-01 -6.49432399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters 0.039591982782829764 Centerline is valid? [True, True] Translation: X:325.28, Y:-51.25, Z:-6.49 [[ 9.75003951e-01 2.21314061e-01 1.96820083e-02 3.25280553e+02] [-2.21280906e-01 9.75202416e-01 -3.87403698e-03 -5.12522884e+01] [-2.00513209e-02 -5.78051262e-04 9.99798785e-01 -6.49383746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034012739 meters 0.039591982782829764 Centerline is valid? [True, True] Translation: X:325.31, Y:-51.26, Z:-6.49 [[ 9.74998961e-01 2.21336049e-01 1.96819647e-02 3.25310804e+02] [-2.21302894e-01 9.75197426e-01 -3.87425837e-03 -5.12582876e+01] [-2.00513143e-02 -5.78277865e-04 9.99798785e-01 -6.49446386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters 0.04029861655945574 Centerline is valid? [True, True] Translation: X:325.34, Y:-51.26, Z:-6.49 [[ 9.74806079e-01 2.22088330e-01 2.07335905e-02 3.25342123e+02] [-2.22051697e-01 9.75026350e-01 -4.08177432e-03 -5.12614534e+01] [-2.11223115e-02 -6.24990524e-04 9.99776704e-01 -6.49326388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094012739 meters 0.040927302236721426 Centerline is valid? [True, True] Translation: X:325.37, Y:-51.26, Z:-6.49 [[ 9.74239122e-01 2.24526586e-01 2.11174078e-02 3.25373751e+02] [-2.24489145e-01 9.74467719e-01 -4.15784115e-03 -5.12622324e+01] [-2.15117781e-02 -6.89897311e-04 9.99768357e-01 -6.49204152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters 0.04539329861577348 Centerline is valid? [True, True] Translation: X:325.40, Y:-51.26, Z:-6.49 [[ 9.73897402e-01 2.26101872e-01 2.00448088e-02 3.25404127e+02] [-2.26068462e-01 9.74103419e-01 -3.94711253e-03 -5.12593245e+01] [-2.04181663e-02 -6.87416456e-04 9.99791291e-01 -6.49420813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154012739 meters 0.04461333985065939 Centerline is valid? [True, True] Translation: X:325.43, Y:-51.26, Z:-6.50 [[ 9.73657975e-01 2.27248896e-01 1.86570933e-02 3.25433013e+02] [-2.27220160e-01 9.73836486e-01 -3.67395124e-03 -5.12635523e+01] [-1.90038595e-02 -6.62095811e-04 9.99819191e-01 -6.49794794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters 0.04682891024798281 Centerline is valid? [True, True] Translation: X:325.46, Y:-51.26, Z:-6.50 [[ 9.73242667e-01 2.29065917e-01 1.80974304e-02 3.25462305e+02] [-2.29039205e-01 9.73410677e-01 -3.56308621e-03 -5.12612476e+01] [-1.84324136e-02 -6.77273557e-04 9.99829879e-01 -6.50030727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214012739 meters 0.04683164078747367 Centerline is valid? [True, True] Translation: X:325.49, Y:-51.26, Z:-6.50 [[ 9.73084569e-01 2.29678004e-01 1.88264515e-02 3.25491370e+02] [-2.29649217e-01 9.73266408e-01 -3.70632037e-03 -5.12644281e+01] [-1.91744131e-02 -7.16916677e-04 9.99815897e-01 -6.49894095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters 0.04946634062087359 Centerline is valid? [True, True] Translation: X:325.52, Y:-51.26, Z:-6.50 [[ 9.72795632e-01 2.30814502e-01 1.98324041e-02 3.25520819e+02] [-2.30782812e-01 9.72997460e-01 -3.90336946e-03 -5.12608099e+01] [-2.01978331e-02 -7.79797209e-04 9.99795699e-01 -6.49756606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274012739 meters 0.04748761443332659 Centerline is valid? [True, True] Translation: X:325.55, Y:-51.27, Z:-6.50 [[ 9.72568344e-01 2.31769297e-01 1.98446327e-02 3.25548917e+02] [-2.31737790e-01 9.72770451e-01 -3.90461095e-03 -5.12662906e+01] [-2.02092412e-02 -8.01250308e-04 9.99795451e-01 -6.49880766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters 0.05218708909667914 Centerline is valid? [True, True] Translation: X:325.58, Y:-51.26, Z:-6.50 [[ 9.72288643e-01 2.32959383e-01 1.96143130e-02 3.25579006e+02] [-2.32928863e-01 9.72486122e-01 -3.85835228e-03 -5.12624863e+01] [-1.99734865e-02 -8.17307508e-04 9.99800176e-01 -6.50003420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334012739 meters 0.05526725813339787 Centerline is valid? [True, True] Translation: X:325.61, Y:-51.26, Z:-6.50 [[ 9.71592732e-01 2.35909287e-01 1.88247647e-02 3.25610756e+02] [-2.35881740e-01 9.71774715e-01 -3.70236184e-03 -5.12577934e+01] [-1.91668519e-02 -8.43230393e-04 9.99815943e-01 -6.50179357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters 0.05869951854910535 Centerline is valid? [True, True] Translation: X:325.64, Y:-51.25, Z:-6.50 [[ 9.71227463e-01 2.37366948e-01 1.93428727e-02 3.25640696e+02] [-2.37338156e-01 9.71419646e-01 -3.80405232e-03 -5.12507542e+01] [-1.96930028e-02 -8.96201656e-04 9.99805672e-01 -6.50153126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394012739 meters 0.05314489193872929 Centerline is valid? [True, True] Translation: X:325.67, Y:-51.26, Z:-6.50 [[ 9.71455512e-01 2.36336088e-01 2.04802555e-02 3.25668261e+02] [-2.36303604e-01 9.71670928e-01 -4.02664437e-03 -5.12607520e+01] [-2.08517103e-02 -9.27852335e-04 9.99782149e-01 -6.50045910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters 0.05324706963346722 Centerline is valid? [True, True] Translation: X:325.70, Y:-51.26, Z:-6.50 [[ 9.71894259e-01 2.34480951e-01 2.09817345e-02 3.25696779e+02] [-2.34446447e-01 9.72120288e-01 -4.12423212e-03 -5.12643520e+01] [-2.13638237e-02 -9.10775600e-04 9.99771353e-01 -6.50037373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454012739 meters 0.04945053807137361 Centerline is valid? [True, True] Translation: X:325.72, Y:-51.27, Z:-6.50 [[ 9.72972060e-01 2.30011867e-01 2.04917383e-02 3.25724496e+02] [-2.29977980e-01 9.73187500e-01 -4.02721865e-03 -5.12735171e+01] [-2.08686117e-02 -7.94277355e-04 9.99781911e-01 -6.50239944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters 0.044504547082614226 Centerline is valid? [True, True] Translation: X:325.75, Y:-51.29, Z:-6.50 [[ 9.73594042e-01 2.27439677e-01 1.96426687e-02 3.25752139e+02] [-2.27408023e-01 9.73791914e-01 -3.86009804e-03 -5.12851285e+01] [-2.00058114e-02 -7.08732005e-04 9.99799613e-01 -6.50452020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514012739 meters 0.041685780875020395 Centerline is valid? [True, True] Translation: X:325.78, Y:-51.29, Z:-6.51 [[ 9.74945137e-01 2.21694871e-01 1.82582855e-02 3.25780508e+02] [-2.21666522e-01 9.75115933e-01 -3.58760604e-03 -5.12908610e+01] [-1.85992990e-02 -5.49531584e-04 9.99826867e-01 -6.50813756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters 0.038087065683339104 Centerline is valid? [True, True] Translation: X:325.81, Y:-51.30, Z:-6.51 [[ 9.75518890e-01 2.19158945e-01 1.82277887e-02 3.25808562e+02] [-2.19130247e-01 9.75689042e-01 -3.58163232e-03 -5.13000698e+01] [-1.85696005e-02 -5.00309870e-04 9.99827445e-01 -6.50898611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574012739 meters 0.03694084985539084 Centerline is valid? [True, True] Translation: X:325.84, Y:-51.31, Z:-6.51 [[ 9.75957371e-01 2.17223155e-01 1.79251388e-02 3.25835313e+02] [-2.17195087e-01 9.76121864e-01 -3.52158920e-03 -5.13063665e+01] [-1.82620906e-02 -4.56331133e-04 9.99833130e-01 -6.50959898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters 0.035237539614262334 Centerline is valid? [True, True] Translation: X:325.86, Y:-51.31, Z:-6.51 [[ 9.76410628e-01 2.15226084e-01 1.73210336e-02 3.25863725e+02] [-2.15199580e-01 9.76564165e-01 -3.40186227e-03 -5.13134247e+01] [-1.76472702e-02 -4.05864673e-04 9.99844192e-01 -6.51105146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634012739 meters 0.035233317960075825 Centerline is valid? [True, True] Translation: X:325.89, Y:-51.31, Z:-6.51 [[ 9.76585048e-01 2.14396555e-01 1.77696846e-02 3.25892111e+02] [-2.14368533e-01 9.76746618e-01 -3.48939029e-03 -5.13144406e+01] [-1.81045926e-02 -4.01574840e-04 9.99836018e-01 -6.51061877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters 0.034483287054066246 Centerline is valid? [True, True] Translation: X:325.92, Y:-51.32, Z:-6.51 [[ 9.76647196e-01 2.14065122e-01 1.83406408e-02 3.25920560e+02] [-2.14035233e-01 9.76819306e-01 -3.60039209e-03 -5.13191426e+01] [-1.86862104e-02 -4.09230495e-04 9.99825314e-01 -6.50979998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694012739 meters 0.03308083459131278 Centerline is valid? [True, True] Translation: X:325.95, Y:-51.33, Z:-6.51 [[ 9.76716566e-01 2.13709979e-01 1.87828441e-02 3.25948739e+02] [-2.13678583e-01 9.76897064e-01 -3.68631045e-03 -5.13253314e+01] [-1.91367066e-02 -4.13011021e-04 9.99816791e-01 -6.50962993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters 0.03309142003681167 Centerline is valid? [True, True] Translation: X:325.98, Y:-51.33, Z:-6.51 [[ 9.77181015e-01 2.11556356e-01 1.90045156e-02 3.25976449e+02] [-2.11523824e-01 9.77365728e-01 -3.72891290e-03 -5.13279555e+01] [-1.93632374e-02 -3.76084921e-04 9.99812444e-01 -6.50982121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754012739 meters 0.03089648217915304 Centerline is valid? [True, True] Translation: X:326.00, Y:-51.34, Z:-6.51 [[ 9.77518746e-01 2.09995325e-01 1.89489859e-02 3.26004207e+02] [-2.09962712e-01 9.77702329e-01 -3.71689182e-03 -5.13355601e+01] [-1.93069976e-02 -3.45249050e-04 9.99813543e-01 -6.51032494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters 0.028551271915876336 Centerline is valid? [True, True] Translation: X:326.03, Y:-51.34, Z:-6.51 [[ 9.77807256e-01 2.08669982e-01 1.87031577e-02 3.26032368e+02] [-2.08637983e-01 9.77986063e-01 -3.66781515e-03 -5.13440489e+01] [-1.90567905e-02 -3.15772839e-04 9.99818353e-01 -6.51100328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814012739 meters 0.026788681234759387 Centerline is valid? [True, True] Translation: X:326.06, Y:-51.35, Z:-6.51 [[ 9.78223634e-01 2.06651394e-01 1.93319196e-02 3.26060390e+02] [-2.06616828e-01 9.78414595e-01 -3.79040459e-03 -5.13497763e+01] [-1.96979247e-02 -2.86436555e-04 9.99805936e-01 -6.51037663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters 0.026706479176394307 Centerline is valid? [True, True] Translation: X:326.09, Y:-51.35, Z:-6.51 [[ 9.78344962e-01 2.05976745e-01 2.03645848e-02 3.26087992e+02] [-2.05938263e-01 9.78556844e-01 -3.99183092e-03 -5.13531598e+01] [-2.07501282e-02 -2.88459562e-04 9.99784651e-01 -6.50976425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874012739 meters 0.026267649928805953 Centerline is valid? [True, True] Translation: X:326.12, Y:-51.36, Z:-6.51 [[ 9.78396520e-01 2.05727022e-01 2.04117871e-02 3.26116685e+02] [-2.05688333e-01 9.78609376e-01 -3.99984783e-03 -5.13587321e+01] [-2.07980430e-02 -2.85029257e-04 9.99783657e-01 -6.51010774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters 0.026470834980790385 Centerline is valid? [True, True] Translation: X:326.14, Y:-51.36, Z:-6.51 [[ 9.78386996e-01 2.05797506e-01 2.01562230e-02 3.26144078e+02] [-2.05759814e-01 9.78594556e-01 -3.94880359e-03 -5.13632085e+01] [-2.05374240e-02 -2.83882611e-04 9.99789045e-01 -6.51187229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934012739 meters 0.02785703740483149 Centerline is valid? [True, True] Translation: X:326.17, Y:-51.37, Z:-6.51 [[ 9.78357040e-01 2.06051316e-01 1.89830614e-02 3.26171708e+02] [-2.06017953e-01 9.78541149e-01 -3.71790101e-03 -5.13665816e+01] [-1.93417852e-02 -2.73416822e-04 9.99812893e-01 -6.51378716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters 0.026577109575798428 Centerline is valid? [True, True] Translation: X:326.20, Y:-51.37, Z:-6.51 [[ 9.78351610e-01 2.06109835e-01 1.86242877e-02 3.26199345e+02] [-2.06077752e-01 9.78528826e-01 -3.64653280e-03 -5.13739985e+01] [-1.89759887e-02 -2.70460119e-04 9.99819903e-01 -6.51465411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994012739 meters 0.02833532015948854 Centerline is valid? [True, True] Translation: X:326.23, Y:-51.37, Z:-6.52 [[ 9.78154171e-01 2.07093110e-01 1.80793032e-02 3.26228459e+02] [-2.07063061e-01 9.78321197e-01 -3.53899239e-03 -5.13722268e+01] [-1.84202665e-02 -2.81875684e-04 9.99830293e-01 -6.51691229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters 0.02921976191816599 Centerline is valid? [True, True] Translation: X:326.26, Y:-51.37, Z:-6.52 [[ 9.77970559e-01 2.07945773e-01 1.82247234e-02 3.26257364e+02] [-2.07915408e-01 9.78140309e-01 -3.56631676e-03 -5.13744786e+01] [-1.85679371e-02 -3.01448010e-04 9.99827556e-01 -6.51717519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05401273900003 meters 0.0298666148639309 Centerline is valid? [True, True] Translation: X:326.29, Y:-51.38, Z:-6.52 [[ 9.77844119e-01 2.08579743e-01 1.77586375e-02 3.26286435e+02] [-2.08551030e-01 9.78005316e-01 -3.47430186e-03 -5.13783375e+01] [-1.80927108e-02 -3.06256490e-04 9.99836267e-01 -6.51856525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters 0.03038725688283965 Centerline is valid? [True, True] Translation: X:326.31, Y:-51.38, Z:-6.52 [[ 9.77918196e-01 2.08392008e-01 1.57725297e-02 3.26314249e+02] [-2.08369344e-01 9.78045346e-01 -3.08515385e-03 -5.13816722e+01] [-1.60691707e-02 -2.69483575e-04 9.99870846e-01 -6.52333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11401273900003 meters 0.02940767807776807 Centerline is valid? [True, True] Translation: X:326.34, Y:-51.39, Z:-6.52 [[ 9.78116697e-01 2.07480752e-01 1.54746490e-02 3.26342945e+02] [-2.07458838e-01 9.78239068e-01 -3.02590855e-03 -5.13876333e+01] [-1.57657240e-02 -2.50661015e-04 9.99875682e-01 -6.52452330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters 0.0270104138668729 Centerline is valid? [True, True] Translation: X:326.37, Y:-51.40, Z:-6.52 [[ 9.78593443e-01 2.05105766e-01 1.69262724e-02 3.26371101e+02] [-2.05079201e-01 9.78739787e-01 -3.30921024e-03 -5.13962632e+01] [-1.72451544e-02 -2.32854980e-04 9.99851264e-01 -6.52269481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17401273900003 meters 0.02617765451826967 Centerline is valid? [True, True] Translation: X:326.40, Y:-51.40, Z:-6.52 [[ 9.78852818e-01 2.03780162e-01 1.79110750e-02 3.26398302e+02] [-2.03750218e-01 9.79016647e-01 -3.50039311e-03 -5.14038694e+01] [-1.82485513e-02 -2.23015776e-04 9.99833456e-01 -6.52106132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters 0.02488358250667702 Centerline is valid? [True, True] Translation: X:326.43, Y:-51.41, Z:-6.52 [[ 9.79150815e-01 2.02230189e-01 1.91476456e-02 3.26426507e+02] [-2.02195695e-01 9.79337994e-01 -3.74084773e-03 -5.14122999e+01] [-1.95085292e-02 -2.08717413e-04 9.99809669e-01 -6.51949934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234012739 meters 0.02256453944006445 Centerline is valid? [True, True] Translation: X:326.45, Y:-51.43, Z:-6.52 [[ 9.80012162e-01 1.98002569e-01 1.92651283e-02 3.26452601e+02] [-1.97966850e-01 9.80201493e-01 -3.76288702e-03 -5.14261996e+01] [-1.96287688e-02 -1.26181730e-04 9.99807329e-01 -6.51963358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters 0.021601227773183768 Centerline is valid? [True, True] Translation: X:326.48, Y:-51.44, Z:-6.52 [[ 9.80552044e-01 1.95340790e-01 1.89648235e-02 3.26480959e+02] [-1.95305692e-01 9.80735423e-01 -3.70356037e-03 -5.14381153e+01] [-1.93229306e-02 -7.24042889e-05 9.99813292e-01 -6.52078612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294012739 meters 0.02103495693973106 Centerline is valid? [True, True] Translation: X:326.51, Y:-51.46, Z:-6.52 [[ 9.81492340e-01 1.90524567e-01 1.93177344e-02 3.26507903e+02] [-1.90487221e-01 9.81682428e-01 -3.77225077e-03 -5.14561912e+01] [-1.96825868e-02 2.26536965e-05 9.99806279e-01 -6.52073082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters 0.021308395560527642 Centerline is valid? [True, True] Translation: X:326.54, Y:-51.47, Z:-6.52 [[ 9.81866752e-01 1.88537861e-01 1.97776891e-02 3.26536860e+02] [-1.88498316e-01 9.82065920e-01 -3.86183175e-03 -5.14667600e+01] [-2.01510959e-02 6.37431094e-05 9.99796944e-01 -6.52057968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354012739 meters 0.021623534209022376 Centerline is valid? [True, True] Translation: X:326.57, Y:-51.48, Z:-6.52 [[ 9.82100148e-01 1.87236344e-01 2.05390128e-02 3.26567728e+02] [-1.87193409e-01 9.82314890e-01 -4.01059145e-03 -5.14763508e+01] [-2.09267066e-02 9.40346155e-05 9.99781008e-01 -6.52000137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters 0.022196835153205807 Centerline is valid? [True, True] Translation: X:326.60, Y:-51.49, Z:-6.52 [[ 9.82403135e-01 1.85674557e-01 2.02246988e-02 3.26597498e+02] [-1.85632527e-01 9.82611288e-01 -3.95255213e-03 -5.14891897e+01] [-2.06069057e-02 1.28637662e-04 9.99787647e-01 -6.52076787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414012739 meters 0.02223609430273221 Centerline is valid? [True, True] Translation: X:326.63, Y:-51.50, Z:-6.52 [[ 9.82351296e-01 1.86183016e-01 1.79392313e-02 3.26628190e+02] [-1.86149990e-01 9.82515075e-01 -3.50830119e-03 -5.14998731e+01] [-1.82787513e-02 1.06996499e-04 9.99832924e-01 -6.52470474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters 0.021864511256696105 Centerline is valid? [True, True] Translation: X:326.66, Y:-51.51, Z:-6.53 [[ 9.82205632e-01 1.86998196e-01 1.74290598e-02 3.26660434e+02] [-1.86967097e-01 9.82360253e-01 -3.41150695e-03 -5.15071400e+01] [-1.77595613e-02 9.21406139e-05 9.99842282e-01 -6.52597118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474012739 meters 0.021806214270199294 Centerline is valid? [True, True] Translation: X:326.69, Y:-51.52, Z:-6.53 [[ 9.82114786e-01 1.87421149e-01 1.79961305e-02 3.26692791e+02] [-1.87387997e-01 9.82279647e-01 -3.52615493e-03 -5.15159621e+01] [-1.83381087e-02 9.08300510e-05 9.99831839e-01 -6.52614530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters 0.02164966808924627 Centerline is valid? [True, True] Translation: X:326.72, Y:-51.53, Z:-6.53 [[ 9.82063460e-01 1.87582735e-01 1.90808496e-02 3.26723080e+02] [-1.87545419e-01 9.82248801e-01 -3.74270168e-03 -5.15258524e+01] [-1.94442079e-02 9.70446238e-05 9.99810939e-01 -6.52512662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534012739 meters 0.02184553754697306 Centerline is valid? [True, True] Translation: X:326.75, Y:-51.54, Z:-6.52 [[ 9.82187810e-01 1.86696473e-01 2.12492819e-02 3.26751811e+02] [-1.86649894e-01 9.82417635e-01 -4.17224655e-03 -5.15425725e+01] [-2.16546130e-02 1.31753494e-04 9.99765503e-01 -6.52176109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters 0.022117234409758206 Centerline is valid? [True, True] Translation: X:326.78, Y:-51.56, Z:-6.52 [[ 9.82248413e-01 1.86439609e-01 2.06960648e-02 3.26781582e+02] [-1.86395326e-01 9.82466414e-01 -4.06553999e-03 -5.15576257e+01] [-2.10911663e-02 1.35720453e-04 9.99777547e-01 -6.52258547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594012739 meters 0.02177790712947673 Centerline is valid? [True, True] Translation: X:326.81, Y:-51.57, Z:-6.53 [[ 9.82026205e-01 1.87744501e-01 1.94045324e-02 3.26812422e+02] [-1.87705785e-01 9.82217894e-01 -3.81399745e-03 -5.15650627e+01] [-1.97755360e-02 1.03102474e-04 9.99804440e-01 -6.52538762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters 0.02124252331515313 Centerline is valid? [True, True] Translation: X:326.84, Y:-51.57, Z:-6.53 [[ 9.81572326e-01 1.90190782e-01 1.85265996e-02 3.26843168e+02] [-1.90155869e-01 9.81747148e-01 -3.64444192e-03 -5.15706935e+01] [-1.88815756e-02 5.43416846e-05 9.99821726e-01 -6.52808382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654012739 meters 0.022060657132326255 Centerline is valid? [True, True] Translation: X:326.88, Y:-51.57, Z:-6.53 [[ 9.79999748e-01 1.98315798e-01 1.64723511e-02 3.26875836e+02] [-1.98289307e-01 9.80138172e-01 -3.24257799e-03 -5.15670474e+01] [-1.67882345e-02 -8.85654743e-05 9.99859064e-01 -6.53146819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters 0.024363413271280346 Centerline is valid? [True, True] Translation: X:326.91, Y:-51.56, Z:-6.53 [[ 9.79004197e-01 2.03166381e-01 1.65591123e-02 3.26908276e+02] [-2.03140252e-01 9.79144215e-01 -3.26266520e-03 -5.15649915e+01] [-1.68766229e-02 -1.69659335e-04 9.99857565e-01 -6.53167726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714012739 meters 0.031054838506174794 Centerline is valid? [True, True] Translation: X:326.94, Y:-51.56, Z:-6.53 [[ 9.77116092e-01 2.12015807e-01 1.71301194e-02 3.26940771e+02] [-2.11989193e-01 9.77266180e-01 -3.37569299e-03 -5.15556187e+01] [-1.74563866e-02 -3.32956259e-04 9.99847570e-01 -6.53133466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters 0.0326428350014638 Centerline is valid? [True, True] Translation: X:326.97, Y:-51.56, Z:-6.53 [[ 9.76412204e-01 2.15226279e-01 1.72295084e-02 3.26971495e+02] [-2.15199859e-01 9.76564127e-01 -3.39504095e-03 -5.15580888e+01] [-1.75564218e-02 -3.92828355e-04 9.99845797e-01 -6.53130194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774012739 meters 0.0372224172330707 Centerline is valid? [True, True] Translation: X:327.00, Y:-51.56, Z:-6.53 [[ 9.75849725e-01 2.17750548e-01 1.73785098e-02 3.27000776e+02] [-2.17724066e-01 9.76004356e-01 -3.42452511e-03 -5.15554917e+01] [-1.77071935e-02 -4.41897943e-04 9.99843118e-01 -6.53261071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters 0.039784181035624144 Centerline is valid? [True, True] Translation: X:327.03, Y:-51.55, Z:-6.53 [[ 9.75255647e-01 2.20374714e-01 1.76467514e-02 3.27031305e+02] [-2.20347853e-01 9.75415162e-01 -3.47647908e-03 -5.15525926e+01] [-1.79790369e-02 -4.97967927e-04 9.99838240e-01 -6.53364112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834012739 meters 0.04002691985924802 Centerline is valid? [True, True] Translation: X:327.06, Y:-51.56, Z:-6.53 [[ 9.75277083e-01 2.20251512e-01 1.79967676e-02 3.27060342e+02] [-2.20223566e-01 9.75442984e-01 -3.54481686e-03 -5.15555270e+01] [-1.83355719e-02 -5.06133693e-04 9.99831761e-01 -6.53408052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters 0.038067807846112904 Centerline is valid? [True, True] Translation: X:327.09, Y:-51.56, Z:-6.53 [[ 9.75763671e-01 2.18064163e-01 1.82559259e-02 3.27088858e+02] [-2.18035039e-01 9.75934320e-01 -3.59500971e-03 -5.15600618e+01] [-1.86005274e-02 -4.72551638e-04 9.99826884e-01 -6.53374558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894012739 meters 0.03731953215215696 Centerline is valid? [True, True] Translation: X:327.12, Y:-51.56, Z:-6.53 [[ 9.76036230e-01 2.16885720e-01 1.77161509e-02 3.27116531e+02] [-2.16858113e-01 9.76196903e-01 -3.48795372e-03 -5.15633807e+01] [-1.80509390e-02 -4.37521871e-04 9.99836973e-01 -6.53474215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters 0.03731953215215696 Centerline is valid? [True, True] Translation: X:327.14, Y:-51.57, Z:-6.54 [[ 9.76045713e-01 2.16843024e-01 1.77163478e-02 3.27144349e+02] [-2.16815428e-01 9.76206388e-01 -3.48695337e-03 -5.15687636e+01] [-1.80509334e-02 -4.37751648e-04 9.99836973e-01 -6.53531758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954012739 meters 0.03613001004038204 Centerline is valid? [True, True] Translation: X:327.17, Y:-51.57, Z:-6.54 [[ 9.76316249e-01 2.15630096e-01 1.76137492e-02 3.27172894e+02] [-2.15602636e-01 9.76475033e-01 -3.46596499e-03 -5.15727867e+01] [-1.79467527e-02 -4.13692798e-04 9.99838858e-01 -6.53637170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters 0.0333680228425043 Centerline is valid? [True, True] Translation: X:327.20, Y:-51.58, Z:-6.54 [[ 9.77006007e-01 2.12423009e-01 1.83228943e-02 3.27199946e+02] [-2.12392745e-01 9.77177736e-01 -3.60465583e-03 -5.15785480e+01] [-1.86704362e-02 -3.69879401e-04 9.99825624e-01 -6.53635272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014012739 meters 0.027368326230485924 Centerline is valid? [True, True] Translation: X:327.23, Y:-51.60, Z:-6.54 [[ 9.78000110e-01 2.07810669e-01 1.81799408e-02 3.27227181e+02] [-2.07780098e-01 9.78169028e-01 -3.57543820e-03 -5.15951714e+01] [-1.85260692e-02 -2.80650925e-04 9.99828338e-01 -6.53570263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters 0.026777001432794607 Centerline is valid? [True, True] Translation: X:327.25, Y:-51.60, Z:-6.54 [[ 9.78590134e-01 2.05007374e-01 1.82572082e-02 3.27254829e+02] [-2.04976058e-01 9.78760402e-01 -3.59045267e-03 -5.16015130e+01] [-1.86055017e-02 -2.28709001e-04 9.99826877e-01 -6.53601377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074012739 meters 0.024374915980187387 Centerline is valid? [True, True] Translation: X:327.28, Y:-51.61, Z:-6.54 [[ 9.79230755e-01 2.01883522e-01 1.87128698e-02 3.27281844e+02] [-2.01850066e-01 9.79409523e-01 -3.67936640e-03 -5.16119780e+01] [-1.90703663e-02 -1.74245253e-04 9.99818129e-01 -6.53553769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters 0.02123467731625044 Centerline is valid? [True, True] Translation: X:327.31, Y:-51.63, Z:-6.53 [[ 9.80526192e-01 1.95287641e-01 2.07635331e-02 3.27308938e+02] [-1.95244985e-01 9.80746009e-01 -4.08182891e-03 -5.16314705e+01] [-2.11608829e-02 -5.16355428e-05 9.99776082e-01 -6.53270871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134012739 meters 0.020896671362172468 Centerline is valid? [True, True] Translation: X:327.34, Y:-51.64, Z:-6.53 [[ 9.81051978e-01 1.92582060e-01 2.11935511e-02 3.27338265e+02] [-1.92536983e-01 9.81280872e-01 -4.16654788e-03 -5.16443020e+01] [-2.15992287e-02 7.05764380e-06 9.99766709e-01 -6.53236571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters 0.021308595398783808 Centerline is valid? [True, True] Translation: X:327.37, Y:-51.66, Z:-6.53 [[ 9.81501521e-01 1.90384637e-01 2.02102687e-02 3.27369545e+02] [-1.90343123e-01 9.81709574e-01 -3.97603526e-03 -5.16574525e+01] [-2.05975903e-02 5.55990101e-05 9.99787846e-01 -6.53468652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194012739 meters 0.02145262307443738 Centerline is valid? [True, True] Translation: X:327.40, Y:-51.67, Z:-6.54 [[ 9.81510469e-01 1.90452376e-01 1.91073694e-02 3.27399816e+02] [-1.90415218e-01 9.81696435e-01 -3.76232977e-03 -5.16652837e+01] [-1.94741811e-02 5.44321538e-05 9.99810359e-01 -6.53780840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters 0.02133570563801871 Centerline is valid? [True, True] Translation: X:327.43, Y:-51.67, Z:-6.54 [[ 9.81372824e-01 1.91283952e-01 1.78277834e-02 3.27430833e+02] [-1.91251718e-01 9.81534741e-01 -3.51169979e-03 -5.16723836e+01] [-1.81703206e-02 3.66925286e-05 9.99834905e-01 -6.54084010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254012739 meters 0.021600781533491615 Centerline is valid? [True, True] Translation: X:327.46, Y:-51.68, Z:-6.55 [[ 9.80837469e-01 1.94223546e-01 1.53321185e-02 3.27460359e+02] [-1.94200024e-01 9.80957295e-01 -3.02270035e-03 -5.16767169e+01] [-1.56272331e-02 -1.27200237e-05 9.99877887e-01 -6.54671065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters 0.02198185391072255 Centerline is valid? [True, True] Translation: X:327.49, Y:-51.68, Z:-6.55 [[ 9.80484986e-01 1.96027138e-01 1.49182492e-02 3.27490384e+02] [-1.96005073e-01 9.80598470e-01 -2.94142931e-03 -5.16799361e+01] [-1.52054124e-02 -4.00252582e-05 9.99884390e-01 -6.54846237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314012739 meters 0.023635098551087662 Centerline is valid? [True, True] Translation: X:327.52, Y:-51.68, Z:-6.55 [[ 9.79652147e-01 2.00093175e-01 1.56330279e-02 3.27518668e+02] [-2.00069465e-01 9.79776867e-01 -3.08213842e-03 -5.16783617e+01] [-1.59335940e-02 -1.08268022e-04 9.99873046e-01 -6.54773044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters 0.024755988425126347 Centerline is valid? [True, True] Translation: X:327.55, Y:-51.68, Z:-6.55 [[ 9.79278262e-01 2.01838937e-01 1.65870090e-02 3.27547722e+02] [-2.01812512e-01 9.79418717e-01 -3.26921149e-03 -5.16810869e+01] [-1.69054812e-02 -1.45998212e-04 9.99857081e-01 -6.54542558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374012739 meters 0.024357942979025115 Centerline is valid? [True, True] Translation: X:327.58, Y:-51.69, Z:-6.54 [[ 9.78930399e-01 2.03448923e-01 1.74301636e-02 3.27577872e+02] [-2.03420015e-01 9.79085544e-01 -3.43442833e-03 -5.16888580e+01] [-1.77643519e-02 -1.83577842e-04 9.99842185e-01 -6.54315921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters 0.026741150384483107 Centerline is valid? [True, True] Translation: X:327.61, Y:-51.69, Z:-6.54 [[ 9.78741607e-01 2.04288135e-01 1.81995716e-02 3.27608102e+02] [-2.04256755e-01 9.78910780e-01 -3.58653933e-03 -5.16897417e+01] [-1.85484443e-02 -2.07090175e-04 9.99827941e-01 -6.54355021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434012739 meters 0.024287925133848982 Centerline is valid? [True, True] Translation: X:327.64, Y:-51.70, Z:-6.54 [[ 9.78954404e-01 2.03204641e-01 1.88719047e-02 3.27637935e+02] [-2.03170698e-01 9.79136271e-01 -3.71900904e-03 -5.17003554e+01] [-1.92338863e-02 -1.93477785e-04 9.99814993e-01 -6.54286114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters 0.023839974544136073 Centerline is valid? [True, True] Translation: X:327.67, Y:-51.71, Z:-6.54 [[ 9.79064955e-01 2.02604453e-01 1.95767516e-02 3.27668450e+02] [-2.02567797e-01 9.79260640e-01 -3.85839570e-03 -5.17068151e+01] [-1.99524705e-02 -1.87999439e-04 9.99800912e-01 -6.54172900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494012739 meters 0.025039451654163342 Centerline is valid? [True, True] Translation: X:327.70, Y:-51.71, Z:-6.54 [[ 9.79108899e-01 2.02322795e-01 2.02793383e-02 3.27699075e+02] [-2.02283390e-01 9.79318871e-01 -3.99736979e-03 -5.17089929e+01] [-2.06686978e-02 -1.88312961e-04 9.99786362e-01 -6.54025578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters 0.023648212481929054 Centerline is valid? [True, True] Translation: X:327.73, Y:-51.72, Z:-6.54 [[ 9.79103631e-01 2.02336425e-01 2.03973408e-02 3.27729426e+02] [-2.02296558e-01 9.79316055e-01 -4.02088209e-03 -5.17171640e+01] [-2.07890143e-02 -1.89451581e-04 9.99783867e-01 -6.54052163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55401273900003 meters 0.02426953334406654 Centerline is valid? [True, True] Translation: X:327.76, Y:-51.72, Z:-6.54 [[ 9.78797611e-01 2.03784225e-01 2.06694480e-02 3.27761382e+02] [-2.03743599e-01 9.79015802e-01 -4.07502547e-03 -5.17188674e+01] [-2.10661421e-02 -2.22642519e-04 9.99778059e-01 -6.54080227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters 0.025059716441887342 Centerline is valid? [True, True] Translation: X:327.79, Y:-51.72, Z:-6.54 [[ 9.78502826e-01 2.05130825e-01 2.12970686e-02 3.27792956e+02] [-2.05088001e-01 9.78734529e-01 -4.19929422e-03 -5.17212847e+01] [-2.17055811e-02 -2.58751976e-04 9.99764373e-01 -6.53976781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61401273900003 meters 0.025030468860519933 Centerline is valid? [True, True] Translation: X:327.82, Y:-51.73, Z:-6.54 [[ 9.78596338e-01 2.04667003e-01 2.14621746e-02 3.27822877e+02] [-2.04623390e-01 9.78831628e-01 -4.23235437e-03 -5.17264813e+01] [-2.18740786e-02 -2.49896445e-04 9.99760702e-01 -6.54020857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters 0.024141140758462132 Centerline is valid? [True, True] Translation: X:327.85, Y:-51.73, Z:-6.54 [[ 9.78818458e-01 2.03638692e-01 2.11118064e-02 3.27853527e+02] [-2.03596247e-01 9.79046083e-01 -4.16352701e-03 -5.17338757e+01] [-2.15172866e-02 -2.22947459e-04 9.99768452e-01 -6.54123453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.674012739 meters 0.023588074101397728 Centerline is valid? [True, True] Translation: X:327.88, Y:-51.74, Z:-6.54 [[ 9.79095586e-01 2.02376270e-01 2.03882029e-02 3.27883714e+02] [-2.02336400e-01 9.79307822e-01 -4.02136316e-03 -5.17416957e+01] [-2.07801550e-02 -1.87976642e-04 9.99784052e-01 -6.54388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters 0.022049982817089198 Centerline is valid? [True, True] Translation: X:327.91, Y:-51.76, Z:-6.55 [[ 9.79742996e-01 1.99331531e-01 1.92510393e-02 3.27914055e+02] [-1.99295340e-01 9.79932104e-01 -3.79990700e-03 -5.17552180e+01] [-1.96221527e-02 -1.13710170e-04 9.99807461e-01 -6.54733435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734012739 meters 0.021820066933400183 Centerline is valid? [True, True] Translation: X:327.95, Y:-51.76, Z:-6.55 [[ 9.79884407e-01 1.98660286e-01 1.89905043e-02 3.27946096e+02] [-1.98624882e-01 9.80068407e-01 -3.75165198e-03 -5.17648441e+01] [-1.93572975e-02 -9.58013931e-05 9.99812625e-01 -6.54824179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters 0.021849020341486593 Centerline is valid? [True, True] Translation: X:327.98, Y:-51.77, Z:-6.55 [[ 9.79848238e-01 1.98886489e-01 1.84823077e-02 3.27977428e+02] [-1.98852926e-01 9.80022528e-01 -3.65488949e-03 -5.17715976e+01] [-1.88399860e-02 -9.40239337e-05 9.99822507e-01 -6.54872243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794012739 meters 0.022252065189894244 Centerline is valid? [True, True] Translation: X:328.01, Y:-51.78, Z:-6.55 [[ 9.79552157e-01 2.00388580e-01 1.79440253e-02 3.28008974e+02] [-2.00357159e-01 9.79716491e-01 -3.55046365e-03 -5.17755281e+01] [-1.82915298e-02 -1.17349587e-04 9.99832689e-01 -6.55030241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters 0.02366977107142599 Centerline is valid? [True, True] Translation: X:328.04, Y:-51.78, Z:-6.55 [[ 9.79120898e-01 2.02519382e-01 1.75546551e-02 3.28039519e+02] [-2.02489593e-01 9.79278243e-01 -3.47672958e-03 -5.17757126e+01] [-1.78949969e-02 -1.50496375e-04 9.99839860e-01 -6.55200008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854012739 meters 0.0271615092486632 Centerline is valid? [True, True] Translation: X:328.07, Y:-51.77, Z:-6.55 [[ 9.77899913e-01 2.08409851e-01 1.66461636e-02 3.28070990e+02] [-2.08383913e-01 9.78041550e-01 -3.29710966e-03 -5.17692402e+01] [-1.69677898e-02 -2.44549449e-04 9.99856007e-01 -6.55418834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters 0.030410366119755124 Centerline is valid? [True, True] Translation: X:328.10, Y:-51.76, Z:-6.55 [[ 9.76849264e-01 2.13217771e-01 1.74269410e-02 3.28102918e+02] [-2.13190114e-01 9.77004639e-01 -3.45131305e-03 -5.17618976e+01] [-1.77620835e-02 -3.43838924e-04 9.99842183e-01 -6.55390514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914012739 meters 0.03199144611557228 Centerline is valid? [True, True] Translation: X:328.13, Y:-51.76, Z:-6.55 [[ 9.76590162e-01 2.14370362e-01 1.78045873e-02 3.28131217e+02] [-2.14341691e-01 9.76752378e-01 -3.52575213e-03 -5.17620218e+01] [-1.81464897e-02 -3.73050503e-04 9.99835269e-01 -6.55402742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters 0.03193838689735335 Centerline is valid? [True, True] Translation: X:328.16, Y:-51.77, Z:-6.55 [[ 9.76616302e-01 2.14236069e-01 1.79862389e-02 3.28159988e+02] [-2.14206810e-01 9.76781841e-01 -3.56044260e-03 -5.17654954e+01] [-1.83314068e-02 -3.75588577e-04 9.99831895e-01 -6.55420879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974012739 meters 0.031457676158152634 Centerline is valid? [True, True] Translation: X:328.19, Y:-51.77, Z:-6.55 [[ 9.76827769e-01 2.13267386e-01 1.80147627e-02 3.28187439e+02] [-2.13237885e-01 9.76993804e-01 -3.56524936e-03 -5.17694040e+01] [-1.83606629e-02 -3.58795322e-04 9.99831364e-01 -6.55466142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters 0.02894564931205787 Centerline is valid? [True, True] Translation: X:328.22, Y:-51.77, Z:-6.56 [[ 9.77454218e-01 2.10418816e-01 1.75263668e-02 3.28216324e+02] [-2.10390454e-01 9.77611289e-01 -3.46750969e-03 -5.17724101e+01] [-1.78636034e-02 -2.98048306e-04 9.99840389e-01 -6.55657179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034012739 meters 0.027367459920878606 Centerline is valid? [True, True] Translation: X:328.25, Y:-51.77, Z:-6.56 [[ 9.77810056e-01 2.08697268e-01 1.82467487e-02 3.28245705e+02] [-2.08666245e-01 9.77980252e-01 -3.60909823e-03 -5.17747589e+01] [-1.85981688e-02 -2.78467988e-04 9.99827000e-01 -6.55738631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters 0.027304427622162453 Centerline is valid? [True, True] Translation: X:328.27, Y:-51.78, Z:-6.56 [[ 9.77898805e-01 2.08285284e-01 1.81979940e-02 3.28273463e+02] [-2.08254366e-01 9.78068079e-01 -3.59883936e-03 -5.17778246e+01] [-1.85484623e-02 -2.70510983e-04 9.99827926e-01 -6.55731478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094012739 meters 0.02723740045413843 Centerline is valid? [True, True] Translation: X:328.30, Y:-51.78, Z:-6.56 [[ 9.77899029e-01 2.08276652e-01 1.82845533e-02 3.28302801e+02] [-2.08245461e-01 9.78069917e-01 -3.61474003e-03 -5.17805876e+01] [-1.86364375e-02 -2.72824465e-04 9.99826289e-01 -6.55724782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters 0.028722452217656156 Centerline is valid? [True, True] Translation: X:328.33, Y:-51.78, Z:-6.56 [[ 9.77693512e-01 2.09235135e-01 1.83318023e-02 3.28332057e+02] [-2.09203967e-01 9.77865314e-01 -3.62320671e-03 -5.17761323e+01] [-1.86841357e-02 -2.92700075e-04 9.99825393e-01 -6.55646525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154012739 meters 0.028526543111312506 Centerline is valid? [True, True] Translation: X:328.36, Y:-51.78, Z:-6.56 [[ 9.77522729e-01 2.10043242e-01 1.81975530e-02 3.28360550e+02] [-2.10012689e-01 9.77692049e-01 -3.59556468e-03 -5.17791201e+01] [-1.85468269e-02 -3.06970828e-04 9.99827946e-01 -6.55724003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters 0.028809315876514797 Centerline is valid? [True, True] Translation: X:328.39, Y:-51.78, Z:-6.56 [[ 9.77367861e-01 2.10666242e-01 1.92820840e-02 3.28389787e+02] [-2.10632080e-01 9.77557988e-01 -3.80885707e-03 -5.17806710e+01] [-1.96517528e-02 -3.38770969e-04 9.99806828e-01 -6.55724509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214012739 meters 0.02834331979636046 Centerline is valid? [True, True] Translation: X:328.42, Y:-51.79, Z:-6.56 [[ 9.77485815e-01 2.10063031e-01 1.98747215e-02 3.28418314e+02] [-2.10026632e-01 9.77687787e-01 -3.92491963e-03 -5.17850641e+01] [-2.02557530e-02 -3.37667567e-04 9.99794774e-01 -6.55692463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters 0.027797384062909648 Centerline is valid? [True, True] Translation: X:328.45, Y:-51.79, Z:-6.56 [[ 9.77660265e-01 2.09245771e-01 1.99151595e-02 3.28446694e+02] [-2.09209074e-01 9.77863029e-01 -3.93192793e-03 -5.17888474e+01] [-2.02970374e-02 -3.22342357e-04 9.99793942e-01 -6.55740711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274012739 meters 0.027266292174044554 Centerline is valid? [True, True] Translation: X:328.47, Y:-51.79, Z:-6.56 [[ 9.78020986e-01 2.07589991e-01 1.95281150e-02 3.28474945e+02] [-2.07554395e-01 9.78215884e-01 -3.85458080e-03 -5.17906591e+01] [-1.99028847e-02 -2.83285191e-04 9.99801878e-01 -6.55888427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters 0.026174694982762262 Centerline is valid? [True, True] Translation: X:328.50, Y:-51.80, Z:-6.56 [[ 9.78257468e-01 2.06417928e-01 2.00989083e-02 3.28503780e+02] [-2.06379998e-01 9.78463881e-01 -3.96598976e-03 -5.17958397e+01] [-2.04847072e-02 -2.68253559e-04 9.99790130e-01 -6.55791789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334012739 meters 0.026584763680506232 Centerline is valid? [True, True] Translation: X:328.53, Y:-51.80, Z:-6.56 [[ 9.78361109e-01 2.05911401e-01 2.02493158e-02 3.28531837e+02] [-2.05872809e-01 9.78570604e-01 -3.99491932e-03 -5.17988213e+01] [-2.06379847e-02 -2.60309829e-04 9.99786980e-01 -6.55847629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters 0.026148834150816765 Centerline is valid? [True, True] Translation: X:328.56, Y:-51.80, Z:-6.56 [[ 9.78460770e-01 2.05431688e-01 2.03062191e-02 3.28560440e+02] [-2.05392801e-01 9.78671425e-01 -4.00491687e-03 -5.18031086e+01] [-2.06958532e-02 -2.52097178e-04 9.99785786e-01 -6.55902367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394012739 meters 0.025062720851051476 Centerline is valid? [True, True] Translation: X:328.59, Y:-51.81, Z:-6.56 [[ 9.78545240e-01 2.04992737e-01 2.06686014e-02 3.28588780e+02] [-2.04952373e-01 9.78763463e-01 -4.07540665e-03 -5.18094424e+01] [-2.10651007e-02 -2.48109124e-04 9.99778075e-01 -6.55980510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters 0.02532436236905714 Centerline is valid? [True, True] Translation: X:328.62, Y:-51.82, Z:-6.56 [[ 9.78705127e-01 2.04245169e-01 2.04984222e-02 3.28616249e+02] [-2.04205324e-01 9.78919740e-01 -4.04085055e-03 -5.18153226e+01] [-2.08916343e-02 -2.31085784e-04 9.99781719e-01 -6.56037248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454012739 meters 0.024468219616092815 Centerline is valid? [True, True] Translation: X:328.64, Y:-51.82, Z:-6.56 [[ 9.79093161e-01 2.02460316e-01 1.96571056e-02 3.28643023e+02] [-2.02423337e-01 9.79290450e-01 -3.87385611e-03 -5.18243416e+01] [-2.00343180e-02 -1.86190889e-04 9.99799276e-01 -6.56214115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters 0.023366154712102447 Centerline is valid? [True, True] Translation: X:328.67, Y:-51.83, Z:-6.56 [[ 9.79271104e-01 2.01672038e-01 1.88810313e-02 3.28670223e+02] [-2.01637796e-01 9.79453093e-01 -3.71985068e-03 -5.18334617e+01] [-1.92432743e-02 -1.64387247e-04 9.99814818e-01 -6.56405181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514012739 meters 0.023103598049053098 Centerline is valid? [True, True] Translation: X:328.70, Y:-51.84, Z:-6.57 [[ 9.79405579e-01 2.01036945e-01 1.86777519e-02 3.28698393e+02] [-2.01003339e-01 9.79583648e-01 -3.67888372e-03 -5.18405567e+01] [-1.90360119e-02 -1.51171245e-04 9.99818787e-01 -6.56522975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters 0.023066230208116188 Centerline is valid? [True, True] Translation: X:328.73, Y:-51.85, Z:-6.56 [[ 9.79518365e-01 2.00414461e-01 1.94375044e-02 3.28725241e+02] [-2.00377961e-01 9.79711194e-01 -3.82752955e-03 -5.18493596e+01] [-1.98102329e-02 -1.45712022e-04 9.99803747e-01 -6.56413926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574012739 meters 0.02299454857704788 Centerline is valid? [True, True] Translation: X:328.75, Y:-51.86, Z:-6.56 [[ 9.79556082e-01 2.00207281e-01 1.96704578e-02 3.28753568e+02] [-2.00169884e-01 9.79753553e-01 -3.87216825e-03 -5.18561041e+01] [-2.00474372e-02 -1.44427293e-04 9.99799020e-01 -6.56449123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters 0.023455086718238885 Centerline is valid? [True, True] Translation: X:328.78, Y:-51.86, Z:-6.57 [[ 9.79448516e-01 2.00820163e-01 1.87581327e-02 3.28781229e+02] [-2.00786283e-01 9.79628113e-01 -3.69175241e-03 -5.18603657e+01] [-1.91173724e-02 -1.50494314e-04 9.99817235e-01 -6.56744947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634012739 meters 0.023424175987334494 Centerline is valid? [True, True] Translation: X:328.81, Y:-51.87, Z:-6.57 [[ 9.79415440e-01 2.01041029e-01 1.81080493e-02 3.28808819e+02] [-2.01009516e-01 9.79582810e-01 -3.56265363e-03 -5.18673360e+01] [-1.84545734e-02 -1.50572241e-04 9.99829689e-01 -6.56924152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters 0.02364360372978908 Centerline is valid? [True, True] Translation: X:328.84, Y:-51.87, Z:-6.57 [[ 9.79363858e-01 2.01321961e-01 1.77736266e-02 3.28836967e+02] [-2.01291663e-01 9.79525112e-01 -3.49601038e-03 -5.18736465e+01] [-1.81135373e-02 -1.53816652e-04 9.99835925e-01 -6.57021856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694012739 meters 0.02387883216380741 Centerline is valid? [True, True] Translation: X:328.86, Y:-51.88, Z:-6.57 [[ 9.79305141e-01 2.01545057e-01 1.84670164e-02 3.28864426e+02] [-2.01512406e-01 9.79479230e-01 -3.63147873e-03 -5.18797421e+01] [-1.88199656e-02 -1.65007102e-04 9.99822875e-01 -6.56927334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters 0.023136667291901433 Centerline is valid? [True, True] Translation: X:328.89, Y:-51.89, Z:-6.57 [[ 9.79432536e-01 2.00842434e-01 1.93448527e-02 3.28892661e+02] [-2.00806492e-01 9.79623546e-01 -3.80286487e-03 -5.18872862e+01] [-1.97144498e-02 -1.59922418e-04 9.99805639e-01 -6.56802856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754012739 meters 0.022819881774846455 Centerline is valid? [True, True] Translation: X:328.92, Y:-51.89, Z:-6.57 [[ 9.79637096e-01 1.99803183e-01 1.97446009e-02 3.28919863e+02] [-1.99765548e-01 9.79836041e-01 -3.88046482e-03 -5.18938120e+01] [-2.01218008e-02 -1.42843739e-04 9.99797526e-01 -6.56829706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters 0.02222288466298652 Centerline is valid? [True, True] Translation: X:328.95, Y:-51.90, Z:-6.57 [[ 9.79905318e-01 1.98448474e-01 2.00940785e-02 3.28947739e+02] [-1.98409235e-01 9.80111315e-01 -3.94790642e-03 -5.19017659e+01] [-2.04778897e-02 -1.18276267e-04 9.99790299e-01 -6.56831347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814012739 meters 0.02183374571374269 Centerline is valid? [True, True] Translation: X:328.97, Y:-51.91, Z:-6.57 [[ 9.80143787e-01 1.97238729e-01 2.03725338e-02 3.28974391e+02] [-1.97198155e-01 9.80355484e-01 -4.00161325e-03 -5.19091512e+01] [-2.07615983e-02 -9.52696979e-05 9.99784450e-01 -6.56832781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters 0.02183374571374269 Centerline is valid? [True, True] Translation: X:329.00, Y:-51.91, Z:-6.57 [[ 9.80152742e-01 1.97194203e-01 2.03727636e-02 3.29002202e+02] [-1.97153643e-01 9.80364441e-01 -4.00044283e-03 -5.19145194e+01] [-2.07615971e-02 -9.55195576e-05 9.99784450e-01 -6.56890308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874012739 meters 0.021471944624701506 Centerline is valid? [True, True] Translation: X:329.03, Y:-51.92, Z:-6.57 [[ 9.80324798e-01 1.96318082e-01 2.05548409e-02 3.29030229e+02] [-1.96276622e-01 9.80540262e-01 -4.03521708e-03 -5.19219057e+01] [-2.09470351e-02 -7.86113619e-05 9.99780584e-01 -6.56973820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters 0.02161531498548088 Centerline is valid? [True, True] Translation: X:329.06, Y:-51.93, Z:-6.57 [[ 9.80305112e-01 1.96475394e-01 1.99826506e-02 3.29057237e+02] [-1.96436263e-01 9.80508752e-01 -3.92193892e-03 -5.19262317e+01] [-2.03637283e-02 -8.06204283e-05 9.99792635e-01 -6.57053120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934012739 meters 0.021864332267711145 Centerline is valid? [True, True] Translation: X:329.09, Y:-51.93, Z:-6.57 [[ 9.80207816e-01 1.97072142e-01 1.88469704e-02 3.29085892e+02] [-1.97037464e-01 9.80388985e-01 -3.69795299e-03 -5.19283583e+01] [-1.92061257e-02 -8.87968372e-05 9.99815541e-01 -6.57318436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters 0.02216095498295922 Centerline is valid? [True, True] Translation: X:329.11, Y:-51.93, Z:-6.57 [[ 9.80072571e-01 1.97729555e-01 1.89941688e-02 3.29113941e+02] [-1.97694474e-01 9.80256605e-01 -3.72592574e-03 -5.19305364e+01] [-1.93558850e-02 -1.03364578e-04 9.99812652e-01 -6.57366385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994012739 meters 0.022564059502877376 Centerline is valid? [True, True] Translation: X:329.14, Y:-51.93, Z:-6.57 [[ 9.79913221e-01 1.98481427e-01 1.93701399e-02 3.29141642e+02] [-1.98445113e-01 9.80104642e-01 -3.79849414e-03 -5.19322765e+01] [-1.97386945e-02 -1.21714974e-04 9.99805166e-01 -6.57375196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters 0.022883252846587942 Centerline is valid? [True, True] Translation: X:329.17, Y:-51.93, Z:-6.58 [[ 9.79705239e-01 1.99529571e-01 1.91205128e-02 3.29170286e+02] [-1.99494409e-01 9.79891795e-01 -3.74843101e-03 -5.19335817e+01] [-1.94839564e-02 -1.42077903e-04 9.99810160e-01 -6.57549509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05401273900003 meters 0.023158214885576595 Centerline is valid? [True, True] Translation: X:329.20, Y:-51.94, Z:-6.58 [[ 9.79676904e-01 1.99726924e-01 1.85019005e-02 3.29198134e+02] [-1.99694052e-01 9.79851589e-01 -3.62629996e-03 -5.19359284e+01] [-1.88533864e-02 -1.42117169e-04 9.99822249e-01 -6.57715521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters 0.02348175623308676 Centerline is valid? [True, True] Translation: X:329.23, Y:-51.94, Z:-6.58 [[ 9.79615447e-01 2.00127866e-01 1.73900264e-02 3.29226435e+02] [-2.00098907e-01 9.79769778e-01 -3.40738806e-03 -5.19357477e+01] [-1.77201356e-02 -1.41795314e-04 9.99842976e-01 -6.57893874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11401273900003 meters 0.023592053877271903 Centerline is valid? [True, True] Translation: X:329.25, Y:-51.94, Z:-6.58 [[ 9.79577619e-01 2.00261859e-01 1.79687620e-02 3.29253134e+02] [-2.00230982e-01 9.79742397e-01 -3.51973005e-03 -5.19381740e+01] [-1.83096256e-02 -1.50054079e-04 9.99832353e-01 -6.57871128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters 0.02323548802652455 Centerline is valid? [True, True] Translation: X:329.28, Y:-51.94, Z:-6.58 [[ 9.79532461e-01 2.00303253e-01 1.98687003e-02 3.29280955e+02] [-2.00265545e-01 9.79733933e-01 -3.89008927e-03 -5.19403306e+01] [-2.02452374e-02 -1.68547375e-04 9.99795030e-01 -6.57531659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.174012739 meters 0.02306975156447781 Centerline is valid? [True, True] Translation: X:329.31, Y:-51.94, Z:-6.57 [[ 9.79512912e-01 2.00308434e-01 2.07602172e-02 3.29308855e+02] [-2.00267301e-01 9.79732872e-01 -4.06307312e-03 -5.19439694e+01] [-2.11533351e-02 -1.77760081e-04 9.99776227e-01 -6.57431025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters 0.023375959908492314 Centerline is valid? [True, True] Translation: X:329.34, Y:-51.95, Z:-6.57 [[ 9.79527750e-01 2.00198914e-01 2.11135430e-02 3.29335638e+02] [-2.00156378e-01 9.79755256e-01 -4.13062420e-03 -5.19451984e+01] [-2.15130512e-02 -1.79949251e-04 9.99768551e-01 -6.57421477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234012739 meters 0.02296518267828126 Centerline is valid? [True, True] Translation: X:329.36, Y:-51.95, Z:-6.58 [[ 9.79661329e-01 1.99573889e-01 2.08312958e-02 3.29364756e+02] [-1.99532377e-01 9.79882766e-01 -4.07367412e-03 -5.19476925e+01] [-2.12252268e-02 -1.65696975e-04 9.99774706e-01 -6.57506483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters 0.022588616292398615 Centerline is valid? [True, True] Translation: X:329.39, Y:-51.95, Z:-6.58 [[ 9.79817953e-01 1.98848574e-01 2.03966696e-02 3.29393407e+02] [-1.98808640e-01 9.80030215e-01 -3.98773611e-03 -5.19526788e+01] [-2.07823082e-02 -1.47778712e-04 9.99784014e-01 -6.57633497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294012739 meters 0.021923639192104303 Centerline is valid? [True, True] Translation: X:329.42, Y:-51.96, Z:-6.58 [[ 9.80148492e-01 1.97194079e-01 2.05773935e-02 3.29422298e+02] [-1.97153089e-01 9.80364464e-01 -4.02208733e-03 -5.19576038e+01] [-2.09664772e-02 -1.14653870e-04 9.99780173e-01 -6.57655341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters 0.021326587475053674 Centerline is valid? [True, True] Translation: X:329.45, Y:-51.96, Z:-6.58 [[ 9.80412038e-01 1.95850022e-01 2.08567862e-02 3.29450233e+02] [-1.95807624e-01 9.80633857e-01 -4.07593288e-03 -5.19624580e+01] [-2.12511422e-02 -8.78240865e-05 9.99774165e-01 -6.57642377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354012739 meters 0.021110768495314867 Centerline is valid? [True, True] Translation: X:329.48, Y:-51.97, Z:-6.58 [[ 9.80667091e-01 1.94600283e-01 2.05617691e-02 3.29478692e+02] [-1.94558821e-01 9.80882626e-01 -4.01732164e-03 -5.19682030e+01] [-2.09504540e-02 -6.08184302e-05 9.99780513e-01 -6.57795111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters 0.020834960986429018 Centerline is valid? [True, True] Translation: X:329.51, Y:-51.97, Z:-6.58 [[ 9.81085637e-01 1.92592414e-01 1.94713734e-02 3.29507044e+02] [-1.92554856e-01 9.81278840e-01 -3.80341995e-03 -5.19743830e+01] [-1.98393565e-02 -1.78268064e-05 9.99803180e-01 -6.58013608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414012739 meters 0.020759640637497842 Centerline is valid? [True, True] Translation: X:329.53, Y:-51.98, Z:-6.58 [[ 9.81232542e-01 1.91831184e-01 1.95830404e-02 3.29534005e+02] [-1.91793062e-01 9.81427938e-01 -3.82423421e-03 -5.19788790e+01] [-1.99529504e-02 -3.42822853e-06 9.99800920e-01 -6.58096499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters 0.02085324246072734 Centerline is valid? [True, True] Translation: X:329.56, Y:-51.98, Z:-6.58 [[ 9.81672421e-01 1.89516815e-01 2.00657490e-02 3.29561628e+02] [-1.89476332e-01 9.81877475e-01 -3.91720435e-03 -5.19848450e+01] [-2.04444831e-02 4.34269562e-05 9.99790989e-01 -6.58043321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474012739 meters 0.021249364821975758 Centerline is valid? [True, True] Translation: X:329.59, Y:-51.99, Z:-6.58 [[ 9.82076123e-01 1.87429372e-01 1.99177900e-02 3.29588982e+02] [-1.87389079e-01 9.82278078e-01 -3.88713138e-03 -5.19928229e+01] [-2.02933711e-02 8.50825785e-05 9.99794065e-01 -6.58116261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters 0.024369444869530302 Centerline is valid? [True, True] Translation: X:329.62, Y:-52.01, Z:-6.58 [[ 9.83400722e-01 1.80444633e-01 1.90461273e-02 3.29615741e+02] [-1.80406496e-01 9.83585119e-01 -3.71611859e-03 -5.20106830e+01] [-1.94040410e-02 2.18388625e-04 9.99811700e-01 -6.58389505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534012739 meters 0.027203715983144743 Centerline is valid? [True, True] Translation: X:329.64, Y:-52.02, Z:-6.58 [[ 9.84120892e-01 1.76492719e-01 1.88783161e-02 3.29642106e+02] [-1.76454532e-01 9.84301902e-01 -3.68293152e-03 -5.20242050e+01] [-1.92319730e-02 2.93285420e-04 9.99815005e-01 -6.58470539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters 0.03022321588823191 Centerline is valid? [True, True] Translation: X:329.67, Y:-52.04, Z:-6.59 [[ 9.84833660e-01 1.72472561e-01 1.88647344e-02 3.29670663e+02] [-1.72433704e-01 9.85014253e-01 -3.67962974e-03 -5.20372284e+01] [-1.92166675e-02 3.70907194e-04 9.99815274e-01 -6.58533209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594012739 meters 0.03566732107795833 Centerline is valid? [True, True] Translation: X:329.70, Y:-52.06, Z:-6.59 [[ 9.85899150e-01 1.66270192e-01 1.88968001e-02 3.29698048e+02] [-1.66230063e-01 9.86080109e-01 -3.68587176e-03 -5.20554111e+01] [-1.92466093e-02 4.92681570e-04 9.99814645e-01 -6.58513777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters 0.03640573801013173 Centerline is valid? [True, True] Translation: X:329.73, Y:-52.06, Z:-6.59 [[ 9.86240823e-01 1.64224698e-01 1.89548938e-02 3.29729314e+02] [-1.64183940e-01 9.86422812e-01 -3.69739664e-03 -5.20645924e+01] [-1.93047435e-02 5.34434353e-04 9.99813503e-01 -6.58531171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654012739 meters 0.041282975443621174 Centerline is valid? [True, True] Translation: X:329.76, Y:-52.08, Z:-6.59 [[ 9.86495409e-01 1.62722104e-01 1.86634876e-02 3.29757516e+02] [-1.62682307e-01 9.86671783e-01 -3.64131663e-03 -5.20817790e+01] [-1.90072593e-02 5.55922918e-04 9.99819191e-01 -6.58700804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters 0.03906656648116159 Centerline is valid? [True, True] Translation: X:329.79, Y:-52.09, Z:-6.59 [[ 9.86511358e-01 1.62698216e-01 1.80175417e-02 3.29789551e+02] [-1.62661073e-01 9.86675731e-01 -3.51799719e-03 -5.20873107e+01] [-1.83498430e-02 5.39791521e-04 9.99831482e-01 -6.58836137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714012739 meters 0.04070174117100011 Centerline is valid? [True, True] Translation: X:329.82, Y:-52.10, Z:-6.59 [[ 9.86481257e-01 1.62930000e-01 1.75654184e-02 3.29820388e+02] [-1.62894680e-01 9.86637491e-01 -3.43278401e-03 -5.20986359e+01] [-1.78900038e-02 5.25063881e-04 9.99839823e-01 -6.58979370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters 0.0397826021925112 Centerline is valid? [True, True] Translation: X:329.85, Y:-52.11, Z:-6.59 [[ 9.86475868e-01 1.62892442e-01 1.82047984e-02 3.29852285e+02] [-1.62854434e-01 9.86643680e-01 -3.56110706e-03 -5.21098818e+01] [-1.85417267e-02 5.48214035e-04 9.99827937e-01 -6.58916841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774012739 meters 0.039735091460276595 Centerline is valid? [True, True] Translation: X:329.88, Y:-52.12, Z:-6.59 [[ 9.86450533e-01 1.62977620e-01 1.88053509e-02 3.29884486e+02] [-1.62937008e-01 9.86629602e-01 -3.68229688e-03 -5.21192428e+01] [-1.91540479e-02 5.68316109e-04 9.99816383e-01 -6.58801793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters 0.03922526841010391 Centerline is valid? [True, True] Translation: X:329.92, Y:-52.13, Z:-6.59 [[ 9.86363022e-01 1.63510139e-01 1.87729171e-02 3.29915004e+02] [-1.63469691e-01 9.86541494e-01 -3.67967902e-03 -5.21296598e+01] [-1.91219265e-02 5.60696359e-04 9.99817002e-01 -6.58853446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834012739 meters 0.038041112062130886 Centerline is valid? [True, True] Translation: X:329.95, Y:-52.14, Z:-6.59 [[ 9.86266331e-01 1.64152912e-01 1.82358163e-02 3.29946392e+02] [-1.64114839e-01 9.86434761e-01 -3.57527406e-03 -5.21368040e+01] [-1.85753347e-02 5.33404371e-04 9.99827321e-01 -6.59059505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters 0.03960829098034458 Centerline is valid? [True, True] Translation: X:329.98, Y:-52.15, Z:-6.59 [[ 9.86154782e-01 1.64850342e-01 1.79753004e-02 3.29975138e+02] [-1.64813409e-01 9.86318457e-01 -3.52724939e-03 -5.21512269e+01] [-1.83108388e-02 5.15843310e-04 9.99832209e-01 -6.59239587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894012739 meters 0.03906051750526729 Centerline is valid? [True, True] Translation: X:330.01, Y:-52.16, Z:-6.59 [[ 9.86088138e-01 1.65215411e-01 1.82770674e-02 3.30006591e+02] [-1.65177236e-01 9.86257369e-01 -3.58939480e-03 -5.21595840e+01] [-1.86189158e-02 5.20504157e-04 9.99826517e-01 -6.59181867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters 0.0395529024896312 Centerline is valid? [True, True] Translation: X:330.04, Y:-52.17, Z:-6.59 [[ 9.86019040e-01 1.65321804e-01 2.08603255e-02 3.30036313e+02] [-1.65272014e-01 9.86239497e-01 -4.10061414e-03 -5.21723878e+01] [-2.12511978e-02 5.95655608e-04 9.99773990e-01 -6.58679027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954012739 meters 0.040143757585099055 Centerline is valid? [True, True] Translation: X:330.07, Y:-52.18, Z:-6.59 [[ 9.86062807e-01 1.65007437e-01 2.12764085e-02 3.30066920e+02] [-1.64955486e-01 9.86292129e-01 -4.18618509e-03 -5.21830184e+01] [-2.16755059e-02 6.18181128e-04 9.99764868e-01 -6.58692501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters 0.0393962018476444 Centerline is valid? [True, True] Translation: X:330.10, Y:-52.19, Z:-6.59 [[ 9.86143996e-01 1.64546490e-01 2.10824914e-02 3.30097444e+02] [-1.64495304e-01 9.86369130e-01 -4.15142162e-03 -5.21920205e+01] [-2.14782205e-02 6.25928685e-04 9.99769120e-01 -6.58905511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014012739 meters 0.039932917847059976 Centerline is valid? [True, True] Translation: X:330.13, Y:-52.21, Z:-6.59 [[ 9.86179003e-01 1.64584046e-01 1.90542775e-02 3.30127200e+02] [-1.64542192e-01 9.86362900e-01 -3.75467108e-03 -5.22062885e+01] [-1.94123913e-02 5.67545205e-04 9.99811401e-01 -6.59374191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters 0.0408826284962382 Centerline is valid? [True, True] Translation: X:330.16, Y:-52.22, Z:-6.59 [[ 9.86060975e-01 1.65340560e-01 1.86078481e-02 3.30156368e+02] [-1.65300715e-01 9.86236384e-01 -3.67003430e-03 -5.22172980e+01] [-1.89585424e-02 5.42986998e-04 9.99820123e-01 -6.59495910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074012739 meters 0.03909856872050626 Centerline is valid? [True, True] Translation: X:330.19, Y:-52.23, Z:-6.59 [[ 9.85668887e-01 1.67551038e-01 1.95830464e-02 3.30185220e+02] [-1.67507303e-01 9.85863261e-01 -3.86434474e-03 -5.22288639e+01] [-1.99536809e-02 5.28661100e-04 9.99800766e-01 -6.59178268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters 0.034353531798782484 Centerline is valid? [True, True] Translation: X:330.22, Y:-52.23, Z:-6.59 [[ 9.85362408e-01 1.69294905e-01 2.00039993e-02 3.30216934e+02] [-1.69249624e-01 9.85565310e-01 -3.94765959e-03 -5.22323876e+01] [-2.03835664e-02 5.04206008e-04 9.99792106e-01 -6.59110102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134012739 meters 0.031035175955601 Centerline is valid? [True, True] Translation: X:330.25, Y:-52.24, Z:-6.59 [[ 9.84600551e-01 1.73749525e-01 1.93094966e-02 3.30245854e+02] [-1.73708124e-01 9.84789796e-01 -3.81387369e-03 -5.22412766e+01] [-1.96784539e-02 4.00925706e-04 9.99806280e-01 -6.59348726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters 0.028847836977211997 Centerline is valid? [True, True] Translation: X:330.28, Y:-52.25, Z:-6.60 [[ 9.84132250e-01 1.76481647e-01 1.83832115e-02 3.30277943e+02] [-1.76444597e-01 9.84303876e-01 -3.63103978e-03 -5.22472316e+01] [-1.87354782e-02 3.29805009e-04 9.99824421e-01 -6.59591336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194012739 meters 0.026657524013231567 Centerline is valid? [True, True] Translation: X:330.31, Y:-52.25, Z:-6.60 [[ 9.83570525e-01 1.79658794e-01 1.76561916e-02 3.30308218e+02] [-1.79625110e-01 9.83728952e-01 -3.48847781e-03 -5.22527016e+01] [-1.79956425e-02 2.59668593e-04 9.99838032e-01 -6.59761273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters 0.023482958788636973 Centerline is valid? [True, True] Translation: X:330.34, Y:-52.26, Z:-6.60 [[ 9.82517759e-01 1.85290401e-01 1.80643387e-02 3.30338811e+02] [-1.85256034e-01 9.82683795e-01 -3.57229605e-03 -5.22565138e+01] [-1.84134451e-02 1.63316563e-04 9.99830445e-01 -6.59716418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254012739 meters 0.021833723411649564 Centerline is valid? [True, True] Translation: X:330.37, Y:-52.26, Z:-6.60 [[ 9.81985167e-01 1.88061701e-01 1.83828558e-02 3.30371495e+02] [-1.88026589e-01 9.82157209e-01 -3.63568065e-03 -5.22595285e+01] [-1.87385866e-02 1.13718804e-04 9.99824411e-01 -6.59636612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters 0.02065316645179591 Centerline is valid? [True, True] Translation: X:330.40, Y:-52.26, Z:-6.60 [[ 9.81027975e-01 1.92934135e-01 1.89876853e-02 3.30403171e+02] [-1.92897564e-01 9.81211710e-01 -3.75643329e-03 -5.22596314e+01] [-1.93556834e-02 2.24879079e-05 9.99812661e-01 -6.59520184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314012739 meters 0.02068664786551789 Centerline is valid? [True, True] Translation: X:330.44, Y:-52.26, Z:-6.60 [[ 9.80591645e-01 1.95098161e-01 1.94096177e-02 3.30435864e+02] [-1.95060307e-01 9.80783721e-01 -3.84307751e-03 -5.22634272e+01] [-1.97864144e-02 -1.75562849e-05 9.99804230e-01 -6.59531878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters 0.020852294183810096 Centerline is valid? [True, True] Translation: X:330.47, Y:-52.27, Z:-6.59 [[ 9.80231273e-01 1.96783537e-01 2.05643339e-02 3.30467900e+02] [-1.96741322e-01 9.80446958e-01 -4.07614358e-03 -5.22685083e+01] [-2.09643565e-02 -5.02908311e-05 9.99780222e-01 -6.59447007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374012739 meters 0.02127118787040206 Centerline is valid? [True, True] Translation: X:330.50, Y:-52.27, Z:-6.59 [[ 9.79816548e-01 1.98730888e-01 2.15770026e-02 3.30500629e+02] [-1.98684790e-01 9.80054093e-01 -4.28115922e-03 -5.22745416e+01] [-2.19974283e-02 -9.22715921e-05 9.99758023e-01 -6.59320758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters 0.02138547138931934 Centerline is valid? [True, True] Translation: X:330.53, Y:-52.28, Z:-6.60 [[ 9.79745576e-01 1.99133956e-01 2.10778129e-02 3.30533459e+02] [-1.99089974e-01 9.79972274e-01 -4.18611671e-03 -5.22802226e+01] [-2.14892703e-02 -9.50519161e-05 9.99769074e-01 -6.59532535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434012739 meters 0.021490383252889118 Centerline is valid? [True, True] Translation: X:330.57, Y:-52.28, Z:-6.60 [[ 9.79707666e-01 1.99455955e-01 1.97537761e-02 3.30566075e+02] [-1.99417320e-01 9.79906788e-01 -3.92673465e-03 -5.22833572e+01] [-2.01400699e-02 -9.21930525e-05 9.99797164e-01 -6.59785994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters 0.0217187721599682 Centerline is valid? [True, True] Translation: X:330.60, Y:-52.29, Z:-6.60 [[ 9.79557114e-01 2.00239654e-01 1.92857951e-02 3.30597865e+02] [-2.00202908e-01 9.79746942e-01 -3.83733893e-03 -5.22877433e+01] [-1.96635862e-02 -1.02179612e-04 9.99806648e-01 -6.59888817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494012739 meters 0.021802053121389976 Centerline is valid? [True, True] Translation: X:330.63, Y:-52.29, Z:-6.60 [[ 9.79417478e-01 2.00929826e-01 1.91992102e-02 3.30630067e+02] [-2.00893480e-01 9.79605631e-01 -3.82329815e-03 -5.22932844e+01] [-1.95758690e-02 -1.12391100e-04 9.99808368e-01 -6.59909763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters 0.02152661109080578 Centerline is valid? [True, True] Translation: X:330.66, Y:-52.30, Z:-6.60 [[ 9.79572275e-01 2.00068376e-01 2.02682684e-02 3.30660134e+02] [-2.00027598e-01 9.79781933e-01 -4.04032633e-03 -5.23004768e+01] [-2.06668247e-02 -9.64213887e-05 9.99786414e-01 -6.59824126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55401273900003 meters 0.02105551397374397 Centerline is valid? [True, True] Translation: X:330.69, Y:-52.31, Z:-6.60 [[ 9.79840771e-01 1.98637898e-01 2.13318549e-02 3.30692214e+02] [-1.98592312e-01 9.80072947e-01 -4.25590427e-03 -5.23097543e+01] [-2.17521578e-02 -6.62338621e-05 9.99763392e-01 -6.59732381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters 0.02076554612724017 Centerline is valid? [True, True] Translation: X:330.72, Y:-52.32, Z:-6.60 [[ 9.80217871e-01 1.96705122e-01 2.19093895e-02 3.30722497e+02] [-1.96656458e-01 9.80462694e-01 -4.37526068e-03 -5.23202028e+01] [-2.23419753e-02 -1.99142293e-05 9.99750387e-01 -6.59670494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61401273900003 meters 0.021277111143758496 Centerline is valid? [True, True] Translation: X:330.75, Y:-52.34, Z:-6.60 [[ 9.81010342e-01 1.92818051e-01 2.09739721e-02 3.30753327e+02] [-1.92772512e-01 9.81234526e-01 -4.19092894e-03 -5.23358420e+01] [-2.13884723e-02 6.81393302e-05 9.99771238e-01 -6.59871463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters 0.021502844172809732 Centerline is valid? [True, True] Translation: X:330.78, Y:-52.35, Z:-6.60 [[ 9.81232963e-01 1.91761599e-01 2.02326766e-02 3.30784949e+02] [-1.91718919e-01 9.81441532e-01 -4.04663544e-03 -5.23453018e+01] [-2.06331784e-02 9.17051899e-05 9.99787109e-01 -6.60097942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.674012739 meters 0.022057912970544873 Centerline is valid? [True, True] Translation: X:330.82, Y:-52.36, Z:-6.60 [[ 9.81420575e-01 1.90928079e-01 1.89769090e-02 3.30815269e+02] [-1.90890306e-01 9.81604023e-01 -3.79912891e-03 -5.23558392e+01] [-1.93531706e-02 1.06035309e-04 9.99812704e-01 -6.60327642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters 0.022017226866896382 Centerline is valid? [True, True] Translation: X:330.85, Y:-52.36, Z:-6.61 [[ 9.81398937e-01 1.91101971e-01 1.83347422e-02 3.30847292e+02] [-1.91066703e-01 9.81570184e-01 -3.67268120e-03 -5.23633297e+01] [-1.86986929e-02 1.01206686e-04 9.99825159e-01 -6.60515997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734012739 meters 0.022017226866896382 Centerline is valid? [True, True] Translation: X:330.88, Y:-52.37, Z:-6.61 [[ 9.81362878e-01 1.91287124e-01 1.83340488e-02 3.30879112e+02] [-1.91251824e-01 9.81534119e-01 -3.67613962e-03 -5.23699065e+01] [-1.86986926e-02 1.01206684e-04 9.99825159e-01 -6.60582030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters 0.022106762410628075 Centerline is valid? [True, True] Translation: X:330.91, Y:-52.38, Z:-6.61 [[ 9.81317005e-01 1.91587559e-01 1.76392470e-02 3.30911562e+02] [-1.91554873e-01 9.81475521e-01 -3.54013790e-03 -5.23777246e+01] [-1.79907355e-02 9.51138115e-05 9.99838149e-01 -6.60811555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794012739 meters 0.022053762917802082 Centerline is valid? [True, True] Translation: X:330.94, Y:-52.39, Z:-6.61 [[ 9.81229760e-01 1.92040315e-01 1.75691531e-02 3.30943655e+02] [-1.92007899e-01 9.81387033e-01 -3.52951279e-03 -5.23872547e+01] [-1.79199478e-02 8.98468206e-05 9.99839421e-01 -6.60868379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters 0.02204617551208461 Centerline is valid? [True, True] Translation: X:330.97, Y:-52.40, Z:-6.61 [[ 9.81116954e-01 1.92561335e-01 1.81563808e-02 3.30974655e+02] [-1.92526735e-01 9.81284936e-01 -3.65119831e-03 -5.23953487e+01] [-1.85196626e-02 8.66638375e-05 9.99828493e-01 -6.60829156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854012739 meters 0.021431902633804123 Centerline is valid? [True, True] Translation: X:331.01, Y:-52.40, Z:-6.61 [[ 9.80813787e-01 1.93921782e-01 1.99664284e-02 3.31005930e+02] [-1.93880140e-01 9.81016991e-01 -4.01920338e-03 -5.24019133e+01] [-2.03668166e-02 7.09961462e-05 9.99792572e-01 -6.60532267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters 0.021347268161757818 Centerline is valid? [True, True] Translation: X:331.04, Y:-52.41, Z:-6.61 [[ 9.80610021e-01 1.94920569e-01 2.02474501e-02 3.31038598e+02] [-1.94877886e-01 9.80819030e-01 -4.07930594e-03 -5.24089413e+01] [-2.06542250e-02 5.44280203e-05 9.99786677e-01 -6.60544275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914012739 meters 0.021713405485962785 Centerline is valid? [True, True] Translation: X:331.07, Y:-52.42, Z:-6.61 [[ 9.80658910e-01 1.94848998e-01 1.84924641e-02 3.31069099e+02] [-1.94813317e-01 9.80833250e-01 -3.72911492e-03 -5.24177079e+01] [-1.88646380e-02 5.44114949e-05 9.99822045e-01 -6.60904017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters 0.02189505072729119 Centerline is valid? [True, True] Translation: X:331.10, Y:-52.43, Z:-6.61 [[ 9.80804977e-01 1.94191162e-01 1.76462455e-02 3.31099661e+02] [-1.94158532e-01 9.80963704e-01 -3.56036973e-03 -5.24261714e+01] [-1.80017187e-02 6.58592183e-05 9.99837954e-01 -6.61144627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974012739 meters 0.02227886448121664 Centerline is valid? [True, True] Translation: X:331.13, Y:-52.44, Z:-6.61 [[ 9.81002396e-01 1.93206888e-01 1.74756220e-02 3.31131189e+02] [-1.93174674e-01 9.81158036e-01 -3.52906272e-03 -5.24356256e+01] [-1.78281862e-02 8.61713898e-05 9.99841062e-01 -6.61241822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters 0.022149631341638835 Centerline is valid? [True, True] Translation: X:331.16, Y:-52.45, Z:-6.61 [[ 9.81094035e-01 1.92632880e-01 1.86297562e-02 3.31162929e+02] [-1.92596093e-01 9.81270891e-01 -3.76600817e-03 -5.24460018e+01] [-1.90062945e-02 1.06789892e-04 9.99819358e-01 -6.61037032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034012739 meters 0.02183471051764941 Centerline is valid? [True, True] Translation: X:331.20, Y:-52.45, Z:-6.61 [[ 9.80865086e-01 1.93711790e-01 1.94788288e-02 3.31195353e+02] [-1.93671707e-01 9.81058476e-01 -3.94162644e-03 -5.24517256e+01] [-1.98734096e-02 9.37057351e-05 9.99802500e-01 -6.60872335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters 0.021180668037296232 Centerline is valid? [True, True] Translation: X:331.23, Y:-52.45, Z:-6.61 [[ 9.80188755e-01 1.97041628e-01 2.01146919e-02 3.31227126e+02] [-1.96999502e-01 9.80395122e-01 -4.07436063e-03 -5.24535997e+01] [-2.05231644e-02 3.10581867e-05 9.99789377e-01 -6.60755619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094012739 meters 0.021090654523928987 Centerline is valid? [True, True] Translation: X:331.26, Y:-52.46, Z:-6.61 [[ 9.79865968e-01 1.98652616e-01 1.99955967e-02 3.31258907e+02] [-1.98611258e-01 9.80069966e-01 -4.05338553e-03 -5.24576235e+01] [-2.04022994e-02 4.23930462e-07 9.99791851e-01 -6.60807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters 0.021423154634090343 Centerline is valid? [True, True] Translation: X:331.29, Y:-52.46, Z:-6.61 [[ 9.79308780e-01 2.01343587e-01 2.03733305e-02 3.31292057e+02] [-2.01301156e-01 9.79520677e-01 -4.13368992e-03 -5.24600579e+01] [-2.07883905e-02 -5.30161509e-05 9.99783897e-01 -6.60769652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154012739 meters 0.021671018595800087 Centerline is valid? [True, True] Translation: X:331.32, Y:-52.46, Z:-6.61 [[ 9.78973871e-01 2.02909323e-01 2.09276659e-02 3.31323671e+02] [-2.02864822e-01 9.79197528e-01 -4.25026160e-03 -5.24639139e+01] [-2.13547365e-02 -8.45921712e-05 9.99771958e-01 -6.60813556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters 0.022086826093993137 Centerline is valid? [True, True] Translation: X:331.36, Y:-52.47, Z:-6.61 [[ 9.78623897e-01 2.04603972e-01 2.07962314e-02 3.31356447e+02] [-2.04560331e-01 9.78844830e-01 -4.22728817e-03 -5.24688046e+01] [-2.12212035e-02 -1.17158761e-04 9.99774798e-01 -6.60896451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214012739 meters 0.023336597277151674 Centerline is valid? [True, True] Translation: X:331.39, Y:-52.47, Z:-6.61 [[ 9.78009543e-01 2.07637266e-01 1.95984670e-02 3.31388724e+02] [-2.07599044e-01 9.78205877e-01 -3.98740304e-03 -5.24714006e+01] [-1.99992691e-02 -1.68904803e-04 9.99799980e-01 -6.61176438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters 0.02413548677275959 Centerline is valid? [True, True] Translation: X:331.42, Y:-52.48, Z:-6.61 [[ 9.77660327e-01 2.09337825e-01 1.89198221e-02 3.31420530e+02] [-2.09302464e-01 9.77843360e-01 -3.85240624e-03 -5.24759240e+01] [-1.93070768e-02 -1.93620642e-04 9.99813582e-01 -6.61371284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274012739 meters 0.02711166104784943 Centerline is valid? [True, True] Translation: X:331.45, Y:-52.47, Z:-6.61 [[ 9.76666445e-01 2.13949913e-01 1.86571838e-02 3.31453164e+02] [-2.13916306e-01 9.76844592e-01 -3.80219435e-03 -5.24735865e+01] [-1.90386483e-02 -2.77600193e-04 9.99818710e-01 -6.61463457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters 0.03076836647424893 Centerline is valid? [True, True] Translation: X:331.48, Y:-52.47, Z:-6.61 [[ 9.76115586e-01 2.16419189e-01 1.90025825e-02 3.31484889e+02] [-2.16384759e-01 9.76300479e-01 -3.87435068e-03 -5.24708302e+01] [-1.93907142e-02 -3.30055149e-04 9.99811928e-01 -6.61437054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334012739 meters 0.03207823532753908 Centerline is valid? [True, True] Translation: X:331.52, Y:-52.47, Z:-6.61 [[ 9.75118854e-01 2.20818098e-01 1.95598727e-02 3.31515914e+02] [-2.20782496e-01 9.75314915e-01 -3.98822347e-03 -5.24692258e+01] [-1.99577075e-02 -4.29485631e-04 9.99800733e-01 -6.61421778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters 0.03293825175416774 Centerline is valid? [True, True] Translation: X:331.55, Y:-52.47, Z:-6.62 [[ 9.74719499e-01 2.22611441e-01 1.91322817e-02 3.31546018e+02] [-2.22577729e-01 9.74907143e-01 -3.90081084e-03 -5.24712285e+01] [-1.95205633e-02 -4.56223434e-04 9.99809352e-01 -6.61596891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394012739 meters 0.036135248389065476 Centerline is valid? [True, True] Translation: X:331.58, Y:-52.47, Z:-6.62 [[ 9.74493956e-01 2.23644078e-01 1.85703035e-02 3.31575426e+02] [-2.23612509e-01 9.74670771e-01 -3.78603665e-03 -5.24691221e+01] [-1.89466567e-02 -4.63082310e-04 9.99820389e-01 -6.61796809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters 0.0358315635480594 Centerline is valid? [True, True] Translation: X:331.60, Y:-52.47, Z:-6.62 [[ 9.74419235e-01 2.23958749e-01 1.86984837e-02 3.31604887e+02] [-2.23926812e-01 9.74598510e-01 -3.81154558e-03 -5.24698920e+01] [-1.90771434e-02 -4.73048526e-04 9.99817903e-01 -6.61898172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454012739 meters 0.03643592928199374 Centerline is valid? [True, True] Translation: X:331.63, Y:-52.47, Z:-6.62 [[ 9.74503378e-01 2.23554456e-01 1.91460380e-02 3.31633037e+02] [-2.23520912e-01 9.74691324e-01 -3.90184893e-03 -5.24719437e+01] [-1.95337529e-02 -4.77174923e-04 9.99809084e-01 -6.61907865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters 0.03467360043848302 Centerline is valid? [True, True] Translation: X:331.66, Y:-52.48, Z:-6.62 [[ 9.75044220e-01 2.21226840e-01 1.86401390e-02 3.31660321e+02] [-2.21194641e-01 9.75222287e-01 -3.79766445e-03 -5.24755554e+01] [-1.90184243e-02 -4.20208071e-04 9.99819045e-01 -6.62085189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514012739 meters 0.03189827725122306 Centerline is valid? [True, True] Translation: X:331.69, Y:-52.48, Z:-6.62 [[ 9.75497262e-01 2.19315782e-01 1.74837002e-02 3.31688438e+02] [-2.19287164e-01 9.75653862e-01 -3.56113824e-03 -5.24842569e+01] [-1.78390534e-02 -3.60070414e-04 9.99840807e-01 -6.62378149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters 0.02929702935253743 Centerline is valid? [True, True] Translation: X:331.72, Y:-52.49, Z:-6.63 [[ 9.76510612e-01 2.14955413e-01 1.48726138e-02 3.31716628e+02] [-2.14934204e-01 9.76623834e-01 -3.02901532e-03 -5.24917965e+01] [-1.51760524e-02 -2.38767798e-04 9.99884809e-01 -6.62931334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574012739 meters 0.02723817033375094 Centerline is valid? [True, True] Translation: X:331.74, Y:-52.50, Z:-6.63 [[ 9.76968456e-01 2.12844530e-01 1.51605249e-02 3.31744636e+02] [-2.12822241e-01 9.77086056e-01 -3.08739498e-03 -5.24998994e+01] [-1.54702726e-02 -2.10209386e-04 9.99880306e-01 -6.62917860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters 0.02617032419789819 Centerline is valid? [True, True] Translation: X:331.77, Y:-52.51, Z:-6.63 [[ 9.77325604e-01 2.11098373e-01 1.64967131e-02 3.31772697e+02] [-2.11071748e-01 9.77464801e-01 -3.35857379e-03 -5.25066229e+01] [-1.68339459e-02 -1.99569921e-04 9.99858279e-01 -6.62703615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634012739 meters 0.024550171738789386 Centerline is valid? [True, True] Translation: X:331.80, Y:-52.52, Z:-6.62 [[ 9.77755496e-01 2.08887142e-01 1.89829350e-02 3.31801186e+02] [-2.08851485e-01 9.77939736e-01 -3.86393508e-03 -5.25160476e+01] [-1.93712928e-02 -1.86630397e-04 9.99812341e-01 -6.62375256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters 0.02443295327415833 Centerline is valid? [True, True] Translation: X:331.83, Y:-52.52, Z:-6.62 [[ 9.77866593e-01 2.08348998e-01 1.91734621e-02 3.31829661e+02] [-2.08312528e-01 9.78054530e-01 -3.90224285e-03 -5.25226943e+01] [-1.95657198e-02 -1.78199432e-04 9.99808557e-01 -6.62396662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694012739 meters 0.024007837907423307 Centerline is valid? [True, True] Translation: X:331.86, Y:-52.53, Z:-6.62 [[ 9.78013764e-01 2.07585059e-01 1.99379439e-02 3.31859568e+02] [-2.07545473e-01 9.78216957e-01 -4.05732611e-03 -5.25260415e+01] [-2.03458751e-02 -1.69909228e-04 9.99792987e-01 -6.62338295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters 0.023977527318276324 Centerline is valid? [True, True] Translation: X:331.89, Y:-52.53, Z:-6.62 [[ 9.78024609e-01 2.07501986e-01 2.02679611e-02 3.31888454e+02] [-2.07461067e-01 9.78234582e-01 -4.12422955e-03 -5.25304863e+01] [-2.06826063e-02 -1.71214844e-04 9.99786077e-01 -6.62333426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754012739 meters 0.023953499896451493 Centerline is valid? [True, True] Translation: X:331.92, Y:-52.54, Z:-6.62 [[ 9.78074853e-01 2.07281741e-01 2.00962936e-02 3.31916439e+02] [-2.07241476e-01 9.78281275e-01 -4.08881129e-03 -5.25357896e+01] [-2.05073636e-02 -1.65622044e-04 9.99789688e-01 -6.62433648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters 0.024202654634096526 Centerline is valid? [True, True] Translation: X:331.94, Y:-52.54, Z:-6.63 [[ 9.78107803e-01 2.07137385e-01 1.99807105e-02 3.31944480e+02] [-2.07097566e-01 9.78311851e-01 -4.06457398e-03 -5.25413988e+01] [-2.03892911e-02 -1.62364985e-04 9.99792104e-01 -6.62558061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814012739 meters 0.02340661671322322 Centerline is valid? [True, True] Translation: X:331.97, Y:-52.55, Z:-6.63 [[ 9.78326190e-01 2.06138316e-01 1.96178650e-02 3.31973516e+02] [-2.06099741e-01 9.78522854e-01 -3.99021804e-03 -5.25501843e+01] [-2.00190661e-02 -1.39502077e-04 9.99799589e-01 -6.62590610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters 0.02289509857663681 Centerline is valid? [True, True] Translation: X:332.00, Y:-52.56, Z:-6.63 [[ 9.78614480e-01 2.04728245e-01 2.00011312e-02 3.32002351e+02] [-2.04687853e-01 9.78818846e-01 -4.06817207e-03 -5.25563435e+01] [-2.04103539e-02 -1.12816517e-04 9.99791681e-01 -6.62549274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874012739 meters 0.022580314085662814 Centerline is valid? [True, True] Translation: X:332.03, Y:-52.56, Z:-6.63 [[ 9.78797845e-01 2.03802614e-01 2.04761607e-02 3.32031966e+02] [-2.03760083e-01 9.79011994e-01 -4.16454524e-03 -5.25641354e+01] [-2.08951521e-02 -9.59762834e-05 9.99781668e-01 -6.62567520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters 0.022187122781118004 Centerline is valid? [True, True] Translation: X:332.06, Y:-52.57, Z:-6.63 [[ 9.79006044e-01 2.02751886e-01 2.09484508e-02 3.32061401e+02] [-2.02707129e-01 9.79230140e-01 -4.26061451e-03 -5.25721881e+01] [-2.13772021e-02 -7.52329672e-05 9.99771479e-01 -6.62554423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934012739 meters 0.02191073966957769 Centerline is valid? [True, True] Translation: X:332.09, Y:-52.58, Z:-6.63 [[ 9.79217427e-01 2.01691392e-01 2.13028797e-02 3.32091498e+02] [-2.01644850e-01 9.79449121e-01 -4.33297545e-03 -5.25808683e+01] [-2.17390107e-02 -5.26909243e-05 9.99763678e-01 -6.62503578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters 0.02194402416612843 Centerline is valid? [True, True] Translation: X:332.12, Y:-52.59, Z:-6.63 [[ 9.79263800e-01 2.01502792e-01 2.09531644e-02 3.32120590e+02] [-2.01457712e-01 9.79487939e-01 -4.26233168e-03 -5.25883327e+01] [-2.13822435e-02 -4.72294495e-05 9.99771373e-01 -6.62547655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994012739 meters 0.02231469577658659 Centerline is valid? [True, True] Translation: X:332.15, Y:-52.60, Z:-6.63 [[ 9.78937696e-01 2.03157159e-01 2.02028794e-02 3.32150857e+02] [-2.03115598e-01 9.79146139e-01 -4.10994685e-03 -5.25955818e+01] [-2.06165365e-02 -8.01380153e-05 9.99787453e-01 -6.62881543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters 0.022565451507386407 Centerline is valid? [True, True] Translation: X:332.18, Y:-52.60, Z:-6.63 [[ 9.78773169e-01 2.03931753e-01 2.03696575e-02 3.32180517e+02] [-2.03889660e-01 9.78985102e-01 -4.14436592e-03 -5.26019284e+01] [-2.07867591e-02 -9.67683885e-05 9.99783927e-01 -6.62924310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05401273900003 meters 0.0226484314784796 Centerline is valid? [True, True] Translation: X:332.21, Y:-52.61, Z:-6.63 [[ 9.78628046e-01 2.04611513e-01 2.05250013e-02 3.32210866e+02] [-2.04568919e-01 9.78843254e-01 -4.17622801e-03 -5.26083968e+01] [-2.09452634e-02 -1.11803476e-04 9.99780618e-01 -6.62948684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters 0.02331285118660204 Centerline is valid? [True, True] Translation: X:332.24, Y:-52.62, Z:-6.63 [[ 9.78325808e-01 2.06051095e-01 2.05319030e-02 3.32240123e+02] [-2.06008779e-01 9.78541224e-01 -4.17811468e-03 -5.26153529e+01] [-2.09522186e-02 -1.42194858e-04 9.99780468e-01 -6.62993392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11401273900003 meters 0.023884230003190492 Centerline is valid? [True, True] Translation: X:332.27, Y:-52.62, Z:-6.63 [[ 9.78061778e-01 2.07341377e-01 2.01174510e-02 3.32270210e+02] [-2.07301021e-01 9.78268637e-01 -4.09400798e-03 -5.26223206e+01] [-2.05291286e-02 -1.66175402e-04 9.99789241e-01 -6.63079026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters 0.02648850600131349 Centerline is valid? [True, True] Translation: X:332.30, Y:-52.62, Z:-6.63 [[ 9.77214828e-01 2.11231282e-01 2.07972558e-02 3.32299320e+02] [-2.11189033e-01 9.77436075e-01 -4.23232038e-03 -5.26247978e+01] [-2.12219865e-02 -2.56266094e-04 9.99774755e-01 -6.62990678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.174012739 meters 0.02803866320325961 Centerline is valid? [True, True] Translation: X:332.33, Y:-52.63, Z:-6.63 [[ 9.76734854e-01 2.13488552e-01 2.02895000e-02 3.32328474e+02] [-2.13448842e-01 9.76945520e-01 -4.12829637e-03 -5.26274262e+01] [-2.07030802e-02 -2.98519331e-04 9.99785624e-01 -6.63094317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters 0.03007439525620945 Centerline is valid? [True, True] Translation: X:332.36, Y:-52.63, Z:-6.63 [[ 9.76293298e-01 2.15603451e-01 1.91454241e-02 3.32357303e+02] [-2.15568512e-01 9.76480950e-01 -3.89488073e-03 -5.26292496e+01] [-1.95348916e-02 -3.24604630e-04 9.99809123e-01 -6.63384524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234012739 meters 0.03262053086600784 Centerline is valid? [True, True] Translation: X:332.39, Y:-52.63, Z:-6.64 [[ 9.75275172e-01 2.20284084e-01 1.76992042e-02 3.32386869e+02] [-2.20255004e-01 9.75435683e-01 -3.60014037e-03 -5.26292451e+01] [-1.80574889e-02 -3.87210761e-04 9.99836875e-01 -6.63741851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters 0.036801690648947685 Centerline is valid? [True, True] Translation: X:332.42, Y:-52.63, Z:-6.64 [[ 9.74830700e-01 2.22231947e-01 1.78344649e-02 3.32415655e+02] [-2.22202757e-01 9.74993733e-01 -3.62707179e-03 -5.26273187e+01] [-1.81945427e-02 -4.27086334e-04 9.99834374e-01 -6.63800850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294012739 meters 0.03677859683443426 Centerline is valid? [True, True] Translation: X:332.44, Y:-52.63, Z:-6.63 [[ 9.74001712e-01 2.25690573e-01 1.96069006e-02 3.32444748e+02] [-2.25656022e-01 9.74198887e-01 -3.98601669e-03 -5.26320389e+01] [-2.00006272e-02 -5.42028130e-04 9.99799821e-01 -6.63476261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters 0.038619678748309794 Centerline is valid? [True, True] Translation: X:332.47, Y:-52.63, Z:-6.63 [[ 9.73715772e-01 2.26861934e-01 2.02795102e-02 3.32472489e+02] [-2.26825245e-01 9.73926752e-01 -4.12176850e-03 -5.26331556e+01] [-2.06858299e-02 -5.86473876e-04 9.99785853e-01 -6.63413219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354012739 meters 0.039170612806638326 Centerline is valid? [True, True] Translation: X:332.50, Y:-52.64, Z:-6.63 [[ 9.73473592e-01 2.27853934e-01 2.07786305e-02 3.32501677e+02] [-2.27815675e-01 9.73695125e-01 -4.22168558e-03 -5.26357790e+01] [-2.11939789e-02 -6.23998305e-04 9.99775188e-01 -6.63431037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters 0.04043817892662222 Centerline is valid? [True, True] Translation: X:332.53, Y:-52.64, Z:-6.64 [[ 9.73154107e-01 2.29257458e-01 2.03003023e-02 3.32530616e+02] [-2.29221266e-01 9.73365608e-01 -4.12353126e-03 -5.26356652e+01] [-2.07049664e-02 -6.40429599e-04 9.99785424e-01 -6.63671994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414012739 meters 0.043697261277326815 Centerline is valid? [True, True] Translation: X:332.56, Y:-52.63, Z:-6.64 [[ 9.73095469e-01 2.29555375e-01 1.97367230e-02 3.32559268e+02] [-2.29521254e-01 9.73295398e-01 -4.00766955e-03 -5.26349116e+01] [-2.01296438e-02 -6.30152335e-04 9.99797180e-01 -6.63779928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters 0.04199159685416837 Centerline is valid? [True, True] Translation: X:332.59, Y:-52.64, Z:-6.64 [[ 9.72969853e-01 2.30090636e-01 1.96968004e-02 3.32588183e+02] [-2.30056786e-01 9.73168993e-01 -3.99837185e-03 -5.26378504e+01] [-2.00883033e-02 -6.41087314e-04 9.99798004e-01 -6.63748182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474012739 meters 0.04296879892040014 Centerline is valid? [True, True] Translation: X:332.62, Y:-52.64, Z:-6.64 [[ 9.72819815e-01 2.30724048e-01 1.96982473e-02 3.32617484e+02] [-2.30690341e-01 9.73019005e-01 -3.99771449e-03 -5.26384765e+01] [-2.00891379e-02 -6.55139521e-04 9.99797978e-01 -6.63811438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters 0.045982249323300216 Centerline is valid? [True, True] Translation: X:332.65, Y:-52.63, Z:-6.64 [[ 9.72409991e-01 2.32511057e-01 1.89054757e-02 3.32648099e+02] [-2.32480364e-01 9.72593526e-01 -3.83594336e-03 -5.26326404e+01] [-1.92792425e-02 -6.65042222e-04 9.99813917e-01 -6.64154878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534012739 meters 0.046606876058533434 Centerline is valid? [True, True] Translation: X:332.68, Y:-52.63, Z:-6.64 [[ 9.72353373e-01 2.32786713e-01 1.84191338e-02 3.32677720e+02] [-2.32757640e-01 9.72527593e-01 -3.73663883e-03 -5.26338509e+01] [-1.87829558e-02 -6.53860744e-04 9.99823371e-01 -6.64315417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters 0.0477369120358265 Centerline is valid? [True, True] Translation: X:332.71, Y:-52.63, Z:-6.64 [[ 9.72470391e-01 2.32286063e-01 1.85613699e-02 3.32705873e+02] [-2.32256464e-01 9.72647296e-01 -3.76462999e-03 -5.26336501e+01] [-1.89281373e-02 -6.50006957e-04 9.99820635e-01 -6.64378673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594012739 meters 0.0455111699926441 Centerline is valid? [True, True] Translation: X:332.73, Y:-52.64, Z:-6.64 [[ 9.72680781e-01 2.31363207e-01 1.90568986e-02 3.32734577e+02] [-2.31331852e-01 9.72867228e-01 -3.86397815e-03 -5.26385857e+01] [-1.94338145e-02 -6.50050351e-04 9.99810934e-01 -6.64276461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters 0.044245572932496334 Centerline is valid? [True, True] Translation: X:332.76, Y:-52.64, Z:-6.64 [[ 9.73103883e-01 2.29492839e-01 2.00466740e-02 3.32762762e+02] [-2.29457766e-01 9.73310136e-01 -4.06367561e-03 -5.26387818e+01] [-2.04442155e-02 -6.45486522e-04 9.99790787e-01 -6.64082669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654012739 meters 0.044245572932496334 Centerline is valid? [True, True] Translation: X:332.79, Y:-52.64, Z:-6.64 [[ 9.73119282e-01 2.29427517e-01 2.00469018e-02 3.32789743e+02] [-2.29392453e-01 9.73325536e-01 -4.06255146e-03 -5.26441117e+01] [-2.04442225e-02 -6.45260821e-04 9.99790787e-01 -6.64138528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters 0.04207037819070841 Centerline is valid? [True, True] Translation: X:332.82, Y:-52.64, Z:-6.64 [[ 9.73652021e-01 2.27099318e-01 2.06795015e-02 3.32819520e+02] [-2.27061513e-01 9.73871408e-01 -4.18925610e-03 -5.26447230e+01] [-2.10905524e-02 -6.16641218e-04 9.99777379e-01 -6.64086604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714012739 meters 0.03865059462895061 Centerline is valid? [True, True] Translation: X:332.85, Y:-52.65, Z:-6.64 [[ 9.74040170e-01 2.25433266e-01 2.06298144e-02 3.32847256e+02] [-2.25395301e-01 9.74258439e-01 -4.17765727e-03 -5.26512356e+01] [-2.10405537e-02 -5.80657230e-04 9.99778454e-01 -6.64220723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters 0.03867234250710069 Centerline is valid? [True, True] Translation: X:332.88, Y:-52.65, Z:-6.64 [[ 9.74470262e-01 2.23587239e-01 2.04072043e-02 3.32875192e+02] [-2.23549705e-01 9.74683774e-01 -4.13160351e-03 -5.26535175e+01] [-2.08143447e-02 -5.35899745e-04 9.99783214e-01 -6.64352312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774012739 meters 0.03567760032362548 Centerline is valid? [True, True] Translation: X:332.90, Y:-52.66, Z:-6.64 [[ 9.74929155e-01 2.21573854e-01 2.04492090e-02 3.32903222e+02] [-2.21535748e-01 9.75143467e-01 -4.13889247e-03 -5.26616793e+01] [-2.08579829e-02 -4.95103868e-04 9.99782326e-01 -6.64433322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters 0.031343838319630495 Centerline is valid? [True, True] Translation: X:332.93, Y:-52.67, Z:-6.64 [[ 9.75773036e-01 2.17748650e-01 2.12722358e-02 3.32931561e+02] [-2.17706527e-01 9.76004785e-01 -4.30445517e-03 -5.26719448e+01] [-2.16990932e-02 -4.30933284e-04 9.99764454e-01 -6.64337828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834012739 meters 0.030252256264109947 Centerline is valid? [True, True] Translation: X:332.96, Y:-52.68, Z:-6.64 [[ 9.76168886e-01 2.15956815e-01 2.13766391e-02 3.32958756e+02] [-2.15913860e-01 9.76402837e-01 -4.32500224e-03 -5.26776293e+01] [-2.18062247e-02 -3.93580049e-04 9.99762139e-01 -6.64324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters 0.02813774682322634 Centerline is valid? [True, True] Translation: X:332.99, Y:-52.69, Z:-6.64 [[ 9.76901239e-01 2.12554341e-01 2.20141160e-02 3.32985523e+02] [-2.12507954e-01 9.77149192e-01 -4.45257647e-03 -5.26850548e+01] [-2.24574901e-02 -3.28447280e-04 9.99747745e-01 -6.64174164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894012739 meters 0.026515124671049627 Centerline is valid? [True, True] Translation: X:333.01, Y:-52.69, Z:-6.64 [[ 9.77289205e-01 2.10756730e-01 2.20773946e-02 3.33013215e+02] [-2.10709652e-01 9.77538499e-01 -4.46381052e-03 -5.26941537e+01] [-2.25222812e-02 -2.89486281e-04 9.99746299e-01 -6.64225717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters 0.025712630674524114 Centerline is valid? [True, True] Translation: X:333.04, Y:-52.70, Z:-6.64 [[ 9.77687915e-01 2.08935722e-01 2.17302660e-02 3.33040462e+02] [-2.08889685e-01 9.77929345e-01 -4.39259761e-03 -5.27019731e+01] [-2.21684353e-02 -2.44638821e-04 9.99754220e-01 -6.64340971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954012739 meters 0.02384698578322646 Centerline is valid? [True, True] Translation: X:333.07, Y:-52.71, Z:-6.64 [[ 9.78405916e-01 2.05484740e-01 2.23133472e-02 3.33066882e+02] [-2.05435328e-01 9.78660305e-01 -4.50934341e-03 -5.27130009e+01] [-2.27637884e-02 -1.71981531e-04 9.99740857e-01 -6.64490925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters 0.02328089975976825 Centerline is valid? [True, True] Translation: X:333.09, Y:-52.72, Z:-6.64 [[ 9.78744825e-01 2.03795984e-01 2.29295452e-02 3.33093693e+02] [-2.03743373e-01 9.79013370e-01 -4.63249408e-03 -5.27213149e+01] [-2.33924150e-02 -1.37713263e-04 9.99726351e-01 -6.64371344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014012739 meters 0.022079739799026835 Centerline is valid? [True, True] Translation: X:333.12, Y:-52.74, Z:-6.64 [[ 9.79464806e-01 2.00336542e-01 2.26707706e-02 3.33119491e+02] [-2.00284214e-01 9.79727139e-01 -4.57893548e-03 -5.27370333e+01] [-2.31284974e-02 -5.56913318e-05 9.99732499e-01 -6.64474514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters 0.021860183233311584 Centerline is valid? [True, True] Translation: X:333.15, Y:-52.75, Z:-6.65 [[ 9.79827801e-01 1.98711637e-01 2.12406543e-02 3.33145814e+02] [-1.98665344e-01 9.80058001e-01 -4.28908949e-03 -5.27458230e+01] [-2.16693651e-02 -1.72127593e-05 9.99765192e-01 -6.64709370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074012739 meters 0.02182969926892071 Centerline is valid? [True, True] Translation: X:333.17, Y:-52.75, Z:-6.65 [[ 9.80108250e-01 1.97465290e-01 1.98815846e-02 3.33173026e+02] [-1.97424499e-01 9.80309879e-01 -4.01351693e-03 -5.27543586e+01] [-2.02826441e-02 8.56919196e-06 9.99794286e-01 -6.65016188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters 0.022036983869920725 Centerline is valid? [True, True] Translation: X:333.20, Y:-52.76, Z:-6.65 [[ 9.80262046e-01 1.96857024e-01 1.82656080e-02 3.33199896e+02] [-1.96822503e-01 9.80432207e-01 -3.68653415e-03 -5.27634289e+01] [-1.86339105e-02 1.86868256e-05 9.99826373e-01 -6.65374323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134012739 meters 0.021880678990767025 Centerline is valid? [True, True] Translation: X:333.23, Y:-52.77, Z:-6.65 [[ 9.80152474e-01 1.97334473e-01 1.89798351e-02 3.33227973e+02] [-1.97297311e-01 9.80336221e-01 -3.82951798e-03 -5.27703812e+01] [-1.93623157e-02 8.84108867e-06 9.99812533e-01 -6.65289659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters 0.021788681666843883 Centerline is valid? [True, True] Translation: X:333.25, Y:-52.78, Z:-6.65 [[ 9.80056603e-01 1.97620544e-01 2.08608625e-02 3.33254412e+02] [-1.97575738e-01 9.80278593e-01 -4.20797995e-03 -5.27780830e+01] [-2.12810402e-02 2.45822857e-06 9.99773533e-01 -6.64934408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194012739 meters 0.02168925721318174 Centerline is valid? [True, True] Translation: X:333.28, Y:-52.78, Z:-6.65 [[ 9.80002126e-01 1.97807261e-01 2.16361006e-02 3.33282395e+02] [-1.97759138e-01 9.80240933e-01 -4.36301558e-03 -5.27839079e+01] [-2.20716276e-02 -2.97205644e-06 9.99756392e-01 -6.64825859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters 0.021726523496477863 Centerline is valid? [True, True] Translation: X:333.31, Y:-52.79, Z:-6.65 [[ 9.79969263e-01 1.97924773e-01 2.20460268e-02 3.33311025e+02] [-1.97874862e-01 9.80217213e-01 -4.44463885e-03 -5.27907536e+01] [-2.24895991e-02 -6.74504877e-06 9.99747077e-01 -6.64869707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254012739 meters 0.02172402172469301 Centerline is valid? [True, True] Translation: X:333.34, Y:-52.80, Z:-6.65 [[ 9.80221340e-01 1.96724922e-01 2.15738394e-02 3.33339481e+02] [-1.96676846e-01 9.80458722e-01 -4.34896535e-03 -5.28027784e+01] [-2.20078089e-02 1.98739339e-05 9.99757799e-01 -6.65068581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters 0.021889085704439336 Centerline is valid? [True, True] Translation: X:333.37, Y:-52.81, Z:-6.65 [[ 9.80383910e-01 1.96016098e-01 2.06174365e-02 3.33369156e+02] [-1.95972034e-01 9.80600677e-01 -4.15616872e-03 -5.28119227e+01] [-2.10321481e-02 3.41999860e-05 9.99778799e-01 -6.65253597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314012739 meters 0.02203877167338203 Centerline is valid? [True, True] Translation: X:333.40, Y:-52.82, Z:-6.65 [[ 9.80685425e-01 1.94614126e-01 1.95304445e-02 3.33397620e+02] [-1.94574308e-01 9.80879880e-01 -3.93704269e-03 -5.28218452e+01] [-1.99232242e-02 6.08776608e-05 9.99801511e-01 -6.65490667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters 0.022143407772981197 Centerline is valid? [True, True] Translation: X:333.43, Y:-52.83, Z:-6.66 [[ 9.80720699e-01 1.94442120e-01 1.94723517e-02 3.33426362e+02] [-1.94402500e-01 9.80913991e-01 -3.92558068e-03 -5.28294511e+01] [-1.98640004e-02 6.44243860e-05 9.99802689e-01 -6.65585879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374012739 meters 0.02199462437373275 Centerline is valid? [True, True] Translation: X:333.46, Y:-52.84, Z:-6.66 [[ 9.80647624e-01 1.94796591e-01 1.96093086e-02 3.33455207e+02] [-1.94756487e-01 9.80843660e-01 -3.95295424e-03 -5.28361799e+01] [-2.00036880e-02 5.74151269e-05 9.99799905e-01 -6.65687776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters 0.021654167501335576 Centerline is valid? [True, True] Translation: X:333.48, Y:-52.84, Z:-6.65 [[ 9.80132954e-01 1.97319528e-01 2.01096266e-02 3.33484988e+02] [-1.97277892e-01 9.80339229e-01 -4.05331141e-03 -5.28398557e+01] [-2.05140533e-02 5.59934028e-06 9.99789565e-01 -6.65484782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434012739 meters 0.021710150948382502 Centerline is valid? [True, True] Translation: X:333.51, Y:-52.84, Z:-6.65 [[ 9.79747076e-01 1.99159198e-01 2.07673165e-02 3.33514497e+02] [-1.99115218e-01 9.79967149e-01 -4.18535910e-03 -5.28419486e+01] [-2.11848407e-02 -3.44954284e-05 9.99775575e-01 -6.65478885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters 0.022701062881344738 Centerline is valid? [True, True] Translation: X:333.54, Y:-52.84, Z:-6.65 [[ 9.78999587e-01 2.02717195e-01 2.15765475e-02 3.33543125e+02] [-2.02670597e-01 9.79237318e-01 -4.34783917e-03 -5.28392169e+01] [-2.20099423e-02 -1.16399013e-04 9.99757745e-01 -6.65359383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494012739 meters 0.02318908823131498 Centerline is valid? [True, True] Translation: X:333.57, Y:-52.84, Z:-6.65 [[ 9.78763113e-01 2.03849632e-01 2.16355454e-02 3.33571034e+02] [-2.03803087e-01 9.79002200e-01 -4.35828962e-03 -5.28422255e+01] [-2.20696823e-02 -1.43657838e-04 9.99756425e-01 -6.65478390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters 0.023578672198470672 Centerline is valid? [True, True] Translation: X:333.60, Y:-52.85, Z:-6.66 [[ 9.78607368e-01 2.04635935e-01 2.12544936e-02 3.33599792e+02] [-2.04591230e-01 9.78838142e-01 -4.28019877e-03 -5.28461224e+01] [-2.16805915e-02 -1.59848945e-04 9.99764936e-01 -6.65593765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55401273900003 meters 0.02344355234689008 Centerline is valid? [True, True] Translation: X:333.63, Y:-52.85, Z:-6.66 [[ 9.78724644e-01 2.04151687e-01 2.04978186e-02 3.33628216e+02] [-2.04110022e-01 9.78939256e-01 -4.12688836e-03 -5.28499925e+01] [-2.09086306e-02 -1.44722887e-04 9.99781380e-01 -6.65812182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters 0.023194725191618006 Centerline is valid? [True, True] Translation: X:333.66, Y:-52.85, Z:-6.66 [[ 9.78841727e-01 2.03580027e-01 2.05923554e-02 3.33655458e+02] [-2.03537871e-01 9.79058300e-01 -4.14494151e-03 -5.28548987e+01] [-2.10049438e-02 -1.34082468e-04 9.99779363e-01 -6.65915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61401273900003 meters 0.022934042184238473 Centerline is valid? [True, True] Translation: X:333.68, Y:-52.86, Z:-6.66 [[ 9.78971186e-01 2.02912825e-01 2.10190770e-02 3.33683907e+02] [-2.02868777e-01 9.79196799e-01 -4.22953804e-03 -5.28603552e+01] [-2.14400404e-02 -1.23518565e-04 9.99770128e-01 -6.65872952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters 0.02248376479420621 Centerline is valid? [True, True] Translation: X:333.71, Y:-52.87, Z:-6.66 [[ 9.78995455e-01 2.02732240e-01 2.16226371e-02 3.33712340e+02] [-2.02685605e-01 9.79234203e-01 -4.34995137e-03 -5.28652532e+01] [-2.20555012e-02 -1.24014666e-04 9.99756740e-01 -6.65811316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.674012739 meters 0.022767160511809423 Centerline is valid? [True, True] Translation: X:333.74, Y:-52.87, Z:-6.66 [[ 9.78965894e-01 2.02893505e-01 2.14476977e-02 3.33740629e+02] [-2.02847684e-01 9.79200801e-01 -4.31366632e-03 -5.28681869e+01] [-2.18768176e-02 -1.27683589e-04 9.99760666e-01 -6.65853139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters 0.023598804303006173 Centerline is valid? [True, True] Translation: X:333.77, Y:-52.87, Z:-6.66 [[ 9.78715483e-01 2.04070880e-01 2.17043461e-02 3.33768646e+02] [-2.04024276e-01 9.78956103e-01 -4.36391527e-03 -5.28682589e+01] [-2.21381501e-02 -1.57182056e-04 9.99754909e-01 -6.65841674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734012739 meters 0.02404894997021784 Centerline is valid? [True, True] Translation: X:333.80, Y:-52.87, Z:-6.66 [[ 9.78568579e-01 2.04756213e-01 2.18730387e-02 3.33796426e+02] [-2.04709082e-01 9.78812986e-01 -4.39652829e-03 -5.28714478e+01] [-2.23098308e-02 -1.75305220e-04 9.99751089e-01 -6.65873078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters 0.024790652035162095 Centerline is valid? [True, True] Translation: X:333.83, Y:-52.87, Z:-6.66 [[ 9.78309837e-01 2.06011732e-01 2.16570670e-02 3.33825500e+02] [-2.05965861e-01 9.78549501e-01 -4.35192221e-03 -5.28724842e+01] [-2.20890591e-02 -2.03088144e-04 9.99755986e-01 -6.65946901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794012739 meters 0.025123100392654644 Centerline is valid? [True, True] Translation: X:333.85, Y:-52.88, Z:-6.66 [[ 9.78235464e-01 2.06351436e-01 2.17821423e-02 3.33853777e+02] [-2.06305139e-01 9.78477920e-01 -4.37606871e-03 -5.28761120e+01] [-2.22163533e-02 -2.12942285e-04 9.99753164e-01 -6.66022779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters 0.024929268817273954 Centerline is valid? [True, True] Translation: X:333.88, Y:-52.88, Z:-6.66 [[ 9.77961244e-01 2.07599988e-01 2.22272567e-02 3.33882301e+02] [-2.07552126e-01 9.78213772e-01 -4.46446619e-03 -5.28799674e+01] [-2.26698317e-02 -2.47239463e-04 9.99742976e-01 -6.66022578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854012739 meters 0.027025493413438646 Centerline is valid? [True, True] Translation: X:333.91, Y:-52.88, Z:-6.66 [[ 9.77780979e-01 2.08496887e-01 2.17578972e-02 3.33910739e+02] [-2.08451270e-01 9.78022995e-01 -4.36912470e-03 -5.28793387e+01] [-2.21906727e-02 -2.63414279e-04 9.99753722e-01 -6.66088476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters 0.027552753686555274 Centerline is valid? [True, True] Translation: X:333.94, Y:-52.88, Z:-6.66 [[ 9.77707761e-01 2.08946704e-01 2.07076922e-02 3.33939448e+02] [-2.08905511e-01 9.77926994e-01 -4.15704603e-03 -5.28823878e+01] [-2.11192123e-02 -2.61574863e-04 9.99776930e-01 -6.66409209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914012739 meters 0.026168267662164024 Centerline is valid? [True, True] Translation: X:333.97, Y:-52.89, Z:-6.67 [[ 9.77756285e-01 2.08834908e-01 1.95096989e-02 3.33967299e+02] [-2.08798337e-01 9.77950879e-01 -3.91574908e-03 -5.28874243e+01] [-1.98972723e-02 -2.44944407e-04 9.99802000e-01 -6.66704003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters 0.026007256557029998 Centerline is valid? [True, True] Translation: X:333.99, Y:-52.89, Z:-6.67 [[ 9.77863774e-01 2.08338465e-01 1.94299792e-02 3.33994803e+02] [-2.08302122e-01 9.78056762e-01 -3.89835493e-03 -5.28919179e+01] [-1.98157998e-02 -2.35245843e-04 9.99803620e-01 -6.66774708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974012739 meters 0.02562351194324554 Centerline is valid? [True, True] Translation: X:334.02, Y:-52.89, Z:-6.67 [[ 9.77906128e-01 2.08110040e-01 1.97437525e-02 3.34022347e+02] [-2.08072491e-01 9.78105391e-01 -3.96011596e-03 -5.28948286e+01] [-2.01356107e-02 -2.35510109e-04 9.99797230e-01 -6.66716508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters 0.026819743931547964 Centerline is valid? [True, True] Translation: X:334.05, Y:-52.90, Z:-6.67 [[ 9.77773551e-01 2.08674868e-01 2.03392010e-02 3.34050546e+02] [-2.08635174e-01 9.77985038e-01 -4.07803701e-03 -5.28953448e+01] [-2.07424181e-02 -2.56076000e-04 9.99784820e-01 -6.66688866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034012739 meters 0.026224728370870417 Centerline is valid? [True, True] Translation: X:334.08, Y:-52.90, Z:-6.67 [[ 9.77567969e-01 2.09593514e-01 2.07707918e-02 3.34078986e+02] [-2.09552351e-01 9.77788566e-01 -4.16330976e-03 -5.28994822e+01] [-2.11820454e-02 -2.82649985e-04 9.99775595e-01 -6.66657697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters 0.027378199251372793 Centerline is valid? [True, True] Translation: X:334.11, Y:-52.90, Z:-6.67 [[ 9.77312502e-01 2.10694894e-01 2.16317998e-02 3.34108028e+02] [-2.10650542e-01 9.77551819e-01 -4.33475364e-03 -5.28968777e+01] [-2.20595157e-02 -3.20341423e-04 9.99756608e-01 -6.66614474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094012739 meters 0.02671009544470663 Centerline is valid? [True, True] Translation: X:334.14, Y:-52.90, Z:-6.67 [[ 9.77418567e-01 2.10212970e-01 2.15279506e-02 3.34136414e+02] [-2.10168954e-01 9.77655569e-01 -4.31263558e-03 -5.29009232e+01] [-2.19534927e-02 -3.09256786e-04 9.99758945e-01 -6.66731550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters 0.02527550791897362 Centerline is valid? [True, True] Translation: X:334.16, Y:-52.91, Z:-6.67 [[ 9.78166502e-01 2.06834082e-01 2.02473738e-02 3.34163996e+02] [-2.06794444e-01 9.78376008e-01 -4.05514996e-03 -5.29054986e+01] [-2.06482880e-02 -2.20432545e-04 9.99786777e-01 -6.67112035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154012739 meters 0.02414263745753024 Centerline is valid? [True, True] Translation: X:334.19, Y:-52.91, Z:-6.67 [[ 9.78730776e-01 2.04215245e-01 1.95499669e-02 3.34190548e+02] [-2.04177791e-01 9.78925997e-01 -3.91430500e-03 -5.29123386e+01] [-1.99373316e-02 -1.60618285e-04 9.99801219e-01 -6.67349066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters 0.022710004609796892 Centerline is valid? [True, True] Translation: X:334.22, Y:-52.92, Z:-6.67 [[ 9.79318719e-01 2.01400184e-01 1.93083810e-02 3.34218059e+02] [-2.01363125e-01 9.79509038e-01 -3.86478015e-03 -5.29219119e+01] [-1.96911011e-02 -1.03144390e-04 9.99806106e-01 -6.67459892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214012739 meters 0.02186070551448202 Centerline is valid? [True, True] Translation: X:334.25, Y:-52.93, Z:-6.67 [[ 9.80437410e-01 1.95759302e-01 2.05129316e-02 3.34245778e+02] [-1.95716261e-01 9.80651975e-01 -4.10482404e-03 -5.29326803e+01] [-2.09196044e-02 9.80877660e-06 9.99781161e-01 -6.67182690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters 0.022014403660015825 Centerline is valid? [True, True] Translation: X:334.27, Y:-52.94, Z:-6.67 [[ 9.80913208e-01 1.93275091e-01 2.13077064e-02 3.34272743e+02] [-1.93228087e-01 9.81144605e-01 -4.26276994e-03 -5.29400729e+01] [-2.17298285e-02 6.41599801e-05 9.99763877e-01 -6.67069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274012739 meters 0.023230282048601485 Centerline is valid? [True, True] Translation: X:334.30, Y:-52.95, Z:-6.67 [[ 9.81687521e-01 1.89211004e-01 2.21089700e-02 3.34300515e+02] [-1.89159397e-01 9.81936439e-01 -4.42171842e-03 -5.29494154e+01] [-2.25462411e-02 1.58626350e-04 9.99745789e-01 -6.66927587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters 0.023771922031505476 Centerline is valid? [True, True] Translation: X:334.33, Y:-52.96, Z:-6.67 [[ 9.81972248e-01 1.87670695e-01 2.25879279e-02 3.34328827e+02] [-1.87616445e-01 9.82231984e-01 -4.51643507e-03 -5.29560292e+01] [-2.30341878e-02 1.97147156e-04 9.99734658e-01 -6.66952608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334012739 meters 0.024139621010785477 Centerline is valid? [True, True] Translation: X:334.36, Y:-52.96, Z:-6.67 [[ 9.82159619e-01 1.86672462e-01 2.27128868e-02 3.34356931e+02] [-1.86617369e-01 9.82422182e-01 -4.54032662e-03 -5.29625218e+01] [-2.31611977e-02 2.20706292e-04 9.99731719e-01 -6.66951813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters 0.025232855493724875 Centerline is valid? [True, True] Translation: X:334.39, Y:-52.97, Z:-6.67 [[ 9.82467154e-01 1.85006235e-01 2.30430871e-02 3.34385115e+02] [-1.84949096e-01 9.82737312e-01 -4.60521802e-03 -5.29691041e+01] [-2.34972955e-02 2.62677321e-04 9.99723866e-01 -6.66990618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394012739 meters 0.025394176817915688 Centerline is valid? [True, True] Translation: X:334.41, Y:-52.98, Z:-6.67 [[ 9.82585989e-01 1.84426812e-01 2.26169200e-02 3.34413630e+02] [-1.84371638e-01 9.82846213e-01 -4.51899072e-03 -5.29750905e+01] [-2.30623772e-02 2.70378373e-04 9.99733991e-01 -6.67090241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters 0.02666176528496745 Centerline is valid? [True, True] Translation: X:334.44, Y:-52.98, Z:-6.67 [[ 9.82888993e-01 1.82967076e-01 2.12667719e-02 3.34439947e+02] [-1.82917973e-01 9.83119000e-01 -4.24825099e-03 -5.29837282e+01] [-2.16850576e-02 2.85484330e-04 9.99764811e-01 -6.67320556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454012739 meters 0.027877602163263123 Centerline is valid? [True, True] Translation: X:334.47, Y:-52.99, Z:-6.67 [[ 9.83154378e-01 1.81583250e-01 2.08564835e-02 3.34467586e+02] [-1.81535738e-01 9.83375527e-01 -4.16510372e-03 -5.29921753e+01] [-2.12660685e-02 3.08742839e-04 9.99773804e-01 -6.67475700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters 0.029357393668431903 Centerline is valid? [True, True] Translation: X:334.50, Y:-53.00, Z:-6.68 [[ 9.83486402e-01 1.79820873e-01 2.04682916e-02 3.34496486e+02] [-1.79774745e-01 9.83699313e-01 -4.08688815e-03 -5.30005650e+01] [-2.08695522e-02 3.39717015e-04 9.99782149e-01 -6.67625174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514012739 meters 0.03324022373170277 Centerline is valid? [True, True] Translation: X:334.52, Y:-53.01, Z:-6.68 [[ 9.84266864e-01 1.75448380e-01 2.08951333e-02 3.34523965e+02] [-1.75399333e-01 9.84488533e-01 -4.17163068e-03 -5.30136986e+01] [-2.13029250e-02 4.41005388e-04 9.99772970e-01 -6.67677838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters 0.03324022373170277 Centerline is valid? [True, True] Translation: X:334.55, Y:-53.02, Z:-6.68 [[ 9.84270725e-01 1.75426713e-01 2.08951818e-02 3.34552575e+02] [-1.75377667e-01 9.84492394e-01 -4.17138771e-03 -5.30193644e+01] [-2.13029204e-02 4.41226565e-04 9.99772970e-01 -6.67737074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574012739 meters 0.0357443132507977 Centerline is valid? [True, True] Translation: X:334.58, Y:-53.03, Z:-6.68 [[ 9.84674987e-01 1.73134383e-01 2.09679430e-02 3.34580529e+02] [-1.73084484e-01 9.84898088e-01 -4.18544388e-03 -5.30304450e+01] [-2.13759312e-02 4.92076307e-04 9.99771388e-01 -6.67745537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters 0.04033679720835433 Centerline is valid? [True, True] Translation: X:334.61, Y:-53.05, Z:-6.68 [[ 9.85456608e-01 1.68686864e-01 2.04943013e-02 3.34608913e+02] [-1.68638237e-01 9.85669524e-01 -4.09068439e-03 -5.30464962e+01] [-2.08906529e-02 5.75069125e-04 9.99781601e-01 -6.67909001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634012739 meters 0.03855031212868488 Centerline is valid? [True, True] Translation: X:334.64, Y:-53.05, Z:-6.68 [[ 9.85875851e-01 1.66252676e-01 2.02201293e-02 3.34640530e+02] [-1.66204825e-01 9.86082991e-01 -4.03619714e-03 -5.30513606e+01] [-2.06097541e-02 6.18506242e-04 9.99787405e-01 -6.68020622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters 0.04604405814654181 Centerline is valid? [True, True] Translation: X:334.67, Y:-53.07, Z:-6.68 [[ 9.86285841e-01 1.63817410e-01 2.01021609e-02 3.34668619e+02] [-1.63769591e-01 9.86490452e-01 -4.01364691e-03 -5.30695611e+01] [-2.04880951e-02 6.66480452e-04 9.99789875e-01 -6.68132187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694012739 meters 0.050020187190144144 Centerline is valid? [True, True] Translation: X:334.70, Y:-53.09, Z:-6.68 [[ 9.86793917e-01 1.60637008e-01 2.08210881e-02 3.34696866e+02] [-1.60584929e-01 9.87013258e-01 -4.16045590e-03 -5.30866998e+01] [-2.12190132e-02 7.61959621e-04 9.99774561e-01 -6.68133632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters 0.04965292259728987 Centerline is valid? [True, True] Translation: X:334.73, Y:-53.10, Z:-6.68 [[ 9.86979609e-01 1.59483534e-01 2.08866938e-02 3.34727371e+02] [-1.59430855e-01 9.87200273e-01 -4.17422401e-03 -5.30961223e+01] [-2.12850699e-02 7.89890517e-04 9.99773135e-01 -6.68185922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754012739 meters 0.05136516558445828 Centerline is valid? [True, True] Translation: X:334.76, Y:-53.11, Z:-6.68 [[ 9.87177757e-01 1.58259305e-01 2.08342897e-02 3.34758153e+02] [-1.58206553e-01 9.87397248e-01 -4.16674794e-03 -5.31080459e+01] [-2.12311470e-02 8.17199715e-04 9.99774260e-01 -6.68217138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters 0.054155736943789425 Centerline is valid? [True, True] Translation: X:334.79, Y:-53.12, Z:-6.69 [[ 9.87485546e-01 1.56545679e-01 1.91244852e-02 3.34786801e+02] [-1.56500896e-01 9.87670408e-01 -3.82556813e-03 -5.31223343e+01] [-1.94875642e-02 7.84694178e-04 9.99809791e-01 -6.68621885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814012739 meters 0.05697906356983974 Centerline is valid? [True, True] Translation: X:334.82, Y:-53.14, Z:-6.69 [[ 9.87519556e-01 1.56401377e-01 1.85401428e-02 3.34816278e+02] [-1.56359240e-01 9.87693285e-01 -3.70991786e-03 -5.31351537e+01] [-1.88922108e-02 7.64693802e-04 9.99821234e-01 -6.68856825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters 0.049490677583253546 Centerline is valid? [True, True] Translation: X:334.85, Y:-53.14, Z:-6.69 [[ 9.87406614e-01 1.57078998e-01 1.88246622e-02 3.34848881e+02] [-1.57035625e-01 9.87585744e-01 -3.76974429e-03 -5.31376048e+01] [-1.91831157e-02 7.66127834e-04 9.99815694e-01 -6.68774884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874012739 meters 0.04707226613198997 Centerline is valid? [True, True] Translation: X:334.88, Y:-53.14, Z:-6.69 [[ 9.87171268e-01 1.58513867e-01 1.91374200e-02 3.34880328e+02] [-1.58469287e-01 9.87356465e-01 -3.83355490e-03 -5.31432530e+01] [-1.95031270e-02 7.51681958e-04 9.99809513e-01 -6.68707537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters 0.0444869809084917 Centerline is valid? [True, True] Translation: X:334.91, Y:-53.15, Z:-6.69 [[ 9.86570712e-01 1.62281797e-01 1.85161580e-02 3.34908904e+02] [-1.62240714e-01 9.86744236e-01 -3.70980530e-03 -5.31513215e+01] [-1.88727461e-02 6.55910556e-04 9.99821679e-01 -6.68840471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934012739 meters 0.043353543606017876 Centerline is valid? [True, True] Translation: X:334.94, Y:-53.16, Z:-6.69 [[ 9.86215306e-01 1.64474240e-01 1.80995886e-02 3.34938835e+02] [-1.64435354e-01 9.86381196e-01 -3.62630041e-03 -5.31594142e+01] [-1.84495269e-02 6.00100708e-04 9.99829613e-01 -6.69070206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters 0.04216101136938319 Centerline is valid? [True, True] Translation: X:334.97, Y:-53.17, Z:-6.69 [[ 9.85854911e-01 1.66671488e-01 1.76269403e-02 3.34967947e+02] [-1.66634950e-01 9.86012332e-01 -3.53201183e-03 -5.31669664e+01] [-1.79690661e-02 5.44786902e-04 9.99838395e-01 -6.69247986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994012739 meters 0.0379752630700784 Centerline is valid? [True, True] Translation: X:335.00, Y:-53.17, Z:-6.69 [[ 9.85171675e-01 1.70703440e-01 1.72367585e-02 3.34998429e+02] [-1.70669110e-01 9.85322345e-01 -3.45425610e-03 -5.31722346e+01] [-1.75734167e-02 4.61253034e-04 9.99845469e-01 -6.69341009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters 0.036255631808909464 Centerline is valid? [True, True] Translation: X:335.03, Y:-53.18, Z:-6.69 [[ 9.84778098e-01 1.72958285e-01 1.72490556e-02 3.35028285e+02] [-1.72924251e-01 9.84929060e-01 -3.45677164e-03 -5.31780637e+01] [-1.75869734e-02 4.21372982e-04 9.99845248e-01 -6.69338424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05401273900003 meters 0.032726088347736194 Centerline is valid? [True, True] Translation: X:335.06, Y:-53.18, Z:-6.69 [[ 9.83686755e-01 1.79036296e-01 1.75034934e-02 3.35057829e+02] [-1.79002187e-01 9.83842418e-01 -3.50914872e-03 -5.31837359e+01] [-1.78489442e-02 3.18739525e-04 9.99840644e-01 -6.69334781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters 0.028477400421090947 Centerline is valid? [True, True] Translation: X:335.09, Y:-53.19, Z:-6.69 [[ 9.83142199e-01 1.81927500e-01 1.82702060e-02 3.35090744e+02] [-1.81890840e-01 9.83311908e-01 -3.66259491e-03 -5.31850538e+01] [-1.86316379e-02 2.77668493e-04 9.99826377e-01 -6.69229401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11401273900003 meters 0.025373244438979044 Centerline is valid? [True, True] Translation: X:335.12, Y:-53.19, Z:-6.69 [[ 9.82707033e-01 1.84157299e-01 1.93126127e-02 3.35123803e+02] [-1.84116700e-01 9.82896752e-01 -3.87494631e-03 -5.31863314e+01] [-1.96959039e-02 2.52162475e-04 9.99805985e-01 -6.69117156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters 0.02363939015035372 Centerline is valid? [True, True] Translation: X:335.16, Y:-53.19, Z:-6.69 [[ 9.81924546e-01 1.88264181e-01 1.95136695e-02 3.35155360e+02] [-1.88223519e-01 9.82118408e-01 -3.91648137e-03 -5.31904264e+01] [-1.99020671e-02 1.72757667e-04 9.99801919e-01 -6.69167194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.174012739 meters 0.02285241332272931 Centerline is valid? [True, True] Translation: X:335.19, Y:-53.20, Z:-6.69 [[ 9.81554952e-01 1.90201414e-01 1.93209152e-02 3.35185936e+02] [-1.90161860e-01 9.81745081e-01 -3.88113788e-03 -5.31960749e+01] [-1.97064114e-02 1.35448929e-04 9.99805801e-01 -6.69293297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters 0.021629417707987347 Centerline is valid? [True, True] Translation: X:335.22, Y:-53.20, Z:-6.69 [[ 9.80793066e-01 1.94119515e-01 1.90414368e-02 3.35215198e+02] [-1.94081774e-01 9.80977885e-01 -3.82812222e-03 -5.31979642e+01] [-1.94223416e-02 5.89999053e-05 9.99811367e-01 -6.69423200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234012739 meters 0.021468179696084427 Centerline is valid? [True, True] Translation: X:335.25, Y:-53.20, Z:-6.69 [[ 9.80464938e-01 1.95810315e-01 1.86232403e-02 3.35245786e+02] [-1.95774524e-01 9.80641790e-01 -3.74381053e-03 -5.32006779e+01] [-1.89958045e-02 2.47189517e-05 9.99819563e-01 -6.69495172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters 0.021409126274197596 Centerline is valid? [True, True] Translation: X:335.28, Y:-53.20, Z:-6.70 [[ 9.80160766e-01 1.97397865e-01 1.78593008e-02 3.35275456e+02] [-1.97365214e-01 9.80323458e-01 -3.59021065e-03 -5.32037248e+01] [-1.82165914e-02 -5.82109695e-06 9.99834064e-01 -6.69718930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294012739 meters 0.021919898660267428 Centerline is valid? [True, True] Translation: X:335.31, Y:-53.20, Z:-6.70 [[ 9.79637106e-01 2.00070680e-01 1.68185504e-02 3.35305253e+02] [-2.00042112e-01 9.79781466e-01 -3.38130359e-03 -5.32044191e+01] [-1.71550036e-02 -5.19678662e-05 9.99852841e-01 -6.69902807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters 0.022122615093867773 Centerline is valid? [True, True] Translation: X:335.33, Y:-53.21, Z:-6.70 [[ 9.79316878e-01 2.01568126e-01 1.75711124e-02 3.35334608e+02] [-2.01537191e-01 9.79474494e-01 -3.53221020e-03 -5.32065456e+01] [-1.79224374e-02 -8.20795906e-05 9.99839377e-01 -6.69782205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354012739 meters 0.022610760413271154 Centerline is valid? [True, True] Translation: X:335.36, Y:-53.21, Z:-6.69 [[ 9.78798740e-01 2.03815748e-01 2.03019031e-02 3.35364147e+02] [-2.03774957e-01 9.79009254e-01 -4.08002097e-03 -5.32052881e+01] [-2.07073235e-02 -1.43500054e-04 9.99785570e-01 -6.69342720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters 0.02285328676154495 Centerline is valid? [True, True] Translation: X:335.39, Y:-53.21, Z:-6.69 [[ 9.78687162e-01 2.04275064e-01 2.10508174e-02 3.35392243e+02] [-2.04231337e-01 9.78913516e-01 -4.22945316e-03 -5.32089886e+01] [-2.14709015e-02 -1.59925083e-04 9.99769461e-01 -6.69315171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414012739 meters 0.02293801162835071 Centerline is valid? [True, True] Translation: X:335.42, Y:-53.21, Z:-6.70 [[ 9.78815460e-01 2.03738686e-01 2.02692772e-02 3.35419814e+02] [-2.03698046e-01 9.79025295e-01 -4.07170115e-03 -5.32146937e+01] [-2.06736981e-02 -1.43368121e-04 9.99786266e-01 -6.69508659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters 0.021962273334426744 Centerline is valid? [True, True] Translation: X:335.45, Y:-53.23, Z:-6.70 [[ 9.79338101e-01 2.01430069e-01 1.79669502e-02 3.35447895e+02] [-2.01397760e-01 9.79502894e-01 -3.60861061e-03 -5.32255531e+01] [-1.83255624e-02 -8.44536682e-05 9.99832069e-01 -6.69966734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474012739 meters 0.02164545506062139 Centerline is valid? [True, True] Translation: X:335.48, Y:-53.23, Z:-6.70 [[ 9.79743570e-01 1.99529548e-01 1.70439395e-02 3.35475612e+02] [-1.99500193e-01 9.79891809e-01 -3.42286572e-03 -5.32321845e+01] [-1.73841796e-02 -4.67385380e-05 9.99848883e-01 -6.70168306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters 0.021517467419766238 Centerline is valid? [True, True] Translation: X:335.50, Y:-53.24, Z:-6.70 [[ 9.79812543e-01 1.99120093e-01 1.78484981e-02 3.35503467e+02] [-1.99087844e-01 9.79975095e-01 -3.58377401e-03 -5.32383905e+01] [-1.82046850e-02 -4.19922755e-05 9.99834280e-01 -6.70045110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534012739 meters 0.021276100923865487 Centerline is valid? [True, True] Translation: X:335.53, Y:-53.25, Z:-6.70 [[ 9.79887943e-01 1.98638227e-01 1.90387529e-02 3.35532523e+02] [-1.98601462e-01 9.80072882e-01 -3.82175363e-03 -5.32455063e+01] [-1.94185118e-02 -3.62338446e-05 9.99811442e-01 -6.69869185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters 0.021119615080554738 Centerline is valid? [True, True] Translation: X:335.56, Y:-53.25, Z:-6.70 [[ 9.80173008e-01 1.97267214e-01 1.86150550e-02 3.35561384e+02] [-1.97231829e-01 9.80349757e-01 -3.73623255e-03 -5.32530629e+01] [-1.89863008e-02 -9.32703287e-06 9.99819744e-01 -6.70014700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594012739 meters 0.021302556824518634 Centerline is valid? [True, True] Translation: X:335.59, Y:-53.26, Z:-6.70 [[ 9.80515490e-01 1.95639305e-01 1.77380026e-02 3.35589063e+02] [-1.95606913e-01 9.80675921e-01 -3.56004184e-03 -5.32609468e+01] [-1.80917161e-02 2.10002508e-05 9.99836331e-01 -6.70307181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters 0.022273323717271004 Centerline is valid? [True, True] Translation: X:335.62, Y:-53.28, Z:-6.70 [[ 9.81372138e-01 1.91329603e-01 1.73697716e-02 3.35617121e+02] [-1.91297880e-01 9.81525839e-01 -3.48537028e-03 -5.32781955e+01] [-1.77157342e-02 9.76447907e-05 9.99843059e-01 -6.70480757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654012739 meters 0.023830883990029403 Centerline is valid? [True, True] Translation: X:335.65, Y:-53.29, Z:-6.70 [[ 9.81841635e-01 1.88869966e-01 1.77521882e-02 3.35645784e+02] [-1.88836425e-01 9.82002095e-01 -3.56225915e-03 -5.32928701e+01] [-1.81054897e-02 1.45314597e-04 9.99836072e-01 -6.70434763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters 0.025443205233239695 Centerline is valid? [True, True] Translation: X:335.68, Y:-53.31, Z:-6.70 [[ 9.82308200e-01 1.86367373e-01 1.83794303e-02 3.35675405e+02] [-1.86330922e-01 9.82480108e-01 -3.69133112e-03 -5.33059464e+01] [-1.87453683e-02 2.01368642e-04 9.99824270e-01 -6.70369194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714012739 meters 0.026437827317018076 Centerline is valid? [True, True] Translation: X:335.71, Y:-53.32, Z:-6.70 [[ 9.82864058e-01 1.83374182e-01 1.87657495e-02 3.35705408e+02] [-1.83335631e-01 9.83043153e-01 -3.76918412e-03 -5.33188391e+01] [-1.91387126e-02 2.64165088e-04 9.99816803e-01 -6.70272000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters 0.028035445199871837 Centerline is valid? [True, True] Translation: X:335.74, Y:-53.33, Z:-6.70 [[ 9.82801779e-01 1.83709735e-01 1.87455737e-02 3.35735706e+02] [-1.83671267e-01 9.82980501e-01 -3.76832686e-03 -5.33314315e+01] [-1.91188117e-02 2.60495077e-04 9.99817185e-01 -6.70384684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774012739 meters 0.02441381092958164 Centerline is valid? [True, True] Translation: X:335.77, Y:-53.33, Z:-6.70 [[ 9.82238301e-01 1.86751114e-01 1.82192715e-02 3.35768021e+02] [-1.86715238e-01 9.82407238e-01 -3.66577777e-03 -5.33348417e+01] [-1.85833323e-02 1.98851712e-04 9.99827295e-01 -6.70423409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters 0.023754179806728212 Centerline is valid? [True, True] Translation: X:335.80, Y:-53.34, Z:-6.71 [[ 9.81759729e-01 1.89291057e-01 1.77969124e-02 3.35798627e+02] [-1.89257188e-01 9.81921012e-01 -3.58381068e-03 -5.33406549e+01] [-1.81535455e-02 1.50247406e-04 9.99835200e-01 -6.70524402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834012739 meters 0.022231044021027553 Centerline is valid? [True, True] Translation: X:335.83, Y:-53.34, Z:-6.71 [[ 9.81233831e-01 1.91995992e-01 1.78243619e-02 3.35830549e+02] [-1.91962413e-01 9.81395704e-01 -3.59216510e-03 -5.33431432e+01] [-1.81824335e-02 1.03146403e-04 9.99834681e-01 -6.70615809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters 0.021051613236180596 Centerline is valid? [True, True] Translation: X:335.86, Y:-53.34, Z:-6.71 [[ 9.80249851e-01 1.96998547e-01 1.73724441e-02 3.35861241e+02] [-1.96967377e-01 9.80403780e-01 -3.50428836e-03 -5.33449324e+01] [-1.77223496e-02 1.32733890e-05 9.99842947e-01 -6.70782269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894012739 meters 0.021106027415313144 Centerline is valid? [True, True] Translation: X:335.89, Y:-53.35, Z:-6.71 [[ 9.79928371e-01 1.98651520e-01 1.66721637e-02 3.35892326e+02] [-1.98623049e-01 9.80070188e-01 -3.36318109e-03 -5.33503611e+01] [-1.70079917e-02 -1.57994297e-05 9.99855354e-01 -6.70895674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters 0.021537730383866242 Centerline is valid? [True, True] Translation: X:335.92, Y:-53.35, Z:-6.71 [[ 9.79518970e-01 2.00798382e-01 1.49197065e-02 3.35923130e+02] [-2.00775827e-01 9.79632588e-01 -3.00996660e-03 -5.33548945e+01] [-1.52202271e-02 -4.71970289e-05 9.99884165e-01 -6.71260802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954012739 meters 0.021941238639154113 Centerline is valid? [True, True] Translation: X:335.95, Y:-53.36, Z:-6.71 [[ 9.79236214e-01 2.02221679e-01 1.42418574e-02 3.35952786e+02] [-2.02201269e-01 9.79339772e-01 -2.87375001e-03 -5.33585627e+01] [-1.45287520e-02 -6.56415735e-05 9.99894450e-01 -6.71450937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters 0.02288461279274671 Centerline is valid? [True, True] Translation: X:335.98, Y:-53.36, Z:-6.71 [[ 9.78552303e-01 2.05388133e-01 1.58462759e-02 3.35982677e+02] [-2.05363283e-01 9.78680591e-01 -3.19732200e-03 -5.33608554e+01] [-1.61651346e-02 -1.25496436e-04 9.99869328e-01 -6.71180405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014012739 meters 0.024319738617596006 Centerline is valid? [True, True] Translation: X:336.01, Y:-53.36, Z:-6.71 [[ 9.78177873e-01 2.07086893e-01 1.68246165e-02 3.36011888e+02] [-2.07059138e-01 9.78322540e-01 -3.39431750e-03 -5.33629455e+01] [-1.71628202e-02 -1.63444315e-04 9.99852695e-01 -6.71084040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters 0.024347328123379024 Centerline is valid? [True, True] Translation: X:336.04, Y:-53.37, Z:-6.71 [[ 9.77901232e-01 2.08347051e-01 1.73403164e-02 3.36041465e+02] [-2.08317778e-01 9.78054942e-01 -3.49767343e-03 -5.33680010e+01] [-1.76885121e-02 -1.91917030e-04 9.99843528e-01 -6.70985005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074012739 meters 0.027909765081142693 Centerline is valid? [True, True] Translation: X:336.07, Y:-53.36, Z:-6.71 [[ 9.77156776e-01 2.11825596e-01 1.71625028e-02 3.36071439e+02] [-2.11797463e-01 9.77307451e-01 -3.46142795e-03 -5.33642328e+01] [-1.75062609e-02 -2.52616775e-04 9.99846722e-01 -6.71147711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters 0.028924499767711106 Centerline is valid? [True, True] Translation: X:336.10, Y:-53.37, Z:-6.71 [[ 9.76738223e-01 2.13712618e-01 1.75886385e-02 3.36100019e+02] [-2.13683388e-01 9.76896530e-01 -3.54674579e-03 -5.33664808e+01] [-1.79402643e-02 -2.94157684e-04 9.99839017e-01 -6.71202671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134012739 meters 0.03269049685700341 Centerline is valid? [True, True] Translation: X:336.13, Y:-53.36, Z:-6.71 [[ 9.75804422e-01 2.17918570e-01 1.78108423e-02 3.36131052e+02] [-2.17889312e-01 9.75966882e-01 -3.59065604e-03 -5.33630376e+01] [-1.81652628e-02 -3.77014136e-04 9.99834927e-01 -6.71138590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters 0.03429894528019069 Centerline is valid? [True, True] Translation: X:336.16, Y:-53.36, Z:-6.71 [[ 9.75447797e-01 2.19517776e-01 1.77071097e-02 3.36160109e+02] [-2.19489128e-01 9.75608417e-01 -3.56938371e-03 -5.33636988e+01] [-1.80587484e-02 -4.04770580e-04 9.99836846e-01 -6.71202026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194012739 meters 0.03367375246917556 Centerline is valid? [True, True] Translation: X:336.19, Y:-53.37, Z:-6.71 [[ 9.75215094e-01 2.20578097e-01 1.73442578e-02 3.36188833e+02] [-2.20550792e-01 9.75369227e-01 -3.49545667e-03 -5.33683777e+01] [-1.76880765e-02 -4.16467688e-04 9.99843467e-01 -6.71264695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters 0.03496734677731688 Centerline is valid? [True, True] Translation: X:336.22, Y:-53.37, Z:-6.71 [[ 9.75022123e-01 2.21418895e-01 1.74794773e-02 3.36217320e+02] [-2.21391313e-01 9.75178693e-01 -3.52188169e-03 -5.33683944e+01] [-1.78254249e-02 -4.35891853e-04 9.99841019e-01 -6.71238471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254012739 meters 0.038500411453738774 Centerline is valid? [True, True] Translation: X:336.25, Y:-53.37, Z:-6.71 [[ 9.75052565e-01 2.21224512e-01 1.82266403e-02 3.36246042e+02] [-2.21194509e-01 9.75222801e-01 -3.67127519e-03 -5.33666860e+01] [-1.85872113e-02 -4.51946467e-04 9.99827141e-01 -6.71224647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters 0.03537875361660885 Centerline is valid? [True, True] Translation: X:336.27, Y:-53.37, Z:-6.71 [[ 9.75404762e-01 2.19593343e-01 1.90870133e-02 3.36274322e+02] [-2.19560152e-01 9.75591394e-01 -3.84336429e-03 -5.33739589e+01] [-1.94651031e-02 -4.41911702e-04 9.99810439e-01 -6.71157024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314012739 meters 0.03311630603054705 Centerline is valid? [True, True] Translation: X:336.30, Y:-53.38, Z:-6.71 [[ 9.75553987e-01 2.18904427e-01 1.93718744e-02 3.36302356e+02] [-2.18870120e-01 9.75746208e-01 -3.89982703e-03 -5.33823668e+01] [-1.97557224e-02 -4.35432675e-04 9.99804742e-01 -6.71191315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters 0.032817834403423424 Centerline is valid? [True, True] Translation: X:336.33, Y:-53.39, Z:-6.71 [[ 9.75632748e-01 2.18536897e-01 1.95541602e-02 3.36330987e+02] [-2.18501886e-01 9.75828590e-01 -3.93558269e-03 -5.33876110e+01] [-1.99415787e-02 -4.32937533e-04 9.99801053e-01 -6.71202049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374012739 meters 0.03330400031115516 Centerline is valid? [True, True] Translation: X:336.36, Y:-53.39, Z:-6.71 [[ 9.75582063e-01 2.18779779e-01 1.93660953e-02 3.36359042e+02] [-2.18745504e-01 9.75774164e-01 -3.89682420e-03 -5.33903133e+01] [-1.97494818e-02 -4.34574478e-04 9.99804866e-01 -6.71223021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters 0.0339125901335269 Centerline is valid? [True, True] Translation: X:336.39, Y:-53.39, Z:-6.72 [[ 9.75545512e-01 2.19032523e-01 1.83223049e-02 3.36387201e+02] [-2.19001907e-01 9.75717469e-01 -3.68575073e-03 -5.33941334e+01] [-1.86846923e-02 -4.17002138e-04 9.99825339e-01 -6.71509490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434012739 meters 0.03428891081627692 Centerline is valid? [True, True] Translation: X:336.41, Y:-53.39, Z:-6.72 [[ 9.75596441e-01 2.18891640e-01 1.72636880e-02 3.36414611e+02] [-2.18864449e-01 9.75749095e-01 -3.47213514e-03 -5.33948226e+01] [-1.76050493e-02 -3.91004880e-04 9.99844943e-01 -6.71823172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters 0.03428891081627692 Centerline is valid? [True, True] Translation: X:336.44, Y:-53.40, Z:-6.72 [[ 9.75611132e-01 2.18826127e-01 1.72639663e-02 3.36441595e+02] [-2.18798951e-01 9.75763790e-01 -3.47075071e-03 -5.34001088e+01] [-1.76050441e-02 -3.91234685e-04 9.99844943e-01 -6.71879016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494012739 meters 0.03453533336873249 Centerline is valid? [True, True] Translation: X:336.47, Y:-53.40, Z:-6.72 [[ 9.75620294e-01 2.18757705e-01 1.76098938e-02 3.36468881e+02] [-2.18729439e-01 9.75779128e-01 -3.53906404e-03 -5.34023687e+01] [-1.79575644e-02 -3.99019507e-04 9.99838670e-01 -6.71809214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters 0.03461001478453082 Centerline is valid? [True, True] Translation: X:336.50, Y:-53.41, Z:-6.72 [[ 9.75571414e-01 2.18908060e-01 1.84303168e-02 3.36497573e+02] [-2.18877157e-01 9.75745399e-01 -3.70232345e-03 -5.34057491e+01] [-1.87937653e-02 -4.22094424e-04 9.99823292e-01 -6.71700791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55401273900003 meters 0.03481568133334047 Centerline is valid? [True, True] Translation: X:336.53, Y:-53.41, Z:-6.71 [[ 9.75565166e-01 2.18814822e-01 1.98161738e-02 3.36525083e+02] [-2.18779097e-01 9.75766298e-01 -3.97973261e-03 -5.34081606e+01] [-2.02067791e-02 -4.52876104e-04 9.99795720e-01 -6.71484518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters 0.03457313031930837 Centerline is valid? [True, True] Translation: X:336.55, Y:-53.41, Z:-6.71 [[ 9.75652995e-01 2.18404663e-01 2.00159108e-02 3.36553323e+02] [-2.18368161e-01 9.75858186e-01 -4.01821952e-03 -5.34126852e+01] [-2.04102883e-02 -4.50449740e-04 9.99791587e-01 -6.71493322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61401273900003 meters 0.03402842165029204 Centerline is valid? [True, True] Translation: X:336.58, Y:-53.42, Z:-6.72 [[ 9.75894437e-01 2.17357580e-01 1.96400218e-02 3.36580958e+02] [-2.17322241e-01 9.76091955e-01 -3.94188312e-03 -5.34150749e+01] [-2.00272654e-02 -4.21351741e-04 9.99799345e-01 -6.71610144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters 0.034089391202318776 Centerline is valid? [True, True] Translation: X:336.61, Y:-53.42, Z:-6.72 [[ 9.75902224e-01 2.17339798e-01 1.94489565e-02 3.36608623e+02] [-2.17305162e-01 9.76095916e-01 -3.90244561e-03 -5.34180320e+01] [-1.98322038e-02 -4.17953301e-04 9.99803235e-01 -6.71698237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.674012739 meters 0.03431514775737584 Centerline is valid? [True, True] Translation: X:336.64, Y:-53.42, Z:-6.72 [[ 9.75910650e-01 2.17300443e-01 1.94659027e-02 3.36636938e+02] [-2.17265764e-01 9.76104678e-01 -3.90452585e-03 -5.34208993e+01] [-1.98492139e-02 -4.18805882e-04 9.99802897e-01 -6.71774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters 0.033473753584262515 Centerline is valid? [True, True] Translation: X:336.67, Y:-53.42, Z:-6.72 [[ 9.75780477e-01 2.17861315e-01 1.97207550e-02 3.36665648e+02] [-2.17825864e-01 9.75979639e-01 -3.95429094e-03 -5.34236953e+01] [-2.01085423e-02 -4.37170595e-04 9.99797707e-01 -6.71708887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734012739 meters 0.03552953170360948 Centerline is valid? [True, True] Translation: X:336.69, Y:-53.42, Z:-6.72 [[ 9.75740474e-01 2.18063913e-01 1.94591016e-02 3.36694107e+02] [-2.18029455e-01 9.75934393e-01 -3.90093228e-03 -5.34239454e+01] [-1.98414591e-02 -4.36359814e-04 9.99803044e-01 -6.71798975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters 0.03451386255076413 Centerline is valid? [True, True] Translation: X:336.72, Y:-53.43, Z:-6.72 [[ 9.75627340e-01 2.18518446e-01 2.00245632e-02 3.36722969e+02] [-2.18482076e-01 9.75832710e-01 -4.01308668e-03 -5.34262915e+01] [-2.04175572e-02 -4.59731051e-04 9.99791434e-01 -6.71742125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794012739 meters 0.03332958978630262 Centerline is valid? [True, True] Translation: X:336.75, Y:-53.43, Z:-6.72 [[ 9.75516861e-01 2.18961016e-01 2.05652114e-02 3.36751038e+02] [-2.18922775e-01 9.75733488e-01 -4.12045622e-03 -5.34312307e+01] [-2.09683848e-02 -4.82618639e-04 9.99780023e-01 -6.71699467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters 0.035147296418058395 Centerline is valid? [True, True] Translation: X:336.78, Y:-53.43, Z:-6.72 [[ 9.75536255e-01 2.18897737e-01 2.03173878e-02 3.36779355e+02] [-2.18860418e-01 9.75747690e-01 -4.06981725e-03 -5.34292012e+01] [-2.07155179e-02 -4.76417705e-04 9.99785297e-01 -6.71792087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854012739 meters 0.031459182760440976 Centerline is valid? [True, True] Translation: X:336.81, Y:-53.44, Z:-6.72 [[ 9.75693528e-01 2.18250079e-01 1.97241728e-02 3.36806896e+02] [-2.18214809e-01 9.75892771e-01 -3.94937043e-03 -5.34383288e+01] [-2.01106280e-02 -4.50731428e-04 9.99797659e-01 -6.72037345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters 0.03403989685493588 Centerline is valid? [True, True] Translation: X:336.84, Y:-53.44, Z:-6.72 [[ 9.75903411e-01 2.17435979e-01 1.82791394e-02 3.36835810e+02] [-2.17405561e-01 9.76074502e-01 -3.65918847e-03 -5.34377562e+01] [-1.86374411e-02 -4.02972033e-04 9.99826227e-01 -6.72339199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914012739 meters 0.031025455606481463 Centerline is valid? [True, True] Translation: X:336.86, Y:-53.45, Z:-6.73 [[ 9.76269464e-01 2.15853222e-01 1.74734319e-02 3.36864196e+02] [-2.15825188e-01 9.76425757e-01 -3.49703930e-03 -5.34454417e+01] [-1.78163562e-02 -3.57154033e-04 9.99841212e-01 -6.72557678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters 0.032325171039599726 Centerline is valid? [True, True] Translation: X:336.89, Y:-53.45, Z:-6.72 [[ 9.76401146e-01 2.15190989e-01 1.82658384e-02 3.36891834e+02] [-2.15160250e-01 9.76571916e-01 -3.65497520e-03 -5.34473050e+01] [-1.86244225e-02 -3.61360382e-04 9.99826485e-01 -6.72489141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974012739 meters 0.02934847301862873 Centerline is valid? [True, True] Translation: X:336.92, Y:-53.45, Z:-6.72 [[ 9.76472296e-01 2.14699950e-01 2.01441263e-02 3.36920004e+02] [-2.14662487e-01 9.76679978e-01 -4.02949125e-03 -5.34536485e+01] [-2.05394964e-02 -3.89501688e-04 9.99788966e-01 -6.72146764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters 0.0310052333051427 Centerline is valid? [True, True] Translation: X:336.95, Y:-53.45, Z:-6.72 [[ 9.76482375e-01 2.14635184e-01 2.03447570e-02 3.36947354e+02] [-2.14596978e-01 9.76694212e-01 -4.06859703e-03 -5.34539969e+01] [-2.07438705e-02 -3.93010086e-04 9.99784746e-01 -6.72185399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034012739 meters 0.03057563351190483 Centerline is valid? [True, True] Translation: X:336.98, Y:-53.46, Z:-6.72 [[ 9.76384050e-01 2.15139468e-01 1.97280716e-02 3.36976520e+02] [-2.15103679e-01 9.76583256e-01 -3.94362326e-03 -5.34556893e+01] [-2.01145334e-02 -3.93089926e-04 9.99797605e-01 -6.72407190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters 0.032556344769964565 Centerline is valid? [True, True] Translation: X:337.01, Y:-53.46, Z:-6.73 [[ 9.76289682e-01 2.15585363e-01 1.95296572e-02 3.37005127e+02] [-2.15550399e-01 9.76484916e-01 -3.90303454e-03 -5.34556447e+01] [-1.99118528e-02 -3.99133067e-04 9.99801660e-01 -6.72522019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094012739 meters 0.0323397468619234 Centerline is valid? [True, True] Translation: X:337.03, Y:-53.46, Z:-6.73 [[ 9.76232840e-01 2.15852227e-01 1.94231305e-02 3.37033484e+02] [-2.15817719e-01 9.76425959e-01 -3.88058016e-03 -5.34600429e+01] [-1.98028807e-02 -4.03505939e-04 9.99803822e-01 -6.72633091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters 0.031822173952091935 Centerline is valid? [True, True] Translation: X:337.06, Y:-53.46, Z:-6.73 [[ 9.76493294e-01 2.14657365e-01 1.95720050e-02 3.37061572e+02] [-2.14622104e-01 9.76689341e-01 -3.90940054e-03 -5.34637961e+01] [-1.99549503e-02 -3.83081479e-04 9.99800807e-01 -6.72701941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154012739 meters 0.0310659614500453 Centerline is valid? [True, True] Translation: X:337.09, Y:-53.47, Z:-6.73 [[ 9.76750453e-01 2.13459999e-01 1.98338492e-02 3.37088905e+02] [-2.13423561e-01 9.76951737e-01 -3.96076334e-03 -5.34698082e+01] [-2.02221780e-02 -3.64333346e-04 9.99795444e-01 -6.72679756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters 0.027413627323289627 Centerline is valid? [True, True] Translation: X:337.12, Y:-53.48, Z:-6.73 [[ 9.77595072e-01 2.09561767e-01 1.97924661e-02 3.37115519e+02] [-2.09524704e-01 9.77795370e-01 -3.95136618e-03 -5.34820047e+01] [-2.01810370e-02 -2.84174497e-04 9.99796302e-01 -6.72802880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214012739 meters 0.02448187587910028 Centerline is valid? [True, True] Translation: X:337.14, Y:-53.49, Z:-6.73 [[ 9.78147742e-01 2.06994622e-01 1.94992601e-02 3.37142078e+02] [-2.06958157e-01 9.78342054e-01 -3.89195459e-03 -5.34945588e+01] [-1.98825598e-02 -2.28624322e-04 9.99802296e-01 -6.72914802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters 0.023473789514955795 Centerline is valid? [True, True] Translation: X:337.17, Y:-53.50, Z:-6.73 [[ 9.78553214e-01 2.05081341e-01 1.93714089e-02 3.37168911e+02] [-2.05044995e-01 9.78744915e-01 -3.86552742e-03 -5.35037761e+01] [-1.97524155e-02 -1.89386172e-04 9.99804884e-01 -6.72994677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274012739 meters 0.022435480392351572 Centerline is valid? [True, True] Translation: X:337.20, Y:-53.51, Z:-6.73 [[ 9.78942919e-01 2.03183406e-01 1.96790562e-02 3.37195670e+02] [-2.03145547e-01 9.79140684e-01 -3.92524185e-03 -5.35135723e+01] [-2.00661086e-02 -1.55124914e-04 9.99798643e-01 -6.72899890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters 0.022771039536126633 Centerline is valid? [True, True] Translation: X:337.22, Y:-53.52, Z:-6.73 [[ 9.78861650e-01 2.03595770e-01 1.94584909e-02 3.37224372e+02] [-2.03558858e-01 9.79055022e-01 -3.88010744e-03 -5.35185272e+01] [-1.98409067e-02 -1.62859825e-04 9.99803137e-01 -6.72969919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334012739 meters 0.024770872385171564 Centerline is valid? [True, True] Translation: X:337.25, Y:-53.52, Z:-6.73 [[ 9.78273714e-01 2.06406710e-01 1.94115963e-02 3.37252282e+02] [-2.06370547e-01 9.78466260e-01 -3.86985027e-03 -5.35190112e+01] [-1.97923551e-02 -2.20208941e-04 9.99804088e-01 -6.73008861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters 0.02573160860993997 Centerline is valid? [True, True] Translation: X:337.28, Y:-53.52, Z:-6.73 [[ 9.77973873e-01 2.07803477e-01 1.96167942e-02 3.37280601e+02] [-2.07766850e-01 9.78170564e-01 -3.90959391e-03 -5.35233655e+01] [-2.00009978e-02 -2.52238824e-04 9.99799928e-01 -6.73051693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394012739 meters 0.026782333228282672 Centerline is valid? [True, True] Translation: X:337.31, Y:-53.53, Z:-6.73 [[ 9.77735268e-01 2.08889020e-01 1.99780447e-02 3.37307754e+02] [-2.08851277e-01 9.77939312e-01 -3.98063963e-03 -5.35278003e+01] [-2.03688272e-02 -2.80428391e-04 9.99792495e-01 -6.73056620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters 0.027066841798635402 Centerline is valid? [True, True] Translation: X:337.33, Y:-53.53, Z:-6.73 [[ 9.77688747e-01 2.09022113e-01 2.08439510e-02 3.37334224e+02] [-2.08981083e-01 9.77910869e-01 -4.15191334e-03 -5.35349650e+01] [-2.12513679e-02 -2.96712507e-04 9.99774120e-01 -6.72995797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454012739 meters 0.026577527868647838 Centerline is valid? [True, True] Translation: X:337.36, Y:-53.54, Z:-6.73 [[ 9.77820033e-01 2.08403512e-01 2.08796368e-02 3.37362286e+02] [-2.08362226e-01 9.78042890e-01 -4.15782624e-03 -5.35430545e+01] [-2.12876859e-02 -2.84921807e-04 9.99773351e-01 -6.73120718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters 0.025302121741887295 Centerline is valid? [True, True] Translation: X:337.39, Y:-53.55, Z:-6.73 [[ 9.78089935e-01 2.07148513e-01 2.07261217e-02 3.37389855e+02] [-2.07107570e-01 9.78309474e-01 -4.12631517e-03 -5.35547608e+01] [-2.11313212e-02 -2.56629356e-04 9.99776676e-01 -6.73151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514012739 meters 0.024537536147092722 Centerline is valid? [True, True] Translation: X:337.42, Y:-53.56, Z:-6.73 [[ 9.78262624e-01 2.06283061e-01 2.12022759e-02 3.37418134e+02] [-2.06240030e-01 9.78492330e-01 -4.22033242e-03 -5.35626727e+01] [-2.16168474e-02 -2.44164540e-04 9.99766299e-01 -6.73094624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters 0.02440069347896375 Centerline is valid? [True, True] Translation: X:337.45, Y:-53.57, Z:-6.73 [[ 9.78400379e-01 2.05556531e-01 2.18909019e-02 3.37445371e+02] [-2.05510500e-01 9.78645215e-01 -4.35632119e-03 -5.35685041e+01] [-2.23188967e-02 -2.36583899e-04 9.99750874e-01 -6.73007234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574012739 meters 0.024119180150059313 Centerline is valid? [True, True] Translation: X:337.47, Y:-53.58, Z:-6.73 [[ 9.78461060e-01 2.05309224e-01 2.14959842e-02 3.37472903e+02] [-2.05264807e-01 9.78697129e-01 -4.27651626e-03 -5.35758719e+01] [-2.19160662e-02 -2.27964401e-04 9.99759788e-01 -6.73146998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters 0.02465685015696624 Centerline is valid? [True, True] Translation: X:337.50, Y:-53.58, Z:-6.73 [[ 9.78265827e-01 2.06312970e-01 2.07588348e-02 3.37501423e+02] [-2.06271793e-01 9.78486024e-01 -4.12893105e-03 -5.35821340e+01] [-2.11640817e-02 -2.42769914e-04 9.99775986e-01 -6.73378644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634012739 meters 0.02494243140803339 Centerline is valid? [True, True] Translation: X:337.53, Y:-53.59, Z:-6.73 [[ 9.78148838e-01 2.06892526e-01 2.05020498e-02 3.37529650e+02] [-2.06852508e-01 9.78363643e-01 -4.07689846e-03 -5.35873115e+01] [-2.09019399e-02 -2.53086930e-04 9.99781499e-01 -6.73467084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters 0.027007382879488867 Centerline is valid? [True, True] Translation: X:337.56, Y:-53.59, Z:-6.74 [[ 9.77937082e-01 2.07960895e-01 1.97820841e-02 3.37557953e+02] [-2.07923875e-01 9.78137104e-01 -3.93281660e-03 -5.35888515e+01] [-2.01674625e-02 -2.67120390e-04 9.99796580e-01 -6.73667503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694012739 meters 0.02654617374689137 Centerline is valid? [True, True] Translation: X:337.59, Y:-53.60, Z:-6.74 [[ 9.77692180e-01 2.09261171e-01 1.81042222e-02 3.37586148e+02] [-2.09230407e-01 9.77859749e-01 -3.59824398e-03 -5.35966418e+01] [-1.84563629e-02 -2.69978784e-04 9.99829630e-01 -6.74003302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters 0.0290710618867855 Centerline is valid? [True, True] Translation: X:337.61, Y:-53.60, Z:-6.74 [[ 9.77657595e-01 2.09470430e-01 1.75432801e-02 3.37614073e+02] [-2.09441591e-01 9.77814946e-01 -3.48596355e-03 -5.35972685e+01] [-1.78842878e-02 -2.66213765e-04 9.99840028e-01 -6.74196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754012739 meters 0.028618205447391316 Centerline is valid? [True, True] Translation: X:337.64, Y:-53.60, Z:-6.74 [[ 9.77728854e-01 2.09121154e-01 1.77378368e-02 3.37642677e+02] [-2.09091634e-01 9.77889704e-01 -3.52350515e-03 -5.36031228e+01] [-1.80824874e-02 -2.63800634e-04 9.99836464e-01 -6.74278428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters 0.026888205546088752 Centerline is valid? [True, True] Translation: X:337.67, Y:-53.61, Z:-6.74 [[ 9.77934474e-01 2.08102573e-01 1.83707201e-02 3.37669998e+02] [-2.08070745e-01 9.78106975e-01 -3.64838288e-03 -5.36121552e+01] [-1.87277674e-02 -2.54530025e-04 9.99824588e-01 -6.74218063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814012739 meters 0.024898654579132207 Centerline is valid? [True, True] Translation: X:337.70, Y:-53.62, Z:-6.74 [[ 9.78248126e-01 2.06526243e-01 1.94297432e-02 3.37697236e+02] [-2.06490348e-01 9.78441032e-01 -3.85776336e-03 -5.36225928e+01] [-1.98075873e-02 -2.38204644e-04 9.99803782e-01 -6.74168924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters 0.022809954760294012 Centerline is valid? [True, True] Translation: X:337.72, Y:-53.64, Z:-6.74 [[ 9.78869783e-01 2.03474732e-01 2.02973098e-02 3.37724447e+02] [-2.03434923e-01 9.79080180e-01 -4.02900481e-03 -5.36355173e+01] [-2.06924944e-02 -1.85310591e-04 9.99785870e-01 -6.74050514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874012739 meters 0.02273273107785835 Centerline is valid? [True, True] Translation: X:337.75, Y:-53.64, Z:-6.74 [[ 9.79143605e-01 2.02155973e-01 2.02672822e-02 3.37751200e+02] [-2.02116020e-01 9.79353326e-01 -4.02206650e-03 -5.36423414e+01] [-2.06619150e-02 -1.58161708e-04 9.99786507e-01 -6.74031486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters 0.0210213243412387 Centerline is valid? [True, True] Translation: X:337.78, Y:-53.66, Z:-6.74 [[ 9.79657734e-01 1.99661562e-01 2.01490821e-02 3.37777857e+02] [-1.99621570e-01 9.79864914e-01 -3.99741777e-03 -5.36557170e+01] [-2.05415093e-02 -1.06090172e-04 9.99788995e-01 -6.74045369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934012739 meters 0.020793436463404407 Centerline is valid? [True, True] Translation: X:337.80, Y:-53.66, Z:-6.74 [[ 9.79869078e-01 1.98634977e-01 2.00183818e-02 3.37804965e+02] [-1.98595307e-01 9.80073537e-01 -3.97053582e-03 -5.36625742e+01] [-2.04081735e-02 -8.49514104e-05 9.99791728e-01 -6.74124955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters 0.020401330775206988 Centerline is valid? [True, True] Translation: X:337.83, Y:-53.67, Z:-6.74 [[ 9.80133227e-01 1.97315613e-01 2.01347145e-02 3.37833095e+02] [-1.97275227e-01 9.80340015e-01 -3.99240772e-03 -5.36705920e+01] [-2.05266307e-02 -5.89889143e-05 9.99789305e-01 -6.74121503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994012739 meters 0.02041269895913955 Centerline is valid? [True, True] Translation: X:337.86, Y:-53.68, Z:-6.74 [[ 9.80147671e-01 1.97211461e-01 2.04495150e-02 3.37861793e+02] [-1.97169800e-01 9.80360972e-01 -4.05386851e-03 -5.36765890e+01] [-2.08473758e-02 -5.86370082e-05 9.99782668e-01 -6.74048809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters 0.020448714790886453 Centerline is valid? [True, True] Translation: X:337.89, Y:-53.68, Z:-6.74 [[ 9.79983491e-01 1.97955016e-01 2.11226907e-02 3.37890079e+02] [-1.97910761e-01 9.80211103e-01 -4.18630948e-03 -5.36814597e+01] [-2.15333969e-02 -7.78936140e-05 9.99768126e-01 -6.73975571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05401273900003 meters 0.0210452568909904 Centerline is valid? [True, True] Translation: X:337.92, Y:-53.68, Z:-6.74 [[ 9.79507717e-01 2.00164758e-01 2.23316206e-02 3.37919371e+02] [-2.00115891e-01 9.79762242e-01 -4.42477962e-03 -5.36826138e+01] [-2.27653636e-02 -1.34806365e-04 9.99740826e-01 -6.73806620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters 0.021643730571543247 Centerline is valid? [True, True] Translation: X:337.95, Y:-53.69, Z:-6.74 [[ 9.79283811e-01 2.01320249e-01 2.17572006e-02 3.37948003e+02] [-2.01274172e-01 9.79525463e-01 -4.30992978e-03 -5.36864429e+01] [-2.21794081e-02 -1.58518070e-04 9.99753994e-01 -6.74055512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11401273900003 meters 0.021565644882130832 Centerline is valid? [True, True] Translation: X:337.98, Y:-53.69, Z:-6.74 [[ 9.79453190e-01 2.00536890e-01 2.13636223e-02 3.37975539e+02] [-2.00492302e-01 9.79686142e-01 -4.23092292e-03 -5.36925183e+01] [-2.17781009e-02 -1.39250861e-04 9.99762819e-01 -6.74185349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters 0.021039963184538227 Centerline is valid? [True, True] Translation: X:338.00, Y:-53.70, Z:-6.74 [[ 9.79674748e-01 1.99442822e-01 2.14464170e-02 3.38002984e+02] [-1.99397655e-01 9.79909459e-01 -4.24596782e-03 -5.37007981e+01] [-2.18623747e-02 -1.16697803e-04 9.99760983e-01 -6.74201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.174012739 meters 0.020124949578516793 Centerline is valid? [True, True] Translation: X:338.03, Y:-53.71, Z:-6.74 [[ 9.80472710e-01 1.95356239e-01 2.25655797e-02 3.38028734e+02] [-1.95305177e-01 9.80732348e-01 -4.46637822e-03 -5.37144574e+01] [-2.30033288e-02 -2.80125879e-05 9.99735388e-01 -6.74025606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters 0.020076233623789012 Centerline is valid? [True, True] Translation: X:338.06, Y:-53.72, Z:-6.74 [[ 9.80945739e-01 1.92950639e-01 2.27047901e-02 3.38056479e+02] [-1.92898330e-01 9.81208464e-01 -4.49267091e-03 -5.37249141e+01] [-2.31449959e-02 2.73503052e-05 9.99732118e-01 -6.74110514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234012739 meters 0.020800876836012384 Centerline is valid? [True, True] Translation: X:338.08, Y:-53.74, Z:-6.75 [[ 9.81746024e-01 1.89084941e-01 2.05336009e-02 3.38084917e+02] [-1.89041323e-01 9.81960729e-01 -4.06260530e-03 -5.37384416e+01] [-2.09313672e-02 1.06747526e-04 9.99780909e-01 -6.74543830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters 0.021401872473133358 Centerline is valid? [True, True] Translation: X:338.11, Y:-53.75, Z:-6.75 [[ 9.81899316e-01 1.88420015e-01 1.92777577e-02 3.38113830e+02] [-1.88381437e-01 9.82088532e-01 -3.81437625e-03 -5.37461073e+01] [-1.96511696e-02 1.13761743e-04 9.99806891e-01 -6.74837637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294012739 meters 0.02134868283149513 Centerline is valid? [True, True] Translation: X:338.14, Y:-53.75, Z:-6.75 [[ 9.81931968e-01 1.88331059e-01 1.84667753e-02 3.38142659e+02] [-1.88295646e-01 9.82105595e-01 -3.65371653e-03 -5.37519138e+01] [-1.88244316e-02 1.10487688e-04 9.99822799e-01 -6.75109519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters 0.021790155697110007 Centerline is valid? [True, True] Translation: X:338.17, Y:-53.76, Z:-6.75 [[ 9.82034997e-01 1.87722016e-01 1.91757363e-02 3.38170787e+02] [-1.87683725e-01 9.82222189e-01 -3.79349047e-03 -5.37607890e+01] [-1.95469554e-02 1.26366772e-04 9.99808932e-01 -6.75118529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354012739 meters 0.021790155697110007 Centerline is valid? [True, True] Translation: X:338.20, Y:-53.77, Z:-6.75 [[ 9.82039221e-01 1.87699914e-01 1.91757793e-02 3.38199402e+02] [-1.87661623e-01 9.82226413e-01 -3.79327334e-03 -5.37664026e+01] [-1.95469540e-02 1.26585319e-04 9.99808932e-01 -6.75177754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters 0.021887629555302542 Centerline is valid? [True, True] Translation: X:338.23, Y:-53.77, Z:-6.75 [[ 9.82195495e-01 1.86790590e-01 2.00320941e-02 3.38228619e+02] [-1.86748624e-01 9.82399742e-01 -3.96217930e-03 -5.37742003e+01] [-2.04196218e-02 1.50668666e-04 9.99791486e-01 -6.75021844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414012739 meters 0.024563421521133992 Centerline is valid? [True, True] Translation: X:338.26, Y:-53.79, Z:-6.75 [[ 9.83077295e-01 1.82070406e-01 2.02336380e-02 3.38258316e+02] [-1.82026589e-01 9.83285464e-01 -4.00209540e-03 -5.37914000e+01] [-2.06241053e-02 2.51309008e-04 9.99787269e-01 -6.75074109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters 0.026958667731705674 Centerline is valid? [True, True] Translation: X:338.29, Y:-53.81, Z:-6.75 [[ 9.83745269e-01 1.78469026e-01 1.98507554e-02 3.38288755e+02] [-1.78426052e-01 9.83945477e-01 -3.92963212e-03 -5.38050849e+01] [-2.02333786e-02 3.23865089e-04 9.99795232e-01 -6.75246752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474012739 meters 0.030535093944294663 Centerline is valid? [True, True] Translation: X:338.32, Y:-53.82, Z:-6.75 [[ 9.84422579e-01 1.74720902e-01 1.96161513e-02 3.38317741e+02] [-1.74678175e-01 9.84617920e-01 -3.88410849e-03 -5.38193776e+01] [-1.99930490e-02 3.97090590e-04 9.99800040e-01 -6.75390938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters 0.03747558132466596 Centerline is valid? [True, True] Translation: X:338.34, Y:-53.84, Z:-6.76 [[ 9.85541307e-01 1.68341325e-01 1.92231984e-02 3.38343716e+02] [-1.68299019e-01 9.85728628e-01 -3.80939103e-03 -5.38412189e+01] [-1.95901349e-02 5.19066789e-04 9.99807960e-01 -6.75524018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534012739 meters 0.039371732284859566 Centerline is valid? [True, True] Translation: X:338.37, Y:-53.85, Z:-6.76 [[ 9.85906087e-01 1.66189094e-01 1.92450474e-02 3.38373933e+02] [-1.66146285e-01 9.86093742e-01 -3.81355675e-03 -5.38533999e+01] [-1.96111923e-02 5.62315691e-04 9.99807524e-01 -6.75551940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters 0.03925119942415586 Centerline is valid? [True, True] Translation: X:338.40, Y:-53.87, Z:-6.75 [[ 9.86077171e-01 1.65097714e-01 1.98634595e-02 3.38404735e+02] [-1.65051868e-01 9.86277030e-01 -3.93706591e-03 -5.38654253e+01] [-2.02408744e-02 6.03749715e-04 9.99794950e-01 -6.75379438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594012739 meters 0.04039801213634566 Centerline is valid? [True, True] Translation: X:338.43, Y:-53.88, Z:-6.75 [[ 9.85957424e-01 1.65787962e-01 2.00576518e-02 3.38434869e+02] [-1.65741288e-01 9.86161241e-01 -3.97897563e-03 -5.38751994e+01] [-2.04397450e-02 5.98719525e-04 9.99790907e-01 -6.75364438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters 0.03618956559155402 Centerline is valid? [True, True] Translation: X:338.47, Y:-53.88, Z:-6.75 [[ 9.85457911e-01 1.68673936e-01 2.05379964e-02 3.38466230e+02] [-1.68625559e-01 9.85671748e-01 -4.07745200e-03 -5.38790958e+01] [-2.09314827e-02 5.54926206e-04 9.99780759e-01 -6.75283253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654012739 meters 0.033784067702463755 Centerline is valid? [True, True] Translation: X:338.50, Y:-53.88, Z:-6.75 [[ 9.85110654e-01 1.70699181e-01 2.04643403e-02 3.38498556e+02] [-1.70651576e-01 9.85323058e-01 -4.06334381e-03 -5.38838276e+01] [-2.08575958e-02 5.10571355e-04 9.99782326e-01 -6.75371204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters 0.03132183268065408 Centerline is valid? [True, True] Translation: X:338.53, Y:-53.89, Z:-6.75 [[ 9.84259562e-01 1.75552056e-01 2.03614659e-02 3.38528305e+02] [-1.75505940e-01 9.84470066e-01 -4.04413038e-03 -5.38882061e+01] [-2.07552091e-02 4.06915769e-04 9.99784505e-01 -6.75479452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714012739 meters 0.028811114587912554 Centerline is valid? [True, True] Translation: X:338.56, Y:-53.89, Z:-6.75 [[ 9.83737948e-01 1.78448963e-01 2.03867138e-02 3.38560751e+02] [-1.78403353e-01 9.83949108e-01 -4.04922137e-03 -5.38903583e+01] [-2.07820682e-02 3.46314627e-04 9.99783970e-01 -6.75496536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters 0.026576749418614196 Centerline is valid? [True, True] Translation: X:338.59, Y:-53.89, Z:-6.76 [[ 9.83224771e-01 1.81231769e-01 2.05935871e-02 3.38593051e+02] [-1.81185767e-01 9.83440369e-01 -4.09369422e-03 -5.38925148e+01] [-2.09944723e-02 2.93756699e-04 9.99779549e-01 -6.75536373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774012739 meters 0.02480972256397875 Centerline is valid? [True, True] Translation: X:338.62, Y:-53.90, Z:-6.76 [[ 9.82720152e-01 1.83922261e-01 2.08255609e-02 3.38624353e+02] [-1.83875748e-01 9.82940763e-01 -4.14317811e-03 -5.38960249e+01] [-2.12323154e-02 2.42269030e-04 9.99774540e-01 -6.75565699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters 0.024558232824810428 Centerline is valid? [True, True] Translation: X:338.66, Y:-53.90, Z:-6.76 [[ 9.82658558e-01 1.84195471e-01 2.13116491e-02 3.38656626e+02] [-1.84146779e-01 9.82889602e-01 -4.24204341e-03 -5.39028051e+01] [-2.17283635e-02 2.44008739e-04 9.99763881e-01 -6.75524250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834012739 meters 0.02537286162291422 Centerline is valid? [True, True] Translation: X:338.69, Y:-53.91, Z:-6.76 [[ 9.82972924e-01 1.82498113e-01 2.14165613e-02 3.38687107e+02] [-1.82448450e-01 9.83206162e-01 -4.26687940e-03 -5.39115872e+01] [-2.18355925e-02 2.86808499e-04 9.99761534e-01 -6.75623878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters 0.02710626457092993 Centerline is valid? [True, True] Translation: X:338.72, Y:-53.92, Z:-6.76 [[ 9.83228890e-01 1.81152942e-01 2.10846040e-02 3.38716685e+02] [-1.81104429e-01 9.83454886e-01 -4.20397887e-03 -5.39224531e+01] [-2.14973199e-02 3.14958323e-04 9.99768856e-01 -6.75781257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894012739 meters 0.027977617182030227 Centerline is valid? [True, True] Translation: X:338.75, Y:-53.93, Z:-6.76 [[ 9.83740980e-01 1.78373646e-01 2.08932328e-02 3.38747608e+02] [-1.78325314e-01 9.83962754e-01 -4.16904308e-03 -5.39328804e+01] [-2.13018103e-02 3.75466213e-04 9.99773020e-01 -6.75909646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters 0.028753936823544463 Centerline is valid? [True, True] Translation: X:338.78, Y:-53.94, Z:-6.76 [[ 9.83837496e-01 1.77844134e-01 2.08625620e-02 3.38777479e+02] [-1.77795748e-01 9.84058592e-01 -4.16650681e-03 -5.39411733e+01] [-2.12709722e-02 3.89890798e-04 9.99773671e-01 -6.75961337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954012739 meters 0.028054035273762636 Centerline is valid? [True, True] Translation: X:338.81, Y:-53.95, Z:-6.76 [[ 9.83803570e-01 1.78059430e-01 2.06246410e-02 3.38810094e+02] [-1.78012120e-01 9.84019660e-01 -4.12227772e-03 -5.39467363e+01] [-2.10290627e-02 3.84075452e-04 9.99778791e-01 -6.76005662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters 0.02821027106131998 Centerline is valid? [True, True] Translation: X:338.84, Y:-53.95, Z:-6.76 [[ 9.83638263e-01 1.78952094e-01 2.07825736e-02 3.38840174e+02] [-1.78904168e-01 9.83857718e-01 -4.15800749e-03 -5.39537857e+01] [-2.11911796e-02 3.71886230e-04 9.99775373e-01 -6.75978620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014012739 meters 0.02911696193215064 Centerline is valid? [True, True] Translation: X:338.87, Y:-53.96, Z:-6.76 [[ 9.83568079e-01 1.79305921e-01 2.10527830e-02 3.38871135e+02] [-1.79256747e-01 9.83793295e-01 -4.21554279e-03 -5.39627273e+01] [-2.14674586e-02 3.72419934e-04 9.99769478e-01 -6.76021365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters 0.025846090137851472 Centerline is valid? [True, True] Translation: X:338.90, Y:-53.97, Z:-6.76 [[ 9.83112534e-01 1.81822850e-01 2.07411822e-02 3.38903691e+02] [-1.81775602e-01 9.83331252e-01 -4.15686861e-03 -5.39655643e+01] [-2.11512663e-02 3.16428761e-04 9.99776237e-01 -6.76141777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074012739 meters 0.02438271010231716 Centerline is valid? [True, True] Translation: X:338.94, Y:-53.97, Z:-6.76 [[ 9.82707165e-01 1.84056168e-01 2.02473591e-02 3.38935670e+02] [-1.84011546e-01 9.82915692e-01 -4.06132408e-03 -5.39697436e+01] [-2.06489588e-02 2.65344419e-04 9.99786752e-01 -6.76292770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters 0.02288300518159053 Centerline is valid? [True, True] Translation: X:338.97, Y:-53.97, Z:-6.77 [[ 9.82091207e-01 1.87533654e-01 1.81104701e-02 3.38966527e+02] [-1.87498493e-01 9.82258163e-01 -3.63550392e-03 -5.39731379e+01] [-1.84709364e-02 1.74710587e-04 9.99829382e-01 -6.76738574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134012739 meters 0.022868698927104414 Centerline is valid? [True, True] Translation: X:339.00, Y:-53.98, Z:-6.77 [[ 9.81917684e-01 1.88538394e-01 1.70568531e-02 3.38997150e+02] [-1.88507312e-01 9.82065808e-01 -3.42657813e-03 -5.39797145e+01] [-1.73969938e-02 1.49276132e-04 9.99848650e-01 -6.77045026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters 0.02216235579796563 Centerline is valid? [True, True] Translation: X:339.03, Y:-53.99, Z:-6.77 [[ 9.81728547e-01 1.89572960e-01 1.64667399e-02 3.39030008e+02] [-1.89544098e-01 9.81866629e-01 -3.31037573e-03 -5.39850583e+01] [-1.67957002e-02 1.28716987e-04 9.99858934e-01 -6.77239308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194012739 meters 0.02113332758157726 Centerline is valid? [True, True] Translation: X:339.06, Y:-53.99, Z:-6.77 [[ 9.81306752e-01 1.91678852e-01 1.72126566e-02 3.39062491e+02] [-1.91647577e-01 9.81457695e-01 -3.46390023e-03 -5.39885226e+01] [-1.75574507e-02 1.00384761e-04 9.99845851e-01 -6.77102248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters 0.020527650038810845 Centerline is valid? [True, True] Translation: X:339.09, Y:-53.99, Z:-6.77 [[ 9.81041020e-01 1.92768668e-01 1.99689045e-02 3.39094007e+02] [-1.92726718e-01 9.81244226e-01 -4.02257441e-03 -5.39921681e+01] [-2.03697986e-02 9.77690631e-05 9.99792509e-01 -6.76693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254012739 meters 0.02058176904197325 Centerline is valid? [True, True] Translation: X:339.13, Y:-54.00, Z:-6.77 [[ 9.81047260e-01 1.92654878e-01 2.07453917e-02 3.39126617e+02] [-1.92609503e-01 9.81266573e-01 -4.18245242e-03 -5.39992761e+01] [-2.11625292e-02 1.07423913e-04 9.99776043e-01 -6.76665869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters 0.021189851338829332 Centerline is valid? [True, True] Translation: X:339.16, Y:-54.01, Z:-6.77 [[ 9.81141724e-01 1.92194510e-01 2.05472277e-02 3.39157289e+02] [-1.92149814e-01 9.81356844e-01 -4.14645452e-03 -5.40075370e+01] [-2.09610883e-02 1.20113561e-04 9.99780285e-01 -6.76786917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314012739 meters 0.02124834457114346 Centerline is valid? [True, True] Translation: X:339.19, Y:-54.01, Z:-6.77 [[ 9.81285950e-01 1.91549829e-01 1.96608060e-02 3.39189598e+02] [-1.91508709e-01 9.81482881e-01 -3.97097714e-03 -5.40143173e+01] [-2.00573845e-02 1.31448498e-04 9.99798822e-01 -6.77068469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters 0.021596284608006514 Centerline is valid? [True, True] Translation: X:339.22, Y:-54.02, Z:-6.77 [[ 9.81326471e-01 1.91404980e-01 1.90391752e-02 3.39220770e+02] [-1.91366322e-01 9.81511139e-01 -3.84902479e-03 -5.40205868e+01] [-1.94238850e-02 1.33692977e-04 9.99811330e-01 -6.77266087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374012739 meters 0.021654473832220814 Centerline is valid? [True, True] Translation: X:339.25, Y:-54.03, Z:-6.77 [[ 9.81404998e-01 1.91089999e-01 1.81340196e-02 3.39253500e+02] [-1.91054819e-01 9.81572511e-01 -3.66913487e-03 -5.40260858e+01] [-1.85009902e-02 1.36315464e-04 9.99828833e-01 -6.77455878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters 0.022015962202297377 Centerline is valid? [True, True] Translation: X:339.29, Y:-54.03, Z:-6.77 [[ 9.81503555e-01 1.90577204e-01 1.81961676e-02 3.39285460e+02] [-1.90541629e-01 9.81672199e-01 -3.68522552e-03 -5.40328457e+01] [-1.85649919e-02 1.49934525e-04 9.99827644e-01 -6.77468931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434012739 meters 0.02216552132753332 Centerline is valid? [True, True] Translation: X:339.32, Y:-54.04, Z:-6.77 [[ 9.81566023e-01 1.90212710e-01 1.86351355e-02 3.39317775e+02] [-1.90175262e-01 9.81742888e-01 -3.77780508e-03 -5.40390211e+01] [-1.90134983e-02 1.64223327e-04 9.99819214e-01 -6.77420505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters 0.022423359042875235 Centerline is valid? [True, True] Translation: X:339.35, Y:-54.05, Z:-6.77 [[ 9.81582530e-01 1.90007976e-01 1.98168191e-02 3.39350471e+02] [-1.89965503e-01 9.81782530e-01 -4.02143997e-03 -5.40451408e+01] [-2.02199125e-02 1.82863198e-04 9.99795540e-01 -6.77256692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494012739 meters 0.022144316352686412 Centerline is valid? [True, True] Translation: X:339.38, Y:-54.05, Z:-6.77 [[ 9.81573017e-01 1.90065194e-01 1.97391474e-02 3.39383217e+02] [-1.90022989e-01 9.81771454e-01 -4.00945592e-03 -5.40515333e+01] [-2.01413894e-02 1.84681949e-04 9.99797125e-01 -6.77380189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters 0.022837665782768822 Centerline is valid? [True, True] Translation: X:339.41, Y:-54.06, Z:-6.78 [[ 9.81516800e-01 1.90400705e-01 1.92961714e-02 3.39414387e+02] [-1.90360365e-01 9.81706443e-01 -3.92321758e-03 -5.40587732e+01] [-1.96901592e-02 1.77477732e-04 9.99806114e-01 -6.77543592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55401273900003 meters 0.02189566320381993 Centerline is valid? [True, True] Translation: X:339.45, Y:-54.06, Z:-6.78 [[ 9.81394013e-01 1.91089113e-01 1.87280962e-02 3.39447355e+02] [-1.91051174e-01 9.81572679e-01 -3.81107037e-03 -5.40615549e+01] [-1.91112416e-02 1.62136881e-04 9.99817350e-01 -6.77643266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters 0.021461411179877547 Centerline is valid? [True, True] Translation: X:339.48, Y:-54.07, Z:-6.78 [[ 9.81151328e-01 1.92382670e-01 1.81928676e-02 3.39478388e+02] [-1.92347025e-01 9.81319973e-01 -3.70569670e-03 -5.40662371e+01] [-1.85659362e-02 1.36505276e-04 9.99827629e-01 -6.77871232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61401273900003 meters 0.021344171596087654 Centerline is valid? [True, True] Translation: X:339.51, Y:-54.07, Z:-6.78 [[ 9.81104213e-01 1.92640718e-01 1.80021644e-02 3.39510637e+02] [-1.92605809e-01 9.81269349e-01 -3.66961680e-03 -5.40733559e+01] [-1.83718898e-02 1.32955062e-04 9.99831214e-01 -6.77894186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters 0.02227889225214274 Centerline is valid? [True, True] Translation: X:339.54, Y:-54.08, Z:-6.78 [[ 9.81190579e-01 1.92199659e-01 1.80093883e-02 3.39541475e+02] [-1.92164583e-01 9.81355833e-01 -3.67463051e-03 -5.40830521e+01] [-1.83798810e-02 1.44746243e-04 9.99831065e-01 -6.78041331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.674012739 meters 0.022075526550072576 Centerline is valid? [True, True] Translation: X:339.57, Y:-54.09, Z:-6.78 [[ 9.81285344e-01 1.91752169e-01 1.76119110e-02 3.39573587e+02] [-1.91718496e-01 9.81443367e-01 -3.59663536e-03 -5.40903261e+01] [-1.79747559e-02 1.52796466e-04 9.99838429e-01 -6.78184867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters 0.022672032241822963 Centerline is valid? [True, True] Translation: X:339.60, Y:-54.10, Z:-6.78 [[ 9.81464617e-01 1.90845291e-01 1.74722673e-02 3.39603991e+02] [-1.90811946e-01 9.81620113e-01 -3.57152447e-03 -5.41007899e+01] [-1.78327376e-02 1.71407570e-04 9.99840969e-01 -6.78294544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734012739 meters 0.024165418932970327 Centerline is valid? [True, True] Translation: X:339.63, Y:-54.12, Z:-6.78 [[ 9.81863932e-01 1.88810373e-01 1.71424023e-02 3.39633816e+02] [-1.88777915e-01 9.82013544e-01 -3.50692935e-03 -5.41162850e+01] [-1.74962159e-02 2.07220474e-04 9.99846908e-01 -6.78385913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters 0.02529469170517148 Centerline is valid? [True, True] Translation: X:339.66, Y:-54.13, Z:-6.78 [[ 9.82056032e-01 1.87819952e-01 1.70181218e-02 3.39663969e+02] [-1.87787762e-01 9.82203449e-01 -3.48455987e-03 -5.41266371e+01] [-1.73697278e-02 2.26238032e-04 9.99849109e-01 -6.78482042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794012739 meters 0.02528872887730908 Centerline is valid? [True, True] Translation: X:339.69, Y:-54.14, Z:-6.78 [[ 9.82062379e-01 1.87722540e-01 1.77124949e-02 3.39694904e+02] [-1.87687627e-01 9.82222068e-01 -3.62820924e-03 -5.41377301e+01] [-1.80787001e-02 2.38711666e-04 9.99836538e-01 -6.78394024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters 0.02464670607441196 Centerline is valid? [True, True] Translation: X:339.73, Y:-54.15, Z:-6.78 [[ 9.81892406e-01 1.88542367e-01 1.84140798e-02 3.39725663e+02] [-1.88504707e-01 9.82065028e-01 -3.77562899e-03 -5.41465151e+01] [-1.87956899e-02 2.36120709e-04 9.99823318e-01 -6.78252329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854012739 meters 0.023691587363976287 Centerline is valid? [True, True] Translation: X:339.76, Y:-54.15, Z:-6.78 [[ 9.81597285e-01 1.89952087e-01 1.96207600e-02 3.39756121e+02] [-1.89909540e-01 9.81793336e-01 -4.02653514e-03 -5.41548613e+01] [-2.00283801e-02 2.26266460e-04 9.99799386e-01 -6.78102644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters 0.02132750762778411 Centerline is valid? [True, True] Translation: X:339.79, Y:-54.16, Z:-6.78 [[ 9.80834340e-01 1.93782026e-01 2.03106809e-02 3.39786569e+02] [-1.93737188e-01 9.81044597e-01 -4.17135374e-03 -5.41607716e+01] [-2.07340172e-02 1.56472787e-04 9.99785015e-01 -6.78022229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914012739 meters 0.020229505243080117 Centerline is valid? [True, True] Translation: X:339.82, Y:-54.17, Z:-6.78 [[ 9.80384676e-01 1.96104982e-01 1.97160896e-02 3.39818377e+02] [-1.96063137e-01 9.80582900e-01 -4.05237222e-03 -5.41657306e+01] [-2.01279507e-02 1.07285248e-04 9.99797407e-01 -6.78243240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters 0.01921660583314848 Centerline is valid? [True, True] Translation: X:339.85, Y:-54.17, Z:-6.79 [[ 9.79571297e-01 2.00298492e-01 1.79049691e-02 3.39849094e+02] [-2.00264633e-01 9.79734920e-01 -3.68281393e-03 -5.41685182e+01] [-1.82797856e-02 2.18467507e-05 9.99832911e-01 -6.78609256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974012739 meters 0.019180355664761214 Centerline is valid? [True, True] Translation: X:339.88, Y:-54.17, Z:-6.79 [[ 9.79007032e-01 2.03070171e-01 1.75424240e-02 3.39881497e+02] [-2.03038069e-01 9.79164187e-01 -3.61077245e-03 -5.41724007e+01] [-1.79101535e-02 -2.68082728e-05 9.99839600e-01 -6.78682850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters 0.019921902613929787 Centerline is valid? [True, True] Translation: X:339.91, Y:-54.17, Z:-6.79 [[ 9.78322805e-01 2.06300879e-01 1.80121121e-02 3.39912916e+02] [-2.06267515e-01 9.78488600e-01 -3.71109445e-03 -5.41739799e+01] [-1.83902484e-02 -8.46652614e-05 9.99830881e-01 -6.78672825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034012739 meters 0.023710794927979468 Centerline is valid? [True, True] Translation: X:339.95, Y:-54.17, Z:-6.78 [[ 9.76613007e-01 2.14172730e-01 1.88964810e-02 3.39945562e+02] [-2.14137417e-01 9.76795774e-01 -3.89655009e-03 -5.41681442e+01] [-1.92925375e-02 -2.41022121e-04 9.99813853e-01 -6.78486261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters 0.029124182510269353 Centerline is valid? [True, True] Translation: X:339.98, Y:-54.16, Z:-6.79 [[ 9.75000953e-01 2.21363934e-01 1.92652732e-02 3.39977101e+02] [-2.21328630e-01 9.75191189e-01 -3.97260451e-03 -5.41629116e+01] [-1.96667160e-02 -3.90663333e-04 9.99806515e-01 -6.78510339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094012739 meters 0.033859912438135235 Centerline is valid? [True, True] Translation: X:340.01, Y:-54.16, Z:-6.79 [[ 9.74462192e-01 2.23727602e-01 1.92196696e-02 3.40006389e+02] [-2.23692928e-01 9.74651614e-01 -3.96299090e-03 -5.41602553e+01] [-1.96191124e-02 -4.37519375e-04 9.99807431e-01 -6.78547122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters 0.03251025944067473 Centerline is valid? [True, True] Translation: X:340.03, Y:-54.17, Z:-6.79 [[ 9.74260325e-01 2.24619539e-01 1.90494644e-02 3.40034325e+02] [-2.24585665e-01 9.74446437e-01 -3.92698327e-03 -5.41673921e+01] [-1.94447599e-02 -4.52332637e-04 9.99810830e-01 -6.78655683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154012739 meters 0.03166855972668577 Centerline is valid? [True, True] Translation: X:340.06, Y:-54.17, Z:-6.79 [[ 9.74687936e-01 2.22780276e-01 1.87716903e-02 3.40062265e+02] [-2.22747058e-01 9.74868596e-01 -3.86881841e-03 -5.41736813e+01] [-1.91618278e-02 -4.10448164e-04 9.99816311e-01 -6.78836120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters 0.028725447262333798 Centerline is valid? [True, True] Translation: X:340.09, Y:-54.19, Z:-6.79 [[ 9.75255045e-01 2.20276746e-01 1.88613778e-02 3.40089948e+02] [-2.20242756e-01 9.75437349e-01 -3.88661277e-03 -5.41850064e+01] [-1.92542228e-02 -3.63643127e-04 9.99814554e-01 -6.78959936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214012739 meters 0.024760743702977244 Centerline is valid? [True, True] Translation: X:340.12, Y:-54.20, Z:-6.79 [[ 9.76423017e-01 2.15064905e-01 1.85789739e-02 3.40118002e+02] [-2.15030990e-01 9.76599724e-01 -3.82791878e-03 -5.42016396e+01] [-1.89674717e-02 -2.57387129e-04 9.99820068e-01 -6.79077145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters 0.023662075300341076 Centerline is valid? [True, True] Translation: X:340.15, Y:-54.21, Z:-6.79 [[ 9.76720164e-01 2.13723148e-01 1.84427953e-02 3.40147123e+02] [-2.13689481e-01 9.76894244e-01 -3.80033509e-03 -5.42103653e+01] [-1.88288802e-02 -2.29167443e-04 9.99822695e-01 -6.79163631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274012739 meters 0.023662075300341076 Centerline is valid? [True, True] Translation: X:340.18, Y:-54.22, Z:-6.79 [[ 9.76720164e-01 2.13723148e-01 1.84427953e-02 3.40176502e+02] [-2.13689481e-01 9.76894244e-01 -3.80033509e-03 -5.42164191e+01] [-1.88288802e-02 -2.29167443e-04 9.99822695e-01 -6.79224556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters 0.023771993013031834 Centerline is valid? [True, True] Translation: X:340.21, Y:-54.22, Z:-6.79 [[ 9.76726120e-01 2.13703565e-01 1.83540760e-02 3.40205819e+02] [-2.13670217e-01 9.76898528e-01 -3.78207171e-03 -5.42215605e+01] [-1.87383120e-02 -2.27671164e-04 9.99824396e-01 -6.79245914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334012739 meters 0.026503799197114226 Centerline is valid? [True, True] Translation: X:340.24, Y:-54.22, Z:-6.79 [[ 9.75851321e-01 2.17570869e-01 1.94194696e-02 3.40237037e+02] [-2.17534307e-01 9.76044474e-01 -4.00135901e-03 -5.42203190e+01] [-1.98248452e-02 -3.19669382e-04 9.99803417e-01 -6.79143286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters 0.02975872227167256 Centerline is valid? [True, True] Translation: X:340.27, Y:-54.22, Z:-6.79 [[ 9.75273831e-01 2.20111551e-01 1.97954563e-02 3.40266073e+02] [-2.20074081e-01 9.75474634e-01 -4.07883508e-03 -5.42192171e+01] [-2.02077642e-02 -3.78485747e-04 9.99795731e-01 -6.79132284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394012739 meters 0.032850998020870464 Centerline is valid? [True, True] Translation: X:340.30, Y:-54.22, Z:-6.79 [[ 9.74139551e-01 2.25059854e-01 2.00049212e-02 3.40297557e+02] [-2.25022648e-01 9.74344818e-01 -4.12103742e-03 -5.42172352e+01] [-2.04191714e-02 -4.87094797e-04 9.99791388e-01 -6.79121952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters 0.0359958216733903 Centerline is valid? [True, True] Translation: X:340.33, Y:-54.22, Z:-6.79 [[ 9.73842132e-01 2.26365866e-01 1.97483243e-02 3.40325954e+02] [-2.26329877e-01 9.74042215e-01 -4.06818654e-03 -5.42165261e+01] [-2.01566001e-02 -5.07864341e-04 9.99796706e-01 -6.79288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454012739 meters 0.03678277888184309 Centerline is valid? [True, True] Translation: X:340.35, Y:-54.22, Z:-6.79 [[ 9.73684310e-01 2.27085322e-01 1.92644953e-02 3.40354683e+02] [-2.27051238e-01 9.73874733e-01 -3.96738837e-03 -5.42199237e+01] [-1.96621409e-02 -5.11043692e-04 9.99806551e-01 -6.79469876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters 0.03592813215009696 Centerline is valid? [True, True] Translation: X:340.38, Y:-54.22, Z:-6.79 [[ 9.73588908e-01 2.27465117e-01 1.96025227e-02 3.40383454e+02] [-2.27429922e-01 9.73786086e-01 -4.03607887e-03 -5.42238856e+01] [-2.00067310e-02 -5.28718582e-04 9.99799706e-01 -6.79451589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514012739 meters 0.03577876337604096 Centerline is valid? [True, True] Translation: X:340.41, Y:-54.23, Z:-6.79 [[ 9.73527604e-01 2.27692040e-01 2.00084986e-02 3.40412633e+02] [-2.27655439e-01 9.73733042e-01 -4.11870092e-03 -5.42270275e+01] [-2.04207317e-02 -5.45374494e-04 9.99791326e-01 -6.79454951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters 0.03599008107406144 Centerline is valid? [True, True] Translation: X:340.44, Y:-54.23, Z:-6.80 [[ 9.73226209e-01 2.29030713e-01 1.93824148e-02 3.40441792e+02] [-2.28996650e-01 9.73419038e-01 -3.98893260e-03 -5.42267096e+01] [-1.97807997e-02 -5.56374313e-04 9.99804186e-01 -6.79633611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574012739 meters 0.039025624498651865 Centerline is valid? [True, True] Translation: X:340.47, Y:-54.22, Z:-6.80 [[ 9.72962162e-01 2.30224705e-01 1.84720613e-02 3.40469987e+02] [-2.30193997e-01 9.73137338e-01 -3.80075805e-03 -5.42248244e+01] [-1.88508809e-02 -5.54163842e-04 9.99822153e-01 -6.79849500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters 0.04264744856187338 Centerline is valid? [True, True] Translation: X:340.50, Y:-54.22, Z:-6.80 [[ 9.72645814e-01 2.31634090e-01 1.74862664e-02 3.40499119e+02] [-2.31606822e-01 9.72802829e-01 -3.59668622e-03 -5.42222335e+01] [-1.78438045e-02 -5.51636782e-04 9.99840634e-01 -6.80138824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634012739 meters 0.04452625391928946 Centerline is valid? [True, True] Translation: X:340.53, Y:-54.22, Z:-6.80 [[ 9.72250079e-01 2.33357992e-01 1.65478468e-02 3.40529777e+02] [-2.33333838e-01 9.72390735e-01 -3.40262963e-03 -5.42204450e+01] [-1.68850037e-02 -5.52965671e-04 9.99857285e-01 -6.80394943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters 0.04334820535821098 Centerline is valid? [True, True] Translation: X:340.56, Y:-54.23, Z:-6.80 [[ 9.72247834e-01 2.33341481e-01 1.69086433e-02 3.40556795e+02] [-2.33316265e-01 9.72394691e-01 -3.47656088e-03 -5.42262737e+01] [-1.72531008e-02 -5.64982704e-04 9.99850995e-01 -6.80378547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694012739 meters 0.04290401200588285 Centerline is valid? [True, True] Translation: X:340.58, Y:-54.23, Z:-6.80 [[ 9.72678780e-01 2.31504175e-01 1.73726431e-02 3.40584750e+02] [-2.31477286e-01 9.72833756e-01 -3.57064805e-03 -5.42305321e+01] [-1.77273136e-02 -5.48278701e-04 9.99842709e-01 -6.80468043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters 0.038680468948832876 Centerline is valid? [True, True] Translation: X:340.61, Y:-54.24, Z:-6.81 [[ 9.73070307e-01 2.29862896e-01 1.72402563e-02 3.40612090e+02] [-2.29836172e-01 9.73222885e-01 -3.54264581e-03 -5.42410064e+01] [-1.75929348e-02 -5.15191081e-04 9.99845100e-01 -6.80544408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754012739 meters 0.038226620110206236 Centerline is valid? [True, True] Translation: X:340.64, Y:-54.25, Z:-6.81 [[ 9.73476917e-01 2.28162164e-01 1.68736129e-02 3.40639229e+02] [-2.28136323e-01 9.73623028e-01 -3.46655741e-03 -5.42459925e+01] [-1.72194753e-02 -4.74870382e-04 9.99851621e-01 -6.80654142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters 0.036402272615563024 Centerline is valid? [True, True] Translation: X:340.67, Y:-54.25, Z:-6.81 [[ 9.73795745e-01 2.26846031e-01 1.62088040e-02 3.40667134e+02] [-2.26822019e-01 9.73930536e-01 -3.32901770e-03 -5.42524479e+01] [-1.65414237e-02 -4.34730381e-04 9.99863087e-01 -6.80816516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814012739 meters 0.03753265034154158 Centerline is valid? [True, True] Translation: X:340.69, Y:-54.25, Z:-6.81 [[ 9.73624202e-01 2.27557255e-01 1.65411493e-02 3.40694994e+02] [-2.27532364e-01 9.73764595e-01 -3.39651233e-03 -5.42548277e+01] [-1.68800865e-02 -4.56720190e-04 9.99857417e-01 -6.80790421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters 0.04165169905135834 Centerline is valid? [True, True] Translation: X:340.73, Y:-54.25, Z:-6.81 [[ 9.72686751e-01 2.31477674e-01 1.72791748e-02 3.40726852e+02] [-2.31451151e-01 9.72840061e-01 -3.54686009e-03 -5.42504389e+01] [-1.76308924e-02 -5.49301082e-04 9.99844413e-01 -6.80643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874012739 meters 0.044268861161051894 Centerline is valid? [True, True] Translation: X:340.76, Y:-54.25, Z:-6.81 [[ 9.72084389e-01 2.33969970e-01 1.76066527e-02 3.40757387e+02] [-2.33942843e-01 9.72243635e-01 -3.61389711e-03 -5.42499884e+01] [-1.79634994e-02 -6.05937412e-04 9.99838460e-01 -6.80731676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters 0.04841210068410265 Centerline is valid? [True, True] Translation: X:340.79, Y:-54.25, Z:-6.81 [[ 9.71465284e-01 2.36494647e-01 1.80411967e-02 3.40786850e+02] [-2.36466606e-01 9.71632561e-01 -3.70270019e-03 -5.42479088e+01] [-1.84050829e-02 -6.69095843e-04 9.99830388e-01 -6.80717782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934012739 meters 0.051688322583552535 Centerline is valid? [True, True] Translation: X:340.82, Y:-54.25, Z:-6.81 [[ 9.70635323e-01 2.39747419e-01 1.97039148e-02 3.40818211e+02] [-2.39714660e-01 9.70834969e-01 -4.04294131e-03 -5.42464123e+01] [-2.00985342e-02 -7.99095591e-04 9.99797685e-01 -6.80513337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters 0.05266891977560183 Centerline is valid? [True, True] Translation: X:340.85, Y:-54.25, Z:-6.81 [[ 9.70592407e-01 2.39904493e-01 1.99051191e-02 3.40846154e+02] [-2.39871099e-01 9.70796156e-01 -4.08399307e-03 -5.42491852e+01] [-2.03035814e-02 -8.10770124e-04 9.99793532e-01 -6.80524490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994012739 meters 0.04907096830265702 Centerline is valid? [True, True] Translation: X:340.88, Y:-54.26, Z:-6.81 [[ 9.71348480e-01 2.36831205e-01 1.98270108e-02 3.40875221e+02] [-2.36797456e-01 9.71550527e-01 -4.06683364e-03 -5.42565978e+01] [-2.02260959e-02 -7.44673045e-04 9.99795154e-01 -6.80667748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters 0.04552511552206014 Centerline is valid? [True, True] Translation: X:340.90, Y:-54.27, Z:-6.81 [[ 9.72085642e-01 2.33772135e-01 2.00023446e-02 3.40903940e+02] [-2.33737143e-01 9.72291169e-01 -4.10256715e-03 -5.42668107e+01] [-2.04071689e-02 -6.87244279e-04 9.99791516e-01 -6.80733756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05401273900003 meters 0.04117003856223993 Centerline is valid? [True, True] Translation: X:340.93, Y:-54.28, Z:-6.81 [[ 9.72849816e-01 2.30568092e-01 2.00397047e-02 3.40932169e+02] [-2.30532295e-01 9.73055995e-01 -4.10999979e-03 -5.42789977e+01] [-2.04473896e-02 -6.21386568e-04 9.99790737e-01 -6.80841740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters 0.03582093728329006 Centerline is valid? [True, True] Translation: X:340.96, Y:-54.29, Z:-6.81 [[ 9.74087551e-01 2.25360501e-01 1.91334369e-02 3.40960695e+02] [-2.25326868e-01 9.74275323e-01 -3.92391882e-03 -5.42925278e+01] [-1.95255317e-02 -4.89036944e-04 9.99809239e-01 -6.81023978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11401273900003 meters 0.03463132874792799 Centerline is valid? [True, True] Translation: X:340.99, Y:-54.30, Z:-6.81 [[ 9.74429121e-01 2.23923794e-01 1.86016723e-02 3.40989066e+02] [-2.23891745e-01 9.74606554e-01 -3.81475569e-03 -5.42997646e+01] [-1.89835263e-02 -4.47551838e-04 9.99819696e-01 -6.81143110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters 0.03478456358263082 Centerline is valid? [True, True] Translation: X:341.02, Y:-54.30, Z:-6.81 [[ 9.74496839e-01 2.23579243e-01 1.91894002e-02 3.41016255e+02] [-2.23545103e-01 9.74685649e-01 -3.93359083e-03 -5.43043881e+01] [-1.95831022e-02 -4.56424601e-04 9.99808128e-01 -6.81106055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.174012739 meters 0.03576516887938816 Centerline is valid? [True, True] Translation: X:341.04, Y:-54.31, Z:-6.81 [[ 9.74303107e-01 2.24350058e-01 2.00126684e-02 3.41044498e+02] [-2.24313113e-01 9.74508496e-01 -4.10114227e-03 -5.43082611e+01] [-2.04226069e-02 -4.93348278e-04 9.99791315e-01 -6.81004563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters 0.0366318852270627 Centerline is valid? [True, True] Translation: X:341.07, Y:-54.31, Z:-6.81 [[ 9.74086003e-01 2.25300800e-01 1.98999670e-02 3.41072874e+02] [-2.25264487e-01 9.74289119e-01 -4.07713508e-03 -5.43114535e+01] [-2.03069031e-02 -5.11275636e-04 9.99793663e-01 -6.81027613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234012739 meters 0.04104372194832474 Centerline is valid? [True, True] Translation: X:341.10, Y:-54.31, Z:-6.82 [[ 9.73348483e-01 2.28636888e-01 1.78298599e-02 3.41102221e+02] [-2.28608309e-01 9.73511634e-01 -3.65229832e-03 -5.43082391e+01] [-1.81926261e-02 -5.21095082e-04 9.99834365e-01 -6.81522635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters 0.04678401426636537 Centerline is valid? [True, True] Translation: X:341.13, Y:-54.30, Z:-6.82 [[ 9.72690937e-01 2.31467866e-01 1.71746246e-02 3.41131574e+02] [-2.31441805e-01 9.72842392e-01 -3.51714750e-03 -5.43044562e+01] [-1.75223095e-02 -5.53828620e-04 9.99846319e-01 -6.81799894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294012739 meters 0.04612054174346725 Centerline is valid? [True, True] Translation: X:341.16, Y:-54.31, Z:-6.82 [[ 9.72509935e-01 2.32210779e-01 1.73948450e-02 3.41159538e+02] [-2.32184178e-01 9.72665319e-01 -3.56147290e-03 -5.43093009e+01] [-1.77463749e-02 -5.75240026e-04 9.99842355e-01 -6.81760441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters 0.04860734186792578 Centerline is valid? [True, True] Translation: X:341.19, Y:-54.31, Z:-6.82 [[ 9.72424521e-01 2.32549308e-01 1.76456647e-02 3.41187953e+02] [-2.32522009e-01 9.72584428e-01 -3.61181717e-03 -5.43092500e+01] [-1.80018243e-02 -5.90785812e-04 9.99837779e-01 -6.81847771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354012739 meters 0.04717684836109577 Centerline is valid? [True, True] Translation: X:341.22, Y:-54.31, Z:-6.82 [[ 9.72498323e-01 2.32312888e-01 1.66653345e-02 3.41216333e+02] [-2.32288518e-01 9.72640948e-01 -3.41024886e-03 -5.43129864e+01] [-1.70016315e-02 -5.54704547e-04 9.99855308e-01 -6.82063992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters 0.04604199884474613 Centerline is valid? [True, True] Translation: X:341.24, Y:-54.32, Z:-6.82 [[ 9.72663506e-01 2.31690609e-01 1.56577633e-02 3.41244445e+02] [-2.31669027e-01 9.72789391e-01 -3.20342528e-03 -5.43188457e+01] [-1.59739096e-02 -5.11563926e-04 9.99872278e-01 -6.82303283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414012739 meters 0.04440749286987784 Centerline is valid? [True, True] Translation: X:341.27, Y:-54.32, Z:-6.82 [[ 9.73155283e-01 2.29610803e-01 1.57376816e-02 3.41272258e+02] [-2.29588737e-01 9.73282409e-01 -3.21920404e-03 -5.43217661e+01] [-1.60563727e-02 -4.80409032e-04 9.99870973e-01 -6.82359487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters 0.041132999555641196 Centerline is valid? [True, True] Translation: X:341.30, Y:-54.33, Z:-6.82 [[ 9.73352706e-01 2.28694365e-01 1.68344172e-02 3.41300365e+02] [-2.28669006e-01 9.73498145e-01 -3.44201465e-03 -5.43295021e+01] [-1.71754432e-02 -4.99215167e-04 9.99852367e-01 -6.82184657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474012739 meters 0.040079929040361825 Centerline is valid? [True, True] Translation: X:341.33, Y:-54.33, Z:-6.82 [[ 9.73576558e-01 2.27663943e-01 1.78273802e-02 3.41329194e+02] [-2.27635343e-01 9.73739631e-01 -3.64437700e-03 -5.43345718e+01] [-1.81889199e-02 -5.10061798e-04 9.99834438e-01 -6.82084777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters 0.037969959910471904 Centerline is valid? [True, True] Translation: X:341.36, Y:-54.34, Z:-6.82 [[ 9.74052297e-01 2.25621165e-01 1.78104611e-02 3.41357942e+02] [-2.25592327e-01 9.74215000e-01 -3.63824699e-03 -5.43399198e+01] [-1.81720838e-02 -4.74060513e-04 9.99834762e-01 -6.82106849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534012739 meters 0.039303655867503645 Centerline is valid? [True, True] Translation: X:341.39, Y:-54.34, Z:-6.82 [[ 9.74389972e-01 2.24198284e-01 1.73006175e-02 3.41385741e+02] [-2.24170896e-01 9.74543451e-01 -3.53143265e-03 -5.43416014e+01] [-1.76519446e-02 -4.37302357e-04 9.99844097e-01 -6.82296008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters 0.03291142951597605 Centerline is valid? [True, True] Translation: X:341.41, Y:-54.35, Z:-6.82 [[ 9.75058714e-01 2.21251740e-01 1.75548176e-02 3.41412551e+02] [-2.21223092e-01 9.75216650e-01 -3.58174171e-03 -5.43528595e+01] [-1.79122170e-02 -3.91122561e-04 9.99839487e-01 -6.82270597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594012739 meters 0.034617559279291235 Centerline is valid? [True, True] Translation: X:341.44, Y:-54.36, Z:-6.82 [[ 9.75346850e-01 2.19878347e-01 1.87625892e-02 3.41440785e+02] [-2.19845386e-01 9.75527221e-01 -3.82723231e-03 -5.43550926e+01] [-1.91449420e-02 -3.91989681e-04 9.99816642e-01 -6.82096785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters 0.0287031709912008 Centerline is valid? [True, True] Translation: X:341.47, Y:-54.37, Z:-6.82 [[ 9.75640230e-01 2.18472121e-01 1.99016029e-02 3.41467545e+02] [-2.18434763e-01 9.75843113e-01 -4.05859605e-03 -5.43697125e+01] [-2.03075322e-02 -3.87472324e-04 9.99793706e-01 -6.81887128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654012739 meters 0.026313590239577783 Centerline is valid? [True, True] Translation: X:341.50, Y:-54.38, Z:-6.82 [[ 9.76234653e-01 2.15680655e-01 2.11602964e-02 3.41495239e+02] [-2.15637789e-01 9.76463892e-01 -4.31418490e-03 -5.43792354e+01] [-2.15927516e-02 -3.51302722e-04 9.99766788e-01 -6.81777465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters 0.024861091212853365 Centerline is valid? [True, True] Translation: X:341.52, Y:-54.39, Z:-6.82 [[ 9.76754517e-01 2.13465521e-01 1.95725716e-02 3.41522909e+02] [-2.13428420e-01 9.76950558e-01 -3.98958706e-03 -5.43880230e+01] [-1.99730741e-02 -2.80495855e-04 9.99800479e-01 -6.82134459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714012739 meters 0.024730103363968848 Centerline is valid? [True, True] Translation: X:341.55, Y:-54.39, Z:-6.82 [[ 9.76859619e-01 2.13019724e-01 1.91802752e-02 3.41550663e+02] [-2.12984027e-01 9.77047863e-01 -3.90869772e-03 -5.43943821e+01] [-1.95726766e-02 -2.66843297e-04 9.99808401e-01 -6.82317205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters 0.025183404896604873 Centerline is valid? [True, True] Translation: X:341.58, Y:-54.40, Z:-6.82 [[ 9.76909841e-01 2.12802865e-01 1.90289994e-02 3.41577116e+02] [-2.12767705e-01 9.77095119e-01 -3.87700389e-03 -5.43991497e+01] [-1.94181800e-02 -2.61273290e-04 9.99811415e-01 -6.82400944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774012739 meters 0.023782449352131228 Centerline is valid? [True, True] Translation: X:341.60, Y:-54.41, Z:-6.82 [[ 9.76930680e-01 2.12660313e-01 1.95457747e-02 3.41603638e+02] [-2.12623237e-01 9.77126153e-01 -3.97987499e-03 -5.44080140e+01] [-1.99450492e-02 -2.67823921e-04 9.99801042e-01 -6.82312332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters 0.024445404970736304 Centerline is valid? [True, True] Translation: X:341.63, Y:-54.41, Z:-6.82 [[ 9.76962753e-01 2.12534595e-01 1.93086675e-02 3.41630368e+02] [-2.12498418e-01 9.77153507e-01 -3.93014597e-03 -5.44127139e+01] [-1.97028242e-02 -2.63455075e-04 9.99805846e-01 -6.82467307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834012739 meters 0.02356647179729042 Centerline is valid? [True, True] Translation: X:341.66, Y:-54.42, Z:-6.83 [[ 9.77279867e-01 2.11194219e-01 1.79182321e-02 3.41657115e+02] [-2.11162875e-01 9.77444092e-01 -3.64521564e-03 -5.44236517e+01] [-1.82839186e-02 -2.21269554e-04 9.99832811e-01 -6.82859384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters 0.022841457842288845 Centerline is valid? [True, True] Translation: X:341.68, Y:-54.43, Z:-6.83 [[ 9.77551369e-01 2.09956427e-01 1.76527743e-02 3.41684465e+02] [-2.09925818e-01 9.77710724e-01 -3.59035594e-03 -5.44331852e+01] [-1.80131251e-02 -1.96015736e-04 9.99837731e-01 -6.82970097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894012739 meters 0.02258154560078408 Centerline is valid? [True, True] Translation: X:341.71, Y:-54.44, Z:-6.83 [[ 9.77873551e-01 2.08443103e-01 1.77423334e-02 3.41711658e+02] [-2.08411949e-01 9.78034480e-01 -3.60771238e-03 -5.44408098e+01] [-1.81046166e-02 -1.69827757e-04 9.99836084e-01 -6.83027450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters 0.02158476101080575 Centerline is valid? [True, True] Translation: X:341.74, Y:-54.45, Z:-6.83 [[ 9.78316056e-01 2.06385534e-01 1.73984488e-02 3.41737810e+02] [-2.06355269e-01 9.78470743e-01 -3.53673075e-03 -5.44511771e+01] [-1.77538032e-02 -1.30221100e-04 9.99842380e-01 -6.83159399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954012739 meters 0.021446647865851744 Centerline is valid? [True, True] Translation: X:341.76, Y:-54.46, Z:-6.83 [[ 9.78488764e-01 2.05613548e-01 1.68168779e-02 3.41764310e+02] [-2.05585174e-01 9.78633259e-01 -3.41762136e-03 -5.44591677e+01] [-1.71602653e-02 -1.13196664e-04 9.99852745e-01 -6.83396140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters 0.02068294909310074 Centerline is valid? [True, True] Translation: X:341.79, Y:-54.47, Z:-6.84 [[ 9.78852960e-01 2.03940142e-01 1.59781792e-02 3.41791519e+02] [-2.03914326e-01 9.78983356e-01 -3.24589932e-03 -5.44721080e+01] [-1.63043407e-02 -8.09214851e-05 9.99867072e-01 -6.83522959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014012739 meters 0.020362494944359405 Centerline is valid? [True, True] Translation: X:341.82, Y:-54.48, Z:-6.83 [[ 9.78912719e-01 2.03613652e-01 1.64732859e-02 3.41819256e+02] [-2.03586178e-01 9.79051314e-01 -3.34566880e-03 -5.44801342e+01] [-1.68094160e-02 -7.86155720e-05 9.99858709e-01 -6.83380223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters 0.020555150552461605 Centerline is valid? [True, True] Translation: X:341.85, Y:-54.49, Z:-6.83 [[ 9.78768986e-01 2.04235345e-01 1.72972920e-02 3.41846351e+02] [-2.04205167e-01 9.78921812e-01 -3.51213584e-03 -5.44854559e+01] [-1.76499987e-02 -9.46267600e-05 9.99844222e-01 -6.83337285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074012739 meters 0.021418670131852693 Centerline is valid? [True, True] Translation: X:341.87, Y:-54.49, Z:-6.83 [[ 9.78295429e-01 2.06454283e-01 1.77393137e-02 3.41874554e+02] [-2.06422928e-01 9.78456238e-01 -3.60072067e-03 -5.44907376e+01] [-1.81005263e-02 -1.39232499e-04 9.99836162e-01 -6.83394075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters 0.02195361918922955 Centerline is valid? [True, True] Translation: X:341.90, Y:-54.50, Z:-6.84 [[ 9.78050629e-01 2.07642925e-01 1.73603556e-02 3.41902386e+02] [-2.07613097e-01 9.78204677e-01 -3.52297019e-03 -5.44966264e+01] [-1.77135009e-02 -1.58593981e-04 9.99843091e-01 -6.83543242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134012739 meters 0.02409608427614162 Centerline is valid? [True, True] Translation: X:341.93, Y:-54.50, Z:-6.84 [[ 9.77678224e-01 2.09400102e-01 1.72304174e-02 3.41930428e+02] [-2.09371006e-01 9.77830027e-01 -3.49577903e-03 -5.44990933e+01] [-1.75804360e-02 -1.89802802e-04 9.99845434e-01 -6.83676016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters 0.02409608427614162 Centerline is valid? [True, True] Translation: X:341.96, Y:-54.50, Z:-6.84 [[ 9.77691945e-01 2.09336012e-01 1.72306233e-02 3.41957398e+02] [-2.09306924e-01 9.77843749e-01 -3.49476371e-03 -5.45044195e+01] [-1.75804372e-02 -1.89686429e-04 9.99845434e-01 -6.83731850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194012739 meters 0.022972125022222987 Centerline is valid? [True, True] Translation: X:341.99, Y:-54.51, Z:-6.84 [[ 9.77750587e-01 2.09046316e-01 1.74191604e-02 3.41985373e+02] [-2.09016565e-01 9.77905723e-01 -3.53175155e-03 -5.45133164e+01] [-1.77725963e-02 -1.87720927e-04 9.99842037e-01 -6.83678779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters 0.022790126085309614 Centerline is valid? [True, True] Translation: X:342.01, Y:-54.52, Z:-6.84 [[ 9.77857933e-01 2.08547027e-01 1.73781867e-02 3.42012833e+02] [-2.08517351e-01 9.78012324e-01 -3.52262806e-03 -5.45201705e+01] [-1.77307144e-02 -1.79023648e-04 9.99842783e-01 -6.83762224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254012739 meters 0.021754647583114455 Centerline is valid? [True, True] Translation: X:342.04, Y:-54.53, Z:-6.84 [[ 9.78284760e-01 2.06578543e-01 1.68592627e-02 3.42040021e+02] [-2.06550338e-01 9.78430011e-01 -3.41642049e-03 -5.45321595e+01] [-1.72013677e-02 -1.40054308e-04 9.99852036e-01 -6.83924042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters 0.02178349486702413 Centerline is valid? [True, True] Translation: X:342.07, Y:-54.54, Z:-6.84 [[ 9.78486470e-01 2.05555908e-01 1.76351195e-02 3.42066607e+02] [-2.05524896e-01 9.78645366e-01 -3.57275979e-03 -5.45389688e+01] [-1.79929298e-02 -1.28558990e-04 9.99838106e-01 -6.83934765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314012739 meters 0.02048512334693924 Centerline is valid? [True, True] Translation: X:342.09, Y:-54.55, Z:-6.83 [[ 9.78809203e-01 2.03836897e-01 1.95719891e-02 3.42093821e+02] [-2.03798384e-01 9.79004856e-01 -3.96373760e-03 -5.45522894e+01] [-1.99690284e-02 -1.08996910e-04 9.99800593e-01 -6.83455346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters 0.02038232185755443 Centerline is valid? [True, True] Translation: X:342.12, Y:-54.56, Z:-6.83 [[ 9.78840498e-01 2.03604918e-01 2.04038405e-02 3.42120753e+02] [-2.03563033e-01 9.79053127e-01 -4.13115728e-03 -5.45587657e+01] [-2.08175678e-02 -1.09723609e-04 9.99783285e-01 -6.83353007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374012739 meters 0.020342639696826804 Centerline is valid? [True, True] Translation: X:342.15, Y:-54.57, Z:-6.83 [[ 9.78794747e-01 2.03786709e-01 2.07802679e-02 3.42148355e+02] [-2.03743332e-01 9.79015303e-01 -4.20609359e-03 -5.45659613e+01] [-2.12013463e-02 -1.16938712e-04 9.99775219e-01 -6.83364736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters 0.021233962960884575 Centerline is valid? [True, True] Translation: X:342.18, Y:-54.57, Z:-6.84 [[ 9.78551996e-01 2.05030524e-01 1.99618362e-02 3.42175422e+02] [-2.04990775e-01 9.78755569e-01 -4.03948597e-03 -5.45715232e+01] [-2.03659763e-02 -1.39145218e-04 9.99792582e-01 -6.83649868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434012739 meters 0.021197610266424395 Centerline is valid? [True, True] Translation: X:342.20, Y:-54.58, Z:-6.84 [[ 9.78553904e-01 2.05130227e-01 1.88108274e-02 3.42203208e+02] [-2.05094971e-01 9.78734679e-01 -3.80535803e-03 -5.45798618e+01] [-1.91914031e-02 -1.34258147e-04 9.99815819e-01 -6.83944905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters 0.021125174438976924 Centerline is valid? [True, True] Translation: X:342.23, Y:-54.59, Z:-6.84 [[ 9.78809783e-01 2.04015951e-01 1.75755730e-02 3.42229896e+02] [-2.03985009e-01 9.78967559e-01 -3.55465646e-03 -5.45908326e+01] [-1.79311224e-02 -1.05820892e-04 9.99839219e-01 -6.84231320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494012739 meters 0.02046604183128522 Centerline is valid? [True, True] Translation: X:342.26, Y:-54.60, Z:-6.84 [[ 9.79115029e-01 2.02568167e-01 1.73175482e-02 3.42258215e+02] [-2.02537912e-01 9.79268161e-01 -3.50182778e-03 -5.46017267e+01] [-1.76678824e-02 -7.87678398e-05 9.99843908e-01 -6.84288576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters 0.020130550475144254 Centerline is valid? [True, True] Translation: X:342.29, Y:-54.61, Z:-6.84 [[ 9.79362368e-01 2.01362651e-01 1.73906567e-02 3.42286907e+02] [-2.01331957e-01 9.79516758e-01 -3.51619331e-03 -5.46110578e+01] [-1.77424697e-02 -5.76675454e-05 9.99842588e-01 -6.84380533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55401273900003 meters 0.020008748224114963 Centerline is valid? [True, True] Translation: X:342.31, Y:-54.62, Z:-6.84 [[ 9.79556994e-01 2.00324380e-01 1.83912684e-02 3.42314902e+02] [-2.00289878e-01 9.79729627e-01 -3.71803460e-03 -5.46225535e+01] [-1.87632835e-02 -4.15581032e-05 9.99823953e-01 -6.84308459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters 0.020507566025083517 Centerline is valid? [True, True] Translation: X:342.34, Y:-54.63, Z:-6.84 [[ 9.79009873e-01 2.02901204e-01 1.92553709e-02 3.42343725e+02] [-2.02863891e-01 9.79199210e-01 -3.89224256e-03 -5.46282851e+01] [-1.96445847e-02 -9.56755675e-05 9.99807022e-01 -6.84075107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61401273900003 meters 0.02128102131837209 Centerline is valid? [True, True] Translation: X:342.37, Y:-54.63, Z:-6.84 [[ 9.78581654e-01 2.04934752e-01 1.94857161e-02 3.42372381e+02] [-2.04896954e-01 9.78775627e-01 -3.93831962e-03 -5.46314504e+01] [-1.98792426e-02 -1.38596541e-04 9.99802379e-01 -6.84074045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters 0.02208304458714256 Centerline is valid? [True, True] Translation: X:342.40, Y:-54.63, Z:-6.84 [[ 9.78181491e-01 2.06796554e-01 1.99036828e-02 3.42401887e+02] [-2.06757512e-01 9.78383950e-01 -4.02226663e-03 -5.46346300e+01] [-2.03052346e-02 -1.80729151e-04 9.99793811e-01 -6.84127208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.674012739 meters 0.024881994217577995 Centerline is valid? [True, True] Translation: X:342.43, Y:-54.63, Z:-6.84 [[ 9.77404627e-01 2.10548588e-01 1.86945710e-02 3.42431533e+02] [-2.10514839e-01 9.77583364e-01 -3.77750571e-03 -5.46340645e+01] [-1.90708501e-02 -2.43333052e-04 9.99818105e-01 -6.84463240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters 0.0272304093477319 Centerline is valid? [True, True] Translation: X:342.46, Y:-54.63, Z:-6.85 [[ 9.76955763e-01 2.12649962e-01 1.83693009e-02 3.42459439e+02] [-2.12617761e-01 9.77128403e-01 -3.71115648e-03 -5.46347829e+01] [-1.87383429e-02 -2.80003901e-04 9.99824383e-01 -6.84560674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734012739 meters 0.031110874530870167 Centerline is valid? [True, True] Translation: X:342.49, Y:-54.63, Z:-6.84 [[ 9.75734269e-01 2.18157793e-01 1.87033138e-02 3.42489696e+02] [-2.18125442e-01 9.75913430e-01 -3.77747741e-03 -5.46316917e+01] [-1.90769012e-02 -3.93854421e-04 9.99817942e-01 -6.84482300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters 0.03433675210296005 Centerline is valid? [True, True] Translation: X:342.52, Y:-54.63, Z:-6.85 [[ 9.75032699e-01 2.21291552e-01 1.84739175e-02 3.42518810e+02] [-2.21260564e-01 9.75207591e-01 -3.73049024e-03 -5.46310981e+01] [-1.88414306e-02 -4.50199430e-04 9.99822383e-01 -6.84525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794012739 meters 0.03725289092278587 Centerline is valid? [True, True] Translation: X:342.55, Y:-54.63, Z:-6.85 [[ 9.74422321e-01 2.24017505e-01 1.78128838e-02 3.42549346e+02] [-2.23989161e-01 9.74585000e-01 -3.59636809e-03 -5.46304112e+01] [-1.81658187e-02 -4.85511552e-04 9.99834870e-01 -6.84767545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters 0.04259528830017785 Centerline is valid? [True, True] Translation: X:342.58, Y:-54.62, Z:-6.85 [[ 9.73302399e-01 2.28966317e-01 1.60270691e-02 3.42580649e+02] [-2.28944047e-01 9.73434207e-01 -3.23543670e-03 -5.46225558e+01] [-1.63421033e-02 -5.20243759e-04 9.99866324e-01 -6.85254532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854012739 meters 0.042714317288347174 Centerline is valid? [True, True] Translation: X:342.61, Y:-54.62, Z:-6.85 [[ 9.72758786e-01 2.31259564e-01 1.61045893e-02 3.42610117e+02] [-2.31237394e-01 9.72891925e-01 -3.25099913e-03 -5.46246760e+01] [-1.64198495e-02 -5.61545284e-04 9.99865027e-01 -6.85245711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters 0.04907181863575534 Centerline is valid? [True, True] Translation: X:342.64, Y:-54.61, Z:-6.85 [[ 9.71988818e-01 2.34357792e-01 1.77246379e-02 3.42642488e+02] [-2.34331465e-01 9.72150178e-01 -3.57726524e-03 -5.46147040e+01] [-1.80693699e-02 -6.76378545e-04 9.99836507e-01 -6.84983373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914012739 meters 0.0491361656062936 Centerline is valid? [True, True] Translation: X:342.67, Y:-54.62, Z:-6.85 [[ 9.71846431e-01 2.34872984e-01 1.86867809e-02 3.42671349e+02] [-2.34843820e-01 9.72025801e-01 -3.77121670e-03 -5.46163823e+01] [-1.90497901e-02 -7.23431530e-04 9.99818275e-01 -6.84824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters 0.050348206098065944 Centerline is valid? [True, True] Translation: X:342.70, Y:-54.62, Z:-6.85 [[ 9.71852667e-01 2.34791345e-01 1.93757018e-02 3.42698928e+02] [-2.34759993e-01 9.72045505e-01 -3.90935416e-03 -5.46163979e+01] [-1.97519463e-02 -7.49323345e-04 9.99804630e-01 -6.84813204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974012739 meters 0.05009237163205592 Centerline is valid? [True, True] Translation: X:342.73, Y:-54.61, Z:-6.85 [[ 9.72092764e-01 2.33783114e-01 1.95221565e-02 3.42727694e+02] [-2.33751133e-01 9.72288493e-01 -3.93637485e-03 -5.46148495e+01] [-1.99014261e-02 -7.36804688e-04 9.99801676e-01 -6.84907117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters 0.04331500985843478 Centerline is valid? [True, True] Translation: X:342.76, Y:-54.62, Z:-6.85 [[ 9.72870132e-01 2.30616264e-01 1.84349049e-02 3.42756776e+02] [-2.30587198e-01 9.73044570e-01 -3.71608704e-03 -5.46229741e+01] [-1.87949742e-02 -6.35582986e-04 9.99823157e-01 -6.85199248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034012739 meters 0.04432132796841086 Centerline is valid? [True, True] Translation: X:342.79, Y:-54.62, Z:-6.85 [[ 9.73433978e-01 2.28253889e-01 1.80680000e-02 3.42785591e+02] [-2.28225565e-01 9.73601473e-01 -3.64195934e-03 -5.46235305e+01] [-1.84223228e-02 -5.78372543e-04 9.99830127e-01 -6.85330882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters 0.041952566971893035 Centerline is valid? [True, True] Translation: X:342.81, Y:-54.63, Z:-6.85 [[ 9.74186992e-01 2.25011249e-01 1.81560787e-02 3.42814242e+02] [-2.24982098e-01 9.74356027e-01 -3.65904138e-03 -5.46285743e+01] [-1.85138101e-02 -5.20202152e-04 9.99828469e-01 -6.85405191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094012739 meters 0.03760896376515044 Centerline is valid? [True, True] Translation: X:342.84, Y:-54.64, Z:-6.85 [[ 9.74961931e-01 2.21643856e-01 1.79787216e-02 3.42842826e+02] [-2.21614706e-01 9.75127580e-01 -3.62289589e-03 -5.46369757e+01] [-1.83345399e-02 -4.52163524e-04 9.99831806e-01 -6.85497377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters 0.030514724176150244 Centerline is valid? [True, True] Translation: X:342.87, Y:-54.65, Z:-6.85 [[ 9.76458919e-01 2.14865701e-01 1.89923854e-02 3.42871407e+02] [-2.14831897e-01 9.76643544e-01 -3.82668905e-03 -5.46480542e+01] [-1.93710148e-02 -3.43565534e-04 9.99812305e-01 -6.85366296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154012739 meters 0.02551709408738186 Centerline is valid? [True, True] Translation: X:342.90, Y:-54.66, Z:-6.85 [[ 9.77688520e-01 2.09090550e-01 2.01568650e-02 3.42899116e+02] [-2.09051247e-01 9.77896253e-01 -4.06120553e-03 -5.46580742e+01] [-2.05604825e-02 -2.43223742e-04 9.99788581e-01 -6.85184827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters 0.023610500866886715 Centerline is valid? [True, True] Translation: X:342.93, Y:-54.67, Z:-6.85 [[ 9.78213220e-01 2.06596685e-01 2.04133657e-02 3.42927211e+02] [-2.06555842e-01 9.78426171e-01 -4.11241043e-03 -5.46657785e+01] [-2.08225816e-02 -1.93685693e-04 9.99783168e-01 -6.85143622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214012739 meters 0.022115969319045733 Centerline is valid? [True, True] Translation: X:342.96, Y:-54.67, Z:-6.85 [[ 9.78714835e-01 2.04200656e-01 2.04783929e-02 3.42955174e+02] [-2.04159046e-01 9.78929043e-01 -4.12459482e-03 -5.46742301e+01] [-2.08891385e-02 -1.44047026e-04 9.99781788e-01 -6.85183821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters 0.020323065348858586 Centerline is valid? [True, True] Translation: X:342.98, Y:-54.69, Z:-6.85 [[ 9.79588987e-01 2.00036210e-01 1.97719701e-02 3.42982636e+02] [-1.99996590e-01 9.79788504e-01 -3.98146061e-03 -5.46857495e+01] [-2.01687853e-02 -5.41316403e-05 9.99796588e-01 -6.85377233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274012739 meters 0.020190873154011232 Centerline is valid? [True, True] Translation: X:343.01, Y:-54.69, Z:-6.85 [[ 9.79998248e-01 1.98052029e-01 1.94634871e-02 3.43010480e+02] [-1.98013263e-01 9.80191509e-01 -3.91845352e-03 -5.46937736e+01] [-1.98540025e-02 -1.39510080e-05 9.99802890e-01 -6.85472930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters 0.02065330629980818 Centerline is valid? [True, True] Translation: X:343.04, Y:-54.71, Z:-6.86 [[ 9.80745646e-01 1.94304205e-01 1.95921917e-02 3.43036341e+02] [-1.94264194e-01 9.80941319e-01 -3.94345609e-03 -5.47053451e+01] [-1.99850205e-02 6.14660608e-05 9.99800278e-01 -6.85516078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334012739 meters 0.021133621626311383 Centerline is valid? [True, True] Translation: X:343.06, Y:-54.72, Z:-6.86 [[ 9.81084273e-01 1.92549402e-01 1.99593919e-02 3.43063848e+02] [-1.92507538e-01 9.81287276e-01 -4.01619471e-03 -5.47150540e+01] [-2.03592132e-02 9.78920701e-05 9.99792725e-01 -6.85511591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters 0.021740359436541283 Centerline is valid? [True, True] Translation: X:343.09, Y:-54.72, Z:-6.86 [[ 9.81432396e-01 1.90712371e-01 2.04754251e-02 3.43091231e+02] [-1.90667934e-01 9.81645951e-01 -4.11906294e-03 -5.47244074e+01] [-2.08851744e-02 1.38574811e-04 9.99781871e-01 -6.85511207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394012739 meters 0.023531724148514278 Centerline is valid? [True, True] Translation: X:343.12, Y:-54.74, Z:-6.86 [[ 9.81996839e-01 1.87850835e-01 1.98562795e-02 3.43116708e+02] [-1.87808478e-01 9.82197550e-01 -3.99360228e-03 -5.47373589e+01] [-2.02529906e-02 1.92527188e-04 9.99794869e-01 -6.85635487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters 0.024576982348612067 Centerline is valid? [True, True] Translation: X:343.14, Y:-54.75, Z:-6.86 [[ 9.82278989e-01 1.86457529e-01 1.90151759e-02 3.43144254e+02] [-1.86418448e-01 9.82463000e-01 -3.82321812e-03 -5.47464374e+01] [-1.93945746e-02 2.10687250e-04 9.99811885e-01 -6.85823917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454012739 meters 0.02625749733673316 Centerline is valid? [True, True] Translation: X:343.17, Y:-54.76, Z:-6.86 [[ 9.82576774e-01 1.85020683e-01 1.76133670e-02 3.43170407e+02] [-1.84986934e-01 9.82734602e-01 -3.54065434e-03 -5.47582804e+01] [-1.79643595e-02 2.20721952e-04 9.99838604e-01 -6.86177853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters 0.02469448182727269 Centerline is valid? [True, True] Translation: X:343.20, Y:-54.76, Z:-6.86 [[ 9.82549409e-01 1.85203976e-01 1.72089164e-02 3.43198808e+02] [-1.85171804e-01 9.82700078e-01 -3.45836831e-03 -5.47627249e+01] [-1.75517071e-02 2.11411642e-04 9.99845935e-01 -6.86252169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514012739 meters 0.02501438862515839 Centerline is valid? [True, True] Translation: X:343.23, Y:-54.77, Z:-6.86 [[ 9.82360429e-01 1.86107676e-01 1.82186706e-02 3.43226337e+02] [-1.86071791e-01 9.82529333e-01 -3.66033934e-03 -5.47720493e+01] [-1.85815955e-02 2.05791862e-04 9.99827326e-01 -6.86205567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters 0.023843929779583165 Centerline is valid? [True, True] Translation: X:343.25, Y:-54.78, Z:-6.86 [[ 9.82255578e-01 1.86598272e-01 1.88431599e-02 3.43254832e+02] [-1.86559988e-01 9.82436280e-01 -3.78512049e-03 -5.47765976e+01] [-1.92185009e-02 2.02576018e-04 9.99815287e-01 -6.86123086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574012739 meters 0.02390885168034103 Centerline is valid? [True, True] Translation: X:343.28, Y:-54.78, Z:-6.86 [[ 9.82207715e-01 1.86845481e-01 1.88883966e-02 3.43282216e+02] [-1.86807076e-01 9.82389295e-01 -3.79328842e-03 -5.47839522e+01] [-1.92645175e-02 1.97311010e-04 9.99814402e-01 -6.86126114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters 0.023476790734421618 Centerline is valid? [True, True] Translation: X:343.31, Y:-54.79, Z:-6.86 [[ 9.82204708e-01 1.86922299e-01 1.82747514e-02 3.43310703e+02] [-1.86886374e-01 9.82374683e-01 -3.66940577e-03 -5.47920533e+01] [-1.86385469e-02 1.88805588e-04 9.99826269e-01 -6.86324602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634012739 meters 0.023986117437845494 Centerline is valid? [True, True] Translation: X:343.34, Y:-54.80, Z:-6.86 [[ 9.82271761e-01 1.86577657e-01 1.81924627e-02 3.43338658e+02] [-1.86542004e-01 9.82440197e-01 -3.65246676e-03 -5.48002747e+01] [-1.85544753e-02 1.94056517e-04 9.99827832e-01 -6.86396881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters 0.024298165379018043 Centerline is valid? [True, True] Translation: X:343.37, Y:-54.81, Z:-6.86 [[ 9.82305457e-01 1.86354958e-01 1.86499091e-02 3.43366130e+02] [-1.86317463e-01 9.82482462e-01 -3.74360054e-03 -5.48103853e+01] [-1.90208471e-02 2.02555498e-04 9.99819067e-01 -6.86335796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694012739 meters 0.02403448394443209 Centerline is valid? [True, True] Translation: X:343.39, Y:-54.82, Z:-6.86 [[ 9.82294985e-01 1.86375494e-01 1.89930819e-02 3.43394137e+02] [-1.86336618e-01 9.82478566e-01 -3.81204266e-03 -5.48176156e+01] [-1.93707672e-02 2.05443744e-04 9.99812348e-01 -6.86312445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters 0.023826388649072276 Centerline is valid? [True, True] Translation: X:343.42, Y:-54.82, Z:-6.86 [[ 9.82222592e-01 1.86692583e-01 1.96127180e-02 3.43422902e+02] [-1.86651206e-01 9.82418362e-01 -3.93569485e-03 -5.48237222e+01] [-2.00026593e-02 2.04990922e-04 9.99799906e-01 -6.86165676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754012739 meters 0.022715221178296243 Centerline is valid? [True, True] Translation: X:343.45, Y:-54.83, Z:-6.86 [[ 9.81868514e-01 1.88529481e-01 1.97700869e-02 3.43452075e+02] [-1.88487819e-01 9.82067516e-01 -3.96681301e-03 -5.48257710e+01] [-2.01634213e-02 1.68468249e-04 9.99796683e-01 -6.86279421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters 0.022482961316320226 Centerline is valid? [True, True] Translation: X:343.48, Y:-54.83, Z:-6.87 [[ 9.81710769e-01 1.89422942e-01 1.90503483e-02 3.43479617e+02] [-1.89384439e-01 9.81895579e-01 -3.82178535e-03 -5.48306393e+01] [-1.94293866e-02 1.44048312e-04 9.99811221e-01 -6.86562134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814012739 meters 0.021955756183713166 Centerline is valid? [True, True] Translation: X:343.51, Y:-54.83, Z:-6.87 [[ 9.81545766e-01 1.90389693e-01 1.78794169e-02 3.43508599e+02] [-1.90355956e-01 9.81708588e-01 -3.58590278e-03 -5.48348844e+01] [-1.82350960e-02 1.16274205e-04 9.99833720e-01 -6.86836284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters 0.02152463557740109 Centerline is valid? [True, True] Translation: X:343.54, Y:-54.84, Z:-6.87 [[ 9.81579436e-01 1.90166403e-01 1.83997128e-02 3.43537783e+02] [-1.90130652e-01 9.81751865e-01 -3.68935641e-03 -5.48385772e+01] [-1.87655440e-02 1.23046999e-04 9.99823904e-01 -6.86768145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874012739 meters 0.02218323284370787 Centerline is valid? [True, True] Translation: X:343.57, Y:-54.85, Z:-6.87 [[ 9.81620110e-01 1.89920188e-01 1.87691855e-02 3.43566125e+02] [-1.89882951e-01 9.81799524e-01 -3.76293831e-03 -5.48464093e+01] [-1.91422354e-02 1.29827590e-04 9.99816762e-01 -6.86795626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters 0.023271791176374908 Centerline is valid? [True, True] Translation: X:343.59, Y:-54.86, Z:-6.87 [[ 9.81930988e-01 1.88170992e-01 2.00801606e-02 3.43592502e+02] [-1.88128011e-01 9.82136267e-01 -4.02549176e-03 -5.48553459e+01] [-2.04789347e-02 1.75114437e-04 9.99790269e-01 -6.86613366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934012739 meters 0.024913310768385478 Centerline is valid? [True, True] Translation: X:343.62, Y:-54.87, Z:-6.87 [[ 9.82425209e-01 1.85486856e-01 2.08647029e-02 3.43620807e+02] [-1.85439865e-01 9.82646716e-01 -4.18181062e-03 -5.48665364e+01] [-2.12783027e-02 2.39168476e-04 9.99773563e-01 -6.86520522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters 0.025866566625053402 Centerline is valid? [True, True] Translation: X:343.65, Y:-54.87, Z:-6.87 [[ 9.82742916e-01 1.83835367e-01 2.05163177e-02 3.43650593e+02] [-1.83789582e-01 9.82957011e-01 -4.11153488e-03 -5.48748587e+01] [-2.09225038e-02 2.69896339e-04 9.99781064e-01 -6.86610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994012739 meters 0.028364024905058276 Centerline is valid? [True, True] Translation: X:343.68, Y:-54.89, Z:-6.87 [[ 9.83052612e-01 1.82232575e-01 1.99712590e-02 3.43678987e+02] [-1.82188859e-01 9.83255410e-01 -4.00230411e-03 -5.48860393e+01] [-2.03661986e-02 2.95934608e-04 9.99792544e-01 -6.86802425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters 0.029189922302254093 Centerline is valid? [True, True] Translation: X:343.71, Y:-54.90, Z:-6.87 [[ 9.83807826e-01 1.78244780e-01 1.87339410e-02 3.43709534e+02] [-1.78205588e-01 9.83986114e-01 -3.75449942e-03 -5.48972798e+01] [-1.91031577e-02 3.55212946e-04 9.99817455e-01 -6.87182108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05401273900003 meters 0.030323413533903536 Centerline is valid? [True, True] Translation: X:343.74, Y:-54.91, Z:-6.87 [[ 9.84137786e-01 1.76428875e-01 1.85922065e-02 3.43740435e+02] [-1.76389936e-01 9.84313315e-01 -3.72683859e-03 -5.49086778e+01] [-1.89580783e-02 3.88244566e-04 9.99820204e-01 -6.87235554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters 0.030323413533903536 Centerline is valid? [True, True] Translation: X:343.77, Y:-54.92, Z:-6.87 [[ 9.84103958e-01 1.76617533e-01 1.85915852e-02 3.43772272e+02] [-1.76578569e-01 9.84279481e-01 -3.72993496e-03 -5.49152454e+01] [-1.89580878e-02 3.87768243e-04 9.99820204e-01 -6.87301598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11401273900003 meters 0.034173249952662646 Centerline is valid? [True, True] Translation: X:343.80, Y:-54.93, Z:-6.87 [[ 9.84792564e-01 1.72685318e-01 1.90627265e-02 3.43799342e+02] [-1.72643538e-01 9.84976929e-01 -3.82851778e-03 -5.49347089e+01] [-1.94374747e-02 4.79239287e-04 9.99810960e-01 -6.87306434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters 0.034564955740543024 Centerline is valid? [True, True] Translation: X:343.83, Y:-54.95, Z:-6.87 [[ 9.85053435e-01 1.71139896e-01 1.95158035e-02 3.43830122e+02] [-1.71095800e-01 9.85246600e-01 -3.91969599e-03 -5.49458994e+01] [-1.98986954e-02 5.22037993e-04 9.99801865e-01 -6.87264200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.174012739 meters 0.038005432634182976 Centerline is valid? [True, True] Translation: X:343.86, Y:-54.96, Z:-6.87 [[ 9.85204770e-01 1.70228304e-01 1.98465453e-02 3.43858744e+02] [-1.70182443e-01 9.85404495e-01 -3.98967954e-03 -5.49619561e+01] [-2.02360313e-02 5.53117754e-04 9.99795078e-01 -6.87193375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters 0.038456512317709454 Centerline is valid? [True, True] Translation: X:343.89, Y:-54.98, Z:-6.87 [[ 9.85284859e-01 1.69703470e-01 2.03587518e-02 3.43888265e+02] [-1.69655028e-01 9.85494999e-01 -4.09604089e-03 -5.49783950e+01] [-2.07585604e-02 5.81802462e-04 9.99784349e-01 -6.87114107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234012739 meters 0.03941551869111769 Centerline is valid? [True, True] Translation: X:343.92, Y:-54.99, Z:-6.87 [[ 9.85186297e-01 1.70251434e-01 2.05526097e-02 3.43918212e+02] [-1.70202111e-01 9.85400484e-01 -4.13851895e-03 -5.49891207e+01] [-2.09571403e-02 5.79114598e-04 9.99780207e-01 -6.87119902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters 0.035699798727019394 Centerline is valid? [True, True] Translation: X:343.95, Y:-54.99, Z:-6.87 [[ 9.84457034e-01 1.74409774e-01 2.06295910e-02 3.43947599e+02] [-1.74360927e-01 9.84673035e-01 -4.15711956e-03 -5.49934604e+01] [-2.10384443e-02 4.95510974e-04 9.99778545e-01 -6.87189923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294012739 meters 0.031053263337054923 Centerline is valid? [True, True] Translation: X:343.98, Y:-54.99, Z:-6.87 [[ 9.83899366e-01 1.77616357e-01 1.98611960e-02 3.43979842e+02] [-1.77571735e-01 9.84099721e-01 -4.00227675e-03 -5.49946240e+01] [-2.02562673e-02 4.11050514e-04 9.99794736e-01 -6.87418613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters 0.02695510397439822 Centerline is valid? [True, True] Translation: X:344.01, Y:-55.00, Z:-6.88 [[ 9.82850697e-01 1.83617447e-01 1.70041609e-02 3.44010317e+02] [-1.83585627e-01 9.82997748e-01 -3.42710261e-03 -5.49954305e+01] [-1.73443277e-02 2.46610640e-04 9.99849545e-01 -6.87982852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354012739 meters 0.024666481864192 Centerline is valid? [True, True] Translation: X:344.04, Y:-55.00, Z:-6.88 [[ 9.82414354e-01 1.85940610e-01 1.69742903e-02 3.44043333e+02] [-1.85909243e-01 9.82560964e-01 -3.42137917e-03 -5.49968043e+01] [-1.73144483e-02 2.05534547e-04 9.99850073e-01 -6.87975784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters 0.02578144020975276 Centerline is valid? [True, True] Translation: X:344.07, Y:-55.00, Z:-6.88 [[ 9.82038985e-01 1.87844184e-01 1.77199158e-02 3.44073827e+02] [-1.87810294e-01 9.82198824e-01 -3.57262800e-03 -5.50020627e+01] [-1.80755778e-02 1.80477386e-04 9.99836607e-01 -6.87679470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414012739 meters 0.02248917582340418 Centerline is valid? [True, True] Translation: X:344.11, Y:-55.00, Z:-6.88 [[ 9.81488913e-01 1.90447680e-01 2.02285874e-02 3.44105998e+02] [-1.90403988e-01 9.81697335e-01 -4.08219687e-03 -5.50040306e+01] [-2.06357952e-02 1.55027264e-04 9.99787047e-01 -6.87583950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters 0.02239630096430162 Centerline is valid? [True, True] Translation: X:344.14, Y:-55.01, Z:-6.88 [[ 9.81386170e-01 1.90948911e-01 2.04865469e-02 3.44137392e+02] [-1.90904130e-01 9.81599965e-01 -4.13790347e-03 -5.50105978e+01] [-2.08997219e-02 1.49914820e-04 9.99781566e-01 -6.87614134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474012739 meters 0.022814905092985643 Centerline is valid? [True, True] Translation: X:344.17, Y:-55.02, Z:-6.88 [[ 9.81478937e-01 1.90646886e-01 1.87845912e-02 3.44169890e+02] [-1.90609120e-01 9.81658670e-01 -3.79733628e-03 -5.50168698e+01] [-1.91640072e-02 1.46491177e-04 9.99816343e-01 -6.88039841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters 0.02329222434434991 Centerline is valid? [True, True] Translation: X:344.20, Y:-55.02, Z:-6.88 [[ 9.81643938e-01 1.89872967e-01 1.79843004e-02 3.44200889e+02] [-1.89838159e-01 9.81808653e-01 -3.63895810e-03 -5.50249490e+01] [-1.83480815e-02 1.58054693e-04 9.99831647e-01 -6.88227405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534012739 meters 0.023948788515955718 Centerline is valid? [True, True] Translation: X:344.23, Y:-55.03, Z:-6.88 [[ 9.81831551e-01 1.88922887e-01 1.77468045e-02 3.44231872e+02] [-1.88888783e-01 9.81991910e-01 -3.59392037e-03 -5.50344451e+01] [-1.81061923e-02 1.76452109e-04 9.99836054e-01 -6.88311064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters 0.02521224480262903 Centerline is valid? [True, True] Translation: X:344.26, Y:-55.05, Z:-6.88 [[ 9.82221245e-01 1.86899096e-01 1.76111698e-02 3.44261220e+02] [-1.86865130e-01 9.82379093e-01 -3.56949635e-03 -5.50473248e+01] [-1.79679807e-02 2.15121597e-04 9.99838540e-01 -6.88307193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594012739 meters 0.026452707585435206 Centerline is valid? [True, True] Translation: X:344.29, Y:-55.06, Z:-6.89 [[ 9.82417343e-01 1.85922250e-01 1.70023729e-02 3.44291068e+02] [-1.85890398e-01 9.82564433e-01 -3.44889255e-03 -5.50590205e+01] [-1.73471528e-02 2.27673989e-04 9.99849501e-01 -6.88501923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters 0.02624619710585798 Centerline is valid? [True, True] Translation: X:344.32, Y:-55.07, Z:-6.88 [[ 9.82352217e-01 1.86209769e-01 1.76080790e-02 3.44323239e+02] [-1.86175627e-01 9.82509984e-01 -3.57322663e-03 -5.50674034e+01] [-1.79654831e-02 2.31971945e-04 9.99838581e-01 -6.88461915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654012739 meters 0.025475082743813094 Centerline is valid? [True, True] Translation: X:344.35, Y:-55.07, Z:-6.88 [[ 9.82140711e-01 1.87221050e-01 1.86521231e-02 3.44354875e+02] [-1.87182847e-01 9.82317782e-01 -3.78895934e-03 -5.50747476e+01] [-1.90316852e-02 2.29933700e-04 9.99818855e-01 -6.88311604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters 0.02372190347576843 Centerline is valid? [True, True] Translation: X:344.39, Y:-55.08, Z:-6.88 [[ 9.81529844e-01 1.90269367e-01 1.99181854e-02 3.44385704e+02] [-1.90226355e-01 9.81731905e-01 -4.04974794e-03 -5.50795263e+01] [-2.03248610e-02 1.85984662e-04 9.99793411e-01 -6.88084626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714012739 meters 0.021936215602356895 Centerline is valid? [True, True] Translation: X:344.42, Y:-55.08, Z:-6.88 [[ 9.80778740e-01 1.94303579e-01 1.78656517e-02 3.44418022e+02] [-1.94269600e-01 9.80941441e-01 -3.63487896e-03 -5.50813553e+01] [-1.82314281e-02 9.42590070e-05 9.99833789e-01 -6.88476150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters 0.021630949698633103 Centerline is valid? [True, True] Translation: X:344.45, Y:-55.09, Z:-6.89 [[ 9.80367427e-01 1.96482405e-01 1.65641955e-02 3.44449521e+02] [-1.96453464e-01 9.80507349e-01 -3.37258610e-03 -5.50855498e+01] [-1.69039692e-02 5.22799643e-05 9.99857116e-01 -6.88799194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774012739 meters 0.021363262894490514 Centerline is valid? [True, True] Translation: X:344.48, Y:-55.09, Z:-6.89 [[ 9.80131536e-01 1.97707009e-01 1.59408439e-02 3.44480680e+02] [-1.97680314e-01 9.80261158e-01 -3.24899366e-03 -5.50903999e+01] [-1.62685389e-02 3.32501194e-05 9.99867658e-01 -6.89029770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters 0.021182069581791467 Centerline is valid? [True, True] Translation: X:344.51, Y:-55.10, Z:-6.89 [[ 9.80043710e-01 1.98006228e-01 1.75459485e-02 3.44510667e+02] [-1.97973925e-01 9.80200761e-01 -3.57662955e-03 -5.50957468e+01] [-1.79067470e-02 3.16129976e-05 9.99839661e-01 -6.88725749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834012739 meters 0.02134825179526801 Centerline is valid? [True, True] Translation: X:344.54, Y:-55.10, Z:-6.88 [[ 9.80173435e-01 1.97223692e-01 1.90487002e-02 3.44542292e+02] [-1.97185468e-01 9.80358512e-01 -3.88306961e-03 -5.51033214e+01] [-1.94403887e-02 4.99547984e-05 9.99811017e-01 -6.88487527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters 0.022327444151235606 Centerline is valid? [True, True] Translation: X:344.57, Y:-55.12, Z:-6.88 [[ 9.80788812e-01 1.94007992e-01 2.03520301e-02 3.44572392e+02] [-1.93963591e-01 9.80999941e-01 -4.15232291e-03 -5.51154190e+01] [-2.07709241e-02 1.24999012e-04 9.99784253e-01 -6.88262294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894012739 meters 0.023175222889128013 Centerline is valid? [True, True] Translation: X:344.60, Y:-55.13, Z:-6.88 [[ 9.81064492e-01 1.92630124e-01 2.01518723e-02 3.44602439e+02] [-1.92586234e-01 9.81271426e-01 -4.11475750e-03 -5.51251433e+01] [-2.05670827e-02 1.55869288e-04 9.99788463e-01 -6.88368902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters 0.024602828443526334 Centerline is valid? [True, True] Translation: X:344.63, Y:-55.13, Z:-6.89 [[ 9.81458939e-01 1.90713059e-01 1.91541031e-02 3.44632922e+02] [-1.90672989e-01 9.81645809e-01 -3.91378825e-03 -5.51339974e+01] [-1.95489556e-02 1.89052363e-04 9.99808883e-01 -6.88619944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954012739 meters 0.024947043380734803 Centerline is valid? [True, True] Translation: X:344.67, Y:-55.14, Z:-6.89 [[ 9.81527422e-01 1.90360329e-01 1.91537000e-02 3.44665005e+02] [-1.90320138e-01 9.81714269e-01 -3.91656099e-03 -5.51407133e+01] [-1.95490185e-02 1.98877183e-04 9.99808880e-01 -6.88682337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters 0.024756233395140874 Centerline is valid? [True, True] Translation: X:344.70, Y:-55.15, Z:-6.89 [[ 9.81603843e-01 1.89956782e-01 1.92436030e-02 3.44697126e+02] [-1.89916064e-01 9.81792430e-01 -3.93853642e-03 -5.51458921e+01] [-1.96413755e-02 2.11413128e-04 9.99807067e-01 -6.88730992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014012739 meters 0.024255778781828347 Centerline is valid? [True, True] Translation: X:344.73, Y:-55.15, Z:-6.89 [[ 9.81446712e-01 1.90793509e-01 1.89786508e-02 3.44728549e+02] [-1.90753996e-01 9.81630174e-01 -3.88770818e-03 -5.51508396e+01] [-1.93717658e-02 1.95324941e-04 9.99812331e-01 -6.88818856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters 0.023636470198118386 Centerline is valid? [True, True] Translation: X:344.76, Y:-55.16, Z:-6.89 [[ 9.81192428e-01 1.92153212e-01 1.84000570e-02 3.44760643e+02] [-1.92116254e-01 9.81364925e-01 -3.77222962e-03 -5.51550738e+01] [-1.87820166e-02 1.66333105e-04 9.99823589e-01 -6.88913252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074012739 meters 0.02238095536501126 Centerline is valid? [True, True] Translation: X:344.79, Y:-55.15, Z:-6.89 [[ 9.80594762e-01 1.95303786e-01 1.70394858e-02 3.44793639e+02] [-1.95272521e-01 9.80742790e-01 -3.49595537e-03 -5.51543878e+01] [-1.73941262e-02 1.00772166e-04 9.99848706e-01 -6.89220314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters 0.022129900401213053 Centerline is valid? [True, True] Translation: X:344.83, Y:-55.16, Z:-6.89 [[ 9.80342198e-01 1.96612390e-01 1.65149100e-02 3.44826180e+02] [-1.96583161e-01 9.80481291e-01 -3.39096830e-03 -5.51580394e+01] [-1.68592667e-02 7.77561102e-05 9.99857869e-01 -6.89423112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134012739 meters 0.021686286692715825 Centerline is valid? [True, True] Translation: X:344.86, Y:-55.16, Z:-6.89 [[ 9.80061200e-01 1.97991261e-01 1.67184155e-02 3.44857363e+02] [-1.97961441e-01 9.80203784e-01 -3.43665944e-03 -5.51592732e+01] [-1.70678827e-02 5.85349471e-05 9.99854331e-01 -6.89460401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters 0.02157533762025509 Centerline is valid? [True, True] Translation: X:344.89, Y:-55.16, Z:-6.89 [[ 9.79923841e-01 1.98648764e-01 1.69686369e-02 3.44887746e+02] [-1.98618140e-01 9.80070746e-01 -3.48830634e-03 -5.51629892e+01] [-1.73234124e-02 4.79954570e-05 9.99849937e-01 -6.89498184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194012739 meters 0.021428893194517993 Centerline is valid? [True, True] Translation: X:344.92, Y:-55.17, Z:-6.89 [[ 9.79764207e-01 1.99326011e-01 1.82000196e-02 3.44919551e+02] [-1.99290893e-01 9.79933232e-01 -3.74166383e-03 -5.51654498e+01] [-1.85806149e-02 3.88501443e-05 9.99827365e-01 -6.89373284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters 0.021433525089504395 Centerline is valid? [True, True] Translation: X:344.95, Y:-55.17, Z:-6.89 [[ 9.79830396e-01 1.99004378e-01 1.81563349e-02 3.44950372e+02] [-1.98969365e-01 9.79998600e-01 -3.73311856e-03 -5.51711730e+01] [-1.85360897e-02 4.52686031e-05 9.99828191e-01 -6.89413225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254012739 meters 0.02154683585265715 Centerline is valid? [True, True] Translation: X:344.98, Y:-55.18, Z:-6.90 [[ 9.79900280e-01 1.98680187e-01 1.79338803e-02 3.44979745e+02] [-1.98645965e-01 9.80064376e-01 -3.68782566e-03 -5.51768340e+01] [-1.83090551e-02 5.12084390e-05 9.99832374e-01 -6.89550279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters 0.021745347976202912 Centerline is valid? [True, True] Translation: X:345.01, Y:-55.18, Z:-6.90 [[ 9.80040085e-01 1.98082220e-01 1.68779817e-02 3.45010603e+02] [-1.98051818e-01 9.80185406e-01 -3.47084811e-03 -5.51829086e+01] [-1.72310646e-02 5.88553171e-05 9.99851532e-01 -6.89827221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314012739 meters 0.021764885040188163 Centerline is valid? [True, True] Translation: X:345.04, Y:-55.19, Z:-6.90 [[ 9.80036654e-01 1.98109993e-01 1.67507218e-02 3.45040387e+02] [-1.98080043e-01 9.80179793e-01 -3.44514503e-03 -5.51873564e+01] [-1.71012366e-02 5.83847148e-05 9.99853761e-01 -6.89854533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters 0.021522972412509226 Centerline is valid? [True, True] Translation: X:345.07, Y:-55.19, Z:-6.90 [[ 9.79917121e-01 1.98709586e-01 1.66414243e-02 3.45071031e+02] [-1.98680115e-01 9.80058416e-01 -3.42248030e-03 -5.51893629e+01] [-1.69896476e-02 4.74269299e-05 9.99855664e-01 -6.89940735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374012739 meters 0.02151747077494565 Centerline is valid? [True, True] Translation: X:345.10, Y:-55.19, Z:-6.90 [[ 9.79815745e-01 1.99240148e-01 1.62625430e-02 3.45100928e+02] [-1.99212057e-01 9.79950694e-01 -3.34575350e-03 -5.51929531e+01] [-1.66030987e-02 3.85273145e-05 9.99862158e-01 -6.90000779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters 0.021353420426952673 Centerline is valid? [True, True] Translation: X:345.13, Y:-55.20, Z:-6.90 [[ 9.79755255e-01 1.99493750e-01 1.67893977e-02 3.45130270e+02] [-1.99463854e-01 9.79899098e-01 -3.45373733e-03 -5.51974004e+01] [-1.71409146e-02 3.49393386e-05 9.99853083e-01 -6.89990121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434012739 meters 0.02129680836895952 Centerline is valid? [True, True] Translation: X:345.16, Y:-55.20, Z:-6.90 [[ 9.79858967e-01 1.98877768e-01 1.80010607e-02 3.45160089e+02] [-1.98843307e-01 9.80024301e-01 -3.70248646e-03 -5.52041801e+01] [-1.83778192e-02 4.85241191e-05 9.99831112e-01 -6.89785126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters 0.021405568516510036 Centerline is valid? [True, True] Translation: X:345.19, Y:-55.21, Z:-6.90 [[ 9.80011973e-01 1.98017525e-01 1.91204910e-02 3.45190093e+02] [-1.97978480e-01 9.80198477e-01 -3.93273264e-03 -5.52114690e+01] [-1.95206262e-02 6.86793179e-05 9.99809452e-01 -6.89703905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494012739 meters 0.021364237839265363 Centerline is valid? [True, True] Translation: X:345.22, Y:-55.22, Z:-6.90 [[ 9.80123970e-01 1.97385579e-01 1.98981598e-02 3.45221028e+02] [-1.97343163e-01 9.80325928e-01 -4.09268620e-03 -5.52204591e+01] [-2.03145192e-02 8.45740469e-05 9.99793635e-01 -6.89642382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters 0.02158476444994524 Centerline is valid? [True, True] Translation: X:345.25, Y:-55.23, Z:-6.90 [[ 9.80048819e-01 1.97732056e-01 2.01580181e-02 3.45251341e+02] [-1.97688524e-01 9.80256103e-01 -4.14972609e-03 -5.52302397e+01] [-2.05805541e-02 8.19253118e-05 9.99788195e-01 -6.89573635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55401273900003 meters 0.021275645206571187 Centerline is valid? [True, True] Translation: X:345.28, Y:-55.24, Z:-6.90 [[ 9.79893383e-01 1.98501708e-01 2.01501857e-02 3.45283212e+02] [-1.98458305e-01 9.80100539e-01 -4.15139161e-03 -5.52351732e+01] [-2.05732662e-02 6.89494677e-05 9.99788346e-01 -6.89609430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters 0.0209863798574012 Centerline is valid? [True, True] Translation: X:345.31, Y:-55.24, Z:-6.90 [[ 9.79689808e-01 1.99535311e-01 1.98378621e-02 3.45312704e+02] [-1.99493386e-01 9.79890635e-01 -4.09045956e-03 -5.52399643e+01] [-2.02551265e-02 4.98592575e-05 9.99794843e-01 -6.89714297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61401273900003 meters 0.020885228497907297 Centerline is valid? [True, True] Translation: X:345.34, Y:-55.24, Z:-6.90 [[ 9.78989785e-01 2.03049911e-01 1.87011955e-02 3.45342210e+02] [-2.03013290e-01 9.79168389e-01 -3.85630215e-03 -5.52411987e+01] [-1.90946413e-02 -2.13108095e-05 9.99817680e-01 -6.90092013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters 0.021164728713974002 Centerline is valid? [True, True] Translation: X:345.37, Y:-55.25, Z:-6.90 [[ 9.78618943e-01 2.04850654e-01 1.84709112e-02 3.45370399e+02] [-2.04815243e-01 9.78793240e-01 -3.80914065e-03 -5.52451032e+01] [-1.88595079e-02 -5.54269706e-05 9.99822142e-01 -6.90241440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.674012739 meters 0.02204607496292286 Centerline is valid? [True, True] Translation: X:345.40, Y:-55.25, Z:-6.90 [[ 9.78084577e-01 2.07390212e-01 1.84352909e-02 3.45399209e+02] [-2.07355404e-01 9.78258294e-01 -3.80094249e-03 -5.52470139e+01] [-1.88227545e-02 -1.05013974e-04 9.99822831e-01 -6.90284783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters 0.02220349615465543 Centerline is valid? [True, True] Translation: X:345.43, Y:-55.25, Z:-6.90 [[ 9.77900148e-01 2.08274678e-01 1.82471504e-02 3.45427851e+02] [-2.08240747e-01 9.78070367e-01 -3.76131890e-03 -5.52515246e+01] [-1.86303846e-02 -1.21605932e-04 9.99826432e-01 -6.90397278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734012739 meters 0.023196062531425102 Centerline is valid? [True, True] Translation: X:345.46, Y:-55.25, Z:-6.91 [[ 9.77802968e-01 2.08776999e-01 1.77065274e-02 3.45455728e+02] [-2.08745146e-01 9.77963265e-01 -3.64907064e-03 -5.52531193e+01] [-1.80781754e-02 -1.28079548e-04 9.99836568e-01 -6.90657099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters 0.02299597775495369 Centerline is valid? [True, True] Translation: X:345.48, Y:-55.26, Z:-6.91 [[ 9.77891612e-01 2.08409758e-01 1.71279721e-02 3.45483724e+02] [-2.08379915e-01 9.78041594e-01 -3.52879517e-03 -5.52591847e+01] [-1.74873044e-02 -1.18346171e-04 9.99847078e-01 -6.90862072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794012739 meters 0.02209699004338146 Centerline is valid? [True, True] Translation: X:345.51, Y:-55.27, Z:-6.91 [[ 9.78089850e-01 2.07476298e-01 1.71414948e-02 3.45511538e+02] [-2.07446277e-01 9.78240040e-01 -3.53084558e-03 -5.52686183e+01] [-1.75010633e-02 -1.02455036e-04 9.99846839e-01 -6.90810824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters 0.021429717169488424 Centerline is valid? [True, True] Translation: X:345.54, Y:-55.28, Z:-6.91 [[ 9.78517689e-01 2.05399919e-01 1.77201872e-02 3.45539016e+02] [-2.05367513e-01 9.78678123e-01 -3.64909898e-03 -5.52762935e+01] [-1.80918842e-02 -6.84428713e-05 9.99836326e-01 -6.90842240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854012739 meters 0.02119387469133402 Centerline is valid? [True, True] Translation: X:345.57, Y:-55.28, Z:-6.91 [[ 9.78743924e-01 2.04255480e-01 1.84398975e-02 3.45567422e+02] [-2.04220194e-01 9.78917615e-01 -3.79683678e-03 -5.52834251e+01] [-1.88266652e-02 -4.96685165e-05 9.99822761e-01 -6.90811141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters 0.020791239258746985 Centerline is valid? [True, True] Translation: X:345.60, Y:-55.29, Z:-6.91 [[ 9.79142277e-01 2.02243673e-01 1.94396124e-02 3.45596108e+02] [-2.02204079e-01 9.79335232e-01 -4.00171715e-03 -5.52933166e+01] [-1.98472193e-02 -1.25184890e-05 9.99803024e-01 -6.90689884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914012739 meters 0.020865610011017964 Centerline is valid? [True, True] Translation: X:345.63, Y:-55.30, Z:-6.91 [[ 9.79308675e-01 2.01480968e-01 1.89720577e-02 3.45625566e+02] [-2.01443121e-01 9.79492430e-01 -3.90501547e-03 -5.53011198e+01] [-1.93697732e-02 2.42500270e-06 9.99812388e-01 -6.90832422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters 0.020934584288129443 Centerline is valid? [True, True] Translation: X:345.66, Y:-55.31, Z:-6.91 [[ 9.79462432e-01 2.00776962e-01 1.84920445e-02 3.45656026e+02] [-2.00740882e-01 9.79636979e-01 -3.80618018e-03 -5.53093374e+01] [-1.88796839e-02 1.59011584e-05 9.99821763e-01 -6.90968487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974012739 meters 0.020934584288129443 Centerline is valid? [True, True] Translation: X:345.69, Y:-55.32, Z:-6.91 [[ 9.79457714e-01 2.00799987e-01 1.84919550e-02 3.45686211e+02] [-2.00763903e-01 9.79632260e-01 -3.80661509e-03 -5.53155971e+01] [-1.88796839e-02 1.59014547e-05 9.99821763e-01 -6.91031103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters 0.02131839278417828 Centerline is valid? [True, True] Translation: X:345.71, Y:-55.33, Z:-6.91 [[ 9.79896654e-01 1.98719826e-01 1.76911702e-02 3.45714153e+02] [-1.98686452e-01 9.80056339e-01 -3.64223771e-03 -5.53276605e+01] [-1.80621283e-02 5.40207195e-05 9.99836865e-01 -6.91249654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034012739 meters 0.02150582601193746 Centerline is valid? [True, True] Translation: X:345.74, Y:-55.34, Z:-6.91 [[ 9.80067547e-01 1.97862634e-01 1.78320583e-02 3.45744732e+02] [-1.97828586e-01 9.80229755e-01 -3.67119408e-03 -5.53365317e+01] [-1.82059062e-02 7.03273045e-05 9.99834256e-01 -6.91260138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters 0.021492319008761994 Centerline is valid? [True, True] Translation: X:345.77, Y:-55.35, Z:-6.91 [[ 9.80135037e-01 1.97453551e-01 1.86388131e-02 3.45774765e+02] [-1.97416268e-01 9.80312240e-01 -3.83775591e-03 -5.53458116e+01] [-1.90296352e-02 8.19140978e-05 9.99818917e-01 -6.91049287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094012739 meters 0.021198105519923422 Centerline is valid? [True, True] Translation: X:345.81, Y:-55.35, Z:-6.91 [[ 9.79982435e-01 1.98174631e-01 1.90063917e-02 3.45806212e+02] [-1.98135993e-01 9.80166726e-01 -3.91377293e-03 -5.53518863e+01] [-1.94050432e-02 6.95784479e-05 9.99811702e-01 -6.91058526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters 0.02087115814258853 Centerline is valid? [True, True] Translation: X:345.84, Y:-55.36, Z:-6.91 [[ 9.79707029e-01 1.99511814e-01 1.92138627e-02 3.45836477e+02] [-1.99472518e-01 9.79895420e-01 -3.95991357e-03 -5.53573715e+01] [-1.96176256e-02 4.69175847e-05 9.99807555e-01 -6.91028437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154012739 meters 0.020654256393694833 Centerline is valid? [True, True] Translation: X:345.87, Y:-55.36, Z:-6.91 [[ 9.79342117e-01 2.01171400e-01 2.04715958e-02 3.45866713e+02] [-2.01127081e-01 9.79556056e-01 -4.22256318e-03 -5.53608176e+01] [-2.09025346e-02 1.79416600e-05 9.99781518e-01 -6.90933207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters 0.020688529325045644 Centerline is valid? [True, True] Translation: X:345.90, Y:-55.37, Z:-6.91 [[ 9.79292776e-01 2.01390940e-01 2.06723909e-02 3.45897651e+02] [-2.01345795e-01 9.79510944e-01 -4.26399854e-03 -5.53678038e+01] [-2.11075638e-02 1.34039870e-05 9.99777210e-01 -6.90983438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214012739 meters 0.02084971618613171 Centerline is valid? [True, True] Translation: X:345.93, Y:-55.38, Z:-6.91 [[ 9.79353391e-01 2.01188203e-01 1.97545650e-02 3.45926914e+02] [-2.01146928e-01 9.79552605e-01 -4.07512848e-03 -5.53781300e+01] [-2.01705034e-02 1.74208359e-05 9.99796555e-01 -6.91215336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters 0.020764562167560816 Centerline is valid? [True, True] Translation: X:345.96, Y:-55.39, Z:-6.91 [[ 9.79341753e-01 2.01250246e-01 1.96994756e-02 3.45957588e+02] [-2.01209209e-01 9.79539861e-01 -4.06399234e-03 -5.53866693e+01] [-2.01143011e-02 1.63214777e-05 9.99797687e-01 -6.91330350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274012739 meters 0.020684403375589987 Centerline is valid? [True, True] Translation: X:345.99, Y:-55.40, Z:-6.91 [[ 9.79275515e-01 2.01552334e-01 1.99028256e-02 3.45986372e+02] [-2.01510498e-01 9.79477747e-01 -4.10641215e-03 -5.53964492e+01] [-2.03220317e-02 1.06805816e-05 9.99793486e-01 -6.91326050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters 0.02061916045147291 Centerline is valid? [True, True] Translation: X:346.02, Y:-55.40, Z:-6.91 [[ 9.79080989e-01 2.02475757e-01 2.00993730e-02 3.46016891e+02] [-2.02433281e-01 9.79287275e-01 -4.14720295e-03 -5.54029261e+01] [-2.05227682e-02 -8.33444323e-06 9.99789386e-01 -6.91328883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334012739 meters 0.02130913469038811 Centerline is valid? [True, True] Translation: X:346.05, Y:-55.41, Z:-6.91 [[ 9.78269994e-01 2.06308164e-01 2.06097130e-02 3.46046377e+02] [-2.06264343e-01 9.78487063e-01 -4.25296520e-03 -5.54051231e+01] [-2.10437590e-02 -9.05006665e-05 9.99778551e-01 -6.91267767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters 0.022640500277862026 Centerline is valid? [True, True] Translation: X:346.07, Y:-55.41, Z:-6.91 [[ 9.77672648e-01 2.09131925e-01 2.04946833e-02 3.46074832e+02] [-2.09089217e-01 9.77887425e-01 -4.22898175e-03 -5.54073645e+01] [-2.09259081e-02 -1.50657495e-04 9.99781018e-01 -6.91366066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394012739 meters 0.024607167990770087 Centerline is valid? [True, True] Translation: X:346.10, Y:-55.41, Z:-6.91 [[ 9.77011971e-01 2.12244115e-01 2.00011080e-02 3.46104957e+02] [-2.12204104e-01 9.77216655e-01 -4.12647349e-03 -5.54088939e+01] [-2.04212355e-02 -2.12703204e-04 9.99791442e-01 -6.91457274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters 0.026264081288068595 Centerline is valid? [True, True] Translation: X:346.14, Y:-55.41, Z:-6.92 [[ 9.75887992e-01 2.17440183e-01 1.90366667e-02 3.46136357e+02] [-2.17404934e-01 9.76073600e-01 -3.92704897e-03 -5.54115240e+01] [-1.94350860e-02 -3.06305326e-04 9.99811074e-01 -6.91735385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454012739 meters 0.03132586072364404 Centerline is valid? [True, True] Translation: X:346.17, Y:-55.41, Z:-6.92 [[ 9.75417605e-01 2.19522295e-01 1.92472854e-02 3.46166606e+02] [-2.19486656e-01 9.75607420e-01 -3.97102425e-03 -5.54078877e+01] [-1.96495228e-02 -3.51115347e-04 9.99806868e-01 -6.91793564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters 0.030800731393403186 Centerline is valid? [True, True] Translation: X:346.20, Y:-55.41, Z:-6.92 [[ 9.74613230e-01 2.23015346e-01 1.98294564e-02 3.46195814e+02] [-2.22978254e-01 9.74814837e-01 -4.09049629e-03 -5.54134194e+01] [-2.02422917e-02 -4.34885744e-04 9.99795009e-01 -6.91642947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514012739 meters 0.0322583945453038 Centerline is valid? [True, True] Translation: X:346.23, Y:-55.42, Z:-6.92 [[ 9.74177496e-01 2.24926926e-01 1.96490406e-02 3.46225647e+02] [-2.24890903e-01 9.74375521e-01 -4.05279479e-03 -5.54151237e+01] [-2.00571268e-02 -4.70748999e-04 9.99798725e-01 -6.91744742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters 0.04021527240731211 Centerline is valid? [True, True] Translation: X:346.26, Y:-55.41, Z:-6.92 [[ 9.73706444e-01 2.27009282e-01 1.90406698e-02 3.46256918e+02] [-2.26975862e-01 9.73892467e-01 -3.92687082e-03 -5.54066818e+01] [-1.94350010e-02 -4.98153026e-04 9.99810998e-01 -6.91917757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574012739 meters 0.039991817349030304 Centerline is valid? [True, True] Translation: X:346.29, Y:-55.41, Z:-6.92 [[ 9.72665438e-01 2.31500544e-01 1.81506052e-02 3.46287595e+02] [-2.31470973e-01 9.72834612e-01 -3.74242513e-03 -5.54073278e+01] [-1.85239104e-02 -5.61210667e-04 9.99828260e-01 -6.92076772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters 0.0414903723792743 Centerline is valid? [True, True] Translation: X:346.32, Y:-55.41, Z:-6.92 [[ 9.72255977e-01 2.33209091e-01 1.82163387e-02 3.46318062e+02] [-2.33179609e-01 9.72426432e-01 -3.75570926e-03 -5.54078910e+01] [-1.85899148e-02 -5.96167959e-04 9.99827015e-01 -6.92152820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634012739 meters 0.04811016926089055 Centerline is valid? [True, True] Translation: X:346.35, Y:-55.40, Z:-6.92 [[ 9.71812513e-01 2.35009800e-01 1.87305736e-02 3.46348768e+02] [-2.34978973e-01 9.71992784e-01 -3.86129197e-03 -5.53989626e+01] [-1.91134239e-02 -6.48839097e-04 9.99817111e-01 -6.92213021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters 0.04340740577931959 Centerline is valid? [True, True] Translation: X:346.38, Y:-55.41, Z:-6.92 [[ 9.71855413e-01 2.34798638e-01 1.91482377e-02 3.46376402e+02] [-2.34766398e-01 9.72043808e-01 -3.94647140e-03 -5.54084712e+01] [-1.95395520e-02 -6.59963198e-04 9.99808867e-01 -6.92138730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694012739 meters 0.0411000672812956 Centerline is valid? [True, True] Translation: X:346.41, Y:-55.41, Z:-6.92 [[ 9.72418936e-01 2.32418354e-01 1.95734933e-02 3.46405359e+02] [-2.32384203e-01 9.72615708e-01 -4.03314334e-03 -5.54113227e+01] [-1.99748636e-02 -6.26665687e-04 9.99800286e-01 -6.92007380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters 0.03964090036115516 Centerline is valid? [True, True] Translation: X:346.43, Y:-55.42, Z:-6.92 [[ 9.72842584e-01 2.30622044e-01 1.97681223e-02 3.46434259e+02] [-2.30586850e-01 9.73043225e-01 -4.07277355e-03 -5.54166427e+01] [-2.01745088e-02 -5.96101494e-04 9.99796296e-01 -6.92046206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754012739 meters 0.03475026704651446 Centerline is valid? [True, True] Translation: X:346.46, Y:-55.42, Z:-6.92 [[ 9.73679931e-01 2.27045116e-01 1.99476091e-02 3.46463019e+02] [-2.27008561e-01 9.73884098e-01 -4.10817001e-03 -5.54248445e+01] [-2.03593992e-02 -5.28235342e-04 9.99792586e-01 -6.92090350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters 0.03521148566282068 Centerline is valid? [True, True] Translation: X:346.49, Y:-55.43, Z:-6.92 [[ 9.74035647e-01 2.25507156e-01 2.00270274e-02 3.46491416e+02] [-2.25469994e-01 9.74241384e-01 -4.12402831e-03 -5.54270423e+01] [-2.04411568e-02 -4.98543154e-04 9.99790933e-01 -6.92124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814012739 meters 0.03369960048414811 Centerline is valid? [True, True] Translation: X:346.52, Y:-55.43, Z:-6.92 [[ 9.74405085e-01 2.23887442e-01 2.02272771e-02 3.46519846e+02] [-2.23849205e-01 9.74614894e-01 -4.16426165e-03 -5.54322437e+01] [-2.06461314e-02 -4.70182182e-04 9.99786735e-01 -6.92187730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters 0.030226053134728932 Centerline is valid? [True, True] Translation: X:346.55, Y:-55.44, Z:-6.92 [[ 9.75256344e-01 2.20091230e-01 2.08545894e-02 3.46549128e+02] [-2.20049737e-01 9.75479210e-01 -4.29240219e-03 -5.54399484e+01] [-2.12879384e-02 -4.02854451e-04 9.99773305e-01 -6.92140262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874012739 meters 0.02836379274954083 Centerline is valid? [True, True] Translation: X:346.58, Y:-55.45, Z:-6.92 [[ 9.75838262e-01 2.17402536e-01 2.18133915e-02 3.46576425e+02] [-2.17356487e-01 9.76081967e-01 -4.48895982e-03 -5.54480607e+01] [-2.22675693e-02 -3.60783385e-04 9.99751982e-01 -6.92104306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters 0.023669039269496723 Centerline is valid? [True, True] Translation: X:346.60, Y:-55.46, Z:-6.92 [[ 9.77183920e-01 2.11280282e-01 2.17308119e-02 3.46603941e+02] [-2.11233086e-01 9.77425493e-01 -4.47100421e-03 -5.54629771e+01] [-2.21848845e-02 -2.21273025e-04 9.99753861e-01 -6.92119322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934012739 meters 0.021837849516425905 Centerline is valid? [True, True] Translation: X:346.63, Y:-55.47, Z:-6.92 [[ 9.77818650e-01 2.08423644e-01 2.07430075e-02 3.46631486e+02] [-2.08380004e-01 9.78038630e-01 -4.26751578e-03 -5.54737302e+01] [-2.11769139e-02 -1.49571463e-04 9.99775733e-01 -6.92452319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters 0.021064912314032867 Centerline is valid? [True, True] Translation: X:346.66, Y:-55.48, Z:-6.93 [[ 9.78356754e-01 2.05992489e-01 1.96254216e-02 3.46659284e+02] [-2.05952950e-01 9.78553568e-01 -4.03692084e-03 -5.54831073e+01] [-2.00361017e-02 -9.23647042e-05 9.99799253e-01 -6.92753627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994012739 meters 0.020619065708090977 Centerline is valid? [True, True] Translation: X:346.69, Y:-55.49, Z:-6.93 [[ 9.78992414e-01 2.03147307e-01 1.74649513e-02 3.46685691e+02] [-2.03115555e-01 9.79148186e-01 -3.59171420e-03 -5.54943859e+01] [-1.78304224e-02 -3.11423152e-05 9.99841025e-01 -6.93218853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters 0.020579249514968846 Centerline is valid? [True, True] Translation: X:346.71, Y:-55.50, Z:-6.93 [[ 9.79191007e-01 2.02205617e-01 1.72586487e-02 3.46713787e+02] [-2.02174473e-01 9.79343090e-01 -3.54888224e-03 -5.55026739e+01] [-1.76197422e-02 -1.42246139e-05 9.99844760e-01 -6.93337254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05401273900003 meters 0.020440170951778205 Centerline is valid? [True, True] Translation: X:346.74, Y:-55.51, Z:-6.93 [[ 9.79392245e-01 2.01169066e-01 1.79398182e-02 3.46741518e+02] [-2.01135257e-01 9.79556536e-01 -3.68804844e-03 -5.55117919e+01] [-1.83149874e-02 3.71610469e-06 9.99832267e-01 -6.93220037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters 0.02040174477542351 Centerline is valid? [True, True] Translation: X:346.77, Y:-55.52, Z:-6.93 [[ 9.79423510e-01 2.01002266e-01 1.81018465e-02 3.46769113e+02] [-2.00967831e-01 9.79590776e-01 -3.72044344e-03 -5.55194196e+01] [-1.84802194e-02 6.00093572e-06 9.99829226e-01 -6.93303099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11401273900003 meters 0.020422478848697967 Centerline is valid? [True, True] Translation: X:346.80, Y:-55.53, Z:-6.93 [[ 9.79567361e-01 2.00294369e-01 1.81645454e-02 3.46795728e+02] [-2.00259585e-01 9.79735763e-01 -3.73270098e-03 -5.55279759e+01] [-1.85440938e-02 1.88077169e-05 9.99828043e-01 -6.93369788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters 0.020919643507263525 Centerline is valid? [True, True] Translation: X:346.82, Y:-55.54, Z:-6.94 [[ 9.80057009e-01 1.97914024e-01 1.78409094e-02 3.46822653e+02] [-1.97880094e-01 9.80219381e-01 -3.66513324e-03 -5.55425441e+01] [-1.82133865e-02 6.16786924e-05 9.99834121e-01 -6.93559406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.174012739 meters 0.021381387972753192 Centerline is valid? [True, True] Translation: X:346.85, Y:-55.56, Z:-6.93 [[ 9.80420901e-01 1.95966722e-01 1.92847457e-02 3.46851845e+02] [-1.95926710e-01 9.80610541e-01 -3.96124379e-03 -5.55578352e+01] [-1.96870969e-02 1.05289433e-04 9.99806185e-01 -6.93309802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters 0.020971365724942577 Centerline is valid? [True, True] Translation: X:346.88, Y:-55.57, Z:-6.93 [[ 9.80254598e-01 1.96683220e-01 2.04116258e-02 3.46882343e+02] [-1.96638539e-01 9.80467083e-01 -4.19322956e-03 -5.55658736e+01] [-2.08376651e-02 9.67202672e-05 9.99782868e-01 -6.93092511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234012739 meters 0.020502180966914228 Centerline is valid? [True, True] Translation: X:346.91, Y:-55.57, Z:-6.93 [[ 9.79847608e-01 1.98659291e-01 2.08123024e-02 3.46912821e+02] [-1.98613274e-01 9.80068611e-01 -4.27605575e-03 -5.55708511e+01] [-2.12469625e-02 5.62834817e-05 9.99774256e-01 -6.92981518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters 0.02105033197483747 Centerline is valid? [True, True] Translation: X:346.94, Y:-55.57, Z:-6.93 [[ 9.78483845e-01 2.05384775e-01 1.96585678e-02 3.46943494e+02] [-2.05345064e-01 9.78681300e-01 -4.03947280e-03 -5.55654924e+01] [-2.00691189e-02 -8.42309935e-05 9.99798591e-01 -6.93216332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294012739 meters 0.02323441203049024 Centerline is valid? [True, True] Translation: X:346.97, Y:-55.56, Z:-6.93 [[ 9.77621835e-01 2.09511902e-01 1.89818267e-02 3.46971852e+02] [-2.09475668e-01 9.77806083e-01 -3.89978861e-03 -5.55630125e+01] [-1.93775977e-02 -1.63712333e-04 9.99812223e-01 -6.93397871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters 0.030707833007152338 Centerline is valid? [True, True] Translation: X:347.00, Y:-55.55, Z:-6.93 [[ 9.75670341e-01 2.18365675e-01 1.95912434e-02 3.47004052e+02] [-2.18328887e-01 9.75866952e-01 -4.02354074e-03 -5.55528598e+01] [-1.99970502e-02 -3.51684997e-04 9.99799977e-01 -6.93341619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354012739 meters 0.03187588677759927 Centerline is valid? [True, True] Translation: X:347.03, Y:-55.56, Z:-6.93 [[ 9.74726967e-01 2.22508299e-01 1.99348062e-02 3.47033862e+02] [-2.22471079e-01 9.74930695e-01 -4.09386826e-03 -5.55554281e+01] [-2.03459741e-02 -4.44514058e-04 9.99792900e-01 -6.93322028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters 0.03709581449863685 Centerline is valid? [True, True] Translation: X:347.06, Y:-55.55, Z:-6.93 [[ 9.73941956e-01 2.25922640e-01 1.99004392e-02 3.47064267e+02] [-2.25886269e-01 9.74145110e-01 -4.08632474e-03 -5.55510491e+01] [-2.03091088e-02 -5.15392853e-04 9.99793616e-01 -6.93433058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414012739 meters 0.03993165636774517 Centerline is valid? [True, True] Translation: X:347.10, Y:-55.55, Z:-6.94 [[ 9.72922285e-01 2.30457228e-01 1.76548566e-02 3.47095912e+02] [-2.30429364e-01 9.73082305e-01 -3.62436054e-03 -5.55477079e+01] [-1.80148886e-02 -5.41976235e-04 9.99837572e-01 -6.93906330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters 0.040869785272053476 Centerline is valid? [True, True] Translation: X:347.13, Y:-55.55, Z:-6.94 [[ 9.72628948e-01 2.31732358e-01 1.71185311e-02 3.47125343e+02] [-2.31706360e-01 9.72779427e-01 -3.51416058e-03 -5.55486076e+01] [-1.74668996e-02 -5.48498228e-04 9.99847292e-01 -6.94080912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474012739 meters 0.043761935243485435 Centerline is valid? [True, True] Translation: X:347.16, Y:-55.54, Z:-6.94 [[ 9.72078489e-01 2.34018626e-01 1.72827751e-02 3.47156281e+02] [-2.33992502e-01 9.72231931e-01 -3.54704012e-03 -5.55419923e+01] [-1.76329392e-02 -5.96038387e-04 9.99844350e-01 -6.94087626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters 0.044781875553432715 Centerline is valid? [True, True] Translation: X:347.19, Y:-55.54, Z:-6.94 [[ 9.71799408e-01 2.35161285e-01 1.74665667e-02 3.47185590e+02] [-2.35134803e-01 9.71956162e-01 -3.58384432e-03 -5.55416724e+01] [-1.78195186e-02 -6.24219935e-04 9.99841025e-01 -6.94132965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534012739 meters 0.04636025849501383 Centerline is valid? [True, True] Translation: X:347.22, Y:-55.53, Z:-6.94 [[ 9.71601747e-01 2.35969897e-01 1.75571267e-02 3.47215573e+02] [-2.35943285e-01 9.71760153e-01 -3.60167196e-03 -5.55347456e+01] [-1.79112023e-02 -6.43095365e-04 9.99839375e-01 -6.94268282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters 0.0461059626604578 Centerline is valid? [True, True] Translation: X:347.24, Y:-55.54, Z:-6.94 [[ 9.71695863e-01 2.35579573e-01 1.75901777e-02 3.47244777e+02] [-2.35552828e-01 9.71854854e-01 -3.60676853e-03 -5.55360690e+01] [-1.79447805e-02 -6.38734020e-04 9.99838775e-01 -6.94312821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594012739 meters 0.04629628747681056 Centerline is valid? [True, True] Translation: X:347.27, Y:-55.54, Z:-6.94 [[ 9.71906416e-01 2.34693874e-01 1.77961884e-02 3.47273101e+02] [-2.34666364e-01 9.72069127e-01 -3.64817686e-03 -5.55369543e+01] [-1.81553301e-02 -6.30480333e-04 9.99834980e-01 -6.94342393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters 0.042080104228057164 Centerline is valid? [True, True] Translation: X:347.30, Y:-55.54, Z:-6.95 [[ 9.72693635e-01 2.31407641e-01 1.78212473e-02 3.47303259e+02] [-2.31379523e-01 9.72856710e-01 -3.65219807e-03 -5.55398994e+01] [-1.81826666e-02 -5.71001901e-04 9.99834519e-01 -6.94516434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654012739 meters 0.03739843554734124 Centerline is valid? [True, True] Translation: X:347.33, Y:-55.54, Z:-6.95 [[ 9.73773203e-01 2.26914737e-01 1.65967422e-02 3.47332794e+02] [-2.26889706e-01 9.73914522e-01 -3.40075228e-03 -5.55439409e+01] [-1.69354890e-02 -4.54068518e-04 9.99856481e-01 -6.94836430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters 0.036219001538300384 Centerline is valid? [True, True] Translation: X:347.36, Y:-55.55, Z:-6.95 [[ 9.74401463e-01 2.24202004e-01 1.65906978e-02 3.47360314e+02] [-2.24176599e-01 9.74542609e-01 -3.39947259e-03 -5.55477360e+01] [-1.69305105e-02 -4.06795149e-04 9.99856586e-01 -6.94927427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714012739 meters 0.03355852119097951 Centerline is valid? [True, True] Translation: X:347.39, Y:-55.55, Z:-6.95 [[ 9.75020843e-01 2.21451788e-01 1.71307428e-02 3.47388538e+02] [-2.21424297e-01 9.75171250e-01 -3.50903367e-03 -5.55549123e+01] [-1.74824897e-02 -3.71781716e-04 9.99847100e-01 -6.94841025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters 0.02886929641762887 Centerline is valid? [True, True] Translation: X:347.42, Y:-55.56, Z:-6.94 [[ 9.76065632e-01 2.16574193e-01 1.97863730e-02 3.47416642e+02] [-2.16536536e-01 9.76266106e-01 -4.05193691e-03 -5.55633685e+01] [-2.01943103e-02 -3.29516308e-04 9.99796020e-01 -6.94316468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774012739 meters 0.02663065812961723 Centerline is valid? [True, True] Translation: X:347.44, Y:-55.57, Z:-6.94 [[ 9.76483517e-01 2.14594656e-01 2.07141099e-02 3.47444470e+02] [-2.14552950e-01 9.76703149e-01 -4.24139852e-03 -5.55713525e+01] [-2.11417179e-02 -3.02617642e-04 9.99776443e-01 -6.94273071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters 0.02397288791471227 Centerline is valid? [True, True] Translation: X:347.47, Y:-55.58, Z:-6.94 [[ 9.77417980e-01 2.10229946e-01 2.13883439e-02 3.47470569e+02] [-2.10184459e-01 9.77651944e-01 -4.37838668e-03 -5.55807876e+01] [-2.18308240e-02 -2.15983625e-04 9.99761656e-01 -6.94302913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834012739 meters 0.022211591028770673 Centerline is valid? [True, True] Translation: X:347.50, Y:-55.59, Z:-6.94 [[ 9.77894285e-01 2.08013153e-01 2.12907380e-02 3.47498553e+02] [-2.07967581e-01 9.78126015e-01 -4.35718411e-03 -5.55899990e+01] [-2.17313763e-02 -1.66917839e-04 9.99763832e-01 -6.94334879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters 0.021165411620974364 Centerline is valid? [True, True] Translation: X:347.53, Y:-55.60, Z:-6.94 [[ 9.78394794e-01 2.05620566e-01 2.15362693e-02 3.47525702e+02] [-2.05573374e-01 9.78631784e-01 -4.40664275e-03 -5.55990840e+01] [-2.19821740e-02 -1.15847218e-04 9.99758356e-01 -6.94318054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894012739 meters 0.021165411620974364 Centerline is valid? [True, True] Translation: X:347.55, Y:-55.60, Z:-6.94 [[ 9.78408687e-01 2.05554425e-01 2.15364759e-02 3.47552659e+02] [-2.05507239e-01 9.78645679e-01 -4.40563267e-03 -5.56044585e+01] [-2.19821764e-02 -1.15392434e-04 9.99758356e-01 -6.94373885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters 0.020067469476913378 Centerline is valid? [True, True] Translation: X:347.58, Y:-55.62, Z:-6.94 [[ 9.79459801e-01 2.00538921e-01 2.10390117e-02 3.47578984e+02] [-2.00492762e-01 9.79685736e-01 -4.30244623e-03 -5.56180102e+01] [-2.14744276e-02 -4.09644016e-06 9.99769398e-01 -6.94407923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954012739 meters 0.02023133824779916 Centerline is valid? [True, True] Translation: X:347.61, Y:-55.63, Z:-6.95 [[ 9.80003925e-01 1.97899459e-01 2.06908327e-02 3.47606616e+02] [-1.97854247e-01 9.80222323e-01 -4.23029054e-03 -5.56277005e+01] [-2.11187883e-02 5.19322211e-05 9.99776972e-01 -6.94569045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters 0.021523453277127406 Centerline is valid? [True, True] Translation: X:347.63, Y:-55.64, Z:-6.95 [[ 9.80893161e-01 1.93547161e-01 1.97003293e-02 3.47633799e+02] [-1.93505315e-01 9.81090963e-01 -4.02686026e-03 -5.56397686e+01] [-2.01072024e-02 1.37801247e-04 9.99797820e-01 -6.94800003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014012739 meters 0.022375735689945008 Centerline is valid? [True, True] Translation: X:347.66, Y:-55.65, Z:-6.95 [[ 9.81174866e-01 1.92146495e-01 1.93805553e-02 3.47660247e+02] [-1.92105742e-01 9.81366240e-01 -3.96057293e-03 -5.56475770e+01] [-1.97804329e-02 1.62898663e-04 9.99804335e-01 -6.94897550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters 0.02317929177402671 Centerline is valid? [True, True] Translation: X:347.69, Y:-55.66, Z:-6.95 [[ 9.81355885e-01 1.91240059e-01 1.91798486e-02 3.47687520e+02] [-1.91199997e-01 9.81543279e-01 -3.91829233e-03 -5.56552125e+01] [-1.95751860e-02 1.78052243e-04 9.99808372e-01 -6.94992387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074012739 meters 0.02405305494155203 Centerline is valid? [True, True] Translation: X:347.72, Y:-55.66, Z:-6.95 [[ 9.81661172e-01 1.89628500e-01 1.95544066e-02 3.47715432e+02] [-1.89586562e-01 9.81855889e-01 -3.99363803e-03 -5.56630230e+01] [-1.99569168e-02 2.13146682e-04 9.99800818e-01 -6.94935693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters 0.02385876646009963 Centerline is valid? [True, True] Translation: X:347.74, Y:-55.67, Z:-6.95 [[ 9.81799918e-01 1.88855769e-01 2.00604142e-02 3.47743479e+02] [-1.88811490e-01 9.82004808e-01 -4.09603037e-03 -5.56683285e+01] [-2.04729822e-02 2.33845587e-04 9.99790379e-01 -6.94882830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134012739 meters 0.02510038533123781 Centerline is valid? [True, True] Translation: X:347.77, Y:-55.68, Z:-6.95 [[ 9.82119590e-01 1.87166980e-01 2.02393950e-02 3.47770581e+02] [-1.87121569e-01 9.82328076e-01 -4.13158528e-03 -5.56766763e+01] [-2.06550223e-02 2.70483486e-04 9.99786626e-01 -6.94976107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters 0.0276107089138424 Centerline is valid? [True, True] Translation: X:347.80, Y:-55.69, Z:-6.95 [[ 9.82349076e-01 1.86038525e-01 1.94925833e-02 3.47796965e+02] [-1.85996204e-01 9.82542410e-01 -3.97800718e-03 -5.56872862e+01] [-1.98923524e-02 2.82245173e-04 9.99802088e-01 -6.95226798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194012739 meters 0.02932243178281254 Centerline is valid? [True, True] Translation: X:347.82, Y:-55.70, Z:-6.96 [[ 9.82690836e-01 1.84422692e-01 1.75211553e-02 3.47823792e+02] [-1.84388261e-01 9.82846983e-01 -3.57462900e-03 -5.56974398e+01] [-1.78798573e-02 2.82059802e-04 9.99840103e-01 -6.95731736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters 0.02816847899311301 Centerline is valid? [True, True] Translation: X:347.85, Y:-55.70, Z:-6.96 [[ 9.82857716e-01 1.83549766e-01 1.73260951e-02 3.47852045e+02] [-1.83515979e-01 9.83010375e-01 -3.53387217e-03 -5.57023598e+01] [-1.76803726e-02 2.93678223e-04 9.99843647e-01 -6.95758232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254012739 meters 0.031011885244043608 Centerline is valid? [True, True] Translation: X:347.88, Y:-55.71, Z:-6.96 [[ 9.82994596e-01 1.82798302e-01 1.75044480e-02 3.47877921e+02] [-1.82763711e-01 9.83150388e-01 -3.56945353e-03 -5.57141808e+01] [-1.78619948e-02 3.09575653e-04 9.99840414e-01 -6.95881977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters 0.03014203422280369 Centerline is valid? [True, True] Translation: X:347.91, Y:-55.72, Z:-6.96 [[ 9.83202176e-01 1.81680152e-01 1.74872219e-02 3.47906091e+02] [-1.81645473e-01 9.83357623e-01 -3.56476502e-03 -5.57211408e+01] [-1.78438400e-02 3.28410019e-04 9.99840732e-01 -6.95858273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314012739 meters 0.03014744387366347 Centerline is valid? [True, True] Translation: X:347.93, Y:-55.73, Z:-6.96 [[ 9.83207090e-01 1.81673856e-01 1.72750772e-02 3.47934164e+02] [-1.81640026e-01 9.83358788e-01 -3.52073035e-03 -5.57290181e+01] [-1.76272236e-02 3.23761575e-04 9.99844576e-01 -6.96006631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters 0.028441133495200884 Centerline is valid? [True, True] Translation: X:347.96, Y:-55.74, Z:-6.96 [[ 9.83148077e-01 1.81980275e-01 1.74079684e-02 3.47962813e+02] [-1.81945987e-01 9.83302129e-01 -3.54694362e-03 -5.57377737e+01] [-1.77627661e-02 3.19860826e-04 9.99842178e-01 -6.96068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374012739 meters 0.029823752240209726 Centerline is valid? [True, True] Translation: X:347.99, Y:-55.75, Z:-6.96 [[ 9.83065617e-01 1.82420276e-01 1.74595379e-02 3.47989940e+02] [-1.82385861e-01 9.83220599e-01 -3.55702030e-03 -5.57494029e+01] [-1.78154500e-02 3.12411507e-04 9.99841243e-01 -6.96125139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters 0.02681555373224582 Centerline is valid? [True, True] Translation: X:348.02, Y:-55.76, Z:-6.96 [[ 9.82843512e-01 1.83590946e-01 1.76916689e-02 3.48018612e+02] [-1.83555807e-01 9.83002684e-01 -3.60390435e-03 -5.57563353e+01] [-1.80526023e-02 2.94665433e-04 9.99836995e-01 -6.96046505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434012739 meters 0.026867995131168103 Centerline is valid? [True, True] Translation: X:348.05, Y:-55.76, Z:-6.96 [[ 9.82642027e-01 1.84685264e-01 1.74928579e-02 3.48046829e+02] [-1.84651091e-01 9.82797680e-01 -3.56294866e-03 -5.57642772e+01] [-1.78499643e-02 2.71027783e-04 9.99840640e-01 -6.96222278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters 0.026169707333045265 Centerline is valid? [True, True] Translation: X:348.07, Y:-55.77, Z:-6.97 [[ 9.82168216e-01 1.87315867e-01 1.60736310e-02 3.48074546e+02] [-1.87287369e-01 9.82299712e-01 -3.27379176e-03 -5.57719441e+01] [-1.64023562e-02 2.05026155e-04 9.99865451e-01 -6.96593334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494012739 meters 0.025274998415861036 Centerline is valid? [True, True] Translation: X:348.10, Y:-55.78, Z:-6.97 [[ 9.81878206e-01 1.88837470e-01 1.59874791e-02 3.48101914e+02] [-1.88809486e-01 9.82008339e-01 -3.25575890e-03 -5.57772379e+01] [-1.63146471e-02 1.78170996e-04 9.99866891e-01 -6.96676720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters 0.022896963549036153 Centerline is valid? [True, True] Translation: X:348.13, Y:-55.78, Z:-6.96 [[ 9.81543073e-01 1.90502053e-01 1.67976999e-02 3.48130961e+02] [-1.90471422e-01 9.81686785e-01 -3.41972558e-03 -5.57788882e+01] [-1.71415447e-02 1.57126181e-04 9.99853061e-01 -6.96443920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55401273900003 meters 0.021548997771895666 Centerline is valid? [True, True] Translation: X:348.16, Y:-55.78, Z:-6.96 [[ 9.80931049e-01 1.93459498e-01 1.86467249e-02 3.48158584e+02] [-1.93422304e-01 9.81108256e-01 -3.79514281e-03 -5.57810258e+01] [-1.90286621e-02 1.16080937e-04 9.99818932e-01 -6.96188018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters 0.02103536501989201 Centerline is valid? [True, True] Translation: X:348.19, Y:-55.79, Z:-6.96 [[ 9.80735748e-01 1.94358866e-01 1.95454240e-02 3.48186612e+02] [-1.94318199e-01 9.80930487e-01 -3.97706240e-03 -5.57857565e+01] [-1.99456796e-02 1.02415688e-04 9.99801060e-01 -6.96093731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61401273900003 meters 0.02104354348400784 Centerline is valid? [True, True] Translation: X:348.21, Y:-55.79, Z:-6.96 [[ 9.80574000e-01 1.94985655e-01 2.13360105e-02 3.48214188e+02] [-1.94937367e-01 9.80806089e-01 -4.34026271e-03 -5.57923972e+01] [-2.17727780e-02 9.67630512e-05 9.99762940e-01 -6.95845634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters 0.02097876496737407 Centerline is valid? [True, True] Translation: X:348.24, Y:-55.80, Z:-6.96 [[ 9.80667162e-01 1.94424614e-01 2.21582149e-02 3.48241693e+02] [-1.94372420e-01 9.80917457e-01 -4.50613706e-03 -5.57989092e+01] [-2.26114838e-02 1.12074792e-04 9.99744321e-01 -6.95738755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.674012739 meters 0.021377266360261302 Centerline is valid? [True, True] Translation: X:348.27, Y:-55.81, Z:-6.96 [[ 9.80823217e-01 1.93554841e-01 2.28547564e-02 3.48269543e+02] [-1.93499109e-01 9.81089448e-01 -4.64644791e-03 -5.58055864e+01] [-2.33219029e-02 1.34968985e-04 9.99727998e-01 -6.95696320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters 0.02201267290211704 Centerline is valid? [True, True] Translation: X:348.30, Y:-55.81, Z:-6.96 [[ 9.81159623e-01 1.91891579e-01 2.24369339e-02 3.48297518e+02] [-1.91837454e-01 9.81416116e-01 -4.56052329e-03 -5.58143987e+01] [-2.28950946e-02 1.70357045e-04 9.99737858e-01 -6.95910740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734012739 meters 0.02305124240255779 Centerline is valid? [True, True] Translation: X:348.33, Y:-55.83, Z:-6.96 [[ 9.81575695e-01 1.89927198e-01 2.09001312e-02 3.48325241e+02] [-1.89879798e-01 9.81798156e-01 -4.24771484e-03 -5.58264023e+01] [-2.13264668e-02 2.00940957e-04 9.99772545e-01 -6.96241680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters 0.023471908892023222 Centerline is valid? [True, True] Translation: X:348.35, Y:-55.83, Z:-6.96 [[ 9.81866609e-01 1.88431841e-01 2.07702563e-02 3.48354794e+02] [-1.88384690e-01 9.82086242e-01 -4.22151342e-03 -5.58349750e+01] [-2.11936505e-02 2.32164757e-04 9.99775362e-01 -6.96410382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794012739 meters 0.024760339292981996 Centerline is valid? [True, True] Translation: X:348.38, Y:-55.85, Z:-6.96 [[ 9.82107765e-01 1.87184553e-01 2.06465955e-02 3.48384325e+02] [-1.87137683e-01 9.82324731e-01 -4.19649954e-03 -5.58459087e+01] [-2.10671812e-02 2.57658740e-04 9.99778029e-01 -6.96497950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters 0.026547912661411467 Centerline is valid? [True, True] Translation: X:348.41, Y:-55.86, Z:-6.97 [[ 9.82455043e-01 1.85424903e-01 1.99923633e-02 3.48413419e+02] [-1.85380529e-01 9.82658395e-01 -4.06663313e-03 -5.58590189e+01] [-2.03997187e-02 2.89089329e-04 9.99791862e-01 -6.96670711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854012739 meters 0.026134033125648683 Centerline is valid? [True, True] Translation: X:348.45, Y:-55.87, Z:-6.97 [[ 9.82430543e-01 1.85591486e-01 1.96476046e-02 3.48445157e+02] [-1.85548602e-01 9.82626949e-01 -3.99952607e-03 -5.58662328e+01] [-2.00485438e-02 2.83671001e-04 9.99798968e-01 -6.96742670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters 0.02627886869391648 Centerline is valid? [True, True] Translation: X:348.47, Y:-55.88, Z:-6.97 [[ 9.82173468e-01 1.87035874e-01 1.87845844e-02 3.48474784e+02] [-1.86996878e-01 9.82353053e-01 -3.82705352e-03 -5.58751755e+01] [-1.91688901e-02 2.46171788e-04 9.99816230e-01 -6.97012847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914012739 meters 0.024909045840399296 Centerline is valid? [True, True] Translation: X:348.50, Y:-55.88, Z:-6.97 [[ 9.81902097e-01 1.88476396e-01 1.85720508e-02 3.48504937e+02] [-1.88438526e-01 9.82077696e-01 -3.78422984e-03 -5.58796700e+01] [-1.89524348e-02 2.16053339e-04 9.99820363e-01 -6.97123891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters 0.023303222175595953 Centerline is valid? [True, True] Translation: X:348.54, Y:-55.88, Z:-6.97 [[ 9.81571569e-01 1.90196456e-01 1.85084611e-02 3.48535577e+02] [-1.90159151e-01 9.81746034e-01 -3.77127285e-03 -5.58836498e+01] [-1.88878911e-02 1.82220963e-04 9.99821591e-01 -6.97132507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974012739 meters 0.02181159104192495 Centerline is valid? [True, True] Translation: X:348.57, Y:-55.89, Z:-6.97 [[ 9.80860201e-01 1.93753560e-01 1.93086645e-02 3.48565349e+02] [-1.93713648e-01 9.81050225e-01 -3.93432891e-03 -5.58866008e+01] [-1.97050599e-02 1.18674817e-04 9.99805829e-01 -6.96991432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters 0.021214682457347787 Centerline is valid? [True, True] Translation: X:348.60, Y:-55.89, Z:-6.97 [[ 9.80628349e-01 1.94919842e-01 1.93467429e-02 3.48595118e+02] [-1.94880003e-01 9.80819171e-01 -3.94186050e-03 -5.58910155e+01] [-1.97440032e-02 9.52068461e-05 9.99805064e-01 -6.97055451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034012739 meters 0.021211622981347614 Centerline is valid? [True, True] Translation: X:348.62, Y:-55.90, Z:-6.97 [[ 9.80515771e-01 1.95552949e-01 1.86511710e-02 3.48623423e+02] [-1.95516046e-01 9.80693142e-01 -3.79969076e-03 -5.58989170e+01] [-1.90341162e-02 7.90535080e-05 9.99818832e-01 -6.97304243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters 0.02122698124955934 Centerline is valid? [True, True] Translation: X:348.65, Y:-55.91, Z:-6.97 [[ 9.80630992e-01 1.94976245e-01 1.86311832e-02 3.48652797e+02] [-1.94939322e-01 9.80807961e-01 -3.79538022e-03 -5.59064355e+01] [-1.90136218e-02 8.99172470e-05 9.99819221e-01 -6.97358047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094012739 meters 0.021517103395226934 Centerline is valid? [True, True] Translation: X:348.68, Y:-55.91, Z:-6.97 [[ 9.80726165e-01 1.94486497e-01 1.87400952e-02 3.48681109e+02] [-1.94449051e-01 9.80905190e-01 -3.81758111e-03 -5.59143127e+01] [-1.91247247e-02 1.00007939e-04 9.99817101e-01 -6.97463657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters 0.021619109670508372 Centerline is valid? [True, True] Translation: X:348.71, Y:-55.92, Z:-6.97 [[ 9.80814885e-01 1.94007304e-01 1.90611693e-02 3.48709995e+02] [-1.93968479e-01 9.81000078e-01 -3.88273793e-03 -5.59229499e+01] [-1.94522881e-02 1.10981137e-04 9.99810780e-01 -6.97390890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154012739 meters 0.021576119707978837 Centerline is valid? [True, True] Translation: X:348.74, Y:-55.93, Z:-6.97 [[ 9.80813599e-01 1.93977927e-01 1.94228899e-02 3.48739714e+02] [-1.93937608e-01 9.81005887e-01 -3.95641999e-03 -5.59301047e+01] [-1.98214275e-02 1.13681719e-04 9.99803530e-01 -6.97378342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters 0.02183970268310198 Centerline is valid? [True, True] Translation: X:348.77, Y:-55.94, Z:-6.97 [[ 9.80766144e-01 1.94025696e-01 2.12555666e-02 3.48768236e+02] [-1.93977420e-01 9.80996439e-01 -4.32975063e-03 -5.59399668e+01] [-2.16917181e-02 1.23372866e-04 9.99764699e-01 -6.97072248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214012739 meters 0.021518679100559584 Centerline is valid? [True, True] Translation: X:348.80, Y:-55.95, Z:-6.97 [[ 9.80784084e-01 1.93887270e-01 2.16865622e-02 3.48799319e+02] [-1.93836975e-01 9.81023807e-01 -4.41783464e-03 -5.59465095e+01] [-2.21315957e-02 1.29284280e-04 9.99755058e-01 -6.97056105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters 0.022109097680345628 Centerline is valid? [True, True] Translation: X:348.83, Y:-55.96, Z:-6.97 [[ 9.80861136e-01 1.93525313e-01 2.14332620e-02 3.48829419e+02] [-1.93476084e-01 9.81095273e-01 -4.36696634e-03 -5.59561885e+01] [-2.18731906e-02 1.36563952e-04 9.99760744e-01 -6.97158761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274012739 meters 0.022308317436736863 Centerline is valid? [True, True] Translation: X:348.86, Y:-55.97, Z:-6.98 [[ 9.81032126e-01 1.92842702e-01 1.96890907e-02 3.48859880e+02] [-1.92800962e-01 9.81229673e-01 -4.01462511e-03 -5.59660322e+01] [-2.00937111e-02 1.42400596e-04 9.99798091e-01 -6.97622124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters 0.022465393916340236 Centerline is valid? [True, True] Translation: X:348.89, Y:-55.98, Z:-6.98 [[ 9.81020379e-01 1.92884213e-01 1.98669649e-02 3.48889369e+02] [-1.92841655e-01 9.81221514e-01 -4.05426052e-03 -5.59758702e+01] [-2.02758962e-02 1.46133813e-04 9.99794412e-01 -6.97638086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334012739 meters 0.022538834942053842 Centerline is valid? [True, True] Translation: X:348.92, Y:-55.98, Z:-6.98 [[ 9.81034054e-01 1.92740215e-01 2.05765436e-02 3.48919318e+02] [-1.92694464e-01 9.81249807e-01 -4.20226461e-03 -5.59843232e+01] [-2.10006748e-02 1.57578655e-04 9.99779449e-01 -6.97564421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters 0.022515636487548295 Centerline is valid? [True, True] Translation: X:348.95, Y:-55.99, Z:-6.98 [[ 9.81036773e-01 1.92737198e-01 2.04749393e-02 3.48950542e+02] [-1.92691885e-01 9.81250400e-01 -4.18207541e-03 -5.59937441e+01] [-2.08970838e-02 1.57415123e-04 9.99781620e-01 -6.97660568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394012739 meters 0.02322918370261366 Centerline is valid? [True, True] Translation: X:348.98, Y:-56.01, Z:-6.98 [[ 9.81152922e-01 1.92312817e-01 1.88341365e-02 3.48980461e+02] [-1.92274344e-01 9.81333662e-01 -3.84975614e-03 -5.60063718e+01] [-1.92229296e-02 1.55878259e-04 9.99815210e-01 -6.98161623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters 0.023228276464640627 Centerline is valid? [True, True] Translation: X:349.01, Y:-56.02, Z:-6.98 [[ 9.81143122e-01 1.92440975e-01 1.80178970e-02 3.49012450e+02] [-1.92405731e-01 9.81308539e-01 -3.68589797e-03 -5.60164459e+01] [-1.83904340e-02 1.49646785e-04 9.99830870e-01 -6.98446183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454012739 meters 0.02333343522733706 Centerline is valid? [True, True] Translation: X:349.04, Y:-56.03, Z:-6.98 [[ 9.81061570e-01 1.92827288e-01 1.83257383e-02 3.49042254e+02] [-1.92790832e-01 9.81232702e-01 -3.75237584e-03 -5.60292894e+01] [-1.87053742e-02 1.48277399e-04 9.99825028e-01 -6.98495870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters 0.02291923493156663 Centerline is valid? [True, True] Translation: X:349.07, Y:-56.04, Z:-6.98 [[ 9.80906687e-01 1.93542680e-01 1.90604855e-02 3.49074519e+02] [-1.93503309e-01 9.81091846e-01 -3.90627148e-03 -5.60383812e+01] [-1.94561172e-02 1.43420788e-04 9.99810702e-01 -6.98343447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514012739 meters 0.02208258157497422 Centerline is valid? [True, True] Translation: X:349.11, Y:-56.05, Z:-6.98 [[ 9.80687273e-01 1.94547958e-01 2.00889053e-02 3.49105886e+02] [-1.94504355e-01 9.80892998e-01 -4.12093128e-03 -5.60450326e+01] [-2.05067853e-02 1.33965301e-04 9.99789705e-01 -6.98183252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters 0.02109109878750319 Centerline is valid? [True, True] Translation: X:349.14, Y:-56.05, Z:-6.98 [[ 9.79967188e-01 1.98114382e-01 2.03715888e-02 3.49137218e+02] [-1.98070241e-01 9.80178906e-01 -4.18236876e-03 -5.60496695e+01] [-2.07963890e-02 6.35786506e-05 9.99783730e-01 -6.98020627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574012739 meters 0.02067783135693247 Centerline is valid? [True, True] Translation: X:349.17, Y:-56.05, Z:-6.98 [[ 9.79515565e-01 2.00358763e-01 2.01401100e-02 3.49168117e+02] [-2.00316031e-01 9.79722596e-01 -4.13789356e-03 -5.60526835e+01] [-2.05607841e-02 1.87442449e-05 9.99788605e-01 -6.98147408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters 0.021033639756517484 Centerline is valid? [True, True] Translation: X:349.20, Y:-56.05, Z:-6.98 [[ 9.78702910e-01 2.04255299e-01 2.05033360e-02 3.49200911e+02] [-2.04211854e-01 9.78917652e-01 -4.21308156e-03 -5.60542128e+01] [-2.09316217e-02 -6.36690727e-05 9.99780908e-01 -6.98149376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634012739 meters 0.02153108191654541 Centerline is valid? [True, True] Translation: X:349.23, Y:-56.06, Z:-6.98 [[ 9.78297229e-01 2.06133916e-01 2.10556602e-02 3.49231537e+02] [-2.06088459e-01 9.78523785e-01 -4.33001461e-03 -5.60576227e+01] [-2.14960272e-02 -1.03287272e-04 9.99768928e-01 -6.98058715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters 0.022999328552633456 Centerline is valid? [True, True] Translation: X:349.26, Y:-56.06, Z:-6.98 [[ 9.77705349e-01 2.08881002e-01 2.14704009e-02 3.49261449e+02] [-2.08834393e-01 9.77941051e-01 -4.41555579e-03 -5.60590397e+01] [-2.19191121e-02 -1.66645605e-04 9.99759734e-01 -6.98024525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694012739 meters 0.023100955600386233 Centerline is valid? [True, True] Translation: X:349.29, Y:-56.07, Z:-6.98 [[ 9.77583428e-01 2.09525237e-01 2.07320397e-02 3.49291786e+02] [-2.09481920e-01 9.77803224e-01 -4.26384650e-03 -5.60653741e+01] [-2.11652387e-02 -1.74721806e-04 9.99775976e-01 -6.98265584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters 0.023344373156099295 Centerline is valid? [True, True] Translation: X:349.32, Y:-56.07, Z:-6.99 [[ 9.77508745e-01 2.09969775e-01 1.97318967e-02 3.49321324e+02] [-2.09930619e-01 9.77707862e-01 -4.05859474e-03 -5.60704444e+01] [-2.01442127e-02 -1.75017429e-04 9.99797069e-01 -6.98527307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754012739 meters 0.02379969329723516 Centerline is valid? [True, True] Translation: X:349.35, Y:-56.08, Z:-6.99 [[ 9.77424268e-01 2.10443951e-01 1.88452418e-02 3.49350817e+02] [-2.10408320e-01 9.77605909e-01 -3.87643084e-03 -5.60753820e+01] [-1.92389912e-02 -1.76278085e-04 9.99814898e-01 -6.98709505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters 0.02379969329723516 Centerline is valid? [True, True] Translation: X:349.38, Y:-56.08, Z:-6.99 [[ 9.77428957e-01 2.10422176e-01 1.88451897e-02 3.49379390e+02] [-2.10386535e-01 9.77610596e-01 -3.87668429e-03 -5.60812124e+01] [-1.92389975e-02 -1.75590691e-04 9.99814898e-01 -6.98768736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814012739 meters 0.023825283217894722 Centerline is valid? [True, True] Translation: X:349.41, Y:-56.09, Z:-6.99 [[ 9.77426014e-01 2.10436812e-01 1.88344211e-02 3.49408821e+02] [-2.10401224e-01 9.77607445e-01 -3.87403175e-03 -5.60875331e+01] [-1.92279092e-02 -1.76205842e-04 9.99815111e-01 -6.98835017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters 0.023165251170879905 Centerline is valid? [True, True] Translation: X:349.44, Y:-56.10, Z:-6.99 [[ 9.77638969e-01 2.09423141e-01 1.90786440e-02 3.49438193e+02] [-2.09386439e-01 9.77825098e-01 -3.92379818e-03 -5.60963111e+01] [-1.94773111e-02 -1.58751324e-04 9.99810287e-01 -6.98826792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874012739 meters 0.02266280533826419 Centerline is valid? [True, True] Translation: X:349.47, Y:-56.10, Z:-6.99 [[ 9.77869815e-01 2.08361220e-01 1.88739843e-02 3.49466515e+02] [-2.08325103e-01 9.78051933e-01 -3.88171867e-03 -5.61040912e+01] [-1.92685365e-02 -1.36109216e-04 9.99814335e-01 -6.98990176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters 0.021263268984203554 Centerline is valid? [True, True] Translation: X:349.50, Y:-56.12, Z:-6.99 [[ 9.78510885e-01 2.05324568e-01 1.89279939e-02 3.49495687e+02] [-2.05287681e-01 9.78693934e-01 -3.89257440e-03 -5.61168820e+01] [-1.93239539e-02 -7.67575418e-05 9.99813272e-01 -6.99044363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934012739 meters 0.02112062628705158 Centerline is valid? [True, True] Translation: X:349.53, Y:-56.13, Z:-6.99 [[ 9.78673883e-01 2.04495846e-01 1.94648298e-02 3.49525481e+02] [-2.04456665e-01 9.78867430e-01 -4.00338876e-03 -5.61254192e+01] [-1.98721643e-02 -6.17021542e-05 9.99802527e-01 -6.99003521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters 0.020814551754110493 Centerline is valid? [True, True] Translation: X:349.56, Y:-56.14, Z:-6.99 [[ 9.78830535e-01 2.03689990e-01 2.00292885e-02 3.49556675e+02] [-2.03648271e-01 9.79035437e-01 -4.12259731e-03 -5.61351889e+01] [-2.04491150e-02 -4.36058404e-05 9.99790894e-01 -6.98981753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994012739 meters 0.02091838305120578 Centerline is valid? [True, True] Translation: X:349.59, Y:-56.14, Z:-6.99 [[ 9.78653037e-01 2.04557408e-01 1.98620242e-02 3.49587509e+02] [-2.04516495e-01 9.78854567e-01 -4.09141835e-03 -5.61404576e+01] [-2.02789631e-02 -5.80325847e-05 9.99794359e-01 -6.99080540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters 0.021047557341446272 Centerline is valid? [True, True] Translation: X:349.62, Y:-56.15, Z:-6.99 [[ 9.78396499e-01 2.05798897e-01 1.96749837e-02 3.49619783e+02] [-2.05758942e-01 9.78594302e-01 -4.05585183e-03 -5.61474038e+01] [-2.00885168e-02 -8.00726103e-05 9.99798202e-01 -6.99246601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05401273900003 meters 0.022593055520312818 Centerline is valid? [True, True] Translation: X:349.65, Y:-56.15, Z:-6.99 [[ 9.77736909e-01 2.08920452e-01 1.95647901e-02 3.49651134e+02] [-2.08881490e-01 9.77932628e-01 -4.03705331e-03 -5.61483532e+01] [-1.99764696e-02 -1.39546464e-04 9.99800441e-01 -6.99222554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters 0.02331868361282613 Centerline is valid? [True, True] Translation: X:349.68, Y:-56.15, Z:-6.99 [[ 9.77448381e-01 2.10273243e-01 1.94891484e-02 3.49680663e+02] [-2.10234811e-01 9.77642642e-01 -4.02341824e-03 -5.61515187e+01] [-1.98994397e-02 -1.64613786e-04 9.99801973e-01 -6.99218484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11401273900003 meters 0.025281834232786005 Centerline is valid? [True, True] Translation: X:349.71, Y:-56.15, Z:-6.99 [[ 9.76881425e-01 2.12904324e-01 1.93501960e-02 3.49709707e+02] [-2.12866963e-01 9.77073028e-01 -3.99430540e-03 -5.61525641e+01] [-1.97569595e-02 -2.17054707e-04 9.99804789e-01 -6.99454333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters 0.025969164292614078 Centerline is valid? [True, True] Translation: X:349.74, Y:-56.16, Z:-7.00 [[ 9.76727659e-01 2.13642468e-01 1.89730117e-02 3.49739189e+02] [-2.13606701e-01 9.76911892e-01 -3.91580839e-03 -5.61582243e+01] [-1.93715437e-02 -2.28084071e-04 9.99812328e-01 -6.99636270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.174012739 meters 0.024745306471383254 Centerline is valid? [True, True] Translation: X:349.77, Y:-56.17, Z:-7.00 [[ 9.76682090e-01 2.13858799e-01 1.88814609e-02 3.49769085e+02] [-2.13823425e-01 9.76864556e-01 -3.89644422e-03 -5.61677468e+01] [-1.92779188e-02 -2.31711368e-04 9.99814137e-01 -6.99682083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters 0.025042398722632905 Centerline is valid? [True, True] Translation: X:349.80, Y:-56.17, Z:-7.00 [[ 9.76637808e-01 2.14070261e-01 1.87754186e-02 3.49798672e+02] [-2.14035314e-01 9.76818237e-01 -3.87503166e-03 -5.61731274e+01] [-1.91697004e-02 -2.34100189e-04 9.99816217e-01 -6.99763691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234012739 meters 0.026451181648428062 Centerline is valid? [True, True] Translation: X:349.83, Y:-56.18, Z:-7.00 [[ 9.76596088e-01 2.14284773e-01 1.84964172e-02 3.49828892e+02] [-2.14250891e-01 9.76771202e-01 -3.81767161e-03 -5.61763311e+01] [-1.88848365e-02 -2.34550700e-04 9.99821638e-01 -6.99891641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters 0.026333452549780555 Centerline is valid? [True, True] Translation: X:349.86, Y:-56.18, Z:-7.00 [[ 9.76329228e-01 2.15604563e-01 1.72020865e-02 3.49857786e+02] [-2.15575458e-01 9.76480729e-01 -3.55077547e-03 -5.61845984e+01] [-1.75630694e-02 -2.41621812e-04 9.99845728e-01 -7.00154484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294012739 meters 0.02686483135610544 Centerline is valid? [True, True] Translation: X:349.89, Y:-56.19, Z:-7.00 [[ 9.76188334e-01 2.16282099e-01 1.66850027e-02 3.49887286e+02] [-2.16254820e-01 9.76330883e-01 -3.44381079e-03 -5.61903256e+01] [-1.70349180e-02 -2.46404333e-04 9.99854865e-01 -7.00251939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters 0.02831262091952226 Centerline is valid? [True, True] Translation: X:349.92, Y:-56.19, Z:-7.00 [[ 9.75844022e-01 2.17787614e-01 1.72336806e-02 3.49916545e+02] [-2.17758744e-01 9.75996145e-01 -3.55715350e-03 -5.61923760e+01] [-1.75947098e-02 -2.81557669e-04 9.99845161e-01 -7.00194127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354012739 meters 0.029334952225841204 Centerline is valid? [True, True] Translation: X:349.95, Y:-56.20, Z:-7.00 [[ 9.75564005e-01 2.19015469e-01 1.75241781e-02 3.49946307e+02] [-2.18985827e-01 9.75721338e-01 -3.61644809e-03 -5.61962387e+01] [-1.78907726e-02 -3.09470062e-04 9.99839899e-01 -7.00220826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters 0.030733448005731075 Centerline is valid? [True, True] Translation: X:349.97, Y:-56.20, Z:-7.00 [[ 9.75248112e-01 2.20408215e-01 1.76447834e-02 3.49974929e+02] [-2.20378400e-01 9.75407661e-01 -3.64093747e-03 -5.62003132e+01] [-1.80133495e-02 -3.37711739e-04 9.99837689e-01 -7.00232102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414012739 meters 0.032794180184301296 Centerline is valid? [True, True] Translation: X:350.00, Y:-56.20, Z:-7.00 [[ 9.74734742e-01 2.22581528e-01 1.86988004e-02 3.50003486e+02] [-2.22548455e-01 9.74913997e-01 -3.85781858e-03 -5.62025089e+01] [-1.90884014e-02 -4.01039348e-04 9.99817719e-01 -7.00048131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters 0.037189401353392715 Centerline is valid? [True, True] Translation: X:350.03, Y:-56.20, Z:-7.00 [[ 9.74450934e-01 2.23775401e-01 1.92340008e-02 3.50032163e+02] [-2.23740663e-01 9.74640641e-01 -3.96708406e-03 -5.61997386e+01] [-1.96339746e-02 -4.37699307e-04 9.99807139e-01 -6.99957373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474012739 meters 0.03596822813590074 Centerline is valid? [True, True] Translation: X:350.06, Y:-56.20, Z:-7.00 [[ 9.74069992e-01 2.25422189e-01 1.92999518e-02 3.50060243e+02] [-2.25387557e-01 9.74261060e-01 -3.97956636e-03 -5.62039164e+01] [-1.97002741e-02 -4.73592806e-04 9.99805819e-01 -7.00124924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters 0.040519124733579714 Centerline is valid? [True, True] Translation: X:350.09, Y:-56.20, Z:-7.00 [[ 9.73944982e-01 2.25991627e-01 1.89461517e-02 3.50089295e+02] [-2.25958381e-01 9.74129127e-01 -3.90554933e-03 -5.62026278e+01] [-1.93386196e-02 -4.77251588e-04 9.99812878e-01 -7.00309024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534012739 meters 0.03811150023657572 Centerline is valid? [True, True] Translation: X:350.12, Y:-56.21, Z:-7.00 [[ 9.73781365e-01 2.26716398e-01 1.86956889e-02 3.50117471e+02] [-2.26684179e-01 9.73960697e-01 -3.85285531e-03 -5.62103189e+01] [-1.90823717e-02 -4.86178186e-04 9.99817797e-01 -7.00419448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters 0.04222362895735706 Centerline is valid? [True, True] Translation: X:350.15, Y:-56.21, Z:-7.00 [[ 9.73759432e-01 2.26774992e-01 1.91225173e-02 3.50145927e+02] [-2.26741313e-01 9.73947049e-01 -3.93993866e-03 -5.62083527e+01] [-1.95177988e-02 -4.99312256e-04 9.99809385e-01 -7.00411801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594012739 meters 0.03588024182698065 Centerline is valid? [True, True] Translation: X:350.17, Y:-56.22, Z:-7.00 [[ 9.73753983e-01 2.26752269e-01 1.96618918e-02 3.50172917e+02] [-2.26716682e-01 9.73952332e-01 -4.04992619e-03 -5.62215537e+01] [-2.00680753e-02 -5.14047100e-04 9.99798484e-01 -7.00290329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters 0.03912276288584967 Centerline is valid? [True, True] Translation: X:350.20, Y:-56.22, Z:-7.00 [[ 9.73748798e-01 2.26766451e-01 1.97548662e-02 3.50202030e+02] [-2.26730548e-01 9.73949028e-01 -4.06813721e-03 -5.62189773e+01] [-2.01627498e-02 -5.17687915e-04 9.99796577e-01 -7.00343391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654012739 meters 0.039425313077884286 Centerline is valid? [True, True] Translation: X:350.23, Y:-56.22, Z:-7.01 [[ 9.73719741e-01 2.26937898e-01 1.92108528e-02 3.50231199e+02] [-2.26904001e-01 9.73909099e-01 -3.95499795e-03 -5.62224589e+01] [-1.96071632e-02 -5.07959769e-04 9.99807632e-01 -7.00528957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters 0.03994856381609479 Centerline is valid? [True, True] Translation: X:350.26, Y:-56.22, Z:-7.01 [[ 9.73673743e-01 2.27150690e-01 1.90264454e-02 3.50260197e+02] [-2.27117497e-01 9.73859490e-01 -3.91619532e-03 -5.62231664e+01] [-1.94186509e-02 -5.08142112e-04 9.99811311e-01 -7.00680905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714012739 meters 0.04066395369959439 Centerline is valid? [True, True] Translation: X:350.29, Y:-56.23, Z:-7.01 [[ 9.73626031e-01 2.27303571e-01 1.96325747e-02 3.50288091e+02] [-2.27268279e-01 9.73823807e-01 -4.04005590e-03 -5.62259573e+01] [-2.00369878e-02 -5.28357881e-04 9.99799100e-01 -7.00625812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters 0.04096303300704092 Centerline is valid? [True, True] Translation: X:350.32, Y:-56.23, Z:-7.01 [[ 9.73573371e-01 2.27496411e-01 2.00068517e-02 3.50316600e+02] [-2.27459824e-01 9.73778767e-01 -4.11594788e-03 -5.62302227e+01] [-2.04186108e-02 -5.43577715e-04 9.99791371e-01 -7.00538804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774012739 meters 0.041012869495584615 Centerline is valid? [True, True] Translation: X:350.34, Y:-56.23, Z:-7.01 [[ 9.73690039e-01 2.27063774e-01 1.92289027e-02 3.50344826e+02] [-2.27029909e-01 9.73879755e-01 -3.95508672e-03 -5.62332782e+01] [-1.96246959e-02 -5.14507471e-04 9.99807285e-01 -7.00836401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters 0.037792032279870096 Centerline is valid? [True, True] Translation: X:350.37, Y:-56.24, Z:-7.01 [[ 9.73884432e-01 2.26311082e-01 1.82320524e-02 3.50372337e+02] [-2.26280519e-01 9.74054962e-01 -3.74929466e-03 -5.62421490e+01] [-1.86075281e-02 -4.74178585e-04 9.99826753e-01 -7.01147454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834012739 meters 0.03542414728320663 Centerline is valid? [True, True] Translation: X:350.40, Y:-56.25, Z:-7.01 [[ 9.74477183e-01 2.23793328e-01 1.76285724e-02 3.50400666e+02] [-2.23764358e-01 9.74636535e-01 -3.62438407e-03 -5.62496610e+01] [-1.79925637e-02 -4.12766617e-04 9.99838036e-01 -7.01384983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters 0.03405159949201718 Centerline is valid? [True, True] Translation: X:350.43, Y:-56.26, Z:-7.01 [[ 9.74803106e-01 2.22315214e-01 1.82988908e-02 3.50428702e+02] [-2.22283751e-01 9.74974761e-01 -3.76156390e-03 -5.62570094e+01] [-1.86772096e-02 -4.00761901e-04 9.99825485e-01 -7.01295175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894012739 meters 0.033065328233831064 Centerline is valid? [True, True] Translation: X:350.46, Y:-56.26, Z:-7.01 [[ 9.75016417e-01 2.21319423e-01 1.89920910e-02 3.50456946e+02] [-2.21285359e-01 9.75201290e-01 -3.90315607e-03 -5.62634344e+01] [-1.93849559e-02 -3.97030421e-04 9.99812015e-01 -7.01126702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters 0.032539907030506826 Centerline is valid? [True, True] Translation: X:350.48, Y:-56.27, Z:-7.01 [[ 9.75160873e-01 2.20531907e-01 2.06627770e-02 3.50484679e+02] [-2.20491430e-01 9.75379672e-01 -4.24547764e-03 -5.62670506e+01] [-2.10903159e-02 -4.15941555e-04 9.99777488e-01 -7.00809487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954012739 meters 0.032827854896388425 Centerline is valid? [True, True] Translation: X:350.51, Y:-56.27, Z:-7.01 [[ 9.75167231e-01 2.20532861e-01 2.03501478e-02 3.50512651e+02] [-2.20493624e-01 9.75379459e-01 -4.18011057e-03 -5.62694403e+01] [-2.07709679e-02 -4.10770973e-04 9.99784176e-01 -7.00973505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters 0.033344987163202215 Centerline is valid? [True, True] Translation: X:350.54, Y:-56.27, Z:-7.01 [[ 9.75276714e-01 2.20058627e-01 2.02368846e-02 3.50539914e+02] [-2.20019747e-01 9.75486566e-01 -4.15571358e-03 -5.62727493e+01] [-2.06553097e-02 -3.99543531e-04 9.99786576e-01 -7.01190181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014012739 meters 0.0316615143372758 Centerline is valid? [True, True] Translation: X:350.57, Y:-56.28, Z:-7.01 [[ 9.75508187e-01 2.19008523e-01 2.04705374e-02 3.50568326e+02] [-2.18968533e-01 9.75722871e-01 -4.20255086e-03 -5.62793565e+01] [-2.08939660e-02 -3.82780768e-04 9.99781624e-01 -7.01209551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters 0.02760268629982639 Centerline is valid? [True, True] Translation: X:350.60, Y:-56.29, Z:-7.01 [[ 9.76132438e-01 2.16199297e-01 2.05749473e-02 3.50595911e+02] [-2.16158292e-01 9.76349199e-01 -4.22306337e-03 -5.62899113e+01] [-2.10013567e-02 -3.25176338e-04 9.99779394e-01 -7.01229346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074012739 meters 0.02566890136755608 Centerline is valid? [True, True] Translation: X:350.62, Y:-56.30, Z:-7.01 [[ 9.76550355e-01 2.14304013e-01 2.05716718e-02 3.50623279e+02] [-2.14262621e-01 9.76766967e-01 -4.22142678e-03 -5.62988953e+01] [-2.09983982e-02 -2.85304506e-04 9.99779469e-01 -7.01300149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters 0.02401677145911552 Centerline is valid? [True, True] Translation: X:350.65, Y:-56.31, Z:-7.02 [[ 9.77481144e-01 2.10134328e-01 1.93436573e-02 3.50650715e+02] [-2.10096931e-01 9.77672507e-01 -3.96855149e-03 -5.63079442e+01] [-1.97456908e-02 -1.84858789e-04 9.99805018e-01 -7.01614576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134012739 meters 0.022243402492724277 Centerline is valid? [True, True] Translation: X:350.68, Y:-56.32, Z:-7.02 [[ 9.77896761e-01 2.08233379e-01 1.88887593e-02 3.50677972e+02] [-2.08197378e-01 9.78079158e-01 -3.87457529e-03 -5.63180265e+01] [-1.92815177e-02 -1.43655526e-04 9.99814084e-01 -7.01747650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters 0.02115173485225545 Centerline is valid? [True, True] Translation: X:350.71, Y:-56.33, Z:-7.02 [[ 9.78337462e-01 2.06162354e-01 1.87854621e-02 3.50706101e+02] [-2.06126382e-01 9.78517794e-01 -3.85248791e-03 -5.63278442e+01] [-1.91761470e-02 -1.03146098e-04 9.99816115e-01 -7.01792244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194012739 meters 0.021372866511225552 Centerline is valid? [True, True] Translation: X:350.73, Y:-56.33, Z:-7.02 [[ 9.78393355e-01 2.05899215e-01 1.87604693e-02 3.50734205e+02] [-2.05863299e-01 9.78573198e-01 -3.84692193e-03 -5.63329654e+01] [-1.91505706e-02 -9.82892401e-05 9.99816606e-01 -7.01880663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters 0.021288626527699275 Centerline is valid? [True, True] Translation: X:350.76, Y:-56.34, Z:-7.02 [[ 9.78312806e-01 2.06264394e-01 1.89486843e-02 3.50762212e+02] [-2.06227834e-01 9.78496289e-01 -3.88483449e-03 -5.63388428e+01] [-1.93425203e-02 -1.07162796e-04 9.99812910e-01 -7.01894361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254012739 meters 0.022981064185918637 Centerline is valid? [True, True] Translation: X:350.79, Y:-56.34, Z:-7.02 [[ 9.77882150e-01 2.08218127e-01 1.97917362e-02 3.50790392e+02] [-2.08178662e-01 9.78082404e-01 -4.05667776e-03 -5.63387536e+01] [-2.02026228e-02 -1.53264384e-04 9.99795894e-01 -7.01711782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters 0.022845200846076528 Centerline is valid? [True, True] Translation: X:350.82, Y:-56.34, Z:-7.02 [[ 9.77614489e-01 2.09380377e-01 2.07308767e-02 3.50819171e+02] [-2.09337366e-01 9.77834251e-01 -4.24788244e-03 -5.63443458e+01] [-2.11607845e-02 -1.86955706e-04 9.99776068e-01 -7.01648821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314012739 meters 0.024193858468978077 Centerline is valid? [True, True] Translation: X:350.85, Y:-56.35, Z:-7.02 [[ 9.77149027e-01 2.11502868e-01 2.11262148e-02 3.50848804e+02] [-2.11458718e-01 9.77377348e-01 -4.32786926e-03 -5.63453147e+01] [-2.15636406e-02 -2.38349062e-04 9.99767449e-01 -7.01645554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters 0.02548931554118432 Centerline is valid? [True, True] Translation: X:350.88, Y:-56.35, Z:-7.02 [[ 9.77008985e-01 2.12180034e-01 2.08104898e-02 3.50876440e+02] [-2.12137369e-01 9.77230561e-01 -4.26220629e-03 -5.63477596e+01] [-2.12410017e-02 -2.50468714e-04 9.99774353e-01 -7.01783725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374012739 meters 0.025208778550311572 Centerline is valid? [True, True] Translation: X:350.91, Y:-56.35, Z:-7.02 [[ 9.76937784e-01 2.12542152e-01 2.04548376e-02 3.50905005e+02] [-2.12501037e-01 9.77151866e-01 -4.18818136e-03 -5.63528860e+01] [-2.08776478e-02 -2.55081597e-04 9.99782006e-01 -7.01920987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters 0.027450498324751743 Centerline is valid? [True, True] Translation: X:350.93, Y:-56.35, Z:-7.02 [[ 9.76879504e-01 2.12815318e-01 2.03979117e-02 3.50933517e+02] [-2.12774511e-01 9.77092407e-01 -4.17556387e-03 -5.63516938e+01] [-2.08192686e-02 -2.61132921e-04 9.99783221e-01 -7.02012050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434012739 meters 0.025538212844549487 Centerline is valid? [True, True] Translation: X:350.96, Y:-56.36, Z:-7.02 [[ 9.77118942e-01 2.11750100e-01 2.00117191e-02 3.50961360e+02] [-2.11710623e-01 9.77323815e-01 -4.09535904e-03 -5.63584596e+01] [-2.04251224e-02 -2.35040644e-04 9.99791358e-01 -7.02033804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters 0.024584176791532276 Centerline is valid? [True, True] Translation: X:350.99, Y:-56.36, Z:-7.02 [[ 9.77269149e-01 2.11122567e-01 1.92943511e-02 3.50989583e+02] [-2.11085764e-01 9.77459572e-01 -3.94772170e-03 -5.63643824e+01] [-1.96929013e-02 -2.14776222e-04 9.99806053e-01 -7.02252694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494012739 meters 0.02337024603564318 Centerline is valid? [True, True] Translation: X:351.02, Y:-56.37, Z:-7.02 [[ 9.77456767e-01 2.10319792e-01 1.85432973e-02 3.51017140e+02] [-2.10285670e-01 9.77632624e-01 -3.79323706e-03 -5.63709917e+01] [-1.89263253e-02 -1.91664464e-04 9.99820863e-01 -7.02477660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters 0.023859315756928706 Centerline is valid? [True, True] Translation: X:351.04, Y:-56.37, Z:-7.03 [[ 9.77604775e-01 2.09706279e-01 1.76686322e-02 3.51044845e+02] [-2.09675215e-01 9.77764413e-01 -3.61351812e-03 -5.63734611e+01] [-1.80335372e-02 -1.72081682e-04 9.99837368e-01 -7.02719236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55401273900003 meters 0.024042560136131645 Centerline is valid? [True, True] Translation: X:351.07, Y:-56.37, Z:-7.03 [[ 9.77576468e-01 2.09814265e-01 1.79505610e-02 3.51072782e+02] [-2.09782240e-01 9.77741245e-01 -3.67004823e-03 -5.63748673e+01] [-1.83210324e-02 -1.77956114e-04 9.99832140e-01 -7.02771409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters 0.02738677901957749 Centerline is valid? [True, True] Translation: X:351.10, Y:-56.37, Z:-7.03 [[ 9.77127125e-01 2.11781585e-01 1.92650428e-02 3.51102773e+02] [-2.11745103e-01 9.77316994e-01 -3.93761080e-03 -5.63689606e+01] [-1.96619671e-02 -2.31732149e-04 9.99806658e-01 -7.02549716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61401273900003 meters 0.029256709681837505 Centerline is valid? [True, True] Translation: X:351.13, Y:-56.37, Z:-7.03 [[ 9.76820120e-01 2.13223105e-01 1.89304159e-02 3.51132242e+02] [-2.13188171e-01 9.77003501e-01 -3.86814490e-03 -5.63684375e+01] [-1.93198605e-02 -2.57258975e-04 9.99813321e-01 -7.02625893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters 0.028744472546012523 Centerline is valid? [True, True] Translation: X:351.16, Y:-56.37, Z:-7.03 [[ 9.76423827e-01 2.15091258e-01 1.82279977e-02 3.51160394e+02] [-2.15059208e-01 9.76593913e-01 -3.72388185e-03 -5.63717859e+01] [-1.86023260e-02 -2.84011774e-04 9.99826921e-01 -7.02763466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.674012739 meters 0.028744472546012523 Centerline is valid? [True, True] Translation: X:351.19, Y:-56.38, Z:-7.03 [[ 9.76437767e-01 2.15027954e-01 1.82281950e-02 3.51187358e+02] [-2.14995910e-01 9.76607853e-01 -3.72291574e-03 -5.63771494e+01] [-1.86023294e-02 -2.83791845e-04 9.99826921e-01 -7.02819304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters 0.032206172173234314 Centerline is valid? [True, True] Translation: X:351.22, Y:-56.37, Z:-7.03 [[ 9.75801284e-01 2.17984876e-01 1.71594826e-02 3.51217305e+02] [-2.17956957e-01 9.75952094e-01 -3.50346975e-03 -5.63721491e+01] [-1.75105364e-02 -3.21338328e-04 9.99846627e-01 -7.03126163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734012739 meters 0.032673699601377164 Centerline is valid? [True, True] Translation: X:351.25, Y:-56.37, Z:-7.03 [[ 9.75700086e-01 2.18397089e-01 1.76650218e-02 3.51246069e+02] [-2.18367578e-01 9.75859927e-01 -3.60609705e-03 -5.63739998e+01] [-1.80261480e-02 -3.38998825e-04 9.99837458e-01 -7.03155432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters 0.029182817493251745 Centerline is valid? [True, True] Translation: X:351.27, Y:-56.38, Z:-7.03 [[ 9.76002147e-01 2.16890322e-01 1.94524347e-02 3.51274601e+02] [-2.16854257e-01 9.76195918e-01 -3.97001747e-03 -5.63807846e+01] [-1.98504457e-02 -3.43597696e-04 9.99802901e-01 -7.02932798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794012739 meters 0.027284178975439295 Centerline is valid? [True, True] Translation: X:351.30, Y:-56.39, Z:-7.03 [[ 9.76522841e-01 2.14514447e-01 1.96645334e-02 3.51302508e+02] [-2.14477124e-01 9.76720770e-01 -4.01260299e-03 -5.63888387e+01] [-2.00675195e-02 -2.99194087e-04 9.99798582e-01 -7.02962322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters 0.024604239597429207 Centerline is valid? [True, True] Translation: X:351.33, Y:-56.40, Z:-7.03 [[ 9.77195281e-01 2.11457227e-01 1.93707046e-02 3.51329804e+02] [-2.11420427e-01 9.77387224e-01 -3.95174657e-03 -5.63996049e+01] [-1.97683045e-02 -2.33734543e-04 9.99804561e-01 -7.03084161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854012739 meters 0.020957633991505804 Centerline is valid? [True, True] Translation: X:351.36, Y:-56.42, Z:-7.03 [[ 9.78760971e-01 2.04111172e-01 1.91204124e-02 3.51355506e+02] [-2.04073932e-01 9.78947712e-01 -3.89977335e-03 -5.64152264e+01] [-1.95138712e-02 -8.50317777e-05 9.99809583e-01 -7.03213099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters 0.020268239457939725 Centerline is valid? [True, True] Translation: X:351.38, Y:-56.43, Z:-7.03 [[ 9.79367955e-01 2.01162019e-01 1.92938171e-02 3.51383042e+02] [-2.01123546e-01 9.79557983e-01 -3.93420497e-03 -5.64256676e+01] [-1.96908251e-02 -2.74066262e-05 9.99806117e-01 -7.03261550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914012739 meters 0.020250196401544865 Centerline is valid? [True, True] Translation: X:351.41, Y:-56.44, Z:-7.03 [[ 9.79931208e-01 1.98391958e-01 1.93767378e-02 3.51408721e+02] [-1.98352629e-01 9.80122763e-01 -3.95019067e-03 -5.64368648e+01] [-1.97752678e-02 2.74882293e-05 9.99804450e-01 -7.03237264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters 0.02032390229598047 Centerline is valid? [True, True] Translation: X:351.44, Y:-56.44, Z:-7.03 [[ 9.79934151e-01 1.98417385e-01 1.89631704e-02 3.51435485e+02] [-1.98379744e-01 9.80117616e-01 -3.86478292e-03 -5.64425976e+01] [-1.93529774e-02 2.53238854e-05 9.99812713e-01 -7.03320560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974012739 meters 0.02008429960669752 Centerline is valid? [True, True] Translation: X:351.46, Y:-56.45, Z:-7.03 [[ 9.79714961e-01 1.99501156e-01 1.89178180e-02 3.51464336e+02] [-1.99463918e-01 9.79897591e-01 -3.85441956e-03 -5.64456812e+01] [-1.93064854e-02 2.81040091e-06 9.99813612e-01 -7.03352858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters 0.020528091655628484 Centerline is valid? [True, True] Translation: X:351.49, Y:-56.45, Z:-7.03 [[ 9.79142186e-01 2.02366433e-01 1.81219710e-02 3.51492713e+02] [-2.02332767e-01 9.79309871e-01 -3.69147974e-03 -5.64451694e+01] [-1.84940566e-02 -5.21849868e-05 9.99828969e-01 -7.03498364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034012739 meters 0.02079569650279148 Centerline is valid? [True, True] Translation: X:351.52, Y:-56.45, Z:-7.04 [[ 9.78961593e-01 2.03267349e-01 1.77928059e-02 3.51520845e+02] [-2.03235064e-01 9.79123271e-01 -3.62338823e-03 -5.64493691e+01] [-1.81578668e-02 -6.89641216e-05 9.99835130e-01 -7.03641290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters 0.021252215362601728 Centerline is valid? [True, True] Translation: X:351.55, Y:-56.45, Z:-7.04 [[ 9.78706172e-01 2.04468536e-01 1.80789017e-02 3.51548610e+02] [-2.04435424e-01 9.78873132e-01 -3.68081111e-03 -5.64520182e+01] [-1.84495612e-02 -9.35353914e-05 9.99829788e-01 -7.03667402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094012739 meters 0.02105132059924532 Centerline is valid? [True, True] Translation: X:351.58, Y:-56.46, Z:-7.04 [[ 9.78710722e-01 2.04358988e-01 1.90453971e-02 3.51575767e+02] [-2.04322243e-01 9.78896008e-01 -3.87642920e-03 -5.64571120e+01] [-1.94356463e-02 -9.74954250e-05 9.99811105e-01 -7.03546413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters 0.02111306744888353 Centerline is valid? [True, True] Translation: X:351.60, Y:-56.46, Z:-7.03 [[ 9.78685553e-01 2.04425736e-01 1.96139422e-02 3.51602945e+02] [-2.04386806e-01 9.78882070e-01 -3.99075192e-03 -5.64626058e+01] [-2.00155488e-02 -1.03139740e-04 9.99799664e-01 -7.03491912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154012739 meters 0.021866556619642444 Centerline is valid? [True, True] Translation: X:351.63, Y:-56.46, Z:-7.04 [[ 9.78499441e-01 2.05458657e-01 1.80439661e-02 3.51630994e+02] [-2.05425907e-01 9.78665789e-01 -3.67013467e-03 -5.64642866e+01] [-1.84130733e-02 -1.15473377e-04 9.99830458e-01 -7.03808728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters 0.022509133880801974 Centerline is valid? [True, True] Translation: X:351.66, Y:-56.47, Z:-7.04 [[ 9.78303230e-01 2.06458742e-01 1.72504636e-02 3.51659958e+02] [-2.06428982e-01 9.78455299e-01 -3.50774421e-03 -5.64665809e+01] [-1.76030120e-02 -1.29358150e-04 9.99845047e-01 -7.04000170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214012739 meters 0.024259497321011 Centerline is valid? [True, True] Translation: X:351.69, Y:-56.46, Z:-7.04 [[ 9.77798747e-01 2.08816994e-01 1.74663460e-02 3.51688718e+02] [-2.08786873e-01 9.77954719e-01 -3.55095323e-03 -5.64623298e+01] [-1.78227948e-02 -1.74626146e-04 9.99841146e-01 -7.03977292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters 0.024999670645075918 Centerline is valid? [True, True] Translation: X:351.72, Y:-56.46, Z:-7.04 [[ 9.77595762e-01 2.09714611e-01 1.80639859e-02 3.51718275e+02] [-2.09682580e-01 9.77762621e-01 -3.67057933e-03 -5.64639745e+01] [-1.84320643e-02 -1.99360373e-04 9.99830095e-01 -7.03875675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274012739 meters 0.025379090395744274 Centerline is valid? [True, True] Translation: X:351.75, Y:-56.47, Z:-7.04 [[ 9.77461830e-01 2.10256326e-01 1.89907624e-02 3.51746914e+02] [-2.10221044e-01 9.77646270e-01 -3.85800344e-03 -5.64671700e+01] [-1.93774177e-02 -2.21206806e-04 9.99812216e-01 -7.03768851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters 0.025067587980352093 Centerline is valid? [True, True] Translation: X:351.78, Y:-56.47, Z:-7.04 [[ 9.77533491e-01 2.09802283e-01 2.02799389e-02 3.51775942e+02] [-2.09761970e-01 9.77743806e-01 -4.11893050e-03 -5.64713549e+01] [-2.06927457e-02 -2.27567422e-04 9.99785856e-01 -7.03567178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334012739 meters 0.024494023515596274 Centerline is valid? [True, True] Translation: X:351.80, Y:-56.48, Z:-7.03 [[ 9.77691853e-01 2.09000171e-01 2.09181618e-02 3.51804137e+02] [-2.08957118e-01 9.77915580e-01 -4.24759358e-03 -5.64771916e+01] [-2.13439441e-02 -2.18161169e-04 9.99772168e-01 -7.03489065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters 0.022660167222387506 Centerline is valid? [True, True] Translation: X:351.83, Y:-56.48, Z:-7.03 [[ 9.78218231e-01 2.06429626e-01 2.18152001e-02 3.51830852e+02] [-2.06382184e-01 9.78461435e-01 -4.42870974e-03 -5.64847481e+01] [-2.22595489e-02 -1.70024040e-04 9.99752211e-01 -7.03296321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394012739 meters 0.021243065398872434 Centerline is valid? [True, True] Translation: X:351.86, Y:-56.49, Z:-7.03 [[ 9.78548576e-01 2.04846901e-01 2.19187554e-02 3.51858480e+02] [-2.04798638e-01 9.78794018e-01 -4.44852355e-03 -5.64939059e+01] [-2.23652129e-02 -1.35834855e-04 9.99749858e-01 -7.03407416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters 0.02067290605335599 Centerline is valid? [True, True] Translation: X:351.89, Y:-56.50, Z:-7.03 [[ 9.78862126e-01 2.03340075e-01 2.19488286e-02 3.51886783e+02] [-2.03291325e-01 9.79108167e-01 -4.45355988e-03 -5.65011883e+01] [-2.23958645e-02 -1.02585345e-04 9.99749176e-01 -7.03465268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454012739 meters 0.020085588949637096 Centerline is valid? [True, True] Translation: X:351.91, Y:-56.51, Z:-7.04 [[ 9.79435343e-01 2.00630970e-01 2.12984189e-02 3.51914049e+02] [-2.00584446e-01 9.79666889e-01 -4.32058589e-03 -5.65093904e+01] [-2.17321991e-02 -4.03970334e-05 9.99763827e-01 -7.03718428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters 0.020155171298720576 Centerline is valid? [True, True] Translation: X:351.94, Y:-56.52, Z:-7.04 [[ 9.80063688e-01 1.97695577e-01 1.97895383e-02 3.51939599e+02] [-1.97654832e-01 9.80263464e-01 -4.01361293e-03 -5.65223017e+01] [-2.01924349e-02 2.20984389e-05 9.99796112e-01 -7.04079043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514012739 meters 0.02053228086474443 Centerline is valid? [True, True] Translation: X:351.97, Y:-56.53, Z:-7.04 [[ 9.80442586e-01 1.95881769e-01 1.90438585e-02 3.51967005e+02] [-1.95843717e-01 9.80627518e-01 -3.86127275e-03 -5.65325735e+01] [-1.94312847e-02 5.61362056e-05 9.99811193e-01 -7.04242266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters 0.0209555066987938 Centerline is valid? [True, True] Translation: X:351.99, Y:-56.54, Z:-7.04 [[ 9.80808472e-01 1.94090103e-01 1.85411155e-02 3.51993460e+02] [-1.94053729e-01 9.80983702e-01 -3.75847905e-03 -5.65427585e+01] [-1.89180157e-02 8.83754982e-05 9.99821034e-01 -7.04415401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574012739 meters 0.021967980947157496 Centerline is valid? [True, True] Translation: X:352.02, Y:-56.56, Z:-7.04 [[ 9.81395565e-01 1.91055763e-01 1.89852747e-02 3.52020725e+02] [-1.91017080e-01 9.81579173e-01 -3.84732703e-03 -5.65550322e+01] [-1.93706043e-02 1.49237944e-04 9.99812361e-01 -7.04244732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters 0.02261494446571322 Centerline is valid? [True, True] Translation: X:352.05, Y:-56.56, Z:-7.04 [[ 9.81642975e-01 1.89706290e-01 1.97127530e-02 3.52046916e+02] [-1.89664333e-01 9.81840868e-01 -3.99375017e-03 -5.65648807e+01] [-2.01124260e-02 1.81630648e-04 9.99797708e-01 -7.04240014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634012739 meters 0.025093072364673383 Centerline is valid? [True, True] Translation: X:352.07, Y:-56.58, Z:-7.04 [[ 9.82244962e-01 1.86595468e-01 1.94156254e-02 3.52072142e+02] [-1.86554183e-01 9.82436804e-01 -3.93238103e-03 -5.65828978e+01] [-1.98083895e-02 2.40495322e-04 9.99803766e-01 -7.04325443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters 0.026097752027873587 Centerline is valid? [True, True] Translation: X:352.10, Y:-56.59, Z:-7.04 [[ 9.82506152e-01 1.85234985e-01 1.92265773e-02 3.52099966e+02] [-1.85194253e-01 9.82694220e-01 -3.89339951e-03 -5.65943784e+01] [-1.96150402e-02 2.64637356e-04 9.99807572e-01 -7.04432374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694012739 meters 0.026994949030532997 Centerline is valid? [True, True] Translation: X:352.13, Y:-56.61, Z:-7.04 [[ 9.82693247e-01 1.84236471e-01 1.92589197e-02 3.52127793e+02] [-1.84195419e-01 9.82881906e-01 -3.89949218e-03 -5.66053262e+01] [-1.96476724e-02 2.84599853e-04 9.99806925e-01 -7.04497878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters 0.026874151809016717 Centerline is valid? [True, True] Translation: X:352.16, Y:-56.62, Z:-7.04 [[ 9.82855369e-01 1.83334296e-01 1.95923566e-02 3.52157192e+02] [-1.83291635e-01 9.83050579e-01 -3.96676424e-03 -5.66193666e+01] [-1.99875215e-02 3.07640446e-04 9.99800182e-01 -7.04404038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754012739 meters 0.02681762151338213 Centerline is valid? [True, True] Translation: X:352.19, Y:-56.63, Z:-7.04 [[ 9.82828558e-01 1.83468409e-01 1.96816839e-02 3.52187405e+02] [-1.83425377e-01 9.83025559e-01 -3.98529057e-03 -5.66302221e+01] [-2.00787733e-02 3.06737089e-04 9.99798354e-01 -7.04435328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters 0.02819645646244119 Centerline is valid? [True, True] Translation: X:352.22, Y:-56.65, Z:-7.05 [[ 9.82903047e-01 1.83232864e-01 1.80919419e-02 3.52216154e+02] [-1.83196410e-01 9.83069496e-01 -3.66629898e-03 -5.66468680e+01] [-1.84574226e-02 2.89237647e-04 9.99829605e-01 -7.04766743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814012739 meters 0.02758364500273672 Centerline is valid? [True, True] Translation: X:352.25, Y:-56.66, Z:-7.05 [[ 9.82909673e-01 1.83254292e-01 1.75053917e-02 3.52248166e+02] [-1.83220142e-01 9.83065504e-01 -3.54876527e-03 -5.66566675e+01] [-1.78592732e-02 2.80775351e-04 9.99840471e-01 -7.04953181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters 0.02755556807967846 Centerline is valid? [True, True] Translation: X:352.28, Y:-56.67, Z:-7.05 [[ 9.82840061e-01 1.83630155e-01 1.74751449e-02 3.52279866e+02] [-1.83596123e-01 9.82995366e-01 -3.54596133e-03 -5.66676003e+01] [-1.78291319e-02 2.76743992e-04 9.99841010e-01 -7.04996206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874012739 meters 0.02631290185499014 Centerline is valid? [True, True] Translation: X:352.31, Y:-56.68, Z:-7.05 [[ 9.82464982e-01 1.85446628e-01 1.92900961e-02 3.52309009e+02] [-1.85405428e-01 9.82654300e-01 -3.91834446e-03 -5.66818162e+01] [-1.96821397e-02 2.73147687e-04 9.99806251e-01 -7.04711418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters 0.02306015581859005 Centerline is valid? [True, True] Translation: X:352.34, Y:-56.69, Z:-7.04 [[ 9.81485857e-01 1.90376145e-01 2.10341500e-02 3.52340279e+02] [-1.90328212e-01 9.81711203e-01 -4.27615295e-03 -5.66897194e+01] [-2.14635382e-02 1.93591482e-04 9.99769613e-01 -7.04433798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934012739 meters 0.021422734404504137 Centerline is valid? [True, True] Translation: X:352.37, Y:-56.69, Z:-7.04 [[ 9.80824244e-01 1.93759052e-01 2.10055503e-02 3.52372724e+02] [-1.93711954e-01 9.81049140e-01 -4.27366477e-03 -5.66938042e+01] [-2.14355383e-02 1.22687833e-04 9.99770225e-01 -7.04489277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters 0.02033538326997445 Centerline is valid? [True, True] Translation: X:352.41, Y:-56.70, Z:-7.05 [[ 9.79974128e-01 1.98062840e-01 2.05382434e-02 3.52405730e+02] [-1.98018734e-01 9.80189324e-01 -4.17977479e-03 -5.66954398e+01] [-2.09592249e-02 2.91142081e-05 9.99780331e-01 -7.04653713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994012739 meters 0.022138574108487723 Centerline is valid? [True, True] Translation: X:352.44, Y:-56.69, Z:-7.05 [[ 9.78244996e-01 2.06569635e-01 1.91236263e-02 3.52436773e+02] [-2.06532995e-01 9.78431891e-01 -3.89305637e-03 -5.66902260e+01] [-1.95153531e-02 -1.41296901e-04 9.99809547e-01 -7.04874060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters 0.02382282500921147 Centerline is valid? [True, True] Translation: X:352.47, Y:-56.69, Z:-7.05 [[ 9.77532821e-01 2.09933701e-01 1.89056853e-02 3.52466718e+02] [-2.09898524e-01 9.77715602e-01 -3.84846727e-03 -5.66920161e+01] [-1.92923065e-02 -2.06272373e-04 9.99813865e-01 -7.05001598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05401273900003 meters 0.026912447990829987 Centerline is valid? [True, True] Translation: X:352.50, Y:-56.69, Z:-7.05 [[ 9.76631559e-01 2.14035795e-01 1.94801701e-02 3.52495490e+02] [-2.13999272e-01 9.76825773e-01 -3.96493268e-03 -5.66920411e+01] [-1.98773697e-02 -2.96463843e-04 9.99802382e-01 -7.04938412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters 0.02876497465957616 Centerline is valid? [True, True] Translation: X:352.52, Y:-56.69, Z:-7.05 [[ 9.76485364e-01 2.14652975e-01 2.00108611e-02 3.52523780e+02] [-2.14614585e-01 9.76690329e-01 -4.07195584e-03 -5.66948196e+01] [-2.04184719e-02 -3.18417363e-04 9.99791471e-01 -7.04929070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11401273900003 meters 0.028155376147667197 Centerline is valid? [True, True] Translation: X:352.55, Y:-56.70, Z:-7.05 [[ 9.76463825e-01 2.14756374e-01 1.99523753e-02 3.52551474e+02] [-2.14718255e-01 9.76667598e-01 -4.05886446e-03 -5.67015562e+01] [-2.03585054e-02 -3.20804880e-04 9.99792693e-01 -7.04925412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters 0.02691778352858448 Centerline is valid? [True, True] Translation: X:352.58, Y:-56.71, Z:-7.05 [[ 9.76651053e-01 2.14014241e-01 1.87249928e-02 3.52580507e+02] [-2.13980547e-01 9.76830498e-01 -3.80833526e-03 -5.67065311e+01] [-1.91061820e-02 -2.87369553e-04 9.99817419e-01 -7.05289025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.174012739 meters 0.026796204907730336 Centerline is valid? [True, True] Translation: X:352.61, Y:-56.71, Z:-7.05 [[ 9.76749378e-01 2.13595560e-01 1.83736005e-02 3.52609704e+02] [-2.13563052e-01 9.76922137e-01 -3.73646880e-03 -5.67098506e+01] [-1.87476702e-02 -2.74328631e-04 9.99824209e-01 -7.05457919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters 0.027855338393964806 Centerline is valid? [True, True] Translation: X:352.64, Y:-56.71, Z:-7.06 [[ 9.76626418e-01 2.14191494e-01 1.79678317e-02 3.52638039e+02] [-2.14160522e-01 9.76791649e-01 -3.65312829e-03 -5.67088918e+01] [-1.83332969e-02 -2.80258618e-04 9.99831892e-01 -7.05608443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234012739 meters 0.027299085146770395 Centerline is valid? [True, True] Translation: X:352.67, Y:-56.71, Z:-7.06 [[ 9.76620773e-01 2.14224550e-01 1.78803769e-02 3.52665911e+02] [-2.14193904e-01 9.76784400e-01 -3.63425299e-03 -5.67142700e+01] [-1.82438194e-02 -2.80580769e-04 9.99833528e-01 -7.05652117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters 0.02742398912802308 Centerline is valid? [True, True] Translation: X:352.69, Y:-56.72, Z:-7.06 [[ 9.76710472e-01 2.13821562e-01 1.78042912e-02 3.52693801e+02] [-2.13791125e-01 9.76872697e-01 -3.61795954e-03 -5.67182396e+01] [-1.81661237e-02 -2.72700454e-04 9.99834945e-01 -7.05689641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294012739 meters 0.025853922566141854 Centerline is valid? [True, True] Translation: X:352.72, Y:-56.72, Z:-7.06 [[ 9.77253571e-01 2.11363313e-01 1.73495984e-02 3.52721282e+02] [-2.11334041e-01 9.77407541e-01 -3.52454982e-03 -5.67245597e+01] [-1.77025889e-02 -2.22181848e-04 9.99843272e-01 -7.05819315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters 0.024196513873989786 Centerline is valid? [True, True] Translation: X:352.75, Y:-56.73, Z:-7.06 [[ 9.77683806e-01 2.09368559e-01 1.72968597e-02 3.52748849e+02] [-2.09339171e-01 9.77836782e-01 -3.51279474e-03 -5.67346220e+01] [-1.76489744e-02 -1.86507734e-04 9.99844227e-01 -7.05830557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354012739 meters 0.021790608421306434 Centerline is valid? [True, True] Translation: X:352.78, Y:-56.75, Z:-7.06 [[ 9.78575718e-01 2.05054383e-01 1.85004044e-02 3.52775305e+02] [-2.05020009e-01 9.78750574e-01 -3.75625089e-03 -5.67483371e+01] [-1.88775171e-02 -1.17177177e-04 9.99821797e-01 -7.05695000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters 0.02100115290699842 Centerline is valid? [True, True] Translation: X:352.80, Y:-56.76, Z:-7.06 [[ 9.78896417e-01 2.03441038e-01 1.93274082e-02 3.52804152e+02] [-2.03403222e-01 9.79087195e-01 -3.92343329e-03 -5.67568187e+01] [-1.97214052e-02 -9.06223178e-05 9.99805510e-01 -7.05628579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414012739 meters 0.020716069672743857 Centerline is valid? [True, True] Translation: X:352.83, Y:-56.76, Z:-7.06 [[ 9.79058544e-01 2.02575011e-01 2.01923951e-02 3.52833405e+02] [-2.02533561e-01 9.79266746e-01 -4.09852929e-03 -5.67640031e+01] [-2.06040006e-02 -7.69375522e-05 9.99787712e-01 -7.05536359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters 0.020997452723992265 Centerline is valid? [True, True] Translation: X:352.86, Y:-56.77, Z:-7.06 [[ 9.78871300e-01 2.03508551e-01 1.98808311e-02 3.52862530e+02] [-2.03468562e-01 9.79073164e-01 -4.03529018e-03 -5.67684315e+01] [-2.02860043e-02 -9.50943696e-05 9.99794213e-01 -7.05575095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474012739 meters 0.0215750195722911 Centerline is valid? [True, True] Translation: X:352.89, Y:-56.77, Z:-7.06 [[ 9.78576500e-01 2.04988707e-01 1.91745546e-02 3.52892228e+02] [-2.04951797e-01 9.78764331e-01 -3.89171928e-03 -5.67718151e+01] [-1.95651286e-02 -1.21514386e-04 9.99808577e-01 -7.05741758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters 0.02278691593584905 Centerline is valid? [True, True] Translation: X:352.92, Y:-56.77, Z:-7.06 [[ 9.78022030e-01 2.07763123e-01 1.75326691e-02 3.52921998e+02] [-2.07732716e-01 9.78179155e-01 -3.55809729e-03 -5.67739337e+01] [-1.78893328e-02 -1.62211448e-04 9.99839960e-01 -7.06010060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534012739 meters 0.023991534533888442 Centerline is valid? [True, True] Translation: X:352.95, Y:-56.78, Z:-7.06 [[ 9.77760042e-01 2.09016074e-01 1.72505434e-02 3.52951086e+02] [-2.08986840e-01 9.77912188e-01 -3.50044875e-03 -5.67760010e+01] [-1.76011667e-02 -1.82537622e-04 9.99845071e-01 -7.06099866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters 0.025679906371699663 Centerline is valid? [True, True] Translation: X:352.98, Y:-56.78, Z:-7.06 [[ 9.77186752e-01 2.11580651e-01 1.84304077e-02 3.52980318e+02] [-2.11547751e-01 9.77360511e-01 -3.73913758e-03 -5.67757091e+01] [-1.88042818e-02 -2.45075587e-04 9.99823154e-01 -7.05893117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594012739 meters 0.025679906371699663 Centerline is valid? [True, True] Translation: X:353.01, Y:-56.78, Z:-7.06 [[ 9.77196369e-01 2.11536213e-01 1.84305782e-02 3.53008099e+02] [-2.11503321e-01 9.77370130e-01 -3.73829698e-03 -5.67812517e+01] [-1.88042818e-02 -2.45078246e-04 9.99823154e-01 -7.05950649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters 0.026478484239477566 Centerline is valid? [True, True] Translation: X:353.04, Y:-56.78, Z:-7.06 [[ 9.76922493e-01 2.12729624e-01 1.91976424e-02 3.53037022e+02] [-2.12694185e-01 9.77111063e-01 -3.89293389e-03 -5.67840115e+01] [-1.95863711e-02 -2.80132217e-04 9.99808129e-01 -7.05831748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654012739 meters 0.027719086640534938 Centerline is valid? [True, True] Translation: X:353.07, Y:-56.78, Z:-7.06 [[ 9.76666303e-01 2.13824819e-01 2.00469250e-02 3.53065433e+02] [-2.13786426e-01 9.76871970e-01 -4.06415177e-03 -5.67832685e+01] [-2.04522957e-02 -3.16440376e-04 9.99790780e-01 -7.05833680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters 0.02820030328116648 Centerline is valid? [True, True] Translation: X:353.09, Y:-56.79, Z:-7.06 [[ 9.76670492e-01 2.13875841e-01 1.92840489e-02 3.53093440e+02] [-2.13840346e-01 9.76860804e-01 -3.90839099e-03 -5.67864236e+01] [-1.96737420e-02 -3.06497544e-04 9.99806406e-01 -7.06037327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714012739 meters 0.027530555481686234 Centerline is valid? [True, True] Translation: X:353.12, Y:-56.79, Z:-7.07 [[ 9.76969195e-01 2.12722692e-01 1.67406070e-02 3.53120912e+02] [-2.12695788e-01 9.77112581e-01 -3.39207478e-03 -5.67918879e+01] [-1.70790290e-02 -2.46704031e-04 9.99854112e-01 -7.06639437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters 0.02684757353002535 Centerline is valid? [True, True] Translation: X:353.15, Y:-56.80, Z:-7.07 [[ 9.77194826e-01 2.11744688e-01 1.59517562e-02 3.53148970e+02] [-2.11720145e-01 9.77324991e-01 -3.23131996e-03 -5.67991831e+01] [-1.62742649e-02 -2.19678993e-04 9.99867541e-01 -7.06844294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774012739 meters 0.024780644474705252 Centerline is valid? [True, True] Translation: X:353.18, Y:-56.81, Z:-7.07 [[ 9.77471891e-01 2.10417519e-01 1.65278800e-02 3.53176737e+02] [-2.10390995e-01 9.77611592e-01 -3.34720015e-03 -5.68100726e+01] [-1.68621567e-02 -2.05523062e-04 9.99857803e-01 -7.06798332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters 0.023796653715689176 Centerline is valid? [True, True] Translation: X:353.20, Y:-56.82, Z:-7.06 [[ 9.78038979e-01 2.07586143e-01 1.86480123e-02 3.53203559e+02] [-2.07551876e-01 9.78216725e-01 -3.77581752e-03 -5.68193800e+01] [-1.90256050e-02 -1.77533240e-04 9.99818981e-01 -7.06391263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834012739 meters 0.022986615268305425 Centerline is valid? [True, True] Translation: X:353.23, Y:-56.83, Z:-7.06 [[ 9.78214649e-01 2.06672024e-01 1.95646470e-02 3.53231506e+02] [-2.06634147e-01 9.78410265e-01 -3.96017411e-03 -5.68266439e+01] [-1.99607087e-02 -1.68823823e-04 9.99800751e-01 -7.06236439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters 0.02273720153689824 Centerline is valid? [True, True] Translation: X:353.26, Y:-56.83, Z:-7.06 [[ 9.78221871e-01 2.06630771e-01 1.96391445e-02 3.53259023e+02] [-2.06592616e-01 9.78418978e-01 -3.97434887e-03 -5.68335202e+01] [-2.00365345e-02 -1.69507254e-04 9.99799234e-01 -7.06285167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894012739 meters 0.02366266504384629 Centerline is valid? [True, True] Translation: X:353.29, Y:-56.84, Z:-7.07 [[ 9.78167586e-01 2.06937727e-01 1.91036732e-02 3.53286609e+02] [-2.06901699e-01 9.78354101e-01 -3.86511448e-03 -5.68376995e+01] [-1.94899951e-02 -1.71852752e-04 9.99810037e-01 -7.06506013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters 0.023714475683460953 Centerline is valid? [True, True] Translation: X:353.31, Y:-56.84, Z:-7.07 [[ 9.77991431e-01 2.07859804e-01 1.80848520e-02 3.53314755e+02] [-2.07827696e-01 9.78158611e-01 -3.65786169e-03 -5.68448932e+01] [-1.84501761e-02 -1.81175727e-04 9.99829765e-01 -7.06736965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954012739 meters 0.025391656734613143 Centerline is valid? [True, True] Translation: X:353.34, Y:-56.85, Z:-7.07 [[ 9.77572479e-01 2.09945208e-01 1.65848596e-02 3.53342193e+02] [-2.09918516e-01 9.77713132e-01 -3.35379752e-03 -5.68480678e+01] [-1.69193488e-02 -2.02888965e-04 9.99856837e-01 -7.06982441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters 0.02610499856740958 Centerline is valid? [True, True] Translation: X:353.37, Y:-56.85, Z:-7.07 [[ 9.77345599e-01 2.10982726e-01 1.67889526e-02 3.53370342e+02] [-2.10955544e-01 9.77489764e-01 -3.39405668e-03 -5.68519851e+01] [-1.71271167e-02 -2.24556281e-04 9.99853295e-01 -7.06962256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014012739 meters 0.02792674815581504 Centerline is valid? [True, True] Translation: X:353.40, Y:-56.85, Z:-7.07 [[ 9.76779820e-01 2.13405847e-01 1.89506693e-02 3.53399416e+02] [-2.13371694e-01 9.76963588e-01 -3.82979071e-03 -5.68546725e+01] [-1.93314136e-02 -3.02674138e-04 9.99813085e-01 -7.06501960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters 0.028511567973599262 Centerline is valid? [True, True] Translation: X:353.43, Y:-56.86, Z:-7.06 [[ 9.76525793e-01 2.14498703e-01 1.96896249e-02 3.53427362e+02] [-2.14462076e-01 9.76724215e-01 -3.97816846e-03 -5.68595413e+01] [-2.00846454e-02 -3.37893715e-04 9.99798226e-01 -7.06455238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074012739 meters 0.03095358243356652 Centerline is valid? [True, True] Translation: X:353.46, Y:-56.86, Z:-7.07 [[ 9.76189168e-01 2.16055306e-01 1.93600702e-02 3.53455323e+02] [-2.16020222e-01 9.76381059e-01 -3.91046149e-03 -5.68600137e+01] [-1.97476818e-02 -3.64816523e-04 9.99804929e-01 -7.06526752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters 0.029642956065425444 Centerline is valid? [True, True] Translation: X:353.48, Y:-56.87, Z:-7.07 [[ 9.76004277e-01 2.16873061e-01 1.95378119e-02 3.53483356e+02] [-2.16837521e-01 9.76199737e-01 -3.94501831e-03 -5.68666504e+01] [-1.99283751e-02 -3.86175959e-04 9.99801336e-01 -7.06575677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134012739 meters 0.02950545520090435 Centerline is valid? [True, True] Translation: X:353.51, Y:-56.87, Z:-7.07 [[ 9.75870824e-01 2.17439215e-01 1.99078678e-02 3.53511472e+02] [-2.17402453e-01 9.76073779e-01 -4.01875188e-03 -5.68716089e+01] [-2.03053820e-02 -4.06236601e-04 9.99793742e-01 -7.06551475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters 0.03367904483675768 Centerline is valid? [True, True] Translation: X:353.54, Y:-56.87, Z:-7.06 [[ 9.75632403e-01 2.18418338e-01 2.08529033e-02 3.53540525e+02] [-2.18378250e-01 9.75855127e-01 -4.20843263e-03 -5.68677921e+01] [-2.12686115e-02 -4.47937286e-04 9.99773697e-01 -7.06383328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194012739 meters 0.03193911222242613 Centerline is valid? [True, True] Translation: X:353.57, Y:-56.87, Z:-7.06 [[ 9.75602330e-01 2.18549583e-01 2.08847612e-02 3.53569113e+02] [-2.18509430e-01 9.75825740e-01 -4.21358388e-03 -5.68742117e+01] [-2.13007645e-02 -4.52735005e-04 9.99773010e-01 -7.06495032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters 0.03355316281078086 Centerline is valid? [True, True] Translation: X:353.60, Y:-56.87, Z:-7.07 [[ 9.75848955e-01 2.17599540e-01 1.92160552e-02 3.53596957e+02] [-2.17565380e-01 9.76038053e-01 -3.87608513e-03 -5.68743570e+01] [-1.95990355e-02 -3.98274723e-04 9.99807841e-01 -7.06905073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254012739 meters 0.029376996608006783 Centerline is valid? [True, True] Translation: X:353.62, Y:-56.89, Z:-7.07 [[ 9.76166792e-01 2.16212262e-01 1.87257243e-02 3.53624345e+02] [-2.16179591e-01 9.76346315e-01 -3.77594105e-03 -5.68855234e+01] [-1.90991966e-02 -3.62171167e-04 9.99817528e-01 -7.07052560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters 0.028483044989121315 Centerline is valid? [True, True] Translation: X:353.65, Y:-56.89, Z:-7.07 [[ 9.77002607e-01 2.12328115e-01 1.95621471e-02 3.53651473e+02] [-2.12291701e-01 9.77198384e-01 -3.94360498e-03 -5.68905414e+01] [-1.99534367e-02 -2.99969125e-04 9.99800865e-01 -7.06988349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314012739 meters 0.025943641955658986 Centerline is valid? [True, True] Translation: X:353.68, Y:-56.90, Z:-7.07 [[ 9.77450124e-01 2.10212165e-01 2.00524584e-02 3.53678947e+02] [-2.10173481e-01 9.77655755e-01 -4.04128629e-03 -5.69005279e+01] [-2.04539289e-02 -2.64339202e-04 9.99790762e-01 -7.06923289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters 0.024220676121974927 Centerline is valid? [True, True] Translation: X:353.71, Y:-56.91, Z:-7.07 [[ 9.77891077e-01 2.08150868e-01 2.00563811e-02 3.53706976e+02] [-2.08111754e-01 9.78096706e-01 -4.04115355e-03 -5.69097321e+01] [-2.04582499e-02 -2.22160651e-04 9.99790683e-01 -7.06988251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374012739 meters 0.021963960477220608 Centerline is valid? [True, True] Translation: X:353.73, Y:-56.92, Z:-7.07 [[ 9.78476964e-01 2.05449863e-01 1.93180005e-02 3.53733843e+02] [-2.05413062e-01 9.78667629e-01 -3.89173531e-03 -5.69220303e+01] [-1.97054582e-02 -1.60196293e-04 9.99805816e-01 -7.07164004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters 0.021744944097667085 Centerline is valid? [True, True] Translation: X:353.76, Y:-56.93, Z:-7.07 [[ 9.78639386e-01 2.04691508e-01 1.91399941e-02 3.53760779e+02] [-2.04655251e-01 9.78826525e-01 -3.85519800e-03 -5.69284838e+01] [-1.95238602e-02 -1.44251695e-04 9.99809381e-01 -7.07309441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434012739 meters 0.02174795363085311 Centerline is valid? [True, True] Translation: X:353.79, Y:-56.93, Z:-7.07 [[ 9.78697124e-01 2.04470441e-01 1.85412642e-02 3.53788245e+02] [-2.04436398e-01 9.78872729e-01 -3.73350370e-03 -5.69332478e+01] [-1.89129291e-02 -1.36539948e-04 9.99821125e-01 -7.07426721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters 0.022039269439331318 Centerline is valid? [True, True] Translation: X:353.82, Y:-56.94, Z:-7.08 [[ 9.78602395e-01 2.04995030e-01 1.77310209e-02 3.53816435e+02] [-2.04964003e-01 9.78763004e-01 -3.56930863e-03 -5.69373422e+01] [-1.80861579e-02 -1.41287050e-04 9.99836422e-01 -7.07589390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494012739 meters 0.022496867562870372 Centerline is valid? [True, True] Translation: X:353.84, Y:-56.94, Z:-7.08 [[ 9.78488543e-01 2.05578589e-01 1.72515324e-02 3.53844539e+02] [-2.05549321e-01 9.78640599e-01 -3.47199170e-03 -5.69418107e+01] [-1.75968172e-02 -1.48736679e-04 9.99845153e-01 -7.07763251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters 0.022880899082747166 Centerline is valid? [True, True] Translation: X:353.87, Y:-56.95, Z:-7.08 [[ 9.78409546e-01 2.05987310e-01 1.68519558e-02 3.53871422e+02] [-2.05959456e-01 9.78554651e-01 -3.39083062e-03 -5.69469074e+01] [-1.71890278e-02 -1.53198609e-04 9.99852246e-01 -7.07908235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55401273900003 meters 0.022663327956980586 Centerline is valid? [True, True] Translation: X:353.90, Y:-56.95, Z:-7.08 [[ 9.78481906e-01 2.05650144e-01 1.67683522e-02 3.53899215e+02] [-2.05622533e-01 9.78625565e-01 -3.37298727e-03 -5.69532639e+01] [-1.71035934e-02 -1.47544047e-04 9.99853712e-01 -7.07916472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters 0.022106655546801218 Centerline is valid? [True, True] Translation: X:353.93, Y:-56.96, Z:-7.08 [[ 9.78653362e-01 2.04724439e-01 1.80416598e-02 3.53926410e+02] [-2.04692336e-01 9.78819638e-01 -3.62822210e-03 -5.69597725e+01] [-1.84023166e-02 -1.42217730e-04 9.99830653e-01 -7.07759920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61401273900003 meters 0.02197777091193001 Centerline is valid? [True, True] Translation: X:353.95, Y:-56.97, Z:-7.08 [[ 9.78659880e-01 2.04640785e-01 1.86276309e-02 3.53954636e+02] [-2.04606568e-01 9.78837130e-01 -3.74492732e-03 -5.69652479e+01] [-1.89997817e-02 -1.46325520e-04 9.99819477e-01 -7.07710934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters 0.02238930141541065 Centerline is valid? [True, True] Translation: X:353.98, Y:-56.97, Z:-7.07 [[ 9.78487440e-01 2.05338439e-01 1.99613548e-02 3.53982526e+02] [-2.05299312e-01 9.78691011e-01 -4.01206839e-03 -5.69687272e+01] [-2.03598303e-02 -1.72293879e-04 9.99792702e-01 -7.07490216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.674012739 meters 0.022254161483205637 Centerline is valid? [True, True] Translation: X:354.01, Y:-56.97, Z:-7.07 [[ 9.78321274e-01 2.06083251e-01 2.04249749e-02 3.54011371e+02] [-2.06042472e-01 9.78534443e-01 -4.10405154e-03 -5.69739711e+01] [-2.08323177e-02 -1.93331392e-04 9.99782965e-01 -7.07411211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters 0.02339561081931152 Centerline is valid? [True, True] Translation: X:354.04, Y:-56.98, Z:-7.07 [[ 9.77996085e-01 2.07632112e-01 2.03116616e-02 3.54039752e+02] [-2.07592139e-01 9.78206959e-01 -4.08029700e-03 -5.69754429e+01] [-2.07162094e-02 -2.26026785e-04 9.99785371e-01 -7.07491232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734012739 meters 0.024339343125462237 Centerline is valid? [True, True] Translation: X:354.07, Y:-56.98, Z:-7.08 [[ 9.77878936e-01 2.08256721e-01 1.95429043e-02 3.54067611e+02] [-2.08219864e-01 9.78074171e-01 -3.92472958e-03 -5.69787131e+01] [-1.99317613e-02 -2.31310490e-04 9.99801316e-01 -7.07730445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters 0.025347947831456667 Centerline is valid? [True, True] Translation: X:354.10, Y:-56.98, Z:-7.08 [[ 9.77773871e-01 2.08797598e-01 1.90215897e-02 3.54095429e+02] [-2.08762805e-01 9.77958847e-01 -3.81893540e-03 -5.69824698e+01] [-1.93997164e-02 -2.36945171e-04 9.99811780e-01 -7.07838195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794012739 meters 0.024166838061276192 Centerline is valid? [True, True] Translation: X:354.12, Y:-56.99, Z:-7.08 [[ 9.77507591e-01 2.09862556e-01 2.08954073e-02 3.54123533e+02] [-2.09820840e-01 9.77730856e-01 -4.19383274e-03 -5.69915878e+01] [-2.13102129e-02 -2.84788583e-04 9.99772871e-01 -7.07529050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters 0.026322596641448495 Centerline is valid? [True, True] Translation: X:354.15, Y:-56.99, Z:-7.07 [[ 9.77500499e-01 2.09817762e-01 2.16628914e-02 3.54151902e+02] [-2.09772940e-01 9.77740466e-01 -4.34672021e-03 -5.69926364e+01] [-2.20927047e-02 -2.95367265e-04 9.99755883e-01 -7.07403813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854012739 meters 0.025879345310053533 Centerline is valid? [True, True] Translation: X:354.18, Y:-57.00, Z:-7.08 [[ 9.77708921e-01 2.08904724e-01 2.10732465e-02 3.54179367e+02] [-2.08862127e-01 9.77935961e-01 -4.22703195e-03 -5.69992373e+01] [-2.14913326e-02 -2.68596246e-04 9.99768999e-01 -7.07592318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters 0.024626301325583827 Centerline is valid? [True, True] Translation: X:354.21, Y:-57.01, Z:-7.08 [[ 9.77742342e-01 2.08828861e-01 2.02587944e-02 3.54207181e+02] [-2.08789502e-01 9.77952167e-01 -4.06243536e-03 -5.70078496e+01] [-2.06604856e-02 -2.57808544e-04 9.99786516e-01 -7.07797304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914012739 meters 0.02499133779483713 Centerline is valid? [True, True] Translation: X:354.24, Y:-57.01, Z:-7.08 [[ 9.77688992e-01 2.09127513e-01 1.97463334e-02 3.54235001e+02] [-2.09090200e-01 9.77888346e-01 -3.95876480e-03 -5.70131867e+01] [-2.01375959e-02 -2.58324035e-04 9.99797185e-01 -7.07967659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters 0.025313565851037202 Centerline is valid? [True, True] Translation: X:354.26, Y:-57.02, Z:-7.08 [[ 9.77413062e-01 2.10464196e-01 1.91970885e-02 3.54263037e+02] [-2.10429205e-01 9.77601526e-01 -3.84778484e-03 -5.70174118e+01] [-1.95769240e-02 -2.78752903e-04 9.99808315e-01 -7.08094178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974012739 meters 0.027165564134810586 Centerline is valid? [True, True] Translation: X:354.29, Y:-57.02, Z:-7.08 [[ 9.77233690e-01 2.11309073e-01 1.90470884e-02 3.54291471e+02] [-2.11274809e-01 9.77419249e-01 -3.81656380e-03 -5.70190619e+01] [-1.94234654e-02 -2.94495239e-04 9.99811303e-01 -7.08191959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters 0.027079524004605494 Centerline is valid? [True, True] Translation: X:354.32, Y:-57.02, Z:-7.08 [[ 9.77066218e-01 2.12151369e-01 1.82593112e-02 3.54320103e+02] [-2.12120048e-01 9.77236771e-01 -3.65763361e-03 -5.70248355e+01] [-1.86196423e-02 -2.99415722e-04 9.99826595e-01 -7.08368064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034012739 meters 0.026633506695497407 Centerline is valid? [True, True] Translation: X:354.35, Y:-57.03, Z:-7.09 [[ 9.77273117e-01 2.11234890e-01 1.78066302e-02 3.54346873e+02] [-2.11204965e-01 9.77435290e-01 -3.56614882e-03 -5.70305373e+01] [-1.81581238e-02 -2.75747336e-04 9.99835090e-01 -7.08524957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters 0.02488598319414283 Centerline is valid? [True, True] Translation: X:354.37, Y:-57.04, Z:-7.09 [[ 9.77867713e-01 2.08398549e-01 1.85682469e-02 3.54374147e+02] [-2.08365522e-01 9.78043961e-01 -3.71740685e-03 -5.70387096e+01] [-1.89352639e-02 -2.33850319e-04 9.99820684e-01 -7.08512567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094012739 meters 0.02323340204489172 Centerline is valid? [True, True] Translation: X:354.40, Y:-57.05, Z:-7.09 [[ 9.78257397e-01 2.06522793e-01 1.89947538e-02 3.54401108e+02] [-2.06487895e-01 9.78441769e-01 -3.80186730e-03 -5.70486595e+01] [-1.93704328e-02 -2.02981926e-04 9.99812355e-01 -7.08519919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters 0.022305834258525916 Centerline is valid? [True, True] Translation: X:354.43, Y:-57.06, Z:-7.09 [[ 9.78625890e-01 2.04784024e-01 1.88380212e-02 3.54428594e+02] [-2.04749395e-01 9.78807170e-01 -3.76960402e-03 -5.70578747e+01] [-1.92107449e-02 -1.68041361e-04 9.99815442e-01 -7.08648287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154012739 meters 0.02113439299116714 Centerline is valid? [True, True] Translation: X:354.46, Y:-57.07, Z:-7.09 [[ 9.79133118e-01 2.02471901e-01 1.74203003e-02 3.54455572e+02] [-2.02441936e-01 9.79288066e-01 -3.48514891e-03 -5.70681231e+01] [-1.77651369e-02 -1.14174603e-04 9.99842181e-01 -7.08941481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters 0.021290971334713336 Centerline is valid? [True, True] Translation: X:354.48, Y:-57.07, Z:-7.09 [[ 9.79129235e-01 2.02505609e-01 1.72458811e-02 3.54483086e+02] [-2.02476260e-01 9.79281096e-01 -3.44947152e-03 -5.70729692e+01] [-1.75871026e-02 -1.14403088e-04 9.99845328e-01 -7.09032716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214012739 meters 0.02224216231875446 Centerline is valid? [True, True] Translation: X:354.51, Y:-57.07, Z:-7.09 [[ 9.78795268e-01 2.04108298e-01 1.73097199e-02 3.54511432e+02] [-2.04079000e-01 9.78948304e-01 -3.46120705e-03 -5.70748043e+01] [-1.76517821e-02 -1.44737253e-04 9.99844185e-01 -7.09118795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters 0.022811523373601768 Centerline is valid? [True, True] Translation: X:354.54, Y:-57.08, Z:-7.09 [[ 9.78584193e-01 2.05094313e-01 1.75869335e-02 3.54539763e+02] [-2.05064248e-01 9.78742200e-01 -3.51555892e-03 -5.70787836e+01] [-1.79340952e-02 -1.66180908e-04 9.99839157e-01 -7.09093843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274012739 meters 0.023575814114034015 Centerline is valid? [True, True] Translation: X:354.57, Y:-57.08, Z:-7.09 [[ 9.78370995e-01 2.06074164e-01 1.79898647e-02 3.54568825e+02] [-2.06042887e-01 9.78536358e-01 -3.59524202e-03 -5.70829365e+01] [-1.83446232e-02 -1.89203146e-04 9.99831705e-01 -7.09048484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters 0.02481768347144354 Centerline is valid? [True, True] Translation: X:354.60, Y:-57.08, Z:-7.09 [[ 9.78002182e-01 2.07776332e-01 1.84588175e-02 3.54597232e+02] [-2.07743722e-01 9.78176336e-01 -3.68809513e-03 -5.70847403e+01] [-1.88222773e-02 -2.27738365e-04 9.99822819e-01 -7.08943131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334012739 meters 0.025011223753562677 Centerline is valid? [True, True] Translation: X:354.63, Y:-57.09, Z:-7.09 [[ 9.77929489e-01 2.08108537e-01 1.85674762e-02 3.54625986e+02] [-2.08075622e-01 9.78105710e-01 -3.70870586e-03 -5.70895662e+01] [-1.89327679e-02 -2.36586341e-04 9.99820731e-01 -7.09039961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters 0.025420936357699826 Centerline is valid? [True, True] Translation: X:354.65, Y:-57.09, Z:-7.09 [[ 9.77945528e-01 2.08068660e-01 1.81652741e-02 3.54653465e+02] [-2.08037164e-01 9.78114195e-01 -3.62756875e-03 -5.70935906e+01] [-1.85224959e-02 -2.31487473e-04 9.99828417e-01 -7.09190856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394012739 meters 0.02513814590050614 Centerline is valid? [True, True] Translation: X:354.68, Y:-57.10, Z:-7.09 [[ 9.77997835e-01 2.07861792e-01 1.77118524e-02 3.54681490e+02] [-2.07831836e-01 9.78158180e-01 -3.53589998e-03 -5.70994945e+01] [-1.80599718e-02 -2.22984280e-04 9.99836881e-01 -7.09280762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters 0.024708201891564512 Centerline is valid? [True, True] Translation: X:354.71, Y:-57.11, Z:-7.09 [[ 9.78047152e-01 2.07626190e-01 1.77520220e-02 3.54709967e+02] [-2.07596073e-01 9.78208218e-01 -3.54310071e-03 -5.71050039e+01] [-1.81008143e-02 -2.19930492e-04 9.99836143e-01 -7.09342791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454012739 meters 0.02630073325666726 Centerline is valid? [True, True] Translation: X:354.74, Y:-57.10, Z:-7.09 [[ 9.77827802e-01 2.08601202e-01 1.83936945e-02 3.54738199e+02] [-2.08569057e-01 9.78000755e-01 -3.67029212e-03 -5.71049195e+01] [-1.87546744e-02 -2.47441837e-04 9.99824085e-01 -7.09272190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters 0.02630073325666726 Centerline is valid? [True, True] Translation: X:354.77, Y:-57.11, Z:-7.09 [[ 9.77841354e-01 2.08537648e-01 1.83938981e-02 3.54765188e+02] [-2.08505511e-01 9.78014309e-01 -3.66927139e-03 -5.71101596e+01] [-1.87546768e-02 -2.47263819e-04 9.99824085e-01 -7.09328027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514012739 meters 0.026336963306435295 Centerline is valid? [True, True] Translation: X:354.79, Y:-57.11, Z:-7.09 [[ 9.77778543e-01 2.08826461e-01 1.84561877e-02 3.54794153e+02] [-2.08794182e-01 9.77952680e-01 -3.68041330e-03 -5.71144860e+01] [-1.88178459e-02 -2.54915458e-04 9.99822896e-01 -7.09372058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters 0.026665817879521967 Centerline is valid? [True, True] Translation: X:354.82, Y:-57.12, Z:-7.09 [[ 9.77811621e-01 2.08670947e-01 1.84626408e-02 3.54821851e+02] [-2.08638633e-01 9.77985875e-01 -3.68087530e-03 -5.71175090e+01] [-1.88242937e-02 -2.52817485e-04 9.99822775e-01 -7.09456416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574012739 meters 0.025978381982883693 Centerline is valid? [True, True] Translation: X:354.85, Y:-57.12, Z:-7.10 [[ 9.77926993e-01 2.08138984e-01 1.83564642e-02 3.54850551e+02] [-2.08106967e-01 9.78099230e-01 -3.65865906e-03 -5.71231641e+01] [-1.87159531e-02 -2.42206624e-04 9.99824812e-01 -7.09575704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters 0.02536458845810468 Centerline is valid? [True, True] Translation: X:354.88, Y:-57.13, Z:-7.10 [[ 9.78090456e-01 2.07390450e-01 1.81179633e-02 3.54879142e+02] [-2.07359146e-01 9.78258223e-01 -3.61031724e-03 -5.71287671e+01] [-1.84727919e-02 -2.25708574e-04 9.99829338e-01 -7.09696466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634012739 meters 0.02435813990641291 Centerline is valid? [True, True] Translation: X:354.91, Y:-57.14, Z:-7.10 [[ 9.78408172e-01 2.05893434e-01 1.80372769e-02 3.54905874e+02] [-2.05862168e-01 9.78574399e-01 -3.59344757e-03 -5.71357250e+01] [-1.83906847e-02 -1.97334468e-04 9.99830858e-01 -7.09774917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters 0.023897931666711322 Centerline is valid? [True, True] Translation: X:354.93, Y:-57.14, Z:-7.10 [[ 9.78547439e-01 2.05228411e-01 1.80612441e-02 3.54934483e+02] [-2.05196968e-01 9.78714087e-01 -3.59718181e-03 -5.71417657e+01] [-1.84150380e-02 -1.86099489e-04 9.99830411e-01 -7.09828334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694012739 meters 0.02322919349363867 Centerline is valid? [True, True] Translation: X:354.96, Y:-57.15, Z:-7.10 [[ 9.78740799e-01 2.04334724e-01 1.77135062e-02 3.54962730e+02] [-2.04304348e-01 9.78901064e-01 -3.52715371e-03 -5.71472930e+01] [-1.80604900e-02 -1.66777093e-04 9.99836882e-01 -7.09932185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters 0.02207355796485767 Centerline is valid? [True, True] Translation: X:354.99, Y:-57.16, Z:-7.10 [[ 9.78830557e-01 2.03923984e-01 1.74856696e-02 3.54990418e+02] [-2.03894332e-01 9.78986713e-01 -3.48102631e-03 -5.71556695e+01] [-1.78281029e-02 -1.57893989e-04 9.99841054e-01 -7.09968067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754012739 meters 0.021978703735691628 Centerline is valid? [True, True] Translation: X:355.02, Y:-57.16, Z:-7.10 [[ 9.78796076e-01 2.04066526e-01 1.77509216e-02 3.55018603e+02] [-2.04036007e-01 9.78957009e-01 -3.53293911e-03 -5.71623128e+01] [-1.80983437e-02 -1.63800222e-04 9.99836198e-01 -7.10025811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters 0.023916336810570454 Centerline is valid? [True, True] Translation: X:355.05, Y:-57.16, Z:-7.10 [[ 9.78313371e-01 2.06301524e-01 1.85102502e-02 3.55047337e+02] [-2.06268756e-01 9.78488444e-01 -3.68310328e-03 -5.71618754e+01] [-1.88718958e-02 -2.14857112e-04 9.99821887e-01 -7.09921905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814012739 meters 0.024891116055525343 Centerline is valid? [True, True] Translation: X:355.08, Y:-57.16, Z:-7.10 [[ 9.77899158e-01 2.08227810e-01 1.88259407e-02 3.55076222e+02] [-2.08194295e-01 9.78080320e-01 -3.74469658e-03 -5.71634420e+01] [-1.91930321e-02 -2.57517825e-04 9.99815764e-01 -7.09874085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters 0.03133527787668008 Centerline is valid? [True, True] Translation: X:355.11, Y:-57.15, Z:-7.10 [[ 9.77215868e-01 2.11407941e-01 1.88634363e-02 3.55106299e+02] [-2.11374902e-01 9.77397861e-01 -3.75124236e-03 -5.71542135e+01] [-1.92301247e-02 -3.21483440e-04 9.99815032e-01 -7.10007691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874012739 meters 0.02728477373719512 Centerline is valid? [True, True] Translation: X:355.13, Y:-57.17, Z:-7.10 [[ 9.77119356e-01 2.11866074e-01 1.87224419e-02 3.55133161e+02] [-2.11833633e-01 9.77298654e-01 -3.72206094e-03 -5.71650522e+01] [-1.90859957e-02 -3.29145098e-04 9.99817792e-01 -7.10001265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters 0.03156700826535598 Centerline is valid? [True, True] Translation: X:355.16, Y:-57.16, Z:-7.10 [[ 9.77209237e-01 2.11457101e-01 1.86548281e-02 3.55161637e+02] [-2.11424836e-01 9.77387227e-01 -3.70771381e-03 -5.71621875e+01] [-1.90170131e-02 -3.20881780e-04 9.99819109e-01 -7.10160806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934012739 meters 0.026796190612407258 Centerline is valid? [True, True] Translation: X:355.19, Y:-57.17, Z:-7.10 [[ 9.77426376e-01 2.10446688e-01 1.87048255e-02 3.55188780e+02] [-2.10414088e-01 9.77605288e-01 -3.71647813e-03 -5.71740747e+01] [-1.90680568e-02 -3.03175035e-04 9.99818142e-01 -7.10190705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters 0.02547487512224539 Centerline is valid? [True, True] Translation: X:355.22, Y:-57.18, Z:-7.10 [[ 9.78013979e-01 2.07673292e-01 1.89858051e-02 3.55216728e+02] [-2.07639200e-01 9.78198211e-01 -3.77137228e-03 -5.71790279e+01] [-1.93550939e-02 -2.53742558e-04 9.99812640e-01 -7.10192369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994012739 meters 0.023533374511385114 Centerline is valid? [True, True] Translation: X:355.24, Y:-57.19, Z:-7.10 [[ 9.78316172e-01 2.06208182e-01 1.93818059e-02 3.55244343e+02] [-2.06172384e-01 9.78508116e-01 -3.84908417e-03 -5.71869778e+01] [-1.97589670e-02 -2.30371832e-04 9.99804746e-01 -7.10133264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters 0.022120784069794786 Centerline is valid? [True, True] Translation: X:355.27, Y:-57.19, Z:-7.10 [[ 9.78854258e-01 2.03602673e-01 1.97558456e-02 3.55272166e+02] [-2.03564969e-01 9.79053583e-01 -3.92238490e-03 -5.71926357e+01] [-2.01406395e-02 -1.82154927e-04 9.99797140e-01 -7.10075233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05401273900003 meters 0.02134063233692844 Centerline is valid? [True, True] Translation: X:355.30, Y:-57.20, Z:-7.10 [[ 9.79104195e-01 2.02406173e-01 1.96650861e-02 3.55300294e+02] [-2.02368592e-01 9.79301647e-01 -3.90341592e-03 -5.71987702e+01] [-2.00481267e-02 -1.57744890e-04 9.99799004e-01 -7.10173422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters 0.021186542800348075 Centerline is valid? [True, True] Translation: X:355.33, Y:-57.20, Z:-7.10 [[ 9.79281932e-01 2.01610584e-01 1.89754943e-02 3.55327532e+02] [-2.01575461e-01 9.79465749e-01 -3.76564729e-03 -5.72039197e+01] [-1.93450411e-02 -1.37363658e-04 9.99812858e-01 -7.10394633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11401273900003 meters 0.02077285748968648 Centerline is valid? [True, True] Translation: X:355.36, Y:-57.21, Z:-7.11 [[ 9.79601257e-01 2.00195538e-01 1.74104674e-02 3.55355365e+02] [-2.00165764e-01 9.79755958e-01 -3.45407377e-03 -5.72110928e+01] [-1.77494993e-02 -1.01364510e-04 9.99842460e-01 -7.10825047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters 0.020330674653787805 Centerline is valid? [True, True] Translation: X:355.38, Y:-57.22, Z:-7.11 [[ 9.79870916e-01 1.98872445e-01 1.73994061e-02 3.55383657e+02] [-1.98842516e-01 9.80025379e-01 -3.45102722e-03 -5.72176560e+01] [-1.77381737e-02 -7.81804628e-05 9.99842663e-01 -7.10871561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.174012739 meters 0.01986771603362398 Centerline is valid? [True, True] Translation: X:355.41, Y:-57.22, Z:-7.11 [[ 9.80211133e-01 1.97118810e-01 1.81744222e-02 3.55411016e+02] [-1.97085870e-01 9.80379606e-01 -3.60383311e-03 -5.72242249e+01] [-1.85282161e-02 -4.94044625e-05 9.99828337e-01 -7.10768317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters 0.019615864420829604 Centerline is valid? [True, True] Translation: X:355.44, Y:-57.24, Z:-7.11 [[ 9.81102175e-01 1.92497983e-01 1.95716213e-02 3.55436892e+02] [-1.92458889e-01 9.81297368e-01 -3.87959817e-03 -5.72356208e+01] [-1.99523953e-02 3.95497271e-05 9.99800930e-01 -7.10569940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234012739 meters 0.020377090274440762 Centerline is valid? [True, True] Translation: X:355.46, Y:-57.25, Z:-7.11 [[ 9.81671069e-01 1.89551876e-01 1.97989391e-02 3.55463911e+02] [-1.89511293e-01 9.81870703e-01 -3.92341626e-03 -5.72459778e+01] [-2.01836891e-02 9.93816835e-05 9.99796284e-01 -7.10647026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters 0.023603541383834057 Centerline is valid? [True, True] Translation: X:355.49, Y:-57.26, Z:-7.11 [[ 9.82739754e-01 1.83946247e-01 1.96558886e-02 3.55490596e+02] [-1.83905146e-01 9.82936281e-01 -3.89412397e-03 -5.72628156e+01] [-2.00367955e-02 2.12091375e-04 9.99799221e-01 -7.10799803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294012739 meters 0.024824185935332102 Centerline is valid? [True, True] Translation: X:355.52, Y:-57.27, Z:-7.11 [[ 9.83184784e-01 1.81565890e-01 1.95322420e-02 3.55519969e+02] [-1.81524839e-01 9.83378747e-01 -3.86939255e-03 -5.72725311e+01] [-1.99101414e-02 2.58740782e-04 9.99801740e-01 -7.10845940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters 0.026095051328895134 Centerline is valid? [True, True] Translation: X:355.55, Y:-57.28, Z:-7.11 [[ 9.83607897e-01 1.79262688e-01 1.95036687e-02 3.55549597e+02] [-1.79221304e-01 9.83801197e-01 -3.86372706e-03 -5.72819661e+01] [-1.98803547e-02 3.04919506e-04 9.99802320e-01 -7.10885337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354012739 meters 0.02902888094886628 Centerline is valid? [True, True] Translation: X:355.58, Y:-57.30, Z:-7.11 [[ 9.84164483e-01 1.76216692e-01 1.91819589e-02 3.55578919e+02] [-1.76176080e-01 9.84351333e-01 -3.80016913e-03 -5.72954347e+01] [-1.95514401e-02 3.60589149e-04 9.99808787e-01 -7.11025603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters 0.030199002638104648 Centerline is valid? [True, True] Translation: X:355.61, Y:-57.31, Z:-7.11 [[ 9.84287978e-01 1.75652040e-01 1.79871561e-02 3.55608444e+02] [-1.75616212e-01 9.84452253e-01 -3.56477447e-03 -5.73054228e+01] [-1.83336562e-02 3.49928442e-04 9.99831863e-01 -7.11337776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414012739 meters 0.03149399816223571 Centerline is valid? [True, True] Translation: X:355.64, Y:-57.32, Z:-7.12 [[ 9.84378727e-01 1.75373280e-01 1.55799200e-02 3.55637805e+02] [-1.75346334e-01 9.84501964e-01 -3.08972523e-03 -5.73165515e+01] [-1.58803171e-02 3.09577934e-04 9.99873852e-01 -7.11822974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters 0.031033647384947856 Centerline is valid? [True, True] Translation: X:355.67, Y:-57.32, Z:-7.12 [[ 9.84343874e-01 1.75531481e-01 1.59948894e-02 3.55668161e+02] [-1.75503052e-01 9.84473767e-01 -3.17502665e-03 -5.73232769e+01] [-1.63038661e-02 3.18166137e-04 9.99867033e-01 -7.11848408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474012739 meters 0.02922908371030764 Centerline is valid? [True, True] Translation: X:355.70, Y:-57.33, Z:-7.12 [[ 9.84212673e-01 1.76148871e-01 1.72333674e-02 3.55699386e+02] [-1.76115956e-01 9.84363482e-01 -3.42130226e-03 -5.73283951e+01] [-1.75665561e-02 3.32218063e-04 9.99845641e-01 -7.11610770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters 0.027345476188547563 Centerline is valid? [True, True] Translation: X:355.73, Y:-57.33, Z:-7.11 [[ 9.83824842e-01 1.78087446e-01 1.93272507e-02 3.55729979e+02] [-1.78046408e-01 9.84014609e-01 -3.83751874e-03 -5.73340629e+01] [-1.97017109e-02 3.34298696e-04 9.99805847e-01 -7.11228402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534012739 meters 0.02754654339237667 Centerline is valid? [True, True] Translation: X:355.76, Y:-57.34, Z:-7.11 [[ 9.83541186e-01 1.79654712e-01 1.92593002e-02 3.55760281e+02] [-1.79614255e-01 9.83729685e-01 -3.82444280e-03 -5.73416213e+01] [-1.96330245e-02 3.02252156e-04 9.99807208e-01 -7.11307113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters 0.024413380332584986 Centerline is valid? [True, True] Translation: X:355.79, Y:-57.34, Z:-7.12 [[ 9.82958076e-01 1.82903556e-01 1.84312542e-02 3.55791479e+02] [-1.82867040e-01 9.83130834e-01 -3.66181089e-03 -5.73437728e+01] [-1.87900925e-02 2.28937698e-04 9.99823424e-01 -7.11582386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594012739 meters 0.02332232246140592 Centerline is valid? [True, True] Translation: X:355.82, Y:-57.35, Z:-7.12 [[ 9.82698908e-01 1.84314353e-01 1.81954495e-02 3.55821364e+02] [-1.84278999e-01 9.82867325e-01 -3.61542503e-03 -5.73481621e+01] [-1.85500875e-02 1.99835008e-04 9.99827912e-01 -7.11725415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters 0.022729307200715036 Centerline is valid? [True, True] Translation: X:355.85, Y:-57.35, Z:-7.12 [[ 9.82552677e-01 1.85112030e-01 1.79936761e-02 3.55851520e+02] [-1.85077589e-01 9.82717408e-01 -3.57533277e-03 -5.73540394e+01] [-1.83445358e-02 1.82726599e-04 9.99831708e-01 -7.11867253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654012739 meters 0.02317911497938617 Centerline is valid? [True, True] Translation: X:355.88, Y:-57.36, Z:-7.12 [[ 9.82566805e-01 1.85066167e-01 1.76914437e-02 3.55880840e+02] [-1.85032866e-01 9.82726046e-01 -3.51525294e-03 -5.73643689e+01] [-1.80363969e-02 1.80472310e-04 9.99837315e-01 -7.11957828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters 0.023421541388630108 Centerline is valid? [True, True] Translation: X:355.91, Y:-57.37, Z:-7.12 [[ 9.82670500e-01 1.84471039e-01 1.81417509e-02 3.55910791e+02] [-1.84435917e-01 9.82837930e-01 -3.60492927e-03 -5.73738781e+01] [-1.84954060e-02 1.96467175e-04 9.99828926e-01 -7.11943176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714012739 meters 0.024757811257640247 Centerline is valid? [True, True] Translation: X:355.94, Y:-57.39, Z:-7.12 [[ 9.82957042e-01 1.82787047e-01 1.96048407e-02 3.55940028e+02] [-1.82745686e-01 9.83152498e-01 -3.89611354e-03 -5.73885871e+01] [-1.99867072e-02 2.47012164e-04 9.99800215e-01 -7.11656392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters 0.025121224897971344 Centerline is valid? [True, True] Translation: X:355.97, Y:-57.40, Z:-7.12 [[ 9.83040303e-01 1.82257642e-01 2.03448964e-02 3.55970372e+02] [-1.82212920e-01 9.83250771e-01 -4.04636417e-03 -5.73987528e+01] [-2.07416158e-02 2.70636088e-04 9.99784833e-01 -7.11579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774012739 meters 0.0254167105174813 Centerline is valid? [True, True] Translation: X:356.00, Y:-57.41, Z:-7.12 [[ 9.83080674e-01 1.81970566e-01 2.09547556e-02 3.56001457e+02] [-1.81922982e-01 9.83303936e-01 -4.17117770e-03 -5.74091149e+01] [-2.13639253e-02 2.88452550e-04 9.99771724e-01 -7.11588716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters 0.025369190563080766 Centerline is valid? [True, True] Translation: X:356.03, Y:-57.42, Z:-7.12 [[ 9.82985921e-01 1.82635159e-01 1.95723532e-02 3.56030781e+02] [-1.82593714e-01 9.83180722e-01 -3.89922083e-03 -5.74202831e+01] [-1.99552952e-02 2.59090515e-04 9.99800840e-01 -7.11932991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834012739 meters 0.024052491280969694 Centerline is valid? [True, True] Translation: X:356.06, Y:-57.43, Z:-7.12 [[ 9.82650343e-01 1.84527392e-01 1.86532763e-02 3.56062498e+02] [-1.84490060e-01 9.82827348e-01 -3.71766372e-03 -5.74265427e+01] [-1.90189609e-02 2.11819456e-04 9.99819101e-01 -7.12196772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters 0.02221998715561815 Centerline is valid? [True, True] Translation: X:356.09, Y:-57.43, Z:-7.12 [[ 9.82113789e-01 1.87409906e-01 1.81668276e-02 3.56093325e+02] [-1.87374932e-01 9.82281784e-01 -3.62376966e-03 -5.74310311e+01] [-1.85240742e-02 1.54946064e-04 9.99828403e-01 -7.12351266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894012739 meters 0.019692158904396205 Centerline is valid? [True, True] Translation: X:356.12, Y:-57.43, Z:-7.13 [[ 9.80647560e-01 1.95135301e-01 1.58927086e-02 3.56124005e+02] [-1.95109538e-01 9.80776332e-01 -3.17079382e-03 -5.74285183e+01] [-1.62059262e-02 8.61219861e-06 9.99868675e-01 -7.12722474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters 0.02070230085063061 Centerline is valid? [True, True] Translation: X:356.15, Y:-57.43, Z:-7.13 [[ 9.79698937e-01 1.99891718e-01 1.52739681e-02 3.56153094e+02] [-1.99868498e-01 9.79817992e-01 -3.04739106e-03 -5.74270031e+01] [-1.55748570e-02 -6.72592900e-05 9.99878702e-01 -7.12911288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954012739 meters 0.02844383873774403 Centerline is valid? [True, True] Translation: X:356.19, Y:-57.41, Z:-7.13 [[ 9.77423343e-01 2.10711129e-01 1.56342381e-02 3.56186064e+02] [-2.10688200e-01 9.77548341e-01 -3.11816264e-03 -5.74137795e+01] [-1.59402551e-02 -2.46184527e-04 9.99872916e-01 -7.12866120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters 0.03406013387596128 Centerline is valid? [True, True] Translation: X:356.22, Y:-57.41, Z:-7.13 [[ 9.76278135e-01 2.15913570e-01 1.61967014e-02 3.56215667e+02] [-2.15889677e-01 9.76412419e-01 -3.23029627e-03 -5.74086585e+01] [-1.65121252e-02 -3.43033010e-04 9.99863607e-01 -7.12862262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014012739 meters 0.03999615369821087 Centerline is valid? [True, True] Translation: X:356.25, Y:-57.40, Z:-7.13 [[ 9.75144621e-01 2.20920219e-01 1.69476902e-02 3.56246179e+02] [-2.20894830e-01 9.75291780e-01 -3.37909742e-03 -5.74038170e+01] [-1.72754539e-02 -4.48548478e-04 9.99850668e-01 -7.12805607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters 0.04556128539342613 Centerline is valid? [True, True] Translation: X:356.28, Y:-57.40, Z:-7.13 [[ 9.73114161e-01 2.29566494e-01 1.86562293e-02 3.56278999e+02] [-2.29537321e-01 9.73292754e-01 -3.71926547e-03 -5.73965918e+01] [-1.90117915e-02 -6.63030992e-04 9.99819040e-01 -7.12502203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074012739 meters 0.050171926731608016 Centerline is valid? [True, True] Translation: X:356.31, Y:-57.39, Z:-7.12 [[ 9.72185079e-01 2.33432175e-01 1.91204382e-02 3.56309736e+02] [-2.33402277e-01 9.72372792e-01 -3.81184995e-03 -5.73921695e+01] [-1.94820023e-02 -7.56930164e-04 9.99809921e-01 -7.12484687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters 0.05249812684382676 Centerline is valid? [True, True] Translation: X:356.34, Y:-57.39, Z:-7.13 [[ 9.71408660e-01 2.36692163e-01 1.84941992e-02 3.56341198e+02] [-2.36664789e-01 9.71584369e-01 -3.68655196e-03 -5.73903086e+01] [-1.88412529e-02 -7.95777266e-04 9.99822171e-01 -7.12690306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134012739 meters 0.05689479907290568 Centerline is valid? [True, True] Translation: X:356.37, Y:-57.38, Z:-7.13 [[ 9.70640469e-01 2.39948289e-01 1.67898187e-02 3.56373090e+02] [-2.39926214e-01 9.70785358e-01 -3.34684977e-03 -5.73801734e+01] [-1.71023810e-02 -7.79729799e-04 9.99853440e-01 -7.13118058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters 0.05718793133095022 Centerline is valid? [True, True] Translation: X:356.40, Y:-57.38, Z:-7.13 [[ 9.70772876e-01 2.39358303e-01 1.75392538e-02 3.56401577e+02] [-2.39334119e-01 9.70930974e-01 -3.49610280e-03 -5.73807682e+01] [-1.78662260e-02 -8.03820091e-04 9.99840063e-01 -7.13005606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194012739 meters 0.05318577332959719 Centerline is valid? [True, True] Translation: X:356.43, Y:-57.38, Z:-7.12 [[ 9.71679768e-01 2.35361757e-01 2.10540111e-02 3.56431496e+02] [-2.35326002e-01 9.71907440e-01 -4.19529022e-03 -5.73836434e+01] [-2.14499609e-02 -8.78077622e-04 9.99769538e-01 -7.12379034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters 0.0519232605038758 Centerline is valid? [True, True] Translation: X:356.46, Y:-57.39, Z:-7.12 [[ 9.72213838e-01 2.33082519e-01 2.17437809e-02 3.56460694e+02] [-2.33043821e-01 9.72456584e-01 -4.33237486e-03 -5.73866724e+01] [-2.21546837e-02 -8.55258985e-04 9.99754189e-01 -7.12373418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254012739 meters 0.04914628009297638 Centerline is valid? [True, True] Translation: X:356.49, Y:-57.39, Z:-7.13 [[ 9.72732090e-01 2.30993821e-01 2.08359311e-02 3.56489679e+02] [-2.30957818e-01 9.72954909e-01 -4.15102969e-03 -5.73917652e+01] [-2.12312837e-02 -7.74381397e-04 9.99774291e-01 -7.12571803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters 0.04326219585517102 Centerline is valid? [True, True] Translation: X:356.52, Y:-57.40, Z:-7.13 [[ 9.73478227e-01 2.28064948e-01 1.80698902e-02 3.56518592e+02] [-2.28037373e-01 9.73645726e-01 -3.59959338e-03 -5.73979056e+01] [-1.84146124e-02 -6.16484511e-04 9.99830247e-01 -7.13175729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314012739 meters 0.045632487476533756 Centerline is valid? [True, True] Translation: X:356.55, Y:-57.40, Z:-7.13 [[ 9.73717233e-01 2.27100987e-01 1.73173734e-02 3.56546814e+02] [-2.27075510e-01 9.73871045e-01 -3.44961645e-03 -5.73969083e+01] [-1.76482998e-02 -5.73400399e-04 9.99844092e-01 -7.13384441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters 0.039929830220663175 Centerline is valid? [True, True] Translation: X:356.58, Y:-57.40, Z:-7.13 [[ 9.74130716e-01 2.25272758e-01 1.79313387e-02 3.56575159e+02] [-2.25245152e-01 9.74295577e-01 -3.57084930e-03 -5.74047058e+01] [-1.82748390e-02 -5.60473115e-04 9.99832844e-01 -7.13274577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374012739 meters 0.03780350466651707 Centerline is valid? [True, True] Translation: X:356.60, Y:-57.41, Z:-7.13 [[ 9.74407529e-01 2.24029995e-01 1.84534442e-02 3.56603885e+02] [-2.24000566e-01 9.74582092e-01 -3.67321243e-03 -5.74109825e+01] [-1.88073060e-02 -5.54376096e-04 9.99822973e-01 -7.13240779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters 0.03780350466651707 Centerline is valid? [True, True] Translation: X:356.63, Y:-57.42, Z:-7.13 [[ 9.74423463e-01 2.23960668e-01 1.84535644e-02 3.56630879e+02] [-2.23931238e-01 9.74598026e-01 -3.67260830e-03 -5.74162215e+01] [-1.88073273e-02 -5.53653830e-04 9.99822973e-01 -7.13296631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434012739 meters 0.0387088756522058 Centerline is valid? [True, True] Translation: X:356.66, Y:-57.42, Z:-7.13 [[ 9.74749110e-01 2.22509625e-01 1.88052796e-02 3.56658865e+02] [-2.22478820e-01 9.74930345e-01 -3.74117322e-03 -5.74186611e+01] [-1.91662848e-02 -5.37071144e-04 9.99816166e-01 -7.13256158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters 0.03771007775420721 Centerline is valid? [True, True] Translation: X:356.69, Y:-57.42, Z:-7.13 [[ 9.75517395e-01 2.19120335e-01 1.87640681e-02 3.56687576e+02] [-2.19089061e-01 9.75697728e-01 -3.73178306e-03 -5.74238981e+01] [-1.91257682e-02 -4.70582762e-04 9.99816975e-01 -7.13402724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494012739 meters 0.032749239147062834 Centerline is valid? [True, True] Translation: X:356.71, Y:-57.44, Z:-7.14 [[ 9.75838888e-01 2.17715455e-01 1.83968983e-02 3.56714493e+02] [-2.17685150e-01 9.76012188e-01 -3.65837406e-03 -5.74354653e+01] [-1.87520815e-02 -4.34747894e-04 9.99824070e-01 -7.13515182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters 0.032241329877209145 Centerline is valid? [True, True] Translation: X:356.74, Y:-57.44, Z:-7.14 [[ 9.76125587e-01 2.16458972e-01 1.80097707e-02 3.56742093e+02] [-2.16429731e-01 9.76291632e-01 -3.58055403e-03 -5.74400619e+01] [-1.83578314e-02 -4.02779417e-04 9.99831400e-01 -7.13595607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55401273900003 meters 0.031092132954557428 Centerline is valid? [True, True] Translation: X:356.77, Y:-57.44, Z:-7.14 [[ 9.76328605e-01 2.15483557e-01 1.86893561e-02 3.56770770e+02] [-2.15451912e-01 9.76507387e-01 -3.71446399e-03 -5.74440261e+01] [-1.90507002e-02 -4.00120050e-04 9.99818439e-01 -7.13584445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters 0.030453949211861238 Centerline is valid? [True, True] Translation: X:356.80, Y:-57.45, Z:-7.14 [[ 9.76423184e-01 2.15076742e-01 1.84325916e-02 3.56799004e+02] [-2.15045904e-01 9.76597074e-01 -3.66254841e-03 -5.74486024e+01] [-1.87889440e-02 -3.87656132e-04 9.99823397e-01 -7.13650734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61401273900003 meters 0.030212182374218247 Centerline is valid? [True, True] Translation: X:356.83, Y:-57.45, Z:-7.14 [[ 9.76630109e-01 2.14227613e-01 1.73251369e-02 3.56826284e+02] [-2.14200250e-01 9.76783706e-01 -3.44173820e-03 -5.74515552e+01] [-1.76602268e-02 -3.49743508e-04 9.99843985e-01 -7.13988602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters 0.029727789159861476 Centerline is valid? [True, True] Translation: X:356.85, Y:-57.46, Z:-7.14 [[ 9.76874148e-01 2.13129682e-01 1.71066650e-02 3.56853966e+02] [-2.13102852e-01 9.77023865e-01 -3.39739566e-03 -5.74559112e+01] [-1.74377058e-02 -3.26651109e-04 9.99847898e-01 -7.14059089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.674012739 meters 0.02902670143374935 Centerline is valid? [True, True] Translation: X:356.88, Y:-57.46, Z:-7.14 [[ 9.77022643e-01 2.12405687e-01 1.76232725e-02 3.56882644e+02] [-2.12377126e-01 9.77181518e-01 -3.49826140e-03 -5.74609570e+01] [-1.79641867e-02 -3.24899363e-04 9.99838578e-01 -7.14016061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters 0.027891504825639544 Centerline is valid? [True, True] Translation: X:356.91, Y:-57.47, Z:-7.14 [[ 9.77212312e-01 2.11463676e-01 1.84177063e-02 3.56910425e+02] [-2.11432331e-01 9.77385804e-01 -3.65503011e-03 -5.74671379e+01] [-1.87741108e-02 -3.22358152e-04 9.99823699e-01 -7.13921863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734012739 meters 0.026249420605190334 Centerline is valid? [True, True] Translation: X:356.94, Y:-57.47, Z:-7.14 [[ 9.77687289e-01 2.09067844e-01 2.04499908e-02 3.56937377e+02] [-2.09028700e-01 9.77901090e-01 -4.05721141e-03 -5.74742132e+01] [-2.08463007e-02 -3.07950963e-04 9.99782645e-01 -7.13648858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters 0.02477221132560287 Centerline is valid? [True, True] Translation: X:356.97, Y:-57.48, Z:-7.14 [[ 9.78079127e-01 2.07186342e-01 2.08576342e-02 3.56965404e+02] [-2.07145232e-01 9.78301459e-01 -4.13623794e-03 -5.74814433e+01] [-2.12620260e-02 -2.74991494e-04 9.99773900e-01 -7.13668189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794012739 meters 0.022803307158393744 Centerline is valid? [True, True] Translation: X:356.99, Y:-57.49, Z:-7.14 [[ 9.78899088e-01 2.03473230e-01 1.88472876e-02 3.56992546e+02] [-2.03438991e-01 9.79080494e-01 -3.73676303e-03 -5.74884002e+01] [-1.92133429e-02 -1.76359243e-04 9.99815391e-01 -7.14089656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters 0.0216989853349618 Centerline is valid? [True, True] Translation: X:357.02, Y:-57.50, Z:-7.14 [[ 9.79309954e-01 2.01607775e-01 1.75019605e-02 3.57019716e+02] [-2.01577970e-01 9.79466328e-01 -3.46903654e-03 -5.74969774e+01] [-1.78419657e-02 -1.30747655e-04 9.99840811e-01 -7.14373793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854012739 meters 0.021049533192874892 Centerline is valid? [True, True] Translation: X:357.05, Y:-57.51, Z:-7.15 [[ 9.79727171e-01 1.99649754e-01 1.65724569e-02 3.57046322e+02] [-1.99622762e-01 9.79867321e-01 -3.28409245e-03 -5.75057152e+01] [-1.68944772e-02 -9.07250121e-05 9.99857274e-01 -7.14607502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters 0.0199626928614361 Centerline is valid? [True, True] Translation: X:357.07, Y:-57.52, Z:-7.14 [[ 9.80457233e-01 1.95965034e-01 1.73585716e-02 3.57072313e+02] [-1.95934862e-01 9.80610883e-01 -3.43877758e-03 -5.75185880e+01] [-1.76958844e-02 -2.95749849e-05 9.99843415e-01 -7.14487952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914012739 meters 0.01982495983799337 Centerline is valid? [True, True] Translation: X:357.10, Y:-57.53, Z:-7.14 [[ 9.80856924e-01 1.93904744e-01 1.79065748e-02 3.57099875e+02] [-1.93872314e-01 9.81020362e-01 -3.54622238e-03 -5.75279112e+01] [-1.82543438e-02 6.74768847e-06 9.99833376e-01 -7.14496987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters 0.02025894757653908 Centerline is valid? [True, True] Translation: X:357.13, Y:-57.54, Z:-7.15 [[ 9.81475889e-01 1.90763929e-01 1.77257710e-02 3.57125067e+02] [-1.90731652e-01 9.81635940e-01 -3.50963314e-03 -5.75418112e+01] [-1.80697653e-02 6.37547289e-05 9.99836726e-01 -7.14658627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974012739 meters 0.02065117429696495 Centerline is valid? [True, True] Translation: X:357.15, Y:-57.55, Z:-7.15 [[ 9.81710320e-01 1.89535714e-01 1.79181535e-02 3.57151078e+02] [-1.89502551e-01 9.81873824e-01 -3.54646039e-03 -5.75524781e+01] [-1.82655467e-02 8.60609692e-05 9.99833167e-01 -7.14630711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters 0.020768703663495796 Centerline is valid? [True, True] Translation: X:357.18, Y:-57.57, Z:-7.14 [[ 9.81845943e-01 1.88734411e-01 1.89173658e-02 3.57178386e+02] [-1.88697320e-01 9.82028162e-01 -3.74306422e-03 -5.75657225e+01] [-1.92838310e-02 1.05456187e-04 9.99814044e-01 -7.14332903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034012739 meters 0.02088346748061027 Centerline is valid? [True, True] Translation: X:357.21, Y:-57.57, Z:-7.14 [[ 9.81914985e-01 1.88410880e-01 1.85553909e-02 3.57205733e+02] [-1.88375153e-01 9.82090285e-01 -3.67060661e-03 -5.75743634e+01] [-1.89146514e-02 1.08849040e-04 9.99821096e-01 -7.14456981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters 0.02086115525151606 Centerline is valid? [True, True] Translation: X:357.23, Y:-57.58, Z:-7.15 [[ 9.81952640e-01 1.88253731e-01 1.81533745e-02 3.57233619e+02] [-1.88219524e-01 9.82120421e-01 -3.59026739e-03 -5.75824008e+01] [-1.85046810e-02 1.08653045e-04 9.99828768e-01 -7.14625379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094012739 meters 0.02115990355799478 Centerline is valid? [True, True] Translation: X:357.26, Y:-57.59, Z:-7.15 [[ 9.81948370e-01 1.88269656e-01 1.82191148e-02 3.57259807e+02] [-1.88235218e-01 9.82117368e-01 -3.60241654e-03 -5.75915261e+01] [-1.85715348e-02 1.07907988e-04 9.99827528e-01 -7.14734209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters 0.020485667028096392 Centerline is valid? [True, True] Translation: X:357.29, Y:-57.60, Z:-7.14 [[ 9.81791889e-01 1.88860096e-01 2.04095631e-02 3.57287118e+02] [-1.88817035e-01 9.82003998e-01 -4.03417472e-03 -5.76017121e+01] [-2.08041672e-02 1.07046823e-04 9.99783564e-01 -7.14351269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154012739 meters 0.02040367729954434 Centerline is valid? [True, True] Translation: X:357.31, Y:-57.61, Z:-7.14 [[ 9.81712761e-01 1.89237965e-01 2.07134496e-02 3.57313545e+02] [-1.89193717e-01 9.81931252e-01 -4.09322133e-03 -5.76093014e+01] [-2.11137763e-02 9.95130921e-05 9.99777074e-01 -7.14306910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters 0.019998683282893566 Centerline is valid? [True, True] Translation: X:357.34, Y:-57.62, Z:-7.15 [[ 9.81401806e-01 1.91036989e-01 1.88511130e-02 3.57342482e+02] [-1.91000695e-01 9.81582837e-01 -3.72406822e-03 -5.76161980e+01] [-1.92153638e-02 5.42315948e-05 9.99815366e-01 -7.14655582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214012739 meters 0.019914453658177605 Centerline is valid? [True, True] Translation: X:357.37, Y:-57.62, Z:-7.15 [[ 9.81131079e-01 1.92543624e-01 1.75715185e-02 3.57369456e+02] [-1.92512337e-01 9.81288414e-01 -3.47096518e-03 -5.76219996e+01] [-1.79110397e-02 2.27377192e-05 9.99839584e-01 -7.14921928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters 0.0199742960392136 Centerline is valid? [True, True] Translation: X:357.40, Y:-57.63, Z:-7.15 [[ 9.80826610e-01 1.94081171e-01 1.76539209e-02 3.57398393e+02] [-1.94049860e-01 9.80985473e-01 -3.48610628e-03 -5.76265491e+01] [-1.79948275e-02 -6.47507284e-06 9.99838080e-01 -7.15023602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274012739 meters 0.020055839332944744 Centerline is valid? [True, True] Translation: X:357.43, Y:-57.63, Z:-7.15 [[ 9.80227865e-01 1.96863115e-01 1.99561083e-02 3.57427068e+02] [-1.96823701e-01 9.80430982e-01 -3.93966448e-03 -5.76294050e+01] [-2.03411615e-02 -6.60661967e-05 9.99793095e-01 -7.14678659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters 0.020007904587635652 Centerline is valid? [True, True] Translation: X:357.46, Y:-57.64, Z:-7.14 [[ 9.80138149e-01 1.97122654e-01 2.17225377e-02 3.57455545e+02] [-1.97076043e-01 9.80378831e-01 -4.28724369e-03 -5.76359549e+01] [-2.21414290e-02 -7.89006802e-05 9.99754845e-01 -7.14419522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334012739 meters 0.01965472673913474 Centerline is valid? [True, True] Translation: X:357.48, Y:-57.65, Z:-7.14 [[ 9.80459659e-01 1.95450489e-01 2.23151027e-02 3.57482257e+02] [-1.95400892e-01 9.80713569e-01 -4.40304678e-03 -5.76466114e+01] [-2.27453017e-02 -4.33812371e-05 9.99741291e-01 -7.14385019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters 0.019748975114776364 Centerline is valid? [True, True] Translation: X:357.51, Y:-57.66, Z:-7.15 [[ 9.80834408e-01 1.93728526e-01 2.08116019e-02 3.57510044e+02] [-1.93685025e-01 9.81055176e-01 -4.10522403e-03 -5.76555858e+01] [-2.12126288e-02 -4.35065167e-06 9.99774987e-01 -7.14728746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394012739 meters 0.019932456761065465 Centerline is valid? [True, True] Translation: X:357.54, Y:-57.67, Z:-7.15 [[ 9.81190705e-01 1.92105761e-01 1.89783386e-02 3.57538354e+02] [-1.92069296e-01 9.81374228e-01 -3.74297256e-03 -5.76650394e+01] [-1.93438990e-02 2.74137484e-05 9.99812889e-01 -7.15210355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters 0.020514787240100727 Centerline is valid? [True, True] Translation: X:357.57, Y:-57.68, Z:-7.15 [[ 9.81748420e-01 1.89339326e-01 1.79069562e-02 3.57565639e+02] [-1.89306408e-01 9.81911714e-01 -3.53127279e-03 -5.76789500e+01] [-1.82516589e-02 7.69199178e-05 9.99833422e-01 -7.15405195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454012739 meters 0.020717226965715325 Centerline is valid? [True, True] Translation: X:357.59, Y:-57.69, Z:-7.15 [[ 9.81792307e-01 1.89053674e-01 1.85087911e-02 3.57592883e+02] [-1.89018464e-01 9.81966752e-01 -3.64950392e-03 -5.76875000e+01] [-1.88649696e-02 8.45516073e-05 9.99822037e-01 -7.15332301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters 0.02023691064650632 Centerline is valid? [True, True] Translation: X:357.62, Y:-57.69, Z:-7.15 [[ 9.81704679e-01 1.89389875e-01 1.96824545e-02 3.57622406e+02] [-1.89350141e-01 9.81901965e-01 -3.88015504e-03 -5.76923595e+01] [-2.00611028e-02 8.22908411e-05 9.99798752e-01 -7.15133529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514012739 meters 0.019819277376166167 Centerline is valid? [True, True] Translation: X:357.65, Y:-57.69, Z:-7.15 [[ 9.81151764e-01 1.92252716e-01 1.94963882e-02 3.57651292e+02] [-1.92214304e-01 9.81345450e-01 -3.84301199e-03 -5.76942534e+01] [-1.98715214e-02 2.30933053e-05 9.99802542e-01 -7.15202434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters 0.01987077222250493 Centerline is valid? [True, True] Translation: X:357.68, Y:-57.70, Z:-7.15 [[ 9.80795608e-01 1.94130962e-01 1.87921400e-02 3.57681156e+02] [-1.94095633e-01 9.80975621e-01 -3.70352645e-03 -5.76978710e+01] [-1.91536003e-02 -1.50698210e-05 9.99816553e-01 -7.15436333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574012739 meters 0.021047400547387737 Centerline is valid? [True, True] Translation: X:357.71, Y:-57.70, Z:-7.16 [[ 9.79918343e-01 1.98564941e-01 1.82210213e-02 3.57709579e+02] [-1.98532499e-01 9.80087728e-01 -3.59060520e-03 -5.76970389e+01] [-1.85711677e-02 -9.89649921e-05 9.99827536e-01 -7.15628865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters 0.021945645806316777 Centerline is valid? [True, True] Translation: X:357.74, Y:-57.70, Z:-7.16 [[ 9.79462243e-01 2.00742711e-01 1.88700398e-02 3.57738152e+02] [-2.00708343e-01 9.79643988e-01 -3.71731336e-03 -5.76987354e+01] [-1.92321446e-02 -1.46406328e-04 9.99815034e-01 -7.15567750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634012739 meters 0.02274034089434219 Centerline is valid? [True, True] Translation: X:357.77, Y:-57.70, Z:-7.16 [[ 9.79070023e-01 2.02576888e-01 1.96085104e-02 3.57766851e+02] [-2.02540170e-01 9.79266342e-01 -3.86157470e-03 -5.77015015e+01] [-1.99842200e-02 -1.90758996e-04 9.99800277e-01 -7.15509995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters 0.02566736500350873 Centerline is valid? [True, True] Translation: X:357.80, Y:-57.70, Z:-7.16 [[ 9.78446992e-01 2.05646116e-01 1.87392236e-02 3.57795185e+02] [-2.05613160e-01 9.78626392e-01 -3.68952771e-03 -5.76998321e+01] [-1.90974359e-02 -2.43023691e-04 9.99817598e-01 -7.15665391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694012739 meters 0.026231478220965037 Centerline is valid? [True, True] Translation: X:357.82, Y:-57.70, Z:-7.16 [[ 9.78299028e-01 2.06459854e-01 1.74740120e-02 3.57823731e+02] [-2.06431346e-01 9.78455042e-01 -3.43941194e-03 -5.77035817e+01] [-1.78076357e-02 -2.42410468e-04 9.99841402e-01 -7.15966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters 0.02673215355497845 Centerline is valid? [True, True] Translation: X:357.85, Y:-57.71, Z:-7.16 [[ 9.78200344e-01 2.06961111e-01 1.70641657e-02 3.57852423e+02] [-2.06934014e-01 9.78349139e-01 -3.35796680e-03 -5.77075311e+01] [-1.73896804e-02 -2.46392015e-04 9.99848758e-01 -7.16157084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754012739 meters 0.027093780671937316 Centerline is valid? [True, True] Translation: X:357.88, Y:-57.71, Z:-7.16 [[ 9.78172471e-01 2.06980719e-01 1.83738601e-02 3.57879574e+02] [-2.06949322e-01 9.78344986e-01 -3.61481975e-03 -5.77105204e+01] [-1.87241719e-02 -2.66540725e-04 9.99824652e-01 -7.16004998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters 0.026938686952996928 Centerline is valid? [True, True] Translation: X:357.91, Y:-57.72, Z:-7.16 [[ 9.78156016e-01 2.06963065e-01 1.94190332e-02 3.57907597e+02] [-2.06928025e-01 9.78348716e-01 -3.81877330e-03 -5.77153351e+01] [-1.97889312e-02 -2.82986117e-04 9.99804140e-01 -7.15878576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814012739 meters 0.029543352479627916 Centerline is valid? [True, True] Translation: X:357.94, Y:-57.72, Z:-7.16 [[ 9.78095867e-01 2.07263414e-01 1.92445257e-02 3.57935842e+02] [-2.07229084e-01 9.78285129e-01 -3.78312195e-03 -5.77150351e+01] [-1.96107361e-02 -2.87769494e-04 9.99807650e-01 -7.15944189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters 0.02673114682618648 Centerline is valid? [True, True] Translation: X:357.96, Y:-57.72, Z:-7.16 [[ 9.78163093e-01 2.06971784e-01 1.89642730e-02 3.57963084e+02] [-2.06938414e-01 9.78346872e-01 -3.72694589e-03 -5.77243942e+01] [-1.93250099e-02 -2.78875660e-04 9.99813216e-01 -7.15981278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874012739 meters 0.02707992989156463 Centerline is valid? [True, True] Translation: X:357.99, Y:-57.73, Z:-7.16 [[ 9.78269258e-01 2.06475258e-01 1.89004693e-02 3.57991124e+02] [-2.06442036e-01 9.78451785e-01 -3.71353824e-03 -5.77283168e+01] [-1.92599517e-02 -2.69011054e-04 9.99814474e-01 -7.16050152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters 0.026178349071572356 Centerline is valid? [True, True] Translation: X:358.02, Y:-57.73, Z:-7.16 [[ 9.78568391e-01 2.05048051e-01 1.89525871e-02 3.58018593e+02] [-2.05014399e-01 9.78751878e-01 -3.72267392e-03 -5.77331953e+01] [-1.93132072e-02 -2.42662220e-04 9.99813453e-01 -7.16158692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934012739 meters 0.025831978293516154 Centerline is valid? [True, True] Translation: X:358.05, Y:-57.74, Z:-7.16 [[ 9.78658298e-01 2.04702862e-01 1.80187396e-02 3.58046240e+02] [-2.04672404e-01 9.78824135e-01 -3.53831229e-03 -5.77375567e+01] [-1.83614799e-02 -2.25140071e-04 9.99831388e-01 -7.16385742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters 0.025674313875861353 Centerline is valid? [True, True] Translation: X:358.07, Y:-57.74, Z:-7.17 [[ 9.78770953e-01 2.04197600e-01 1.76284564e-02 3.58074477e+02] [-2.04168387e-01 9.78929668e-01 -3.46045688e-03 -5.77402524e+01] [-1.79636359e-02 -2.12178829e-04 9.99838618e-01 -7.16568580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994012739 meters 0.024311853943588202 Centerline is valid? [True, True] Translation: X:358.10, Y:-57.75, Z:-7.16 [[ 9.78740813e-01 2.04330606e-01 1.77602185e-02 3.58102496e+02] [-2.04300991e-01 9.78901914e-01 -3.48552856e-03 -5.77480957e+01] [-1.80977121e-02 -2.17001183e-04 9.99836199e-01 -7.16486312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters 0.02391251383027684 Centerline is valid? [True, True] Translation: X:358.13, Y:-57.75, Z:-7.17 [[ 9.78815473e-01 2.03937985e-01 1.81540134e-02 3.58130613e+02] [-2.03906991e-01 9.78983785e-01 -3.56190497e-03 -5.77535515e+01] [-1.84988924e-02 -2.15282538e-04 9.99828858e-01 -7.16522025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05401273900003 meters 0.02434601872670953 Centerline is valid? [True, True] Translation: X:358.16, Y:-57.75, Z:-7.17 [[ 9.78866614e-01 2.03657076e-01 1.85458121e-02 3.58157990e+02] [-2.03624695e-01 9.79042261e-01 -3.63789277e-03 -5.77532659e+01] [-1.88980164e-02 -2.15373566e-04 9.99821393e-01 -7.16515834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters 0.02547214870999548 Centerline is valid? [True, True] Translation: X:358.19, Y:-57.75, Z:-7.17 [[ 9.78904197e-01 2.03458544e-01 1.87401661e-02 3.58185291e+02] [-2.03425476e-01 9.79083538e-01 -3.67438584e-03 -5.77529331e+01] [-1.90957733e-02 -2.15355490e-04 9.99817636e-01 -7.16520683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11401273900003 meters 0.025067108478409816 Centerline is valid? [True, True] Translation: X:358.21, Y:-57.76, Z:-7.16 [[ 9.78712055e-01 2.04338076e-01 1.92006220e-02 3.58214543e+02] [-2.04303565e-01 9.78900349e-01 -3.76302241e-03 -5.77551322e+01] [-1.95644243e-02 -2.39840132e-04 9.99808570e-01 -7.16463009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters 0.02465209883588242 Centerline is valid? [True, True] Translation: X:358.24, Y:-57.76, Z:-7.16 [[ 9.78664065e-01 2.04559616e-01 1.92876047e-02 3.58242699e+02] [-2.04524852e-01 9.78854076e-01 -3.77916032e-03 -5.77589266e+01] [-1.96528141e-02 -2.46266105e-04 9.99806834e-01 -7.16478858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.174012739 meters 0.024114619056463043 Centerline is valid? [True, True] Translation: X:358.27, Y:-57.76, Z:-7.16 [[ 9.78606353e-01 2.04814447e-01 1.95101963e-02 3.58271498e+02] [-2.04778945e-01 9.78800785e-01 -3.82181362e-03 -5.77626282e+01] [-1.98793581e-02 -2.55226333e-04 9.99802353e-01 -7.16497945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters 0.027296193334468793 Centerline is valid? [True, True] Translation: X:358.30, Y:-57.76, Z:-7.16 [[ 9.78575189e-01 2.04826347e-01 2.08989819e-02 3.58300006e+02] [-2.04785638e-01 9.78798290e-01 -4.09269208e-03 -5.77559106e+01] [-2.12941790e-02 -2.74804433e-04 9.99773215e-01 -7.16360202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234012739 meters 0.025168043723312307 Centerline is valid? [True, True] Translation: X:358.33, Y:-57.76, Z:-7.16 [[ 9.78626298e-01 2.04594231e-01 2.07790469e-02 3.58328025e+02] [-2.04553974e-01 9.78846836e-01 -4.06741624e-03 -5.77631965e+01] [-2.11716742e-02 -2.69956119e-04 9.99775819e-01 -7.16464267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters 0.02602721187075072 Centerline is valid? [True, True] Translation: X:358.36, Y:-57.76, Z:-7.17 [[ 9.78593142e-01 2.04827210e-01 2.00318766e-02 3.58356485e+02] [-2.04789864e-01 9.78798112e-01 -3.92024384e-03 -5.77648925e+01] [-2.04101356e-02 -2.66001545e-04 9.99791656e-01 -7.16686256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294012739 meters 0.02602721187075072 Centerline is valid? [True, True] Translation: X:358.38, Y:-57.77, Z:-7.17 [[ 9.78606888e-01 2.04761506e-01 2.00320990e-02 3.58383490e+02] [-2.04724169e-01 9.78811859e-01 -3.91910685e-03 -5.77700329e+01] [-2.04101383e-02 -2.65789871e-04 9.99791656e-01 -7.16742092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters 0.02474187460315232 Centerline is valid? [True, True] Translation: X:358.41, Y:-57.77, Z:-7.17 [[ 9.78713010e-01 2.04413220e-01 1.83324896e-02 3.58412282e+02] [-2.04381912e-01 9.78884661e-01 -3.58540084e-03 -5.77715017e+01] [-1.86782962e-02 -2.37750840e-04 9.99825517e-01 -7.17142936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354012739 meters 0.02447166595419262 Centerline is valid? [True, True] Translation: X:358.44, Y:-57.77, Z:-7.17 [[ 9.78843668e-01 2.03809965e-01 1.80713033e-02 3.58440871e+02] [-2.03779457e-01 9.79010443e-01 -3.53343758e-03 -5.77730727e+01] [-1.84121445e-02 -2.23877370e-04 9.99830457e-01 -7.17278575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters 0.024478096732874346 Centerline is valid? [True, True] Translation: X:358.47, Y:-57.77, Z:-7.17 [[ 9.79098799e-01 2.02524443e-01 1.86920357e-02 3.58469631e+02] [-2.02491585e-01 9.79277186e-01 -3.65387112e-03 -5.77717612e+01] [-1.90446824e-02 -2.07479126e-04 9.99818612e-01 -7.17213242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414012739 meters 0.023926328558074268 Centerline is valid? [True, True] Translation: X:358.50, Y:-57.78, Z:-7.17 [[ 9.79246894e-01 2.01723344e-01 1.95758048e-02 3.58498614e+02] [-2.01687171e-01 9.79442521e-01 -3.82536895e-03 -5.77751403e+01] [-1.99450418e-02 -2.02208029e-04 9.99801057e-01 -7.17120168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters 0.023172045429106457 Centerline is valid? [True, True] Translation: X:358.53, Y:-57.78, Z:-7.17 [[ 9.79338426e-01 2.01270551e-01 1.96574062e-02 3.58527224e+02] [-2.01234003e-01 9.79535669e-01 -3.84040089e-03 -5.77788442e+01] [-2.00280901e-02 -1.94686364e-04 9.99799399e-01 -7.17173750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474012739 meters 0.02285833052560218 Centerline is valid? [True, True] Translation: X:358.56, Y:-57.78, Z:-7.18 [[ 9.79592267e-01 2.00131826e-01 1.86075848e-02 3.58555477e+02] [-2.00098887e-01 9.79768966e-01 -3.63450766e-03 -5.77788033e+01] [-1.89585148e-02 -1.63021404e-04 9.99820258e-01 -7.17505301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters 0.021955259318493094 Centerline is valid? [True, True] Translation: X:358.58, Y:-57.78, Z:-7.18 [[ 9.79941551e-01 1.98422865e-01 1.85181703e-02 3.58583937e+02] [-1.98389969e-01 9.80116498e-01 -3.61533314e-03 -5.77843067e+01] [-1.88673290e-02 -1.31004051e-04 9.99821988e-01 -7.17557280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534012739 meters 0.020299362697174597 Centerline is valid? [True, True] Translation: X:358.61, Y:-57.79, Z:-7.17 [[ 9.80996118e-01 1.93022860e-01 1.97178123e-02 3.58611572e+02] [-1.92984491e-01 9.81194259e-01 -3.84854693e-03 -5.77928898e+01] [-2.00898618e-02 -2.98223851e-05 9.99798178e-01 -7.17297008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters 0.020069274207182762 Centerline is valid? [True, True] Translation: X:358.64, Y:-57.80, Z:-7.17 [[ 9.81541946e-01 1.90199682e-01 1.99871998e-02 3.58638832e+02] [-1.90159693e-01 9.81745425e-01 -3.90015273e-03 -5.78006958e+01] [-2.03641498e-02 2.74037212e-05 9.99792629e-01 -7.17335643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594012739 meters 0.020676261309091466 Centerline is valid? [True, True] Translation: X:358.67, Y:-57.81, Z:-7.17 [[ 9.82104280e-01 1.87306849e-01 1.96806533e-02 3.58666134e+02] [-1.87267523e-01 9.82301449e-01 -3.83894665e-03 -5.78096451e+01] [-2.00513953e-02 8.46987292e-05 9.99798947e-01 -7.17478341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters 0.02460994570405184 Centerline is valid? [True, True] Translation: X:358.69, Y:-57.83, Z:-7.18 [[ 9.83400063e-01 1.80489597e-01 1.86499450e-02 3.58692108e+02] [-1.80453072e-01 9.83576871e-01 -3.63704492e-03 -5.78264195e+01] [-1.90001033e-02 2.11230335e-04 9.99819459e-01 -7.17760778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654012739 meters 0.02706749551363866 Centerline is valid? [True, True] Translation: X:358.72, Y:-57.84, Z:-7.18 [[ 9.83984086e-01 1.77258517e-01 1.88344531e-02 3.58719801e+02] [-1.77220686e-01 9.84164286e-01 -3.67236486e-03 -5.78367800e+01] [-1.91871540e-02 2.75693889e-04 9.99815872e-01 -7.17814771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters 0.02872304478772149 Centerline is valid? [True, True] Translation: X:358.75, Y:-57.85, Z:-7.18 [[ 9.84674318e-01 1.73216546e-01 2.03104660e-02 3.58748213e+02] [-1.73171713e-01 9.84883690e-01 -3.95917591e-03 -5.78468203e+01] [-2.06892414e-02 3.81300668e-04 9.99785882e-01 -7.17544955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714012739 meters 0.03072988220903464 Centerline is valid? [True, True] Translation: X:358.77, Y:-57.86, Z:-7.17 [[ 9.84835890e-01 1.72169849e-01 2.13497688e-02 3.58774215e+02] [-1.72120076e-01 9.85067188e-01 -4.16116848e-03 -5.78569081e+01] [-2.17473845e-02 4.23344224e-04 9.99763408e-01 -7.17399683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters 0.031031613233795215 Centerline is valid? [True, True] Translation: X:358.80, Y:-57.86, Z:-7.17 [[ 9.84871498e-01 1.71934580e-01 2.16016933e-02 3.58802124e+02] [-1.71883601e-01 9.85108275e-01 -4.20883436e-03 -5.78641860e+01] [-2.20036509e-02 4.32184184e-04 9.99757797e-01 -7.17391870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774012739 meters 0.030672783904258094 Centerline is valid? [True, True] Translation: X:358.83, Y:-57.87, Z:-7.18 [[ 9.84849210e-01 1.72181219e-01 2.06315824e-02 3.58830564e+02] [-1.72134790e-01 9.85065207e-01 -4.01890897e-03 -5.78710667e+01] [-2.10154346e-02 4.06606222e-04 9.99779069e-01 -7.17553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters 0.03006829977267944 Centerline is valid? [True, True] Translation: X:358.86, Y:-57.88, Z:-7.18 [[ 9.84681100e-01 1.73218411e-01 1.99627971e-02 3.58857900e+02] [-1.73175175e-01 9.84883366e-01 -3.88773769e-03 -5.78766250e+01] [-2.03344545e-02 3.71120960e-04 9.99793165e-01 -7.17714923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834012739 meters 0.027847270610961553 Centerline is valid? [True, True] Translation: X:358.89, Y:-57.88, Z:-7.18 [[ 9.84130053e-01 1.76355165e-01 1.96696252e-02 3.58885460e+02] [-1.76313838e-01 9.84326554e-01 -3.82949641e-03 -5.78812380e+01] [-2.00366859e-02 3.00695392e-04 9.99799200e-01 -7.17902812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters 0.026576607286763924 Centerline is valid? [True, True] Translation: X:358.91, Y:-57.88, Z:-7.18 [[ 9.83885281e-01 1.77726444e-01 1.95720317e-02 3.58914057e+02] [-1.77685815e-01 9.84079894e-01 -3.80961201e-03 -5.78847210e+01] [-1.99375117e-02 2.70548761e-04 9.99801191e-01 -7.17989470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894012739 meters 0.025846504669163602 Centerline is valid? [True, True] Translation: X:358.94, Y:-57.89, Z:-7.18 [[ 9.83695440e-01 1.78825497e-01 1.90977321e-02 3.58941979e+02] [-1.78787037e-01 9.83880777e-01 -3.71645468e-03 -5.78888743e+01] [-1.94544883e-02 2.41432597e-04 9.99810714e-01 -7.18146171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters 0.02414272611092875 Centerline is valid? [True, True] Translation: X:358.97, Y:-57.89, Z:-7.18 [[ 9.83269459e-01 1.81240675e-01 1.82479908e-02 3.58970022e+02] [-1.81205996e-01 9.83438755e-01 -3.55011318e-03 -5.78917962e+01] [-1.85892062e-02 1.84072529e-04 9.99827189e-01 -7.18399842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954012739 meters 0.022709319537025 Centerline is valid? [True, True] Translation: X:359.00, Y:-57.89, Z:-7.18 [[ 9.82930116e-01 1.83001296e-01 1.89449929e-02 3.58998912e+02] [-1.82964265e-01 9.83112660e-01 -3.68459990e-03 -5.78941965e+01] [-1.92993489e-02 1.55447514e-04 9.99813738e-01 -7.18285738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters 0.021701950496096502 Centerline is valid? [True, True] Translation: X:359.03, Y:-57.90, Z:-7.18 [[ 9.82542055e-01 1.84978927e-01 1.98470680e-02 3.59026950e+02] [-1.84938707e-01 9.82742480e-01 -3.85907475e-03 -5.78967438e+01] [-2.02184043e-02 1.21212142e-04 9.99795580e-01 -7.18172685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014012739 meters 0.020436482866096967 Centerline is valid? [True, True] Translation: X:359.06, Y:-57.89, Z:-7.18 [[ 9.81709755e-01 1.89251202e-01 2.07350006e-02 3.59056312e+02] [-1.89208285e-01 9.81928705e-01 -4.03031840e-03 -5.78947291e+01] [-2.11230349e-02 3.33689805e-05 9.99776883e-01 -7.18076882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters 0.020495803647426918 Centerline is valid? [True, True] Translation: X:359.08, Y:-57.90, Z:-7.18 [[ 9.81397822e-01 1.90978670e-01 1.96332185e-02 3.59084303e+02] [-1.90940551e-01 9.81594187e-01 -3.81553296e-03 -5.78970163e+01] [-2.00005386e-02 -4.22181956e-06 9.99799969e-01 -7.18312081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074012739 meters 0.021289004428801016 Centerline is valid? [True, True] Translation: X:359.11, Y:-57.90, Z:-7.19 [[ 9.80809144e-01 1.94176902e-01 1.75713644e-02 3.59112453e+02] [-1.94146903e-01 9.80966527e-01 -3.41373235e-03 -5.78974593e+01] [-1.78997883e-02 -6.32060636e-05 9.99839784e-01 -7.18822440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters 0.02204866318781226 Centerline is valid? [True, True] Translation: X:359.14, Y:-57.90, Z:-7.19 [[ 9.80441210e-01 1.96020722e-01 1.76326441e-02 3.59141670e+02] [-1.95990829e-01 9.80599749e-01 -3.42460063e-03 -5.78995786e+01] [-1.79618591e-02 -9.82169522e-05 9.99838668e-01 -7.18830259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134012739 meters 0.022956718952350044 Centerline is valid? [True, True] Translation: X:359.17, Y:-57.90, Z:-7.19 [[ 9.80032644e-01 1.98031272e-01 1.78782536e-02 3.59169558e+02] [-1.98000890e-01 9.80195693e-01 -3.47151523e-03 -5.78994611e+01] [-1.82116557e-02 -1.37711862e-04 9.99834145e-01 -7.18763154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters 0.024396018491760322 Centerline is valid? [True, True] Translation: X:359.20, Y:-57.90, Z:-7.19 [[ 9.79309707e-01 2.01514400e-01 1.85592200e-02 3.59199706e+02] [-2.01482310e-01 9.79485529e-01 -3.60239134e-03 -5.78957604e+01] [-1.89044211e-02 -2.11497700e-04 9.99821273e-01 -7.18575356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194012739 meters 0.024891130610260118 Centerline is valid? [True, True] Translation: X:359.23, Y:-57.90, Z:-7.19 [[ 9.79076053e-01 2.02610836e-01 1.89454885e-02 3.59228331e+02] [-2.02577619e-01 9.79259308e-01 -3.67642986e-03 -5.78984495e+01] [-1.92974305e-02 -2.38427513e-04 9.99813759e-01 -7.18582239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters 0.027078143014975496 Centerline is valid? [True, True] Translation: X:359.26, Y:-57.90, Z:-7.19 [[ 9.78964862e-01 2.03170381e-01 1.86974844e-02 3.59257082e+02] [-2.03138147e-01 9.79143368e-01 -3.62740800e-03 -5.78961703e+01] [-1.90444997e-02 -2.47067375e-04 9.99818607e-01 -7.18729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254012739 meters 0.026731193740867267 Centerline is valid? [True, True] Translation: X:359.29, Y:-57.90, Z:-7.19 [[ 9.79059745e-01 2.02745135e-01 1.83419375e-02 3.59285226e+02] [-2.02714062e-01 9.79231512e-01 -3.55730352e-03 -5.79002420e+01] [-1.86822292e-02 -2.35355969e-04 9.99825444e-01 -7.18876257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters 0.02517364838894582 Centerline is valid? [True, True] Translation: X:359.31, Y:-57.91, Z:-7.19 [[ 9.79200111e-01 2.02113881e-01 1.78078888e-02 3.59313494e+02] [-2.02084501e-01 9.79362002e-01 -3.45295775e-03 -5.79063034e+01] [-1.81382603e-02 -2.17561715e-04 9.99835465e-01 -7.19033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314012739 meters 0.02588059146041173 Centerline is valid? [True, True] Translation: X:359.34, Y:-57.90, Z:-7.19 [[ 9.79360426e-01 2.01388609e-01 1.71983589e-02 3.59341581e+02] [-2.01361106e-01 9.79511403e-01 -3.33409133e-03 -5.79049293e+01] [-1.75174366e-02 -1.97803453e-04 9.99846538e-01 -7.19261447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters 0.024603482861221285 Centerline is valid? [True, True] Translation: X:359.37, Y:-57.91, Z:-7.19 [[ 9.79424629e-01 2.01049718e-01 1.75044672e-02 3.59369629e+02] [-2.01021203e-01 9.79581019e-01 -3.39171863e-03 -5.79094644e+01] [-1.78289479e-02 -1.96836307e-04 9.99841032e-01 -7.19130883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374012739 meters 0.024185291980274512 Centerline is valid? [True, True] Translation: X:359.40, Y:-57.91, Z:-7.19 [[ 9.79503473e-01 2.00525490e-01 1.90387393e-02 3.59398156e+02] [-2.00491675e-01 9.79688464e-01 -3.68813089e-03 -5.79073441e+01] [-1.93915975e-02 -2.04571718e-04 9.99811944e-01 -7.18904610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters 0.023553732143735625 Centerline is valid? [True, True] Translation: X:359.43, Y:-57.91, Z:-7.19 [[ 9.79737988e-01 1.99342541e-01 1.93913697e-02 3.59427200e+02] [-1.99307306e-01 9.79929852e-01 -3.75261795e-03 -5.79108769e+01] [-1.97502385e-02 -1.88259291e-04 9.99804927e-01 -7.18918145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434012739 meters 0.023040222519089854 Centerline is valid? [True, True] Translation: X:359.45, Y:-57.92, Z:-7.19 [[ 9.80074343e-01 1.97711225e-01 1.90932872e-02 3.59454643e+02] [-1.97676818e-01 9.80260296e-01 -3.69168855e-03 -5.79153597e+01] [-1.94462796e-02 -1.56171024e-04 9.99810891e-01 -7.19023467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters 0.021086473552293747 Centerline is valid? [True, True] Translation: X:359.48, Y:-57.93, Z:-7.19 [[ 9.81055963e-01 1.92836998e-01 1.85226734e-02 3.59482024e+02] [-1.92803768e-01 9.81230803e-01 -3.58027539e-03 -5.79256840e+01] [-1.88654273e-02 -5.87906991e-05 9.99822030e-01 -7.19243758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494012739 meters 0.02081219252169569 Centerline is valid? [True, True] Translation: X:359.51, Y:-57.93, Z:-7.19 [[ 9.81689364e-01 1.89524483e-01 1.91432449e-02 3.59508458e+02] [-1.89488376e-01 9.81875995e-01 -3.69929120e-03 -5.79338152e+01] [-1.94973989e-02 4.13241884e-06 9.99809908e-01 -7.19178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters 0.022255334842588292 Centerline is valid? [True, True] Translation: X:359.53, Y:-57.95, Z:-7.19 [[ 9.82989918e-01 1.82546616e-01 2.01879523e-02 3.59534969e+02] [-1.82505013e-01 9.83197188e-01 -3.89991368e-03 -5.79463214e+01] [-2.05606540e-02 1.49173325e-04 9.99788596e-01 -7.19008178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55401273900003 meters 0.024137806962330192 Centerline is valid? [True, True] Translation: X:359.56, Y:-57.96, Z:-7.19 [[ 9.83589841e-01 1.79256261e-01 2.04503767e-02 3.59561852e+02] [-1.79212884e-01 9.83802391e-01 -3.94938285e-03 -5.79558780e+01] [-2.08270811e-02 2.19601851e-04 9.99783069e-01 -7.19038178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters 0.025773496936662272 Centerline is valid? [True, True] Translation: X:359.59, Y:-57.96, Z:-7.19 [[ 9.84098579e-01 1.76457271e-01 2.03179259e-02 3.59589480e+02] [-1.76413881e-01 9.84308262e-01 -3.92262251e-03 -5.79642293e+01] [-2.06912776e-02 2.75883067e-04 9.99785875e-01 -7.19103864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61401273900003 meters 0.02922516840245767 Centerline is valid? [True, True] Translation: X:359.62, Y:-57.98, Z:-7.19 [[ 9.84897847e-01 1.72066443e-01 1.92189941e-02 3.59616672e+02] [-1.72026801e-01 9.85085285e-01 -3.70960640e-03 -5.79759588e+01] [-1.95706470e-02 3.47401287e-04 9.99808416e-01 -7.19376520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters 0.03335622063728894 Centerline is valid? [True, True] Translation: X:359.64, Y:-57.99, Z:-7.20 [[ 9.85522481e-01 1.68524055e-01 1.85764056e-02 3.59643146e+02] [-1.68486407e-01 9.85697459e-01 -3.58469269e-03 -5.79902707e+01] [-1.89148228e-02 4.02923392e-04 9.99821018e-01 -7.19565092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.674012739 meters 0.034173964360742985 Centerline is valid? [True, True] Translation: X:359.67, Y:-58.00, Z:-7.20 [[ 9.85823412e-01 1.66778354e-01 1.83624644e-02 3.59670291e+02] [-1.66741277e-01 9.85994318e-01 -3.54281438e-03 -5.79986755e+01] [-1.86961503e-02 4.30808602e-04 9.99825119e-01 -7.19658334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters 0.03575810509014819 Centerline is valid? [True, True] Translation: X:359.70, Y:-58.01, Z:-7.20 [[ 9.86063899e-01 1.65411966e-01 1.78007805e-02 3.59697983e+02] [-1.65376919e-01 9.86224460e-01 -3.43342385e-03 -5.80080147e+01] [-1.81234945e-02 4.41737081e-04 9.99835658e-01 -7.19785354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734012739 meters 0.03805315333126747 Centerline is valid? [True, True] Translation: X:359.73, Y:-58.02, Z:-7.20 [[ 9.86424092e-01 1.63240579e-01 1.78892162e-02 3.59725951e+02] [-1.63204842e-01 9.86586175e-01 -3.44961010e-03 -5.80203249e+01] [-1.82123697e-02 4.83171805e-04 9.99834024e-01 -7.19824973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters 0.0389095585658596 Centerline is valid? [True, True] Translation: X:359.75, Y:-58.03, Z:-7.20 [[ 9.86515988e-01 1.62616851e-01 1.84923057e-02 3.59752784e+02] [-1.62578561e-01 9.86689160e-01 -3.56551635e-03 -5.80293457e+01] [-1.88259706e-02 5.10986431e-04 9.99822645e-01 -7.19760335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794012739 meters 0.03888340991832181 Centerline is valid? [True, True] Translation: X:359.78, Y:-58.04, Z:-7.20 [[ 9.86533958e-01 1.62503006e-01 1.85343571e-02 3.59780533e+02] [-1.62464542e-01 9.86707915e-01 -3.57255385e-03 -5.80387535e+01] [-1.88685476e-02 5.13269850e-04 9.99821841e-01 -7.19816959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters 0.0389670579563936 Centerline is valid? [True, True] Translation: X:359.81, Y:-58.05, Z:-7.20 [[ 9.86496930e-01 1.62777773e-01 1.80887972e-02 3.59807154e+02] [-1.62741196e-01 9.86662633e-01 -3.48588989e-03 -5.80456109e+01] [-1.84149657e-02 4.95027179e-04 9.99830308e-01 -7.19994285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854012739 meters 0.03742347101223832 Centerline is valid? [True, True] Translation: X:359.84, Y:-58.05, Z:-7.20 [[ 9.86417443e-01 1.63274000e-01 1.79507175e-02 3.59835579e+02] [-1.63238080e-01 9.86580645e-01 -3.45825014e-03 -5.80506105e+01] [-1.82744728e-02 4.81037583e-04 9.99832892e-01 -7.20099767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters 0.037179497493813086 Centerline is valid? [True, True] Translation: X:359.86, Y:-58.06, Z:-7.20 [[ 9.86106079e-01 1.65083780e-01 1.84972241e-02 3.59862205e+02] [-1.65045974e-01 9.86279440e-01 -3.56267133e-03 -5.80604945e+01] [-1.88315711e-02 4.60279471e-04 9.99822564e-01 -7.20010159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914012739 meters 0.03694070647091874 Centerline is valid? [True, True] Translation: X:359.89, Y:-58.07, Z:-7.20 [[ 9.85987530e-01 1.65712548e-01 1.91818056e-02 3.59889300e+02] [-1.65672033e-01 9.86173989e-01 -3.69337626e-03 -5.80673502e+01] [-1.95286366e-02 4.63734202e-04 9.99809190e-01 -7.19799627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters 0.03326801411595655 Centerline is valid? [True, True] Translation: X:359.92, Y:-58.07, Z:-7.20 [[ 9.85909749e-01 1.65942201e-01 2.10986526e-02 3.59918038e+02] [-1.65893263e-01 9.86135352e-01 -4.06118226e-03 -5.80705038e+01] [-2.14800487e-02 5.03834863e-04 9.99769150e-01 -7.19528320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974012739 meters 0.033972855083328146 Centerline is valid? [True, True] Translation: X:359.94, Y:-58.08, Z:-7.20 [[ 9.85938183e-01 1.65794750e-01 2.09284335e-02 3.59944442e+02] [-1.65746587e-01 9.86160154e-01 -4.02741779e-03 -5.80798601e+01] [-2.13065119e-02 5.01968553e-04 9.99772864e-01 -7.19628737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters 0.03333605703453648 Centerline is valid? [True, True] Translation: X:359.97, Y:-58.09, Z:-7.20 [[ 9.85965974e-01 1.65704657e-01 2.03240115e-02 3.59973266e+02] [-1.65659240e-01 9.86175303e-01 -3.90995013e-03 -5.80886796e+01] [-2.06909351e-02 4.88217482e-04 9.99785800e-01 -7.19862916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034012739 meters 0.032908426594024646 Centerline is valid? [True, True] Translation: X:360.00, Y:-58.10, Z:-7.20 [[ 9.85780769e-01 1.66937543e-01 1.91867719e-02 3.60000400e+02] [-1.66897309e-01 9.85967376e-01 -3.69073546e-03 -5.80997656e+01] [-1.95336535e-02 4.36035430e-04 9.99809105e-01 -7.20081981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters 0.03208860438671465 Centerline is valid? [True, True] Translation: X:360.03, Y:-58.11, Z:-7.20 [[ 9.85480618e-01 1.68683309e-01 1.93362971e-02 3.60028155e+02] [-1.68642791e-01 9.85670218e-01 -3.71904925e-03 -5.81055375e+01] [-1.96865537e-02 4.04123848e-04 9.99806119e-01 -7.20115687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094012739 meters 0.025790407769524137 Centerline is valid? [True, True] Translation: X:360.06, Y:-58.10, Z:-7.20 [[ 9.84459378e-01 1.74530291e-01 1.94656103e-02 3.60059077e+02] [-1.74490389e-01 9.84651763e-01 -3.74297794e-03 -5.81033159e+01] [-1.98201105e-02 2.88247827e-04 9.99803521e-01 -7.20150598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters 0.02469377194386407 Centerline is valid? [True, True] Translation: X:360.09, Y:-58.11, Z:-7.20 [[ 9.83891110e-01 1.77726320e-01 1.92779487e-02 3.60086812e+02] [-1.77687800e-01 9.84079929e-01 -3.70668239e-03 -5.81085857e+01] [-1.96298174e-02 2.21515561e-04 9.99807292e-01 -7.20239354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154012739 meters 0.0214275875901558 Centerline is valid? [True, True] Translation: X:360.12, Y:-58.11, Z:-7.20 [[ 9.82727642e-01 1.84164051e-01 1.81654821e-02 3.60116761e+02] [-1.84130964e-01 9.82895516e-01 -3.49191904e-03 -5.81056181e+01] [-1.84978568e-02 8.67776423e-05 9.99828896e-01 -7.20414352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters 0.02075788443256693 Centerline is valid? [True, True] Translation: X:360.14, Y:-58.11, Z:-7.21 [[ 9.82098661e-01 1.87550198e-01 1.75255016e-02 3.60144818e+02] [-1.87519949e-01 9.82255019e-01 -3.36836293e-03 -5.81055877e+01] [-1.78462491e-02 2.16835483e-05 9.99840743e-01 -7.20595415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214012739 meters 0.02075788443256693 Centerline is valid? [True, True] Translation: X:360.17, Y:-58.11, Z:-7.21 [[ 9.82111081e-01 1.87485130e-01 1.75256871e-02 3.60171838e+02] [-1.87454888e-01 9.82267441e-01 -3.36739774e-03 -5.81106370e+01] [-1.78462488e-02 2.18829350e-05 9.99840743e-01 -7.20651246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters 0.02087603462971297 Centerline is valid? [True, True] Translation: X:360.20, Y:-58.11, Z:-7.21 [[ 9.81519933e-01 1.90558358e-01 1.74966669e-02 3.60200595e+02] [-1.90528726e-01 9.81675869e-01 -3.36062517e-03 -5.81113828e+01] [-1.78164509e-02 -3.50970646e-05 9.99841274e-01 -7.20733138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274012739 meters 0.02151325212589656 Centerline is valid? [True, True] Translation: X:360.23, Y:-58.11, Z:-7.21 [[ 9.81031821e-01 1.93037204e-01 1.76975941e-02 3.60229671e+02] [-1.93007314e-01 9.81191434e-01 -3.39791310e-03 -5.81134501e+01] [-1.80206514e-02 -8.23042162e-05 9.99837611e-01 -7.20769505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters 0.022657660805602428 Centerline is valid? [True, True] Translation: X:360.26, Y:-58.11, Z:-7.21 [[ 9.80466072e-01 1.95879851e-01 1.78147357e-02 3.60258447e+02] [-1.95850047e-01 9.80627893e-01 -3.41958715e-03 -5.81139240e+01] [-1.81394549e-02 -1.36227645e-04 9.99835457e-01 -7.20711327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334012739 meters 0.022552535893827972 Centerline is valid? [True, True] Translation: X:360.29, Y:-58.12, Z:-7.21 [[ 9.80455821e-01 1.95911177e-01 1.80331374e-02 3.60285841e+02] [-1.95880663e-01 9.80621635e-01 -3.46045132e-03 -5.81173398e+01] [-1.83616258e-02 -1.39523273e-04 9.99831401e-01 -7.20701110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters 0.022123099899681746 Centerline is valid? [True, True] Translation: X:360.31, Y:-58.12, Z:-7.21 [[ 9.80621953e-01 1.95079787e-01 1.80128203e-02 3.60313525e+02] [-1.95049226e-01 9.80787368e-01 -3.45520655e-03 -5.81232754e+01] [-1.83407876e-02 -1.25135264e-04 9.99831786e-01 -7.20775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394012739 meters 0.022182404930867983 Centerline is valid? [True, True] Translation: X:360.34, Y:-58.13, Z:-7.21 [[ 9.80772146e-01 1.94317543e-01 1.80745503e-02 3.60340594e+02] [-1.94286658e-01 9.80938673e-01 -3.46620345e-03 -5.81287415e+01] [-1.84035695e-02 -1.12088167e-04 9.99830634e-01 -7.20890320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters 0.021259737847374963 Centerline is valid? [True, True] Translation: X:360.37, Y:-58.14, Z:-7.21 [[ 9.80969492e-01 1.93310779e-01 1.81603334e-02 3.60368390e+02] [-1.93279448e-01 9.81137571e-01 -3.48155671e-03 -5.81372767e+01] [-1.84908079e-02 -9.47182888e-05 9.99829026e-01 -7.20841683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454012739 meters 0.0208772855034602 Centerline is valid? [True, True] Translation: X:360.39, Y:-58.14, Z:-7.21 [[ 9.81309737e-01 1.91563488e-01 1.82929121e-02 3.60394905e+02] [-1.91531410e-01 9.81480222e-01 -3.50612188e-03 -5.81444080e+01] [-1.86257764e-02 -6.30757117e-05 9.99826523e-01 -7.20800822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters 0.020586175061348327 Centerline is valid? [True, True] Translation: X:360.42, Y:-58.15, Z:-7.21 [[ 9.81428505e-01 1.90859569e-01 1.92539434e-02 3.60423506e+02] [-1.90823929e-01 9.81617350e-01 -3.68863171e-03 -5.81510450e+01] [-1.96040156e-02 -5.39848257e-05 9.99807821e-01 -7.20708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514012739 meters 0.02046309805392452 Centerline is valid? [True, True] Translation: X:360.45, Y:-58.16, Z:-7.21 [[ 9.81450073e-01 1.90718419e-01 1.95509538e-02 3.60451264e+02] [-1.90681661e-01 9.81644784e-01 -3.74461323e-03 -5.81563761e+01] [-1.99062585e-02 -5.28574197e-05 9.99801849e-01 -7.20762458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters 0.020507146207594078 Centerline is valid? [True, True] Translation: X:360.48, Y:-58.16, Z:-7.21 [[ 9.81462914e-01 1.90652826e-01 1.95460452e-02 3.60478289e+02] [-1.90616102e-01 9.81657525e-01 -3.74225839e-03 -5.81606778e+01] [-1.99009945e-02 -5.29031213e-05 9.99801954e-01 -7.20817211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574012739 meters 0.020587183849021185 Centerline is valid? [True, True] Translation: X:360.50, Y:-58.16, Z:-7.21 [[ 9.81452967e-01 1.90720634e-01 1.93833495e-02 3.60504900e+02] [-1.90684564e-01 9.81644354e-01 -3.70950511e-03 -5.81644530e+01] [-1.97350347e-02 -5.54007341e-05 9.99805244e-01 -7.20903052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters 0.02054315096700723 Centerline is valid? [True, True] Translation: X:360.53, Y:-58.17, Z:-7.21 [[ 9.81502113e-01 1.90500835e-01 1.90534369e-02 3.60531984e+02] [-1.90465983e-01 9.81687032e-01 -3.64421275e-03 -5.81700118e+01] [-1.93987375e-02 -5.22290679e-05 9.99811825e-01 -7.21035569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634012739 meters 0.020468201190472404 Centerline is valid? [True, True] Translation: X:360.56, Y:-58.18, Z:-7.21 [[ 9.81661094e-01 1.89766925e-01 1.81661885e-02 3.60557960e+02] [-1.89735140e-01 9.81829167e-01 -3.47331610e-03 -5.81771000e+01] [-1.84952142e-02 -3.71450401e-05 9.99828948e-01 -7.21260493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters 0.02034574678014937 Centerline is valid? [True, True] Translation: X:360.59, Y:-58.18, Z:-7.21 [[ 9.81839532e-01 1.88850371e-01 1.80740143e-02 3.60585283e+02] [-1.88818775e-01 9.82005874e-01 -3.45445584e-03 -5.81841050e+01] [-1.84011635e-02 -2.09919327e-05 9.99830684e-01 -7.21284269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694012739 meters 0.02024157078040986 Centerline is valid? [True, True] Translation: X:360.61, Y:-58.19, Z:-7.21 [[ 9.82046981e-01 1.87788312e-01 1.78683133e-02 3.60610968e+02] [-1.87757278e-01 9.82209524e-01 -3.41394255e-03 -5.81908380e+01] [-1.81915260e-02 -2.25389198e-06 9.99834520e-01 -7.21366853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters 0.020374215731479704 Centerline is valid? [True, True] Translation: X:360.64, Y:-58.20, Z:-7.22 [[ 9.82254853e-01 1.86728191e-01 1.75495177e-02 3.60636401e+02] [-1.86698114e-01 9.82411616e-01 -3.35140660e-03 -5.81990289e+01] [-1.78666521e-02 1.54735444e-05 9.99840379e-01 -7.21526183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754012739 meters 0.02044036455735401 Centerline is valid? [True, True] Translation: X:360.66, Y:-58.21, Z:-7.22 [[ 9.82293108e-01 1.86536460e-01 1.74470454e-02 3.60663701e+02] [-1.86506738e-01 9.82448039e-01 -3.32983006e-03 -5.82055632e+01] [-1.77619502e-02 1.68775886e-05 9.99842244e-01 -7.21587276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters 0.02035475115392514 Centerline is valid? [True, True] Translation: X:360.69, Y:-58.21, Z:-7.22 [[ 9.82363175e-01 1.86119094e-01 1.79520502e-02 3.60689615e+02] [-1.86087580e-01 9.82527192e-01 -3.42494225e-03 -5.82118434e+01] [-1.82758246e-02 2.38835623e-05 9.99832983e-01 -7.21568746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814012739 meters 0.020274442793767288 Centerline is valid? [True, True] Translation: X:360.72, Y:-58.22, Z:-7.21 [[ 9.82503782e-01 1.85258844e-01 1.91175345e-02 3.60716576e+02] [-1.85222974e-01 9.82689757e-01 -3.64563137e-03 -5.82195473e+01] [-1.94619908e-02 4.08400069e-05 9.99810597e-01 -7.21363524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters 0.020359502102829802 Centerline is valid? [True, True] Translation: X:360.74, Y:-58.23, Z:-7.21 [[ 9.82565520e-01 1.84958828e-01 1.88475513e-02 3.60742273e+02] [-1.84923935e-01 9.82746269e-01 -3.59282588e-03 -5.82262839e+01] [-1.91868856e-02 4.48234848e-05 9.99815914e-01 -7.21428579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874012739 meters 0.020730006505987553 Centerline is valid? [True, True] Translation: X:360.77, Y:-58.24, Z:-7.22 [[ 9.82733098e-01 1.84190423e-01 1.75939278e-02 3.60768364e+02] [-1.84159920e-01 9.82890576e-01 -3.35243697e-03 -5.82353318e+01] [-1.79103926e-02 5.44544281e-05 9.99839595e-01 -7.21775495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters 0.020840608705413075 Centerline is valid? [True, True] Translation: X:360.80, Y:-58.24, Z:-7.22 [[ 9.82837466e-01 1.83710576e-01 1.67612327e-02 3.60796279e+02] [-1.83682838e-01 9.82980377e-01 -3.19283622e-03 -5.82413246e+01] [-1.70625206e-02 5.92882585e-05 9.99854423e-01 -7.21902241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934012739 meters 0.020616897237487306 Centerline is valid? [True, True] Translation: X:360.82, Y:-58.25, Z:-7.22 [[ 9.82681999e-01 1.84503465e-01 1.71627827e-02 3.60824967e+02] [-1.84474518e-01 9.82831862e-01 -3.26848918e-03 -5.82464847e+01] [-1.74711772e-02 4.57894154e-05 9.99847366e-01 -7.21919798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters 0.020365021821294484 Centerline is valid? [True, True] Translation: X:360.85, Y:-58.25, Z:-7.22 [[ 9.82502446e-01 1.85440184e-01 1.73459652e-02 3.60853277e+02] [-1.85410776e-01 9.82655554e-01 -3.30252325e-03 -5.82512639e+01] [-1.76575296e-02 2.86082923e-05 9.99844093e-01 -7.21875067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994012739 meters 0.020290566474399693 Centerline is valid? [True, True] Translation: X:360.88, Y:-58.26, Z:-7.22 [[ 9.82287972e-01 1.86518234e-01 1.79245468e-02 3.60881923e+02] [-1.86487027e-01 9.82451499e-01 -3.41178048e-03 -5.82556766e+01] [-1.82463572e-02 8.65547078e-06 9.99833521e-01 -7.21850057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters 0.020313123181837294 Centerline is valid? [True, True] Translation: X:360.91, Y:-58.26, Z:-7.22 [[ 9.82270426e-01 1.86589976e-01 1.81380962e-02 3.60908790e+02] [-1.86558050e-01 9.82437876e-01 -3.45155054e-03 -5.82607516e+01] [-1.84635775e-02 6.54816360e-06 9.99829534e-01 -7.21904106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05401273900003 meters 0.020173769069165196 Centerline is valid? [True, True] Translation: X:360.94, Y:-58.27, Z:-7.22 [[ 9.82251196e-01 1.86680459e-01 1.82481086e-02 3.60935676e+02] [-1.86648180e-01 9.82420687e-01 -3.47140727e-03 -5.82658133e+01] [-1.85753633e-02 3.81767422e-06 9.99827463e-01 -7.21955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters 0.020342922002366027 Centerline is valid? [True, True] Translation: X:360.96, Y:-58.27, Z:-7.22 [[ 9.82048242e-01 1.87776451e-01 1.79235692e-02 3.60962308e+02] [-1.87745518e-01 9.82211792e-01 -3.40825810e-03 -5.82708381e+01] [-1.82447316e-02 -1.79959059e-05 9.99833551e-01 -7.22117231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11401273900003 meters 0.020407719894930156 Centerline is valid? [True, True] Translation: X:360.99, Y:-58.28, Z:-7.22 [[ 9.81979876e-01 1.88199494e-01 1.72184348e-02 3.60990056e+02] [-1.88171037e-01 9.82130821e-01 -3.27278642e-03 -5.82767483e+01] [-1.75266923e-02 -2.62003223e-05 9.99846395e-01 -7.22211537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters 0.020410116552829188 Centerline is valid? [True, True] Translation: X:361.02, Y:-58.28, Z:-7.22 [[ 9.82013347e-01 1.88066085e-01 1.67610777e-02 3.61016076e+02] [-1.88039108e-01 9.82156376e-01 -3.18541650e-03 -5.82825984e+01] [-1.70610681e-02 -2.36165754e-05 9.99854449e-01 -7.22394837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.174012739 meters 0.020274386965607055 Centerline is valid? [True, True] Translation: X:361.04, Y:-58.29, Z:-7.22 [[ 9.82187168e-01 1.87107794e-01 1.72927693e-02 3.61042552e+02] [-1.87078956e-01 9.82339388e-01 -3.28492865e-03 -5.82901499e+01] [-1.76020042e-02 -8.69846013e-06 9.99845073e-01 -7.22362676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters 0.020275708984550514 Centerline is valid? [True, True] Translation: X:361.07, Y:-58.30, Z:-7.22 [[ 9.82461344e-01 1.85563493e-01 1.83275232e-02 3.61069544e+02] [-1.85530863e-01 9.82632276e-01 -3.47982083e-03 -5.82996934e+01] [-1.86549435e-02 1.84682638e-05 9.99825981e-01 -7.22241236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234012739 meters 0.02059852186593219 Centerline is valid? [True, True] Translation: X:361.10, Y:-58.31, Z:-7.22 [[ 9.83026385e-01 1.82312617e-01 2.05240568e-02 3.61095822e+02] [-1.82271015e-01 9.83240612e-01 -3.89552009e-03 -5.83147712e+01] [-2.08902887e-02 8.84583494e-05 9.99781770e-01 -7.21890801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters 0.021062634735818868 Centerline is valid? [True, True] Translation: X:361.12, Y:-58.32, Z:-7.22 [[ 9.83256872e-01 1.81111588e-01 2.01125707e-02 3.61123434e+02] [-1.81071405e-01 9.83462547e-01 -3.81649950e-03 -5.83238180e+01] [-2.04711723e-02 1.10787912e-04 9.99790437e-01 -7.21985214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294012739 meters 0.021507552289619078 Centerline is valid? [True, True] Translation: X:361.15, Y:-58.33, Z:-7.22 [[ 9.83433534e-01 1.80407933e-01 1.76482856e-02 3.61150892e+02] [-1.80376895e-01 9.83591870e-01 -3.34812648e-03 -5.83348975e+01] [-1.79627388e-02 1.09316899e-04 9.99838651e-01 -7.22499989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters 0.021439548454273795 Centerline is valid? [True, True] Translation: X:361.18, Y:-58.34, Z:-7.23 [[ 9.83395904e-01 1.80660941e-01 1.71499326e-02 3.61177797e+02] [-1.80631679e-01 9.83545431e-01 -3.25305203e-03 -5.83411732e+01] [-1.74554373e-02 1.01216929e-04 9.99847637e-01 -7.22634863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354012739 meters 0.02066866143206962 Centerline is valid? [True, True] Translation: X:361.21, Y:-58.35, Z:-7.23 [[ 9.82999285e-01 1.82802918e-01 1.71901088e-02 3.61206563e+02] [-1.82773864e-01 9.83149576e-01 -3.25963589e-03 -5.83450190e+01] [-1.74963191e-02 6.23171392e-05 9.99846926e-01 -7.22600230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters 0.02046542824403228 Centerline is valid? [True, True] Translation: X:361.23, Y:-58.35, Z:-7.23 [[ 9.82786999e-01 1.83942640e-01 1.71703116e-02 3.61234980e+02] [-1.83913841e-01 9.82936978e-01 -3.25509520e-03 -5.83488655e+01] [-1.74760850e-02 4.12072827e-05 9.99847281e-01 -7.22656492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414012739 meters 0.020383544867878085 Centerline is valid? [True, True] Translation: X:361.26, Y:-58.35, Z:-7.23 [[ 9.82689434e-01 1.84532315e-01 1.64104088e-02 3.61263638e+02] [-1.84506103e-01 9.82826446e-01 -3.11030667e-03 -5.83539513e+01] [-1.67025358e-02 2.86449197e-05 9.99860503e-01 -7.22887894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters 0.02040675782074171 Centerline is valid? [True, True] Translation: X:361.29, Y:-58.36, Z:-7.23 [[ 9.82654714e-01 1.84706566e-01 1.65287130e-02 3.61290402e+02] [-1.84680012e-01 9.82793714e-01 -3.13198676e-03 -5.83621255e+01] [-1.68228138e-02 2.51386377e-05 9.99858486e-01 -7.22940499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474012739 meters 0.020293066673394658 Centerline is valid? [True, True] Translation: X:361.32, Y:-58.37, Z:-7.23 [[ 9.82689531e-01 1.84413495e-01 1.76903409e-02 3.61318817e+02] [-1.84383050e-01 9.82848748e-01 -3.35095947e-03 -5.83692688e+01] [-1.80048916e-02 3.11537757e-05 9.99837898e-01 -7.22704911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters 0.020304399085365257 Centerline is valid? [True, True] Translation: X:361.35, Y:-58.38, Z:-7.22 [[ 9.82781988e-01 1.83690370e-01 1.99352125e-02 3.61345965e+02] [-1.83651580e-01 9.82984153e-01 -3.77515047e-03 -5.83772929e+01] [-2.02894568e-02 4.90166164e-05 9.99794147e-01 -7.22311553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534012739 meters 0.020254465329488137 Centerline is valid? [True, True] Translation: X:361.37, Y:-58.38, Z:-7.22 [[ 9.82747719e-01 1.83829991e-01 2.03335803e-02 3.61374746e+02] [-1.83789689e-01 9.82958052e-01 -3.84940785e-03 -5.83822133e+01] [-2.06946931e-02 4.58943808e-05 9.99785841e-01 -7.22375025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters 0.020327102595497637 Centerline is valid? [True, True] Translation: X:361.40, Y:-58.39, Z:-7.22 [[ 9.82565440e-01 1.84816675e-01 2.01978557e-02 3.61403048e+02] [-1.84777127e-01 9.82773014e-01 -3.82322422e-03 -5.83862309e+01] [-2.05565031e-02 2.44662275e-05 9.99788692e-01 -7.22441898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594012739 meters 0.020620198411028655 Centerline is valid? [True, True] Translation: X:361.43, Y:-58.39, Z:-7.23 [[ 9.81855987e-01 1.88619388e-01 1.95332563e-02 3.61432355e+02] [-1.88583166e-01 9.82050265e-01 -3.69674446e-03 -5.83850204e+01] [-1.98799172e-02 -5.39726329e-05 9.99802373e-01 -7.22575551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters 0.02144993066380809 Centerline is valid? [True, True] Translation: X:361.46, Y:-58.39, Z:-7.23 [[ 9.81437762e-01 1.90805611e-01 1.93168016e-02 3.61460747e+02] [-1.90770628e-01 9.81627836e-01 -3.65488778e-03 -5.83855068e+01] [-1.96592833e-02 -9.80334888e-05 9.99806733e-01 -7.22725204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654012739 meters 0.02373393045011314 Centerline is valid? [True, True] Translation: X:361.49, Y:-58.38, Z:-7.23 [[ 9.80699575e-01 1.94656016e-01 1.83679114e-02 3.61489999e+02] [-1.94625079e-01 9.80871555e-01 -3.47432874e-03 -5.83830392e+01] [-1.86928608e-02 -1.67583500e-04 9.99825259e-01 -7.22895960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters 0.023772783626125706 Centerline is valid? [True, True] Translation: X:361.52, Y:-58.39, Z:-7.23 [[ 9.80486777e-01 1.95725854e-01 1.83594946e-02 3.61517931e+02] [-1.95695154e-01 9.80658633e-01 -3.47169650e-03 -5.83882130e+01] [-1.86838976e-02 -1.88911609e-04 9.99825423e-01 -7.23001945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714012739 meters 0.024104201898307538 Centerline is valid? [True, True] Translation: X:361.55, Y:-58.39, Z:-7.23 [[ 9.80301424e-01 1.96667617e-01 1.81924708e-02 3.61546548e+02] [-1.96637651e-01 9.80470196e-01 -3.43924487e-03 -5.83921059e+01] [-1.85135635e-02 -2.05828065e-04 9.99828588e-01 -7.23038164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters 0.02525645861861228 Centerline is valid? [True, True] Translation: X:361.57, Y:-58.39, Z:-7.23 [[ 9.80105302e-01 1.97566321e-01 1.90038197e-02 3.61574873e+02] [-1.97533809e-01 9.80289495e-01 -3.59166029e-03 -5.83932146e+01] [-1.93388359e-02 -2.33691604e-04 9.99812960e-01 -7.22914954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774012739 meters 0.02487131306051401 Centerline is valid? [True, True] Translation: X:361.60, Y:-58.40, Z:-7.23 [[ 9.80107187e-01 1.97516670e-01 1.94182349e-02 3.61602287e+02] [-1.97482739e-01 9.80299499e-01 -3.66877401e-03 -5.83985196e+01] [-1.97603300e-02 -2.38974443e-04 9.99804717e-01 -7.22875967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters 0.025671223265381717 Centerline is valid? [True, True] Translation: X:361.63, Y:-58.40, Z:-7.23 [[ 9.79916274e-01 1.98386819e-01 2.01684573e-02 3.61631068e+02] [-1.98350430e-01 9.80123767e-01 -3.80900402e-03 -5.84011098e+01] [-2.05232405e-02 -2.67917150e-04 9.99789340e-01 -7.22821724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834012739 meters 0.026787554837979455 Centerline is valid? [True, True] Translation: X:361.66, Y:-58.40, Z:-7.23 [[ 9.79709761e-01 1.99425788e-01 1.99534261e-02 3.61659079e+02] [-1.99390406e-01 9.79912890e-01 -3.76744453e-03 -5.84031648e+01] [-2.03039450e-02 -2.87519536e-04 9.99793812e-01 -7.22950492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters 0.027731688217715336 Centerline is valid? [True, True] Translation: X:361.69, Y:-58.41, Z:-7.23 [[ 9.79478824e-01 2.00611241e-01 1.94000638e-02 3.61687551e+02] [-2.00578049e-01 9.79670882e-01 -3.66185097e-03 -5.84051336e+01] [-1.97402861e-02 -3.04521460e-04 9.99805095e-01 -7.23133912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894012739 meters 0.029787765503181254 Centerline is valid? [True, True] Translation: X:361.72, Y:-58.40, Z:-7.23 [[ 9.79079474e-01 2.02664582e-01 1.81783166e-02 3.61715580e+02] [-2.02635818e-01 9.79248161e-01 -3.42986302e-03 -5.84040288e+01] [-1.84961948e-02 -3.25469571e-04 9.99828878e-01 -7.23357148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters 0.03270317429401919 Centerline is valid? [True, True] Translation: X:361.74, Y:-58.40, Z:-7.23 [[ 9.79056850e-01 2.02783437e-01 1.80710109e-02 3.61743474e+02] [-2.02755056e-01 9.79223555e-01 -3.40834263e-03 -5.84034773e+01] [-1.83867150e-02 -3.27027621e-04 9.99830897e-01 -7.23491671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954012739 meters 0.027236872969953186 Centerline is valid? [True, True] Translation: X:361.77, Y:-58.42, Z:-7.23 [[ 9.79388741e-01 2.01025914e-01 1.96538843e-02 3.61770513e+02] [-2.00992018e-01 9.79585871e-01 -3.70538043e-03 -5.84174608e+01] [-1.99975448e-02 -3.21265991e-04 9.99799977e-01 -7.23210313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters 0.027276427246328862 Centerline is valid? [True, True] Translation: X:361.80, Y:-58.42, Z:-7.23 [[ 9.79695643e-01 1.99424162e-01 2.06506992e-02 3.61798187e+02] [-1.99386407e-01 9.79913216e-01 -3.89223580e-03 -5.84220742e+01] [-2.10120989e-02 -3.04262264e-04 9.99779175e-01 -7.23025121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014012739 meters 0.02630222199286616 Centerline is valid? [True, True] Translation: X:361.83, Y:-58.43, Z:-7.23 [[ 9.80009469e-01 1.97837368e-01 2.10194367e-02 3.61825413e+02] [-1.97797916e-01 9.80234819e-01 -3.96042898e-03 -5.84290576e+01] [-2.13875045e-02 -2.76342859e-04 9.99771223e-01 -7.23005252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters 0.025016355183723783 Centerline is valid? [True, True] Translation: X:361.85, Y:-58.44, Z:-7.23 [[ 9.80337455e-01 1.96304330e-01 2.00769635e-02 3.61853313e+02] [-1.96268038e-01 9.80542990e-01 -3.78174200e-03 -5.84368170e+01] [-2.04286981e-02 -2.33082903e-04 9.99791285e-01 -7.23243544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074012739 meters 0.024721844005934843 Centerline is valid? [True, True] Translation: X:361.88, Y:-58.44, Z:-7.23 [[ 9.80423156e-01 1.95916915e-01 1.96722295e-02 3.61881948e+02] [-1.95882012e-01 9.80620474e-01 -3.70461297e-03 -5.84423509e+01] [-2.00167874e-02 -2.21347555e-04 9.99799620e-01 -7.23412155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters 0.024721844005934843 Centerline is valid? [True, True] Translation: X:361.91, Y:-58.45, Z:-7.23 [[ 9.80436324e-01 1.95850994e-01 1.96723948e-02 3.61908988e+02] [-1.95816095e-01 9.80633642e-01 -3.70373535e-03 -5.84473010e+01] [-2.00167924e-02 -2.20894850e-04 9.99799620e-01 -7.23467988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134012739 meters 0.024462290870469465 Centerline is valid? [True, True] Translation: X:361.94, Y:-58.45, Z:-7.24 [[ 9.80601686e-01 1.95114960e-01 1.87212535e-02 3.61936403e+02] [-1.95083243e-01 9.80780360e-01 -3.52341255e-03 -5.84519374e+01] [-1.90489082e-02 -1.97138563e-04 9.99818534e-01 -7.23710096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters 0.023890862752668385 Centerline is valid? [True, True] Translation: X:361.96, Y:-58.46, Z:-7.24 [[ 9.80678557e-01 1.94739584e-01 1.86027408e-02 3.61964396e+02] [-1.94708221e-01 9.80854963e-01 -3.50002726e-03 -5.84583127e+01] [-1.89281845e-02 -1.89704890e-04 9.99820828e-01 -7.23732789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194012739 meters 0.02331239799280412 Centerline is valid? [True, True] Translation: X:361.99, Y:-58.46, Z:-7.24 [[ 9.80932489e-01 1.93372550e-01 1.94552995e-02 3.61991421e+02] [-1.93337996e-01 9.81125388e-01 -3.65947440e-03 -5.84643340e+01] [-1.97957302e-02 -1.71751282e-04 9.99804031e-01 -7.23600912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters 0.022200420748366152 Centerline is valid? [True, True] Translation: X:362.02, Y:-58.47, Z:-7.24 [[ 9.81136037e-01 1.92306110e-01 1.97594788e-02 3.62019562e+02] [-1.92270275e-01 9.81334977e-01 -3.71550620e-03 -5.84729402e+01] [-2.01051822e-02 -1.53743394e-04 9.99797859e-01 -7.23613316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254012739 meters 0.021997063625221174 Centerline is valid? [True, True] Translation: X:362.05, Y:-58.48, Z:-7.24 [[ 9.81298231e-01 1.91453720e-01 1.99813582e-02 3.62046740e+02] [-1.91416919e-01 9.81501632e-01 -3.75625743e-03 -5.84801145e+01] [-2.03308852e-02 -1.38761253e-04 9.99793297e-01 -7.23624348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters 0.021510160053812108 Centerline is valid? [True, True] Translation: X:362.07, Y:-58.49, Z:-7.24 [[ 9.81569058e-01 1.89970756e-01 2.08157731e-02 3.62073598e+02] [-1.89930510e-01 9.81789743e-01 -3.91182539e-03 -5.84891766e+01] [-2.11798450e-02 -1.13823641e-04 9.99775675e-01 -7.23506967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314012739 meters 0.021435389761430175 Centerline is valid? [True, True] Translation: X:362.10, Y:-58.50, Z:-7.23 [[ 9.81642781e-01 1.89514327e-01 2.14888178e-02 3.62100896e+02] [-1.89471356e-01 9.81877950e-01 -4.03700694e-03 -5.84957508e+01] [-2.18644670e-02 -1.08616720e-04 9.99760938e-01 -7.23469024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters 0.021153263319766077 Centerline is valid? [True, True] Translation: X:362.13, Y:-58.50, Z:-7.23 [[ 9.81579432e-01 1.89758124e-01 2.22187540e-02 3.62128828e+02] [-1.89712279e-01 9.81830861e-01 -4.17267716e-03 -5.85041183e+01] [-2.26068578e-02 -1.19356380e-04 9.99744425e-01 -7.23404479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374012739 meters 0.02142474906611152 Centerline is valid? [True, True] Translation: X:362.16, Y:-58.51, Z:-7.23 [[ 9.81461937e-01 1.90400544e-01 2.19111733e-02 3.62156716e+02] [-1.90356142e-01 9.81706481e-01 -4.11390671e-03 -5.85095350e+01] [-2.22936309e-02 -1.33283552e-04 9.99751457e-01 -7.23497675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters 0.02228178087283693 Centerline is valid? [True, True] Translation: X:362.18, Y:-58.51, Z:-7.24 [[ 9.81268908e-01 1.91425203e-01 2.16268606e-02 3.62184092e+02] [-1.91382217e-01 9.81507192e-01 -4.05951073e-03 -5.85131361e+01] [-2.20040119e-02 -1.55524865e-04 9.99757870e-01 -7.23585122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434012739 meters 0.023302331154694343 Centerline is valid? [True, True] Translation: X:362.21, Y:-58.52, Z:-7.24 [[ 9.80792454e-01 1.93968533e-01 2.05516619e-02 3.62212362e+02] [-1.93930297e-01 9.81007730e-01 -3.85656078e-03 -5.85176822e+01] [-2.09093906e-02 -2.03104185e-04 9.99781354e-01 -7.23871325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters 0.02478332004307077 Centerline is valid? [True, True] Translation: X:362.24, Y:-58.52, Z:-7.24 [[ 9.80424957e-01 1.95867934e-01 2.00662991e-02 3.62240251e+02] [-1.95831899e-01 9.80630254e-01 -3.76454334e-03 -5.85202573e+01] [-2.04149733e-02 -2.38769227e-04 9.99791564e-01 -7.24003391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494012739 meters 0.027956880527669023 Centerline is valid? [True, True] Translation: X:362.27, Y:-58.52, Z:-7.24 [[ 9.79698895e-01 1.99452288e-01 2.02202902e-02 3.62269060e+02] [-1.99416490e-01 9.79907488e-01 -3.79198480e-03 -5.85187901e+01] [-2.05703338e-02 -3.17255980e-04 9.99788358e-01 -7.24119502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters 0.028755672595431127 Centerline is valid? [True, True] Translation: X:362.30, Y:-58.52, Z:-7.24 [[ 9.79329978e-01 2.01233596e-01 2.04410099e-02 3.62297543e+02] [-2.01197425e-01 9.79543215e-01 -3.83218239e-03 -5.85215482e+01] [-2.07940164e-02 -3.59707461e-04 9.99783716e-01 -7.24119640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55401273900003 meters 0.03399199520592093 Centerline is valid? [True, True] Translation: X:362.33, Y:-58.52, Z:-7.24 [[ 9.78908751e-01 2.03137716e-01 2.17422689e-02 3.62326926e+02] [-2.03097287e-01 9.79150084e-01 -4.07502676e-03 -5.85167326e+01] [-2.21167360e-02 -4.26716475e-04 9.99755304e-01 -7.23908454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters 0.03097897774866997 Centerline is valid? [True, True] Translation: X:362.35, Y:-58.53, Z:-7.24 [[ 9.78893009e-01 2.03161333e-01 2.22249636e-02 3.62354369e+02] [-2.03119124e-01 9.79145179e-01 -4.16419410e-03 -5.85261562e+01] [-2.26074692e-02 -4.38014645e-04 9.99744323e-01 -7.23974263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61401273900003 meters 0.029995020070100936 Centerline is valid? [True, True] Translation: X:362.38, Y:-58.53, Z:-7.24 [[ 9.79264761e-01 2.01426301e-01 2.16327030e-02 3.62381875e+02] [-2.01385911e-01 9.79503596e-01 -4.05221968e-03 -5.85323102e+01] [-2.20055340e-02 -3.88325656e-04 9.99757774e-01 -7.24160467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters 0.02909027327548033 Centerline is valid? [True, True] Translation: X:362.41, Y:-58.54, Z:-7.24 [[ 9.79501388e-01 2.00265786e-01 2.16943814e-02 3.62410328e+02] [-2.00224910e-01 9.79741538e-01 -4.06245856e-03 -5.85394214e+01] [-2.20684581e-02 -3.64571777e-04 9.99756395e-01 -7.24228072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.674012739 meters 0.028096548059982813 Centerline is valid? [True, True] Translation: X:362.44, Y:-58.55, Z:-7.24 [[ 9.79729450e-01 1.99097388e-01 2.21457515e-02 3.62438161e+02] [-1.99054536e-01 9.79979648e-01 -4.14512064e-03 -5.85460890e+01] [-2.25276684e-02 -3.47115507e-04 9.99746160e-01 -7.24193869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters 0.027313568718239742 Centerline is valid? [True, True] Translation: X:362.47, Y:-58.55, Z:-7.24 [[ 9.79935493e-01 1.98047662e-01 2.24399940e-02 3.62465980e+02] [-1.98003413e-01 9.80192336e-01 -4.19915878e-03 -5.85513563e+01] [-2.28271438e-02 -3.28290667e-04 9.99739373e-01 -7.24128497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734012739 meters 0.026708155687424146 Centerline is valid? [True, True] Translation: X:362.49, Y:-58.56, Z:-7.24 [[ 9.80073167e-01 1.97374263e-01 2.23603991e-02 3.62494524e+02] [-1.97330175e-01 9.80328161e-01 -4.18325004e-03 -5.85572034e+01] [-2.27461948e-02 -3.12490344e-04 9.99741223e-01 -7.24234319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters 0.027523007407060665 Centerline is valid? [True, True] Translation: X:362.52, Y:-58.56, Z:-7.24 [[ 9.80030096e-01 1.97584318e-01 2.23930553e-02 3.62522238e+02] [-1.97540180e-01 9.80285844e-01 -4.18831229e-03 -5.85607042e+01] [-2.27791399e-02 -3.18856065e-04 9.99740471e-01 -7.24291468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794012739 meters 0.02751521637120942 Centerline is valid? [True, True] Translation: X:362.55, Y:-58.57, Z:-7.24 [[ 9.79929913e-01 1.97980398e-01 2.32621338e-02 3.62551136e+02] [-1.97932909e-01 9.80205920e-01 -4.34953745e-03 -5.85653203e+01] [-2.36628044e-02 -3.42099957e-04 9.99719938e-01 -7.24189076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters 0.028237843533353464 Centerline is valid? [True, True] Translation: X:362.58, Y:-58.57, Z:-7.24 [[ 9.79827023e-01 1.98427293e-01 2.37826675e-02 3.62579054e+02] [-1.98377814e-01 9.80115543e-01 -4.44572985e-03 -5.85678787e+01] [-2.41919162e-02 -3.61907338e-04 9.99707267e-01 -7.24171176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854012739 meters 0.029157621554161836 Centerline is valid? [True, True] Translation: X:362.61, Y:-58.57, Z:-7.24 [[ 9.79663768e-01 1.99305156e-01 2.31593770e-02 3.62607625e+02] [-1.99258511e-01 9.79937403e-01 -4.32798216e-03 -5.85705005e+01] [-2.35573289e-02 -3.74735645e-04 9.99722417e-01 -7.24418477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters 0.028474037503029934 Centerline is valid? [True, True] Translation: X:362.64, Y:-58.58, Z:-7.25 [[ 9.79833125e-01 1.98582134e-01 2.21852105e-02 3.62636129e+02] [-1.98539167e-01 9.80084189e-01 -4.14497837e-03 -5.85769944e+01] [-2.25664927e-02 -3.43246108e-04 9.99745285e-01 -7.24682217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914012739 meters 0.026189583112558968 Centerline is valid? [True, True] Translation: X:362.66, Y:-58.59, Z:-7.25 [[ 9.80435845e-01 1.95698669e-01 2.11562103e-02 3.62662877e+02] [-1.95658944e-01 9.80664041e-01 -3.95182367e-03 -5.85859868e+01] [-2.15205013e-02 -2.64892187e-04 9.99768372e-01 -7.24963151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters 0.024698823847556322 Centerline is valid? [True, True] Translation: X:362.69, Y:-58.59, Z:-7.25 [[ 9.80799435e-01 1.93874469e-01 2.10987894e-02 3.62691086e+02] [-1.93834557e-01 9.81026319e-01 -3.94017869e-03 -5.85945106e+01] [-2.14623678e-02 -2.25149469e-04 9.99769632e-01 -7.25080799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974012739 meters 0.0217327644705238 Centerline is valid? [True, True] Translation: X:362.72, Y:-58.61, Z:-7.25 [[ 9.81488388e-01 1.90268865e-01 2.18701380e-02 3.62717931e+02] [-1.90225102e-01 9.81732008e-01 -4.08344830e-03 -5.86087906e+01] [-2.22475676e-02 -1.52392148e-04 9.99752481e-01 -7.25105680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters 0.02122119069001894 Centerline is valid? [True, True] Translation: X:362.74, Y:-58.62, Z:-7.25 [[ 9.81766433e-01 1.88815617e-01 2.19848322e-02 3.62744397e+02] [-1.88771054e-01 9.82012550e-01 -4.10378793e-03 -5.86165648e+01] [-2.23642404e-02 -1.21138716e-04 9.99749882e-01 -7.25142848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034012739 meters 0.020795930753697452 Centerline is valid? [True, True] Translation: X:362.77, Y:-58.62, Z:-7.25 [[ 9.82069193e-01 1.87227638e-01 2.20433953e-02 3.62771637e+02] [-1.87182467e-01 9.82316550e-01 -4.11340649e-03 -5.86245603e+01] [-2.24237354e-02 -8.64873062e-05 9.99748553e-01 -7.25110817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters 0.020185688607985627 Centerline is valid? [True, True] Translation: X:362.80, Y:-58.64, Z:-7.25 [[ 9.82606747e-01 1.84398102e-01 2.19390268e-02 3.62797705e+02] [-1.84352681e-01 9.82851637e-01 -4.09260824e-03 -5.86379976e+01] [-2.23174776e-02 -2.30939391e-05 9.99750934e-01 -7.25198896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094012739 meters 0.01998109525655074 Centerline is valid? [True, True] Translation: X:362.83, Y:-58.65, Z:-7.25 [[ 9.82832199e-01 1.83173518e-01 2.20981901e-02 3.62826561e+02] [-1.83127152e-01 9.83080598e-01 -4.12115611e-03 -5.86473051e+01] [-2.24791886e-02 3.62630165e-06 9.99747311e-01 -7.25317689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters 0.019978243898806695 Centerline is valid? [True, True] Translation: X:362.85, Y:-58.66, Z:-7.25 [[ 9.82885181e-01 1.82861745e-01 2.23226958e-02 3.62853785e+02] [-1.82814365e-01 9.83138638e-01 -4.16245254e-03 -5.86558640e+01] [-2.27074581e-02 1.03034656e-05 9.99742152e-01 -7.25287466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154012739 meters 0.020021598217352676 Centerline is valid? [True, True] Translation: X:362.88, Y:-58.66, Z:-7.25 [[ 9.82734284e-01 1.83571562e-01 2.31259176e-02 3.62882022e+02] [-1.83520926e-01 9.83006349e-01 -4.31137138e-03 -5.86617313e+01] [-2.35243690e-02 -7.15735626e-06 9.99723264e-01 -7.25208700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters 0.020242115035059495 Centerline is valid? [True, True] Translation: X:362.91, Y:-58.67, Z:-7.25 [[ 9.82316370e-01 1.85597124e-01 2.46628764e-02 3.62910393e+02] [-1.85540194e-01 9.82625923e-01 -4.59700028e-03 -5.86689879e+01] [-2.50875717e-02 -6.02462551e-05 9.99685256e-01 -7.24958827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214012739 meters 0.02030259853722352 Centerline is valid? [True, True] Translation: X:362.94, Y:-58.68, Z:-7.25 [[ 9.82173621e-01 1.86347895e-01 2.46868545e-02 3.62940282e+02] [-1.86291109e-01 9.82483820e-01 -4.60076925e-03 -5.86763609e+01] [-2.51117788e-02 -8.01873250e-05 9.99684646e-01 -7.25053089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters 0.02042143624053422 Centerline is valid? [True, True] Translation: X:362.97, Y:-58.68, Z:-7.25 [[ 9.82026487e-01 1.87136693e-01 2.45730936e-02 3.62970028e+02] [-1.87080676e-01 9.82333878e-01 -4.57956816e-03 -5.86834151e+01] [-2.49959875e-02 -9.98937213e-05 9.99687547e-01 -7.25226751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274012739 meters 0.0209862273988621 Centerline is valid? [True, True] Translation: X:363.00, Y:-58.69, Z:-7.25 [[ 9.81762443e-01 1.88606628e-01 2.38756206e-02 3.62998656e+02] [-1.88554182e-01 9.82052708e-01 -4.44953457e-03 -5.86912919e+01] [-2.42863296e-02 -1.33462187e-04 9.99705035e-01 -7.25473288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters 0.021046674227498736 Centerline is valid? [True, True] Translation: X:363.03, Y:-58.70, Z:-7.26 [[ 9.81627669e-01 1.89285674e-01 2.40427232e-02 3.63028123e+02] [-1.89232701e-01 9.81922049e-01 -4.48042489e-03 -5.86985937e+01] [-2.44561603e-02 -1.51560410e-04 9.99700892e-01 -7.25510684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334012739 meters 0.022895041392891387 Centerline is valid? [True, True] Translation: X:363.06, Y:-58.70, Z:-7.25 [[ 9.80931188e-01 1.92790959e-01 2.46099708e-02 3.63058058e+02] [-1.92736560e-01 9.81239821e-01 -4.58607519e-03 -5.87007117e+01] [-2.50324372e-02 -2.44616938e-04 9.99686610e-01 -7.25392779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters 0.02472841220614042 Centerline is valid? [True, True] Translation: X:363.09, Y:-58.70, Z:-7.25 [[ 9.80408257e-01 1.95400081e-01 2.48688178e-02 3.63087505e+02] [-1.95345380e-01 9.80723564e-01 -4.63394294e-03 -5.87030514e+01] [-2.52949085e-02 -3.14852733e-04 9.99679983e-01 -7.25341184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394012739 meters 0.026310871788997603 Centerline is valid? [True, True] Translation: X:363.12, Y:-58.71, Z:-7.25 [[ 9.79900455e-01 1.97872536e-01 2.53289825e-02 3.63116928e+02] [-1.97816632e-01 9.80227683e-01 -4.71907085e-03 -5.87063013e+01] [-2.57619444e-02 -3.86274354e-04 9.99668031e-01 -7.25428360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters 0.029277346876203536 Centerline is valid? [True, True] Translation: X:363.15, Y:-58.71, Z:-7.25 [[ 9.79134008e-01 2.01592676e-01 2.56317827e-02 3.63146776e+02] [-2.01536719e-01 9.79469322e-01 -4.77479313e-03 -5.87063935e+01] [-2.60681081e-02 -4.90583056e-04 9.99660049e-01 -7.25458726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454012739 meters 0.030563925177154207 Centerline is valid? [True, True] Translation: X:363.17, Y:-58.71, Z:-7.26 [[ 9.79011222e-01 2.02241439e-01 2.52076717e-02 3.63174484e+02] [-2.02187561e-01 9.79335566e-01 -4.69473402e-03 -5.87088375e+01] [-2.56362392e-02 -5.00480349e-04 9.99671212e-01 -7.25608385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters 0.03066041583164185 Centerline is valid? [True, True] Translation: X:363.20, Y:-58.71, Z:-7.26 [[ 9.78955132e-01 2.02534411e-01 2.50332117e-02 3.63202560e+02] [-2.02481411e-01 9.79275016e-01 -4.66069592e-03 -5.87144928e+01] [-2.54583501e-02 -5.06147842e-04 9.99675756e-01 -7.25807883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514012739 meters 0.029583722774721974 Centerline is valid? [True, True] Translation: X:363.23, Y:-58.72, Z:-7.26 [[ 9.78958820e-01 2.02516479e-01 2.50340697e-02 3.63230329e+02] [-2.02463500e-01 9.79278724e-01 -4.65965962e-03 -5.87209587e+01] [-2.54589897e-02 -5.06870480e-04 9.99675739e-01 -7.25939560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters 0.03185973883723436 Centerline is valid? [True, True] Translation: X:363.26, Y:-58.72, Z:-7.26 [[ 9.78895007e-01 2.02872927e-01 2.46402072e-02 3.63258628e+02] [-2.02821747e-01 9.79204941e-01 -4.58509971e-03 -5.87211440e+01] [-2.50580052e-02 -5.09238633e-04 9.99685869e-01 -7.25957565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574012739 meters 0.031394686904765386 Centerline is valid? [True, True] Translation: X:363.29, Y:-58.72, Z:-7.26 [[ 9.78687404e-01 2.03916466e-01 2.42701599e-02 3.63287687e+02] [-2.03867166e-01 9.78988149e-01 -4.51483529e-03 -5.87225220e+01] [-2.46808482e-02 -5.29276287e-04 9.99695241e-01 -7.26142468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters 0.03286876058886221 Centerline is valid? [True, True] Translation: X:363.32, Y:-58.72, Z:-7.26 [[ 9.78337707e-01 2.05473424e-01 2.52190852e-02 3.63317723e+02] [-2.05420743e-01 9.78662517e-01 -4.69010020e-03 -5.87201358e+01] [-2.56446644e-02 -5.92021348e-04 9.99670946e-01 -7.26048354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634012739 meters 0.03411156917215205 Centerline is valid? [True, True] Translation: X:363.35, Y:-58.72, Z:-7.26 [[ 9.78183360e-01 2.06209942e-01 2.51947099e-02 3.63345758e+02] [-2.06157639e-01 9.78507581e-01 -4.68428914e-03 -5.87199181e+01] [-2.56191616e-02 -6.11988203e-04 9.99671588e-01 -7.26066822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters 0.033547542664081734 Centerline is valid? [True, True] Translation: X:363.37, Y:-58.72, Z:-7.26 [[ 9.78010041e-01 2.07039817e-01 2.51171816e-02 3.63374243e+02] [-2.06988146e-01 9.78332312e-01 -4.66842829e-03 -5.87231513e+01] [-2.55395009e-02 -6.33189118e-04 9.99673613e-01 -7.26227101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694012739 meters 0.03471143929271569 Centerline is valid? [True, True] Translation: X:363.40, Y:-58.72, Z:-7.26 [[ 9.78022256e-01 2.06948805e-01 2.53901376e-02 3.63402093e+02] [-2.06896012e-01 9.78351564e-01 -4.71770655e-03 -5.87200102e+01] [-2.58168046e-02 -6.39096207e-04 9.99666486e-01 -7.26253276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters 0.034382784290250316 Centerline is valid? [True, True] Translation: X:363.43, Y:-58.72, Z:-7.26 [[ 9.78239856e-01 2.05923244e-01 2.53456285e-02 3.63429723e+02] [-2.05870344e-01 9.78567955e-01 -4.70740528e-03 -5.87222014e+01] [-2.57717840e-02 -6.12941789e-04 9.99667665e-01 -7.26299935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754012739 meters 0.03132620324172788 Centerline is valid? [True, True] Translation: X:363.46, Y:-58.73, Z:-7.26 [[ 9.78934615e-01 2.02633390e-01 2.50345540e-02 3.63458538e+02] [-2.02580741e-01 9.79254531e-01 -4.64820709e-03 -5.87258355e+01] [-2.54570824e-02 -5.21227693e-04 9.99675780e-01 -7.26410773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters 0.030305424161250386 Centerline is valid? [True, True] Translation: X:363.49, Y:-58.73, Z:-7.26 [[ 9.79455183e-01 2.00065342e-01 2.53259471e-02 3.63485890e+02] [-2.00010634e-01 9.79782449e-01 -4.70104725e-03 -5.87295821e+01] [-2.57544351e-02 -4.60993632e-04 9.99668193e-01 -7.26335546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814012739 meters 0.026632789879281894 Centerline is valid? [True, True] Translation: X:363.51, Y:-58.74, Z:-7.26 [[ 9.79943784e-01 1.97569323e-01 2.60104567e-02 3.63513540e+02] [-1.97510777e-01 9.80288833e-01 -4.82660769e-03 -5.87382725e+01] [-2.64513499e-02 -4.07541331e-04 9.99650019e-01 -7.26339588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters 0.024402025629018914 Centerline is valid? [True, True] Translation: X:363.54, Y:-58.74, Z:-7.26 [[ 9.80735825e-01 1.93243153e-01 2.85363943e-02 3.63541234e+02] [-1.93170896e-01 9.81150845e-01 -5.29375163e-03 -5.87418479e+01] [-2.90214886e-02 -3.20628990e-04 9.99578736e-01 -7.25890425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874012739 meters 0.02343599595943174 Centerline is valid? [True, True] Translation: X:363.57, Y:-58.75, Z:-7.26 [[ 9.81041448e-01 1.91422540e-01 3.02504302e-02 3.63569745e+02] [-1.91340529e-01 9.81507682e-01 -5.60996113e-03 -5.87475208e+01] [-3.07649027e-02 -2.84528937e-04 9.99526608e-01 -7.25658241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters 0.022362046993945357 Centerline is valid? [True, True] Translation: X:363.60, Y:-58.75, Z:-7.25 [[ 9.81565648e-01 1.88346850e-01 3.24706350e-02 3.63596546e+02] [-1.88250730e-01 9.82102552e-01 -6.01996326e-03 -5.87545924e+01] [-3.30233346e-02 -2.03631609e-04 9.99454560e-01 -7.25302188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934012739 meters 0.021809331315746163 Centerline is valid? [True, True] Translation: X:363.63, Y:-58.76, Z:-7.25 [[ 9.81832265e-01 1.86950231e-01 3.24809938e-02 3.63625159e+02] [-1.86853343e-01 9.82369374e-01 -6.02013623e-03 -5.87606183e+01] [-3.30337994e-02 -1.58418297e-04 9.99454223e-01 -7.25425880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters 0.02110636142778885 Centerline is valid? [True, True] Translation: X:363.65, Y:-58.77, Z:-7.26 [[ 9.82105995e-01 1.85542529e-01 3.22766797e-02 3.63653777e+02] [-1.85446137e-01 9.82636228e-01 -5.98105094e-03 -5.87669290e+01] [-3.28259741e-02 -1.11559563e-04 9.99461076e-01 -7.25744358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994012739 meters 0.021179527008554983 Centerline is valid? [True, True] Translation: X:363.68, Y:-58.77, Z:-7.26 [[ 9.82606857e-01 1.82866558e-01 3.23045964e-02 3.63681268e+02] [-1.82768583e-01 9.83137743e-01 -5.98530205e-03 -5.87743162e+01] [-3.28543796e-02 -2.30664751e-05 9.99460149e-01 -7.25633579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters 0.021179527008554983 Centerline is valid? [True, True] Translation: X:363.71, Y:-58.78, Z:-7.26 [[ 9.82614847e-01 1.82823578e-01 3.23048244e-02 3.63709136e+02] [-1.82725620e-01 9.83145736e-01 -5.98407113e-03 -5.87793850e+01] [-3.28543797e-02 -2.28819283e-05 9.99460149e-01 -7.25691110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05401273900003 meters 0.021166503891596068 Centerline is valid? [True, True] Translation: X:363.74, Y:-58.79, Z:-7.26 [[ 9.83271062e-01 1.79172802e-01 3.27890960e-02 3.63737124e+02] [-1.79069894e-01 9.83817614e-01 -6.07255469e-03 -5.87890026e+01] [-3.33465269e-02 9.94273609e-05 9.99443845e-01 -7.25917494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters 0.021470840503483635 Centerline is valid? [True, True] Translation: X:363.77, Y:-58.80, Z:-7.26 [[ 9.83562791e-01 1.77662583e-01 3.22527806e-02 3.63766607e+02] [-1.77562219e-01 9.84091451e-01 -5.97276116e-03 -5.87961411e+01] [-3.28008219e-02 1.47710347e-04 9.99461897e-01 -7.26096008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11401273900003 meters 0.02194876670834268 Centerline is valid? [True, True] Translation: X:363.80, Y:-58.80, Z:-7.26 [[ 9.83865871e-01 1.76124820e-01 3.14324019e-02 3.63795083e+02] [-1.76028717e-01 9.84367823e-01 -5.82070214e-03 -5.88034515e+01] [-3.19662152e-02 1.93784779e-04 9.99488931e-01 -7.26261147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters 0.023515234962781878 Centerline is valid? [True, True] Translation: X:363.83, Y:-58.81, Z:-7.27 [[ 9.84491386e-01 1.72821060e-01 3.01594472e-02 3.63825221e+02] [-1.72731034e-01 9.84953196e-01 -5.58498366e-03 -5.88136845e+01] [-3.06708467e-02 2.88895790e-04 9.99529497e-01 -7.26590491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.174012739 meters 0.025182610272290126 Centerline is valid? [True, True] Translation: X:363.85, Y:-58.82, Z:-7.27 [[ 9.84720166e-01 1.71565383e-01 2.98582438e-02 3.63853937e+02] [-1.71476538e-01 9.85172682e-01 -5.53024152e-03 -5.88224044e+01] [-3.03643241e-02 3.25752070e-04 9.99538845e-01 -7.26596167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters 0.025915015511938047 Centerline is valid? [True, True] Translation: X:363.89, Y:-58.83, Z:-7.27 [[ 9.85173208e-01 1.68983173e-01 2.96384546e-02 3.63885457e+02] [-1.68894380e-01 9.85618853e-01 -5.49228472e-03 -5.88303451e+01] [-3.01403233e-02 4.05083344e-04 9.99545595e-01 -7.27027668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234012739 meters 0.027105309476541547 Centerline is valid? [True, True] Translation: X:363.92, Y:-58.84, Z:-7.27 [[ 9.85318486e-01 1.68283018e-01 2.87803241e-02 3.63915727e+02] [-1.68198862e-01 9.85738632e-01 -5.33781492e-03 -5.88388911e+01] [-2.92681409e-02 4.18629976e-04 9.99571509e-01 -7.27200847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters 0.026059697675368008 Centerline is valid? [True, True] Translation: X:363.95, Y:-58.84, Z:-7.28 [[ 9.85345118e-01 1.68234338e-01 2.81461561e-02 3.63946812e+02] [-1.68153740e-01 9.85746943e-01 -5.22337198e-03 -5.88432470e+01] [-2.86237379e-02 4.13942659e-04 9.99590171e-01 -7.27556730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294012739 meters 0.02491972913101997 Centerline is valid? [True, True] Translation: X:363.98, Y:-58.85, Z:-7.28 [[ 9.85203924e-01 1.69159510e-01 2.75370522e-02 3.63978546e+02] [-1.69082675e-01 9.85588614e-01 -5.11212144e-03 -5.88469959e+01] [-2.80049690e-02 3.80443668e-04 9.99607712e-01 -7.27739301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters 0.02532248787783816 Centerline is valid? [True, True] Translation: X:364.01, Y:-58.85, Z:-7.28 [[ 9.85047143e-01 1.70058282e-01 2.76098991e-02 3.64009443e+02] [-1.69981259e-01 9.85433940e-01 -5.13035767e-03 -5.88533704e+01] [-2.80801914e-02 3.60478752e-04 9.99605609e-01 -7.27669854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354012739 meters 0.024503945194251173 Centerline is valid? [True, True] Translation: X:364.04, Y:-58.86, Z:-7.27 [[ 9.84730750e-01 1.71636993e-01 2.90876857e-02 3.64038967e+02] [-1.71552094e-01 9.85160205e-01 -5.40823171e-03 -5.88574704e+01] [-2.95842831e-02 3.35598679e-04 9.99562233e-01 -7.27441407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters 0.024354724078563466 Centerline is valid? [True, True] Translation: X:364.07, Y:-58.86, Z:-7.27 [[ 9.84681769e-01 1.71874048e-01 2.93449297e-02 3.64069329e+02] [-1.71787753e-01 9.85118877e-01 -5.45582193e-03 -5.88635393e+01] [-2.98459584e-02 3.31148859e-04 9.99554455e-01 -7.27481673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414012739 meters 0.024435736862869588 Centerline is valid? [True, True] Translation: X:364.10, Y:-58.87, Z:-7.28 [[ 9.84735497e-01 1.71664545e-01 2.87625763e-02 3.64098851e+02] [-1.71581552e-01 9.85155406e-01 -5.34755054e-03 -5.88700220e+01] [-2.92535924e-02 3.30795352e-04 9.99571967e-01 -7.27732618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters 0.024814552545865162 Centerline is valid? [True, True] Translation: X:364.13, Y:-58.88, Z:-7.28 [[ 9.85000850e-01 1.70532787e-01 2.63038810e-02 3.64129852e+02] [-1.70462948e-01 9.85351946e-01 -4.89149978e-03 -5.88780981e+01] [-2.67527414e-02 3.34294338e-04 9.99642025e-01 -7.28358870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474012739 meters 0.025494491048569875 Centerline is valid? [True, True] Translation: X:364.16, Y:-58.89, Z:-7.28 [[ 9.85045369e-01 1.70351256e-01 2.58083266e-02 3.64159579e+02] [-1.70283873e-01 9.85383345e-01 -4.80272472e-03 -5.88850131e+01] [-2.62492453e-02 3.36159939e-04 9.99655373e-01 -7.28452656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters 0.02456749801516116 Centerline is valid? [True, True] Translation: X:364.19, Y:-58.89, Z:-7.28 [[ 9.84697111e-01 1.71995884e-01 2.80894155e-02 3.64188991e+02] [-1.71916723e-01 9.85097617e-01 -5.22738338e-03 -5.88876456e+01] [-2.85699047e-02 3.18349046e-04 9.99591746e-01 -7.28031991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534012739 meters 0.023110194978307286 Centerline is valid? [True, True] Translation: X:364.22, Y:-58.89, Z:-7.28 [[ 9.84336163e-01 1.73850810e-01 2.92952788e-02 3.64219309e+02] [-1.73765533e-01 9.84771963e-01 -5.45154977e-03 -5.88892678e+01] [-2.97969255e-02 2.75647841e-04 9.99555935e-01 -7.27930774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters 0.02264903905772113 Centerline is valid? [True, True] Translation: X:364.25, Y:-58.89, Z:-7.28 [[ 9.83993048e-01 1.75702370e-01 2.97717915e-02 3.64248957e+02] [-1.75615147e-01 9.84443308e-01 -5.54010642e-03 -5.88921707e+01] [-3.02820508e-02 2.23048657e-04 9.99541369e-01 -7.27820276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594012739 meters 0.021164337123725063 Centerline is valid? [True, True] Translation: X:364.28, Y:-58.89, Z:-7.28 [[ 9.83436528e-01 1.78820462e-01 2.95945402e-02 3.64279582e+02] [-1.78735700e-01 9.83881714e-01 -5.50665293e-03 -5.88898426e+01] [-3.01022291e-02 1.25842802e-04 9.99546817e-01 -7.28152822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters 0.02070586486625154 Centerline is valid? [True, True] Translation: X:364.31, Y:-58.89, Z:-7.28 [[ 9.83061365e-01 1.80986369e-01 2.88840125e-02 3.64308728e+02] [-1.80906586e-01 9.83485603e-01 -5.37365581e-03 -5.88905024e+01] [-2.93795689e-02 5.73253226e-05 9.99568326e-01 -7.28343158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654012739 meters 0.020687472112510964 Centerline is valid? [True, True] Translation: X:364.34, Y:-58.89, Z:-7.28 [[ 9.82989175e-01 1.81422824e-01 2.86014204e-02 3.64337172e+02] [-1.81344812e-01 9.83405185e-01 -5.31996502e-03 -5.88944926e+01] [-2.90919481e-02 4.27488331e-05 9.99576739e-01 -7.28478668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters 0.02045411597291627 Centerline is valid? [True, True] Translation: X:364.37, Y:-58.90, Z:-7.29 [[ 9.82994589e-01 1.81498938e-01 2.79244410e-02 3.64366447e+02] [-1.81424638e-01 9.83391140e-01 -5.19293171e-03 -5.88989756e+01] [-2.84031595e-02 3.84421609e-05 9.99596548e-01 -7.28699673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714012739 meters 0.02036721054655551 Centerline is valid? [True, True] Translation: X:364.40, Y:-58.90, Z:-7.29 [[ 9.83083400e-01 1.81151953e-01 2.70369741e-02 3.64395628e+02] [-1.81082189e-01 9.83455117e-01 -5.02725152e-03 -5.89038733e+01] [-2.75003470e-02 4.62930571e-05 9.99621793e-01 -7.28963009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters 0.02053099563616324 Centerline is valid? [True, True] Translation: X:364.42, Y:-58.91, Z:-7.29 [[ 9.83266039e-01 1.80193350e-01 2.68002448e-02 3.64423836e+02] [-1.80124464e-01 9.83631207e-01 -4.98258716e-03 -5.89106335e+01] [-2.72593862e-02 7.18290288e-05 9.99628391e-01 -7.29000450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774012739 meters 0.021073786238172992 Centerline is valid? [True, True] Translation: X:364.45, Y:-58.92, Z:-7.29 [[ 9.83731405e-01 1.77631346e-01 2.68258905e-02 3.64451969e+02] [-1.77561393e-01 9.84097091e-01 -4.98670218e-03 -5.89198154e+01] [-2.72850754e-02 1.42333064e-04 9.99627683e-01 -7.29203129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters 0.0219899990912565 Centerline is valid? [True, True] Translation: X:364.48, Y:-58.93, Z:-7.29 [[ 9.83991886e-01 1.76177213e-01 2.68618423e-02 3.64479246e+02] [-1.76106550e-01 9.84358449e-01 -4.99264918e-03 -5.89285201e+01] [-2.73212725e-02 1.82179899e-04 9.99626688e-01 -7.29117280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834012739 meters 0.023085050101769984 Centerline is valid? [True, True] Translation: X:364.51, Y:-58.94, Z:-7.29 [[ 9.84270799e-01 1.74554946e-01 2.72316931e-02 3.64507013e+02] [-1.74481730e-01 9.84647408e-01 -5.06040948e-03 -5.89372446e+01] [-2.76969355e-02 2.29380359e-04 9.99616340e-01 -7.29086038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters 0.023802827168655977 Centerline is valid? [True, True] Translation: X:364.54, Y:-58.95, Z:-7.29 [[ 9.84812912e-01 1.71307917e-01 2.82334232e-02 3.64536710e+02] [-1.71227894e-01 9.85217482e-01 -5.24606096e-03 -5.89482862e+01] [-2.87147539e-02 3.32038970e-04 9.99587591e-01 -7.29175567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894012739 meters 0.02548961082317839 Centerline is valid? [True, True] Translation: X:364.57, Y:-58.96, Z:-7.29 [[ 9.85024113e-01 1.70051643e-01 2.84593732e-02 3.64566657e+02] [-1.69969755e-01 9.85435081e-01 -5.28990440e-03 -5.89598352e+01] [-2.89444217e-02 3.73450710e-04 9.99580953e-01 -7.29134422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters 0.026323909779032734 Centerline is valid? [True, True] Translation: X:364.60, Y:-58.97, Z:-7.29 [[ 9.85416187e-01 1.67790388e-01 2.83076878e-02 3.64597389e+02] [-1.67708305e-01 9.85822596e-01 -5.26632359e-03 -5.89716623e+01] [-2.87899968e-02 4.42086170e-04 9.99585384e-01 -7.29440401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954012739 meters 0.027348657244007698 Centerline is valid? [True, True] Translation: X:364.63, Y:-58.98, Z:-7.30 [[ 9.85517440e-01 1.67203136e-01 2.82575102e-02 3.64627627e+02] [-1.67120963e-01 9.85922358e-01 -5.26183093e-03 -5.89815114e+01] [-2.87395057e-02 4.63203824e-04 9.99586828e-01 -7.29502688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters 0.026787270127048055 Centerline is valid? [True, True] Translation: X:364.66, Y:-58.99, Z:-7.30 [[ 9.85419351e-01 1.67897719e-01 2.75510150e-02 3.64658914e+02] [-1.67819747e-01 9.85804324e-01 -5.13487590e-03 -5.89914197e+01] [-2.80220436e-02 4.36401702e-04 9.99607210e-01 -7.29711987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014012739 meters 0.026972508530071476 Centerline is valid? [True, True] Translation: X:364.69, Y:-59.00, Z:-7.30 [[ 9.85245444e-01 1.69047846e-01 2.67252855e-02 3.64688961e+02] [-1.68974782e-01 9.85607766e-01 -4.98540199e-03 -5.89996487e+01] [-2.71834204e-02 3.95945304e-04 9.99630384e-01 -7.29804494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters 0.025287681712590448 Centerline is valid? [True, True] Translation: X:364.72, Y:-59.00, Z:-7.30 [[ 9.84979209e-01 1.70593819e-01 2.67152847e-02 3.64721231e+02] [-1.70521255e-01 9.85341373e-01 -4.98802277e-03 -5.90040586e+01] [-2.71746012e-02 3.57574833e-04 9.99630638e-01 -7.29924329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074012739 meters 0.023476185812086114 Centerline is valid? [True, True] Translation: X:364.75, Y:-59.01, Z:-7.30 [[ 9.84368083e-01 1.73805945e-01 2.84775525e-02 3.64752048e+02] [-1.73724713e-01 9.84779878e-01 -5.32118511e-03 -5.90069502e+01] [-2.89689743e-02 2.90750137e-04 9.99580269e-01 -7.29580642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters 0.02286132156135768 Centerline is valid? [True, True] Translation: X:364.78, Y:-59.01, Z:-7.30 [[ 9.84100615e-01 1.75173760e-01 2.93280317e-02 3.64782980e+02] [-1.75088160e-01 9.84537499e-01 -5.48176303e-03 -5.90118032e+01] [-2.98348080e-02 2.59615255e-04 9.99554809e-01 -7.29548456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134012739 meters 0.02146233285869677 Centerline is valid? [True, True] Translation: X:364.81, Y:-59.01, Z:-7.30 [[ 9.83586732e-01 1.78127356e-01 2.87712611e-02 3.64814064e+02] [-1.78046215e-01 9.84007427e-01 -5.37849915e-03 -5.90142706e+01] [-2.92691925e-02 1.67606260e-04 9.99571551e-01 -7.29711147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters 0.02091088024921074 Centerline is valid? [True, True] Translation: X:364.84, Y:-59.02, Z:-7.30 [[ 9.83281552e-01 1.79954842e-01 2.78144601e-02 3.64844550e+02] [-1.79879734e-01 9.83674866e-01 -5.19986430e-03 -5.90169696e+01] [-2.82961261e-02 1.09672959e-04 9.99599578e-01 -7.30005829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194012739 meters 0.02052462696528997 Centerline is valid? [True, True] Translation: X:364.88, Y:-59.02, Z:-7.30 [[ 9.82953635e-01 1.81814084e-01 2.73091754e-02 3.64875022e+02] [-1.81742398e-01 9.83332922e-01 -5.10540221e-03 -5.90194717e+01] [-2.77822452e-02 5.51386480e-05 9.99613997e-01 -7.30228531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters 0.02057929943599804 Centerline is valid? [True, True] Translation: X:364.90, Y:-59.02, Z:-7.30 [[ 9.82353497e-01 1.84962203e-01 2.77595018e-02 3.64904344e+02] [-1.84889396e-01 9.82745635e-01 -5.18931088e-03 -5.90183935e+01] [-2.82403556e-02 -3.46998392e-05 9.99601161e-01 -7.30174520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254012739 meters 0.02116231467348497 Centerline is valid? [True, True] Translation: X:364.93, Y:-59.01, Z:-7.30 [[ 9.81796094e-01 1.87818147e-01 2.82979513e-02 3.64933998e+02] [-1.87743708e-01 9.82203812e-01 -5.28875170e-03 -5.90140203e+01] [-2.87876792e-02 -1.20286550e-04 9.99585542e-01 -7.30076528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters 0.021381175062403883 Centerline is valid? [True, True] Translation: X:364.96, Y:-59.01, Z:-7.30 [[ 9.81612520e-01 1.88826339e-01 2.79548419e-02 3.64962901e+02] [-1.88754147e-01 9.82010484e-01 -5.22308897e-03 -5.90141700e+01] [-2.84382046e-02 -1.49542811e-04 9.99595541e-01 -7.30313408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314012739 meters 0.021917447285228257 Centerline is valid? [True, True] Translation: X:364.99, Y:-59.01, Z:-7.30 [[ 9.81478418e-01 1.89609331e-01 2.73571847e-02 3.64991523e+02] [-1.89540536e-01 9.81859599e-01 -5.11004492e-03 -5.90137760e+01] [-2.78298266e-02 -1.69896645e-04 9.99612661e-01 -7.30436293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters 0.022452373732021084 Centerline is valid? [True, True] Translation: X:365.02, Y:-59.01, Z:-7.31 [[ 9.81265455e-01 1.90757406e-01 2.70132983e-02 3.65021462e+02] [-1.90690806e-01 9.81637189e-01 -5.04430699e-03 -5.90119388e+01] [-2.74794972e-02 -2.01383438e-04 9.99622347e-01 -7.30702386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374012739 meters 0.021660641979049933 Centerline is valid? [True, True] Translation: X:365.05, Y:-59.02, Z:-7.31 [[ 9.81388452e-01 1.90149811e-01 2.68282573e-02 3.65049717e+02] [-1.90083928e-01 9.81755069e-01 -5.00848545e-03 -5.90163643e+01] [-2.72911402e-02 -1.84350767e-04 9.99627510e-01 -7.30946119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters 0.021211309504003246 Centerline is valid? [True, True] Translation: X:365.08, Y:-59.02, Z:-7.31 [[ 9.81919468e-01 1.87443995e-01 2.64368557e-02 3.65077939e+02] [-1.87379077e-01 9.82275286e-01 -4.93402462e-03 -5.90164619e+01] [-2.68931232e-02 -1.08898773e-04 9.99638309e-01 -7.30948872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434012739 meters 0.020727479787761027 Centerline is valid? [True, True] Translation: X:365.11, Y:-59.02, Z:-7.31 [[ 9.82353663e-01 1.85127304e-01 2.66300821e-02 3.65106096e+02] [-1.85060624e-01 9.82714546e-01 -4.96852296e-03 -5.90214442e+01] [-2.70895783e-02 -4.73328961e-05 9.99633009e-01 -7.31129526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters 0.020621193310792162 Centerline is valid? [True, True] Translation: X:365.13, Y:-59.03, Z:-7.31 [[ 9.82831846e-01 1.82556431e-01 2.67341008e-02 3.65133818e+02] [-1.82488312e-01 9.83195377e-01 -4.98668246e-03 -5.90278193e+01] [-2.71951952e-02 2.24094146e-05 9.99630142e-01 -7.31207630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494012739 meters 0.022633850652972753 Centerline is valid? [True, True] Translation: X:365.16, Y:-59.04, Z:-7.31 [[ 9.83901016e-01 1.76721219e-01 2.66157964e-02 3.65159832e+02] [-1.76651601e-01 9.84260930e-01 -4.96329890e-03 -5.90382330e+01] [-2.70740087e-02 1.81671805e-04 9.99633415e-01 -7.31234713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters 0.02394487727703672 Centerline is valid? [True, True] Translation: X:365.19, Y:-59.05, Z:-7.31 [[ 9.84436687e-01 1.73716177e-01 2.65913237e-02 3.65188861e+02] [-1.73645626e-01 9.84795725e-01 -4.95742429e-03 -5.90453106e+01] [-2.70482067e-02 2.62803294e-04 9.99634096e-01 -7.31397275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55401273900003 meters 0.02643268818933206 Centerline is valid? [True, True] Translation: X:365.22, Y:-59.05, Z:-7.32 [[ 9.85345010e-01 1.68616812e-01 2.57600794e-02 3.65217277e+02] [-1.68548876e-01 9.85681601e-01 -4.80180410e-03 -5.90518172e+01] [-2.62009012e-02 3.89601282e-04 9.99656622e-01 -7.31667403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters 0.02989303856755902 Centerline is valid? [True, True] Translation: X:365.25, Y:-59.06, Z:-7.32 [[ 9.85674595e-01 1.66784461e-01 2.50706462e-02 3.65245137e+02] [-1.66719540e-01 9.85993287e-01 -4.67253144e-03 -5.90620493e+01] [-2.54987945e-02 4.25828910e-04 9.99674762e-01 -7.31772510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61401273900003 meters 0.029046104560148087 Centerline is valid? [True, True] Translation: X:365.27, Y:-59.07, Z:-7.32 [[ 9.85989363e-01 1.65005254e-01 2.44590120e-02 3.65274869e+02] [-1.64942924e-01 9.86292581e-01 -4.55819891e-03 -5.90654407e+01] [-2.48758689e-02 4.59994675e-04 9.99690442e-01 -7.32038608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters 0.032039266667367915 Centerline is valid? [True, True] Translation: X:365.30, Y:-59.07, Z:-7.32 [[ 9.86307517e-01 1.63014027e-01 2.49781732e-02 3.65303820e+02] [-1.62948398e-01 9.86623614e-01 -4.65440433e-03 -5.90731107e+01] [-2.54027887e-02 5.20520662e-04 9.99677162e-01 -7.31894930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.674012739 meters 0.029856355570997178 Centerline is valid? [True, True] Translation: X:365.33, Y:-59.07, Z:-7.32 [[ 9.86096270e-01 1.64083714e-01 2.62808136e-02 3.65334343e+02] [-1.64011451e-01 9.86446281e-01 -4.89673759e-03 -5.90708041e+01] [-2.67280857e-02 5.18300321e-04 9.99642607e-01 -7.31815986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters 0.02867719603199665 Centerline is valid? [True, True] Translation: X:365.36, Y:-59.07, Z:-7.32 [[ 9.85874771e-01 1.65295109e-01 2.69900360e-02 3.65363831e+02] [-1.65219366e-01 9.86244026e-01 -5.02813376e-03 -5.90725308e+01] [-2.74498877e-02 4.97833583e-04 9.99623057e-01 -7.31758932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734012739 meters 0.027953911846534302 Centerline is valid? [True, True] Translation: X:365.39, Y:-59.07, Z:-7.32 [[ 9.85527447e-01 1.67331572e-01 2.71255796e-02 3.65392381e+02] [-1.67255861e-01 9.85900578e-01 -5.05251571e-03 -5.90746138e+01] [-2.75885700e-02 4.42480745e-04 9.99619265e-01 -7.31716612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters 0.024717188071321915 Centerline is valid? [True, True] Translation: X:365.42, Y:-59.07, Z:-7.32 [[ 9.84854644e-01 1.71418759e-01 2.60180522e-02 3.65423382e+02] [-1.71350544e-01 9.85198209e-01 -4.84566822e-03 -5.90680730e+01] [-2.64635769e-02 3.14071437e-04 9.99649729e-01 -7.31940258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794012739 meters 0.02369707290190918 Centerline is valid? [True, True] Translation: X:365.45, Y:-59.07, Z:-7.32 [[ 9.84592312e-01 1.72989809e-01 2.55441870e-02 3.65453123e+02] [-1.72924614e-01 9.84923578e-01 -4.75631558e-03 -5.90682706e+01] [-2.59818662e-02 2.65813066e-04 9.99662379e-01 -7.32120350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters 0.023225227280573177 Centerline is valid? [True, True] Translation: X:365.48, Y:-59.07, Z:-7.32 [[ 9.84429862e-01 1.73888076e-01 2.57057250e-02 3.65482408e+02] [-1.73822405e-01 9.84765393e-01 -4.78467772e-03 -5.90692150e+01] [-2.61461068e-02 2.41948694e-04 9.99658103e-01 -7.32184870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854012739 meters 0.023134089104334097 Centerline is valid? [True, True] Translation: X:365.51, Y:-59.07, Z:-7.32 [[ 9.84321048e-01 1.74353540e-01 2.67005290e-02 3.65511283e+02] [-1.74282893e-01 9.84683090e-01 -4.96853043e-03 -5.90691031e+01] [-2.71578402e-02 2.37183637e-04 9.99631130e-01 -7.32073254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters 0.023519646554704888 Centerline is valid? [True, True] Translation: X:365.54, Y:-59.07, Z:-7.32 [[ 9.84387915e-01 1.73915289e-01 2.70906816e-02 3.65538658e+02] [-1.73842436e-01 9.84760585e-01 -5.03969970e-03 -5.90724007e+01] [-2.75543163e-02 2.51509404e-04 9.99620276e-01 -7.32025111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914012739 meters 0.023519646554704888 Centerline is valid? [True, True] Translation: X:365.57, Y:-59.08, Z:-7.32 [[ 9.84395779e-01 1.73870724e-01 2.70909770e-02 3.65566519e+02] [-1.73797898e-01 9.84768454e-01 -5.03811170e-03 -5.90774923e+01] [-2.75543196e-02 2.51141043e-04 9.99620276e-01 -7.32082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters 0.023856329990595712 Centerline is valid? [True, True] Translation: X:365.60, Y:-59.08, Z:-7.32 [[ 9.84767480e-01 1.71779661e-01 2.69213331e-02 3.65595002e+02] [-1.71707001e-01 9.85135348e-01 -5.00514852e-03 -5.90789270e+01] [-2.73809396e-02 3.06326141e-04 9.99625025e-01 -7.32220599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974012739 meters 0.024554476079482544 Centerline is valid? [True, True] Translation: X:365.62, Y:-59.09, Z:-7.32 [[ 9.85121037e-01 1.69806206e-01 2.65027221e-02 3.65623519e+02] [-1.69735120e-01 9.85477411e-01 -4.92562010e-03 -5.90850420e+01] [-2.69542348e-02 3.53889269e-04 9.99636606e-01 -7.32453887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters 0.027353905409684506 Centerline is valid? [True, True] Translation: X:365.65, Y:-59.10, Z:-7.33 [[ 9.85575020e-01 1.67258078e-01 2.58188955e-02 3.65650182e+02] [-1.67189775e-01 9.85913062e-01 -4.79718470e-03 -5.90952360e+01] [-2.62575543e-02 4.11330080e-04 9.99655126e-01 -7.32544981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034012739 meters 0.03063900205955484 Centerline is valid? [True, True] Translation: X:365.68, Y:-59.11, Z:-7.33 [[ 9.86485351e-01 1.61802665e-01 2.58176080e-02 3.65677916e+02] [-1.61732538e-01 9.86822978e-01 -4.79548606e-03 -5.91061668e+01] [-2.62533312e-02 5.55129478e-04 9.99655168e-01 -7.32817605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters 0.03507351486584699 Centerline is valid? [True, True] Translation: X:365.70, Y:-59.12, Z:-7.33 [[ 9.86902368e-01 1.59260148e-01 2.56889168e-02 3.65704589e+02] [-1.59189882e-01 9.87236457e-01 -4.77066182e-03 -5.91188923e+01] [-2.61208115e-02 6.18761825e-04 9.99658602e-01 -7.32801449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094012739 meters 0.03916688167116721 Centerline is valid? [True, True] Translation: X:365.73, Y:-59.13, Z:-7.33 [[ 9.87628469e-01 1.54795538e-01 2.50668882e-02 3.65733043e+02] [-1.54727213e-01 9.87946266e-01 -4.65447918e-03 -5.91327164e+01] [-2.54852312e-02 7.18366389e-04 9.99674941e-01 -7.32972313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters 0.040308056386277394 Centerline is valid? [True, True] Translation: X:365.76, Y:-59.14, Z:-7.33 [[ 9.87884532e-01 1.53223504e-01 2.46314510e-02 3.65762171e+02] [-1.53157046e-01 9.88191278e-01 -4.57357225e-03 -5.91403227e+01] [-2.50413638e-02 7.45681025e-04 9.99686138e-01 -7.33092706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154012739 meters 0.03870661689684128 Centerline is valid? [True, True] Translation: X:365.79, Y:-59.14, Z:-7.33 [[ 9.88055340e-01 1.52187365e-01 2.42002277e-02 3.65792240e+02] [-1.52122909e-01 9.88351370e-01 -4.49327598e-03 -5.91435793e+01] [-2.46021480e-02 7.58196287e-04 9.99697034e-01 -7.33319889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters 0.03885172126478521 Centerline is valid? [True, True] Translation: X:365.82, Y:-59.15, Z:-7.34 [[ 9.88080478e-01 1.52329220e-01 2.21986193e-02 3.65821028e+02] [-1.52275023e-01 9.88329565e-01 -4.12160880e-03 -5.91512816e+01] [-2.25673933e-02 6.92185923e-04 9.99745084e-01 -7.33779921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214012739 meters 0.04103941130896266 Centerline is valid? [True, True] Translation: X:365.85, Y:-59.16, Z:-7.34 [[ 9.87928368e-01 1.53570709e-01 2.03365994e-02 3.65848240e+02] [-1.53525491e-01 9.88137474e-01 -3.77565886e-03 -5.91637831e+01] [-2.06751865e-02 6.07894091e-04 9.99786061e-01 -7.34177274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters 0.04172034360201703 Centerline is valid? [True, True] Translation: X:365.88, Y:-59.17, Z:-7.34 [[ 9.87898802e-01 1.53774164e-01 2.02352233e-02 3.65875575e+02] [-1.53729449e-01 9.88105838e-01 -3.75635365e-03 -5.91724251e+01] [-2.05721724e-02 6.00147547e-04 9.99788190e-01 -7.34264295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.274012739 meters 0.03882330101327414 Centerline is valid? [True, True] Translation: X:365.91, Y:-59.18, Z:-7.34 [[ 9.87845542e-01 1.54089015e-01 2.04391872e-02 3.65905029e+02] [-1.54043476e-01 9.88056788e-01 -3.79351924e-03 -5.91769562e+01] [-2.07796173e-02 5.98887630e-04 9.99783901e-01 -7.34318829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters 0.036538901218204606 Centerline is valid? [True, True] Translation: X:365.93, Y:-59.18, Z:-7.34 [[ 9.87616279e-01 1.55516784e-01 2.07030176e-02 3.65933619e+02] [-1.55470385e-01 9.87833082e-01 -3.84199279e-03 -5.91844476e+01] [-2.10486201e-02 5.75708492e-04 9.99778287e-01 -7.34250986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.334012739 meters 0.037733747157915255 Centerline is valid? [True, True] Translation: X:365.96, Y:-59.19, Z:-7.34 [[ 9.87272729e-01 1.57678231e-01 2.07396926e-02 3.65961341e+02] [-1.57632154e-01 9.87490402e-01 -3.84831050e-03 -5.91933519e+01] [-2.10870421e-02 5.30089604e-04 9.99777503e-01 -7.34273443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters 0.028789240505868882 Centerline is valid? [True, True] Translation: X:365.99, Y:-59.19, Z:-7.34 [[ 9.86208534e-01 1.64209722e-01 2.06856156e-02 3.65993261e+02] [-1.64165325e-01 9.86425373e-01 -3.83801231e-03 -5.91873786e+01] [-2.10350550e-02 3.89219684e-04 9.99778663e-01 -7.34357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.394012739 meters 0.02641182815112943 Centerline is valid? [True, True] Translation: X:366.02, Y:-59.19, Z:-7.34 [[ 9.85581865e-01 1.67892406e-01 2.09887512e-02 3.66020936e+02] [-1.67847539e-01 9.85805275e-01 -3.89395130e-03 -5.91895499e+01] [-2.13445866e-02 3.14897538e-04 9.99772129e-01 -7.34386103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters 0.02419199162712545 Centerline is valid? [True, True] Translation: X:366.05, Y:-59.19, Z:-7.34 [[ 9.84959646e-01 1.71390637e-01 2.19030997e-02 3.66050387e+02] [-1.71342668e-01 9.85203120e-01 -4.06228416e-03 -5.91914851e+01] [-2.22752397e-02 2.48250417e-04 9.99751845e-01 -7.34324456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.454012739 meters 0.021667610315283546 Centerline is valid? [True, True] Translation: X:366.08, Y:-59.19, Z:-7.34 [[ 9.83916770e-01 1.77002506e-01 2.40396045e-02 3.66080075e+02] [-1.76946411e-01 9.84210392e-01 -4.45785734e-03 -5.91922461e+01] [-2.44490805e-02 1.32438869e-04 9.99701068e-01 -7.34064201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters 0.02102982100860306 Centerline is valid? [True, True] Translation: X:366.11, Y:-59.20, Z:-7.34 [[ 9.83533991e-01 1.79099536e-01 2.41711741e-02 3.66107338e+02] [-1.79043480e-01 9.83830956e-01 -4.48132548e-03 -5.91984780e+01] [-2.45829526e-02 7.98448108e-05 9.99697790e-01 -7.34049693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.514012739 meters 0.021099315727073246 Centerline is valid? [True, True] Translation: X:366.13, Y:-59.21, Z:-7.34 [[ 9.83641443e-01 1.78600697e-01 2.34798301e-02 3.66134885e+02] [-1.78547686e-01 9.83921635e-01 -4.35205014e-03 -5.92061849e+01] [-2.38795920e-02 8.85875367e-05 9.99714838e-01 -7.34268069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters 0.02131966648291974 Centerline is valid? [True, True] Translation: X:366.16, Y:-59.21, Z:-7.35 [[ 9.83799999e-01 1.77891095e-01 2.21883061e-02 3.66163023e+02] [-1.77843600e-01 9.84050176e-01 -4.11164943e-03 -5.92144259e+01] [-2.25658324e-02 9.89924680e-05 9.99745354e-01 -7.34516292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.574012739 meters 0.021403380414343136 Centerline is valid? [True, True] Translation: X:366.19, Y:-59.22, Z:-7.35 [[ 9.83860903e-01 1.77707125e-01 2.09260786e-02 3.66189966e+02] [-1.77664859e-01 9.84083415e-01 -3.87679262e-03 -5.92218045e+01] [-2.12819405e-02 9.63958917e-05 9.99773509e-01 -7.34829306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters 0.021385973185248396 Centerline is valid? [True, True] Translation: X:366.22, Y:-59.23, Z:-7.35 [[ 9.83793963e-01 1.78164116e-01 2.01739064e-02 3.66218090e+02] [-1.78124953e-01 9.84000783e-01 -3.73629397e-03 -5.92281358e+01] [-2.05168132e-02 8.22673076e-05 9.99789505e-01 -7.34973759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.634012739 meters 0.020963666785667086 Centerline is valid? [True, True] Translation: X:366.25, Y:-59.23, Z:-7.35 [[ 9.83309711e-01 1.80644195e-01 2.16722785e-02 3.66245714e+02] [-1.80599620e-01 9.83548511e-01 -4.01292470e-03 -5.92309128e+01] [-2.20406488e-02 3.19425688e-05 9.99757075e-01 -7.34809437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters 0.020829798833728777 Centerline is valid? [True, True] Translation: X:366.27, Y:-59.23, Z:-7.35 [[ 9.82895927e-01 1.82803952e-01 2.23229131e-02 3.66273579e+02] [-1.82757248e-01 9.83149386e-01 -4.13199707e-03 -5.92339925e+01] [-2.27021037e-02 -1.83510736e-05 9.99742274e-01 -7.34739800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.694012739 meters 0.021265015076607736 Centerline is valid? [True, True] Translation: X:366.30, Y:-59.24, Z:-7.35 [[ 9.82401442e-01 1.85393174e-01 2.27327349e-02 3.66301989e+02] [-1.85345470e-01 9.82664421e-01 -4.20621209e-03 -5.92358965e+01] [-2.31184528e-02 -8.12206236e-05 9.99732730e-01 -7.34763100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters 0.023115107344589072 Centerline is valid? [True, True] Translation: X:366.33, Y:-59.23, Z:-7.35 [[ 9.81349434e-01 1.90795100e-01 2.34631054e-02 3.66332054e+02] [-1.90745862e-01 9.81629860e-01 -4.33972051e-03 -5.92318607e+01] [-2.38600823e-02 -2.16708010e-04 9.99715284e-01 -7.34694872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.754012739 meters 0.025221389768034896 Centerline is valid? [True, True] Translation: X:366.36, Y:-59.23, Z:-7.35 [[ 9.80820244e-01 1.93541422e-01 2.30947446e-02 3.66360225e+02] [-1.93494507e-01 9.81092065e-01 -4.27039246e-03 -5.92294714e+01] [-2.34845685e-02 -2.80218845e-04 9.99724160e-01 -7.34767467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters 0.026689698657653277 Centerline is valid? [True, True] Translation: X:366.39, Y:-59.23, Z:-7.35 [[ 9.80306263e-01 1.96232801e-01 2.21882564e-02 3.66389030e+02] [-1.96190220e-01 9.80557279e-01 -4.10125777e-03 -5.92299586e+01] [-2.25616576e-02 -3.32630227e-04 9.99745398e-01 -7.35147563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.814012739 meters 0.03279112689952429 Centerline is valid? [True, True] Translation: X:366.42, Y:-59.22, Z:-7.36 [[ 9.79479813e-01 2.00732825e-01 1.80451701e-02 3.66419959e+02] [-2.00705439e-01 9.79645960e-01 -3.33472273e-03 -5.92198925e+01] [-1.83472663e-02 -3.55470191e-04 9.99831612e-01 -7.36067737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters 0.033572369695724115 Centerline is valid? [True, True] Translation: X:366.45, Y:-59.22, Z:-7.36 [[ 9.79203415e-01 2.02201144e-01 1.65942785e-02 3.66449443e+02] [-2.02178198e-01 9.79343950e-01 -3.06647938e-03 -5.92203420e+01] [-1.68715519e-02 -3.52294244e-04 9.99857603e-01 -7.36417228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.874012739 meters 0.03607160370964273 Centerline is valid? [True, True] Translation: X:366.48, Y:-59.21, Z:-7.37 [[ 9.78745077e-01 2.04466787e-01 1.58558330e-02 3.66479555e+02] [-2.04446182e-01 9.78873430e-01 -2.92702367e-03 -5.92137650e+01] [-1.61193328e-02 -3.76854521e-04 9.99870004e-01 -7.36684397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters 0.03381866754811928 Centerline is valid? [True, True] Translation: X:366.51, Y:-59.22, Z:-7.37 [[ 9.78794451e-01 2.04181692e-01 1.64699374e-02 3.66506772e+02] [-2.04159421e-01 9.78932933e-01 -3.04035152e-03 -5.92185771e+01] [-1.67437482e-02 -3.86613687e-04 9.99859739e-01 -7.36632804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.934012739 meters 0.03234868799247101 Centerline is valid? [True, True] Translation: X:366.54, Y:-59.22, Z:-7.37 [[ 9.79051019e-01 2.02925603e-01 1.67422395e-02 3.66535118e+02] [-2.02902464e-01 9.79194087e-01 -3.08717889e-03 -5.92226352e+01] [-1.70203696e-02 -3.74536019e-04 9.99855073e-01 -7.36642946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters 0.030115143356650283 Centerline is valid? [True, True] Translation: X:366.56, Y:-59.23, Z:-7.37 [[ 9.79917706e-01 1.98719198e-01 1.64914981e-02 3.66563958e+02] [-1.98696208e-01 9.80056422e-01 -3.03756169e-03 -5.92254825e+01] [-1.67662204e-02 -3.00237640e-04 9.99859392e-01 -7.36806891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.994012739 meters 0.02801983321676866 Centerline is valid? [True, True] Translation: X:366.59, Y:-59.23, Z:-7.37 [[ 9.80437013e-01 1.96135797e-01 1.65533353e-02 3.66592151e+02] [-1.96112264e-01 9.80576710e-01 -3.04902456e-03 -5.92320735e+01] [-1.68298379e-02 -2.56935523e-04 9.99858335e-01 -7.36849212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters 0.024192901339734677 Centerline is valid? [True, True] Translation: X:366.62, Y:-59.24, Z:-7.37 [[ 9.81536572e-01 1.90423720e-01 1.80212536e-02 3.66620099e+02] [-1.90394929e-01 9.81701979e-01 -3.31588832e-03 -5.92412151e+01] [-1.83229241e-02 -1.76489655e-04 9.99832106e-01 -7.36664111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05401273900003 meters 0.022503602184506817 Centerline is valid? [True, True] Translation: X:366.65, Y:-59.25, Z:-7.36 [[ 9.82138784e-01 1.87109151e-01 1.98387010e-02 3.66647573e+02] [-1.87073617e-01 9.82339121e-01 -3.64861738e-03 -5.92486805e+01] [-2.01710219e-02 -1.27848933e-04 9.99796536e-01 -7.36444330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters 0.021576225570085365 Centerline is valid? [True, True] Translation: X:366.67, Y:-59.26, Z:-7.36 [[ 9.82700963e-01 1.84011477e-01 2.09426309e-02 3.66674924e+02] [-1.83971198e-01 9.82924092e-01 -3.85059077e-03 -5.92558124e+01] [-2.12935694e-02 -6.88616231e-05 9.99773264e-01 -7.36246305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11401273900003 meters 0.02123953682886386 Centerline is valid? [True, True] Translation: X:366.70, Y:-59.26, Z:-7.36 [[ 9.83444040e-01 1.80110996e-01 1.99461635e-02 3.66702970e+02] [-1.80073678e-01 9.83646293e-01 -3.66626176e-03 -5.92635372e+01] [-2.02803039e-02 1.37842504e-05 9.99794333e-01 -7.36395733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters 0.021471139464116114 Centerline is valid? [True, True] Translation: X:366.73, Y:-59.27, Z:-7.37 [[ 9.83619213e-01 1.79263242e-01 1.89191306e-02 3.66730068e+02] [-1.79229528e-01 9.83801143e-01 -3.47665838e-03 -5.92678088e+01] [-1.92358993e-02 2.88411357e-05 9.99814973e-01 -7.36659798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.174012739 meters 0.021658768771370244 Centerline is valid? [True, True] Translation: X:366.76, Y:-59.27, Z:-7.37 [[ 9.83812881e-01 1.78247403e-01 1.84412178e-02 3.66758526e+02] [-1.78215222e-01 9.83985702e-01 -3.38727055e-03 -5.92712000e+01] [-1.87496668e-02 4.59346699e-05 9.99824208e-01 -7.36805464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters 0.021668427546798718 Centerline is valid? [True, True] Translation: X:366.79, Y:-59.28, Z:-7.37 [[ 9.83924998e-01 1.77589344e-01 1.88048892e-02 3.66785465e+02] [-1.77555777e-01 9.84104680e-01 -3.45318050e-03 -5.92756893e+01] [-1.91192276e-02 5.87538896e-05 9.99817209e-01 -7.36775715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.234012739 meters 0.021853825733495966 Centerline is valid? [True, True] Translation: X:366.81, Y:-59.28, Z:-7.37 [[ 9.84047513e-01 1.76898179e-01 1.89083570e-02 3.66814145e+02] [-1.76864146e-01 9.84229155e-01 -3.47053650e-03 -5.92794055e+01] [-1.92240878e-02 7.09623918e-05 9.99815198e-01 -7.36801004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters 0.022381581333531866 Centerline is valid? [True, True] Translation: X:366.84, Y:-59.28, Z:-7.37 [[ 9.84289138e-01 1.75772023e-01 1.67059384e-02 3.66841820e+02] [-1.75745306e-01 9.84430896e-01 -3.06564722e-03 -5.92823772e+01] [-1.69846969e-02 8.14930103e-05 9.99855746e-01 -7.37270246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.294012739 meters 0.02227751753308333 Centerline is valid? [True, True] Translation: X:366.87, Y:-59.29, Z:-7.37 [[ 9.84328308e-01 1.75636898e-01 1.57943556e-02 3.66870721e+02] [-1.75613015e-01 9.84455014e-01 -2.89745953e-03 -5.92857250e+01] [-1.60577334e-02 7.83570316e-05 9.99871063e-01 -7.37491173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters 0.022903719599126446 Centerline is valid? [True, True] Translation: X:366.90, Y:-59.29, Z:-7.37 [[ 9.84637228e-01 1.73757741e-01 1.72562320e-02 3.66897211e+02] [-1.73728957e-01 9.84788421e-01 -3.16481981e-03 -5.92931848e+01] [-1.75436494e-02 1.18292213e-04 9.99846091e-01 -7.37261906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.354012739 meters 0.02377342952369344 Centerline is valid? [True, True] Translation: X:366.92, Y:-59.30, Z:-7.37 [[ 9.84869267e-01 1.72267538e-01 1.88791324e-02 3.66923940e+02] [-1.72232848e-01 9.85050187e-01 -3.46052299e-03 -5.93006296e+01] [-1.91930287e-02 1.56556010e-04 9.99815785e-01 -7.37011459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters 0.023490275024139137 Centerline is valid? [True, True] Translation: X:366.95, Y:-59.31, Z:-7.37 [[ 9.85069729e-01 1.70997413e-01 1.99377252e-02 3.66952355e+02] [-1.70958488e-01 9.85271459e-01 -3.65334004e-03 -5.93053299e+01] [-2.02687833e-02 1.90271337e-04 9.99794549e-01 -7.36912604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.414012739 meters 0.023990711247270466 Centerline is valid? [True, True] Translation: X:366.98, Y:-59.31, Z:-7.37 [[ 9.85119944e-01 1.70816852e-01 1.89815493e-02 3.66978808e+02] [-1.70781554e-01 9.85302780e-01 -3.47727920e-03 -5.93118280e+01] [-1.92965512e-02 1.83838597e-04 9.99813787e-01 -7.37200702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters 0.024195198828926755 Centerline is valid? [True, True] Translation: X:367.01, Y:-59.32, Z:-7.38 [[ 9.85214039e-01 1.70432761e-01 1.74920449e-02 3.67006724e+02] [-1.70402751e-01 9.85369293e-01 -3.20295144e-03 -5.93171214e+01] [-1.77820118e-02 1.74900140e-04 9.99841872e-01 -7.37569792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.474012739 meters 0.024562564433432525 Centerline is valid? [True, True] Translation: X:367.03, Y:-59.32, Z:-7.38 [[ 9.85253468e-01 1.70409061e-01 1.53738851e-02 3.67034050e+02] [-1.70385886e-01 9.85373395e-01 -2.81453210e-03 -5.93219116e+01] [-1.56286392e-02 1.53534468e-04 9.99877854e-01 -7.37998936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters 0.024794405487016787 Centerline is valid? [True, True] Translation: X:367.06, Y:-59.33, Z:-7.38 [[ 9.85212869e-01 1.70650748e-01 1.52945830e-02 3.67060034e+02] [-1.70627852e-01 9.85331569e-01 -2.79922156e-03 -5.93275783e+01] [-1.55479247e-02 1.48147253e-04 9.99879113e-01 -7.38094920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.534012739 meters 0.024336246005288442 Centerline is valid? [True, True] Translation: X:367.09, Y:-59.33, Z:-7.38 [[ 9.85225736e-01 1.70415035e-01 1.69989870e-02 3.67087987e+02] [-1.70386746e-01 9.85372360e-01 -3.10946908e-03 -5.93336947e+01] [-1.72802323e-02 1.67126873e-04 9.99850672e-01 -7.37699638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters 0.024537474860635185 Centerline is valid? [True, True] Translation: X:367.11, Y:-59.34, Z:-7.38 [[ 9.85285468e-01 1.70018317e-01 1.75019867e-02 3.67114675e+02] [-1.69988280e-01 9.85440886e-01 -3.20071795e-03 -5.93398394e+01] [-1.77913539e-02 1.78488273e-04 9.99841705e-01 -7.37682555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.594012739 meters 0.024560550304432334 Centerline is valid? [True, True] Translation: X:367.14, Y:-59.35, Z:-7.38 [[ 9.85347806e-01 1.69709554e-01 1.69813946e-02 3.67142791e+02] [-1.69681257e-01 9.85494107e-01 -3.10406990e-03 -5.93459156e+01] [-1.72618546e-02 1.77164080e-04 9.99850987e-01 -7.37876225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters 0.02496189884012713 Centerline is valid? [True, True] Translation: X:367.17, Y:-59.36, Z:-7.38 [[ 9.85338195e-01 1.69840610e-01 1.62113557e-02 3.67168248e+02] [-1.69814849e-01 9.85471532e-01 -2.96272151e-03 -5.93564311e+01] [-1.64790199e-02 1.66353756e-04 9.99864198e-01 -7.38237301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.654012739 meters 0.023882970726808735 Centerline is valid? [True, True] Translation: X:367.20, Y:-59.37, Z:-7.38 [[ 9.85159388e-01 1.70836557e-01 1.66087931e-02 3.67196223e+02] [-1.70809684e-01 9.85299370e-01 -3.03379079e-03 -5.93664180e+01] [-1.68829158e-02 1.51824764e-04 9.99857462e-01 -7.38217275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters 0.023563419711243518 Centerline is valid? [True, True] Translation: X:367.22, Y:-59.37, Z:-7.38 [[ 9.85007568e-01 1.71706364e-01 1.66437556e-02 3.67223220e+02] [-1.71679512e-01 9.85148164e-01 -3.03966045e-03 -5.93724816e+01] [-1.69184943e-02 1.36696711e-04 9.99856863e-01 -7.38230962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.714012739 meters 0.022967117281847537 Centerline is valid? [True, True] Translation: X:367.25, Y:-59.38, Z:-7.38 [[ 9.84800601e-01 1.72926340e-01 1.62559770e-02 3.67252173e+02] [-1.72900906e-01 9.84934753e-01 -2.96786418e-03 -5.93769938e+01] [-1.65242986e-02 1.12081270e-04 9.99863458e-01 -7.38283805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters 0.0223397574055347 Centerline is valid? [True, True] Translation: X:367.28, Y:-59.38, Z:-7.39 [[ 9.84219820e-01 1.76361384e-01 1.44225060e-02 3.67279666e+02] [-1.76341738e-01 9.84325485e-01 -2.63276330e-03 -5.93807086e+01] [-1.46607580e-02 4.79280338e-05 9.99892524e-01 -7.38723760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.774012739 meters 0.021976442002854736 Centerline is valid? [True, True] Translation: X:367.31, Y:-59.38, Z:-7.39 [[ 9.83860874e-01 1.78387503e-01 1.39885830e-02 3.67307196e+02] [-1.78369243e-01 9.83960314e-01 -2.55232282e-03 -5.93847855e+01] [-1.42195130e-02 1.59975958e-05 9.99898897e-01 -7.38831422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters 0.02196355880926082 Centerline is valid? [True, True] Translation: X:367.34, Y:-59.39, Z:-7.39 [[ 9.83258228e-01 1.81588827e-01 1.51246622e-02 3.67335900e+02] [-1.81567880e-01 9.83374546e-01 -2.75830058e-03 -5.93887812e+01] [-1.53740844e-02 -3.40311244e-05 9.99881811e-01 -7.38751319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.834012739 meters 0.02196355880926082 Centerline is valid? [True, True] Translation: X:367.36, Y:-59.39, Z:-7.39 [[ 9.83270933e-01 1.81520011e-01 1.51247704e-02 3.67362962e+02] [-1.81499065e-01 9.83387251e-01 -2.75770732e-03 -5.93935805e+01] [-1.53740855e-02 -3.35582399e-05 9.99881811e-01 -7.38807148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters 0.022235152984150904 Centerline is valid? [True, True] Translation: X:367.39, Y:-59.40, Z:-7.39 [[ 9.82964102e-01 1.83137796e-01 1.55602857e-02 3.67390901e+02] [-1.83115848e-01 9.83087251e-01 -2.83589367e-03 -5.93966934e+01] [-1.58164778e-02 -6.17532325e-05 9.99874910e-01 -7.38733607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.894012739 meters 0.022642021864273682 Centerline is valid? [True, True] Translation: X:367.42, Y:-59.40, Z:-7.39 [[ 9.82716460e-01 1.84463000e-01 1.55486871e-02 3.67418638e+02] [-1.84441266e-01 9.82839455e-01 -2.83284634e-03 -5.93996510e+01] [-1.58044185e-02 -8.39347944e-05 9.99875099e-01 -7.38750041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters 0.02412461879565221 Centerline is valid? [True, True] Translation: X:367.45, Y:-59.40, Z:-7.39 [[ 9.82116590e-01 1.87643032e-01 1.53979302e-02 3.67447826e+02] [-1.87622123e-01 9.82237280e-01 -2.80441991e-03 -5.94005858e+01] [-1.56506510e-02 -1.34725045e-04 9.99877512e-01 -7.38869004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.954012739 meters 0.02531120832746669 Centerline is valid? [True, True] Translation: X:367.48, Y:-59.40, Z:-7.39 [[ 9.81753455e-01 1.89529991e-01 1.54446251e-02 3.67476519e+02] [-1.89509199e-01 9.81874918e-01 -2.81218963e-03 -5.94027701e+01] [-1.56976843e-02 -1.66021641e-04 9.99876770e-01 -7.38891142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters 0.02598346208595529 Centerline is valid? [True, True] Translation: X:367.51, Y:-59.40, Z:-7.38 [[ 9.81276413e-01 1.91758516e-01 1.80353197e-02 3.67506139e+02] [-1.91730559e-01 9.81442110e-01 -3.28289840e-03 -5.94032712e+01] [-1.83301459e-02 -2.36491155e-04 9.99831961e-01 -7.38480240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.014012739 meters 0.025202631022104648 Centerline is valid? [True, True] Translation: X:367.53, Y:-59.41, Z:-7.38 [[ 9.81311078e-01 1.91456130e-01 1.93162944e-02 3.67534815e+02] [-1.91424021e-01 9.81501140e-01 -3.51505816e-03 -5.94088440e+01] [-1.96319444e-02 -2.48237224e-04 9.99807244e-01 -7.38342843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters 0.024737218990441533 Centerline is valid? [True, True] Translation: X:367.56, Y:-59.41, Z:-7.38 [[ 9.81613686e-01 1.89909772e-01 1.92054914e-02 3.67561656e+02] [-1.89877753e-01 9.81801523e-01 -3.49394088e-03 -5.94143353e+01] [-1.95195142e-02 -2.16995355e-04 9.99809453e-01 -7.38435844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.074012739 meters 0.02242314533700824 Centerline is valid? [True, True] Translation: X:367.59, Y:-59.43, Z:-7.39 [[ 9.82932590e-01 1.83213354e-01 1.66249942e-02 3.67587413e+02] [-1.83188416e-01 9.83073172e-01 -3.02368514e-03 -5.94290910e+01] [-1.68975653e-02 -7.34276775e-05 9.99857223e-01 -7.39055558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters 0.021780484922865485 Centerline is valid? [True, True] Translation: X:367.61, Y:-59.44, Z:-7.39 [[ 9.83855356e-01 1.78247875e-01 1.60103944e-02 3.67614031e+02] [-1.78224112e-01 9.83985617e-01 -2.91049235e-03 -5.94429873e+01] [-1.62727869e-02 1.00651597e-05 9.99867589e-01 -7.39186689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.134012739 meters 0.024956200540352854 Centerline is valid? [True, True] Translation: X:367.64, Y:-59.47, Z:-7.39 [[ 9.85697454e-01 1.67723055e-01 1.64166629e-02 3.67639898e+02] [-1.67696623e-01 9.85834135e-01 -2.98345178e-03 -5.94660358e+01] [-1.66845003e-02 1.87761888e-04 9.99860786e-01 -7.39119092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters 0.02838453413994391 Centerline is valid? [True, True] Translation: X:367.67, Y:-59.48, Z:-7.39 [[ 9.86439237e-01 1.63201234e-01 1.74065492e-02 3.67666250e+02] [-1.63170822e-01 9.86592762e-01 -3.16292324e-03 -5.94813737e+01] [-1.76893685e-02 2.79790643e-04 9.99843492e-01 -7.39024159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.194012739 meters 0.030674927895505497 Centerline is valid? [True, True] Translation: X:367.69, Y:-59.49, Z:-7.39 [[ 9.87069532e-01 1.59195639e-01 1.87213369e-02 3.67693509e+02] [-1.59159751e-01 9.87246983e-01 -3.40109949e-03 -5.94941456e+01] [-1.90240235e-02 3.77438358e-04 9.99818956e-01 -7.38868644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters 0.03604634000205882 Centerline is valid? [True, True] Translation: X:367.72, Y:-59.52, Z:-7.39 [[ 9.87817035e-01 1.54411082e-01 1.93577406e-02 3.67719266e+02] [-1.54371808e-01 9.88006570e-01 -3.51598741e-03 -5.95156972e+01] [-1.96684823e-02 4.84862848e-04 9.99806439e-01 -7.38838981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.254012739 meters 0.03637106021921892 Centerline is valid? [True, True] Translation: X:367.75, Y:-59.53, Z:-7.39 [[ 9.87963837e-01 1.53610103e-01 1.82041991e-02 3.67747505e+02] [-1.53575243e-01 9.88131426e-01 -3.30601977e-03 -5.95292471e+01] [-1.84959792e-02 4.70513678e-04 9.99828824e-01 -7.39155960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters 0.036028295457663825 Centerline is valid? [True, True] Translation: X:367.78, Y:-59.54, Z:-7.39 [[ 9.87949097e-01 1.53780019e-01 1.75581346e-02 3.67776979e+02] [-1.53747617e-01 9.88105006e-01 -3.18868959e-03 -5.95382843e+01] [-1.78396374e-02 4.50741651e-04 9.99840759e-01 -7.39259447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.314012739 meters 0.03560396313504827 Centerline is valid? [True, True] Translation: X:367.81, Y:-59.55, Z:-7.39 [[ 9.87822629e-01 1.54622986e-01 1.72680596e-02 3.67805410e+02] [-1.54591774e-01 9.87973455e-01 -3.13604164e-03 -5.95475957e+01] [-1.75452886e-02 4.28352934e-04 9.99845978e-01 -7.39440492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters 0.034027252088653905 Centerline is valid? [True, True] Translation: X:367.83, Y:-59.56, Z:-7.40 [[ 9.87498512e-01 1.56816720e-01 1.59751356e-02 3.67833181e+02] [-1.56790297e-01 9.87627656e-01 -2.90106412e-03 -5.95601238e+01] [-1.62324211e-02 3.60050239e-04 9.99868181e-01 -7.39724906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.374012739 meters 0.0325756184742197 Centerline is valid? [True, True] Translation: X:367.86, Y:-59.57, Z:-7.40 [[ 9.87219017e-01 1.58605744e-01 1.55829913e-02 3.67861646e+02] [-1.58580827e-01 9.87341944e-01 -2.82972558e-03 -5.95676546e+01] [-1.58345517e-02 3.22395263e-04 9.99874574e-01 -7.39866785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters 0.029697267082285688 Centerline is valid? [True, True] Translation: X:367.89, Y:-59.57, Z:-7.40 [[ 9.86613800e-01 1.62409598e-01 1.47082202e-02 3.67889233e+02] [-1.62387826e-01 9.86723397e-01 -2.67062138e-03 -5.95746062e+01] [-1.49466796e-02 2.46436008e-04 9.99888262e-01 -7.40096369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.434012739 meters 0.02803515209051576 Centerline is valid? [True, True] Translation: X:367.92, Y:-59.58, Z:-7.40 [[ 9.86237762e-01 1.64662197e-01 1.48808095e-02 3.67918113e+02] [-1.64640176e-01 9.86349996e-01 -2.70137434e-03 -5.95797444e+01] [-1.51225006e-02 2.14218284e-04 9.99885626e-01 -7.40109848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters 0.025639731719098918 Centerline is valid? [True, True] Translation: X:367.95, Y:-59.58, Z:-7.40 [[ 9.85685582e-01 1.67857266e-01 1.57439630e-02 3.67947810e+02] [-1.67833030e-01 9.85811294e-01 -2.85767739e-03 -5.95829308e+01] [-1.60002585e-02 1.74414386e-04 9.99871972e-01 -7.40024920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.494012739 meters 0.02198858047579759 Centerline is valid? [True, True] Translation: X:367.98, Y:-59.58, Z:-7.40 [[ 9.84363209e-01 1.75386426e-01 1.63912967e-02 3.67976675e+02] [-1.75361202e-01 9.84499669e-01 -2.97489956e-03 -5.95808517e+01] [-1.66589832e-02 5.39841884e-05 9.99861228e-01 -7.39913945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters 0.021741702791000912 Centerline is valid? [True, True] Translation: X:368.01, Y:-59.58, Z:-7.40 [[ 9.83693797e-01 1.79132622e-01 1.60628936e-02 3.68005737e+02] [-1.79108914e-01 9.83824935e-01 -2.91435236e-03 -5.95799826e+01] [-1.63251308e-02 -1.01770778e-05 9.99866736e-01 -7.40019504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55401273900003 meters 0.022655412631844604 Centerline is valid? [True, True] Translation: X:368.03, Y:-59.58, Z:-7.40 [[ 9.83011633e-01 1.82914184e-01 1.51832193e-02 3.68034201e+02] [-1.82893462e-01 9.83128881e-01 -2.75415624e-03 -5.95773338e+01] [-1.54308357e-02 -6.95439221e-05 9.99880935e-01 -7.40244500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters 0.02653359390400679 Centerline is valid? [True, True] Translation: X:368.07, Y:-59.57, Z:-7.40 [[ 9.81753709e-01 1.89603026e-01 1.45033742e-02 3.68065768e+02] [-1.89584861e-01 9.81860817e-01 -2.62986981e-03 -5.95693812e+01] [-1.47389261e-02 -1.67735740e-04 9.99891362e-01 -7.40482011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61401273900003 meters 0.028372048614972844 Centerline is valid? [True, True] Translation: X:368.10, Y:-59.57, Z:-7.41 [[ 9.81264680e-01 1.92131552e-01 1.43211523e-02 3.68095169e+02] [-1.92114112e-01 9.81369159e-01 -2.59663866e-03 -5.95696178e+01] [-1.45532334e-02 -2.03305650e-04 9.99894075e-01 -7.40528462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters 0.029831414747325525 Centerline is valid? [True, True] Translation: X:368.12, Y:-59.57, Z:-7.41 [[ 9.81007296e-01 1.93439039e-01 1.43534851e-02 3.68123417e+02] [-1.93421669e-01 9.81112271e-01 -2.60190257e-03 -5.95680205e+01] [-1.45856899e-02 -2.23789638e-04 9.99893598e-01 -7.40546649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.674012739 meters 0.029146106827369896 Centerline is valid? [True, True] Translation: X:368.15, Y:-59.57, Z:-7.41 [[ 9.81173956e-01 1.92595254e-01 1.43085852e-02 3.68151708e+02] [-1.92577915e-01 9.81278260e-01 -2.59288505e-03 -5.95721539e+01] [-1.45400810e-02 -2.11446228e-04 9.99894265e-01 -7.40606564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters 0.027662996141645767 Centerline is valid? [True, True] Translation: X:368.18, Y:-59.58, Z:-7.41 [[ 9.81529367e-01 1.90802250e-01 1.39499950e-02 3.68179606e+02] [-1.90785597e-01 9.81628478e-01 -2.52729652e-03 -5.95784198e+01] [-1.41759262e-02 -1.80842363e-04 9.99899500e-01 -7.40766241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.734012739 meters 0.02390904524922095 Centerline is valid? [True, True] Translation: X:368.21, Y:-59.59, Z:-7.41 [[ 9.82826330e-01 1.84072753e-01 1.30240973e-02 3.68205465e+02] [-1.84057653e-01 9.82912618e-01 -2.35901973e-03 -5.95930954e+01] [-1.32357809e-02 -7.86780880e-05 9.99912400e-01 -7.41242408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters 0.022522526533251614 Centerline is valid? [True, True] Translation: X:368.23, Y:-59.61, Z:-7.41 [[ 9.83715632e-01 1.79283097e-01 1.26935613e-02 3.68232563e+02] [-1.79268361e-01 9.83797525e-01 -2.29859789e-03 -5.96061518e+01] [-1.28999940e-02 -1.43872606e-05 9.99916792e-01 -7.41360119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.794012739 meters 0.024969377499952462 Centerline is valid? [True, True] Translation: X:368.26, Y:-59.63, Z:-7.42 [[ 9.85515530e-01 1.69202053e-01 1.13932443e-02 3.68258385e+02] [-1.69189514e-01 9.85581379e-01 -2.06261054e-03 -5.96269112e+01] [-1.15779673e-02 1.05117261e-04 9.99932968e-01 -7.41522457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters 0.02782341984787588 Centerline is valid? [True, True] Translation: X:368.28, Y:-59.64, Z:-7.42 [[ 9.86271488e-01 1.64763563e-01 1.10235865e-02 3.68284915e+02] [-1.64751550e-01 9.86333080e-01 -1.99538260e-03 -5.96403399e+01] [-1.12016943e-02 1.51836014e-04 9.99937248e-01 -7.41730354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.854012739 meters 0.030218355399472006 Centerline is valid? [True, True] Translation: X:368.31, Y:-59.65, Z:-7.42 [[ 9.86881921e-01 1.61087924e-01 1.07124108e-02 3.68312459e+02] [-1.61076366e-01 9.86940042e-01 -1.93869461e-03 -5.96523815e+01] [-1.08848074e-02 1.87746457e-04 9.99940741e-01 -7.41759090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters 0.03319584307437148 Centerline is valid? [True, True] Translation: X:368.34, Y:-59.67, Z:-7.42 [[ 9.87538662e-01 1.57050190e-01 1.01305901e-02 3.68340310e+02] [-1.57039648e-01 9.87590598e-01 -1.83283675e-03 -5.96663800e+01] [-1.02927229e-02 2.19092859e-04 9.99947005e-01 -7.41898900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.914012739 meters 0.034108932548677764 Centerline is valid? [True, True] Translation: X:368.37, Y:-59.67, Z:-7.42 [[ 9.87702111e-01 1.56058986e-01 9.49386850e-03 3.68369719e+02] [-1.56049684e-01 9.87747714e-01 -1.71741299e-03 -5.96738194e+01] [-9.64556464e-03 2.14777255e-04 9.99953457e-01 -7.42057363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters 0.034748016021854615 Centerline is valid? [True, True] Translation: X:368.40, Y:-59.68, Z:-7.42 [[ 9.87728120e-01 1.55913375e-01 9.17498658e-03 3.68398507e+02] [-1.55904679e-01 9.87770710e-01 -1.65985854e-03 -5.96808176e+01] [-9.32157716e-03 2.09065619e-04 9.99956531e-01 -7.42224567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.974012739 meters 0.0331152990513408 Centerline is valid? [True, True] Translation: X:368.43, Y:-59.68, Z:-7.42 [[ 9.87460371e-01 1.57612565e-01 8.96078942e-03 3.68428475e+02] [-1.57604340e-01 9.87501009e-01 -1.62124307e-03 -5.96842294e+01] [-9.10431688e-03 1.88653987e-04 9.99958537e-01 -7.42303782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters 0.0318573971715819 Centerline is valid? [True, True] Translation: X:368.46, Y:-59.69, Z:-7.42 [[ 9.87146121e-01 1.59576711e-01 8.82094208e-03 3.68458393e+02] [-1.59568822e-01 9.87185517e-01 -1.59554480e-03 -5.96868552e+01] [-8.96251806e-03 1.67488520e-04 9.99959822e-01 -7.42401986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.034012739 meters 0.027733740608512986 Centerline is valid? [True, True] Translation: X:368.49, Y:-59.69, Z:-7.42 [[ 9.86402379e-01 1.63941129e-01 1.15608103e-02 3.68489297e+02] [-1.63927884e-01 9.86470110e-01 -2.09061698e-03 -5.96855875e+01] [-1.17471319e-02 1.67050395e-04 9.99930986e-01 -7.41961356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters 0.026611698173300863 Centerline is valid? [True, True] Translation: X:368.52, Y:-59.69, Z:-7.42 [[ 9.86071235e-01 1.65866911e-01 1.23161097e-02 3.68518314e+02] [-1.65852029e-01 9.86148135e-01 -2.22712900e-03 -5.96895050e+01] [-1.25149157e-02 1.53456049e-04 9.99921674e-01 -7.41909379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.094012739 meters 0.025819420985028096 Centerline is valid? [True, True] Translation: X:368.55, Y:-59.69, Z:-7.42 [[ 9.85855555e-01 1.67144101e-01 1.23156278e-02 3.68547380e+02] [-1.67129324e-01 9.85932468e-01 -2.22673916e-03 -5.96940235e+01] [-1.25145637e-02 1.36940611e-04 9.99921680e-01 -7.41913073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters 0.035553063111282895 Centerline is valid? [True, True] Translation: X:368.58, Y:-59.70, Z:-7.41 [[ 9.85642307e-01 1.68500510e-01 1.08084005e-02 3.68575914e+02] [-1.68489210e-01 9.85701561e-01 -1.95424291e-03 -5.96990026e+01] [-1.09831482e-02 1.05085624e-04 9.99939678e-01 -7.41070870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.154012739 meters 0.02458611671814608 Centerline is valid? [True, True] Translation: X:368.60, Y:-59.70, Z:-7.42 [[ 9.85202171e-01 1.71114370e-01 9.82622743e-03 3.68603428e+02] [-1.71105163e-01 9.85251170e-01 -1.77642247e-03 -5.96996995e+01] [-9.98527348e-03 6.88170333e-05 9.99950144e-01 -7.42431946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters 0.023806751595792607 Centerline is valid? [True, True] Translation: X:368.63, Y:-59.70, Z:-7.42 [[ 9.84913872e-01 1.72703735e-01 1.08666640e-02 3.68632265e+02] [-1.72692582e-01 9.84973815e-01 -1.96354983e-03 -5.97017622e+01] [-1.10424918e-02 5.73352144e-05 9.99939028e-01 -7.42325265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.214012739 meters 0.022844625011802917 Centerline is valid? [True, True] Translation: X:368.66, Y:-59.70, Z:-7.42 [[ 9.84442672e-01 1.75229417e-01 1.29335299e-02 3.68661417e+02] [-1.75213846e-01 9.84527628e-01 -2.33621117e-03 -5.97034085e+01] [-1.31427905e-02 3.37324414e-05 9.99913629e-01 -7.42023323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters 0.022781948565781637 Centerline is valid? [True, True] Translation: X:368.69, Y:-59.71, Z:-7.42 [[ 9.84396687e-01 1.75448649e-01 1.34512108e-02 3.68688897e+02] [-1.75431836e-01 9.84488583e-01 -2.42910478e-03 -5.97091487e+01] [-1.36687466e-02 3.14320944e-05 9.99906578e-01 -7.42022660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.274012739 meters 0.022792281631844904 Centerline is valid? [True, True] Translation: X:368.72, Y:-59.72, Z:-7.42 [[ 9.84362160e-01 1.75644197e-01 1.34258396e-02 3.68716977e+02] [-1.75627477e-01 9.84453714e-01 -2.42363250e-03 -5.97154356e+01] [-1.36428146e-02 2.77857913e-05 9.99906932e-01 -7.42051907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters 0.022710230106372506 Centerline is valid? [True, True] Translation: X:368.74, Y:-59.72, Z:-7.42 [[ 9.84414135e-01 1.75306246e-01 1.40189803e-02 3.68743499e+02] [-1.75287991e-01 9.84513951e-01 -2.53005851e-03 -5.97224743e+01] [-1.42454167e-02 3.32664741e-05 9.99898528e-01 -7.42026381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.334012739 meters 0.02264839500570187 Centerline is valid? [True, True] Translation: X:368.77, Y:-59.73, Z:-7.42 [[ 9.84503354e-01 1.74749235e-01 1.46918471e-02 3.68771610e+02] [-1.74729138e-01 9.84612971e-01 -2.65049386e-03 -5.97287303e+01] [-1.49289550e-02 4.23263218e-05 9.99888556e-01 -7.41886369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters 0.022843429657327535 Centerline is valid? [True, True] Translation: X:368.80, Y:-59.74, Z:-7.42 [[ 9.84633336e-01 1.74009533e-01 1.47606465e-02 3.68799785e+02] [-1.73989176e-01 9.84743967e-01 -2.66211089e-03 -5.97356703e+01] [-1.49986903e-02 5.30103940e-05 9.99887512e-01 -7.41929878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.394012739 meters 0.023068348272844985 Centerline is valid? [True, True] Translation: X:368.83, Y:-59.74, Z:-7.42 [[ 9.84709637e-01 1.73654458e-01 1.38224252e-02 3.68827087e+02] [-1.73636579e-01 9.84806644e-01 -2.49243826e-03 -5.97440731e+01] [-1.40452392e-02 5.42493424e-05 9.99901359e-01 -7.42081054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters 0.022885614852144635 Centerline is valid? [True, True] Translation: X:368.86, Y:-59.75, Z:-7.42 [[ 9.84585970e-01 1.74410804e-01 1.30896443e-02 3.68855973e+02] [-1.74394842e-01 9.84672976e-01 -2.35995598e-03 -5.97486854e+01] [-1.33006208e-02 4.08130984e-05 9.99911542e-01 -7.42202099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.454012739 meters 0.02263482451420532 Centerline is valid? [True, True] Translation: X:368.88, Y:-59.75, Z:-7.42 [[ 9.84010719e-01 1.77634355e-01 1.29977467e-02 3.68884903e+02] [-1.77618905e-01 9.84096558e-01 -2.34277344e-03 -5.97516885e+01] [-1.32071949e-02 -3.33136164e-06 9.99912781e-01 -7.42334189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters 0.022680319070612086 Centerline is valid? [True, True] Translation: X:368.91, Y:-59.75, Z:-7.42 [[ 9.83688357e-01 1.79377681e-01 1.34485591e-02 3.68913305e+02] [-1.79361313e-01 9.83780284e-01 -2.42335156e-03 -5.97543136e+01] [-1.36651225e-02 -2.83285176e-05 9.99906627e-01 -7.42257581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.514012739 meters 0.023093873913963957 Centerline is valid? [True, True] Translation: X:368.94, Y:-59.76, Z:-7.42 [[ 9.83455229e-01 1.80659638e-01 1.33381862e-02 3.68941023e+02] [-1.80643663e-01 9.83545674e-01 -2.40293405e-03 -5.97571006e+01] [-1.35528285e-02 -4.62807422e-05 9.99908155e-01 -7.42451595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters 0.02334413745930185 Centerline is valid? [True, True] Translation: X:368.97, Y:-59.76, Z:-7.43 [[ 9.83278755e-01 1.81649075e-01 1.29035936e-02 3.68969468e+02] [-1.81634221e-01 9.83363417e-01 -2.32370482e-03 -5.97602954e+01] [-1.31110207e-02 -5.88845904e-05 9.99914045e-01 -7.42565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.574012739 meters 0.02337363147096334 Centerline is valid? [True, True] Translation: X:369.00, Y:-59.76, Z:-7.43 [[ 9.83298487e-01 1.81567067e-01 1.25493428e-02 3.68998126e+02] [-1.81553019e-01 9.83378562e-01 -2.25932360e-03 -5.97646476e+01] [-1.27509734e-02 -5.67815891e-05 9.99918701e-01 -7.42635662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters 0.023544108489715866 Centerline is valid? [True, True] Translation: X:369.03, Y:-59.77, Z:-7.43 [[ 9.83269486e-01 1.81763399e-01 1.19660205e-02 3.69027148e+02] [-1.81750647e-01 9.83342292e-01 -2.15376320e-03 -5.97686905e+01] [-1.21581694e-02 -5.71023480e-05 9.99926085e-01 -7.42714623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.634012739 meters 0.024429434334382723 Centerline is valid? [True, True] Translation: X:369.06, Y:-59.77, Z:-7.43 [[ 9.83009528e-01 1.83289835e-01 9.85412049e-03 3.69055053e+02] [-1.83281265e-01 9.83058916e-01 -1.77345611e-03 -5.97699173e+01] [-1.00122375e-02 -6.27514219e-05 9.99949874e-01 -7.43120196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters 0.025483594628147206 Centerline is valid? [True, True] Translation: X:369.08, Y:-59.77, Z:-7.43 [[ 9.82781281e-01 1.84529935e-01 9.46872813e-03 3.69083503e+02] [-1.84522084e-01 9.82826891e-01 -1.70370138e-03 -5.97705714e+01] [-9.62050454e-03 -7.28236293e-05 9.99953719e-01 -7.43378114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.694012739 meters 0.02641083106038318 Centerline is valid? [True, True] Translation: X:369.11, Y:-59.77, Z:-7.43 [[ 9.82154512e-01 1.87799648e-01 1.01885617e-02 3.69113471e+02] [-1.87790745e-01 9.82207350e-01 -1.83214594e-03 -5.97692490e+01] [-1.03513565e-02 -1.13867189e-04 9.99946417e-01 -7.43080503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters 0.02641083106038318 Centerline is valid? [True, True] Translation: X:369.14, Y:-59.77, Z:-7.43 [[ 9.82167845e-01 1.87729905e-01 1.01886067e-02 3.69140552e+02] [-1.87721001e-01 9.82220683e-01 -1.83189576e-03 -5.97739789e+01] [-1.03513618e-02 -1.13386329e-04 9.99946417e-01 -7.43136340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.754012739 meters 0.027930343757413982 Centerline is valid? [True, True] Translation: X:369.17, Y:-59.77, Z:-7.43 [[ 9.81854899e-01 1.89336831e-01 1.06076526e-02 3.69168814e+02] [-1.89327281e-01 9.81912188e-01 -1.90649327e-03 -5.97734009e+01] [-1.07767528e-02 -1.36418281e-04 9.99941920e-01 -7.43240730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters 0.027855281823496947 Centerline is valid? [True, True] Translation: X:369.20, Y:-59.78, Z:-7.43 [[ 9.81708806e-01 1.90092128e-01 1.06208968e-02 3.69196994e+02] [-1.90082608e-01 9.81766246e-01 -1.90798804e-03 -5.97767425e+01] [-1.07899315e-02 -1.45759108e-04 9.99941776e-01 -7.43226804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.814012739 meters 0.02813819821999596 Centerline is valid? [True, True] Translation: X:369.22, Y:-59.78, Z:-7.44 [[ 9.81760852e-01 1.89860219e-01 9.93616620e-03 3.69224380e+02] [-1.89851885e-01 9.81811122e-01 -1.78403729e-03 -5.97794729e+01] [-1.00941562e-02 -1.34901908e-04 9.99949044e-01 -7.43500065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters 0.027823875955609513 Centerline is valid? [True, True] Translation: X:369.25, Y:-59.78, Z:-7.44 [[ 9.81951166e-01 1.88937491e-01 8.63323788e-03 3.69252284e+02] [-1.88931168e-01 9.81989110e-01 -1.54959450e-03 -5.97847151e+01] [-8.77052209e-03 -1.09461588e-04 9.99961532e-01 -7.43812800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.874012739 meters 0.02701369323595477 Centerline is valid? [True, True] Translation: X:369.28, Y:-59.79, Z:-7.44 [[ 9.82403111e-01 1.86635534e-01 7.16273523e-03 3.69279129e+02] [-1.86631121e-01 9.82429220e-01 -1.28562065e-03 -5.97900505e+01] [-7.27682288e-03 -7.37915826e-05 9.99973521e-01 -7.44222447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters 0.026757839379578912 Centerline is valid? [True, True] Translation: X:369.31, Y:-59.80, Z:-7.44 [[ 9.82602228e-01 1.85596441e-01 6.84276000e-03 3.69306578e+02] [-1.85592388e-01 9.82626052e-01 -1.22817405e-03 -5.97958756e+01] [-6.95181897e-03 -6.31576083e-05 9.99975834e-01 -7.44354439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.934012739 meters 0.026235788977762922 Centerline is valid? [True, True] Translation: X:369.33, Y:-59.80, Z:-7.44 [[ 9.82799128e-01 1.84558507e-01 6.63563873e-03 3.69334834e+02] [-1.84554679e-01 9.82821527e-01 -1.18996323e-03 -5.98023862e+01] [-6.74126643e-03 -5.51433463e-05 9.99977276e-01 -7.44434175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters 0.025459158048383283 Centerline is valid? [True, True] Translation: X:369.36, Y:-59.81, Z:-7.44 [[ 9.83141911e-01 1.82706927e-01 7.08251508e-03 3.69362508e+02] [-1.82702520e-01 9.83167421e-01 -1.26969743e-03 -5.98099346e+01] [-7.19528059e-03 -4.57005986e-05 9.99974113e-01 -7.44413849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.994012739 meters 0.02545191549247895 Centerline is valid? [True, True] Translation: X:369.39, Y:-59.81, Z:-7.44 [[ 9.83179568e-01 1.82487944e-01 7.48915891e-03 3.69389667e+02] [-1.82483013e-01 9.83208090e-01 -1.34233313e-03 -5.98144064e+01] [-7.60836124e-03 -4.68897706e-05 9.99971055e-01 -7.44367220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters 0.02526217650364796 Centerline is valid? [True, True] Translation: X:369.42, Y:-59.82, Z:-7.44 [[ 9.82935078e-01 1.83693153e-01 9.77023822e-03 3.69418323e+02] [-1.83684831e-01 9.82983632e-01 -1.75014371e-03 -5.98181418e+01] [-9.92547366e-03 -7.43669145e-05 9.99950739e-01 -7.43913137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05401273900003 meters 0.025149428855892175 Centerline is valid? [True, True] Translation: X:369.45, Y:-59.82, Z:-7.44 [[ 9.82928562e-01 1.83659792e-01 1.09782565e-02 3.69445514e+02] [-1.83649286e-01 9.82989865e-01 -1.96617459e-03 -5.98227406e+01] [-1.11526221e-02 -8.35398202e-05 9.99937804e-01 -7.43858564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters 0.024618179504845503 Centerline is valid? [True, True] Translation: X:369.47, Y:-59.83, Z:-7.44 [[ 9.83027674e-01 1.83065533e-01 1.19834117e-02 3.69474039e+02] [-1.83052988e-01 9.83100709e-01 -2.14484477e-03 -5.98297389e+01] [-1.21735476e-02 -8.51575464e-05 9.99925896e-01 -7.43684457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11401273900003 meters 0.023644576918970053 Centerline is valid? [True, True] Translation: X:369.50, Y:-59.84, Z:-7.43 [[ 9.83336261e-01 1.81265369e-01 1.38803183e-02 3.69501436e+02] [-1.81248369e-01 9.83434218e-01 -2.48361624e-03 -5.98363956e+01] [-1.41005736e-02 -7.35551380e-05 9.99900579e-01 -7.43244366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters 0.023226087531632984 Centerline is valid? [True, True] Translation: X:369.53, Y:-59.84, Z:-7.43 [[ 9.83452605e-01 1.80592682e-01 1.43964414e-02 3.69529945e+02] [-1.80574335e-01 9.83557969e-01 -2.57500407e-03 -5.98424763e+01] [-1.46247615e-02 -6.72333686e-05 9.99893050e-01 -7.43132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.174012739 meters 0.023173526703928894 Centerline is valid? [True, True] Translation: X:369.56, Y:-59.85, Z:-7.43 [[ 9.83661373e-01 1.79454529e-01 1.43657930e-02 3.69556909e+02] [-1.79436149e-01 9.83766268e-01 -2.56888372e-03 -5.98502338e+01] [-1.45935804e-02 -5.08308816e-05 9.99893507e-01 -7.43338238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters 0.022764395463626644 Centerline is valid? [True, True] Translation: X:369.58, Y:-59.86, Z:-7.43 [[ 9.83874868e-01 1.78216541e-01 1.51363085e-02 3.69584941e+02] [-1.78196006e-01 9.83991292e-01 -2.70561608e-03 -5.98592388e+01] [-1.53761813e-02 -3.52420549e-05 9.99881779e-01 -7.43241338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.234012739 meters 0.022492703602191664 Centerline is valid? [True, True] Translation: X:369.61, Y:-59.87, Z:-7.43 [[ 9.84148992e-01 1.76639462e-01 1.57880083e-02 3.69611626e+02] [-1.76616929e-01 9.84275622e-01 -2.82134399e-03 -5.98679918e+01] [-1.60381123e-02 -1.18066884e-05 9.99871381e-01 -7.43223535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters 0.02276741467477733 Centerline is valid? [True, True] Translation: X:369.64, Y:-59.88, Z:-7.43 [[ 9.84784312e-01 1.73094257e-01 1.54349171e-02 3.69638800e+02] [-1.73072302e-01 9.84905263e-01 -2.75717765e-03 -5.98822371e+01] [-1.56791827e-02 4.38686579e-05 9.99877073e-01 -7.43286472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.294012739 meters 0.023315425303643895 Centerline is valid? [True, True] Translation: X:369.67, Y:-59.89, Z:-7.44 [[ 9.85045343e-01 1.71713419e-01 1.41482590e-02 3.69667351e+02] [-1.71694833e-01 9.85146942e-01 -2.52703669e-03 -5.98921780e+01] [-1.43720402e-02 6.00627474e-05 9.99896715e-01 -7.43556389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters 0.02327313444864058 Centerline is valid? [True, True] Translation: X:369.69, Y:-59.90, Z:-7.44 [[ 9.85012513e-01 1.71950576e-01 1.35406313e-02 3.69694302e+02] [-1.71933578e-01 9.85105576e-01 -2.41827781e-03 -5.99027644e+01] [-1.37547756e-02 5.39447188e-05 9.99905397e-01 -7.43577037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.354012739 meters 0.022847335872846902 Centerline is valid? [True, True] Translation: X:369.72, Y:-59.91, Z:-7.43 [[ 9.84669792e-01 1.73836957e-01 1.43566506e-02 3.69722651e+02] [-1.73818057e-01 9.84774447e-01 -2.56345016e-03 -5.99075507e+01] [-1.45836850e-02 2.87068257e-05 9.99893652e-01 -7.43448013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters 0.022742069410487335 Centerline is valid? [True, True] Translation: X:369.75, Y:-59.91, Z:-7.43 [[ 9.84166772e-01 1.76629192e-01 1.47612161e-02 3.69750771e+02] [-1.76609533e-01 9.84277465e-01 -2.63526255e-03 -5.99097040e+01] [-1.49945967e-02 -1.34336416e-05 9.99887575e-01 -7.43412175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.414012739 meters 0.025357008811505682 Centerline is valid? [True, True] Translation: X:369.78, Y:-59.90, Z:-7.44 [[ 9.82666766e-01 1.84866221e-01 1.38024038e-02 3.69781020e+02] [-1.84849856e-01 9.82763686e-01 -2.46327300e-03 -5.99033605e+01] [-1.40198772e-02 -1.30795841e-04 9.99901708e-01 -7.43644288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters 0.02813575990493784 Centerline is valid? [True, True] Translation: X:369.81, Y:-59.90, Z:-7.44 [[ 9.81891319e-01 1.88977830e-01 1.32972914e-02 3.69809306e+02] [-1.88963025e-01 9.81981337e-01 -2.37260656e-03 -5.99015318e+01] [-1.35060620e-02 -1.83054612e-04 9.99908772e-01 -7.43803822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.474012739 meters 0.0323974755712826 Centerline is valid? [True, True] Translation: X:369.84, Y:-59.90, Z:-7.44 [[ 9.80837450e-01 1.94295055e-01 1.43988964e-02 3.69839692e+02] [-1.94278282e-01 9.80943094e-01 -2.56808583e-03 -5.98982312e+01] [-1.46234643e-02 -2.78518086e-04 9.99893033e-01 -7.43627968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters 0.03293741402285838 Centerline is valid? [True, True] Translation: X:369.87, Y:-59.90, Z:-7.44 [[ 9.80650797e-01 1.95162918e-01 1.53443536e-02 3.69868665e+02] [-1.95143985e-01 9.80770788e-01 -2.73618230e-03 -5.99021474e+01] [-1.55832951e-02 -3.11118938e-04 9.99878525e-01 -7.43512480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.534012739 meters 0.031904103825279334 Centerline is valid? [True, True] Translation: X:369.90, Y:-59.91, Z:-7.44 [[ 9.80765857e-01 1.94643784e-01 1.45646957e-02 3.69897017e+02] [-1.94626677e-01 9.80873954e-01 -2.59652292e-03 -5.99068887e+01] [-1.47915277e-02 -2.88097303e-04 9.99890558e-01 -7.43635790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters 0.031465787943195545 Centerline is valid? [True, True] Translation: X:369.92, Y:-59.91, Z:-7.44 [[ 9.81044353e-01 1.93353328e-01 1.29022589e-02 3.69923844e+02] [-1.93339798e-01 9.81129163e-01 -2.29972728e-03 -5.99122873e+01] [-1.31034424e-02 -2.38385669e-04 9.99914118e-01 -7.44041652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.594012739 meters 0.0308450907849905 Centerline is valid? [True, True] Translation: X:369.95, Y:-59.92, Z:-7.44 [[ 9.81374184e-01 1.91783807e-01 1.11212759e-02 3.69951095e+02] [-1.91773660e-01 9.81437179e-01 -1.98178474e-03 -5.99183664e+01] [-1.12949079e-02 -1.87895396e-04 9.99936193e-01 -7.44421803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters 0.0298083200537797 Centerline is valid? [True, True] Translation: X:369.98, Y:-59.93, Z:-7.45 [[ 9.81712119e-01 1.90111291e-01 9.95049163e-03 3.69979135e+02] [-1.90103087e-01 9.81762535e-01 -1.77256685e-03 -5.99260063e+01] [-1.01060049e-02 -1.51468821e-04 9.99948922e-01 -7.44760701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.654012739 meters 0.027261316421715545 Centerline is valid? [True, True] Translation: X:370.01, Y:-59.94, Z:-7.45 [[ 9.82363871e-01 1.86712265e-01 9.98771918e-03 3.70006900e+02] [-1.86703829e-01 9.82414636e-01 -1.77873188e-03 -5.99354031e+01] [-1.01441926e-02 -1.17383474e-04 9.99948539e-01 -7.44644443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters 0.026914268065422194 Centerline is valid? [True, True] Translation: X:370.03, Y:-59.94, Z:-7.45 [[ 9.82623470e-01 1.85288789e-01 1.09169637e-02 3.70033923e+02] [-1.85278628e-01 9.82684106e-01 -1.94372286e-03 -5.99403229e+01] [-1.10880768e-02 -1.12732356e-04 9.99938519e-01 -7.44607670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.714012739 meters 0.024743236317110232 Centerline is valid? [True, True] Translation: X:370.06, Y:-59.95, Z:-7.44 [[ 9.83148641e-01 1.82357141e-01 1.28305215e-02 3.70061745e+02] [-1.82342871e-01 9.83232355e-01 -2.28328097e-03 -5.99511594e+01] [-1.30317565e-02 -9.47495404e-05 9.99915079e-01 -7.44256270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters 0.02382246382033213 Centerline is valid? [True, True] Translation: X:370.09, Y:-59.96, Z:-7.44 [[ 9.83515259e-01 1.80346541e-01 1.31476694e-02 3.70089557e+02] [-1.80331382e-01 9.83603132e-01 -2.33933125e-03 -5.99601401e+01] [-1.33539791e-02 -7.01694143e-05 9.99910829e-01 -7.44236930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.774012739 meters 0.02328620647239428 Centerline is valid? [True, True] Translation: X:370.12, Y:-59.97, Z:-7.44 [[ 9.84028266e-01 1.77568221e-01 1.25658033e-02 3.70115994e+02] [-1.77554153e-01 9.84108493e-01 -2.23536649e-03 -5.99696933e+01] [-1.27630438e-02 -3.14467444e-05 9.99918549e-01 -7.44443840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters 0.023787881668399288 Centerline is valid? [True, True] Translation: X:370.14, Y:-59.99, Z:-7.45 [[ 9.85146656e-01 1.71358622e-01 1.10583903e-02 3.70142764e+02] [-1.71347345e-01 9.85208719e-01 -1.96632575e-03 -5.99876909e+01] [-1.12317695e-02 4.22934053e-05 9.99936921e-01 -7.44727137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.834012739 meters 0.02482738901778365 Centerline is valid? [True, True] Translation: X:370.17, Y:-60.00, Z:-7.45 [[ 9.85680494e-01 1.68261533e-01 1.10462973e-02 3.70170705e+02] [-1.68250090e-01 9.85742385e-01 -1.96391639e-03 -6.00001557e+01] [-1.12192551e-02 7.72535610e-05 9.99937059e-01 -7.44750163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters 0.0267500207486548 Centerline is valid? [True, True] Translation: X:370.20, Y:-60.02, Z:-7.44 [[ 9.86274165e-01 1.64548434e-01 1.36778967e-02 3.70198136e+02] [-1.64530537e-01 9.86368993e-01 -2.43127963e-03 -6.00164248e+01] [-1.38915165e-02 1.47476591e-04 9.99903497e-01 -7.44244665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.894012739 meters 0.025726310244030333 Centerline is valid? [True, True] Translation: X:370.23, Y:-60.02, Z:-7.44 [[ 9.86233888e-01 1.64681812e-01 1.49204424e-02 3.70229092e+02] [-1.64660537e-01 9.86346732e-01 -2.65176777e-03 -6.00200653e+01] [-1.51534276e-02 1.58455183e-04 9.99885168e-01 -7.43863520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters 0.02499358823021765 Centerline is valid? [True, True] Translation: X:370.26, Y:-60.02, Z:-7.44 [[ 9.85994710e-01 1.66108640e-01 1.49114661e-02 3.70260005e+02] [-1.66087549e-01 9.86107449e-01 -2.65053378e-03 -6.00233363e+01] [-1.51445844e-02 1.36803436e-04 9.99885305e-01 -7.43943645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.954012739 meters 0.023615426219166253 Centerline is valid? [True, True] Translation: X:370.29, Y:-60.02, Z:-7.44 [[ 9.85360912e-01 1.69898808e-01 1.40807890e-02 3.70289952e+02] [-1.69880380e-01 9.85461511e-01 -2.50340713e-03 -6.00237812e+01] [-1.43014015e-02 7.47097332e-05 9.99897727e-01 -7.44176473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters 0.02304022660712178 Centerline is valid? [True, True] Translation: X:370.32, Y:-60.03, Z:-7.44 [[ 9.85102906e-01 1.71364480e-01 1.43693795e-02 3.70320463e+02] [-1.71345448e-01 9.85207700e-01 -2.55447039e-03 -6.00270013e+01] [-1.45945688e-02 5.42884274e-05 9.99893492e-01 -7.44257442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.014012739 meters 0.022683354193326222 Centerline is valid? [True, True] Translation: X:370.35, Y:-60.03, Z:-7.44 [[ 9.84572781e-01 1.74350741e-01 1.47735635e-02 3.70351011e+02] [-1.74330957e-01 9.84683614e-01 -2.62644765e-03 -6.00273142e+01] [-1.50052090e-02 1.04393992e-05 9.99887415e-01 -7.44264114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters 0.022825648091346736 Centerline is valid? [True, True] Translation: X:370.38, Y:-60.03, Z:-7.44 [[ 9.84286656e-01 1.75952428e-01 1.48499483e-02 3.70380289e+02] [-1.75932627e-01 9.84398671e-01 -2.63967016e-03 -6.00301298e+01] [-1.50827258e-02 -1.43983070e-05 9.99886249e-01 -7.44351053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.074012739 meters 0.023221355297639818 Centerline is valid? [True, True] Translation: X:370.41, Y:-60.03, Z:-7.45 [[ 9.83891330e-01 1.78275268e-01 1.32581951e-02 3.70408717e+02] [-1.78259698e-01 9.83980654e-01 -2.35654028e-03 -6.00317814e+01] [-1.34659204e-02 -4.48223116e-05 9.99909329e-01 -7.44711118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters 0.023491990625360268 Centerline is valid? [True, True] Translation: X:370.44, Y:-60.03, Z:-7.45 [[ 9.83781163e-01 1.78930620e-01 1.25879372e-02 3.70437867e+02] [-1.78916642e-01 9.83861693e-01 -2.23707574e-03 -6.00344179e+01] [-1.27850706e-02 -5.13984887e-05 9.99918266e-01 -7.44905459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.134012739 meters 0.02373533446688465 Centerline is valid? [True, True] Translation: X:370.47, Y:-60.04, Z:-7.45 [[ 9.83696437e-01 1.79400992e-01 1.25141937e-02 3.70465564e+02] [-1.79387222e-01 9.83776032e-01 -2.22347198e-03 -6.00359735e+01] [-1.27100569e-02 -5.76649671e-05 9.99919222e-01 -7.44964839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters 0.024039374668120797 Centerline is valid? [True, True] Translation: X:370.50, Y:-60.03, Z:-7.45 [[ 9.83288692e-01 1.81543359e-01 1.36145737e-02 3.70495082e+02] [-1.81527280e-01 9.83382937e-01 -2.41801832e-03 -6.00332192e+01] [-1.38273147e-02 -9.38064615e-05 9.99904394e-01 -7.44649957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.194012739 meters 0.025045242500275035 Centerline is valid? [True, True] Translation: X:370.52, Y:-60.03, Z:-7.45 [[ 9.83025770e-01 1.82979738e-01 1.33697932e-02 3.70523350e+02] [-1.82964371e-01 9.83116678e-01 -2.37398814e-03 -6.00329956e+01] [-1.35784584e-02 -1.12504291e-04 9.99907802e-01 -7.44814182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters 0.025923766210620633 Centerline is valid? [True, True] Translation: X:370.55, Y:-60.03, Z:-7.45 [[ 9.82622251e-01 1.85244552e-01 1.17459526e-02 3.70552139e+02] [-1.85232862e-01 9.82692444e-01 -2.08499347e-03 -6.00333757e+01] [-1.19288926e-02 -1.26975437e-04 9.99928840e-01 -7.45139774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.254012739 meters 0.026156048717779715 Centerline is valid? [True, True] Translation: X:370.58, Y:-60.04, Z:-7.45 [[ 9.82581883e-01 1.85473252e-01 1.15115939e-02 3.70580391e+02] [-1.85462045e-01 9.82649305e-01 -2.04284201e-03 -6.00370837e+01] [-1.16907523e-02 -1.27704204e-04 9.99931653e-01 -7.45295923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters 0.026042201014126083 Centerline is valid? [True, True] Translation: X:370.61, Y:-60.04, Z:-7.45 [[ 9.82697981e-01 1.84818916e-01 1.21097279e-02 3.70608243e+02] [-1.84806472e-01 9.82772584e-01 -2.14843822e-03 -6.00412379e+01] [-1.22981806e-02 -1.26690192e-04 9.99924366e-01 -7.45291647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.314012739 meters 0.024178919378171734 Centerline is valid? [True, True] Translation: X:370.64, Y:-60.05, Z:-7.45 [[ 9.83203690e-01 1.81956262e-01 1.42275216e-02 3.70635844e+02] [-1.81938801e-01 9.83306619e-01 -2.52301407e-03 -6.00507672e+01] [-1.44490944e-02 -1.07901477e-04 9.99895601e-01 -7.44863434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters 0.02360422474735472 Centerline is valid? [True, True] Translation: X:370.66, Y:-60.06, Z:-7.45 [[ 9.83485653e-01 1.80390618e-01 1.46695753e-02 3.70662773e+02] [-1.80371890e-01 9.83595047e-01 -2.60072923e-03 -6.00574965e+01] [-1.48980688e-02 -8.81991525e-05 9.99889014e-01 -7.44825910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.374012739 meters 0.022764133997070807 Centerline is valid? [True, True] Translation: X:370.69, Y:-60.07, Z:-7.45 [[ 9.83929156e-01 1.77967021e-01 1.45312161e-02 3.70690073e+02] [-1.77948395e-01 9.84036451e-01 -2.57527540e-03 -6.00668747e+01] [-1.47575604e-02 -5.19180316e-05 9.99891100e-01 -7.44766084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters 0.02280253132294398 Centerline is valid? [True, True] Translation: X:370.72, Y:-60.07, Z:-7.45 [[ 9.84006851e-01 1.77601433e-01 1.37203952e-02 3.70718673e+02] [-1.77584800e-01 9.84102499e-01 -2.43097076e-03 -6.00719953e+01] [-1.39340191e-02 -4.44417689e-05 9.99902916e-01 -7.44964753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.434012739 meters 0.02298106029941716 Centerline is valid? [True, True] Translation: X:370.75, Y:-60.08, Z:-7.45 [[ 9.84005095e-01 1.77650183e-01 1.32055050e-02 3.70747437e+02] [-1.77634788e-01 9.84093700e-01 -2.33914523e-03 -6.00771817e+01] [-1.34110039e-02 -4.40262534e-05 9.99910067e-01 -7.45103203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters 0.023212970141715382 Centerline is valid? [True, True] Translation: X:370.78, Y:-60.08, Z:-7.45 [[ 9.83816496e-01 1.78761282e-01 1.22272787e-02 3.70775474e+02] [-1.78748175e-01 9.83892474e-01 -2.16537077e-03 -6.00821997e+01] [-1.24174119e-02 -5.52762639e-05 9.99922899e-01 -7.45228652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.494012739 meters 0.02350735336559275 Centerline is valid? [True, True] Translation: X:370.80, Y:-60.09, Z:-7.45 [[ 9.83809073e-01 1.78822134e-01 1.19311825e-02 3.70803208e+02] [-1.78809665e-01 9.83881416e-01 -2.11245960e-03 -6.00866250e+01] [-1.21166233e-02 -5.51538272e-05 9.99926590e-01 -7.45493158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters 0.02377381867810516 Centerline is valid? [True, True] Translation: X:370.83, Y:-60.09, Z:-7.46 [[ 9.83745849e-01 1.79211335e-01 1.12872272e-02 3.70831023e+02] [-1.79200209e-01 9.83810599e-01 -1.99777953e-03 -6.00910917e+01] [-1.14625185e-02 -5.73661557e-05 9.99934302e-01 -7.45588105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55401273900003 meters 0.02384450764102584 Centerline is valid? [True, True] Translation: X:370.86, Y:-60.10, Z:-7.45 [[ 9.83702151e-01 1.79422817e-01 1.17273692e-02 3.70859451e+02] [-1.79410831e-01 9.83772051e-01 -2.07484983e-03 -6.00953323e+01] [-1.19093334e-02 -6.29828132e-05 9.99929079e-01 -7.45496509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters 0.023659631174642013 Centerline is valid? [True, True] Translation: X:370.89, Y:-60.10, Z:-7.45 [[ 9.83638030e-01 1.79694513e-01 1.28882745e-02 3.70887699e+02] [-1.79680069e-01 9.83722459e-01 -2.27954899e-03 -6.00995773e+01] [-1.30881075e-02 -7.35149620e-05 9.99914344e-01 -7.45323732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61401273900003 meters 0.023356126036563667 Centerline is valid? [True, True] Translation: X:370.92, Y:-60.10, Z:-7.45 [[ 9.83557105e-01 1.80019260e-01 1.44390887e-02 3.70916068e+02] [-1.80001177e-01 9.83663082e-01 -2.55305540e-03 -6.01049325e+01] [-1.46627977e-02 -8.79771893e-05 9.99892492e-01 -7.44946245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters 0.023356126036563667 Centerline is valid? [True, True] Translation: X:370.94, Y:-60.11, Z:-7.45 [[ 9.83565855e-01 1.79971437e-01 1.44392129e-02 3.70943977e+02] [-1.79953359e-01 9.83671833e-01 -2.55235271e-03 -6.01097757e+01] [-1.46627976e-02 -8.79778905e-05 9.99892492e-01 -7.45003774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.674012739 meters 0.02338320028115642 Centerline is valid? [True, True] Translation: X:370.97, Y:-60.11, Z:-7.45 [[ 9.83722353e-01 1.79116285e-01 1.44113851e-02 3.70971640e+02] [-1.79098194e-01 9.83827907e-01 -2.54680489e-03 -6.01142658e+01] [-1.46344971e-02 -7.57041477e-05 9.99892907e-01 -7.45227619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters 0.022759802361603968 Centerline is valid? [True, True] Translation: X:371.00, Y:-60.12, Z:-7.45 [[ 9.84343649e-01 1.75730850e-01 1.36473445e-02 3.70998782e+02] [-1.75714314e-01 9.84438250e-01 -2.41081434e-03 -6.01242172e+01] [-1.38586224e-02 -2.49639873e-05 9.99903964e-01 -7.45446337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.734012739 meters 0.022753877028763476 Centerline is valid? [True, True] Translation: X:371.03, Y:-60.13, Z:-7.45 [[ 9.84653124e-01 1.74027401e-01 1.31411104e-02 3.71026853e+02] [-1.74011925e-01 9.84740810e-01 -2.32083340e-03 -6.01319940e+01] [-1.33444763e-02 -1.49406513e-06 9.99910959e-01 -7.45456244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters 0.022817508097870323 Centerline is valid? [True, True] Translation: X:371.05, Y:-60.14, Z:-7.46 [[ 9.84878677e-01 1.72770460e-01 1.28203286e-02 3.71054155e+02] [-1.72755632e-01 9.84962115e-01 -2.26349308e-03 -6.01400279e+01] [-1.30186027e-02 1.44820925e-05 9.99915254e-01 -7.45664861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.794012739 meters 0.023405761629186124 Centerline is valid? [True, True] Translation: X:371.08, Y:-60.15, Z:-7.46 [[ 9.85386408e-01 1.69934567e-01 1.16563544e-02 3.71081835e+02] [-1.69922117e-01 9.85455347e-01 -2.05753064e-03 -6.01511976e+01] [-1.18364623e-02 4.67903042e-05 9.99929946e-01 -7.45847952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters 0.023951300044580792 Centerline is valid? [True, True] Translation: X:371.11, Y:-60.16, Z:-7.46 [[ 9.85646241e-01 1.68448261e-01 1.12548417e-02 3.71109779e+02] [-1.68436559e-01 9.85710495e-01 -1.98650695e-03 -6.01595317e+01] [-1.14286392e-02 6.22663080e-05 9.99934689e-01 -7.45964656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.854012739 meters 0.024302444518911434 Centerline is valid? [True, True] Translation: X:371.14, Y:-60.17, Z:-7.46 [[ 9.85915341e-01 1.66770197e-01 1.25952764e-02 3.71138631e+02] [-1.66755412e-01 9.85995788e-01 -2.22246822e-03 -6.01698957e+01] [-1.27895310e-02 9.08350041e-05 9.99918206e-01 -7.45646668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters 0.02422495563856783 Centerline is valid? [True, True] Translation: X:371.17, Y:-60.18, Z:-7.45 [[ 9.86002903e-01 1.66090986e-01 1.45622936e-02 3.71167963e+02] [-1.66071156e-01 9.86110425e-01 -2.56900922e-03 -6.01780904e+01] [-1.47867188e-02 1.14673610e-04 9.99890664e-01 -7.45276760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.914012739 meters 0.024123631480598387 Centerline is valid? [True, True] Translation: X:371.20, Y:-60.19, Z:-7.45 [[ 9.86016015e-01 1.65877220e-01 1.60364125e-02 3.71197862e+02] [-1.65853144e-01 9.86146404e-01 -2.82906613e-03 -6.01855357e+01] [-1.62835281e-02 1.29815078e-04 9.99867406e-01 -7.45063973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters 0.024161554660511248 Centerline is valid? [True, True] Translation: X:371.23, Y:-60.20, Z:-7.45 [[ 9.86080652e-01 1.65513265e-01 1.58211107e-02 3.71229046e+02] [-1.65489796e-01 9.86207555e-01 -2.79037769e-03 -6.01961076e+01] [-1.60647434e-02 1.33305075e-04 9.99870945e-01 -7.45226072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.974012739 meters 0.02460470581909768 Centerline is valid? [True, True] Translation: X:371.26, Y:-60.20, Z:-7.45 [[ 9.86162976e-01 1.65106148e-01 1.49179121e-02 3.71260025e+02] [-1.65085200e-01 9.86275794e-01 -2.63340671e-03 -6.02049976e+01] [-1.51479673e-02 1.34241691e-04 9.99885254e-01 -7.45471141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters 0.025242226604448473 Centerline is valid? [True, True] Translation: X:371.29, Y:-60.21, Z:-7.46 [[ 9.86187373e-01 1.64992118e-01 1.45624930e-02 3.71289862e+02] [-1.64972107e-01 9.86294876e-01 -2.57311918e-03 -6.02147551e+01] [-1.47874566e-02 1.35172479e-04 9.99890650e-01 -7.45691097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.034012739 meters 0.025120555416164096 Centerline is valid? [True, True] Translation: X:371.32, Y:-60.23, Z:-7.45 [[ 9.86215805e-01 1.64693665e-01 1.59494073e-02 3.71321008e+02] [-1.64669577e-01 9.86344753e-01 -2.82096545e-03 -6.02266004e+01] [-1.61962094e-02 1.55698553e-04 9.99868821e-01 -7.45328450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters 0.02520301756150423 Centerline is valid? [True, True] Translation: X:371.35, Y:-60.24, Z:-7.45 [[ 9.86153525e-01 1.65064887e-01 1.59627037e-02 3.71352362e+02] [-1.65040766e-01 9.86282698e-01 -2.82587060e-03 -6.02351099e+01] [-1.62101905e-02 1.52245400e-04 9.99868595e-01 -7.45428496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.094012739 meters 0.0245759152983695 Centerline is valid? [True, True] Translation: X:371.38, Y:-60.24, Z:-7.46 [[ 9.85992092e-01 1.66140456e-01 1.47289706e-02 3.71384700e+02] [-1.66120007e-01 9.86102091e-01 -2.60966725e-03 -6.02432257e+01] [-1.49578400e-02 1.26334580e-04 9.99888117e-01 -7.45686826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters 0.023967870853207746 Centerline is valid? [True, True] Translation: X:371.42, Y:-60.25, Z:-7.46 [[ 9.85772438e-01 1.67438287e-01 1.47349900e-02 3.71416770e+02] [-1.67417923e-01 9.85882553e-01 -2.61363946e-03 -6.02482259e+01] [-1.49645929e-02 1.09552316e-04 9.99888018e-01 -7.45661383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.154012739 meters 0.023532046459199367 Centerline is valid? [True, True] Translation: X:371.45, Y:-60.25, Z:-7.46 [[ 9.85500947e-01 1.68977021e-01 1.53182514e-02 3.71447626e+02] [-1.68955156e-01 9.85619986e-01 -2.71982246e-03 -6.02531396e+01] [-1.55575623e-02 9.22900443e-05 9.99878970e-01 -7.45700945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters 0.0225617015293426 Centerline is valid? [True, True] Translation: X:371.48, Y:-60.26, Z:-7.46 [[ 9.84963098e-01 1.72135254e-01 1.47359904e-02 3.71478000e+02] [-1.72115334e-01 9.85073323e-01 -2.61906771e-03 -6.02569437e+01] [-1.49668649e-02 4.33951384e-05 9.99887989e-01 -7.45953218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.214012739 meters 0.02227955651716758 Centerline is valid? [True, True] Translation: X:371.51, Y:-60.26, Z:-7.46 [[ 9.84897951e-01 1.72576441e-01 1.39067617e-02 3.71509694e+02] [-1.72558742e-01 9.84996127e-01 -2.47178501e-03 -6.02627507e+01] [-1.41246783e-02 3.47226854e-05 9.99900241e-01 -7.45994475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters 0.022455453816463238 Centerline is valid? [True, True] Translation: X:371.54, Y:-60.27, Z:-7.46 [[ 9.84907131e-01 1.72603293e-01 1.28858779e-02 3.71541142e+02] [-1.72588075e-01 9.84991422e-01 -2.29222571e-03 -6.02696828e+01] [-1.30881249e-02 3.36805774e-05 9.99914346e-01 -7.46202916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.274012739 meters 0.022654209568521575 Centerline is valid? [True, True] Translation: X:371.57, Y:-60.28, Z:-7.46 [[ 9.84926753e-01 1.72514129e-01 1.25764300e-02 3.71571652e+02] [-1.72499598e-01 9.85007043e-01 -2.23933072e-03 -6.02767964e+01] [-1.27741883e-02 3.61476042e-05 9.99918406e-01 -7.46403660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters 0.022650038041183894 Centerline is valid? [True, True] Translation: X:371.60, Y:-60.28, Z:-7.46 [[ 9.84847218e-01 1.72964499e-01 1.26189738e-02 3.71602979e+02] [-1.72949883e-01 9.84928059e-01 -2.24881824e-03 -6.02825804e+01] [-1.28177470e-02 3.22923582e-05 9.99917849e-01 -7.46315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.334012739 meters 0.02224031899474435 Centerline is valid? [True, True] Translation: X:371.63, Y:-60.29, Z:-7.46 [[ 9.84580020e-01 1.74480813e-01 1.25948149e-02 3.71633934e+02] [-1.74466335e-01 9.84660574e-01 -2.24772614e-03 -6.02860731e+01] [-1.27938027e-02 1.56950530e-05 9.99918156e-01 -7.46273298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters 0.022291487252016937 Centerline is valid? [True, True] Translation: X:371.66, Y:-60.29, Z:-7.46 [[ 9.84400537e-01 1.75529162e-01 1.20456078e-02 3.71664292e+02] [-1.75515993e-01 9.84474232e-01 -2.15008400e-03 -6.02893004e+01] [-1.22359929e-02 2.34703719e-06 9.99925137e-01 -7.46499323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.394012739 meters 0.022200073488077846 Centerline is valid? [True, True] Translation: X:371.69, Y:-60.29, Z:-7.46 [[ 9.84272421e-01 1.76234688e-01 1.22121085e-02 3.71694533e+02] [-1.76221204e-01 9.84348178e-01 -2.18005043e-03 -6.02927647e+01] [-1.24051673e-02 -6.26894480e-06 9.99923053e-01 -7.46494318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters 0.022144116954968065 Centerline is valid? [True, True] Translation: X:371.72, Y:-60.30, Z:-7.46 [[ 9.84119055e-01 1.77013355e-01 1.32649220e-02 3.71724998e+02] [-1.76997516e-01 9.84208449e-01 -2.36799394e-03 -6.02969889e+01] [-1.34746149e-02 -1.74702860e-05 9.99909213e-01 -7.46371338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.454012739 meters 0.02175910860485276 Centerline is valid? [True, True] Translation: X:371.75, Y:-60.30, Z:-7.46 [[ 9.83953735e-01 1.77777346e-01 1.51743809e-02 3.71754511e+02] [-1.77756714e-01 9.84070736e-01 -2.70855490e-03 -6.03025698e+01] [-1.54141839e-02 -3.22553824e-05 9.99881194e-01 -7.45971887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters 0.021793212399600137 Centerline is valid? [True, True] Translation: X:371.79, Y:-60.31, Z:-7.46 [[ 9.83863061e-01 1.78258669e-01 1.54053083e-02 3.71785293e+02] [-1.78237445e-01 9.83983661e-01 -2.75095760e-03 -6.03086440e+01] [-1.56489537e-02 -3.92372172e-05 9.99877547e-01 -7.45999459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.514012739 meters 0.02180014402845357 Centerline is valid? [True, True] Translation: X:371.82, Y:-60.32, Z:-7.46 [[ 9.83942744e-01 1.77832321e-01 1.52427492e-02 3.71815645e+02] [-1.77811491e-01 9.84060803e-01 -2.72195927e-03 -6.03164672e+01] [-1.54838443e-02 -3.20838743e-05 9.99880118e-01 -7.46237944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters 0.021766342593682295 Centerline is valid? [True, True] Translation: X:371.85, Y:-60.32, Z:-7.46 [[ 9.84097304e-01 1.77018402e-01 1.47303105e-02 3.71847019e+02] [-1.76998844e-01 9.84207542e-01 -2.63138826e-03 -6.03242958e+01] [-1.49634868e-02 -1.77058419e-05 9.99888041e-01 -7.46442687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.574012739 meters 0.0218003063571452 Centerline is valid? [True, True] Translation: X:371.88, Y:-60.33, Z:-7.47 [[ 9.84233014e-01 1.76330962e-01 1.38839907e-02 3.71877195e+02] [-1.76313487e-01 9.84330936e-01 -2.48241534e-03 -6.03323905e+01] [-1.41041682e-02 -4.65967609e-06 9.99900531e-01 -7.46661840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters 0.022003079580642352 Centerline is valid? [True, True] Translation: X:371.91, Y:-60.35, Z:-7.47 [[ 9.84634296e-01 1.74056975e-01 1.41234671e-02 3.71908195e+02] [-1.74038629e-01 9.84735583e-01 -2.52725235e-03 -6.03463681e+01] [-1.43477665e-02 3.03904780e-05 9.99897065e-01 -7.46654766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.634012739 meters 0.022135750825009032 Centerline is valid? [True, True] Translation: X:371.94, Y:-60.35, Z:-7.47 [[ 9.84728221e-01 1.73535272e-01 1.39942759e-02 3.71939354e+02] [-1.73517164e-01 9.84827654e-01 -2.50720546e-03 -6.03547368e+01] [-1.42170384e-02 4.06689161e-05 9.99898932e-01 -7.46664008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters 0.022052853100184604 Centerline is valid? [True, True] Translation: X:371.97, Y:-60.36, Z:-7.47 [[ 9.84676094e-01 1.73760693e-01 1.48395254e-02 3.71970022e+02] [-1.73740332e-01 9.84787906e-01 -2.66025777e-03 -6.03626343e+01] [-1.50760334e-02 4.12681477e-05 9.99886349e-01 -7.46533050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.694012739 meters 0.021699261415284037 Centerline is valid? [True, True] Translation: X:372.00, Y:-60.37, Z:-7.46 [[ 9.84502729e-01 1.74644144e-01 1.59311044e-02 3.72002137e+02] [-1.74620736e-01 9.84631617e-01 -2.85946606e-03 -6.03688133e+01] [-1.61856581e-02 3.32509626e-05 9.99869003e-01 -7.46360031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters 0.021251476350852384 Centerline is valid? [True, True] Translation: X:372.03, Y:-60.37, Z:-7.46 [[ 9.84102139e-01 1.76621212e-01 1.86528349e-02 3.72033987e+02] [-1.76589455e-01 9.84278897e-01 -3.34912846e-03 -6.03739232e+01] [-1.89511189e-02 1.99051603e-06 9.99820411e-01 -7.45864606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.754012739 meters 0.021289370711166447 Centerline is valid? [True, True] Translation: X:372.07, Y:-60.38, Z:-7.46 [[ 9.83903803e-01 1.77713311e-01 1.87425873e-02 3.72066711e+02] [-1.77681389e-01 9.84082303e-01 -3.36829527e-03 -6.03786287e+01] [-1.90428394e-02 -1.61304167e-05 9.99818669e-01 -7.45956717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters 0.02153340785835008 Centerline is valid? [True, True] Translation: X:372.10, Y:-60.38, Z:-7.46 [[ 9.83705521e-01 1.78954237e-01 1.72866708e-02 3.72099656e+02] [-1.78927221e-01 9.83857398e-01 -3.10960237e-03 -6.03835538e+01] [-1.75640955e-02 -3.41229519e-05 9.99845739e-01 -7.46344922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.814012739 meters 0.021972693460059856 Centerline is valid? [True, True] Translation: X:372.13, Y:-60.39, Z:-7.47 [[ 9.83510240e-01 1.80189870e-01 1.54667196e-02 3.72129887e+02] [-1.80168353e-01 9.83631846e-01 -2.78499201e-03 -6.03882281e+01] [-1.57153853e-02 -4.75452350e-05 9.99876505e-01 -7.46781917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters 0.022353882391062837 Centerline is valid? [True, True] Translation: X:372.16, Y:-60.39, Z:-7.47 [[ 9.83352800e-01 1.81148745e-01 1.42268193e-02 3.72160881e+02] [-1.81130619e-01 9.83455708e-01 -2.56322856e-03 -6.03931935e+01] [-1.44557723e-02 -5.63545997e-05 9.99895508e-01 -7.47035462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.874012739 meters 0.022277572955868245 Centerline is valid? [True, True] Translation: X:372.19, Y:-60.40, Z:-7.47 [[ 9.83376757e-01 1.80985602e-01 1.46412202e-02 3.72191867e+02] [-1.80966341e-01 9.83485744e-01 -2.64086296e-03 -6.03982442e+01] [-1.48773895e-02 -5.26048072e-05 9.99889324e-01 -7.47018307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters 0.021931725280185495 Centerline is valid? [True, True] Translation: X:372.22, Y:-60.40, Z:-7.47 [[ 9.83514874e-01 1.80186455e-01 1.52096817e-02 3.72221961e+02] [-1.80165568e-01 9.83632472e-01 -2.74382073e-03 -6.04029327e+01] [-1.54551361e-02 -4.16724343e-05 9.99880561e-01 -7.46982652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.934012739 meters 0.021886116382606312 Centerline is valid? [True, True] Translation: X:372.25, Y:-60.41, Z:-7.47 [[ 9.83678518e-01 1.79290965e-01 1.52092889e-02 3.72252712e+02] [-1.79269970e-01 9.83796091e-01 -2.74387079e-03 -6.04107265e+01] [-1.54547902e-02 -2.74820170e-05 9.99880567e-01 -7.47066371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters 0.021900450149370358 Centerline is valid? [True, True] Translation: X:372.28, Y:-60.42, Z:-7.47 [[ 9.83842842e-01 1.78423789e-01 1.47720951e-02 3.72284783e+02] [-1.78403893e-01 9.83953734e-01 -2.66446466e-03 -6.04199265e+01] [-1.50104620e-02 -1.39847959e-05 9.99887337e-01 -7.47162735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.994012739 meters 0.021791522442748602 Centerline is valid? [True, True] Translation: X:372.32, Y:-60.43, Z:-7.47 [[ 9.84173797e-01 1.76493275e-01 1.58764144e-02 3.72316833e+02] [-1.76469990e-01 9.84301846e-01 -2.86690637e-03 -6.04304631e+01] [-1.61331737e-02 1.98234342e-05 9.99869852e-01 -7.47015550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters 0.021682328705406703 Centerline is valid? [True, True] Translation: X:372.35, Y:-60.44, Z:-7.47 [[ 9.84204017e-01 1.76256875e-01 1.66122368e-02 3.72349700e+02] [-1.76231293e-01 9.84344205e-01 -3.00303248e-03 -6.04362718e+01] [-1.68814642e-02 2.80006545e-05 9.99857498e-01 -7.46873697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05401273900003 meters 0.02169426070531621 Centerline is valid? [True, True] Translation: X:372.38, Y:-60.44, Z:-7.47 [[ 9.84135994e-01 1.76621308e-01 1.67707652e-02 3.72380847e+02] [-1.76595230e-01 9.84278880e-01 -3.03506792e-03 -6.04417238e+01] [-1.70431677e-02 2.52824369e-05 9.99854754e-01 -7.47003202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters 0.021680915651486155 Centerline is valid? [True, True] Translation: X:372.41, Y:-60.45, Z:-7.47 [[ 9.83920870e-01 1.77961328e-01 1.51488286e-02 3.72412787e+02] [-1.77940172e-01 9.84037482e-01 -2.74402651e-03 -6.04456610e+01] [-1.53953457e-02 4.31980001e-06 9.99881485e-01 -7.47305096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11401273900003 meters 0.02192856205051643 Centerline is valid? [True, True] Translation: X:372.44, Y:-60.45, Z:-7.48 [[ 9.83663761e-01 1.79444214e-01 1.43310581e-02 3.72443368e+02] [-1.79425401e-01 9.83768151e-01 -2.59834502e-03 -6.04488336e+01] [-1.45646965e-02 -1.54580154e-05 9.99893929e-01 -7.47573126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters 0.022340883016741468 Centerline is valid? [True, True] Translation: X:372.47, Y:-60.45, Z:-7.47 [[ 9.83037086e-01 1.82795839e-01 1.49589241e-02 3.72474224e+02] [-1.82775682e-01 9.83150892e-01 -2.71529039e-03 -6.04484724e+01] [-1.52032234e-02 -6.48964092e-05 9.99884422e-01 -7.47407085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.174012739 meters 0.022235262293056435 Centerline is valid? [True, True] Translation: X:372.51, Y:-60.45, Z:-7.47 [[ 9.82815443e-01 1.83856600e-01 1.64485617e-02 3.72505289e+02] [-1.83832379e-01 9.82953072e-01 -2.98560042e-03 -6.04531810e+01] [-1.67170866e-02 -8.94840347e-05 9.99860256e-01 -7.47138968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters 0.022321784607951662 Centerline is valid? [True, True] Translation: X:372.54, Y:-60.46, Z:-7.47 [[ 9.82603361e-01 1.84885408e-01 1.75505192e-02 3.72536790e+02] [-1.84857995e-01 9.82760079e-01 -3.18571024e-03 -6.04583907e+01] [-1.78369409e-02 -1.14064186e-04 9.99840903e-01 -7.47011536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.234012739 meters 0.022911815063390135 Centerline is valid? [True, True] Translation: X:372.57, Y:-60.46, Z:-7.47 [[ 9.82243950e-01 1.86736700e-01 1.80617457e-02 3.72568639e+02] [-1.86707921e-01 9.82409987e-01 -3.28167663e-03 -6.04611213e+01] [-1.83568488e-02 -1.48863972e-04 9.99831488e-01 -7.46968936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters 0.02316592476657141 Centerline is valid? [True, True] Translation: X:372.60, Y:-60.46, Z:-7.47 [[ 9.82052677e-01 1.87743809e-01 1.80222894e-02 3.72601001e+02] [-1.87715269e-01 9.82218018e-01 -3.27755368e-03 -6.04645966e+01] [-1.83171578e-02 -1.64328534e-04 9.99832213e-01 -7.47043657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.294012739 meters 0.02386127308537566 Centerline is valid? [True, True] Translation: X:372.63, Y:-60.47, Z:-7.47 [[ 9.81885340e-01 1.88648884e-01 1.76855376e-02 3.72632362e+02] [-1.88621489e-01 9.82044586e-01 -3.21959319e-03 -6.04672024e+01] [-1.79753591e-02 -1.74601074e-04 9.99838415e-01 -7.47156516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters 0.025027686601357083 Centerline is valid? [True, True] Translation: X:372.66, Y:-60.47, Z:-7.47 [[ 9.81673209e-01 1.89795118e-01 1.71908223e-02 3.72661955e+02] [-1.89769402e-01 9.81823700e-01 -3.13003581e-03 -6.04673247e+01] [-1.74724222e-02 -1.89619755e-04 9.99847328e-01 -7.47409943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.354012739 meters 0.02531032383448069 Centerline is valid? [True, True] Translation: X:372.69, Y:-60.47, Z:-7.47 [[ 9.81606997e-01 1.90164347e-01 1.68885894e-02 3.72691109e+02] [-1.90139584e-01 9.81752252e-01 -3.07484231e-03 -6.04721147e+01] [-1.71651361e-02 -1.92902630e-04 9.99852650e-01 -7.47496953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters 0.026109923233710964 Centerline is valid? [True, True] Translation: X:372.72, Y:-60.48, Z:-7.48 [[ 9.81402289e-01 1.91275562e-01 1.62236306e-02 3.72720164e+02] [-1.91252868e-01 9.81536356e-01 -2.95341732e-03 -6.04758792e+01] [-1.64889999e-02 -2.04325371e-04 9.99864026e-01 -7.47643348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.414012739 meters 0.02593755363090514 Centerline is valid? [True, True] Translation: X:372.75, Y:-60.48, Z:-7.48 [[ 9.81395567e-01 1.91362673e-01 1.55906342e-02 3.72749744e+02] [-1.91341732e-01 9.81519377e-01 -2.83784413e-03 -6.04804742e+01] [-1.58455670e-02 -1.98091301e-04 9.99874431e-01 -7.47768570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters 0.02604266498833318 Centerline is valid? [True, True] Translation: X:372.78, Y:-60.48, Z:-7.48 [[ 9.81391908e-01 1.91425986e-01 1.50337980e-02 3.72779196e+02] [-1.91406527e-01 9.81507032e-01 -2.73614934e-03 -6.04838758e+01] [-1.52795486e-02 -1.92332255e-04 9.99883242e-01 -7.47998417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.474012739 meters 0.025998428815188795 Centerline is valid? [True, True] Translation: X:372.81, Y:-60.49, Z:-7.48 [[ 9.81412902e-01 1.91232084e-01 1.60936618e-02 3.72807995e+02] [-1.91209765e-01 9.81544828e-01 -2.92864196e-03 -6.04859031e+01] [-1.63567008e-02 -2.03058271e-04 9.99866200e-01 -7.47860211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters 0.02581880220906938 Centerline is valid? [True, True] Translation: X:372.84, Y:-60.49, Z:-7.48 [[ 9.81414355e-01 1.91124702e-01 1.72398628e-02 3.72837113e+02] [-1.91099080e-01 9.81565740e-01 -3.13685746e-03 -6.04900114e+01] [-1.75215896e-02 -2.15964985e-04 9.99846462e-01 -7.47599440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.534012739 meters 0.02581880220906938 Centerline is valid? [True, True] Translation: X:372.87, Y:-60.50, Z:-7.48 [[ 9.81418655e-01 1.91102597e-01 1.72401234e-02 3.72865812e+02] [-1.91076997e-01 9.81570044e-01 -3.13542419e-03 -6.04951854e+01] [-1.75215764e-02 -2.17027218e-04 9.99846462e-01 -7.47658663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters 0.026148316769498484 Centerline is valid? [True, True] Translation: X:372.89, Y:-60.50, Z:-7.48 [[ 9.81412390e-01 1.91141262e-01 1.71679486e-02 3.72894074e+02] [-1.91115888e-01 9.81562515e-01 -3.12193303e-03 -6.04975688e+01] [-1.74481451e-02 -2.17164000e-04 9.99847746e-01 -7.47738198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.594012739 meters 0.02726729509609061 Centerline is valid? [True, True] Translation: X:372.92, Y:-60.50, Z:-7.48 [[ 9.81182462e-01 1.92456330e-01 1.55414608e-02 3.72923982e+02] [-1.92435708e-01 9.81305515e-01 -2.82573852e-03 -6.04957085e+01] [-1.57947524e-02 -2.18166934e-04 9.99875231e-01 -7.48188885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters 0.02774994826655739 Centerline is valid? [True, True] Translation: X:372.95, Y:-60.50, Z:-7.48 [[ 9.81091143e-01 1.92939886e-01 1.53091269e-02 3.72952912e+02] [-1.92919946e-01 9.81210554e-01 -2.78280479e-03 -6.04969550e+01] [-1.55583909e-02 -2.23250806e-04 9.99878936e-01 -7.48341214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.654012739 meters 0.027998847641746528 Centerline is valid? [True, True] Translation: X:372.98, Y:-60.50, Z:-7.48 [[ 9.81091656e-01 1.92945135e-01 1.52098062e-02 3.72980723e+02] [-1.92925463e-01 9.81209522e-01 -2.76410993e-03 -6.04989142e+01] [-1.54573283e-02 -2.22513726e-04 9.99880504e-01 -7.48413716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters 0.025735972724393083 Centerline is valid? [True, True] Translation: X:373.01, Y:-60.50, Z:-7.48 [[ 9.81591316e-01 1.90316838e-01 1.60620758e-02 3.73009017e+02] [-1.90294565e-01 9.81722702e-01 -2.91796682e-03 -6.05036995e+01] [-1.63238427e-02 -1.92274831e-04 9.99866739e-01 -7.48309417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.714012739 meters 0.023773523942773916 Centerline is valid? [True, True] Translation: X:373.04, Y:-60.51, Z:-7.48 [[ 9.81956974e-01 1.88363751e-01 1.67211755e-02 3.73037520e+02] [-1.88339343e-01 9.82099318e-01 -3.03681992e-03 -6.05116468e+01] [-1.69938818e-02 -1.67228703e-04 9.99855580e-01 -7.48169169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters 0.02202467493621232 Centerline is valid? [True, True] Translation: X:373.07, Y:-60.52, Z:-7.48 [[ 9.82577160e-01 1.85022280e-01 1.75750089e-02 3.73067112e+02] [-1.84994791e-01 9.82734319e-01 -3.19137650e-03 -6.05177903e+01] [-1.78620402e-02 -1.15511439e-04 9.99840454e-01 -7.47993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.774012739 meters 0.022001578391132027 Centerline is valid? [True, True] Translation: X:373.10, Y:-60.52, Z:-7.48 [[ 9.82785365e-01 1.83924278e-01 1.74581226e-02 3.73095205e+02] [-1.83896978e-01 9.82940411e-01 -3.17024406e-03 -6.05216902e+01] [-1.77433790e-02 -9.48265226e-05 9.99842569e-01 -7.48076903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters 0.02157275205954514 Centerline is valid? [True, True] Translation: X:373.12, Y:-60.53, Z:-7.48 [[ 9.82944059e-01 1.83077960e-01 1.74194370e-02 3.73124726e+02] [-1.83050660e-01 9.83098395e-01 -3.16254837e-03 -6.05270190e+01] [-1.77040134e-02 -8.00313051e-05 9.99843268e-01 -7.48162474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.834012739 meters 0.021468406354034315 Centerline is valid? [True, True] Translation: X:373.15, Y:-60.53, Z:-7.48 [[ 9.83093275e-01 1.82307696e-01 1.70738578e-02 3.73153137e+02] [-1.82281359e-01 9.83241527e-01 -3.09944712e-03 -6.05318748e+01] [-1.73527790e-02 -6.52003715e-05 9.99849427e-01 -7.48294054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters 0.020975249146603446 Centerline is valid? [True, True] Translation: X:373.18, Y:-60.54, Z:-7.48 [[ 9.83592422e-01 1.79524350e-01 1.78032182e-02 3.73182754e+02] [-1.79495271e-01 9.83753530e-01 -3.23111367e-03 -6.05410641e+01] [-1.80940423e-02 -1.74945632e-05 9.99836289e-01 -7.48213143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.894012739 meters 0.02079938064024104 Centerline is valid? [True, True] Translation: X:373.21, Y:-60.55, Z:-7.48 [[ 9.83942962e-01 1.77592092e-01 1.78128309e-02 3.73211622e+02] [-1.77562665e-01 9.84104186e-01 -3.23288458e-03 -6.05493340e+01] [-1.81038162e-02 1.80803034e-05 9.99836112e-01 -7.48271372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters 0.02145467844961502 Centerline is valid? [True, True] Translation: X:373.24, Y:-60.56, Z:-7.48 [[ 9.84546096e-01 1.74184304e-01 1.81331894e-02 3.73241515e+02] [-1.74153236e-01 9.84713066e-01 -3.29073606e-03 -6.05602741e+01] [-1.84291831e-02 8.19277155e-05 9.99830165e-01 -7.48138388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.954012739 meters 0.021609809632050968 Centerline is valid? [True, True] Translation: X:373.27, Y:-60.57, Z:-7.48 [[ 9.84737594e-01 1.73047987e-01 1.86082260e-02 3.73272899e+02] [-1.73015061e-01 9.84913389e-01 -3.37719495e-03 -6.05688575e+01] [-1.89119078e-02 1.06147458e-04 9.99821148e-01 -7.48160701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters 0.02235471722178654 Centerline is valid? [True, True] Translation: X:373.30, Y:-60.58, Z:-7.48 [[ 9.84932767e-01 1.71951666e-01 1.84409491e-02 3.73303078e+02] [-1.71919078e-01 9.85105379e-01 -3.35003169e-03 -6.05785847e+01] [-1.87423217e-02 1.29205018e-04 9.99824339e-01 -7.48294472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.014012739 meters 0.02289587191343888 Centerline is valid? [True, True] Translation: X:373.33, Y:-60.59, Z:-7.49 [[ 9.85157160e-01 1.70811203e-01 1.69971672e-02 3.73333711e+02] [-1.70783307e-01 9.85303767e-01 -3.09019483e-03 -6.05885852e+01] [-1.72752127e-02 1.41495146e-04 9.99850762e-01 -7.48645238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters 0.02318159557285052 Centerline is valid? [True, True] Translation: X:373.36, Y:-60.60, Z:-7.49 [[ 9.85179077e-01 1.70782932e-01 1.59805260e-02 3.73364509e+02] [-1.70758225e-01 9.85308668e-01 -2.90809210e-03 -6.05956100e+01] [-1.62424033e-02 1.36185231e-04 9.99868074e-01 -7.48815335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.074012739 meters 0.023409531483915714 Centerline is valid? [True, True] Translation: X:373.40, Y:-60.60, Z:-7.49 [[ 9.85142204e-01 1.70984041e-01 1.61026372e-02 3.73395649e+02] [-1.70958953e-01 9.85273789e-01 -2.93205996e-03 -6.06034855e+01] [-1.63668418e-02 1.35606030e-04 9.99866045e-01 -7.48865401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters 0.022654290509263642 Centerline is valid? [True, True] Translation: X:373.43, Y:-60.61, Z:-7.49 [[ 9.85057938e-01 1.71323047e-01 1.75861247e-02 3.73427208e+02] [-1.71293114e-01 9.85214897e-01 -3.20573730e-03 -6.06121178e+01] [-1.78753287e-02 1.45454916e-04 9.99840213e-01 -7.48585398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.134012739 meters 0.023161617837093855 Centerline is valid? [True, True] Translation: X:373.46, Y:-60.62, Z:-7.49 [[ 9.85070111e-01 1.71270297e-01 1.74172647e-02 3.73458497e+02] [-1.71240875e-01 9.85224068e-01 -3.17790972e-03 -6.06211637e+01] [-1.77041899e-02 1.47916228e-04 9.99843258e-01 -7.48715479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters 0.023567916822742202 Centerline is valid? [True, True] Translation: X:373.49, Y:-60.63, Z:-7.49 [[ 9.85083440e-01 1.71265849e-01 1.66920494e-02 3.73488994e+02] [-1.71238775e-01 9.85224841e-01 -3.04854612e-03 -6.06331137e+01] [-1.69675336e-02 1.44746190e-04 9.99856031e-01 -7.49084522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.194012739 meters 0.02339323296752852 Centerline is valid? [True, True] Translation: X:373.52, Y:-60.64, Z:-7.49 [[ 9.85078308e-01 1.71233204e-01 1.73180946e-02 3.73520529e+02] [-1.71204000e-01 9.85230514e-01 -3.16610357e-03 -6.06419163e+01] [-1.76044573e-02 1.53932875e-04 9.99845018e-01 -7.48984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters 0.023415236226730994 Centerline is valid? [True, True] Translation: X:373.55, Y:-60.65, Z:-7.49 [[ 9.85056159e-01 1.71257286e-01 1.83113410e-02 3.73552743e+02] [-1.71224571e-01 9.85226327e-01 -3.35140685e-03 -6.06505084e+01] [-1.86147681e-02 1.65972456e-04 9.99826716e-01 -7.48845377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.254012739 meters 0.023243539933472716 Centerline is valid? [True, True] Translation: X:373.59, Y:-60.66, Z:-7.49 [[ 9.85047823e-01 1.71212567e-01 1.91583718e-02 3.73585327e+02] [-1.71176671e-01 9.85234097e-01 -3.51025902e-03 -6.06577257e+01] [-1.94764816e-02 1.78306689e-04 9.99810299e-01 -7.48729769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters 0.02327093817874734 Centerline is valid? [True, True] Translation: X:373.62, Y:-60.67, Z:-7.49 [[ 9.85006832e-01 1.71645086e-01 1.73062351e-02 3.73616844e+02] [-1.71615810e-01 9.85158840e-01 -3.17389978e-03 -6.06679002e+01] [-1.75941748e-02 1.56289401e-04 9.99845198e-01 -7.49149728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.314012739 meters 0.023800689085878107 Centerline is valid? [True, True] Translation: X:373.65, Y:-60.68, Z:-7.50 [[ 9.84919931e-01 1.72345242e-01 1.51607416e-02 3.73647792e+02] [-1.72322819e-01 9.85036599e-01 -2.78298354e-03 -6.06784839e+01] [-1.54135193e-02 1.28474230e-04 9.99881196e-01 -7.49753614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters 0.022630299722132215 Centerline is valid? [True, True] Translation: X:373.68, Y:-60.69, Z:-7.50 [[ 9.84697889e-01 1.73755439e-01 1.33833941e-02 3.73679593e+02] [-1.73738070e-01 9.84788829e-01 -2.45861024e-03 -6.06857904e+01] [-1.36070139e-02 9.57832490e-05 9.99907416e-01 -7.49902142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.374012739 meters 0.022053527883626214 Centerline is valid? [True, True] Translation: X:373.71, Y:-60.69, Z:-7.50 [[ 9.84294149e-01 1.75973557e-01 1.40831397e-02 3.73710665e+02] [-1.75954504e-01 9.84394891e-01 -2.59048861e-03 -6.06905536e+01] [-1.43192283e-02 7.18109265e-05 9.99897472e-01 -7.49841652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters 0.020887814352648915 Centerline is valid? [True, True] Translation: X:373.74, Y:-60.69, Z:-7.49 [[ 9.83045362e-01 1.82648405e-01 1.61671510e-02 3.73742860e+02] [-1.82624144e-01 9.83178295e-01 -2.97701754e-03 -6.06870072e+01] [-1.64389394e-02 -2.59688151e-05 9.99864871e-01 -7.49422026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.434012739 meters 0.021451667466296655 Centerline is valid? [True, True] Translation: X:373.78, Y:-60.69, Z:-7.49 [[ 9.82292220e-01 1.86622442e-01 1.65547509e-02 3.73775428e+02] [-1.86597523e-01 9.82431705e-01 -3.05100803e-03 -6.06882911e+01] [-1.68332987e-02 -9.20940563e-05 9.99858306e-01 -7.49361068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters 0.022866677745619488 Centerline is valid? [True, True] Translation: X:373.81, Y:-60.69, Z:-7.49 [[ 9.81672731e-01 1.89844890e-01 1.66603338e-02 3.73806636e+02] [-1.89820059e-01 9.81814085e-01 -3.07384057e-03 -6.06884148e+01] [-1.69409033e-02 -1.44960082e-04 9.99856482e-01 -7.49408825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.494012739 meters 0.025875675108819475 Centerline is valid? [True, True] Translation: X:373.84, Y:-60.68, Z:-7.50 [[ 9.80729309e-01 1.94759988e-01 1.54456854e-02 3.73838086e+02] [-1.94739251e-01 9.80850907e-01 -2.84995982e-03 -6.06845691e+01] [-1.57049727e-02 -2.12842086e-04 9.99876647e-01 -7.49770338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters 0.026909863753473474 Centerline is valid? [True, True] Translation: X:373.87, Y:-60.69, Z:-7.50 [[ 9.80556182e-01 1.95632973e-01 1.54050165e-02 3.73866366e+02] [-1.95612454e-01 9.80677158e-01 -2.84242185e-03 -6.06866235e+01] [-1.56634193e-02 -2.26258767e-04 9.99877296e-01 -7.49902821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55401273900003 meters 0.026529906497776267 Centerline is valid? [True, True] Translation: X:373.89, Y:-60.69, Z:-7.50 [[ 9.80719957e-01 1.94646376e-01 1.73537924e-02 3.73894941e+02] [-1.94620178e-01 9.80873454e-01 -3.20222483e-03 -6.06909718e+01] [-1.76451758e-02 -2.36912373e-04 9.99844284e-01 -7.49521151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters 0.024658731420250136 Centerline is valid? [True, True] Translation: X:373.92, Y:-60.70, Z:-7.49 [[ 9.80966749e-01 1.93310104e-01 1.83150494e-02 3.73924695e+02] [-1.93280699e-01 9.81137683e-01 -3.37910477e-03 -6.06989762e+01] [-1.86228002e-02 -2.25156141e-04 9.99826555e-01 -7.49371974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61401273900003 meters 0.024099004287377428 Centerline is valid? [True, True] Translation: X:373.96, Y:-60.70, Z:-7.49 [[ 9.81170647e-01 1.92236773e-01 1.86864892e-02 3.73955100e+02] [-1.92205968e-01 9.81348552e-01 -3.44763496e-03 -6.07037946e+01] [-1.90007213e-02 -2.08936520e-04 9.99819448e-01 -7.49404768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters 0.024290271069798006 Centerline is valid? [True, True] Translation: X:373.99, Y:-60.71, Z:-7.50 [[ 9.81323823e-01 1.91500956e-01 1.81916992e-02 3.73985384e+02] [-1.91471636e-01 9.81492408e-01 -3.35632555e-03 -6.07070282e+01] [-1.84977542e-02 -1.89552188e-04 9.99828884e-01 -7.49587503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.674012739 meters 0.0242382406954721 Centerline is valid? [True, True] Translation: X:374.01, Y:-60.71, Z:-7.50 [[ 9.81463457e-01 1.90929689e-01 1.65932420e-02 3.74014394e+02] [-1.90905208e-01 9.81603702e-01 -3.06174668e-03 -6.07087890e+01] [-1.68725661e-02 -1.62743836e-04 9.99857635e-01 -7.49867637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters 0.023299860118964583 Centerline is valid? [True, True] Translation: X:374.04, Y:-60.71, Z:-7.50 [[ 9.81568376e-01 1.90485425e-01 1.54540179e-02 3.74044227e+02] [-1.90464145e-01 9.81690013e-01 -2.85090661e-03 -6.07141819e+01] [-1.57141112e-02 -1.45076532e-04 9.99876515e-01 -7.50053459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.734012739 meters 0.02307980089722069 Centerline is valid? [True, True] Translation: X:374.07, Y:-60.72, Z:-7.50 [[ 9.81850348e-01 1.89094663e-01 1.45980104e-02 3.74072800e+02] [-1.89075519e-01 9.81958856e-01 -2.69318778e-03 -6.07166235e+01] [-1.48439130e-02 -1.15819022e-04 9.99889816e-01 -7.50428910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters 0.0222559696175065 Centerline is valid? [True, True] Translation: X:374.10, Y:-60.72, Z:-7.50 [[ 9.82061891e-01 1.87967166e-01 1.49260189e-02 3.74101563e+02] [-1.87947031e-01 9.82175307e-01 -2.75302438e-03 -6.07235861e+01] [-1.51774454e-02 -1.01660606e-04 9.99884811e-01 -7.50451255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.794012739 meters 0.021706280691593305 Centerline is valid? [True, True] Translation: X:374.13, Y:-60.73, Z:-7.50 [[ 9.82368762e-01 1.86321892e-01 1.53547602e-02 3.74130500e+02] [-1.86300386e-01 9.82488751e-01 -2.83190707e-03 -6.07309802e+01] [-1.56135254e-02 -7.86207114e-05 9.99878098e-01 -7.50414670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters 0.020823851654046897 Centerline is valid? [True, True] Translation: X:374.16, Y:-60.74, Z:-7.50 [[ 9.83069896e-01 1.82433622e-01 1.70749464e-02 3.74159785e+02] [-1.82406446e-01 9.83218172e-01 -3.14885522e-03 -6.07417202e+01] [-1.73628547e-02 -1.90355197e-05 9.99849254e-01 -7.50160101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.854012739 meters 0.020767496410361103 Centerline is valid? [True, True] Translation: X:374.19, Y:-60.75, Z:-7.50 [[ 9.83378933e-01 1.80752363e-01 1.71597656e-02 3.74189869e+02] [-1.80724657e-01 9.83528639e-01 -3.16467244e-03 -6.07490173e+01] [-1.74491429e-02 1.08794624e-05 9.99847752e-01 -7.50167093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters 0.020898257477827777 Centerline is valid? [True, True] Translation: X:374.22, Y:-60.75, Z:-7.50 [[ 9.83505662e-01 1.80005009e-01 1.77428515e-02 3.74220075e+02] [-1.79975259e-01 9.83665693e-01 -3.27258043e-03 -6.07545494e+01] [-1.80421152e-02 2.53270888e-05 9.99837227e-01 -7.50081166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.914012739 meters 0.02066769008421578 Centerline is valid? [True, True] Translation: X:374.25, Y:-60.76, Z:-7.50 [[ 9.83344906e-01 1.80776301e-01 1.87809532e-02 3.74250682e+02] [-1.80743088e-01 9.83524239e-01 -3.46517574e-03 -6.07573492e+01] [-1.90979444e-02 1.29354424e-05 9.99817618e-01 -7.49917972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters 0.02063503237218548 Centerline is valid? [True, True] Translation: X:374.28, Y:-60.76, Z:-7.50 [[ 9.83140716e-01 1.81908589e-01 1.85363837e-02 3.74281469e+02] [-1.81876416e-01 9.83315445e-01 -3.42112723e-03 -6.07604880e+01] [-1.88494448e-02 -7.88155425e-06 9.99822333e-01 -7.49978664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.974012739 meters 0.02107895442230323 Centerline is valid? [True, True] Translation: X:374.31, Y:-60.76, Z:-7.50 [[ 9.82536703e-01 1.85211506e-01 1.78416888e-02 3.74313242e+02] [-1.85182244e-01 9.82698679e-01 -3.29291240e-03 -6.07589178e+01] [-1.81428893e-02 -6.85566864e-05 9.99835402e-01 -7.50099429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters 0.021415649709661408 Centerline is valid? [True, True] Translation: X:374.34, Y:-60.76, Z:-7.50 [[ 9.82251171e-01 1.86702407e-01 1.80235311e-02 3.74343361e+02] [-1.86672795e-01 9.82416511e-01 -3.32652081e-03 -6.07606678e+01] [-1.83276840e-02 -9.70239599e-05 9.99832029e-01 -7.50084559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.034012739 meters 0.021739957396348056 Centerline is valid? [True, True] Translation: X:374.37, Y:-60.76, Z:-7.50 [[ 9.82051594e-01 1.87680334e-01 1.87285575e-02 3.74372167e+02] [-1.87648547e-01 9.82230155e-01 -3.45617304e-03 -6.07620848e+01] [-1.90444096e-02 -1.20246352e-04 9.99818632e-01 -7.50022644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters 0.022310577216336686 Centerline is valid? [True, True] Translation: X:374.40, Y:-60.76, Z:-7.50 [[ 9.81716818e-01 1.89238380e-01 2.05164711e-02 3.74402623e+02] [-1.89200585e-01 9.81931163e-01 -3.78555464e-03 -6.07603976e+01] [-2.08621345e-02 -1.65385667e-04 9.99782348e-01 -7.49809085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.094012739 meters 0.022597575683124364 Centerline is valid? [True, True] Translation: X:374.43, Y:-60.76, Z:-7.50 [[ 9.81632836e-01 1.89690458e-01 2.03594019e-02 3.74432590e+02] [-1.89653347e-01 9.81843929e-01 -3.75608841e-03 -6.07627748e+01] [-2.07022493e-02 -1.74128990e-04 9.99785670e-01 -7.49936098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters 0.021494072123760918 Centerline is valid? [True, True] Translation: X:374.46, Y:-60.77, Z:-7.50 [[ 9.82127081e-01 1.87328049e-01 1.82920246e-02 3.74461956e+02] [-1.87297690e-01 9.82297404e-01 -3.37424891e-03 -6.07701790e+01] [-1.86002997e-02 -1.12112719e-04 9.99826993e-01 -7.50390463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.154012739 meters 0.020972792268652153 Centerline is valid? [True, True] Translation: X:374.49, Y:-60.78, Z:-7.51 [[ 9.82618575e-01 1.84831545e-01 1.72637438e-02 3.74490337e+02] [-1.84804119e-01 9.82770215e-01 -3.18460036e-03 -6.07780138e+01] [-1.75549078e-02 -6.11634945e-05 9.99845899e-01 -7.50645384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters 0.02068265897603643 Centerline is valid? [True, True] Translation: X:374.52, Y:-60.79, Z:-7.51 [[ 9.83104320e-01 1.82250870e-01 1.70445376e-02 3.74518308e+02] [-1.82223751e-01 9.83252063e-01 -3.14398645e-03 -6.07872121e+01] [-1.73320710e-02 -1.50529022e-05 9.99849788e-01 -7.50771037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.214012739 meters 0.02093476906465418 Centerline is valid? [True, True] Translation: X:374.55, Y:-60.80, Z:-7.51 [[ 9.83782683e-01 1.78517678e-01 1.74089649e-02 3.74546245e+02] [-1.78488809e-01 9.83936703e-01 -3.21075536e-03 -6.07978409e+01] [-1.77024961e-02 5.13801016e-05 9.99843297e-01 -7.50763734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters 0.02138258795588692 Centerline is valid? [True, True] Translation: X:374.58, Y:-60.81, Z:-7.51 [[ 9.84033938e-01 1.77152582e-01 1.71514431e-02 3.74575440e+02] [-1.77124358e-01 9.84183396e-01 -3.16302827e-03 -6.08051801e+01] [-1.74405042e-02 7.45888187e-05 9.99847900e-01 -7.50861073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.274012739 meters 0.021638156778204947 Centerline is valid? [True, True] Translation: X:374.60, Y:-60.81, Z:-7.51 [[ 9.84151175e-01 1.76594925e-01 1.61461099e-02 3.74604967e+02] [-1.76569838e-01 9.84283611e-01 -2.97762712e-03 -6.08107526e+01] [-1.64181852e-02 7.95192158e-05 9.99865209e-01 -7.51098855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters 0.021472422938243634 Centerline is valid? [True, True] Translation: X:374.63, Y:-60.81, Z:-7.52 [[ 9.83840568e-01 1.78452101e-01 1.45802885e-02 3.74633873e+02] [-1.78431846e-01 9.83948599e-01 -2.68898835e-03 -6.08109959e+01] [-1.48261101e-02 4.39480333e-05 9.99890086e-01 -7.51544337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.334012739 meters 0.021157990451141938 Centerline is valid? [True, True] Translation: X:374.66, Y:-60.81, Z:-7.52 [[ 9.83428682e-01 1.80728537e-01 1.43256401e-02 3.74663517e+02] [-1.80709228e-01 9.83533017e-01 -2.64182807e-03 -6.08116225e+01] [-1.45671938e-02 9.27413784e-06 9.99893893e-01 -7.51598037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters 0.021908499028604488 Centerline is valid? [True, True] Translation: X:374.69, Y:-60.81, Z:-7.51 [[ 9.82207784e-01 1.87137618e-01 1.57283600e-02 3.74694440e+02] [-1.87115176e-01 9.82333702e-01 -2.89968999e-03 -6.08055457e+01] [-1.59931392e-02 -9.49167753e-05 9.99872097e-01 -7.51413064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.394012739 meters 0.022809794260124142 Centerline is valid? [True, True] Translation: X:374.72, Y:-60.81, Z:-7.51 [[ 9.81754135e-01 1.89465632e-01 1.61738223e-02 3.74723761e+02] [-1.89442229e-01 9.81887344e-01 -2.98100296e-03 -6.08062275e+01] [-1.64456690e-02 -1.37392969e-04 9.99864751e-01 -7.51364744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters 0.024464393027107005 Centerline is valid? [True, True] Translation: X:374.75, Y:-60.81, Z:-7.51 [[ 9.81419847e-01 1.91167932e-01 1.64287869e-02 3.74751622e+02] [-1.91144038e-01 9.81557331e-01 -3.02716597e-03 -6.08056432e+01] [-1.67044933e-02 -1.69343909e-04 9.99860456e-01 -7.51474623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.454012739 meters 0.024464393027107005 Centerline is valid? [True, True] Translation: X:374.78, Y:-60.81, Z:-7.52 [[ 9.81428262e-01 1.91124718e-01 1.64289117e-02 3.74779496e+02] [-1.91100829e-01 9.81565746e-01 -3.02648886e-03 -6.08106830e+01] [-1.67044938e-02 -1.69296944e-04 9.99860456e-01 -7.51532153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters 0.025097281876242918 Centerline is valid? [True, True] Translation: X:374.81, Y:-60.81, Z:-7.52 [[ 9.81269464e-01 1.91958230e-01 1.61950018e-02 3.74808105e+02] [-1.91935142e-01 9.81403080e-01 -2.98267390e-03 -6.08131778e+01] [-1.64663735e-02 -1.81583148e-04 9.99864404e-01 -7.51707028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.514012739 meters 0.02577148875406982 Centerline is valid? [True, True] Translation: X:374.84, Y:-60.81, Z:-7.52 [[ 9.81163256e-01 1.92489891e-01 1.63188946e-02 3.74835747e+02] [-1.92466533e-01 9.81298938e-01 -3.00481884e-03 -6.08141369e+01] [-1.65921112e-02 -1.92623227e-04 9.99862323e-01 -7.51789003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters 0.025962627382450854 Centerline is valid? [True, True] Translation: X:374.86, Y:-60.82, Z:-7.52 [[ 9.81128807e-01 1.92617378e-01 1.68762906e-02 3.74863277e+02] [-1.92592436e-01 9.81273919e-01 -3.10626472e-03 -6.08174600e+01] [-1.71585844e-02 -2.02600122e-04 9.99852760e-01 -7.51684757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.574012739 meters 0.026753906742356105 Centerline is valid? [True, True] Translation: X:374.89, Y:-60.82, Z:-7.51 [[ 9.80901219e-01 1.93673039e-01 1.79875539e-02 3.74892328e+02] [-1.93644902e-01 9.81066103e-01 -3.30970065e-03 -6.08187044e+01] [-1.82879792e-02 -2.36708714e-04 9.99832733e-01 -7.51428562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters 0.026059951711891818 Centerline is valid? [True, True] Translation: X:374.92, Y:-60.82, Z:-7.51 [[ 9.80846141e-01 1.93930546e-01 1.82151570e-02 3.74921086e+02] [-1.93901752e-01 9.81015231e-01 -3.35075482e-03 -6.08233325e+01] [-1.85191602e-02 -2.45375919e-04 9.99828476e-01 -7.51334027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.634012739 meters 0.027169442371042737 Centerline is valid? [True, True] Translation: X:374.95, Y:-60.82, Z:-7.51 [[ 9.80817838e-01 1.93931967e-01 1.96662116e-02 3.74949390e+02] [-1.93898422e-01 9.81014945e-01 -3.61669836e-03 -6.08206212e+01] [-1.99942409e-02 -2.65925138e-04 9.99800060e-01 -7.51239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters 0.026697340958548796 Centerline is valid? [True, True] Translation: X:374.98, Y:-60.82, Z:-7.51 [[ 9.80937989e-01 1.93282944e-01 2.00590333e-02 3.74977655e+02] [-1.93247944e-01 9.81143025e-01 -3.68727902e-03 -6.08238611e+01] [-2.03934688e-02 -2.59374873e-04 9.99791998e-01 -7.51271834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.694012739 meters 0.024019375459998913 Centerline is valid? [True, True] Translation: X:375.01, Y:-60.83, Z:-7.51 [[ 9.81164674e-01 1.92157264e-01 1.97855663e-02 3.75005300e+02] [-1.92123000e-01 9.81364118e-01 -3.63615136e-03 -6.08318164e+01] [-2.01155577e-02 -2.33599098e-04 9.99797634e-01 -7.51372776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters 0.021747128434843128 Centerline is valid? [True, True] Translation: X:375.03, Y:-60.84, Z:-7.52 [[ 9.82192650e-01 1.87064776e-01 1.74461572e-02 3.75032052e+02] [-1.87037345e-01 9.82347574e-01 -3.20551136e-03 -6.08398275e+01] [-1.77378285e-02 -1.14653224e-04 9.99842666e-01 -7.51914011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.754012739 meters 0.0208626303989261 Centerline is valid? [True, True] Translation: X:375.06, Y:-60.85, Z:-7.52 [[ 9.82852490e-01 1.83641863e-01 1.66327457e-02 3.75058693e+02] [-1.83616455e-01 9.82993216e-01 -3.05511088e-03 -6.08482310e+01] [-1.69109225e-02 -5.13224762e-05 9.99856999e-01 -7.52124296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters 0.02157348207120368 Centerline is valid? [True, True] Translation: X:375.08, Y:-60.87, Z:-7.52 [[ 9.84230474e-01 1.76095477e-01 1.67557791e-02 3.75084055e+02] [-1.76068616e-01 9.84373088e-01 -3.07662182e-03 -6.08658840e+01] [-1.70357172e-02 7.79381263e-05 9.99854879e-01 -7.52130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.814012739 meters 0.02360586477435995 Centerline is valid? [True, True] Translation: X:375.11, Y:-60.88, Z:-7.52 [[ 9.84982849e-01 1.71793141e-01 1.72018561e-02 3.75112541e+02] [-1.71764194e-01 9.85133033e-01 -3.15741240e-03 -6.08773549e+01] [-1.74885384e-02 1.55334129e-04 9.99847052e-01 -7.52106825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters 0.02734203868584729 Centerline is valid? [True, True] Translation: X:375.14, Y:-60.89, Z:-7.52 [[ 9.85578441e-01 1.68226014e-01 1.83069799e-02 3.75139693e+02] [-1.68192619e-01 9.85748423e-01 -3.35982416e-03 -6.08906216e+01] [-1.86112864e-02 2.32271357e-04 9.99826768e-01 -7.51972621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.874012739 meters 0.026873145412887465 Centerline is valid? [True, True] Translation: X:375.17, Y:-60.90, Z:-7.52 [[ 9.86010928e-01 1.65531577e-01 1.95383332e-02 3.75169876e+02] [-1.65493021e-01 9.86204444e-01 -3.58522579e-03 -6.08959212e+01] [-1.98622591e-02 3.01614022e-04 9.99802680e-01 -7.51694613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters 0.02945211981095868 Centerline is valid? [True, True] Translation: X:375.20, Y:-60.91, Z:-7.52 [[ 9.85945017e-01 1.65995245e-01 1.89209609e-02 3.75199292e+02] [-1.65959173e-01 9.86126512e-01 -3.47192725e-03 -6.09057127e+01] [-1.92347846e-02 2.83022348e-04 9.99814954e-01 -7.51868597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.934012739 meters 0.02558235768909585 Centerline is valid? [True, True] Translation: X:375.23, Y:-60.90, Z:-7.52 [[ 9.85426537e-01 1.69293698e-01 1.65584968e-02 3.75230171e+02] [-1.69266533e-01 9.85565628e-01 -3.03870820e-03 -6.09018342e+01] [-1.68339194e-02 1.91624360e-04 9.99858281e-01 -7.52352906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters 0.023608360274791382 Centerline is valid? [True, True] Translation: X:375.26, Y:-60.90, Z:-7.53 [[ 9.85050388e-01 1.71560878e-01 1.55755610e-02 3.75259154e+02] [-1.71537129e-01 9.85173510e-01 -2.85811325e-03 -6.09023154e+01] [-1.58349705e-02 1.43598545e-04 9.99874609e-01 -7.52565507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.994012739 meters 0.02232784786640466 Centerline is valid? [True, True] Translation: X:375.29, Y:-60.90, Z:-7.53 [[ 9.84698972e-01 1.73562364e-01 1.56217845e-02 3.75287965e+02] [-1.73538737e-01 9.84822874e-01 -2.86587723e-03 -6.09047373e+01] [-1.58820991e-02 1.11041619e-04 9.99873865e-01 -7.52653327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters 0.021714970835867632 Centerline is valid? [True, True] Translation: X:375.32, Y:-60.91, Z:-7.53 [[ 9.84528431e-01 1.74389323e-01 1.70919075e-02 3.75316586e+02] [-1.74361180e-01 9.84676776e-01 -3.13467096e-03 -6.09105270e+01] [-1.73766575e-02 1.06007523e-04 9.99849009e-01 -7.52502071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05401273900003 meters 0.02198388033097025 Centerline is valid? [True, True] Translation: X:375.34, Y:-60.92, Z:-7.52 [[ 9.84569939e-01 1.74096536e-01 1.76757243e-02 3.75344252e+02] [-1.74066407e-01 9.84728583e-01 -3.24081017e-03 -6.09178084e+01] [-1.79700048e-02 1.14054449e-04 9.99838520e-01 -7.52469013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters 0.022403960080974984 Centerline is valid? [True, True] Translation: X:375.37, Y:-60.93, Z:-7.53 [[ 9.84748313e-01 1.73118598e-01 1.73410420e-02 3.75372069e+02] [-1.73089455e-01 9.84900977e-01 -3.17903865e-03 -6.09287467e+01] [-1.76295599e-02 1.29001437e-04 9.99844579e-01 -7.52609975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11401273900003 meters 0.022445247940825967 Centerline is valid? [True, True] Translation: X:375.40, Y:-60.94, Z:-7.53 [[ 9.84824046e-01 1.72732036e-01 1.68891132e-02 3.75401882e+02] [-1.72704343e-01 9.84968845e-01 -3.09573216e-03 -6.09367375e+01] [-1.71699824e-02 1.31928278e-04 9.99852576e-01 -7.52724658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters 0.02213109180980697 Centerline is valid? [True, True] Translation: X:375.43, Y:-60.94, Z:-7.53 [[ 9.84707900e-01 1.73392688e-01 1.68916218e-02 3.75432257e+02] [-1.73365084e-01 9.84852761e-01 -3.09619199e-03 -6.09426709e+01] [-1.71726175e-02 1.20427281e-04 9.99852532e-01 -7.52793031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.174012739 meters 0.020507443728575395 Centerline is valid? [True, True] Translation: X:375.46, Y:-60.94, Z:-7.53 [[ 9.83622329e-01 1.79340812e-01 1.79996456e-02 3.75460950e+02] [-1.79310460e-01 9.83787006e-01 -3.29941123e-03 -6.09396352e+01] [-1.82995366e-02 1.78498211e-05 9.99832549e-01 -7.52634977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters 0.02083637514227887 Centerline is valid? [True, True] Translation: X:375.49, Y:-60.94, Z:-7.53 [[ 9.82822296e-01 1.83681438e-01 1.79294191e-02 3.75490002e+02] [-1.83652064e-01 9.82985822e-01 -3.28541560e-03 -6.09385130e+01] [-1.82278346e-02 -6.37951185e-05 9.99833857e-01 -7.52682613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.234012739 meters 0.022475705591993408 Centerline is valid? [True, True] Translation: X:375.52, Y:-60.94, Z:-7.53 [[ 9.82001681e-01 1.88099274e-01 1.70692963e-02 3.75518807e+02] [-1.88073331e-01 9.82150011e-01 -3.12705792e-03 -6.09371275e+01] [-1.73528069e-02 -1.39503280e-04 9.99849419e-01 -7.52955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters 0.027584587480338138 Centerline is valid? [True, True] Translation: X:375.55, Y:-60.93, Z:-7.53 [[ 9.80589358e-01 1.95499339e-01 1.49839797e-02 3.75549185e+02] [-1.95480223e-01 9.80703804e-01 -2.74422727e-03 -6.09303858e+01] [-1.52313405e-02 -2.38111635e-04 9.99883968e-01 -7.53377560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.294012739 meters 0.029500227097399696 Centerline is valid? [True, True] Translation: X:375.58, Y:-60.93, Z:-7.54 [[ 9.80163149e-01 1.97642838e-01 1.47481899e-02 3.75578137e+02] [-1.97624572e-01 9.80274062e-01 -2.70028945e-03 -6.09310724e+01] [-1.49909609e-02 -2.67880507e-04 9.99887593e-01 -7.53526393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters 0.030435772961122612 Centerline is valid? [True, True] Translation: X:375.61, Y:-60.93, Z:-7.53 [[ 9.79845790e-01 1.99112607e-01 1.60124265e-02 3.75607560e+02] [-1.99091285e-01 9.79976566e-01 -2.93092091e-03 -6.09327014e+01] [-1.62753861e-02 -3.16084060e-04 9.99867497e-01 -7.53416883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.354012739 meters 0.030279190916046077 Centerline is valid? [True, True] Translation: X:375.64, Y:-60.94, Z:-7.53 [[ 9.79992278e-01 1.98319977e-01 1.68618506e-02 3.75635468e+02] [-1.98296231e-01 9.80137278e-01 -3.08553973e-03 -6.09376134e+01] [-1.71388525e-02 -3.19836315e-04 9.99853068e-01 -7.53304589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters 0.028618876684920684 Centerline is valid? [True, True] Translation: X:375.66, Y:-60.95, Z:-7.53 [[ 9.80395474e-01 1.96225221e-01 1.78990807e-02 3.75662216e+02] [-1.96198130e-01 9.80558806e-01 -3.27445425e-03 -6.09451570e+01] [-1.81936317e-02 -3.01506021e-04 9.99834437e-01 -7.53121600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.414012739 meters 0.023597358267783173 Centerline is valid? [True, True] Translation: X:375.69, Y:-60.96, Z:-7.53 [[ 9.81664000e-01 1.89723559e-01 1.84597661e-02 3.75688987e+02] [-1.89693616e-01 9.81837530e-01 -3.37585484e-03 -6.09596097e+01] [-1.87649704e-02 -1.87744614e-04 9.99823905e-01 -7.53173931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters 0.02182012558900484 Centerline is valid? [True, True] Translation: X:375.72, Y:-60.97, Z:-7.53 [[ 9.82283560e-01 1.86561009e-01 1.77199928e-02 3.75716592e+02] [-1.86532908e-01 9.82443370e-01 -3.24022558e-03 -6.09697994e+01] [-1.80133892e-02 -1.22541478e-04 9.99837738e-01 -7.53328839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.474012739 meters 0.020549770199110234 Centerline is valid? [True, True] Translation: X:375.74, Y:-60.98, Z:-7.54 [[ 9.83352684e-01 1.80943034e-01 1.66468588e-02 3.75742561e+02] [-1.80917440e-01 9.83493578e-01 -3.04330888e-03 -6.09844127e+01] [-1.69227443e-02 -1.90611244e-05 9.99856800e-01 -7.53740465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters 0.020648389690291688 Centerline is valid? [True, True] Translation: X:375.77, Y:-60.99, Z:-7.54 [[ 9.83762168e-01 1.78750967e-01 1.61272381e-02 3.75769822e+02] [-1.78726667e-01 9.83894350e-01 -2.94736524e-03 -6.09943056e+01] [-1.63943428e-02 1.71389036e-05 9.99865604e-01 -7.53916438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.534012739 meters 0.021146861700616717 Centerline is valid? [True, True] Translation: X:375.80, Y:-61.00, Z:-7.54 [[ 9.84178061e-01 1.76431540e-01 1.62928263e-02 3.75797679e+02] [-1.76406433e-01 9.84312912e-01 -2.97686388e-03 -6.10039277e+01] [-1.65624519e-02 5.56047566e-05 9.99862832e-01 -7.53868521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters 0.022383997452617002 Centerline is valid? [True, True] Translation: X:375.82, Y:-61.02, Z:-7.54 [[ 9.84761483e-01 1.73065187e-01 1.71248845e-02 3.75824576e+02] [-1.73036957e-01 9.84910365e-01 -3.12800909e-03 -6.10166049e+01] [-1.74078258e-02 1.17104972e-04 9.99848465e-01 -7.53734067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.594012739 meters 0.022231495434151895 Centerline is valid? [True, True] Translation: X:375.85, Y:-61.02, Z:-7.54 [[ 9.84941671e-01 1.71986575e-01 1.76216814e-02 3.75854847e+02] [-1.71956522e-01 9.85099284e-01 -3.21804015e-03 -6.10232775e+01] [-1.79125654e-02 1.39418799e-04 9.99839547e-01 -7.53648835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters 0.02338282507463235 Centerline is valid? [True, True] Translation: X:375.88, Y:-61.03, Z:-7.54 [[ 9.85041117e-01 1.71404357e-01 1.77354150e-02 3.75884014e+02] [-1.71373822e-01 9.85200753e-01 -3.23878268e-03 -6.10328458e+01] [-1.80280857e-02 1.50948260e-04 9.99837469e-01 -7.53772825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.654012739 meters 0.02458387428594543 Centerline is valid? [True, True] Translation: X:375.91, Y:-61.04, Z:-7.54 [[ 9.85313548e-01 1.69830752e-01 1.77405885e-02 3.75912346e+02] [-1.69799939e-01 9.85473228e-01 -3.23999598e-03 -6.10429095e+01] [-1.80331260e-02 1.80061092e-04 9.99837374e-01 -7.53974782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters 0.025179496027123528 Centerline is valid? [True, True] Translation: X:375.94, Y:-61.05, Z:-7.54 [[ 9.85425489e-01 1.69206409e-01 1.74870405e-02 3.75942207e+02] [-1.69176376e-01 9.85580619e-01 -3.19346942e-03 -6.10511934e+01] [-1.77752437e-02 1.88532029e-04 9.99841990e-01 -7.54174538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.714012739 meters 0.02585406431640852 Centerline is valid? [True, True] Translation: X:375.97, Y:-61.06, Z:-7.54 [[ 9.85536718e-01 1.68724918e-01 1.57885755e-02 3.75971464e+02] [-1.68700375e-01 9.85663163e-01 -2.88325055e-03 -6.10620080e+01] [-1.60486935e-02 1.78010672e-04 9.99871196e-01 -7.54460911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters 0.025669464682162992 Centerline is valid? [True, True] Translation: X:376.00, Y:-61.07, Z:-7.54 [[ 9.85509434e-01 1.68888211e-01 1.57457241e-02 3.76000801e+02] [-1.68863818e-01 9.85635197e-01 -2.87564667e-03 -6.10688105e+01] [-1.60052027e-02 1.75093822e-04 9.99871893e-01 -7.54483288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.774012739 meters 0.025227262131985652 Centerline is valid? [True, True] Translation: X:376.03, Y:-61.07, Z:-7.54 [[ 9.85422527e-01 1.69387526e-01 1.58211822e-02 3.76029629e+02] [-1.69362963e-01 9.85549511e-01 -2.88947321e-03 -6.10740546e+01] [-1.60819991e-02 1.67829699e-04 9.99870662e-01 -7.54456524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters 0.023734826431188516 Centerline is valid? [True, True] Translation: X:376.06, Y:-61.08, Z:-7.55 [[ 9.85034834e-01 1.71624223e-01 1.58588145e-02 3.76058835e+02] [-1.71599834e-01 9.85162478e-01 -2.89621724e-03 -6.10775090e+01] [-1.61205700e-02 1.31504927e-04 9.99870047e-01 -7.54663346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.834012739 meters 0.022513159091996787 Centerline is valid? [True, True] Translation: X:376.09, Y:-61.08, Z:-7.55 [[ 9.84792863e-01 1.73013986e-01 1.57853344e-02 3.76089660e+02] [-1.72990009e-01 9.84919362e-01 -2.88235880e-03 -6.10809809e+01] [-1.60459698e-02 1.07821240e-04 9.99871249e-01 -7.54726052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters 0.0214428002354663 Centerline is valid? [True, True] Translation: X:376.12, Y:-61.08, Z:-7.55 [[ 9.84112440e-01 1.76902931e-01 1.51015799e-02 3.76118719e+02] [-1.76881440e-01 9.84228302e-01 -2.75767744e-03 -6.10812789e+01] [-1.53512436e-02 4.26754655e-05 9.99882162e-01 -7.55018908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.894012739 meters 0.021088478842221807 Centerline is valid? [True, True] Translation: X:376.15, Y:-61.08, Z:-7.55 [[ 9.83855980e-01 1.78353644e-01 1.47440766e-02 3.76148140e+02] [-1.78333330e-01 9.83966451e-01 -2.69183404e-03 -6.10838139e+01] [-1.49877751e-02 1.90167447e-05 9.99887677e-01 -7.55080375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters 0.02096228255754654 Centerline is valid? [True, True] Translation: X:376.18, Y:-61.09, Z:-7.55 [[ 9.83680392e-01 1.79309044e-01 1.48712383e-02 3.76176516e+02] [-1.79288492e-01 9.83792797e-01 -2.71475985e-03 -6.10883650e+01] [-1.51169981e-02 4.21413544e-06 9.99885732e-01 -7.55127751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.954012739 meters 0.020660666545209608 Centerline is valid? [True, True] Translation: X:376.20, Y:-61.09, Z:-7.55 [[ 9.83481452e-01 1.80310047e-01 1.58909246e-02 3.76203882e+02] [-1.80286718e-01 9.83609825e-01 -2.90039887e-03 -6.10949600e+01] [-1.61534406e-02 -1.24341588e-05 9.99869525e-01 -7.54928156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters 0.020642264293472008 Centerline is valid? [True, True] Translation: X:376.23, Y:-61.10, Z:-7.55 [[ 9.83395522e-01 1.80772549e-01 1.59540734e-02 3.76232217e+02] [-1.80749111e-01 9.83524929e-01 -2.91095990e-03 -6.11000301e+01] [-1.62174506e-02 -2.10596715e-05 9.99868488e-01 -7.54931290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.014012739 meters 0.021142608664800562 Centerline is valid? [True, True] Translation: X:376.26, Y:-61.10, Z:-7.55 [[ 9.82911288e-01 1.83304890e-01 1.68735561e-02 3.76261937e+02] [-1.83279061e-01 9.83056109e-01 -3.07783724e-03 -6.11030987e+01] [-1.71518350e-02 -6.73285509e-05 9.99852894e-01 -7.54754079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters 0.021462940770731593 Centerline is valid? [True, True] Translation: X:376.29, Y:-61.11, Z:-7.55 [[ 9.82575964e-01 1.85059516e-01 1.72467588e-02 3.76291805e+02] [-1.85032809e-01 9.82727310e-01 -3.14548761e-03 -6.11071735e+01] [-1.75309632e-02 -1.00535695e-04 9.99846316e-01 -7.54670829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.074012739 meters 0.022517573285098194 Centerline is valid? [True, True] Translation: X:376.32, Y:-61.11, Z:-7.55 [[ 9.82094338e-01 1.87566139e-01 1.75970367e-02 3.76320210e+02] [-1.87538745e-01 9.82251964e-01 -3.20898643e-03 -6.11083786e+01] [-1.78866211e-02 -1.48598794e-04 9.99840011e-01 -7.54629427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters 0.026345040066991128 Centerline is valid? [True, True] Translation: X:376.35, Y:-61.10, Z:-7.54 [[ 9.80833628e-01 1.93884230e-01 1.93468050e-02 3.76351214e+02] [-1.93852365e-01 9.81024373e-01 -3.52701934e-03 -6.11017608e+01] [-1.96635207e-02 -2.91004734e-04 9.99806612e-01 -7.54314148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.134012739 meters 0.029373195090119042 Centerline is valid? [True, True] Translation: X:376.38, Y:-61.10, Z:-7.54 [[ 9.80113534e-01 1.97375089e-01 2.05069446e-02 3.76381274e+02] [-1.97340067e-01 9.80327969e-01 -3.73773255e-03 -6.11005883e+01] [-2.08412666e-02 -3.83439560e-04 9.99782724e-01 -7.54196803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters 0.03568745237437309 Centerline is valid? [True, True] Translation: X:376.41, Y:-61.09, Z:-7.54 [[ 9.79061333e-01 2.02470909e-01 2.10816915e-02 3.76412068e+02] [-2.02435092e-01 9.79288147e-01 -3.84172324e-03 -6.10946770e+01] [-2.14228878e-02 -5.06391499e-04 9.99770375e-01 -7.54149427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.194012739 meters 0.03435793882326156 Centerline is valid? [True, True] Translation: X:376.44, Y:-61.10, Z:-7.54 [[ 9.78761129e-01 2.04052014e-01 1.97339488e-02 3.76440484e+02] [-2.04020960e-01 9.78959917e-01 -3.59568825e-03 -6.11001971e+01] [-2.00524523e-02 -5.06819286e-04 9.99798801e-01 -7.54425072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters 0.03623257010517854 Centerline is valid? [True, True] Translation: X:376.47, Y:-61.10, Z:-7.55 [[ 9.78579342e-01 2.05061727e-01 1.82252678e-02 3.76468916e+02] [-2.05035429e-01 9.78748921e-01 -3.32002568e-03 -6.10996310e+01] [-1.85187714e-02 -4.87917069e-04 9.99828394e-01 -7.54764735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.254012739 meters 0.03632557622953338 Centerline is valid? [True, True] Translation: X:376.50, Y:-61.10, Z:-7.55 [[ 9.78596734e-01 2.05110625e-01 1.66752293e-02 3.76498331e+02] [-2.05088638e-01 9.78738694e-01 -3.03646695e-03 -6.10999747e+01] [-1.69435037e-02 -4.48423414e-04 9.99856348e-01 -7.55110041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters 0.036532274086494766 Centerline is valid? [True, True] Translation: X:376.53, Y:-61.10, Z:-7.55 [[ 9.78729923e-01 2.04488411e-01 1.64993161e-02 3.76526140e+02] [-2.04466809e-01 9.78868889e-01 -3.00369193e-03 -6.11032435e+01] [-1.67648874e-02 -4.33759343e-04 9.99859365e-01 -7.55149786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.314012739 meters 0.03513985150426644 Centerline is valid? [True, True] Translation: X:376.55, Y:-61.11, Z:-7.55 [[ 9.79142167e-01 2.02448082e-01 1.71869432e-02 3.76553273e+02] [-2.02424347e-01 9.79292908e-01 -3.12779769e-03 -6.11078353e+01] [-1.74642682e-02 -4.16497148e-04 9.99847401e-01 -7.55101383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters 0.03513985150426644 Centerline is valid? [True, True] Translation: X:376.58, Y:-61.11, Z:-7.55 [[ 9.79155848e-01 2.02381888e-01 1.71871150e-02 3.76580349e+02] [-2.02358159e-01 9.79306591e-01 -3.12685320e-03 -6.11126233e+01] [-1.74642735e-02 -4.16276358e-04 9.99847401e-01 -7.55157230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.374012739 meters 0.03644452938221961 Centerline is valid? [True, True] Translation: X:376.61, Y:-61.11, Z:-7.55 [[ 9.79383566e-01 2.01262862e-01 1.73519925e-02 3.76608498e+02] [-2.01238522e-01 9.79537186e-01 -3.15559294e-03 -6.11139632e+01] [-1.76320256e-02 -4.01353477e-04 9.99844463e-01 -7.55284165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters 0.03125338481036185 Centerline is valid? [True, True] Translation: X:376.64, Y:-61.12, Z:-7.55 [[ 9.79540278e-01 2.00490197e-01 1.74506532e-02 3.76636333e+02] [-2.00465476e-01 9.79695630e-01 -3.17246537e-03 -6.11249992e+01] [-1.77323769e-02 -3.90695902e-04 9.99842693e-01 -7.55278275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.434012739 meters 0.03181200293953324 Centerline is valid? [True, True] Translation: X:376.66, Y:-61.13, Z:-7.55 [[ 9.79623176e-01 2.00104886e-01 1.72182646e-02 3.76664715e+02] [-2.00080769e-01 9.79774408e-01 -3.12968561e-03 -6.11261955e+01] [-1.74962804e-02 -3.79131065e-04 9.99846856e-01 -7.55479616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters 0.033807072646948204 Centerline is valid? [True, True] Translation: X:376.69, Y:-61.13, Z:-7.56 [[ 9.79583578e-01 2.00337734e-01 1.67572427e-02 3.76693136e+02] [-2.00314947e-01 9.79726825e-01 -3.04467903e-03 -6.11275399e+01] [-1.70274843e-02 -3.74208596e-04 9.99854952e-01 -7.55703558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.494012739 meters 0.03351932495539897 Centerline is valid? [True, True] Translation: X:376.72, Y:-61.13, Z:-7.56 [[ 9.79431049e-01 2.01136203e-01 1.60950078e-02 3.76721666e+02] [-2.01115304e-01 9.79563213e-01 -2.92339005e-03 -6.11314987e+01] [-1.63540772e-02 -3.73693407e-04 9.99866193e-01 -7.55777466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters 0.033861903663994095 Centerline is valid? [True, True] Translation: X:376.75, Y:-61.14, Z:-7.56 [[ 9.79338588e-01 2.01549911e-01 1.65397537e-02 3.76749955e+02] [-2.01527914e-01 9.79478167e-01 -3.00335658e-03 -6.11351856e+01] [-1.68056539e-02 -3.91919069e-04 9.99858698e-01 -7.55701392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55401273900003 meters 0.038481181188343226 Centerline is valid? [True, True] Translation: X:376.78, Y:-61.13, Z:-7.56 [[ 9.79298685e-01 2.01680799e-01 1.72899141e-02 3.76779034e+02] [-2.01656796e-01 9.79451216e-01 -3.13873929e-03 -6.11331281e+01] [-1.75676509e-02 -4.12865428e-04 9.99845592e-01 -7.55672018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters 0.033268874195088276 Centerline is valid? [True, True] Translation: X:376.81, Y:-61.15, Z:-7.55 [[ 9.79515946e-01 2.00379664e-01 1.99123399e-02 3.76806056e+02] [-2.00347586e-01 9.79718219e-01 -3.61344126e-03 -6.11457957e+01] [-2.02325424e-02 -4.49965909e-04 9.99795200e-01 -7.55099568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61401273900003 meters 0.03273964729901471 Centerline is valid? [True, True] Translation: X:376.83, Y:-61.15, Z:-7.55 [[ 9.79652813e-01 1.99579882e-01 2.11715886e-02 3.76834286e+02] [-1.99543454e-01 9.79881451e-01 -3.84090442e-03 -6.11520659e+01] [-2.15122142e-02 -4.61899106e-04 9.99768479e-01 -7.54948990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters 0.031527915941667005 Centerline is valid? [True, True] Translation: X:376.86, Y:-61.16, Z:-7.55 [[ 9.80007439e-01 1.97760658e-01 2.18206838e-02 3.76860742e+02] [-1.97721535e-01 9.80250239e-01 -3.95759457e-03 -6.11613017e+01] [-2.21723870e-02 -4.35946984e-04 9.99754067e-01 -7.55018652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.674012739 meters 0.029739857547524947 Centerline is valid? [True, True] Translation: X:376.89, Y:-61.17, Z:-7.55 [[ 9.80380717e-01 1.95951283e-01 2.13715897e-02 3.76888623e+02] [-1.95913350e-01 9.80613555e-01 -3.87493906e-03 -6.11704538e+01] [-2.17165698e-02 -3.88064196e-04 9.99764092e-01 -7.55070564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters 0.02682057279723862 Centerline is valid? [True, True] Translation: X:376.92, Y:-61.18, Z:-7.55 [[ 9.81144588e-01 1.92211755e-01 2.02469644e-02 3.76915123e+02] [-1.92176931e-01 9.81353431e-01 -3.67013692e-03 -6.11810770e+01] [-2.05748715e-02 -2.90064522e-04 9.99788273e-01 -7.55357778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.734012739 meters 0.025859032412980654 Centerline is valid? [True, True] Translation: X:376.94, Y:-61.19, Z:-7.56 [[ 9.81434262e-01 1.90824413e-01 1.93088995e-02 3.76943003e+02] [-1.90792495e-01 9.81624155e-01 -3.49902678e-03 -6.11891813e+01] [-1.96217818e-02 -2.49928338e-04 9.99807443e-01 -7.55547212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters 0.024736749521658195 Centerline is valid? [True, True] Translation: X:376.97, Y:-61.20, Z:-7.56 [[ 9.81522155e-01 1.90443848e-01 1.85849478e-02 3.76971184e+02] [-1.90414225e-01 9.81698063e-01 -3.36702521e-03 -6.11979891e+01] [-1.88860364e-02 -2.34028581e-04 9.99821616e-01 -7.55652990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.794012739 meters 0.026425210608239443 Centerline is valid? [True, True] Translation: X:377.00, Y:-61.20, Z:-7.56 [[ 9.81361837e-01 1.91328325e-01 1.79559943e-02 3.76999216e+02] [-1.91300836e-01 9.81526063e-01 -3.25227272e-03 -6.11999463e+01] [-1.82465283e-02 -2.43340380e-04 9.99833489e-01 -7.55810611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters 0.026165079255633637 Centerline is valid? [True, True] Translation: X:377.03, Y:-61.20, Z:-7.56 [[ 9.81215846e-01 1.92030074e-01 1.84367370e-02 3.77027695e+02] [-1.92001239e-01 9.81389006e-01 -3.33819972e-03 -6.12043380e+01] [-1.87346458e-02 -2.64381887e-04 9.99824456e-01 -7.55745515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.854012739 meters 0.02844723763590905 Centerline is valid? [True, True] Translation: X:377.06, Y:-61.20, Z:-7.55 [[ 9.80466959e-01 1.95660283e-01 2.00398453e-02 3.77058125e+02] [-1.95626993e-01 9.80671669e-01 -3.62742725e-03 -6.12019364e+01] [-2.03622520e-02 -3.63762109e-04 9.99792602e-01 -7.55490254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters 0.033366169886976195 Centerline is valid? [True, True] Translation: X:377.09, Y:-61.20, Z:-7.55 [[ 9.79973108e-01 1.98073344e-01 2.04855535e-02 3.77087460e+02] [-1.98039095e-01 9.80187110e-01 -3.70757090e-03 -6.11970270e+01] [-2.08140464e-02 -4.23620688e-04 9.99783275e-01 -7.55417784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.914012739 meters 0.03259383009034508 Centerline is valid? [True, True] Translation: X:377.12, Y:-61.20, Z:-7.56 [[ 9.79524228e-01 2.00324326e-01 2.00611967e-02 3.77115687e+02] [-2.00291983e-01 9.79729529e-01 -3.62925631e-03 -6.12011870e+01] [-2.03815751e-02 -4.63152380e-04 9.99792167e-01 -7.55561012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters 0.03692187343519268 Centerline is valid? [True, True] Translation: X:377.15, Y:-61.19, Z:-7.56 [[ 9.78968062e-01 2.03161212e-01 1.86294134e-02 3.77145890e+02] [-2.03133850e-01 9.79145181e-01 -3.36940649e-03 -6.11943129e+01] [-1.89254331e-02 -4.85723137e-04 9.99820780e-01 -7.55881429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.974012739 meters 0.037616934061088264 Centerline is valid? [True, True] Translation: X:377.17, Y:-61.20, Z:-7.56 [[ 9.78889275e-01 2.03559633e-01 1.84190964e-02 3.77174732e+02] [-2.03532974e-01 9.79062427e-01 -3.33043250e-03 -6.11954735e+01] [-1.87113868e-02 -4.88768807e-04 9.99824807e-01 -7.56059833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters 0.034430829971887573 Centerline is valid? [True, True] Translation: X:377.20, Y:-61.20, Z:-7.56 [[ 9.79366367e-01 2.01217795e-01 1.87861098e-02 3.77203327e+02] [-2.01189649e-01 9.79546422e-01 -3.39589418e-03 -6.12001186e+01] [-1.90851810e-02 -4.53746300e-04 9.99817758e-01 -7.56086334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.034012739 meters 0.03194819707348042 Centerline is valid? [True, True] Translation: X:377.23, Y:-61.21, Z:-7.56 [[ 9.79872240e-01 1.98797835e-01 1.81607999e-02 3.77232006e+02] [-1.98771127e-01 9.80040441e-01 -3.28224016e-03 -6.12057745e+01] [-1.84508206e-02 -3.93666649e-04 9.99829692e-01 -7.56253299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters 0.02631674410983419 Centerline is valid? [True, True] Translation: X:377.26, Y:-61.21, Z:-7.57 [[ 9.81310625e-01 1.91739894e-01 1.62870914e-02 3.77260479e+02] [-1.91717451e-01 9.81445749e-01 -2.94300467e-03 -6.12146968e+01] [-1.65491880e-02 -2.34517890e-04 9.99863025e-01 -7.56642521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.094012739 meters 0.023485156429828086 Centerline is valid? [True, True] Translation: X:377.29, Y:-61.22, Z:-7.57 [[ 9.82235220e-01 1.86950362e-01 1.62337438e-02 3.77287267e+02] [-1.86927411e-01 9.82369349e-01 -2.93335117e-03 -6.12245310e+01] [-1.64959234e-02 -1.53290864e-04 9.99863921e-01 -7.56755416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters 0.021133259602937923 Centerline is valid? [True, True] Translation: X:377.31, Y:-61.24, Z:-7.57 [[ 9.83148052e-01 1.82043824e-01 1.67318304e-02 3.77313283e+02] [-1.82018749e-01 9.83290415e-01 -3.02231632e-03 -6.12366858e+01] [-1.70024425e-02 -7.41224383e-05 9.99855445e-01 -7.56731594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.154012739 meters 0.020580083118418156 Centerline is valid? [True, True] Translation: X:377.34, Y:-61.25, Z:-7.56 [[ 9.84490056e-01 1.74428596e-01 1.88147675e-02 3.77339017e+02] [-1.74395520e-01 9.84669823e-01 -3.39732750e-03 -6.12535248e+01] [-1.91189248e-02 6.34239841e-05 9.99817215e-01 -7.56259744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters 0.021206767161331692 Centerline is valid? [True, True] Translation: X:377.37, Y:-61.26, Z:-7.56 [[ 9.84903964e-01 1.72023458e-01 1.92901881e-02 3.77367179e+02] [-1.71988249e-01 9.85092847e-01 -3.48204711e-03 -6.12599644e+01] [-1.96016201e-02 1.11796321e-04 9.99807864e-01 -7.56223794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.214012739 meters 0.023040638113398827 Centerline is valid? [True, True] Translation: X:377.40, Y:-61.27, Z:-7.56 [[ 9.85414391e-01 1.69165780e-01 1.84774479e-02 3.77395135e+02] [-1.69132989e-01 9.85587598e-01 -3.33448796e-03 -6.12670183e+01] [-1.87752248e-02 1.60706422e-04 9.99823717e-01 -7.56467424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters 0.023715639993069575 Centerline is valid? [True, True] Translation: X:377.42, Y:-61.27, Z:-7.57 [[ 9.85580890e-01 1.68285752e-01 1.76129329e-02 3.77422427e+02] [-1.68255827e-01 9.85738240e-01 -3.17793814e-03 -6.12730249e+01] [-1.78965432e-02 1.68636497e-04 9.99839830e-01 -7.56710559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.274012739 meters 0.023520829263449134 Centerline is valid? [True, True] Translation: X:377.45, Y:-61.28, Z:-7.57 [[ 9.85702320e-01 1.67685293e-01 1.65099760e-02 3.77451085e+02] [-1.67658930e-01 9.85840562e-01 -2.97803815e-03 -6.12772219e+01] [-1.67755772e-02 1.67414210e-04 9.99859266e-01 -7.56863330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters 0.02493538714861375 Centerline is valid? [True, True] Translation: X:377.48, Y:-61.28, Z:-7.57 [[ 9.86033691e-01 1.65939663e-01 1.41981620e-02 3.77478523e+02] [-1.65919994e-01 9.86135893e-01 -2.56043084e-03 -6.12845728e+01] [-1.44261942e-02 1.68912118e-04 9.99895923e-01 -7.57375988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.334012739 meters 0.02625501300342738 Centerline is valid? [True, True] Translation: X:377.51, Y:-61.29, Z:-7.58 [[ 9.86330010e-01 1.64216841e-01 1.36359679e-02 3.77505996e+02] [-1.64198540e-01 9.86424247e-01 -2.45866730e-03 -6.12923431e+01] [-1.38546039e-02 1.86051326e-04 9.99904003e-01 -7.57590110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters 0.02944761885434888 Centerline is valid? [True, True] Translation: X:377.53, Y:-61.31, Z:-7.57 [[ 9.86981803e-01 1.60015588e-01 1.61843028e-02 3.77532611e+02] [-1.59989258e-01 9.87114445e-01 -2.91717669e-03 -6.13073875e+01] [-1.64425528e-02 2.89885721e-04 9.99864770e-01 -7.57240587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.394012739 meters 0.032707466826775125 Centerline is valid? [True, True] Translation: X:377.56, Y:-61.32, Z:-7.57 [[ 9.87271902e-01 1.58067048e-01 1.75783701e-02 3.77560463e+02] [-1.58035689e-01 9.87428320e-01 -3.16772385e-03 -6.13200145e+01] [-1.78580932e-02 3.49394924e-04 9.99840470e-01 -7.57000689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters 0.03227632441668432 Centerline is valid? [True, True] Translation: X:377.59, Y:-61.33, Z:-7.57 [[ 9.87473016e-01 1.56763688e-01 1.79496154e-02 3.77589899e+02] [-1.56730781e-01 9.87636067e-01 -3.23438926e-03 -6.13266349e+01] [-1.82347223e-02 3.80614884e-04 9.99833661e-01 -7.56937480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.454012739 meters 0.034232183361628664 Centerline is valid? [True, True] Translation: X:377.62, Y:-61.34, Z:-7.57 [[ 9.87524041e-01 1.56582919e-01 1.66750886e-02 3.77618504e+02] [-1.56554497e-01 9.87664752e-01 -3.00455727e-03 -6.13390601e+01] [-1.69398596e-02 3.56512434e-04 9.99856447e-01 -7.57300684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters 0.033240296530421314 Centerline is valid? [True, True] Translation: X:377.65, Y:-61.35, Z:-7.57 [[ 9.87289811e-01 1.58103349e-01 1.61913543e-02 3.77647238e+02] [-1.58076741e-01 9.87422517e-01 -2.91833364e-03 -6.13454976e+01] [-1.64491062e-02 3.21764549e-04 9.99864653e-01 -7.57465964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.514012739 meters 0.025703455937133725 Centerline is valid? [True, True] Translation: X:377.68, Y:-61.34, Z:-7.57 [[ 9.86396066e-01 1.63555137e-01 1.65081492e-02 3.77678673e+02] [-1.63528233e-01 9.86534166e-01 -2.97580564e-03 -6.13431218e+01] [-1.67725615e-02 2.35774495e-04 9.99859303e-01 -7.57338186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters 0.023468718454225802 Centerline is valid? [True, True] Translation: X:377.71, Y:-61.35, Z:-7.57 [[ 9.85826238e-01 1.66944853e-01 1.66145671e-02 3.77707158e+02] [-1.66918081e-01 9.85966218e-01 -2.99504160e-03 -6.13457147e+01] [-1.68814087e-02 1.79318924e-04 9.99857483e-01 -7.57361142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.574012739 meters 0.021680707285079134 Centerline is valid? [True, True] Translation: X:377.74, Y:-61.35, Z:-7.57 [[ 9.85242495e-01 1.70325763e-01 1.69221939e-02 3.77736634e+02] [-1.70298493e-01 9.85387802e-01 -3.05025070e-03 -6.13487003e+01] [-1.71944597e-02 1.23412499e-04 9.99852157e-01 -7.57357177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters 0.01988656570437913 Centerline is valid? [True, True] Translation: X:377.77, Y:-61.35, Z:-7.57 [[ 9.83905933e-01 1.77769326e-01 1.80881466e-02 3.77765930e+02] [-1.77739432e-01 9.84072186e-01 -3.26001777e-03 -6.13454431e+01] [-1.83795732e-02 -7.42608789e-06 9.99831081e-01 -7.57197920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.634012739 meters 0.020626763153175267 Centerline is valid? [True, True] Translation: X:377.80, Y:-61.34, Z:-7.57 [[ 9.83111816e-01 1.82106565e-01 1.81205910e-02 3.77795483e+02] [-1.82077320e-01 9.83278796e-01 -3.26476012e-03 -6.13442205e+01] [-1.84121271e-02 -8.97243902e-05 9.99830478e-01 -7.57228107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters 0.02446785980802426 Centerline is valid? [True, True] Translation: X:377.82, Y:-61.34, Z:-7.58 [[ 9.81827877e-01 1.89002191e-01 1.70935988e-02 3.77824942e+02] [-1.88977224e-01 9.81976644e-01 -3.07895905e-03 -6.13388846e+01] [-1.73674448e-02 -2.07293015e-04 9.99849153e-01 -7.57577733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.694012739 meters 0.02519529200112235 Centerline is valid? [True, True] Translation: X:377.85, Y:-61.34, Z:-7.58 [[ 9.81432541e-01 1.91099883e-01 1.64621612e-02 3.77853647e+02] [-1.91077034e-01 9.81570568e-01 -2.96447404e-03 -6.13432077e+01] [-1.67252836e-02 -2.36109645e-04 9.99860095e-01 -7.57722316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters 0.029945776734389796 Centerline is valid? [True, True] Translation: X:377.88, Y:-61.34, Z:-7.58 [[ 9.81163339e-01 1.92511605e-01 1.60556440e-02 3.77881952e+02] [-1.92490071e-01 9.81294664e-01 -2.89054259e-03 -6.13403956e+01] [-1.63117808e-02 -2.54457634e-04 9.99866922e-01 -7.58017669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.754012739 meters 0.027034757462194588 Centerline is valid? [True, True] Translation: X:377.91, Y:-61.35, Z:-7.58 [[ 9.81034294e-01 1.93200935e-01 1.56560658e-02 3.77909165e+02] [-1.93180563e-01 9.81159177e-01 -2.81761131e-03 -6.13504647e+01] [-1.59054578e-02 -2.60274292e-04 9.99873466e-01 -7.58003121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters 0.0293948897329815 Centerline is valid? [True, True] Translation: X:377.94, Y:-61.35, Z:-7.58 [[ 9.81123981e-01 1.92578523e-01 1.75854023e-02 3.77936946e+02] [-1.92552738e-01 9.81281526e-01 -3.16387485e-03 -6.13510102e+01] [-1.78655247e-02 -2.81963863e-04 9.99840359e-01 -7.57778010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.814012739 meters 0.026227125729180196 Centerline is valid? [True, True] Translation: X:377.96, Y:-61.36, Z:-7.58 [[ 9.81208654e-01 1.92057262e-01 1.85360627e-02 3.77964574e+02] [-1.92028543e-01 9.81383679e-01 -3.33369494e-03 -6.13606487e+01] [-1.88312497e-02 -2.88402793e-04 9.99822635e-01 -7.57527409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters 0.028803408103190715 Centerline is valid? [True, True] Translation: X:377.99, Y:-61.36, Z:-7.58 [[ 9.81314326e-01 1.91500761e-01 1.86989939e-02 3.77993319e+02] [-1.91471451e-01 9.81492425e-01 -3.36210177e-03 -6.13592475e+01] [-1.89967659e-02 -2.81044866e-04 9.99819506e-01 -7.57601593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.874012739 meters 0.03014586486447089 Centerline is valid? [True, True] Translation: X:378.02, Y:-61.36, Z:-7.58 [[ 9.81165433e-01 1.92383693e-01 1.74042652e-02 3.78022481e+02] [-1.92358459e-01 9.81319743e-01 -3.12829840e-03 -6.13589947e+01] [-1.76809827e-02 -2.78479382e-04 9.99843640e-01 -7.57993360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters 0.02800400000262263 Centerline is valid? [True, True] Translation: X:378.05, Y:-61.37, Z:-7.58 [[ 9.80989913e-01 1.93340443e-01 1.66812686e-02 3.78050130e+02] [-1.93317411e-01 9.81131690e-01 -2.99768119e-03 -6.13667032e+01] [-1.69460943e-02 -2.84084659e-04 9.99856364e-01 -7.58094637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.934012739 meters 0.02851322721148497 Centerline is valid? [True, True] Translation: X:378.08, Y:-61.37, Z:-7.58 [[ 9.80914599e-01 1.93737246e-01 1.65053971e-02 3.78079183e+02] [-1.93714766e-01 9.81053412e-01 -2.96529828e-03 -6.13693291e+01] [-1.67671648e-02 -2.88634769e-04 9.99859380e-01 -7.58217973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters 0.028869366288990266 Centerline is valid? [True, True] Translation: X:378.11, Y:-61.37, Z:-7.58 [[ 9.80910581e-01 1.93714092e-01 1.70083246e-02 3.78106930e+02] [-1.93690231e-01 9.81057981e-01 -3.05492148e-03 -6.13694866e+01] [-1.72779339e-02 -2.97741498e-04 9.99850681e-01 -7.58147439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.994012739 meters 0.028641520328664183 Centerline is valid? [True, True] Translation: X:378.14, Y:-61.37, Z:-7.58 [[ 9.80974419e-01 1.93358104e-01 1.73733573e-02 3.78136059e+02] [-1.93333180e-01 9.81128205e-01 -3.11891502e-03 -6.13727260e+01] [-1.76485584e-02 -2.99270565e-04 9.99844207e-01 -7.58131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters 0.02720865105672758 Centerline is valid? [True, True] Translation: X:378.16, Y:-61.38, Z:-7.58 [[ 9.81305176e-01 1.91546487e-01 1.87108498e-02 3.78163342e+02] [-1.91517265e-01 9.81483500e-01 -3.35809231e-03 -6.13772013e+01] [-1.90076211e-02 -2.88137412e-04 9.99819297e-01 -7.57927052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05401273900003 meters 0.026678621656574957 Centerline is valid? [True, True] Translation: X:378.19, Y:-61.38, Z:-7.58 [[ 9.81440610e-01 1.90806157e-01 1.91661220e-02 3.78191833e+02] [-1.90775378e-01 9.81627695e-01 -3.43864563e-03 -6.13819110e+01] [-1.94701109e-02 -2.81597699e-04 9.99810400e-01 -7.57900170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters 0.026623385019002514 Centerline is valid? [True, True] Translation: X:378.22, Y:-61.39, Z:-7.58 [[ 9.81457162e-01 1.90718410e-01 1.91918771e-02 3.78219398e+02] [-1.90687547e-01 9.81644747e-01 -3.44239314e-03 -6.13850099e+01] [-1.94961331e-02 -2.81090572e-04 9.99809893e-01 -7.57959980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11401273900003 meters 0.027385883867752592 Centerline is valid? [True, True] Translation: X:378.25, Y:-61.38, Z:-7.58 [[ 9.81389031e-01 1.91177356e-01 1.80772794e-02 3.78248120e+02] [-1.91150075e-01 9.81555471e-01 -3.24126763e-03 -6.13833473e+01] [-1.83635095e-02 -2.74528821e-04 9.99831339e-01 -7.58123592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters 0.02781808528633372 Centerline is valid? [True, True] Translation: X:378.28, Y:-61.38, Z:-7.58 [[ 9.81315272e-01 1.91534442e-01 1.83001372e-02 3.78277186e+02] [-1.91506566e-01 9.81485851e-01 -3.28013530e-03 -6.13845918e+01] [-1.85895846e-02 -2.85749576e-04 9.99827158e-01 -7.58159426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.174012739 meters 0.028602675482278902 Centerline is valid? [True, True] Translation: X:378.31, Y:-61.38, Z:-7.58 [[ 9.81151678e-01 1.92213385e-01 1.98846491e-02 3.78305514e+02] [-1.92180631e-01 9.81353101e-01 -3.56315269e-03 -6.13823574e+01] [-2.01987477e-02 -3.25451187e-04 9.99795932e-01 -7.57921092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters 0.028267984267901156 Centerline is valid? [True, True] Translation: X:378.33, Y:-61.39, Z:-7.58 [[ 9.81222833e-01 1.91800654e-01 2.03534106e-02 3.78334295e+02] [-1.91766274e-01 9.81433851e-01 -3.64596297e-03 -6.13853824e+01] [-2.06748242e-02 -3.25595590e-04 9.99786200e-01 -7.57803388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.234012739 meters 0.02720763373966104 Centerline is valid? [True, True] Translation: X:378.36, Y:-61.39, Z:-7.58 [[ 9.81339856e-01 1.91109902e-01 2.11917936e-02 3.78362850e+02] [-1.91072491e-01 9.81568592e-01 -3.79514263e-03 -6.13896363e+01] [-2.15264883e-02 -3.24844076e-04 9.99768226e-01 -7.57657665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters 0.02720763373966104 Centerline is valid? [True, True] Translation: X:378.39, Y:-61.39, Z:-7.58 [[ 9.81352722e-01 1.91043804e-01 2.11919687e-02 3.78389933e+02] [-1.91006399e-01 9.81581459e-01 -3.79416497e-03 -6.13943437e+01] [-2.15264952e-02 -3.24387492e-04 9.99768226e-01 -7.57713500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.294012739 meters 0.02667913045443704 Centerline is valid? [True, True] Translation: X:378.42, Y:-61.40, Z:-7.58 [[ 9.81503616e-01 1.90233567e-01 2.14904959e-02 3.78418258e+02] [-1.90194939e-01 9.81738811e-01 -3.84613450e-03 -6.13977323e+01] [-2.18297178e-02 -3.12388640e-04 9.99761655e-01 -7.57716525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters 0.023926257156352798 Centerline is valid? [True, True] Translation: X:378.45, Y:-61.41, Z:-7.58 [[ 9.81852319e-01 1.88414803e-01 2.15843932e-02 3.78446399e+02] [-1.88375419e-01 9.82089500e-01 -3.86193399e-03 -6.14050102e+01] [-2.19254515e-02 -2.74120288e-04 9.99759571e-01 -7.57864077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.354012739 meters 0.02347960751994515 Centerline is valid? [True, True] Translation: X:378.47, Y:-61.41, Z:-7.58 [[ 9.82139218e-01 1.86919273e-01 2.15346676e-02 3.78473443e+02] [-1.86879735e-01 9.82375248e-01 -3.85195085e-03 -6.14097549e+01] [-2.18751283e-02 -2.41240971e-04 9.99760682e-01 -7.57968681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters 0.02137841463172522 Centerline is valid? [True, True] Translation: X:378.50, Y:-61.42, Z:-7.58 [[ 9.82795525e-01 1.83527249e-01 2.07534494e-02 3.78501342e+02] [-1.83489797e-01 9.83014610e-01 -3.71098735e-03 -6.14176331e+01] [-2.10820113e-02 -1.60904473e-04 9.99777737e-01 -7.58230259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.414012739 meters 0.020755910075570386 Centerline is valid? [True, True] Translation: X:378.53, Y:-61.42, Z:-7.58 [[ 9.83168743e-01 1.81631524e-01 1.97284608e-02 3.78528881e+02] [-1.81597317e-01 9.83366654e-01 -3.52677607e-03 -6.14232969e+01] [-2.00408842e-02 -1.15219550e-04 9.99799155e-01 -7.58490613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters 0.020274954411512083 Centerline is valid? [True, True] Translation: X:378.56, Y:-61.43, Z:-7.59 [[ 9.83815822e-01 1.78323656e-01 1.75243508e-02 3.78555405e+02] [-1.78296158e-01 9.83971886e-01 -3.13180943e-03 -6.14316761e+01] [-1.78019442e-02 -4.34007484e-05 9.99841532e-01 -7.58973369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.474012739 meters 0.02012860044248479 Centerline is valid? [True, True] Translation: X:378.58, Y:-61.44, Z:-7.59 [[ 9.84166317e-01 1.76450304e-01 1.67913839e-02 3.78581747e+02] [-1.76424800e-01 9.84309550e-01 -2.99992804e-03 -6.14399649e+01] [-1.70572577e-02 -9.98842130e-06 9.99854514e-01 -7.59262235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters 0.020269498647456214 Centerline is valid? [True, True] Translation: X:378.61, Y:-61.45, Z:-7.59 [[ 9.84481515e-01 1.74725436e-01 1.63453265e-02 3.78609500e+02] [-1.74701056e-01 9.84617196e-01 -2.91877151e-03 -6.14494852e+01] [-1.66038732e-02 1.79307898e-05 9.99862146e-01 -7.59323412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.534012739 meters 0.021072507551328674 Centerline is valid? [True, True] Translation: X:378.64, Y:-61.46, Z:-7.60 [[ 9.85156352e-01 1.70902780e-01 1.60997556e-02 3.78636335e+02] [-1.70878629e-01 9.85287894e-01 -2.87416093e-03 -6.14632017e+01] [-1.63540964e-02 8.03937335e-05 9.99866260e-01 -7.59507202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters 0.02107255905264129 Centerline is valid? [True, True] Translation: X:378.66, Y:-61.47, Z:-7.59 [[ 9.85343254e-01 1.69822165e-01 1.60967397e-02 3.78664073e+02] [-1.69797892e-01 9.85474720e-01 -2.87281240e-03 -6.14697342e+01] [-1.63507972e-02 9.75138545e-05 9.99866312e-01 -7.59426386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.594012739 meters 0.021140338522026084 Centerline is valid? [True, True] Translation: X:378.69, Y:-61.48, Z:-7.60 [[ 9.85207740e-01 1.70690472e-01 1.51812698e-02 3.78691240e+02] [-1.70668991e-01 9.85324696e-01 -2.70901498e-03 -6.14753207e+01] [-1.54208831e-02 7.79705190e-05 9.99881088e-01 -7.59725537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters 0.02113169998272698 Centerline is valid? [True, True] Translation: X:378.72, Y:-61.48, Z:-7.60 [[ 9.85026278e-01 1.71801876e-01 1.43995619e-02 3.78718288e+02] [-1.71782682e-01 9.85131520e-01 -2.56865262e-03 -6.14802679e+01] [-1.46267616e-02 5.65949747e-05 9.99893022e-01 -7.60010952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.654012739 meters 0.021011422985269864 Centerline is valid? [True, True] Translation: X:378.75, Y:-61.49, Z:-7.60 [[ 9.84879337e-01 1.72645542e-01 1.43599540e-02 3.78746734e+02] [-1.72626556e-01 9.84984018e-01 -2.56066450e-03 -6.14852247e+01] [-1.45864125e-02 4.30361416e-05 9.99893612e-01 -7.60135816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters 0.020240425098318762 Centerline is valid? [True, True] Translation: X:378.78, Y:-61.49, Z:-7.60 [[ 9.84488778e-01 1.74701987e-01 1.61574164e-02 3.78775682e+02] [-1.74678242e-01 9.84621356e-01 -2.88033670e-03 -6.14875205e+01] [-1.64121377e-02 1.33100710e-05 9.99865312e-01 -7.59661579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.714012739 meters 0.02007415213101764 Centerline is valid? [True, True] Translation: X:378.80, Y:-61.49, Z:-7.59 [[ 9.84194377e-01 1.76260199e-01 1.71397132e-02 3.78804654e+02] [-1.76233730e-01 9.84343610e-01 -3.05458099e-03 -6.14891183e+01] [-1.74097683e-02 -1.42941525e-05 9.99848438e-01 -7.59460215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters 0.020643675221392977 Centerline is valid? [True, True] Translation: X:378.83, Y:-61.49, Z:-7.60 [[ 9.83717690e-01 1.79013784e-01 1.59239322e-02 3.78834189e+02] [-1.78991308e-01 9.83846564e-01 -2.83722569e-03 -6.14887433e+01] [-1.61746085e-02 -5.92163611e-05 9.99869181e-01 -7.59771154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.774012739 meters 0.02111942732693089 Centerline is valid? [True, True] Translation: X:378.86, Y:-61.49, Z:-7.60 [[ 9.83575521e-01 1.79838702e-01 1.54024706e-02 3.78862011e+02] [-1.79817786e-01 9.83696110e-01 -2.74359303e-03 -6.14913509e+01] [-1.56447546e-02 -7.11072142e-05 9.99877611e-01 -7.59971141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters 0.02093911953311511 Centerline is valid? [True, True] Translation: X:378.89, Y:-61.50, Z:-7.60 [[ 9.83541076e-01 1.80018042e-01 1.55066352e-02 3.78889803e+02] [-1.79996876e-01 9.83663306e-01 -2.76150116e-03 -6.14958625e+01] [-1.57504281e-02 -7.50960710e-05 9.99875951e-01 -7.59955186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.834012739 meters 0.02040651078241378 Centerline is valid? [True, True] Translation: X:378.92, Y:-61.50, Z:-7.60 [[ 9.83999494e-01 1.77472897e-01 1.57596603e-02 3.78916426e+02] [-1.77450728e-01 9.84125688e-01 -2.80529503e-03 -6.15025899e+01] [-1.60073504e-02 -3.61543055e-05 9.99871874e-01 -7.60013243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters 0.02023422592606246 Centerline is valid? [True, True] Translation: X:378.94, Y:-61.51, Z:-7.60 [[ 9.84314368e-01 1.75697514e-01 1.59877453e-02 3.78942828e+02] [-1.75674481e-01 9.84444200e-01 -2.84488240e-03 -6.15106072e+01] [-1.62388819e-02 -8.38023635e-06 9.99868141e-01 -7.60050823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.894012739 meters 0.02006387452228203 Centerline is valid? [True, True] Translation: X:378.97, Y:-61.52, Z:-7.60 [[ 9.84642547e-01 1.73690920e-01 1.76215732e-02 3.78969597e+02] [-1.73662638e-01 9.84800215e-01 -3.13442370e-03 -6.15216884e+01] [-1.78981501e-02 2.60780514e-05 9.99839815e-01 -7.59768384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters 0.020120569846621854 Centerline is valid? [True, True] Translation: X:379.00, Y:-61.53, Z:-7.60 [[ 9.84742666e-01 1.73034195e-01 1.84675115e-02 3.78998152e+02] [-1.73003041e-01 9.84915817e-01 -3.28360443e-03 -6.15281073e+01] [-1.87571201e-02 3.85697357e-05 9.99824069e-01 -7.59653999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.954012739 meters 0.020139861593526525 Centerline is valid? [True, True] Translation: X:379.03, Y:-61.53, Z:-7.60 [[ 9.84825582e-01 1.72538595e-01 1.86817284e-02 3.79026342e+02] [-1.72506642e-01 9.85002757e-01 -3.32079564e-03 -6.15333844e+01] [-1.89745193e-02 4.76822753e-05 9.99819966e-01 -7.59689543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters 0.02049594795890268 Centerline is valid? [True, True] Translation: X:379.05, Y:-61.54, Z:-7.60 [[ 9.85060714e-01 1.71320229e-01 1.74576463e-02 3.79053713e+02] [-1.71292149e-01 9.85215395e-01 -3.10243835e-03 -6.15413256e+01] [-1.77310524e-02 6.57323874e-05 9.99842790e-01 -7.60012465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.014012739 meters 0.02084525690457951 Centerline is valid? [True, True] Translation: X:379.08, Y:-61.55, Z:-7.60 [[ 9.85241202e-01 1.70348343e-01 1.67695207e-02 3.79081797e+02] [-1.70322305e-01 9.85383903e-01 -2.97938097e-03 -6.15497867e+01] [-1.70319483e-02 7.91854728e-05 9.99854943e-01 -7.60174376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters 0.021262580515303726 Centerline is valid? [True, True] Translation: X:379.11, Y:-61.56, Z:-7.60 [[ 9.85359098e-01 1.69691754e-01 1.64971862e-02 3.79108515e+02] [-1.69666475e-01 9.85497185e-01 -2.93024743e-03 -6.15583932e+01] [-1.67551694e-02 8.83265232e-05 9.99859618e-01 -7.60285620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.074012739 meters 0.020747310726055512 Centerline is valid? [True, True] Translation: X:379.14, Y:-61.56, Z:-7.60 [[ 9.85201562e-01 1.70414926e-01 1.83476387e-02 3.79136774e+02] [-1.70383807e-01 9.85372390e-01 -3.25764359e-03 -6.15628364e+01] [-1.86344077e-02 8.32950268e-05 9.99826361e-01 -7.59855347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters 0.020195344241606485 Centerline is valid? [True, True] Translation: X:379.17, Y:-61.57, Z:-7.60 [[ 9.84974809e-01 1.71625788e-01 1.92149301e-02 3.79165640e+02] [-1.71591906e-01 9.85162212e-01 -3.41069754e-03 -6.15663309e+01] [-1.95151867e-02 6.23246859e-05 9.99809559e-01 -7.59778741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.134012739 meters 0.020018365298814247 Centerline is valid? [True, True] Translation: X:379.19, Y:-61.57, Z:-7.60 [[ 9.84395910e-01 1.75035615e-01 1.80894084e-02 3.79194672e+02] [-1.75006176e-01 9.84562102e-01 -3.21010610e-03 -6.15667360e+01] [-1.83720289e-02 -5.74288261e-06 9.99831220e-01 -7.60036290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters 0.020417152523382668 Centerline is valid? [True, True] Translation: X:379.22, Y:-61.57, Z:-7.60 [[ 9.84039418e-01 1.77182272e-01 1.65186915e-02 3.79222497e+02] [-1.77158038e-01 9.84178053e-01 -2.93069048e-03 -6.15668337e+01] [-1.67766000e-02 -4.25040143e-05 9.99859262e-01 -7.60388105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.194012739 meters 0.021031612291812322 Centerline is valid? [True, True] Translation: X:379.25, Y:-61.57, Z:-7.61 [[ 9.83599451e-01 1.79679992e-01 1.57232342e-02 3.79251729e+02] [-1.79658370e-01 9.83725111e-01 -2.78861176e-03 -6.15668591e+01] [-1.59683980e-02 -8.19336239e-05 9.99872494e-01 -7.60596056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters 0.022898076478738587 Centerline is valid? [True, True] Translation: X:379.28, Y:-61.57, Z:-7.60 [[ 9.82755155e-01 1.84087309e-01 1.74404031e-02 3.79281116e+02] [-1.84061416e-01 9.82909881e-01 -3.09220757e-03 -6.15654720e+01] [-1.77115807e-02 -1.71222371e-04 9.99843123e-01 -7.60356930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.254012739 meters 0.023189013549674994 Centerline is valid? [True, True] Translation: X:379.31, Y:-61.57, Z:-7.60 [[ 9.82620315e-01 1.84646395e-01 1.90532396e-02 3.79309110e+02] [-1.84615616e-01 9.82805001e-01 -3.37715276e-03 -6.15696526e+01] [-1.93491982e-02 -1.99066651e-04 9.99812767e-01 -7.60093904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters 0.023024100740874767 Centerline is valid? [True, True] Translation: X:379.34, Y:-61.57, Z:-7.60 [[ 9.82695723e-01 1.84326588e-01 1.82434724e-02 3.79336465e+02] [-1.84298334e-01 9.82865034e-01 -3.23258675e-03 -6.15740527e+01] [-1.85267228e-02 -1.85592392e-04 9.99828348e-01 -7.60304750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.314012739 meters 0.022901471498057453 Centerline is valid? [True, True] Translation: X:379.36, Y:-61.58, Z:-7.61 [[ 9.82828196e-01 1.83719853e-01 1.71974884e-02 3.79363240e+02] [-1.83694673e-01 9.82978631e-01 -3.04607049e-03 -6.15793718e+01] [-1.74643872e-02 -1.65323049e-04 9.99847472e-01 -7.60579261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters 0.02269962317308631 Centerline is valid? [True, True] Translation: X:379.39, Y:-61.59, Z:-7.61 [[ 9.82957495e-01 1.83035388e-01 1.71058637e-02 3.79391226e+02] [-1.83010395e-01 9.83106313e-01 -3.02854172e-03 -6.15862944e+01] [-1.73712129e-02 -1.53623095e-04 9.99849097e-01 -7.60660132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.374012739 meters 0.022021982637980234 Centerline is valid? [True, True] Translation: X:379.42, Y:-61.59, Z:-7.60 [[ 9.83049297e-01 1.82280184e-01 1.96980515e-02 3.79418993e+02] [-1.82246912e-01 9.83246616e-01 -3.48638652e-03 -6.15943931e+01] [-2.00035417e-02 -1.62619252e-04 9.99799896e-01 -7.60259727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters 0.021909253677295966 Centerline is valid? [True, True] Translation: X:379.45, Y:-61.60, Z:-7.60 [[ 9.83085164e-01 1.82037452e-01 2.01475995e-02 3.79446604e+02] [-1.82002614e-01 9.83291584e-01 -3.56495653e-03 -6.15990968e+01] [-2.04599207e-02 -1.62259905e-04 9.99790661e-01 -7.60184813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.434012739 meters 0.022401281905147025 Centerline is valid? [True, True] Translation: X:379.48, Y:-61.60, Z:-7.61 [[ 9.83032423e-01 1.82565232e-01 1.78098559e-02 3.79475086e+02] [-1.82538118e-01 9.83193731e-01 -3.15014596e-03 -6.16036750e+01] [-1.80856458e-02 -1.54281956e-04 9.99836429e-01 -7.60787337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters 0.02278763026036383 Centerline is valid? [True, True] Translation: X:379.50, Y:-61.61, Z:-7.61 [[ 9.82990432e-01 1.82858153e-01 1.71086804e-02 3.79503292e+02] [-1.82833190e-01 9.83139294e-01 -3.02532651e-03 -6.16094648e+01] [-1.73734216e-02 -1.54167606e-04 9.99849059e-01 -7.61014633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.494012739 meters 0.022998044675754392 Centerline is valid? [True, True] Translation: X:379.53, Y:-61.61, Z:-7.61 [[ 9.82957577e-01 1.83064931e-01 1.67819368e-02 3.79530159e+02] [-1.83040955e-01 9.83100812e-01 -2.96678520e-03 -6.16146927e+01] [-1.70414500e-02 -1.55557753e-04 9.99854772e-01 -7.61132277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters 0.023698104841975435 Centerline is valid? [True, True] Translation: X:379.56, Y:-61.62, Z:-7.61 [[ 9.82717226e-01 1.84301225e-01 1.73179756e-02 3.79558153e+02] [-1.84275903e-01 9.82869790e-01 -3.06051661e-03 -6.16164336e+01] [-1.75853721e-02 -1.83663214e-04 9.99845349e-01 -7.60922152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55401273900003 meters 0.02445352473142278 Centerline is valid? [True, True] Translation: X:379.59, Y:-61.62, Z:-7.61 [[ 9.82525653e-01 1.85295473e-01 1.75763576e-02 3.79586579e+02] [-1.85269575e-01 9.82682830e-01 -3.10471309e-03 -6.16184732e+01] [-1.78472741e-02 -2.05904059e-04 9.99840704e-01 -7.60952546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters 0.02492234695436189 Centerline is valid? [True, True] Translation: X:379.62, Y:-61.62, Z:-7.61 [[ 9.82393538e-01 1.86005646e-01 1.74595662e-02 3.79615565e+02] [-1.85980230e-01 9.82548651e-01 -3.08258113e-03 -6.16213863e+01] [-1.77282507e-02 -2.18826353e-04 9.99842818e-01 -7.61004066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61401273900003 meters 0.023734122518375637 Centerline is valid? [True, True] Translation: X:379.64, Y:-61.63, Z:-7.61 [[ 9.82676822e-01 1.84397782e-01 1.85397197e-02 3.79643280e+02] [-1.84368855e-01 9.82851676e-01 -3.27234176e-03 -6.16304583e+01] [-1.88252072e-02 -2.02492494e-04 9.99822770e-01 -7.60938574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters 0.023007548793415347 Centerline is valid? [True, True] Translation: X:379.67, Y:-61.64, Z:-7.61 [[ 9.83059515e-01 1.82271246e-01 1.92660853e-02 3.79670565e+02] [-1.82239619e-01 9.83248272e-01 -3.39958005e-03 -6.16390502e+01] [-1.95629908e-02 -1.69054525e-04 9.99808612e-01 -7.60873801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.674012739 meters 0.02101748486853458 Centerline is valid? [True, True] Translation: X:379.70, Y:-61.66, Z:-7.61 [[ 9.83861241e-01 1.78015480e-01 1.80982954e-02 3.79696708e+02] [-1.77986865e-01 9.84027684e-01 -3.19270253e-03 -6.16555608e+01] [-1.83775741e-02 -8.00825851e-05 9.99831115e-01 -7.61127503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters 0.020889589992250105 Centerline is valid? [True, True] Translation: X:379.72, Y:-61.67, Z:-7.62 [[ 9.84156060e-01 1.76533903e-01 1.65115421e-02 3.79724490e+02] [-1.76509889e-01 9.84294559e-01 -2.91209826e-03 -6.16650378e+01] [-1.67663051e-02 -4.84913058e-05 9.99859434e-01 -7.61506762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.734012739 meters 0.02085652200259147 Centerline is valid? [True, True] Translation: X:379.75, Y:-61.67, Z:-7.62 [[ 9.84348628e-01 1.75563585e-01 1.53364053e-02 3.79752426e+02] [-1.75542760e-01 9.84468093e-01 -2.70420164e-03 -6.16739763e+01] [-1.55729610e-02 -3.03177322e-05 9.99878734e-01 -7.61838930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters 0.020792531497989576 Centerline is valid? [True, True] Translation: X:379.78, Y:-61.68, Z:-7.62 [[ 9.84250335e-01 1.76031781e-01 1.62508452e-02 3.79779636e+02] [-1.76008475e-01 9.84384483e-01 -2.86465632e-03 -6.16826785e+01] [-1.65013504e-02 -4.07475419e-05 9.99863843e-01 -7.61630046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.794012739 meters 0.02096938248739784 Centerline is valid? [True, True] Translation: X:379.81, Y:-61.69, Z:-7.61 [[ 9.83971389e-01 1.77459953e-01 1.75576312e-02 3.79808719e+02] [-1.77432996e-01 9.84128020e-01 -3.09384910e-03 -6.16863243e+01] [-1.78279912e-02 -7.10441009e-05 9.99841066e-01 -7.61344701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters 0.023523886308681238 Centerline is valid? [True, True] Translation: X:379.84, Y:-61.68, Z:-7.61 [[ 9.82986418e-01 1.82736199e-01 1.85790910e-02 3.79837362e+02] [-1.82706972e-01 9.83161965e-01 -3.27293630e-03 -6.16837262e+01] [-1.88643396e-02 -1.77277540e-04 9.99822037e-01 -7.61181847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.854012739 meters 0.02558461450898202 Centerline is valid? [True, True] Translation: X:379.87, Y:-61.69, Z:-7.61 [[ 9.82393013e-01 1.85931338e-01 1.82621163e-02 3.79866191e+02] [-1.85903671e-01 9.82562712e-01 -3.21603679e-03 -6.16850867e+01] [-1.85416365e-02 -2.35582395e-04 9.99828061e-01 -7.61240173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters 0.02855176547302632 Centerline is valid? [True, True] Translation: X:379.89, Y:-61.68, Z:-7.61 [[ 9.81891944e-01 1.88578466e-01 1.80657726e-02 3.79894279e+02] [-1.88551852e-01 9.82058085e-01 -3.18069461e-03 -6.16845553e+01] [-1.83414486e-02 -2.83236485e-04 9.99831741e-01 -7.61320352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.914012739 meters 0.02954550772497061 Centerline is valid? [True, True] Translation: X:379.92, Y:-61.69, Z:-7.61 [[ 9.81304329e-01 1.91543722e-01 1.87834146e-02 3.79922864e+02] [-1.91515526e-01 9.81484018e-01 -3.30542902e-03 -6.16875977e+01] [-1.90687554e-02 -3.53683707e-04 9.99818112e-01 -7.61305685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters 0.03087940348737236 Centerline is valid? [True, True] Translation: X:379.95, Y:-61.69, Z:-7.62 [[ 9.81160057e-01 1.92303637e-01 1.85540611e-02 3.79950504e+02] [-1.92276276e-01 9.81335406e-01 -3.26424109e-03 -6.16901359e+01] [-1.88354825e-02 -3.64762811e-04 9.99822530e-01 -7.61558561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.974012739 meters 0.030532900600590943 Centerline is valid? [True, True] Translation: X:379.98, Y:-61.70, Z:-7.62 [[ 9.81119874e-01 1.92560906e-01 1.80024937e-02 3.79978791e+02] [-1.92535219e-01 9.81284957e-01 -3.16573351e-03 -6.16966552e+01] [-1.82751728e-02 -3.60150001e-04 9.99832930e-01 -7.61694692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters 0.03076711137275211 Centerline is valid? [True, True] Translation: X:380.01, Y:-61.70, Z:-7.62 [[ 9.81031750e-01 1.93056535e-01 1.74894410e-02 3.80007581e+02] [-1.93032383e-01 9.81187569e-01 -3.07470758e-03 -6.17015342e+01] [-1.77540145e-02 -3.59642719e-04 9.99842320e-01 -7.61766269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.034012739 meters 0.03137311984764752 Centerline is valid? [True, True] Translation: X:380.04, Y:-61.71, Z:-7.62 [[ 9.80961497e-01 1.93462048e-01 1.69404057e-02 3.80035671e+02] [-1.93439463e-01 9.81107695e-01 -2.97740122e-03 -6.17058974e+01] [-1.71963765e-02 -3.56227027e-04 9.99852068e-01 -7.61865995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters 0.03204228753663381 Centerline is valid? [True, True] Translation: X:380.06, Y:-61.71, Z:-7.62 [[ 9.81084328e-01 1.92782437e-01 1.75634324e-02 3.80063669e+02] [-1.92758067e-01 9.81241461e-01 -3.08605568e-03 -6.17096082e+01] [-1.78289054e-02 -3.57812421e-04 9.99840988e-01 -7.61818052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.094012739 meters 0.032959609526206815 Centerline is valid? [True, True] Translation: X:380.09, Y:-61.71, Z:-7.62 [[ 9.81167259e-01 1.92295055e-01 1.82598476e-02 3.80091893e+02] [-1.92268650e-01 9.81337088e-01 -3.20728224e-03 -6.17116543e+01] [-1.85358102e-02 -3.63915937e-04 9.99828131e-01 -7.61751958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters 0.03170343742594761 Centerline is valid? [True, True] Translation: X:380.12, Y:-61.72, Z:-7.62 [[ 9.81170237e-01 1.92273726e-01 1.83243103e-02 3.80119489e+02] [-1.92247150e-01 9.81341266e-01 -3.21757350e-03 -6.17179006e+01] [-1.86010567e-02 -3.65809070e-04 9.99826918e-01 -7.61812443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.154012739 meters 0.03170343742594761 Centerline is valid? [True, True] Translation: X:380.15, Y:-61.72, Z:-7.62 [[ 9.81183087e-01 1.92208122e-01 1.83245249e-02 3.80146591e+02] [-1.92181558e-01 9.81354117e-01 -3.21635086e-03 -6.17225182e+01] [-1.86010567e-02 -3.65806679e-04 9.99826918e-01 -7.61868285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters 0.03178919916120977 Centerline is valid? [True, True] Translation: X:380.17, Y:-61.73, Z:-7.62 [[ 9.81209904e-01 1.92114119e-01 1.78686931e-02 3.80174223e+02] [-1.92088866e-01 9.81372528e-01 -3.13514512e-03 -6.17271354e+01] [-1.81381502e-02 -3.56141547e-04 9.99835427e-01 -7.62015237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.214012739 meters 0.03176876011532495 Centerline is valid? [True, True] Translation: X:380.20, Y:-61.73, Z:-7.62 [[ 9.81286160e-01 1.91769284e-01 1.73785650e-02 3.80202327e+02] [-1.91745365e-01 9.81439975e-01 -3.04793252e-03 -6.17324266e+01] [-1.76405183e-02 -3.41365286e-04 9.99844336e-01 -7.62174226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters 0.02766163563406714 Centerline is valid? [True, True] Translation: X:380.23, Y:-61.75, Z:-7.62 [[ 9.81769244e-01 1.89275609e-01 1.74325766e-02 3.80229157e+02] [-1.89251161e-01 9.81923956e-01 -3.05661591e-03 -6.17451925e+01] [-1.76960074e-02 -2.98243875e-04 9.99843369e-01 -7.62211725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.274012739 meters 0.025486350394177983 Centerline is valid? [True, True] Translation: X:380.26, Y:-61.76, Z:-7.62 [[ 9.82444021e-01 1.85631336e-01 1.85675411e-02 3.80255344e+02] [-1.85602968e-01 9.82619431e-01 -3.25466822e-03 -6.17555717e+01] [-1.88489951e-02 -2.48661413e-04 9.99822311e-01 -7.62087170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters 0.0257378317898905 Centerline is valid? [True, True] Translation: X:380.28, Y:-61.76, Z:-7.62 [[ 9.82782320e-01 1.83801578e-01 1.88650785e-02 3.80282942e+02] [-1.83771979e-01 9.82963342e-01 -3.30565963e-03 -6.17599273e+01] [-1.91512661e-02 -2.18128980e-04 9.99816574e-01 -7.62112294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.334012739 meters 0.023032109432398192 Centerline is valid? [True, True] Translation: X:380.31, Y:-61.77, Z:-7.62 [[ 9.83056429e-01 1.82331267e-01 1.88511730e-02 3.80310657e+02] [-1.82301463e-01 9.83237140e-01 -3.30210006e-03 -6.17702026e+01] [-1.91372495e-02 -1.90445728e-04 9.99816848e-01 -7.62072239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters 0.02253682833824605 Centerline is valid? [True, True] Translation: X:380.34, Y:-61.77, Z:-7.62 [[ 9.83278619e-01 1.81176721e-01 1.83889511e-02 3.80337917e+02] [-1.81148175e-01 9.83450542e-01 -3.22028711e-03 -6.17739069e+01] [-1.86680650e-02 -1.64685471e-04 9.99825723e-01 -7.62159397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.394012739 meters 0.022755682271074367 Centerline is valid? [True, True] Translation: X:380.37, Y:-61.78, Z:-7.62 [[ 9.83258947e-01 1.81342066e-01 1.78016417e-02 3.80366008e+02] [-1.81315360e-01 9.83420067e-01 -3.11637417e-03 -6.17778810e+01] [-1.80716214e-02 -1.63508294e-04 9.99836682e-01 -7.62325434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters 0.022361216404405866 Centerline is valid? [True, True] Translation: X:380.39, Y:-61.78, Z:-7.63 [[ 9.83441361e-01 1.80489067e-01 1.63336042e-02 3.80393894e+02] [-1.80466478e-01 9.83576981e-01 -2.85866726e-03 -6.17831227e+01] [-1.65813153e-02 -1.36336410e-04 9.99862511e-01 -7.62763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.454012739 meters 0.022043845012023663 Centerline is valid? [True, True] Translation: X:380.42, Y:-61.79, Z:-7.63 [[ 9.83712187e-01 1.79004210e-01 1.63653948e-02 3.80421314e+02] [-1.78981341e-01 9.83848301e-01 -2.86348712e-03 -6.17885589e+01] [-1.66136422e-02 -1.12253138e-04 9.99861978e-01 -7.62909154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters 0.02100962213732654 Centerline is valid? [True, True] Translation: X:380.45, Y:-61.80, Z:-7.63 [[ 9.84161430e-01 1.76425608e-01 1.73287099e-02 3.80449111e+02] [-1.76399588e-01 9.84313974e-01 -3.03081614e-03 -6.17967354e+01] [-1.75916049e-02 -7.39649412e-05 9.99845253e-01 -7.62755966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.514012739 meters 0.020285860963751526 Centerline is valid? [True, True] Translation: X:380.48, Y:-61.81, Z:-7.63 [[ 9.85153008e-01 1.70652315e-01 1.87440225e-02 3.80476789e+02] [-1.70620844e-01 9.85331308e-01 -3.27736992e-03 -6.18116507e+01] [-1.90283630e-02 3.05898890e-05 9.99818944e-01 -7.62601864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters 0.02081490954897207 Centerline is valid? [True, True] Translation: X:380.50, Y:-61.82, Z:-7.63 [[ 9.85584301e-01 1.68144724e-01 1.87333177e-02 3.80504422e+02] [-1.68112845e-01 9.85762317e-01 -3.27501800e-03 -6.18226099e+01] [-1.90172757e-02 7.84949889e-05 9.99819152e-01 -7.62638104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.574012739 meters 0.022693491987147575 Centerline is valid? [True, True] Translation: X:380.53, Y:-61.84, Z:-7.63 [[ 9.86290147e-01 1.64034910e-01 1.80081665e-02 3.80532169e+02] [-1.64004770e-01 9.86454523e-01 -3.14803224e-03 -6.18365289e+01] [-1.82806245e-02 1.51447977e-04 9.99832884e-01 -7.62841004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters 0.023112010548684905 Centerline is valid? [True, True] Translation: X:380.56, Y:-61.84, Z:-7.63 [[ 9.86641324e-01 1.61916594e-01 1.79419601e-02 3.80562196e+02] [-1.61886330e-01 9.86804429e-01 -3.13617399e-03 -6.18442381e+01] [-1.82130043e-02 1.89720785e-04 9.99834111e-01 -7.62897781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.634012739 meters 0.02530973548191118 Centerline is valid? [True, True] Translation: X:380.59, Y:-61.86, Z:-7.63 [[ 9.86983621e-01 1.59816544e-01 1.79445001e-02 3.80591816e+02] [-1.59785921e-01 9.87146706e-01 -3.13678549e-03 -6.18574024e+01] [-1.82151644e-02 2.28677413e-04 9.99834064e-01 -7.63031680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters 0.027050045432119096 Centerline is valid? [True, True] Translation: X:380.62, Y:-61.88, Z:-7.63 [[ 9.87617236e-01 1.55736047e-01 1.89335113e-02 3.80621310e+02] [-1.55701141e-01 9.87798653e-01 -3.31303596e-03 -6.18751443e+01] [-1.92184561e-02 3.24042107e-04 9.99815256e-01 -7.62891242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.694012739 meters 0.028727348097735275 Centerline is valid? [True, True] Translation: X:380.65, Y:-61.89, Z:-7.63 [[ 9.87784760e-01 1.54697324e-01 1.87084505e-02 3.80651022e+02] [-1.54663042e-01 9.87961852e-01 -3.27442913e-03 -6.18869268e+01] [-1.89897808e-02 3.40925336e-04 9.99819620e-01 -7.62913337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters 0.03583544718769056 Centerline is valid? [True, True] Translation: X:380.68, Y:-61.89, Z:-7.62 [[ 9.87417525e-01 1.57224902e-01 1.69399572e-02 3.80683182e+02] [-1.57197121e-01 9.87562787e-01 -2.96760047e-03 -6.18934278e+01] [-1.71958521e-02 2.67348214e-04 9.99852105e-01 -7.62259570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.754012739 meters 0.024620920768048254 Centerline is valid? [True, True] Translation: X:380.71, Y:-61.90, Z:-7.63 [[ 9.86877272e-01 1.60515121e-01 1.75540812e-02 3.80713837e+02] [-1.60485793e-01 9.87033357e-01 -3.07606273e-03 -6.18973367e+01] [-1.78202182e-02 2.18515755e-04 9.99841183e-01 -7.63202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters 0.022743189152584633 Centerline is valid? [True, True] Translation: X:380.74, Y:-61.90, Z:-7.63 [[ 9.86235546e-01 1.64307054e-01 1.85105567e-02 3.80744670e+02] [-1.64275051e-01 9.86409228e-01 -3.24677374e-03 -6.19001714e+01] [-1.87924518e-02 1.61261016e-04 9.99823393e-01 -7.63135684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.814012739 meters 0.020309638571919177 Centerline is valid? [True, True] Translation: X:380.78, Y:-61.90, Z:-7.63 [[ 9.85005712e-01 1.71424343e-01 1.94278516e-02 3.80776397e+02] [-1.71390407e-01 9.85197287e-01 -3.41095242e-03 -6.18967062e+01] [-1.97249869e-02 3.00602279e-05 9.99805443e-01 -7.63066013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters 0.020387394369912392 Centerline is valid? [True, True] Translation: X:380.81, Y:-61.90, Z:-7.63 [[ 9.84414791e-01 1.74851083e-01 1.88313152e-02 3.80806998e+02] [-1.74819826e-01 9.84594890e-01 -3.30621840e-03 -6.18976884e+01] [-1.91193126e-02 -3.73969629e-05 9.99817209e-01 -7.63262722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.874012739 meters 0.022299630877643774 Centerline is valid? [True, True] Translation: X:380.84, Y:-61.89, Z:-7.64 [[ 9.83377763e-01 1.80786673e-01 1.68627975e-02 3.80835923e+02] [-1.80762479e-01 9.83522323e-01 -2.96075841e-03 -6.18948999e+01] [-1.71202034e-02 -1.36617097e-04 9.99853429e-01 -7.63669555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters 0.02394850098129019 Centerline is valid? [True, True] Translation: X:380.87, Y:-61.90, Z:-7.64 [[ 9.82846629e-01 1.83713179e-01 1.61855431e-02 3.80865038e+02] [-1.83691298e-01 9.82979875e-01 -2.84109612e-03 -6.18957261e+01] [-1.64320099e-02 -1.80781683e-04 9.99864969e-01 -7.63896160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.934012739 meters 0.02588462907327115 Centerline is valid? [True, True] Translation: X:380.89, Y:-61.90, Z:-7.64 [[ 9.82371941e-01 1.86266569e-01 1.58156737e-02 3.80893715e+02] [-1.86246019e-01 9.82499220e-01 -2.77547121e-03 -6.18955860e+01] [-1.60558646e-02 -2.19061231e-04 9.99871072e-01 -7.64054190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters 0.029240645907286558 Centerline is valid? [True, True] Translation: X:380.92, Y:-61.89, Z:-7.64 [[ 9.81489303e-01 1.90799961e-01 1.65566401e-02 3.80923964e+02] [-1.90778103e-01 9.81628891e-01 -2.90435338e-03 -6.18915115e+01] [-1.68066268e-02 -3.08052623e-04 9.99858711e-01 -7.63953774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.994012739 meters 0.030877058778204007 Centerline is valid? [True, True] Translation: X:380.95, Y:-61.89, Z:-7.64 [[ 9.81025635e-01 1.93111414e-01 1.72245729e-02 3.80953190e+02] [-1.93088124e-01 9.81176768e-01 -3.02090255e-03 -6.18913549e+01] [-1.74837216e-02 -3.62277626e-04 9.99847082e-01 -7.63843634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters 0.03596045538656071 Centerline is valid? [True, True] Translation: X:380.98, Y:-61.88, Z:-7.64 [[ 9.79977242e-01 1.98311796e-01 1.78055430e-02 3.80984417e+02] [-1.98287783e-01 9.80138873e-01 -3.12180583e-03 -6.18831311e+01] [-1.80709958e-02 -4.71322982e-04 9.99836595e-01 -7.63776595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05401273900003 meters 0.03817571488479394 Centerline is valid? [True, True] Translation: X:381.01, Y:-61.88, Z:-7.64 [[ 9.79529189e-01 2.00515293e-01 1.77815742e-02 3.81014448e+02] [-2.00491708e-01 9.79690439e-01 -3.11752607e-03 -6.18831812e+01] [-1.80455499e-02 -5.11350406e-04 9.99837035e-01 -7.63861328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters 0.04121523038274399 Centerline is valid? [True, True] Translation: X:381.04, Y:-61.88, Z:-7.64 [[ 9.79168375e-01 2.02237492e-01 1.81463665e-02 3.81043141e+02] [-2.02213232e-01 9.79336351e-01 -3.18110533e-03 -6.18814255e+01] [-1.84147352e-02 -5.54597695e-04 9.99830281e-01 -7.63903877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11401273900003 meters 0.04214972467917934 Centerline is valid? [True, True] Translation: X:381.07, Y:-61.88, Z:-7.64 [[ 9.78715066e-01 2.04372148e-01 1.86774125e-02 3.81073903e+02] [-2.04346858e-01 9.78893073e-01 -3.27301867e-03 -6.18778161e+01] [-1.89521036e-02 -6.13317868e-04 9.99820205e-01 -7.63778917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters 0.04337558858476021 Centerline is valid? [True, True] Translation: X:381.10, Y:-61.88, Z:-7.64 [[ 9.78565746e-01 2.05097014e-01 1.85551763e-02 3.81102488e+02] [-2.05072192e-01 9.78741450e-01 -3.25121169e-03 -6.18770365e+01] [-1.88275339e-02 -6.23626266e-04 9.99822552e-01 -7.63872381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.174012739 meters 0.0459736094641358 Centerline is valid? [True, True] Translation: X:381.13, Y:-61.87, Z:-7.64 [[ 9.78331435e-01 2.06284962e-01 1.77233893e-02 3.81131564e+02] [-2.06262528e-01 9.78491764e-01 -3.10447498e-03 -6.18733795e+01] [-1.79825970e-02 -6.18465631e-04 9.99838109e-01 -7.64130589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters 0.04597170768682307 Centerline is valid? [True, True] Translation: X:381.16, Y:-61.88, Z:-7.64 [[ 9.78401874e-01 2.05975380e-01 1.74331783e-02 3.81160850e+02] [-2.05953644e-01 9.78556988e-01 -3.05260641e-03 -6.18755833e+01] [-1.76881202e-02 -6.03750760e-04 9.99843371e-01 -7.64255407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.234012739 meters 0.04340891170290247 Centerline is valid? [True, True] Translation: X:381.19, Y:-61.88, Z:-7.64 [[ 9.78547210e-01 2.05286712e-01 1.73989367e-02 3.81188790e+02] [-2.05264966e-01 9.78701700e-01 -3.04581142e-03 -6.18814610e+01] [-1.76536336e-02 -5.90921881e-04 9.99843988e-01 -7.64308554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters 0.04087720053951551 Centerline is valid? [True, True] Translation: X:381.22, Y:-61.88, Z:-7.64 [[ 9.79441072e-01 2.00919352e-01 1.80720722e-02 3.81217324e+02] [-2.00895165e-01 9.79607641e-01 -3.16270638e-03 -6.18849152e+01] [-1.83389890e-02 -5.32907402e-04 9.99831685e-01 -7.64336356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.294012739 meters 0.03265630879777445 Centerline is valid? [True, True] Translation: X:381.25, Y:-61.90, Z:-7.64 [[ 9.81085913e-01 1.92691462e-01 1.84508164e-02 3.81245572e+02] [-1.92664803e-01 9.81259319e-01 -3.22851222e-03 -6.19012703e+01] [-1.87271423e-02 -3.87375044e-04 9.99824557e-01 -7.64233942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters 0.028334005329368847 Centerline is valid? [True, True] Translation: X:381.27, Y:-61.91, Z:-7.64 [[ 9.82002011e-01 1.87928341e-01 1.88411484e-02 3.81273086e+02] [-1.87899665e-01 9.82182695e-01 -3.29676716e-03 -6.19130852e+01] [-1.91250059e-02 -3.02813502e-04 9.99817054e-01 -7.64186367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.354012739 meters 0.02359743817580496 Centerline is valid? [True, True] Translation: X:381.30, Y:-61.93, Z:-7.64 [[ 9.82829439e-01 1.83465399e-01 1.96657559e-02 3.81300211e+02] [-1.83433273e-01 9.83026142e-01 -3.44058770e-03 -6.19274672e+01] [-1.99631810e-02 -2.25843106e-04 9.99800690e-01 -7.64106577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters 0.020711500868926713 Centerline is valid? [True, True] Translation: X:381.33, Y:-61.94, Z:-7.64 [[ 9.84079104e-01 1.76462577e-01 2.11961190e-02 3.81326344e+02] [-1.76423649e-01 9.84307346e-01 -3.70746810e-03 -6.19426756e+01] [-2.15177250e-02 -9.10547690e-05 9.99768463e-01 -7.63916612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.414012739 meters 0.020439316265548596 Centerline is valid? [True, True] Translation: X:381.35, Y:-61.95, Z:-7.64 [[ 9.84445416e-01 1.74398266e-01 2.12713092e-02 3.81353131e+02] [-1.74358603e-01 9.84675196e-01 -3.71954355e-03 -6.19516007e+01] [-2.15940125e-02 -4.71481659e-05 9.99766821e-01 -7.63986394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters 0.02040213152025017 Centerline is valid? [True, True] Translation: X:381.38, Y:-61.96, Z:-7.64 [[ 9.84933241e-01 1.71835104e-01 1.94732733e-02 3.81381866e+02] [-1.71801385e-01 9.85125726e-01 -3.40397543e-03 -6.19616114e+01] [-1.97685450e-02 7.15321292e-06 9.99804583e-01 -7.64338576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.474012739 meters 0.02048432920954553 Centerline is valid? [True, True] Translation: X:381.41, Y:-61.97, Z:-7.64 [[ 9.85158690e-01 1.70612267e-01 1.88098459e-02 3.81410748e+02] [-1.70580593e-01 9.85338243e-01 -3.28756979e-03 -6.19677938e+01] [-1.90949602e-02 3.01832909e-05 9.99817674e-01 -7.64499468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters 0.020509633444116528 Centerline is valid? [True, True] Translation: X:381.44, Y:-61.97, Z:-7.65 [[ 9.85331442e-01 1.69627773e-01 1.86646281e-02 3.81438862e+02] [-1.69596417e-01 9.85508202e-01 -3.26175783e-03 -6.19736584e+01] [-1.89474288e-02 4.84584997e-05 9.99820480e-01 -7.64576141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.534012739 meters 0.02088487488526684 Centerline is valid? [True, True] Translation: X:381.47, Y:-61.98, Z:-7.65 [[ 9.85606984e-01 1.67914917e-01 1.95819752e-02 3.81467293e+02] [-1.67880080e-01 9.85801488e-01 -3.42132154e-03 -6.19828241e+01] [-1.98784312e-02 8.46548505e-05 9.99802401e-01 -7.64541927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters 0.02207739506586874 Centerline is valid? [True, True] Translation: X:381.50, Y:-62.00, Z:-7.65 [[ 9.86071878e-01 1.65209658e-01 1.91838639e-02 3.81495355e+02] [-1.65175719e-01 9.86258460e-01 -3.35130518e-03 -6.19958328e+01] [-1.94739161e-02 1.35919269e-04 9.99810356e-01 -7.64696756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.594012739 meters 0.022438913824475264 Centerline is valid? [True, True] Translation: X:381.52, Y:-62.00, Z:-7.65 [[ 9.86356081e-01 1.63590404e-01 1.84353212e-02 3.81524765e+02] [-1.63558784e-01 9.86528334e-01 -3.22030979e-03 -6.20029719e+01] [-1.87137784e-02 1.61113439e-04 9.99824869e-01 -7.64837368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters 0.023273513706548205 Centerline is valid? [True, True] Translation: X:381.55, Y:-62.01, Z:-7.65 [[ 9.86608405e-01 1.62138690e-01 1.77454385e-02 3.81553966e+02] [-1.62109158e-01 9.86767963e-01 -3.09980004e-03 -6.20116963e+01] [-1.80132277e-02 1.81590684e-04 9.99837732e-01 -7.65029181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.654012739 meters 0.026414211191087403 Centerline is valid? [True, True] Translation: X:381.58, Y:-62.03, Z:-7.65 [[ 9.87105586e-01 1.59031707e-01 1.82065244e-02 3.81582343e+02] [-1.59000097e-01 9.87273446e-01 -3.18005891e-03 -6.20299518e+01] [-1.84805482e-02 2.44214781e-04 9.99829190e-01 -7.65034324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters 0.026508801014800628 Centerline is valid? [True, True] Translation: X:381.61, Y:-62.04, Z:-7.65 [[ 9.87297895e-01 1.57788240e-01 1.85940143e-02 3.81613011e+02] [-1.57754993e-01 9.87472934e-01 -3.25073664e-03 -6.20391659e+01] [-1.88740138e-02 2.76146852e-04 9.99821832e-01 -7.64941885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.714012739 meters 0.0291259737046831 Centerline is valid? [True, True] Translation: X:381.64, Y:-62.06, Z:-7.65 [[ 9.87645162e-01 1.55581837e-01 1.87436830e-02 3.81641186e+02] [-1.55547592e-01 9.87822953e-01 -3.28017205e-03 -6.20558214e+01] [-1.90257755e-02 3.24111291e-04 9.99818941e-01 -7.65114443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters 0.029115877651190284 Centerline is valid? [True, True] Translation: X:381.67, Y:-62.06, Z:-7.65 [[ 9.87774946e-01 1.54838354e-01 1.80482691e-02 3.81672139e+02] [-1.54806456e-01 9.87939764e-01 -3.15975448e-03 -6.20649364e+01] [-1.83198539e-02 3.27137733e-04 9.99832124e-01 -7.65355775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.774012739 meters 0.03084100988113738 Centerline is valid? [True, True] Translation: X:381.70, Y:-62.08, Z:-7.66 [[ 9.87798366e-01 1.54786364e-01 1.71921653e-02 3.81702241e+02] [-1.54757366e-01 9.87947915e-01 -3.01255387e-03 -6.20774780e+01] [-1.74512661e-02 3.15181581e-04 9.99847665e-01 -7.65563649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters 0.027546196892517166 Centerline is valid? [True, True] Translation: X:381.73, Y:-62.08, Z:-7.65 [[ 9.87435871e-01 1.57034826e-01 1.76199624e-02 3.81734048e+02] [-1.57004662e-01 9.87593024e-01 -3.09104158e-03 -6.20849046e+01] [-1.78867532e-02 2.85789092e-04 9.99839978e-01 -7.65400771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.834012739 meters 0.02525580508039716 Centerline is valid? [True, True] Translation: X:381.77, Y:-62.09, Z:-7.65 [[ 9.87026005e-01 1.59536714e-01 1.81025752e-02 3.81765827e+02] [-1.59505279e-01 9.87191965e-01 -3.17660096e-03 -6.20883780e+01] [-1.83775012e-02 2.47931452e-04 9.99831089e-01 -7.65352598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters 0.021883244828012984 Centerline is valid? [True, True] Translation: X:381.80, Y:-62.09, Z:-7.66 [[ 9.86002863e-01 1.65781642e-01 1.77426346e-02 3.81797109e+02] [-1.65752394e-01 9.86162476e-01 -3.11675362e-03 -6.20888203e+01] [-1.80138210e-02 1.32243838e-04 9.99837729e-01 -7.65529880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.894012739 meters 0.021083645180393046 Centerline is valid? [True, True] Translation: X:381.83, Y:-62.09, Z:-7.66 [[ 9.85470517e-01 1.68994566e-01 1.69910579e-02 3.81828176e+02] [-1.68968221e-01 9.85616980e-01 -2.98472243e-03 -6.20926146e+01] [-1.72510770e-02 7.04071332e-05 9.99851187e-01 -7.65770888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters 0.02054863662659658 Centerline is valid? [True, True] Translation: X:381.86, Y:-62.10, Z:-7.66 [[ 9.85087832e-01 1.71210494e-01 1.69979396e-02 3.81859640e+02] [-1.71184404e-01 9.85234472e-01 -2.98902558e-03 -6.20962914e+01] [-1.72587086e-02 3.46705684e-05 9.99851057e-01 -7.65873890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.954012739 meters 0.020215286415498586 Centerline is valid? [True, True] Translation: X:381.89, Y:-62.10, Z:-7.66 [[ 9.84799105e-01 1.72820212e-01 1.74326451e-02 3.81889304e+02] [-1.72793014e-01 9.84953387e-01 -3.06593667e-03 -6.21026120e+01] [-1.77001987e-02 7.09239910e-06 9.99843339e-01 -7.65845608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters 0.020291102458725355 Centerline is valid? [True, True] Translation: X:381.92, Y:-62.11, Z:-7.66 [[ 9.84887458e-01 1.72270474e-01 1.78767794e-02 3.81920834e+02] [-1.72241784e-01 9.85049686e-01 -3.14393765e-03 -6.21118008e+01] [-1.81511236e-02 1.72963866e-05 9.99835255e-01 -7.65847693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.014012739 meters 0.020984401762898258 Centerline is valid? [True, True] Translation: X:381.95, Y:-62.13, Z:-7.66 [[ 9.85552950e-01 1.68407126e-01 1.80117181e-02 3.81950062e+02] [-1.68377300e-01 9.85717521e-01 -3.17072005e-03 -6.21287202e+01] [-1.82884379e-02 9.21480511e-05 9.99832748e-01 -7.65946936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters 0.021851771844763505 Centerline is valid? [True, True] Translation: X:381.98, Y:-62.14, Z:-7.66 [[ 9.85896323e-01 1.66402738e-01 1.78485030e-02 3.81979558e+02] [-1.66373063e-01 9.86057864e-01 -3.14521396e-03 -6.21401079e+01] [-1.81230289e-02 1.31344771e-04 9.99835756e-01 -7.66039255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.074012739 meters 0.022778802571473623 Centerline is valid? [True, True] Translation: X:382.01, Y:-62.15, Z:-7.66 [[ 9.86099190e-01 1.65212453e-01 1.76983966e-02 3.82008940e+02] [-1.65183030e-01 9.86257989e-01 -3.12169619e-03 -6.21509001e+01] [-1.79709281e-02 1.54827303e-04 9.99838498e-01 -7.66060063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters 0.022778802571473623 Centerline is valid? [True, True] Translation: X:382.04, Y:-62.16, Z:-7.66 [[ 9.86068224e-01 1.65397222e-01 1.76979211e-02 3.82040910e+02] [-1.65367781e-01 9.86227020e-01 -3.12438949e-03 -6.21567409e+01] [-1.79709333e-02 1.54195253e-04 9.99838498e-01 -7.66126094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.134012739 meters 0.02292162405728178 Centerline is valid? [True, True] Translation: X:382.07, Y:-62.17, Z:-7.66 [[ 9.86087250e-01 1.65158155e-01 1.88340133e-02 3.82072540e+02] [-1.65124694e-01 9.86267081e-01 -3.32884239e-03 -6.21667941e+01] [-1.91251528e-02 1.72568354e-04 9.99817083e-01 -7.66006137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters 0.022663868159402353 Centerline is valid? [True, True] Translation: X:382.10, Y:-62.17, Z:-7.66 [[ 9.85895175e-01 1.66275148e-01 1.90598614e-02 3.82102996e+02] [-1.66241016e-01 9.86079384e-01 -3.37251971e-03 -6.21736553e+01] [-1.93553026e-02 1.56420195e-04 9.99812656e-01 -7.66012583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.194012739 meters 0.0213949397140732 Centerline is valid? [True, True] Translation: X:382.13, Y:-62.18, Z:-7.66 [[ 9.85542280e-01 1.68400790e-01 1.86437195e-02 3.82134708e+02] [-1.68368459e-01 9.85718601e-01 -3.30169717e-03 -6.21787695e+01] [-1.89334695e-02 1.14947834e-04 9.99820739e-01 -7.66118092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters 0.02134803295714144 Centerline is valid? [True, True] Translation: X:382.17, Y:-62.19, Z:-7.66 [[ 9.85419424e-01 1.69179024e-01 1.80835770e-02 3.82165478e+02] [-1.69148684e-01 9.85585333e-01 -3.20544214e-03 -6.21857153e+01] [-1.83652018e-02 9.98916868e-05 9.99831340e-01 -7.66320800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.254012739 meters 0.021494314037628068 Centerline is valid? [True, True] Translation: X:382.20, Y:-62.19, Z:-7.67 [[ 9.85357307e-01 1.69605805e-01 1.74599289e-02 3.82196230e+02] [-1.69577535e-01 9.85511980e-01 -3.09792852e-03 -6.21936049e+01] [-1.77323958e-02 9.17548097e-05 9.99842764e-01 -7.66558470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters 0.021334986180516106 Centerline is valid? [True, True] Translation: X:382.23, Y:-62.20, Z:-7.67 [[ 9.85342397e-01 1.69784407e-01 1.65413153e-02 3.82228443e+02] [-1.69759012e-01 9.85481227e-01 -2.93768021e-03 -6.22017427e+01] [-1.67999280e-02 8.65835110e-05 9.99858868e-01 -7.66736351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.314012739 meters 0.021462153501940463 Centerline is valid? [True, True] Translation: X:382.26, Y:-62.21, Z:-7.67 [[ 9.85336903e-01 1.69842758e-01 1.62672952e-02 3.82260356e+02] [-1.69818156e-01 9.85471172e-01 -2.89208811e-03 -6.22093676e+01] [-1.65221506e-02 8.71990796e-05 9.99863496e-01 -7.66904855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters 0.021401079652835865 Centerline is valid? [True, True] Translation: X:382.29, Y:-62.22, Z:-7.67 [[ 9.85237843e-01 1.70376429e-01 1.66812675e-02 3.82292003e+02] [-1.70350574e-01 9.85379047e-01 -2.96924536e-03 -6.22159378e+01] [-1.69432609e-02 8.37494050e-05 9.99856449e-01 -7.66895352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.374012739 meters 0.020974530114160356 Centerline is valid? [True, True] Translation: X:382.32, Y:-62.22, Z:-7.67 [[ 9.85055242e-01 1.71373939e-01 1.72378415e-02 3.82324324e+02] [-1.71346448e-01 9.85206054e-01 -3.07027061e-03 -6.22205958e+01] [-1.75089901e-02 7.07432538e-05 9.99846703e-01 -7.66834627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters 0.02022630596150634 Centerline is valid? [True, True] Translation: X:382.36, Y:-62.22, Z:-7.67 [[ 9.84448856e-01 1.74762415e-01 1.78479058e-02 3.82356302e+02] [-1.74733436e-01 9.84610633e-01 -3.18253269e-03 -6.22222929e+01] [-1.81294249e-02 1.44147669e-05 9.99835648e-01 -7.66750041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.434012739 meters 0.02006820754588808 Centerline is valid? [True, True] Translation: X:382.39, Y:-62.23, Z:-7.67 [[ 9.84115358e-01 1.76601911e-01 1.81308264e-02 3.82387968e+02] [-1.76572258e-01 9.84282360e-01 -3.23619382e-03 -6.22258839e+01] [-1.84173706e-02 -1.66129278e-05 9.99830386e-01 -7.66728738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters 0.02040487440333233 Centerline is valid? [True, True] Translation: X:382.42, Y:-62.23, Z:-7.67 [[ 9.83523218e-01 1.79859646e-01 1.82369933e-02 3.82420980e+02] [-1.79830166e-01 9.83692280e-01 -3.25720691e-03 -6.22278936e+01] [-1.85254296e-02 -7.60229017e-05 9.99828387e-01 -7.66791629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.494012739 meters 0.020883451931030826 Centerline is valid? [True, True] Translation: X:382.45, Y:-62.23, Z:-7.67 [[ 9.83173987e-01 1.81797722e-01 1.78465420e-02 3.82452214e+02] [-1.81769743e-01 9.83335943e-01 -3.19118397e-03 -6.22304374e+01] [-1.81292962e-02 -1.06472276e-04 9.99835645e-01 -7.66951459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters 0.02198041097494533 Centerline is valid? [True, True] Translation: X:382.48, Y:-62.23, Z:-7.67 [[ 9.82844240e-01 1.83580397e-01 1.77605851e-02 3.82483318e+02] [-1.83552924e-01 9.83004689e-01 -3.17877822e-03 -6.22317737e+01] [-1.80422998e-02 -1.35763476e-04 9.99837215e-01 -7.67095541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55401273900003 meters 0.02219054504312546 Centerline is valid? [True, True] Translation: X:382.52, Y:-62.23, Z:-7.67 [[ 9.82414792e-01 1.85847548e-01 1.79406280e-02 3.82515853e+02] [-1.85819840e-01 9.82578576e-01 -3.21394413e-03 -6.22345751e+01] [-1.82253803e-02 -1.76298359e-04 9.99833888e-01 -7.67036197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters 0.02317426361040108 Centerline is valid? [True, True] Translation: X:382.55, Y:-62.24, Z:-7.67 [[ 9.82315594e-01 1.86344827e-01 1.82120744e-02 3.82547596e+02] [-1.86316299e-01 9.82484387e-01 -3.26583066e-03 -6.22365432e+01] [-1.85016495e-02 -1.85129916e-04 9.99828813e-01 -7.67043380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61401273900003 meters 0.021600028756821214 Centerline is valid? [True, True] Translation: X:382.58, Y:-62.24, Z:-7.67 [[ 9.82632678e-01 1.84617134e-01 1.86958360e-02 3.82579542e+02] [-1.84586685e-01 9.82810506e-01 -3.35637075e-03 -6.22434525e+01] [-1.89941076e-02 -1.52922803e-04 9.99819584e-01 -7.66965091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters 0.02155546366014532 Centerline is valid? [True, True] Translation: X:382.61, Y:-62.25, Z:-7.67 [[ 9.82777345e-01 1.83858203e-01 1.85701753e-02 3.82610355e+02] [-1.83828007e-01 9.82952767e-01 -3.33482004e-03 -6.22468616e+01] [-1.88667392e-02 -1.36332736e-04 9.99821998e-01 -7.67025468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.674012739 meters 0.021457800079281643 Centerline is valid? [True, True] Translation: X:382.64, Y:-62.25, Z:-7.67 [[ 9.82711759e-01 1.84208862e-01 1.85659394e-02 3.82642846e+02] [-1.84178687e-01 9.82887112e-01 -3.33704063e-03 -6.22484531e+01] [-1.88629350e-02 -1.40101270e-04 9.99822069e-01 -7.67073048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters 0.02187845628273423 Centerline is valid? [True, True] Translation: X:382.67, Y:-62.25, Z:-7.67 [[ 9.82627419e-01 1.84665482e-01 1.84936683e-02 3.82673647e+02] [-1.84635558e-01 9.82801424e-01 -3.32744928e-03 -6.22499724e+01] [-1.87900686e-02 -1.44945867e-04 9.99823441e-01 -7.67214734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.734012739 meters 0.021682824478357527 Centerline is valid? [True, True] Translation: X:382.70, Y:-62.25, Z:-7.67 [[ 9.82592681e-01 1.84892505e-01 1.80661081e-02 3.82704411e+02] [-1.84863984e-01 9.82758740e-01 -3.25071126e-03 -6.22531325e+01] [-1.83556578e-02 -1.45647627e-04 9.99831510e-01 -7.67393709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters 0.0226436198329354 Centerline is valid? [True, True] Translation: X:382.73, Y:-62.25, Z:-7.68 [[ 9.82513873e-01 1.85364191e-01 1.75101958e-02 3.82734541e+02] [-1.85337463e-01 9.82669881e-01 -3.15120018e-03 -6.22499300e+01] [-1.77908616e-02 -1.49197375e-04 9.99841719e-01 -7.67642395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.794012739 meters 0.021772121572690675 Centerline is valid? [True, True] Translation: X:382.76, Y:-62.25, Z:-7.68 [[ 9.82549215e-01 1.85096180e-01 1.83424018e-02 3.82764633e+02] [-1.85066810e-01 9.82720398e-01 -3.30070591e-03 -6.22547372e+01] [-1.86364004e-02 -1.51463785e-04 9.99826316e-01 -7.67542125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters 0.022241424429318032 Centerline is valid? [True, True] Translation: X:382.80, Y:-62.25, Z:-7.67 [[ 9.82667686e-01 1.84336430e-01 1.96035732e-02 3.82795280e+02] [-1.84302731e-01 9.82863195e-01 -3.52765778e-03 -6.22536175e+01] [-1.99179064e-02 -1.46476763e-04 9.99801608e-01 -7.67387894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.854012739 meters 0.021469732557164365 Centerline is valid? [True, True] Translation: X:382.83, Y:-62.26, Z:-7.68 [[ 9.82724504e-01 1.84100682e-01 1.89601817e-02 3.82825057e+02] [-1.84069119e-01 9.82907381e-01 -3.41164101e-03 -6.22590953e+01] [-1.92641880e-02 -1.37280730e-04 9.99814419e-01 -7.67558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters 0.020885445178063865 Centerline is valid? [True, True] Translation: X:382.85, Y:-62.26, Z:-7.68 [[ 9.83137399e-01 1.82009979e-01 1.76981169e-02 3.82854645e+02] [-1.81982139e-01 9.83296679e-01 -3.18457645e-03 -6.22618164e+01] [-1.79821243e-02 -8.98649688e-05 9.99838304e-01 -7.67915112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.914012739 meters 0.02057847201372434 Centerline is valid? [True, True] Translation: X:382.88, Y:-62.27, Z:-7.68 [[ 9.83415580e-01 1.80540370e-01 1.72908135e-02 3.82884310e+02] [-1.80513572e-01 9.83567573e-01 -3.11111498e-03 -6.22667482e+01] [-1.75683653e-02 -6.17075657e-05 9.99845662e-01 -7.68023152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters 0.020560383011771113 Centerline is valid? [True, True] Translation: X:382.91, Y:-62.27, Z:-7.68 [[ 9.83716740e-01 1.78953317e-01 1.66458964e-02 3.82912689e+02] [-1.78928260e-01 9.83857566e-01 -2.99473060e-03 -6.22699697e+01] [-1.69131081e-02 -3.24546610e-05 9.99856963e-01 -7.68286519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.974012739 meters 0.020481839332875566 Centerline is valid? [True, True] Translation: X:382.94, Y:-62.27, Z:-7.68 [[ 9.83798619e-01 1.78509688e-01 1.65701207e-02 3.82941757e+02] [-1.78484807e-01 9.83938154e-01 -2.98045918e-03 -6.22744550e+01] [-1.68360148e-02 -2.53431682e-05 9.99858264e-01 -7.68380345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters 0.02046361473385341 Centerline is valid? [True, True] Translation: X:382.97, Y:-62.28, Z:-7.68 [[ 9.83881600e-01 1.78025349e-01 1.68514661e-02 3.82970020e+02] [-1.77999551e-01 9.84025901e-01 -3.03068888e-03 -6.22791121e+01] [-1.71218186e-02 -1.77143910e-05 9.99853411e-01 -7.68428283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.034012739 meters 0.03266092671013325 Centerline is valid? [True, True] Translation: X:383.00, Y:-62.28, Z:-7.68 [[ 9.84035790e-01 1.77305121e-01 1.53771896e-02 3.82999113e+02] [-1.77283560e-01 9.84155930e-01 -2.76500227e-03 -6.22845963e+01] [-1.56238014e-02 -5.26173443e-06 9.99877941e-01 -7.67541446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters 0.020451574099017676 Centerline is valid? [True, True] Translation: X:383.03, Y:-62.29, Z:-7.69 [[ 9.84134317e-01 1.76744965e-01 1.55198013e-02 3.83028528e+02] [-1.76722938e-01 9.84256683e-01 -2.79026360e-03 -6.22899741e+01] [-1.57686332e-02 3.28927514e-06 9.99875667e-01 -7.68783145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.094012739 meters 0.020512270135734773 Centerline is valid? [True, True] Translation: X:383.06, Y:-62.30, Z:-7.69 [[ 9.84251250e-01 1.75979309e-01 1.67559151e-02 3.83056926e+02] [-1.75953530e-01 9.84393866e-01 -3.01209496e-03 -6.22953282e+01] [-1.70244864e-02 1.63958230e-05 9.99855073e-01 -7.68677217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters 0.020321769187335144 Centerline is valid? [True, True] Translation: X:383.09, Y:-62.30, Z:-7.69 [[ 9.84324300e-01 1.75474748e-01 1.77281021e-02 3.83085770e+02] [-1.75445821e-01 9.84483932e-01 -3.18614453e-03 -6.23006015e+01] [-1.80121196e-02 2.58780507e-05 9.99837768e-01 -7.68538297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.154012739 meters 0.020493234609897718 Centerline is valid? [True, True] Translation: X:383.11, Y:-62.31, Z:-7.69 [[ 9.84503355e-01 1.74414574e-01 1.82400540e-02 3.83113620e+02] [-1.74383779e-01 9.84672308e-01 -3.27773224e-03 -6.23071865e+01] [-1.85321604e-02 4.61688390e-05 9.99828264e-01 -7.68546107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters 0.022016511700183553 Centerline is valid? [True, True] Translation: X:383.14, Y:-62.32, Z:-7.69 [[ 9.85322198e-01 1.69890602e-01 1.66537952e-02 3.83142232e+02] [-1.69864296e-01 9.85462921e-01 -2.99200548e-03 -6.23217631e+01] [-1.69200113e-02 1.19204231e-04 9.99856839e-01 -7.68945610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.214012739 meters 0.02425320845211629 Centerline is valid? [True, True] Translation: X:383.17, Y:-62.33, Z:-7.69 [[ 9.85876663e-01 1.66724311e-01 1.58179913e-02 3.83171564e+02] [-1.66700173e-01 9.86003538e-01 -2.84170672e-03 -6.23345582e+01] [-1.60703770e-02 1.64710449e-04 9.99870850e-01 -7.69179032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters 0.027281299387663705 Centerline is valid? [True, True] Translation: X:383.20, Y:-62.35, Z:-7.69 [[ 9.86499550e-01 1.62900883e-01 1.67911009e-02 3.83200365e+02] [-1.62873102e-01 9.86642409e-01 -3.01812228e-03 -6.23483489e+01] [-1.70584670e-02 2.42557580e-04 9.99854464e-01 -7.68921496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.274012739 meters 0.02531638256169563 Centerline is valid? [True, True] Translation: X:383.23, Y:-62.35, Z:-7.69 [[ 9.86535348e-01 1.62542041e-01 1.81133220e-02 3.83233031e+02] [-1.62509627e-01 9.86701582e-01 -3.25713699e-03 -6.23522661e+01] [-1.84018652e-02 2.69691565e-04 9.99830635e-01 -7.68677725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters 0.028019010473586375 Centerline is valid? [True, True] Translation: X:383.26, Y:-62.37, Z:-7.69 [[ 9.86552848e-01 1.62331829e-01 1.90225053e-02 3.83262827e+02] [-1.62295961e-01 9.86736182e-01 -3.42470397e-03 -6.23652473e+01] [-1.93261327e-02 2.91375675e-04 9.99813190e-01 -7.68629945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.334012739 meters 0.028110658143183687 Centerline is valid? [True, True] Translation: X:383.29, Y:-62.37, Z:-7.69 [[ 9.86508326e-01 1.62655302e-01 1.85627269e-02 3.83293982e+02] [-1.62621139e-01 9.86682914e-01 -3.34538247e-03 -6.23742906e+01] [-1.88596697e-02 2.81555865e-04 9.99822101e-01 -7.68679456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters 0.025699836454286303 Centerline is valid? [True, True] Translation: X:383.33, Y:-62.38, Z:-7.69 [[ 9.86434540e-01 1.63156450e-01 1.80795533e-02 3.83326880e+02] [-1.63124074e-01 9.86600173e-01 -3.26121864e-03 -6.23759676e+01] [-1.83693793e-02 2.67768329e-04 9.99831233e-01 -7.68803250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.394012739 meters 0.027599165149020187 Centerline is valid? [True, True] Translation: X:383.36, Y:-62.39, Z:-7.69 [[ 9.86295351e-01 1.64057503e-01 1.75104680e-02 3.83356749e+02] [-1.64027213e-01 9.86450746e-01 -3.16200878e-03 -6.23871279e+01] [-1.77919655e-02 2.46481287e-04 9.99841680e-01 -7.69125274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters 0.027831529598649363 Centerline is valid? [True, True] Translation: X:383.39, Y:-62.40, Z:-7.69 [[ 9.86295542e-01 1.64075828e-01 1.73270294e-02 3.83387455e+02] [-1.64046125e-01 9.86447699e-01 -3.13161295e-03 -6.23957705e+01] [-1.76060303e-02 2.46263867e-04 9.99844972e-01 -7.69215934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.454012739 meters 0.029157556966326013 Centerline is valid? [True, True] Translation: X:383.42, Y:-62.41, Z:-7.69 [[ 9.86476090e-01 1.63036727e-01 1.68508247e-02 3.83418474e+02] [-1.63008436e-01 9.86619966e-01 -3.04828989e-03 -6.24072907e+01] [-1.71223433e-02 2.60238514e-04 9.99853368e-01 -7.69310970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters 0.027361704873037917 Centerline is valid? [True, True] Translation: X:383.45, Y:-62.41, Z:-7.69 [[ 9.86475364e-01 1.63113677e-01 1.61333268e-02 3.83451954e+02] [-1.63087718e-01 9.86607250e-01 -2.92071479e-03 -6.24103315e+01] [-1.63936657e-02 2.50065738e-04 9.99865584e-01 -7.69376852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.514012739 meters 0.02883133758752543 Centerline is valid? [True, True] Translation: X:383.48, Y:-62.42, Z:-7.70 [[ 9.86342796e-01 1.63997725e-01 1.52523493e-02 3.83481920e+02] [-1.63974580e-01 9.86460691e-01 -2.76436905e-03 -6.24174752e+01] [-1.54991933e-02 2.25617921e-04 9.99879855e-01 -7.69632285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters 0.024617258215884997 Centerline is valid? [True, True] Translation: X:383.52, Y:-62.41, Z:-7.70 [[ 9.85822206e-01 1.67110084e-01 1.51261031e-02 3.83515754e+02] [-1.67087665e-01 9.85938228e-01 -2.74290093e-03 -6.24140956e+01] [-1.53717697e-02 1.76627384e-04 9.99881832e-01 -7.69572227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.574012739 meters 0.02307585358472629 Centerline is valid? [True, True] Translation: X:383.55, Y:-62.42, Z:-7.69 [[ 9.85468471e-01 1.69031272e-01 1.67428341e-02 3.83547755e+02] [-1.69004057e-01 9.85610675e-01 -3.03751057e-03 -6.24160129e+01] [-1.70153503e-02 1.63764009e-04 9.99855215e-01 -7.69329799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters 0.020875029213565467 Centerline is valid? [True, True] Translation: X:383.58, Y:-62.41, Z:-7.69 [[ 9.84611352e-01 1.73515493e-01 2.08052524e-02 3.83579777e+02] [-1.73474377e-01 9.84831133e-01 -3.77883367e-03 -6.24122415e+01] [-2.11453465e-02 1.11504332e-04 9.99776406e-01 -7.68638631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.634012739 meters 0.02010306708375993 Centerline is valid? [True, True] Translation: X:383.61, Y:-62.41, Z:-7.69 [[ 9.84233024e-01 1.75630584e-01 2.09583407e-02 3.83611822e+02] [-1.75589333e-01 9.84456141e-01 -3.80691037e-03 -6.24119311e+01] [-2.13011771e-02 6.68258376e-05 9.99773102e-01 -7.68644533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters 0.020005895860231174 Centerline is valid? [True, True] Translation: X:383.64, Y:-62.41, Z:-7.69 [[ 9.83915733e-01 1.77510503e-01 1.99962922e-02 3.83642505e+02] [-1.77473331e-01 9.84118906e-01 -3.63262348e-03 -6.24123719e+01] [-2.03235580e-02 2.53867957e-05 9.99793455e-01 -7.68974356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.694012739 meters 0.020021967658644113 Centerline is valid? [True, True] Translation: X:383.67, Y:-62.41, Z:-7.69 [[ 9.83642737e-01 1.79097964e-01 1.92583906e-02 3.83672595e+02] [-1.79063790e-01 9.83831245e-01 -3.49856399e-03 -6.24108247e+01] [-1.95735921e-02 -7.14336475e-06 9.99808419e-01 -7.69314474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters 0.02008788132750875 Centerline is valid? [True, True] Translation: X:383.70, Y:-62.41, Z:-7.69 [[ 9.83735462e-01 1.78566647e-01 1.94549066e-02 3.83702957e+02] [-1.78531663e-01 9.83927819e-01 -3.53452035e-03 -6.24112283e+01] [-1.97733712e-02 3.71619216e-06 9.99804488e-01 -7.69298947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.754012739 meters 0.020163092150755936 Centerline is valid? [True, True] Translation: X:383.73, Y:-62.42, Z:-7.69 [[ 9.83933198e-01 1.77474467e-01 1.94492831e-02 3.83732007e+02] [-1.77439299e-01 9.84125405e-01 -3.53302974e-03 -6.24152758e+01] [-1.97675562e-02 2.51981033e-05 9.99804602e-01 -7.69323872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters 0.020179156558945754 Centerline is valid? [True, True] Translation: X:383.76, Y:-62.42, Z:-7.69 [[ 9.84191355e-01 1.76008250e-01 1.97097109e-02 3.83762250e+02] [-1.75971849e-01 9.84388690e-01 -3.57984974e-03 -6.24211053e+01] [-2.00320995e-02 5.49028937e-05 9.99799336e-01 -7.69285130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.814012739 meters 0.02080702552290591 Centerline is valid? [True, True] Translation: X:383.79, Y:-62.43, Z:-7.69 [[ 9.84539621e-01 1.73817632e-01 2.16602346e-02 3.83790549e+02] [-1.73773140e-01 9.84777853e-01 -3.93410010e-03 -6.24296011e+01] [-2.20143353e-02 1.09310435e-04 9.99757649e-01 -7.69059867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters 0.02138970687114765 Centerline is valid? [True, True] Translation: X:383.82, Y:-62.44, Z:-7.69 [[ 9.84776024e-01 1.72381343e-01 2.23798156e-02 3.83819277e+02] [-1.72333480e-01 9.85030279e-01 -4.06451218e-03 -6.24375216e+01] [-2.27454421e-02 1.45842633e-04 9.99741278e-01 -7.69045707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.874012739 meters 0.023210725672041337 Centerline is valid? [True, True] Translation: X:383.85, Y:-62.45, Z:-7.69 [[ 9.85343893e-01 1.69223708e-01 2.14650703e-02 3.83848259e+02] [-1.69178932e-01 9.85577644e-01 -3.89827634e-03 -6.24490774e+01] [-2.18151742e-02 2.09705127e-04 9.99761999e-01 -7.69302924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters 0.0243464895341001 Centerline is valid? [True, True] Translation: X:383.88, Y:-62.46, Z:-7.70 [[ 9.85633090e-01 1.67651186e-01 2.05058762e-02 3.83877805e+02] [-1.67609947e-01 9.85846349e-01 -3.72572112e-03 -6.24586045e+01] [-2.08402647e-02 2.35205204e-04 9.99782790e-01 -7.69507357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.934012739 meters 0.025068183000956704 Centerline is valid? [True, True] Translation: X:383.91, Y:-62.47, Z:-7.70 [[ 9.85884455e-01 1.66191256e-01 2.03053508e-02 3.83908295e+02] [-1.66150447e-01 9.86093502e-01 -3.69233645e-03 -6.24683001e+01] [-2.06366085e-02 2.66473998e-04 9.99787007e-01 -7.69598955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters 0.025068183000956704 Centerline is valid? [True, True] Translation: X:383.94, Y:-62.47, Z:-7.70 [[ 9.85853574e-01 1.66374419e-01 2.03047500e-02 3.83940241e+02] [-1.66333582e-01 9.86062616e-01 -3.69563724e-03 -6.24743050e+01] [-2.06366144e-02 2.65995392e-04 9.99787007e-01 -7.69664991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.994012739 meters 0.027429999832810557 Centerline is valid? [True, True] Translation: X:383.97, Y:-62.49, Z:-7.70 [[ 9.86409532e-01 1.62937794e-01 2.11544581e-02 3.83969705e+02] [-1.62892589e-01 9.86636280e-01 -3.85434271e-03 -6.24911122e+01] [-2.14997739e-02 3.56055933e-04 9.99768790e-01 -7.69506229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters 0.030580048785058413 Centerline is valid? [True, True] Translation: X:384.00, Y:-62.51, Z:-7.70 [[ 9.86757805e-01 1.60868123e-01 2.07480299e-02 3.83998117e+02] [-1.60824161e-01 9.86975831e-01 -3.78125407e-03 -6.25062283e+01] [-2.10860873e-02 3.94397475e-04 9.99777586e-01 -7.69716889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05401273900003 meters 0.030919538927497315 Centerline is valid? [True, True] Translation: X:384.03, Y:-62.52, Z:-7.70 [[ 9.86766356e-01 1.60864269e-01 2.03677639e-02 3.84028457e+02] [-1.60821893e-01 9.86976462e-01 -3.71246703e-03 -6.25155614e+01] [-2.06997069e-02 3.87755223e-04 9.99785663e-01 -7.69842044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters 0.03014705620832905 Centerline is valid? [True, True] Translation: X:384.06, Y:-62.52, Z:-7.70 [[ 9.86622731e-01 1.61806326e-01 1.98569934e-02 3.84059347e+02] [-1.61766194e-01 9.86822468e-01 -3.62158583e-03 -6.25233651e+01] [-2.01813227e-02 3.60948655e-04 9.99796271e-01 -7.69978883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11401273900003 meters 0.027654277680787927 Centerline is valid? [True, True] Translation: X:384.09, Y:-62.53, Z:-7.70 [[ 9.86213468e-01 1.64275799e-01 1.99112563e-02 3.84091250e+02] [-1.64235886e-01 9.86414397e-01 -3.63468389e-03 -6.25294037e+01] [-2.02378405e-02 3.14431389e-04 9.99795144e-01 -7.69912939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters 0.025806637725055332 Centerline is valid? [True, True] Translation: X:384.12, Y:-62.53, Z:-7.70 [[ 9.85999674e-01 1.65473324e-01 2.05723421e-02 3.84122813e+02] [-1.65430904e-01 9.86214220e-01 -3.75881815e-03 -6.25335524e+01] [-2.09107205e-02 3.02892320e-04 9.99781301e-01 -7.69866070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.174012739 meters 0.02508794224896151 Centerline is valid? [True, True] Translation: X:384.15, Y:-62.54, Z:-7.70 [[ 9.85651810e-01 1.67681885e-01 1.93208466e-02 3.84152694e+02] [-1.67644833e-01 9.85841126e-01 -3.53323719e-03 -6.25416017e+01] [-1.96397451e-02 2.43501524e-04 9.99807092e-01 -7.70297532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters 0.024392085600468436 Centerline is valid? [True, True] Translation: X:384.19, Y:-62.55, Z:-7.71 [[ 9.85555202e-01 1.68376430e-01 1.81747632e-02 3.84185056e+02] [-1.68343714e-01 9.85722745e-01 -3.32624798e-03 -6.25480682e+01] [-1.84753392e-02 2.18593862e-04 9.99829292e-01 -7.70599746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.234012739 meters 0.02434095450883119 Centerline is valid? [True, True] Translation: X:384.22, Y:-62.55, Z:-7.71 [[ 9.85431155e-01 1.69197679e-01 1.72506307e-02 3.84215917e+02] [-1.69168274e-01 9.85582116e-01 -3.16037856e-03 -6.25546641e+01] [-1.75366419e-02 1.96076067e-04 9.99846202e-01 -7.70839072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters 0.024331555805278605 Centerline is valid? [True, True] Translation: X:384.25, Y:-62.56, Z:-7.71 [[ 9.85248901e-01 1.70327769e-01 1.65243614e-02 3.84246525e+02] [-1.70300906e-01 9.85387448e-01 -3.02979720e-03 -6.25626915e+01] [-1.67989569e-02 1.70990643e-04 9.99858873e-01 -7.71037344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.294012739 meters 0.023389767633775274 Centerline is valid? [True, True] Translation: X:384.28, Y:-62.57, Z:-7.71 [[ 9.85141367e-01 1.70897469e-01 1.70453244e-02 3.84277873e+02] [-1.70868923e-01 9.85288804e-01 -3.12801569e-03 -6.25686219e+01] [-1.73291372e-02 1.69021432e-04 9.99849825e-01 -7.70941529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters 0.022822070745223588 Centerline is valid? [True, True] Translation: X:384.31, Y:-62.58, Z:-7.71 [[ 9.84953794e-01 1.71915974e-01 1.76329804e-02 3.84309252e+02] [-1.71885535e-01 9.85111604e-01 -3.23890835e-03 -6.25776780e+01] [-1.79272737e-02 1.59320799e-04 9.99839281e-01 -7.70874128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.354012739 meters 0.022351757231985167 Centerline is valid? [True, True] Translation: X:384.34, Y:-62.58, Z:-7.71 [[ 9.84796081e-01 1.72867838e-01 1.71286410e-02 3.84340914e+02] [-1.72839211e-01 9.84945019e-01 -3.14902803e-03 -6.25837599e+01] [-1.74151353e-02 1.40649661e-04 9.99848335e-01 -7.71043809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters 0.021246534556116012 Centerline is valid? [True, True] Translation: X:384.37, Y:-62.59, Z:-7.72 [[ 9.84061732e-01 1.77149319e-01 1.55121522e-02 3.84372342e+02] [-1.77126334e-01 9.84183984e-01 -2.85420507e-03 -6.25857768e+01] [-1.57724322e-02 6.11033208e-05 9.99875606e-01 -7.71606841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.414012739 meters 0.020432167148314317 Centerline is valid? [True, True] Translation: X:384.40, Y:-62.59, Z:-7.72 [[ 9.83616497e-01 1.79576200e-01 1.58421811e-02 3.84403515e+02] [-1.79552492e-01 9.83744066e-01 -2.91802192e-03 -6.25886050e+01] [-1.61086589e-02 2.57114045e-05 9.99870247e-01 -7.71529033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters 0.02032676822239095 Centerline is valid? [True, True] Translation: X:384.43, Y:-62.59, Z:-7.71 [[ 9.83226739e-01 1.81585558e-01 1.70840328e-02 3.84434903e+02] [-1.81558290e-01 9.83375150e-01 -3.14678463e-03 -6.25938031e+01] [-1.73714240e-02 -7.74499631e-06 9.99849105e-01 -7.71363647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.474012739 meters 0.020163144796826005 Centerline is valid? [True, True] Translation: X:384.47, Y:-62.60, Z:-7.71 [[ 9.82776880e-01 1.83805561e-01 1.91080921e-02 3.84466684e+02] [-1.83771798e-01 9.82962621e-01 -3.52319723e-03 -6.25999916e+01] [-1.94301235e-02 -4.90116596e-05 9.99811216e-01 -7.70993591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters 0.020329573280773967 Centerline is valid? [True, True] Translation: X:384.50, Y:-62.60, Z:-7.71 [[ 9.82565975e-01 1.84938677e-01 1.90207751e-02 3.84498757e+02] [-1.84905372e-01 9.82750060e-01 -3.51026703e-03 -6.26046541e+01] [-1.93418520e-02 -6.79745529e-05 9.99812927e-01 -7.71070491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.534012739 meters 0.021494778105408074 Centerline is valid? [True, True] Translation: X:384.53, Y:-62.61, Z:-7.71 [[ 9.81968048e-01 1.88165513e-01 1.82343827e-02 3.84530937e+02] [-1.88135403e-01 9.82137325e-01 -3.36828024e-03 -6.26069865e+01] [-1.85424620e-02 -1.22989371e-04 9.99828066e-01 -7.71379239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters 0.02300655261211213 Centerline is valid? [True, True] Translation: X:384.56, Y:-62.61, Z:-7.71 [[ 9.81465380e-01 1.90766252e-01 1.82741657e-02 3.84560559e+02] [-1.90736399e-01 9.81635476e-01 -3.37901268e-03 -6.26093889e+01] [-1.85831710e-02 -1.69164608e-04 9.99827304e-01 -7.71488924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.594012739 meters 0.025341694218383167 Centerline is valid? [True, True] Translation: X:384.59, Y:-62.61, Z:-7.71 [[ 9.80580566e-01 1.95093885e-01 2.00032220e-02 3.84591435e+02] [-1.95059019e-01 9.80784533e-01 -3.69846503e-03 -6.26085976e+01] [-2.03403987e-02 -2.75165931e-04 9.99793075e-01 -7.71112566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters 0.026371652516601358 Centerline is valid? [True, True] Translation: X:384.62, Y:-62.61, Z:-7.71 [[ 9.80182325e-01 1.97050590e-01 2.03390243e-02 3.84622462e+02] [-1.97014969e-01 9.80393269e-01 -3.76030943e-03 -6.26102620e+01] [-2.06812137e-02 -3.21303406e-04 9.99786069e-01 -7.71093765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.654012739 meters 0.028349462899816474 Centerline is valid? [True, True] Translation: X:384.65, Y:-62.61, Z:-7.71 [[ 9.79818254e-01 1.98954586e-01 1.93199660e-02 3.84652778e+02] [-1.98922816e-01 9.80008650e-01 -3.57190063e-03 -6.26101700e+01] [-1.96443798e-02 -3.43368594e-04 9.99806972e-01 -7.71339399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters 0.03291037450596641 Centerline is valid? [True, True] Translation: X:384.68, Y:-62.61, Z:-7.72 [[ 9.79162372e-01 2.02452624e-01 1.59369079e-02 3.84682102e+02] [-2.02431465e-01 9.79291999e-01 -2.94672150e-03 -6.26068342e+01] [-1.62034579e-02 -3.40812807e-04 9.99868657e-01 -7.72099620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.714012739 meters 0.034267040804665125 Centerline is valid? [True, True] Translation: X:384.71, Y:-62.61, Z:-7.72 [[ 9.78983422e-01 2.03323113e-01 1.58483961e-02 3.84710261e+02] [-2.03302313e-01 9.79111631e-01 -2.92968883e-03 -6.26087814e+01] [-1.61130224e-02 -3.53898782e-04 9.99870114e-01 -7.72210021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters 0.03217936724238665 Centerline is valid? [True, True] Translation: X:384.74, Y:-62.61, Z:-7.72 [[ 9.79264783e-01 2.01697828e-01 1.89333346e-02 3.84738678e+02] [-2.01667866e-01 9.79447718e-01 -3.49846895e-03 -6.26149111e+01] [-1.92498450e-02 -3.92317757e-04 9.99814628e-01 -7.71694990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.774012739 meters 0.02944890004830163 Centerline is valid? [True, True] Translation: X:384.77, Y:-62.62, Z:-7.71 [[ 9.79714932e-01 1.99297274e-01 2.09582442e-02 3.84767021e+02] [-1.99260034e-01 9.79939003e-01 -3.87154776e-03 -6.26231080e+01] [-2.13093899e-02 -3.83127303e-04 9.99772856e-01 -7.71364910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters 0.02781207565265546 Centerline is valid? [True, True] Translation: X:384.79, Y:-62.63, Z:-7.71 [[ 9.80206016e-01 1.96775961e-01 2.18033558e-02 3.84794850e+02] [-1.96735064e-01 9.80448420e-01 -4.02631983e-03 -6.26299025e+01] [-2.21693487e-02 -3.42861667e-04 9.99754171e-01 -7.71197641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.834012739 meters 0.024670398203409296 Centerline is valid? [True, True] Translation: X:384.82, Y:-62.64, Z:-7.71 [[ 9.80892583e-01 1.93395187e-01 2.11670074e-02 3.84823689e+02] [-1.93355869e-01 9.81120907e-01 -3.90813495e-03 -6.26412274e+01] [-2.15232080e-02 -2.59304517e-04 9.99768315e-01 -7.71366630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters 0.02432424310996398 Centerline is valid? [True, True] Translation: X:384.85, Y:-62.65, Z:-7.72 [[ 9.81158058e-01 1.92141278e-01 2.02631148e-02 3.84852202e+02] [-1.92104979e-01 9.81367250e-01 -3.74124285e-03 -6.26476382e+01] [-2.06044045e-02 -2.21894684e-04 9.99787682e-01 -7.71610624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.894012739 meters 0.02203243709298476 Centerline is valid? [True, True] Translation: X:384.88, Y:-62.66, Z:-7.72 [[ 9.81806794e-01 1.88928096e-01 1.90155992e-02 3.84881895e+02] [-1.88895531e-01 9.81990913e-01 -3.51067088e-03 -6.26595086e+01] [-1.93364100e-02 -1.45161189e-04 9.99813024e-01 -7.71956556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters 0.02129110009913346 Centerline is valid? [True, True] Translation: X:384.91, Y:-62.67, Z:-7.72 [[ 9.82098179e-01 1.87437853e-01 1.87141123e-02 3.84912787e+02] [-1.87406034e-01 9.82276457e-01 -3.45543520e-03 -6.26670151e+01] [-1.90301113e-02 -1.13560951e-04 9.99818905e-01 -7.72102541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.954012739 meters 0.020895991041030487 Centerline is valid? [True, True] Translation: X:384.94, Y:-62.67, Z:-7.72 [[ 9.82319094e-01 1.86291593e-01 1.85644688e-02 3.84942055e+02] [-1.86260068e-01 9.82494496e-01 -3.42824622e-03 -6.26741880e+01] [-1.88781419e-02 -9.01875049e-05 9.99821788e-01 -7.72201838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters 0.020930592008330345 Centerline is valid? [True, True] Translation: X:384.97, Y:-62.68, Z:-7.72 [[ 9.82258994e-01 1.86590187e-01 1.87449039e-02 3.84972814e+02] [-1.86558096e-01 9.82437832e-01 -3.46177044e-03 -6.26798017e+01] [-1.90616352e-02 -9.66584494e-05 9.99818306e-01 -7.72186762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.014012739 meters 0.021156728258592286 Centerline is valid? [True, True] Translation: X:385.00, Y:-62.68, Z:-7.72 [[ 9.82128358e-01 1.87253275e-01 1.89762815e-02 3.85003321e+02] [-1.87220502e-01 9.82311661e-01 -3.50497124e-03 -6.26838126e+01] [-1.92969399e-02 -1.10417286e-04 9.99813791e-01 -7.72173640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters 0.02183841488472652 Centerline is valid? [True, True] Translation: X:385.03, Y:-62.68, Z:-7.72 [[ 9.81937434e-01 1.88241296e-01 1.90811269e-02 3.85033068e+02] [-1.88208346e-01 9.82122802e-01 -3.52434688e-03 -6.26845360e+01] [-1.94034375e-02 -1.30539203e-04 9.99811727e-01 -7.72261725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.074012739 meters 0.021771305630159138 Centerline is valid? [True, True] Translation: X:385.06, Y:-62.69, Z:-7.73 [[ 9.82020556e-01 1.87916269e-01 1.79750633e-02 3.85061536e+02] [-1.87886977e-01 9.82185045e-01 -3.31990030e-03 -6.26888805e+01] [-1.82787016e-02 -1.17069972e-04 9.99832924e-01 -7.72614608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters 0.021600025525964475 Centerline is valid? [True, True] Translation: X:385.09, Y:-62.69, Z:-7.73 [[ 9.82164103e-01 1.87291614e-01 1.65990087e-02 3.85090853e+02] [-1.87266555e-01 9.82304353e-01 -3.06520170e-03 -6.26940901e+01] [-1.68793651e-02 -9.79081099e-05 9.99857529e-01 -7.72939270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.134012739 meters 0.021593110070549922 Centerline is valid? [True, True] Translation: X:385.12, Y:-62.70, Z:-7.73 [[ 9.82347953e-01 1.86441410e-01 1.52348086e-02 3.85120449e+02] [-1.86420203e-01 9.82466078e-01 -2.81298056e-03 -6.26994546e+01] [-1.54921387e-02 -7.67504153e-05 9.99879987e-01 -7.73250853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters 0.021291347152611564 Centerline is valid? [True, True] Translation: X:385.15, Y:-62.70, Z:-7.74 [[ 9.82685065e-01 1.84762294e-01 1.38909540e-02 3.85148470e+02] [-1.84744499e-01 9.82783238e-01 -2.56464367e-03 -6.27049524e+01] [-1.41256462e-02 -4.60403038e-05 9.99900227e-01 -7.73500161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.194012739 meters 0.020494119549069094 Centerline is valid? [True, True] Translation: X:385.18, Y:-62.71, Z:-7.73 [[ 9.82885154e-01 1.83570573e-01 1.54472780e-02 3.85177863e+02] [-1.83548431e-01 9.83006533e-01 -2.85129250e-03 -6.27123301e+01] [-1.57081885e-02 -3.28305630e-05 9.99876618e-01 -7.73129275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters 0.0199109239628342 Centerline is valid? [True, True] Translation: X:385.21, Y:-62.72, Z:-7.72 [[ 9.83126535e-01 1.81885688e-01 1.94887772e-02 3.85207381e+02] [-1.81850118e-01 9.83319682e-01 -3.59697920e-03 -6.27181750e+01] [-1.98179372e-02 -7.75073200e-06 9.99803605e-01 -7.72435110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.254012739 meters 0.01981500308594486 Centerline is valid? [True, True] Translation: X:385.24, Y:-62.72, Z:-7.72 [[ 9.83171944e-01 1.81555515e-01 2.02613989e-02 3.85238483e+02] [-1.81517003e-01 9.83380697e-01 -3.73933457e-03 -6.27229262e+01] [-2.06035654e-02 -1.37956626e-06 9.99787724e-01 -7.72357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters 0.0198959191181751 Centerline is valid? [True, True] Translation: X:385.27, Y:-62.73, Z:-7.73 [[ 9.83189094e-01 1.81529978e-01 1.96487262e-02 3.85270401e+02] [-1.81493747e-01 9.83385411e-01 -3.62667462e-03 -6.27280767e+01] [-1.99806208e-02 -4.13997882e-07 9.99800367e-01 -7.72575611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.314012739 meters 0.020304029589807523 Centerline is valid? [True, True] Translation: X:385.30, Y:-62.73, Z:-7.73 [[ 9.83365834e-01 1.80906059e-01 1.62675685e-02 3.85301699e+02] [-1.80881104e-01 9.83500380e-01 -3.00478872e-03 -6.27348148e+01] [-1.65427443e-02 1.23108123e-05 9.99863159e-01 -7.73308598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters 0.020594328269655945 Centerline is valid? [True, True] Translation: X:385.33, Y:-62.74, Z:-7.74 [[ 9.83585897e-01 1.79763195e-01 1.56197531e-02 3.85330679e+02] [-1.79739992e-01 9.83709913e-01 -2.88834182e-03 -6.27421971e+01] [-1.58845236e-02 3.34379776e-05 9.99873832e-01 -7.73552783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.374012739 meters 0.02063769358949262 Centerline is valid? [True, True] Translation: X:385.36, Y:-62.75, Z:-7.73 [[ 9.83746436e-01 1.78791782e-01 1.66267610e-02 3.85360771e+02] [-1.78765348e-01 9.83886932e-01 -3.07481081e-03 -6.27494540e+01] [-1.69086038e-02 5.25454489e-05 9.99857038e-01 -7.73321837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters 0.020880711728020515 Centerline is valid? [True, True] Translation: X:385.39, Y:-62.76, Z:-7.73 [[ 9.83945700e-01 1.77627679e-01 1.72993410e-02 3.85391097e+02] [-1.77598884e-01 9.84097760e-01 -3.19912940e-03 -6.27581323e+01] [-1.75924967e-02 7.54259469e-05 9.99845237e-01 -7.73207761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.434012739 meters 0.02220114134809812 Centerline is valid? [True, True] Translation: X:385.42, Y:-62.77, Z:-7.73 [[ 9.84492278e-01 1.74554791e-01 1.74808320e-02 3.85420561e+02] [-1.74524903e-01 9.84647453e-01 -3.23278563e-03 -6.27730434e+01] [-1.77767550e-02 1.31811979e-04 9.99841972e-01 -7.73240547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters 0.023876884636957824 Centerline is valid? [True, True] Translation: X:385.45, Y:-62.78, Z:-7.73 [[ 9.84730742e-01 1.73122970e-01 1.82702855e-02 3.85449831e+02] [-1.73090020e-01 9.84900203e-01 -3.38171246e-03 -6.27847296e+01] [-1.85798600e-02 1.67672131e-04 9.99827365e-01 -7.73254597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.494012739 meters 0.024040435239414074 Centerline is valid? [True, True] Translation: X:385.48, Y:-62.79, Z:-7.73 [[ 9.84933907e-01 1.71867323e-01 1.91526137e-02 3.85481349e+02] [-1.71830816e-01 9.85120085e-01 -3.54805803e-03 -6.27922960e+01] [-1.94774197e-02 2.03593413e-04 9.99810276e-01 -7.73077115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters 0.024600838662910022 Centerline is valid? [True, True] Translation: X:385.51, Y:-62.80, Z:-7.73 [[ 9.85067141e-01 1.71073772e-01 1.94033941e-02 3.85511804e+02] [-1.71036086e-01 9.85258197e-01 -3.59770437e-03 -6.28032801e+01] [-1.97328259e-02 2.25299777e-04 9.99805263e-01 -7.73150110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55401273900003 meters 0.02569417173107383 Centerline is valid? [True, True] Translation: X:385.54, Y:-62.82, Z:-7.74 [[ 9.84980897e-01 1.71730699e-01 1.79220215e-02 3.85542015e+02] [-1.71698609e-01 9.85143912e-01 -3.32570105e-03 -6.28153780e+01] [-1.82268953e-02 1.98565853e-04 9.99833857e-01 -7.73537513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters 0.022831575648522666 Centerline is valid? [True, True] Translation: X:385.57, Y:-62.82, Z:-7.74 [[ 9.84633991e-01 1.73993234e-01 1.49083082e-02 3.85574155e+02] [-1.73971257e-01 9.84746839e-01 -2.76849646e-03 -6.28195758e+01] [-1.51626090e-02 1.32338605e-04 9.99885032e-01 -7.73999965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61401273900003 meters 0.022235744571062754 Centerline is valid? [True, True] Translation: X:385.60, Y:-62.82, Z:-7.74 [[ 9.84260248e-01 1.76112016e-01 1.47079245e-02 3.85604508e+02] [-1.76090825e-01 9.84370127e-01 -2.73377188e-03 -6.28244482e+01] [-1.49594916e-02 1.00812418e-04 9.99888095e-01 -7.74099855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters 0.02045450155378249 Centerline is valid? [True, True] Translation: X:385.64, Y:-62.83, Z:-7.74 [[ 9.83333983e-01 1.81070647e-01 1.63615215e-02 3.85637171e+02] [-1.81045056e-01 9.83470091e-01 -3.04430407e-03 -6.28268350e+01] [-1.66423011e-02 3.13950783e-05 9.99861507e-01 -7.73850023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.674012739 meters 0.020294345568077386 Centerline is valid? [True, True] Translation: X:385.67, Y:-62.83, Z:-7.74 [[ 9.82890593e-01 1.83465774e-01 1.63215464e-02 3.85669317e+02] [-1.83440591e-01 9.83026098e-01 -3.03971511e-03 -6.28312699e+01] [-1.66021898e-02 -6.32673428e-06 9.99862174e-01 -7.73999709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters 0.020975181104653046 Centerline is valid? [True, True] Translation: X:385.70, Y:-62.83, Z:-7.74 [[ 9.82113140e-01 1.87638226e-01 1.56740591e-02 3.85701175e+02] [-1.87615477e-01 9.82238205e-01 -2.92263991e-03 -6.28310856e+01] [-1.59440586e-02 -7.03330044e-05 9.99872883e-01 -7.74189821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.734012739 meters 0.021734711289994733 Centerline is valid? [True, True] Translation: X:385.73, Y:-62.83, Z:-7.74 [[ 9.81809993e-01 1.89265724e-01 1.50871843e-02 3.85731684e+02] [-1.89244832e-01 9.81925902e-01 -2.81361421e-03 -6.28344493e+01] [-1.53470178e-02 -9.27370999e-05 9.99882223e-01 -7.74377010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters 0.022041801472171964 Centerline is valid? [True, True] Translation: X:385.76, Y:-62.84, Z:-7.74 [[ 9.81552083e-01 1.90587775e-01 1.52252840e-02 3.85762323e+02] [-1.90566656e-01 9.81670152e-01 -2.83949313e-03 -6.28412627e+01] [-1.54873795e-02 -1.14321049e-04 9.99880057e-01 -7.74355790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.794012739 meters 0.021473227175381582 Centerline is valid? [True, True] Translation: X:385.79, Y:-62.85, Z:-7.74 [[ 9.81718565e-01 1.89574250e-01 1.70371080e-02 3.85791631e+02] [-1.89547648e-01 9.81866382e-01 -3.17765875e-03 -6.28523640e+01] [-1.73305658e-02 -1.09777156e-04 9.99849808e-01 -7.74109986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters 0.02116671609580356 Centerline is valid? [True, True] Translation: X:385.82, Y:-62.86, Z:-7.74 [[ 9.81773296e-01 1.89158164e-01 1.84494915e-02 3.85822543e+02] [-1.89126858e-01 9.81946626e-01 -3.44306219e-03 -6.28585336e+01] [-1.87676992e-02 -1.08987841e-04 9.99823865e-01 -7.73825544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.854012739 meters 0.02205317343981397 Centerline is valid? [True, True] Translation: X:385.85, Y:-62.86, Z:-7.74 [[ 9.81551980e-01 1.90325148e-01 1.82222203e-02 3.85854890e+02] [-1.90294780e-01 9.81721102e-01 -3.40222945e-03 -6.28616450e+01] [-1.85366680e-02 -1.28128338e-04 9.99828173e-01 -7.73990701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters 0.02200754467589272 Centerline is valid? [True, True] Translation: X:385.89, Y:-62.87, Z:-7.74 [[ 9.81363147e-01 1.91331652e-01 1.78486173e-02 3.85886416e+02] [-1.91302625e-01 9.81525435e-01 -3.33564218e-03 -6.28681813e+01] [-1.81570858e-02 -1.41011046e-04 9.99835137e-01 -7.74108040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.914012739 meters 0.02200754467589272 Centerline is valid? [True, True] Translation: X:385.92, Y:-62.87, Z:-7.74 [[ 9.81332313e-01 1.91489787e-01 1.78480792e-02 3.85917514e+02] [-1.91460734e-01 9.81494596e-01 -3.33851916e-03 -6.28741469e+01] [-1.81570856e-02 -1.41009599e-04 9.99835137e-01 -7.74172377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters 0.02311294909118608 Centerline is valid? [True, True] Translation: X:385.95, Y:-62.88, Z:-7.74 [[ 9.80926917e-01 1.93555309e-01 1.78528791e-02 3.85949021e+02] [-1.93526523e-01 9.81089349e-01 -3.34269619e-03 -6.28753063e+01] [-1.81622661e-02 -1.76064952e-04 9.99835037e-01 -7.74190074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.974012739 meters 0.02396146848986488 Centerline is valid? [True, True] Translation: X:385.98, Y:-62.88, Z:-7.74 [[ 9.80670009e-01 1.94885744e-01 1.74894119e-02 3.85980219e+02] [-1.94858321e-01 9.80825932e-01 -3.27510809e-03 -6.28765455e+01] [-1.77923406e-02 -1.96157170e-04 9.99841685e-01 -7.74252840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters 0.026148546372539258 Centerline is valid? [True, True] Translation: X:386.01, Y:-62.87, Z:-7.75 [[ 9.80155262e-01 1.97557578e-01 1.63299321e-02 3.86010119e+02] [-1.97534040e-01 9.80291258e-01 -3.05806689e-03 -6.28741230e+01] [-1.66122340e-02 -2.28337102e-04 9.99861981e-01 -7.74589465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.034012739 meters 0.026679815054983538 Centerline is valid? [True, True] Translation: X:386.04, Y:-62.88, Z:-7.75 [[ 9.80055824e-01 1.98081819e-01 1.59428661e-02 3.86038703e+02] [-1.98059458e-01 9.80185462e-01 -2.98526341e-03 -6.28767857e+01] [-1.62182920e-02 -2.31910637e-04 9.99868448e-01 -7.74701248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters 0.027261306233555105 Centerline is valid? [True, True] Translation: X:386.07, Y:-62.88, Z:-7.75 [[ 9.79944085e-01 1.98606673e-01 1.62782285e-02 3.86067727e+02] [-1.98583443e-01 9.80079246e-01 -3.04751270e-03 -6.28786368e+01] [-1.65592103e-02 -2.46194621e-04 9.99862857e-01 -7.74701496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.094012739 meters 0.028849205766788132 Centerline is valid? [True, True] Translation: X:386.10, Y:-62.87, Z:-7.74 [[ 9.79574222e-01 2.00288358e-01 1.78582645e-02 3.86096391e+02] [-2.00260694e-01 9.79736946e-01 -3.34244209e-03 -6.28742982e+01] [-1.81658537e-02 -3.02138329e-04 9.99834942e-01 -7.74476653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters 0.02944136985248851 Centerline is valid? [True, True] Translation: X:386.13, Y:-62.88, Z:-7.74 [[ 9.79394527e-01 2.01072413e-01 1.88744493e-02 3.86125408e+02] [-2.01041684e-01 9.79576323e-01 -3.53122008e-03 -6.28759420e+01] [-1.91989946e-02 -3.36093452e-04 9.99815626e-01 -7.74308714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.154012739 meters 0.031680432720687754 Centerline is valid? [True, True] Translation: X:386.15, Y:-62.87, Z:-7.74 [[ 9.78975901e-01 2.03079207e-01 1.91055077e-02 3.86154435e+02] [-2.03048120e-01 9.79162239e-01 -3.57355887e-03 -6.28703975e+01] [-1.94331072e-02 -3.80909397e-04 9.99811087e-01 -7.74330395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters 0.03264766392809716 Centerline is valid? [True, True] Translation: X:386.18, Y:-62.87, Z:-7.75 [[ 9.78890154e-01 2.03576728e-01 1.81819519e-02 3.86182892e+02] [-2.03548678e-01 9.79058924e-01 -3.39982185e-03 -6.28700954e+01] [-1.84933269e-02 -3.72860132e-04 9.99828914e-01 -7.74682995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.214012739 meters 0.03204701671227288 Centerline is valid? [True, True] Translation: X:386.21, Y:-62.87, Z:-7.75 [[ 9.79141981e-01 2.02537853e-01 1.61058957e-02 3.86212027e+02] [-2.02515717e-01 9.79274384e-01 -3.01074564e-03 -6.28698996e+01] [-1.63818811e-02 -3.13749567e-04 9.99865759e-01 -7.75201105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters 0.030535158279540852 Centerline is valid? [True, True] Translation: X:386.24, Y:-62.87, Z:-7.75 [[ 9.79464497e-01 2.00982750e-01 1.59759963e-02 3.86240491e+02] [-2.00960772e-01 9.79594739e-01 -2.98597191e-03 -6.28746618e+01] [-1.62501308e-02 -2.85895066e-04 9.99867917e-01 -7.75272346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.274012739 meters 0.029193962537833663 Centerline is valid? [True, True] Translation: X:386.27, Y:-62.88, Z:-7.75 [[ 9.79788739e-01 1.99389264e-01 1.60607704e-02 3.86269559e+02] [-1.99366850e-01 9.79920330e-01 -3.00103793e-03 -6.28791400e+01] [-1.63366502e-02 -2.61602029e-04 9.99866514e-01 -7.75272125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters 0.026071284424075098 Centerline is valid? [True, True] Translation: X:386.30, Y:-62.88, Z:-7.75 [[ 9.80277331e-01 1.96962433e-01 1.61911975e-02 3.86298014e+02] [-1.96939330e-01 9.80411011e-01 -3.02490788e-03 -6.28834418e+01] [-1.64698215e-02 -2.23434960e-04 9.99864338e-01 -7.75225525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.334012739 meters 0.02628212566464967 Centerline is valid? [True, True] Translation: X:386.33, Y:-62.89, Z:-7.75 [[ 9.80495881e-01 1.95870042e-01 1.62096640e-02 3.86326060e+02] [-1.95846749e-01 9.80629841e-01 -3.02762666e-03 -6.28850510e+01] [-1.64887016e-02 -2.06034535e-04 9.99864031e-01 -7.75362646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters 0.023957465274513475 Centerline is valid? [True, True] Translation: X:386.35, Y:-62.89, Z:-7.75 [[ 9.81040228e-01 1.92985710e-01 1.77928706e-02 3.86354860e+02] [-1.92957192e-01 9.81201552e-01 -3.32213486e-03 -6.28885437e+01] [-1.80995168e-02 -1.74114407e-04 9.99836175e-01 -7.75193273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.394012739 meters 0.02293927466625092 Centerline is valid? [True, True] Translation: X:386.38, Y:-62.89, Z:-7.75 [[ 9.81390549e-01 1.91142050e-01 1.83658951e-02 3.86382136e+02] [-1.91111359e-01 9.81562375e-01 -3.42828125e-03 -6.28936145e+01] [-1.86825603e-02 -1.45448347e-04 9.99825455e-01 -7.75101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters 0.021969892242480783 Centerline is valid? [True, True] Translation: X:386.41, Y:-62.90, Z:-7.75 [[ 9.81713530e-01 1.89450872e-01 1.86255625e-02 3.86409020e+02] [-1.89419023e-01 9.81890194e-01 -3.47568028e-03 -6.28999600e+01] [-1.89467279e-02 -1.15913496e-04 9.99820488e-01 -7.75104866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.454012739 meters 0.021121513186559276 Centerline is valid? [True, True] Translation: X:386.44, Y:-62.91, Z:-7.76 [[ 9.82259256e-01 1.86781079e-01 1.67207030e-02 3.86436055e+02] [-1.86755039e-01 9.82401560e-01 -3.11936237e-03 -6.29097196e+01] [-1.70090826e-02 -5.86529757e-05 9.99855333e-01 -7.75638068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters 0.021227374282150425 Centerline is valid? [True, True] Translation: X:386.46, Y:-62.91, Z:-7.76 [[ 9.82406358e-01 1.86154050e-01 1.49805622e-02 3.86463508e+02] [-1.86133083e-01 9.82520569e-01 -2.79420845e-03 -6.29143208e+01] [-1.52388637e-02 -4.33300876e-05 9.99883881e-01 -7.76059623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.514012739 meters 0.02146405887217231 Centerline is valid? [True, True] Translation: X:386.49, Y:-62.92, Z:-7.77 [[ 9.82719558e-01 1.84668574e-01 1.26407226e-02 3.86491204e+02] [-1.84653529e-01 9.82800853e-01 -2.35724701e-03 -6.29177298e+01] [-1.28586224e-02 -1.76413052e-05 9.99917324e-01 -7.76687906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters 0.02142321509302817 Centerline is valid? [True, True] Translation: X:386.52, Y:-62.92, Z:-7.77 [[ 9.82862032e-01 1.83903957e-01 1.27106827e-02 3.86517989e+02] [-1.83888690e-01 9.82944217e-01 -2.36967413e-03 -6.29242426e+01] [-1.29296845e-02 -8.28806042e-06 9.99916408e-01 -7.76680155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.574012739 meters 0.02089222175396495 Centerline is valid? [True, True] Translation: X:386.55, Y:-62.93, Z:-7.76 [[ 9.83083186e-01 1.82631214e-01 1.39028424e-02 3.86545693e+02] [-1.82612837e-01 9.83181489e-01 -2.59078946e-03 -6.29327640e+01] [-1.41421763e-02 8.12407291e-06 9.99899994e-01 -7.76281791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters 0.021110545850051076 Centerline is valid? [True, True] Translation: X:386.57, Y:-62.94, Z:-7.76 [[ 9.83558745e-01 1.79839243e-01 1.64329395e-02 3.86572772e+02] [-1.79813195e-01 9.83696012e-01 -3.06122840e-03 -6.29440047e+01] [-1.67155461e-02 5.60386044e-05 9.99860284e-01 -7.75835544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.634012739 meters 0.02087245388222643 Centerline is valid? [True, True] Translation: X:386.60, Y:-62.95, Z:-7.76 [[ 9.83382312e-01 1.80745291e-01 1.70401944e-02 3.86600108e+02] [-1.80717429e-01 9.83529938e-01 -3.17375038e-03 -6.29472787e+01] [-1.73331818e-02 4.15498611e-05 9.99849768e-01 -7.75824516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters 0.020759894591240256 Centerline is valid? [True, True] Translation: X:386.63, Y:-62.95, Z:-7.76 [[ 9.83177038e-01 1.81924146e-01 1.63253415e-02 3.86629757e+02] [-1.81898753e-01 9.83312567e-01 -3.03960635e-03 -6.29504776e+01] [-1.66058912e-02 1.89119167e-05 9.99862113e-01 -7.75926228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.694012739 meters 0.020910361148599406 Centerline is valid? [True, True] Translation: X:386.66, Y:-62.95, Z:-7.76 [[ 9.83066911e-01 1.82590531e-01 1.54966332e-02 3.86657938e+02] [-1.82567737e-01 9.83189045e-01 -2.88500420e-03 -6.29547302e+01] [-1.57628945e-02 6.96690160e-06 9.99875758e-01 -7.76331763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters 0.020885584406247056 Centerline is valid? [True, True] Translation: X:386.69, Y:-62.96, Z:-7.76 [[ 9.83133471e-01 1.82204975e-01 1.58089921e-02 3.86686281e+02] [-1.82181213e-01 9.83260569e-01 -2.94258273e-03 -6.29593636e+01] [-1.60805118e-02 1.28502044e-05 9.99870700e-01 -7.76325408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.754012739 meters 0.020793033184767513 Centerline is valid? [True, True] Translation: X:386.71, Y:-62.96, Z:-7.76 [[ 9.83159399e-01 1.82024959e-01 1.62637802e-02 3.86714269e+02] [-1.81999798e-01 9.83293910e-01 -3.02648437e-03 -6.29645576e+01] [-1.65429717e-02 1.55118467e-05 9.99863156e-01 -7.76149099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters 0.02064698036965639 Centerline is valid? [True, True] Translation: X:386.74, Y:-62.97, Z:-7.76 [[ 9.82909551e-01 1.83255794e-01 1.74965552e-02 3.86742505e+02] [-1.83226884e-01 9.83065264e-01 -3.25496324e-03 -6.29680383e+01] [-1.77967465e-02 -6.50484564e-06 9.99841625e-01 -7.75852760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.814012739 meters 0.020525135260572838 Centerline is valid? [True, True] Translation: X:386.77, Y:-62.97, Z:-7.76 [[ 9.82802038e-01 1.83795006e-01 1.78759525e-02 3.86770097e+02] [-1.83764934e-01 9.82964595e-01 -3.32468459e-03 -6.29705000e+01] [-1.81824888e-02 -1.74664415e-05 9.99834685e-01 -7.75825954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters 0.020475125748273208 Centerline is valid? [True, True] Translation: X:386.80, Y:-62.97, Z:-7.76 [[ 9.82753061e-01 1.84070800e-01 1.77302413e-02 3.86798892e+02] [-1.84041280e-01 9.82912987e-01 -3.29650832e-03 -6.29735544e+01] [-1.80340754e-02 -2.34426756e-05 9.99837373e-01 -7.75809320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.874012739 meters 0.020755130769277683 Centerline is valid? [True, True] Translation: X:386.83, Y:-62.97, Z:-7.76 [[ 9.82541269e-01 1.85136887e-01 1.83572351e-02 3.86826838e+02] [-1.85105446e-01 9.82712741e-01 -3.41217196e-03 -6.29732728e+01] [-1.86716077e-02 -4.54244252e-05 9.99825669e-01 -7.75885744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters 0.020626651273966307 Centerline is valid? [True, True] Translation: X:386.86, Y:-62.98, Z:-7.76 [[ 9.82428809e-01 1.85628211e-01 1.93855990e-02 3.86855178e+02] [-1.85593269e-01 9.82620051e-01 -3.60206890e-03 -6.29764223e+01] [-1.97173239e-02 -5.90604310e-05 9.99805593e-01 -7.75685744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.934012739 meters 0.020630592795610362 Centerline is valid? [True, True] Translation: X:386.88, Y:-62.98, Z:-7.76 [[ 9.82429993e-01 1.85669374e-01 1.89259486e-02 3.86883999e+02] [-1.85636094e-01 9.82612274e-01 -3.51575866e-03 -6.29797483e+01] [-1.92496381e-02 -5.93524081e-05 9.99814707e-01 -7.75818753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters 0.020738892288169594 Centerline is valid? [True, True] Translation: X:386.91, Y:-62.98, Z:-7.76 [[ 9.82524095e-01 1.85238645e-01 1.82495833e-02 3.86913013e+02] [-1.85207643e-01 9.82693565e-01 -3.38926164e-03 -6.29836711e+01] [-1.85615703e-02 -4.99310857e-05 9.99827718e-01 -7.76013555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.994012739 meters 0.020785760925263453 Centerline is valid? [True, True] Translation: X:386.94, Y:-62.99, Z:-7.76 [[ 9.82880380e-01 1.83519204e-01 1.63358973e-02 3.86939844e+02] [-1.83494136e-01 9.83016125e-01 -3.03321041e-03 -6.29895448e+01] [-1.66151028e-02 -1.62583599e-05 9.99861960e-01 -7.76442727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters 0.02070056922671617 Centerline is valid? [True, True] Translation: X:386.97, Y:-63.00, Z:-7.77 [[ 9.83067670e-01 1.82551319e-01 1.59051074e-02 3.86968220e+02] [-1.82527445e-01 9.83196326e-01 -2.95224417e-03 -6.29955779e+01] [-1.61767792e-02 -8.62815810e-07 9.99869147e-01 -7.76530746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05401273900003 meters 0.02051811040602288 Centerline is valid? [True, True] Translation: X:387.00, Y:-63.00, Z:-7.76 [[ 9.83250538e-01 1.81536799e-01 1.62101752e-02 3.86996255e+02] [-1.81511876e-01 9.83384152e-01 -3.00811056e-03 -6.29991612e+01] [-1.64869122e-02 1.53870187e-05 9.99864082e-01 -7.76447610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters 0.020502038854752068 Centerline is valid? [True, True] Translation: X:387.02, Y:-63.00, Z:-7.77 [[ 9.83187468e-01 1.81876128e-01 1.62319756e-02 3.87024976e+02] [-1.81851200e-01 9.83321450e-01 -3.01113252e-03 -6.30014705e+01] [-1.65089029e-02 8.70351548e-06 9.99863719e-01 -7.76503856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.114012739 meters 0.020486790494196397 Centerline is valid? [True, True] Translation: X:387.05, Y:-63.00, Z:-7.77 [[ 9.83125423e-01 1.82240826e-01 1.58960431e-02 3.87052994e+02] [-1.82216979e-01 9.83253925e-01 -2.94810912e-03 -6.30040528e+01] [-1.61671126e-02 1.83206872e-06 9.99869304e-01 -7.76650541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters 0.020707888213312375 Centerline is valid? [True, True] Translation: X:387.08, Y:-63.01, Z:-7.77 [[ 9.83306666e-01 1.81281412e-01 1.56540888e-02 3.87080216e+02] [-1.81258179e-01 9.83431263e-01 -2.90229689e-03 -6.30094033e+01] [-1.59208528e-02 1.64162491e-05 9.99873255e-01 -7.76874314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.174012739 meters 0.020841034793305086 Centerline is valid? [True, True] Translation: X:387.11, Y:-63.02, Z:-7.77 [[ 9.83524315e-01 1.80110805e-01 1.54925875e-02 3.87108660e+02] [-1.80087918e-01 9.83646327e-01 -2.87140108e-03 -6.30164001e+01] [-1.57563971e-02 3.40649441e-05 9.99875860e-01 -7.76978462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters 0.02115237779235599 Centerline is valid? [True, True] Translation: X:387.14, Y:-63.02, Z:-7.77 [[ 9.83833288e-01 1.78410067e-01 1.55534175e-02 3.87136467e+02] [-1.78386799e-01 9.83956221e-01 -2.88195351e-03 -6.30244202e+01] [-1.58180514e-02 6.08374379e-05 9.99874885e-01 -7.76946017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.234012739 meters 0.02128627235373936 Centerline is valid? [True, True] Translation: X:387.16, Y:-63.03, Z:-7.77 [[ 9.83909100e-01 1.77936828e-01 1.61669039e-02 3.87163672e+02] [-1.77911637e-01 9.84041910e-01 -2.99485177e-03 -6.30305391e+01] [-1.64418054e-02 7.03815627e-05 9.99864822e-01 -7.76921949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters 0.021434967040508388 Centerline is valid? [True, True] Translation: X:387.19, Y:-63.04, Z:-7.77 [[ 9.84010597e-01 1.77281111e-01 1.71625535e-02 3.87192098e+02] [-1.77252642e-01 9.84160251e-01 -3.17814510e-03 -6.30368985e+01] [-1.74541281e-02 8.52205114e-05 9.99847661e-01 -7.76715372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.294012739 meters 0.021343596839188045 Centerline is valid? [True, True] Translation: X:387.22, Y:-63.04, Z:-7.77 [[ 9.84092848e-01 1.76776690e-01 1.76428256e-02 3.87220746e+02] [-1.76746539e-01 9.84250981e-01 -3.26625154e-03 -6.30418885e+01] [-1.79423655e-02 9.59864279e-05 9.99839018e-01 -7.76647249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters 0.021666279669690935 Centerline is valid? [True, True] Translation: X:387.25, Y:-63.05, Z:-7.77 [[ 9.84218183e-01 1.76055933e-01 1.78571402e-02 3.87248477e+02] [-1.76024943e-01 9.84380159e-01 -3.30501139e-03 -6.30507869e+01] [-1.81600814e-02 1.09550223e-04 9.99835086e-01 -7.76689799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.354012739 meters 0.021797882263743268 Centerline is valid? [True, True] Translation: X:387.28, Y:-63.06, Z:-7.77 [[ 9.84213211e-01 1.76135583e-01 1.73381840e-02 3.87275659e+02] [-1.76106390e-01 9.84365910e-01 -3.20840749e-03 -6.30574687e+01] [-1.76322320e-02 1.04392036e-04 9.99844535e-01 -7.76850393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters 0.021756785437096717 Centerline is valid? [True, True] Translation: X:387.30, Y:-63.06, Z:-7.77 [[ 9.84193800e-01 1.76256499e-01 1.72107603e-02 3.87303126e+02] [-1.76227769e-01 9.84344267e-01 -3.18382286e-03 -6.30636363e+01] [-1.75024827e-02 1.00484827e-04 9.99846815e-01 -7.76974802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.414012739 meters 0.021271708168265 Centerline is valid? [True, True] Translation: X:387.33, Y:-63.07, Z:-7.77 [[ 9.84124439e-01 1.76677582e-01 1.68558920e-02 3.87331688e+02] [-1.76650103e-01 9.84268776e-01 -3.11721640e-03 -6.30682387e+01] [-1.71414704e-02 9.01337765e-05 9.99853070e-01 -7.76958124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters 0.021454017857855147 Centerline is valid? [True, True] Translation: X:387.36, Y:-63.07, Z:-7.77 [[ 9.84035057e-01 1.77230194e-01 1.62624088e-02 3.87359284e+02] [-1.77204704e-01 9.84169423e-01 -3.00675600e-03 -6.30736285e+01] [-1.65378534e-02 7.69779719e-05 9.99863237e-01 -7.77174850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.474012739 meters 0.020811874592667406 Centerline is valid? [True, True] Translation: X:387.39, Y:-63.08, Z:-7.77 [[ 9.83755893e-01 1.78771515e-01 1.62815445e-02 3.87388061e+02] [-1.78746192e-01 9.83890615e-01 -3.00927475e-03 -6.30764534e+01] [-1.65572315e-02 5.01276814e-05 9.99862918e-01 -7.77172919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters 0.02064610816767366 Centerline is valid? [True, True] Translation: X:387.42, Y:-63.08, Z:-7.77 [[ 9.83644642e-01 1.79297672e-01 1.71919796e-02 3.87415938e+02] [-1.79269533e-01 9.83794868e-01 -3.17670244e-03 -6.30810847e+01] [-1.74829567e-02 4.27481740e-05 9.99847161e-01 -7.77090004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.534012739 meters 0.020431441249124792 Centerline is valid? [True, True] Translation: X:387.45, Y:-63.08, Z:-7.77 [[ 9.83526226e-01 1.79858842e-01 1.80820479e-02 3.87445037e+02] [-1.79827831e-01 9.83692429e-01 -3.34000128e-03 -6.30842525e+01] [-1.83879024e-02 3.33234092e-05 9.99830928e-01 -7.76926790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters 0.020291562985356577 Centerline is valid? [True, True] Translation: X:387.47, Y:-63.08, Z:-7.77 [[ 9.83230285e-01 1.81410320e-01 1.86682064e-02 3.87474431e+02] [-1.81377563e-01 9.83407492e-01 -3.44732128e-03 -6.30837248e+01] [-1.89838337e-02 3.51690915e-06 9.99819791e-01 -7.76849862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.594012739 meters 0.020433704954861406 Centerline is valid? [True, True] Translation: X:387.50, Y:-63.09, Z:-7.77 [[ 9.83127059e-01 1.82030496e-01 1.80578189e-02 3.87502198e+02] [-1.81999961e-01 9.83292885e-01 -3.33402275e-03 -6.30866343e+01] [-1.83630187e-02 -8.75435089e-06 9.99831386e-01 -7.77014257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters 0.020717330108571082 Centerline is valid? [True, True] Translation: X:387.53, Y:-63.09, Z:-7.77 [[ 9.83035184e-01 1.82688424e-01 1.63330172e-02 3.87531138e+02] [-1.82663550e-01 9.83170860e-01 -3.01465997e-03 -6.30904164e+01] [-1.66088901e-02 -1.99300786e-05 9.99862063e-01 -7.77461106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.654012739 meters 0.020766242615063716 Centerline is valid? [True, True] Translation: X:387.56, Y:-63.09, Z:-7.78 [[ 9.83116462e-01 1.82303725e-01 1.57281081e-02 3.87558583e+02] [-1.82280621e-01 9.83242265e-01 -2.90233391e-03 -6.30945586e+01] [-1.59936469e-02 -1.35970614e-05 9.99872093e-01 -7.77627580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters 0.02062080676103002 Centerline is valid? [True, True] Translation: X:387.59, Y:-63.10, Z:-7.78 [[ 9.83240435e-01 1.81607284e-01 1.60325280e-02 3.87586765e+02] [-1.81583201e-01 9.83371138e-01 -2.95746932e-03 -6.30981658e+01] [-1.63030233e-02 -3.33433958e-06 9.99867097e-01 -7.77643907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.714012739 meters 0.020563252712460442 Centerline is valid? [True, True] Translation: X:387.62, Y:-63.10, Z:-7.77 [[ 9.83464700e-01 1.80293845e-01 1.70679115e-02 3.87615185e+02] [-1.80266368e-01 9.83612794e-01 -3.14757971e-03 -6.31013459e+01] [-1.73557054e-02 1.87631134e-05 9.99849378e-01 -7.77497188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters 0.020706933909110006 Centerline is valid? [True, True] Translation: X:387.64, Y:-63.11, Z:-7.77 [[ 9.83575133e-01 1.79614957e-01 1.78444904e-02 3.87641996e+02] [-1.79584828e-01 9.83736990e-01 -3.28992088e-03 -6.31078622e+01] [-1.81452042e-02 3.12846410e-05 9.99835362e-01 -7.77444176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.774012739 meters 0.020706933909110006 Centerline is valid? [True, True] Translation: X:387.67, Y:-63.11, Z:-7.78 [[ 9.83583380e-01 1.79569769e-01 1.78446840e-02 3.87669867e+02] [-1.79539651e-01 9.83745240e-01 -3.28887019e-03 -6.31129066e+01] [-1.81452046e-02 3.10497284e-05 9.99835362e-01 -7.77501704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters 0.021014835699742312 Centerline is valid? [True, True] Translation: X:387.70, Y:-63.12, Z:-7.78 [[ 9.83844427e-01 1.78156316e-01 1.76201988e-02 3.87696859e+02] [-1.78126738e-01 9.84002197e-01 -3.24671064e-03 -6.31224722e+01] [-1.79167363e-02 5.56296340e-05 9.99839481e-01 -7.77647329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.834012739 meters 0.021409232893823172 Centerline is valid? [True, True] Translation: X:387.72, Y:-63.13, Z:-7.78 [[ 9.84065718e-01 1.77040903e-01 1.64675789e-02 3.87723259e+02] [-1.77014929e-01 9.84203492e-01 -3.03337464e-03 -6.31296619e+01] [-1.67444801e-02 7.00326814e-05 9.99859799e-01 -7.77936064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters 0.021767384004528472 Centerline is valid? [True, True] Translation: X:387.75, Y:-63.14, Z:-7.78 [[ 9.84238025e-01 1.76178564e-01 1.53825746e-02 3.87751367e+02] [-1.76155811e-01 9.84358221e-01 -2.83242894e-03 -6.31363600e+01] [-1.56409770e-02 7.80543606e-05 9.99877669e-01 -7.78185434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.894012739 meters 0.02171662514322501 Centerline is valid? [True, True] Translation: X:387.78, Y:-63.14, Z:-7.78 [[ 9.84313299e-01 1.75745567e-01 1.55185635e-02 3.87778885e+02] [-1.75722368e-01 9.84435619e-01 -2.85675684e-03 -6.31437496e+01] [-1.57790890e-02 8.49850191e-05 9.99875499e-01 -7.78079107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters 0.022006150306286287 Centerline is valid? [True, True] Translation: X:387.81, Y:-63.15, Z:-7.78 [[ 9.84354865e-01 1.75424778e-01 1.64817209e-02 3.87805306e+02] [-1.75398578e-01 9.84492833e-01 -3.03323702e-03 -6.31521720e+01] [-1.67582410e-02 9.49112030e-05 9.99859566e-01 -7.78017599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.954012739 meters 0.02150037499457531 Centerline is valid? [True, True] Translation: X:387.83, Y:-63.16, Z:-7.78 [[ 9.84251218e-01 1.75750559e-01 1.90073921e-02 3.87831946e+02] [-1.75715803e-01 9.84434726e-01 -3.49657546e-03 -6.31590901e+01] [-1.93260619e-02 1.01609488e-04 9.99813229e-01 -7.77641946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters 0.021322085141715255 Centerline is valid? [True, True] Translation: X:387.86, Y:-63.16, Z:-7.78 [[ 9.84148156e-01 1.76332938e-01 1.89499829e-02 3.87859809e+02] [-1.76298522e-01 9.84330578e-01 -3.48485070e-03 -6.31649186e+01] [-1.92675416e-02 8.87554133e-05 9.99814360e-01 -7.77691654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.014012739 meters 0.021195930763385842 Centerline is valid? [True, True] Translation: X:387.89, Y:-63.17, Z:-7.78 [[ 9.84115160e-01 1.76613901e-01 1.80244739e-02 3.87886741e+02] [-1.76582825e-01 9.84280206e-01 -3.31389429e-03 -6.31714517e+01] [-1.83264127e-02 7.84410872e-05 9.99832054e-01 -7.77978698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters 0.02172253238548421 Centerline is valid? [True, True] Translation: X:387.91, Y:-63.18, Z:-7.78 [[ 9.84349731e-01 1.75480072e-01 1.61972439e-02 3.87914873e+02] [-1.75454840e-01 9.84482979e-01 -2.97701341e-03 -6.31814297e+01] [-1.64683174e-02 8.85375162e-05 9.99864384e-01 -7.78372032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.074012739 meters 0.022089171461467202 Centerline is valid? [True, True] Translation: X:387.94, Y:-63.19, Z:-7.78 [[ 9.84557143e-01 1.74366622e-01 1.56049186e-02 3.87943529e+02] [-1.74343067e-01 9.84680796e-01 -2.86779268e-03 -6.31884259e+01] [-1.58659110e-02 1.02896396e-04 9.99874123e-01 -7.78487424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters 0.023433833339662067 Centerline is valid? [True, True] Translation: X:387.97, Y:-63.20, Z:-7.79 [[ 9.84756195e-01 1.73292778e-01 1.49949699e-02 3.87971076e+02] [-1.73270910e-01 9.84870347e-01 -2.75528623e-03 -6.32014468e+01] [-1.52455724e-02 1.15093100e-04 9.99883773e-01 -7.78790258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.134012739 meters 0.022569734428216325 Centerline is valid? [True, True] Translation: X:388.00, Y:-63.21, Z:-7.79 [[ 9.84767563e-01 1.73257187e-01 1.46558793e-02 3.87999701e+02] [-1.73236295e-01 9.84876609e-01 -2.69286926e-03 -6.32071982e+01] [-1.49007917e-02 1.12920053e-04 9.99888971e-01 -7.78726252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters 0.023109330351136315 Centerline is valid? [True, True] Translation: X:388.03, Y:-63.22, Z:-7.79 [[ 9.84720310e-01 1.73540126e-01 1.44822459e-02 3.88027481e+02] [-1.73519761e-01 9.84826794e-01 -2.66068303e-03 -6.32152909e+01] [-1.47242390e-02 1.07072777e-04 9.99891587e-01 -7.78945279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.194012739 meters 0.021847308968929332 Centerline is valid? [True, True] Translation: X:388.06, Y:-63.22, Z:-7.79 [[ 9.84280316e-01 1.75948405e-01 1.53106933e-02 3.88056851e+02] [-1.75925944e-01 9.84399387e-01 -2.81232530e-03 -6.32155213e+01] [-1.55666613e-02 7.45682632e-05 9.99878829e-01 -7.78672042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters 0.020939736979572802 Centerline is valid? [True, True] Translation: X:388.09, Y:-63.22, Z:-7.78 [[ 9.83845619e-01 1.78327337e-01 1.57212881e-02 3.88086572e+02] [-1.78303970e-01 9.83971219e-01 -2.88704172e-03 -6.32152559e+01] [-1.59841334e-02 3.72352801e-05 9.99872245e-01 -7.78462510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.254012739 meters 0.020988709331626963 Centerline is valid? [True, True] Translation: X:388.12, Y:-63.21, Z:-7.78 [[ 9.82820339e-01 1.83736135e-01 1.74703484e-02 3.88115290e+02] [-1.83708149e-01 9.82975600e-01 -3.20729665e-03 -6.32109739e+01] [-1.77622225e-02 -5.72489787e-05 9.99842238e-01 -7.78331023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters 0.021563070766851627 Centerline is valid? [True, True] Translation: X:388.14, Y:-63.21, Z:-7.78 [[ 9.82450514e-01 1.85670692e-01 1.78152024e-02 3.88143511e+02] [-1.85641928e-01 9.82612022e-01 -3.26948231e-03 -6.32114144e+01] [-1.81124791e-02 -9.51439494e-05 9.99835951e-01 -7.78379964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.314012739 meters 0.02176336846845988 Centerline is valid? [True, True] Translation: X:388.17, Y:-63.21, Z:-7.79 [[ 9.82326146e-01 1.86344043e-01 1.76420361e-02 3.88172115e+02] [-1.86315964e-01 9.82484547e-01 -3.23662781e-03 -6.32138480e+01] [-1.79361541e-02 -1.07568822e-04 9.99839128e-01 -7.78524181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters 0.021663900284983783 Centerline is valid? [True, True] Translation: X:388.20, Y:-63.22, Z:-7.79 [[ 9.82332076e-01 1.86329387e-01 1.74657579e-02 3.88200586e+02] [-1.86301879e-01 9.82487327e-01 -3.20345521e-03 -6.32180400e+01] [-1.77567836e-02 -1.07046694e-04 9.99842330e-01 -7.78620025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.374012739 meters 0.022273961588188923 Centerline is valid? [True, True] Translation: X:388.23, Y:-63.22, Z:-7.79 [[ 9.82410128e-01 1.85883963e-01 1.78183144e-02 3.88228499e+02] [-1.85855275e-01 9.82571698e-01 -3.26724394e-03 -6.32206716e+01] [-1.81150997e-02 -1.01854182e-04 9.99835903e-01 -7.78668077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters 0.021284038647939547 Centerline is valid? [True, True] Translation: X:388.26, Y:-63.22, Z:-7.79 [[ 9.82589869e-01 1.84933344e-01 1.77990932e-02 3.88256607e+02] [-1.84904582e-01 9.82751063e-01 -3.26259861e-03 -6.32248489e+01] [-1.80954410e-02 -8.53375530e-05 9.99836260e-01 -7.78617306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.434012739 meters 0.021542049579360706 Centerline is valid? [True, True] Translation: X:388.28, Y:-63.23, Z:-7.79 [[ 9.82574460e-01 1.85118041e-01 1.66955664e-02 3.88284719e+02] [-1.85092774e-01 9.82716289e-01 -3.05960086e-03 -6.32264977e+01] [-1.69733924e-02 -8.39430430e-05 9.99855938e-01 -7.78946974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters 0.022710112415363616 Centerline is valid? [True, True] Translation: X:388.31, Y:-63.23, Z:-7.79 [[ 9.82202420e-01 1.87207335e-01 1.52256595e-02 3.88312775e+02] [-1.87186584e-01 9.82320417e-01 -2.78946779e-03 -6.32261274e+01] [-1.54786850e-02 -1.10217176e-04 9.99880192e-01 -7.79324118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.494012739 meters 0.02324919918081456 Centerline is valid? [True, True] Translation: X:388.34, Y:-63.23, Z:-7.79 [[ 9.81902089e-01 1.88736376e-01 1.57120298e-02 3.88341889e+02] [-1.88714495e-01 9.82027780e-01 -2.87727034e-03 -6.32284816e+01] [-1.59726953e-02 -1.39890006e-04 9.99872419e-01 -7.79169135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters 0.025294976948745378 Centerline is valid? [True, True] Translation: X:388.37, Y:-63.22, Z:-7.79 [[ 9.81328296e-01 1.91613827e-01 1.67008033e-02 3.88371030e+02] [-1.91589535e-01 9.81470377e-01 -3.05750765e-03 -6.32231751e+01] [-1.69772045e-02 -1.99280373e-04 9.99855857e-01 -7.79052466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55401273900003 meters 0.026261101335243425 Centerline is valid? [True, True] Translation: X:388.40, Y:-63.22, Z:-7.79 [[ 9.81148728e-01 1.92638671e-01 1.54115451e-02 3.88399584e+02] [-1.92618125e-01 9.81269740e-01 -2.82063493e-03 -6.32240007e+01] [-1.56662463e-02 -2.01080549e-04 9.99877257e-01 -7.79473637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters 0.026853819229358575 Centerline is valid? [True, True] Translation: X:388.43, Y:-63.23, Z:-7.80 [[ 9.81028545e-01 1.93383534e-01 1.36309557e-02 3.88428228e+02] [-1.93367544e-01 9.81123220e-01 -2.49401108e-03 -6.32262530e+01] [-1.38559479e-02 -1.89088374e-04 9.99903984e-01 -7.79901797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.614012739 meters 0.03120199045248541 Centerline is valid? [True, True] Translation: X:388.46, Y:-63.22, Z:-7.80 [[ 9.80911807e-01 1.94011095e-01 1.31043040e-02 3.88457158e+02] [-1.93996379e-01 9.80999316e-01 -2.39714628e-03 -6.32206069e+01] [-1.33203863e-02 -1.90798440e-04 9.99911262e-01 -7.80411038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters 0.0261350943368457 Centerline is valid? [True, True] Translation: X:388.48, Y:-63.23, Z:-7.80 [[ 9.80911288e-01 1.93885944e-01 1.48757038e-02 3.88484605e+02] [-1.93866982e-01 9.81024054e-01 -2.72009956e-03 -6.32315202e+01] [-1.51208124e-02 -2.15731450e-04 9.99885651e-01 -7.79641432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.674012739 meters 0.026738092388837953 Centerline is valid? [True, True] Translation: X:388.51, Y:-63.23, Z:-7.79 [[ 9.80793267e-01 1.94079179e-01 1.94381004e-02 3.88513651e+02] [-1.94046864e-01 9.80985826e-01 -3.55309975e-03 -6.32292756e+01] [-1.97580837e-02 -2.87046126e-04 9.99804749e-01 -7.78821966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters 0.025921494834760844 Centerline is valid? [True, True] Translation: X:388.54, Y:-63.23, Z:-7.79 [[ 9.80805709e-01 1.93926637e-01 2.03130761e-02 3.88541186e+02] [-1.93891354e-01 9.81015989e-01 -3.71113299e-03 -6.32344523e+01] [-2.06471400e-02 -2.98629411e-04 9.99786780e-01 -7.78720500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.734012739 meters 0.026740291136996056 Centerline is valid? [True, True] Translation: X:388.57, Y:-63.23, Z:-7.79 [[ 9.80962207e-01 1.93374249e-01 1.78759132e-02 3.88569393e+02] [-1.93346851e-01 9.81125036e-01 -3.26491105e-03 -6.32342760e+01] [-1.81698556e-02 -2.53497170e-04 9.99834882e-01 -7.79227174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters 0.026302418922844344 Centerline is valid? [True, True] Translation: X:388.60, Y:-63.24, Z:-7.80 [[ 9.80966157e-01 1.93523751e-01 1.59360158e-02 3.88598052e+02] [-1.93502012e-01 9.81095564e-01 -2.90969569e-03 -6.32375862e+01] [-1.61978496e-02 -2.29338112e-04 9.99868780e-01 -7.79575783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.794012739 meters 0.02701728068482159 Centerline is valid? [True, True] Translation: X:388.63, Y:-63.24, Z:-7.80 [[ 9.80838073e-01 1.94259272e-01 1.48326938e-02 3.88626700e+02] [-1.94240533e-01 9.80950195e-01 -2.70758303e-03 -6.32388678e+01] [-1.50761070e-02 -2.25409828e-04 9.99886324e-01 -7.79834330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters 0.02767749767932342 Centerline is valid? [True, True] Translation: X:388.66, Y:-63.24, Z:-7.80 [[ 9.80620096e-01 1.95330953e-01 1.51672559e-02 3.88655789e+02] [-1.95311499e-01 9.80737354e-01 -2.76788949e-03 -6.32402258e+01] [-1.54157489e-02 -2.48091410e-04 9.99881140e-01 -7.79772780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.854012739 meters 0.028459934145970606 Centerline is valid? [True, True] Translation: X:388.68, Y:-63.24, Z:-7.80 [[ 9.80476851e-01 1.95956487e-01 1.63156594e-02 3.88684175e+02] [-1.95934076e-01 9.80612552e-01 -2.97663061e-03 -6.32422622e+01] [-1.65826305e-02 -2.78276241e-04 9.99862460e-01 -7.79530187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters 0.028445754737104964 Centerline is valid? [True, True] Translation: X:388.71, Y:-63.24, Z:-7.79 [[ 9.80319747e-01 1.96514320e-01 1.88498253e-02 3.88713967e+02] [-1.96484534e-01 9.80500898e-01 -3.43760692e-03 -6.32417798e+01] [-1.91578096e-02 -3.33745204e-04 9.99816417e-01 -7.79088905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.914012739 meters 0.02822264125643811 Centerline is valid? [True, True] Translation: X:388.74, Y:-63.25, Z:-7.79 [[ 9.80483340e-01 1.95675081e-01 1.90704816e-02 3.88742040e+02] [-1.95644454e-01 9.80668730e-01 -3.47691614e-03 -6.32450005e+01] [-1.93821708e-02 -3.21975604e-04 9.99812096e-01 -7.79214998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters 0.02566782886117128 Centerline is valid? [True, True] Translation: X:388.77, Y:-63.25, Z:-7.80 [[ 9.81131164e-01 1.92472881e-01 1.83256302e-02 3.88770179e+02] [-1.92444060e-01 9.81302261e-01 -3.34003401e-03 -6.32527905e+01] [-1.86258483e-02 -2.49647231e-04 9.99826493e-01 -7.79532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.974012739 meters 0.024375783040658624 Centerline is valid? [True, True] Translation: X:388.80, Y:-63.26, Z:-7.80 [[ 9.81625765e-01 1.89940648e-01 1.82594523e-02 3.88796906e+02] [-1.89911613e-01 9.81795554e-01 -3.32710863e-03 -6.32591854e+01] [-1.85590023e-02 -2.01706481e-04 9.99827747e-01 -7.79556864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters 0.022378898321774726 Centerline is valid? [True, True] Translation: X:388.82, Y:-63.27, Z:-7.80 [[ 9.82215085e-01 1.86857879e-01 1.83755452e-02 3.88824498e+02] [-1.86827955e-01 9.82386946e-01 -3.34712767e-03 -6.32674057e+01] [-1.86773329e-02 -1.45466240e-04 9.99825553e-01 -7.79608246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.034012739 meters 0.02072490778273735 Centerline is valid? [True, True] Translation: X:388.85, Y:-63.28, Z:-7.80 [[ 9.83348110e-01 1.80958454e-01 1.67490935e-02 3.88851066e+02] [-1.80932748e-01 9.83490741e-01 -3.05014750e-03 -6.32800603e+01] [-1.70245283e-02 -3.11027301e-05 9.99855072e-01 -7.79885610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters 0.020770953608761696 Centerline is valid? [True, True] Translation: X:388.88, Y:-63.29, Z:-7.80 [[ 9.83795406e-01 1.78596911e-01 1.58032575e-02 3.88877529e+02] [-1.78573731e-01 9.83922326e-01 -2.87734022e-03 -6.32879424e+01] [-1.60630619e-02 8.66742961e-06 9.99870981e-01 -7.80094187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.094012739 meters 0.021045582899513925 Centerline is valid? [True, True] Translation: X:388.91, Y:-63.29, Z:-7.80 [[ 9.84374485e-01 1.75373923e-01 1.58385880e-02 3.88906025e+02] [-1.75350247e-01 9.84501896e-01 -2.88227557e-03 -6.32939230e+01] [-1.60985959e-02 5.99382215e-05 9.99870407e-01 -7.80096833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters 0.02115676582313133 Centerline is valid? [True, True] Translation: X:388.93, Y:-63.30, Z:-7.80 [[ 9.84469478e-01 1.74810300e-01 1.61618902e-02 3.88932703e+02] [-1.74785582e-01 9.84602130e-01 -2.94043024e-03 -6.32981835e+01] [-1.64270491e-02 6.98984217e-05 9.99865064e-01 -7.80119744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.154012739 meters 0.021194248466780686 Centerline is valid? [True, True] Translation: X:388.96, Y:-63.30, Z:-7.80 [[ 9.84549760e-01 1.74212232e-01 1.76597975e-02 3.88959032e+02] [-1.74182654e-01 9.84708125e-01 -3.21127319e-03 -6.33023861e+01] [-1.79491892e-02 8.56278567e-05 9.99838897e-01 -7.79856189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters 0.021339139992750094 Centerline is valid? [True, True] Translation: X:388.99, Y:-63.31, Z:-7.80 [[ 9.84661967e-01 1.73475183e-01 1.86325369e-02 3.88985535e+02] [-1.73442154e-01 9.84838236e-01 -3.38657646e-03 -6.33080612e+01] [-1.89375218e-02 1.02965695e-04 9.99820664e-01 -7.79696128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.214012739 meters 0.021310249613620706 Centerline is valid? [True, True] Translation: X:389.01, Y:-63.31, Z:-7.80 [[ 9.84806496e-01 1.72576071e-01 1.93304374e-02 3.89013935e+02] [-1.72540388e-01 9.84996185e-01 -3.51143312e-03 -6.33120169e+01] [-1.96463964e-02 1.22800981e-04 9.99806983e-01 -7.79557712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters 0.022302711952429582 Centerline is valid? [True, True] Translation: X:389.04, Y:-63.32, Z:-7.80 [[ 9.85049259e-01 1.71345828e-01 1.78483886e-02 3.89040773e+02] [-1.71315219e-01 9.85210936e-01 -3.24144568e-03 -6.33192592e+01] [-1.81398358e-02 1.35283072e-04 9.99835450e-01 -7.79866081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.274012739 meters 0.022138756386344702 Centerline is valid? [True, True] Translation: X:389.07, Y:-63.32, Z:-7.80 [[ 9.85156971e-01 1.70839877e-01 1.67176269e-02 3.89068954e+02] [-1.70812971e-01 9.85298797e-01 -3.03490524e-03 -6.33228323e+01] [-1.69903405e-02 1.34270546e-04 9.99855645e-01 -7.80099367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters 0.02305952161110664 Centerline is valid? [True, True] Translation: X:389.10, Y:-63.33, Z:-7.80 [[ 9.85223556e-01 1.70501312e-01 1.62433967e-02 3.89096625e+02] [-1.70475876e-01 9.85357440e-01 -2.94808960e-03 -6.33286384e+01] [-1.65082049e-02 1.35420033e-04 9.99863721e-01 -7.80293264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.334012739 meters 0.02230331341116028 Centerline is valid? [True, True] Translation: X:389.13, Y:-63.33, Z:-7.80 [[ 9.85178116e-01 1.70710100e-01 1.67970474e-02 3.89125377e+02] [-1.70682950e-01 9.85321289e-01 -3.04746510e-03 -6.33306055e+01] [-1.70707215e-02 1.35326327e-04 9.99854275e-01 -7.80158843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters 0.021723917277515974 Centerline is valid? [True, True] Translation: X:389.15, Y:-63.33, Z:-7.80 [[ 9.85040893e-01 1.71409106e-01 1.77019349e-02 3.89154681e+02] [-1.71379081e-01 9.85199930e-01 -3.21075547e-03 -6.33327906e+01] [-1.79902977e-02 1.28984115e-04 9.99838153e-01 -7.80025428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.394012739 meters 0.02113771192151357 Centerline is valid? [True, True] Translation: X:389.18, Y:-63.33, Z:-7.80 [[ 9.84736560e-01 1.73049355e-01 1.86501630e-02 3.89184415e+02] [-1.73016339e-01 9.84913148e-01 -3.38176970e-03 -6.33334352e+01] [-1.89540038e-02 1.03369339e-04 9.99820351e-01 -7.79831996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters 0.021127560860219215 Centerline is valid? [True, True] Translation: X:389.21, Y:-63.34, Z:-7.80 [[ 9.84747549e-01 1.72946542e-01 1.90199668e-02 3.89211896e+02] [-1.72912197e-01 9.84931207e-01 -3.44814566e-03 -6.33371100e+01] [-1.93297037e-02 1.06768734e-04 9.99813158e-01 -7.79861646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.454012739 meters 0.021826703309595293 Centerline is valid? [True, True] Translation: X:389.24, Y:-63.34, Z:-7.80 [[ 9.85057999e-01 1.71227121e-01 1.84935741e-02 3.89239146e+02] [-1.71194373e-01 9.85231574e-01 -3.35136356e-03 -6.33429428e+01] [-1.87942974e-02 1.35291654e-04 9.99823362e-01 -7.80001265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters 0.022196619059243056 Centerline is valid? [True, True] Translation: X:389.27, Y:-63.35, Z:-7.80 [[ 9.85270008e-01 1.70073473e-01 1.78332421e-02 3.89267535e+02] [-1.70042854e-01 9.85431373e-01 -3.23061925e-03 -6.33489468e+01] [-1.81228789e-02 1.50616869e-04 9.99835756e-01 -7.80132441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.514012739 meters 0.023913912088709986 Centerline is valid? [True, True] Translation: X:389.29, Y:-63.36, Z:-7.81 [[ 9.85778825e-01 1.67274165e-01 1.61077987e-02 3.89294078e+02] [-1.67248821e-01 9.85910402e-01 -2.91740196e-03 -6.33561575e+01] [-1.63688523e-02 1.81902732e-04 9.99866005e-01 -7.80512119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters 0.02499899411372278 Centerline is valid? [True, True] Translation: X:389.32, Y:-63.36, Z:-7.81 [[ 9.86082292e-01 1.65541057e-01 1.54230997e-02 3.89321267e+02] [-1.65517623e-01 9.86202879e-01 -2.79257805e-03 -6.33624038e+01] [-1.56725917e-02 2.00916955e-04 9.99877157e-01 -7.80665430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.574012739 meters 0.027441547861697606 Centerline is valid? [True, True] Translation: X:389.35, Y:-63.37, Z:-7.81 [[ 9.86700192e-01 1.61769051e-01 1.59218562e-02 3.89349325e+02] [-1.61743607e-01 9.86828608e-01 -2.88153269e-03 -6.33712357e+01] [-1.61782860e-02 2.67950407e-04 9.99869087e-01 -7.80586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters 0.028500238140617345 Centerline is valid? [True, True] Translation: X:389.38, Y:-63.38, Z:-7.80 [[ 9.86945586e-01 1.60175525e-01 1.67991260e-02 3.89377623e+02] [-1.60146983e-01 9.87088499e-01 -3.03945292e-03 -6.33786965e+01] [-1.70690701e-02 3.09445291e-04 9.99854265e-01 -7.80444651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.634012739 meters 0.029305510344570584 Centerline is valid? [True, True] Translation: X:389.41, Y:-63.39, Z:-7.80 [[ 9.87116467e-01 1.58898195e-01 1.87735173e-02 3.89406130e+02] [-1.58862338e-01 9.87294904e-01 -3.39567290e-03 -6.33857234e+01] [-1.90745642e-02 3.69519789e-04 9.99817996e-01 -7.80178590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters 0.03233171098483643 Centerline is valid? [True, True] Translation: X:389.43, Y:-63.40, Z:-7.80 [[ 9.87654452e-01 1.55191935e-01 2.13107409e-02 3.89433316e+02] [-1.55144891e-01 9.87884211e-01 -3.85346119e-03 -6.33982642e+01] [-2.16505706e-02 4.99635527e-04 9.99765474e-01 -7.79807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.694012739 meters 0.0340821067228821 Centerline is valid? [True, True] Translation: X:389.46, Y:-63.41, Z:-7.80 [[ 9.88015963e-01 1.52848430e-01 2.14898596e-02 3.89460873e+02] [-1.52800056e-01 9.88249488e-01 -3.88500018e-03 -6.34090223e+01] [-2.18311589e-02 5.54790432e-04 9.99761518e-01 -7.79822335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters 0.0340821067228821 Centerline is valid? [True, True] Translation: X:389.49, Y:-63.41, Z:-7.80 [[ 9.88022983e-01 1.52803029e-01 2.14899966e-02 3.89488767e+02] [-1.52754660e-01 9.88256508e-01 -3.88424212e-03 -6.34139779e+01] [-2.18311530e-02 5.55023349e-04 9.99761518e-01 -7.79879880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.754012739 meters 0.04066232682871184 Centerline is valid? [True, True] Translation: X:389.52, Y:-63.44, Z:-7.80 [[ 9.89002988e-01 1.46493326e-01 2.03173546e-02 3.89515017e+02] [-1.46448780e-01 9.89211441e-01 -3.67139155e-03 -6.34369877e+01] [-2.06359940e-02 6.55565430e-04 9.99786840e-01 -7.80219667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters 0.045590116364609794 Centerline is valid? [True, True] Translation: X:389.54, Y:-63.45, Z:-7.80 [[ 9.89554889e-01 1.42923405e-01 1.88154680e-02 3.89542838e+02] [-1.42884561e-01 9.89733521e-01 -3.39980538e-03 -6.34533890e+01] [-1.91082112e-02 6.75854135e-04 9.99817193e-01 -7.80448953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.814012739 meters 0.04768596816118173 Centerline is valid? [True, True] Translation: X:389.57, Y:-63.47, Z:-7.81 [[ 9.90186276e-01 1.38651843e-01 1.75158616e-02 3.89571192e+02] [-1.38617508e-01 9.90340935e-01 -3.16518873e-03 -6.34699289e+01] [-1.77855340e-02 7.06121341e-04 9.99841576e-01 -7.80756561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters 0.04671918304971335 Centerline is valid? [True, True] Translation: X:389.60, Y:-63.48, Z:-7.81 [[ 9.90187382e-01 1.38568408e-01 1.81037146e-02 3.89602031e+02] [-1.38531717e-01 9.90352595e-01 -3.27135172e-03 -6.34798913e+01] [-1.83823667e-02 7.31312517e-04 9.99830763e-01 -7.80721270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.874012739 meters 0.04977382158408639 Centerline is valid? [True, True] Translation: X:389.63, Y:-63.50, Z:-7.81 [[ 9.90036637e-01 1.39592177e-01 1.84791985e-02 3.89631005e+02] [-1.39554108e-01 9.90208813e-01 -3.34019052e-03 -6.34954762e+01] [-1.87645297e-02 7.28062918e-04 9.99823666e-01 -7.80724213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters 0.04481575604049095 Centerline is valid? [True, True] Translation: X:389.66, Y:-63.50, Z:-7.81 [[ 9.89607695e-01 1.42621944e-01 1.83191665e-02 3.89660365e+02] [-1.42584992e-01 9.89777013e-01 -3.31434917e-03 -6.35042762e+01] [-1.86045888e-02 6.67867230e-04 9.99826697e-01 -7.80839741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.934012739 meters 0.04560106581275159 Centerline is valid? [True, True] Translation: X:389.69, Y:-63.52, Z:-7.81 [[ 9.89261160e-01 1.45008814e-01 1.82975760e-02 3.89689316e+02] [-1.44972357e-01 9.89430168e-01 -3.31042308e-03 -6.35150626e+01] [-1.85842142e-02 6.22230248e-04 9.99827105e-01 -7.80933898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters 0.037997203351621774 Centerline is valid? [True, True] Translation: X:389.72, Y:-63.52, Z:-7.81 [[ 9.88178814e-01 1.52103994e-01 1.91574301e-02 3.89719467e+02] [-1.52065356e-01 9.88364362e-01 -3.46623653e-03 -6.35177952e+01] [-1.94617496e-02 5.12080081e-04 9.99810471e-01 -7.80831196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.994012739 meters 0.032280605687393465 Centerline is valid? [True, True] Translation: X:389.75, Y:-63.52, Z:-7.81 [[ 9.87583251e-01 1.55927076e-01 1.91329586e-02 3.89750935e+02] [-1.55889254e-01 9.87768473e-01 -3.46175214e-03 -6.35183128e+01] [-1.94387142e-02 4.36145781e-04 9.99810955e-01 -7.80901824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters 0.029356005123485622 Centerline is valid? [True, True] Translation: X:389.78, Y:-63.52, Z:-7.81 [[ 9.87004903e-01 1.59542219e-01 1.91729712e-02 3.89781490e+02] [-1.59504899e-01 9.87191038e-01 -3.47004692e-03 -6.35228332e+01] [-1.94810043e-02 3.66770477e-04 9.99810160e-01 -7.80945950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05401273900003 meters 0.024800430437175152 Centerline is valid? [True, True] Translation: X:389.81, Y:-63.53, Z:-7.81 [[ 9.86051753e-01 1.65458346e-01 1.80409766e-02 3.89811993e+02] [-1.65426284e-01 9.86216751e-01 -3.26561993e-03 -6.35260004e+01] [-1.83326374e-02 2.35618539e-04 9.99831915e-01 -7.81253329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters 0.02301906041130882 Centerline is valid? [True, True] Translation: X:389.84, Y:-63.53, Z:-7.82 [[ 9.85576686e-01 1.68400577e-01 1.67284944e-02 3.89841156e+02] [-1.68373433e-01 9.85718630e-01 -3.02812280e-03 -6.35292823e+01] [-1.69995263e-02 1.67813189e-04 9.99855484e-01 -7.81532681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.114012739 meters 0.02063038133410494 Centerline is valid? [True, True] Translation: X:389.87, Y:-63.53, Z:-7.82 [[ 9.84483253e-01 1.74808548e-01 1.53198070e-02 3.89869400e+02] [-1.74786560e-01 9.84602442e-01 -2.77296951e-03 -6.35275059e+01] [-1.55686581e-02 5.22456809e-05 9.99878800e-01 -7.81956172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters 0.02023390665241618 Centerline is valid? [True, True] Translation: X:389.90, Y:-63.53, Z:-7.82 [[ 9.83835215e-01 1.78399850e-01 1.55487200e-02 3.89898644e+02] [-1.78377665e-01 9.83958075e-01 -2.81341856e-03 -6.35278845e+01] [-1.58012020e-02 -5.60410481e-06 9.99875153e-01 -7.81966235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.174012739 meters 0.02065539180689247 Centerline is valid? [True, True] Translation: X:389.93, Y:-63.53, Z:-7.82 [[ 9.83177512e-01 1.81955090e-01 1.59475605e-02 3.89927331e+02] [-1.81932231e-01 9.83306840e-01 -2.88482321e-03 -6.35288209e+01] [-1.62062536e-02 -6.50819603e-05 9.99868668e-01 -7.81911259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters 0.022543366837517734 Centerline is valid? [True, True] Translation: X:389.96, Y:-63.53, Z:-7.82 [[ 9.82401176e-01 1.86035148e-01 1.66989083e-02 3.89955497e+02] [-1.86010688e-01 9.82543080e-01 -3.01992593e-03 -6.35285758e+01] [-1.69692092e-02 -1.39396634e-04 9.99856003e-01 -7.81886215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.234012739 meters 0.02398953565919304 Centerline is valid? [True, True] Translation: X:389.98, Y:-63.53, Z:-7.82 [[ 9.82076538e-01 1.87735262e-01 1.67673985e-02 3.89983593e+02] [-1.87710865e-01 9.82219651e-01 -3.03129246e-03 -6.35301757e+01] [-1.70383488e-02 -1.70461682e-04 9.99854822e-01 -7.81986020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters 0.02445983971339151 Centerline is valid? [True, True] Translation: X:390.01, Y:-63.54, Z:-7.82 [[ 9.81983033e-01 1.88240100e-01 1.65827336e-02 3.90012434e+02] [-1.88216327e-01 9.82123023e-01 -2.99691517e-03 -6.35352309e+01] [-1.68504241e-02 -1.78221358e-04 9.99858006e-01 -7.82111105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.294012739 meters 0.02477110101658427 Centerline is valid? [True, True] Translation: X:390.04, Y:-63.54, Z:-7.82 [[ 9.81893131e-01 1.88690570e-01 1.67853291e-02 3.90040664e+02] [-1.88666291e-01 9.82036574e-01 -3.03274508e-03 -6.35407165e+01] [-1.70560574e-02 -1.88994208e-04 9.99854517e-01 -7.82188384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters 0.02524380371364325 Centerline is valid? [True, True] Translation: X:390.07, Y:-63.55, Z:-7.82 [[ 9.81820704e-01 1.89115837e-01 1.62267170e-02 3.90068633e+02] [-1.89093217e-01 9.81954767e-01 -2.93109693e-03 -6.35457110e+01] [-1.64882189e-02 -1.90550472e-04 9.99864042e-01 -7.82336734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.354012739 meters 0.02496698781550666 Centerline is valid? [True, True] Translation: X:390.10, Y:-63.55, Z:-7.82 [[ 9.81540766e-01 1.90575673e-01 1.60821957e-02 3.90097050e+02] [-1.90553662e-01 9.81672485e-01 -2.90427702e-03 -6.35495783e+01] [-1.63409335e-02 -2.13854988e-04 9.99866455e-01 -7.82299077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters 0.025249045339767868 Centerline is valid? [True, True] Translation: X:390.13, Y:-63.55, Z:-7.82 [[ 9.81417532e-01 1.91143253e-01 1.68488591e-02 3.90125800e+02] [-1.91119191e-01 9.81562123e-01 -3.04185167e-03 -6.35533974e+01] [-1.71196313e-02 -2.34813773e-04 9.99853421e-01 -7.82207048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.414012739 meters 0.025708272865489996 Centerline is valid? [True, True] Translation: X:390.15, Y:-63.56, Z:-7.82 [[ 9.81394729e-01 1.91052031e-01 1.90658575e-02 3.90153095e+02] [-1.91021224e-01 9.81579875e-01 -3.44104295e-03 -6.35572507e+01] [-1.93720803e-02 -2.64962028e-04 9.99812309e-01 -7.81960566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters 0.025048681031760132 Centerline is valid? [True, True] Translation: X:390.18, Y:-63.56, Z:-7.82 [[ 9.81501093e-01 1.90474508e-01 1.93666281e-02 3.90181042e+02] [-1.90442635e-01 9.81692108e-01 -3.49400385e-03 -6.35635098e+01] [-1.96775846e-02 -2.58863088e-04 9.99806344e-01 -7.81958916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.474012739 meters 0.02521885557374836 Centerline is valid? [True, True] Translation: X:390.21, Y:-63.57, Z:-7.82 [[ 9.81600023e-01 1.90026309e-01 1.87455678e-02 3.90208497e+02] [-1.89996383e-01 9.81778968e-01 -3.38108876e-03 -6.35672860e+01] [-1.90465000e-02 -2.42713261e-04 9.99818570e-01 -7.82170559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters 0.02470979774643795 Centerline is valid? [True, True] Translation: X:390.24, Y:-63.57, Z:-7.83 [[ 9.81766174e-01 1.89310601e-01 1.72242694e-02 3.90237149e+02] [-1.89285242e-01 9.81917233e-01 -3.10571968e-03 -6.35720927e+01] [-1.75007526e-02 -2.11209471e-04 9.99846828e-01 -7.82517059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.534012739 meters 0.0226051780259342 Centerline is valid? [True, True] Translation: X:390.26, Y:-63.58, Z:-7.83 [[ 9.82470246e-01 1.85603488e-01 1.74229816e-02 3.90263718e+02] [-1.85576971e-01 9.82624711e-01 -3.14072340e-03 -6.35826045e+01] [-1.77031815e-02 -1.47636867e-04 9.99843276e-01 -7.82526904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters 0.021595069708043386 Centerline is valid? [True, True] Translation: X:390.29, Y:-63.59, Z:-7.83 [[ 9.83047038e-01 1.82476363e-01 1.79136226e-02 3.90290243e+02] [-1.82447832e-01 9.83210236e-01 -3.22807521e-03 -6.35916275e+01] [-1.82019045e-02 -9.49518332e-05 9.99834327e-01 -7.82514780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.594012739 meters 0.020337469638815983 Centerline is valid? [True, True] Translation: X:390.32, Y:-63.60, Z:-7.82 [[ 9.83599877e-01 1.79366355e-01 1.89471282e-02 3.90317850e+02] [-1.79333883e-01 9.83782348e-01 -3.41310307e-03 -6.36036551e+01] [-1.92520461e-02 -4.07343116e-05 9.99814661e-01 -7.82395309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters 0.020296347955185784 Centerline is valid? [True, True] Translation: X:390.35, Y:-63.61, Z:-7.83 [[ 9.84166922e-01 1.76245656e-01 1.87866561e-02 3.90345116e+02] [-1.76213181e-01 9.84346214e-01 -3.38328956e-03 -6.36145974e+01] [-1.90888638e-02 1.92652535e-05 9.99817791e-01 -7.82504686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.654012739 meters 0.021464523103567106 Centerline is valid? [True, True] Translation: X:390.37, Y:-63.63, Z:-7.83 [[ 9.85000969e-01 1.71627662e-01 1.78055332e-02 3.90373469e+02] [-1.71597747e-01 9.85161883e-01 -3.20589614e-03 -6.36293636e+01] [-1.80915531e-02 1.02421415e-04 9.99836329e-01 -7.82860830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters 0.022275715498781996 Centerline is valid? [True, True] Translation: X:390.40, Y:-63.64, Z:-7.83 [[ 9.85315724e-01 1.69800749e-01 1.79061378e-02 3.90401525e+02] [-1.69770189e-01 9.85478405e-01 -3.22427808e-03 -6.36410033e+01] [-1.81935970e-02 1.37003496e-04 9.99834473e-01 -7.82774157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.714012739 meters 0.02174984461274664 Centerline is valid? [True, True] Translation: X:390.43, Y:-63.65, Z:-7.83 [[ 9.85225550e-01 1.70266370e-01 1.84385133e-02 3.90431360e+02] [-1.70234052e-01 9.85398065e-01 -3.31989170e-03 -6.36459337e+01] [-1.87345413e-02 1.31979289e-04 9.99824484e-01 -7.82649598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters 0.021484740058680615 Centerline is valid? [True, True] Translation: X:390.46, Y:-63.65, Z:-7.83 [[ 9.85010863e-01 1.71478539e-01 1.86737843e-02 3.90460651e+02] [-1.71445608e-01 9.85187849e-01 -3.36226846e-03 -6.36504259e+01] [-1.89737422e-02 1.10332658e-04 9.99819976e-01 -7.82670335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.774012739 meters 0.020729202983060635 Centerline is valid? [True, True] Translation: X:390.49, Y:-63.65, Z:-7.83 [[ 9.84508570e-01 1.74467152e-01 1.74381188e-02 3.90490545e+02] [-1.74438907e-01 9.84662993e-01 -3.13962081e-03 -6.36492213e+01] [-1.77184309e-02 4.90972205e-05 9.99843015e-01 -7.82972010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters 0.020692439193158062 Centerline is valid? [True, True] Translation: X:390.52, Y:-63.65, Z:-7.83 [[ 9.84323643e-01 1.75547649e-01 1.70290794e-02 3.90518760e+02] [-1.75520882e-01 9.84470935e-01 -3.06561098e-03 -6.36526631e+01] [-1.73027945e-02 2.85943263e-05 9.99850295e-01 -7.83282327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.834012739 meters 0.02069045387704461 Centerline is valid? [True, True] Translation: X:390.55, Y:-63.66, Z:-7.83 [[ 9.84133981e-01 1.76700128e-01 1.60428239e-02 3.90546855e+02] [-1.76676532e-01 9.84264733e-01 -2.88760521e-03 -6.36554653e+01] [-1.63006260e-02 7.39992022e-06 9.99867136e-01 -7.83470822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters 0.02059220786911897 Centerline is valid? [True, True] Translation: X:390.58, Y:-63.66, Z:-7.83 [[ 9.84108614e-01 1.76807890e-01 1.64074773e-02 3.90576437e+02] [-1.76783242e-01 9.84245381e-01 -2.95216150e-03 -6.36601007e+01] [-1.66709491e-02 4.68054213e-06 9.99861030e-01 -7.83371962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.894012739 meters 0.02046177113106276 Centerline is valid? [True, True] Translation: X:390.60, Y:-63.67, Z:-7.83 [[ 9.84192199e-01 1.76295290e-01 1.69022748e-02 3.90604960e+02] [-1.76269065e-01 9.84337326e-01 -3.04076498e-03 -6.36652778e+01] [-1.71736126e-02 1.33489866e-05 9.99852523e-01 -7.83374133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters 0.020650369074856886 Centerline is valid? [True, True] Translation: X:390.63, Y:-63.67, Z:-7.83 [[ 9.84586387e-01 1.74085909e-01 1.68446904e-02 3.90633422e+02] [-1.74059546e-01 9.84730468e-01 -3.03000169e-03 -6.36730918e+01] [-1.71149604e-02 5.13192568e-05 9.99853527e-01 -7.83363829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.954012739 meters 0.020733387679820352 Centerline is valid? [True, True] Translation: X:390.66, Y:-63.68, Z:-7.83 [[ 9.84733502e-01 1.73191527e-01 1.74535345e-02 3.90662793e+02] [-1.73163091e-01 9.84888161e-01 -3.13908229e-03 -6.36793540e+01] [-1.77334420e-02 6.88515147e-05 9.99842748e-01 -7.83266804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters 0.02048043140009742 Centerline is valid? [True, True] Translation: X:390.69, Y:-63.68, Z:-7.83 [[ 9.84607069e-01 1.73747723e-01 1.89907713e-02 3.90691530e+02] [-1.73714170e-01 9.84790193e-01 -3.41505023e-03 -6.36831294e+01] [-1.92952826e-02 6.35165200e-05 9.99813827e-01 -7.83054843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.014012739 meters 0.020236844947535616 Centerline is valid? [True, True] Translation: X:390.72, Y:-63.68, Z:-7.83 [[ 9.84302678e-01 1.75369242e-01 1.98460903e-02 3.90721549e+02] [-1.75332943e-01 9.84502731e-01 -3.56807921e-03 -6.36847347e+01] [-2.01642614e-02 3.23965137e-05 9.99796680e-01 -7.82965203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters 0.020237243655824678 Centerline is valid? [True, True] Translation: X:390.75, Y:-63.68, Z:-7.83 [[ 9.83860113e-01 1.77855167e-01 1.96676583e-02 3.90750886e+02] [-1.77820024e-01 9.84056675e-01 -3.53551345e-03 -6.36849679e+01] [-1.99828998e-02 -1.88528104e-05 9.99800322e-01 -7.83053569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.074012739 meters 0.02124189363128033 Centerline is valid? [True, True] Translation: X:390.78, Y:-63.68, Z:-7.84 [[ 9.83141160e-01 1.82008551e-01 1.75027703e-02 3.90780435e+02] [-1.81981383e-01 9.83296943e-01 -3.14602587e-03 -6.36826035e+01] [-1.77830242e-02 -9.21908213e-05 9.99841865e-01 -7.83545775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters 0.02206405330732134 Centerline is valid? [True, True] Translation: X:390.81, Y:-63.68, Z:-7.84 [[ 9.82930643e-01 1.83233417e-01 1.65186251e-02 3.90808514e+02] [-1.83209403e-01 9.83069429e-01 -2.96844743e-03 -6.36839426e+01] [-1.67828741e-02 -1.08589507e-04 9.99859152e-01 -7.83767433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.134012739 meters 0.022370844546211414 Centerline is valid? [True, True] Translation: X:390.84, Y:-63.69, Z:-7.84 [[ 9.82799405e-01 1.83903751e-01 1.68742444e-02 3.90837440e+02] [-1.83878811e-01 9.82944248e-01 -3.03113582e-03 -6.36855107e+01] [-1.71438787e-02 -1.23817514e-04 9.99853025e-01 -7.83709320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters 0.021710490126746175 Centerline is valid? [True, True] Translation: X:390.87, Y:-63.69, Z:-7.84 [[ 9.82852066e-01 1.83491479e-01 1.82399114e-02 3.90866204e+02] [-1.83462285e-01 9.83021292e-01 -3.27550709e-03 -6.36914952e+01] [-1.85312489e-02 -1.26996916e-04 9.99828274e-01 -7.83520054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.194012739 meters 0.021002703154888357 Centerline is valid? [True, True] Translation: X:390.89, Y:-63.70, Z:-7.83 [[ 9.83096542e-01 1.81940615e-01 2.04646369e-02 3.90893168e+02] [-1.81903547e-01 9.83309514e-01 -3.67416649e-03 -6.36975516e+01] [-2.07915523e-02 -1.10529664e-04 9.99783826e-01 -7.83205105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters 0.020668202158670844 Centerline is valid? [True, True] Translation: X:390.92, Y:-63.70, Z:-7.83 [[ 9.83286516e-01 1.80839517e-01 2.10878345e-02 3.90920351e+02] [-1.80799931e-01 9.83512613e-01 -3.78472768e-03 -6.37027674e+01] [-2.14245795e-02 -9.12073301e-05 9.99770463e-01 -7.83163788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.254012739 meters 0.020405594232468707 Centerline is valid? [True, True] Translation: X:390.95, Y:-63.71, Z:-7.83 [[ 9.83439013e-01 1.79964763e-01 2.14567620e-02 3.90948495e+02] [-1.79923599e-01 9.83673055e-01 -3.84964425e-03 -6.37082628e+01] [-2.17992389e-02 -7.46875026e-05 9.99762366e-01 -7.83172361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters 0.020750272331981973 Centerline is valid? [True, True] Translation: X:390.98, Y:-63.71, Z:-7.84 [[ 9.83435295e-01 1.80102674e-01 2.04462105e-02 3.90977514e+02] [-1.80065347e-01 9.83647814e-01 -3.66737668e-03 -6.37115766e+01] [-2.07723746e-02 -7.50263179e-05 9.99784228e-01 -7.83500687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.314012739 meters 0.021148905274831115 Centerline is valid? [True, True] Translation: X:391.01, Y:-63.71, Z:-7.84 [[ 9.83290308e-01 1.81023465e-01 1.92529469e-02 3.91005139e+02] [-1.80990574e-01 9.83478773e-01 -3.45182080e-03 -6.37142942e+01] [-1.95597251e-02 -9.04599720e-05 9.99808686e-01 -7.83785205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters 0.021543548210150264 Centerline is valid? [True, True] Translation: X:391.03, Y:-63.72, Z:-7.84 [[ 9.83074461e-01 1.82263453e-01 1.85644203e-02 3.91033620e+02] [-1.82233118e-01 9.83249725e-01 -3.32714221e-03 -6.37162525e+01] [-1.88598776e-02 -1.12223664e-04 9.99822130e-01 -7.84014381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.374012739 meters 0.02363217928866439 Centerline is valid? [True, True] Translation: X:391.06, Y:-63.71, Z:-7.84 [[ 9.82445766e-01 1.85702551e-01 1.77448654e-02 3.91063061e+02] [-1.85675409e-01 9.82605991e-01 -3.17949460e-03 -6.37115502e+01] [-1.80266513e-02 -1.71104131e-04 9.99837492e-01 -7.84211851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters 0.02415289463473943 Centerline is valid? [True, True] Translation: X:391.09, Y:-63.71, Z:-7.84 [[ 9.82196339e-01 1.86952695e-01 1.84130938e-02 3.91092080e+02] [-1.86923716e-01 9.82368896e-01 -3.29785265e-03 -6.37126463e+01] [-1.87049930e-02 -2.02705108e-04 9.99825026e-01 -7.84111062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.434012739 meters 0.02544278398847912 Centerline is valid? [True, True] Translation: X:391.12, Y:-63.71, Z:-7.84 [[ 9.81712733e-01 1.89273648e-01 2.03861864e-02 3.91122244e+02] [-1.89238647e-01 9.81924341e-01 -3.65016674e-03 -6.37105058e+01] [-2.07085730e-02 -2.74439151e-04 9.99785517e-01 -7.83726867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters 0.026079882090245254 Centerline is valid? [True, True] Translation: X:391.15, Y:-63.71, Z:-7.84 [[ 9.81559769e-01 1.89998970e-01 2.09955280e-02 3.91151579e+02] [-1.89962033e-01 9.81784244e-01 -3.75821918e-03 -6.37125481e+01] [-2.13271364e-02 -2.99436453e-04 9.99772506e-01 -7.83744005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.494012739 meters 0.02622458664814234 Centerline is valid? [True, True] Translation: X:391.18, Y:-63.72, Z:-7.84 [[ 9.81542825e-01 1.90166470e-01 2.02582601e-02 3.91180526e+02] [-1.90132137e-01 9.81751816e-01 -3.62529827e-03 -6.37158044e+01] [-2.05779938e-02 -2.93360788e-04 9.99788208e-01 -7.84038554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters 0.026066341115378235 Centerline is valid? [True, True] Translation: X:391.21, Y:-63.72, Z:-7.85 [[ 9.81746034e-01 1.89476954e-01 1.65290299e-02 3.91209858e+02] [-1.89454011e-01 9.81885142e-01 -2.95731073e-03 -6.37172765e+01] [-1.67899511e-02 -2.28162943e-04 9.99859013e-01 -7.84814187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55401273900003 meters 0.024979335779517844 Centerline is valid? [True, True] Translation: X:391.24, Y:-63.72, Z:-7.85 [[ 9.82177197e-01 1.87283039e-01 1.59065434e-02 3.91237363e+02] [-1.87261515e-01 9.82305976e-01 -2.84525294e-03 -6.37214838e+01] [-1.61579603e-02 -1.84140858e-04 9.99869435e-01 -7.84938318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters 0.024979335779517844 Centerline is valid? [True, True] Translation: X:391.26, Y:-63.73, Z:-7.85 [[ 9.82190234e-01 1.87214639e-01 1.59067013e-02 3.91264446e+02] [-1.87193121e-01 9.82319014e-01 -2.84437000e-03 -6.37261867e+01] [-1.61579628e-02 -1.83912630e-04 9.99869435e-01 -7.84994152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.614012739 meters 0.024597807521535852 Centerline is valid? [True, True] Translation: X:391.29, Y:-63.73, Z:-7.85 [[ 9.82295862e-01 1.86480383e-01 1.78859176e-02 3.91291590e+02] [-1.86453081e-01 9.82458665e-01 -3.19679538e-03 -6.37312090e+01] [-1.81683144e-02 -1.94685575e-04 9.99834924e-01 -7.84672879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters 0.02371137376730648 Centerline is valid? [True, True] Translation: X:391.32, Y:-63.74, Z:-7.84 [[ 9.82393013e-01 1.85737621e-01 2.01371174e-02 3.91319750e+02] [-1.85702886e-01 9.82599356e-01 -3.59781009e-03 -6.37379275e+01] [-2.04549673e-02 -2.05057324e-04 9.99790754e-01 -7.84251917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.674012739 meters 0.02254250651977595 Centerline is valid? [True, True] Translation: X:391.35, Y:-63.75, Z:-7.84 [[ 9.82718967e-01 1.83831126e-01 2.16690806e-02 3.91347472e+02] [-1.83790464e-01 9.82957825e-01 -3.87041943e-03 -6.37473267e+01] [-2.20112959e-02 -1.79035806e-04 9.99757706e-01 -7.84137860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters 0.02215624050730071 Centerline is valid? [True, True] Translation: X:391.38, Y:-63.76, Z:-7.85 [[ 9.82976189e-01 1.82596981e-01 2.03998537e-02 3.91375149e+02] [-1.82560696e-01 9.83187837e-01 -3.64280479e-03 -6.37551633e+01] [-2.07220532e-02 -1.43421129e-04 9.99785265e-01 -7.84509611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.734012739 meters 0.02202454039144725 Centerline is valid? [True, True] Translation: X:391.40, Y:-63.76, Z:-7.85 [[ 9.83208169e-01 1.81693429e-01 1.70056944e-02 3.91402379e+02] [-1.81668091e-01 9.83355219e-01 -3.03606318e-03 -6.37639983e+01] [-1.72742711e-02 -1.04309932e-04 9.99850783e-01 -7.85171501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters 0.022373647610816755 Centerline is valid? [True, True] Translation: X:391.43, Y:-63.77, Z:-7.85 [[ 9.83049299e-01 1.82583242e-01 1.66563722e-02 3.91430390e+02] [-1.82559076e-01 9.83190391e-01 -2.97292601e-03 -6.37689923e+01] [-1.69191916e-02 -1.18239080e-04 9.99856853e-01 -7.85216447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.794012739 meters 0.023221902099849607 Centerline is valid? [True, True] Translation: X:391.46, Y:-63.77, Z:-7.85 [[ 9.82736211e-01 1.84235908e-01 1.69313436e-02 3.91457924e+02] [-1.84211196e-01 9.82882042e-01 -3.02119504e-03 -6.37719756e+01] [-1.71981262e-02 -1.49905283e-04 9.99852090e-01 -7.85159990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters 0.026270388739456738 Centerline is valid? [True, True] Translation: X:391.49, Y:-63.77, Z:-7.85 [[ 9.81974463e-01 1.88136879e-01 1.81842907e-02 3.91486778e+02] [-1.88109064e-01 9.82142790e-01 -3.24356759e-03 -6.37697692e+01] [-1.84698047e-02 -2.35529359e-04 9.99829391e-01 -7.85022808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.854012739 meters 0.02972724259194814 Centerline is valid? [True, True] Translation: X:391.52, Y:-63.77, Z:-7.85 [[ 9.81162288e-01 1.92264027e-01 1.88443445e-02 3.91517188e+02] [-1.92234940e-01 9.81343180e-01 -3.36009641e-03 -6.37665901e+01] [-1.91387947e-02 -3.25741548e-04 9.99816783e-01 -7.85010160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters 0.030046133139297923 Centerline is valid? [True, True] Translation: X:391.55, Y:-63.77, Z:-7.85 [[ 9.80846263e-01 1.93805969e-01 1.94898596e-02 3.91545933e+02] [-1.93775173e-01 9.81039811e-01 -3.47449952e-03 -6.37703165e+01] [-1.97937069e-02 -3.68701037e-04 9.99804017e-01 -7.85042715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.914012739 meters 0.030958008545766098 Centerline is valid? [True, True] Translation: X:391.57, Y:-63.77, Z:-7.85 [[ 9.80630221e-01 1.94838929e-01 2.00539596e-02 3.91574334e+02] [-1.94806559e-01 9.80835170e-01 -3.57407259e-03 -6.37730361e+01] [-2.03659974e-02 -4.01799281e-04 9.99792511e-01 -7.84983612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters 0.03233909120902372 Centerline is valid? [True, True] Translation: X:391.60, Y:-63.77, Z:-7.85 [[ 9.80473058e-01 1.95576053e-01 2.05569783e-02 3.91601904e+02] [-1.95542223e-01 9.80688444e-01 -3.66269671e-03 -6.37743259e+01] [-2.08763269e-02 -4.28581793e-04 9.99781974e-01 -7.84909315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.974012739 meters 0.03520332103085987 Centerline is valid? [True, True] Translation: X:391.63, Y:-63.77, Z:-7.85 [[ 9.79904468e-01 1.98506606e-01 1.95540618e-02 3.91632383e+02] [-1.98476606e-01 9.80099438e-01 -3.48266097e-03 -6.37703919e+01] [-1.98562561e-02 -4.68348763e-04 9.99802735e-01 -7.85071912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters 0.0390707290507593 Centerline is valid? [True, True] Translation: X:391.66, Y:-63.76, Z:-7.85 [[ 9.78898594e-01 2.03537109e-01 1.81710514e-02 3.91663947e+02] [-2.03512085e-01 9.79067088e-01 -3.23543666e-03 -6.37632836e+01] [-1.84492098e-02 -5.30864150e-04 9.99829658e-01 -7.85293487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.034012739 meters 0.0427316961892798 Centerline is valid? [True, True] Translation: X:391.69, Y:-63.76, Z:-7.85 [[ 9.78329040e-01 2.06269046e-01 1.80380254e-02 3.91693784e+02] [-2.06244853e-01 9.78495144e-01 -3.21162213e-03 -6.37577829e+01] [-1.83125785e-02 -5.78226698e-04 9.99832143e-01 -7.85345145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters 0.04298146781175426 Centerline is valid? [True, True] Translation: X:391.72, Y:-63.76, Z:-7.85 [[ 9.77864982e-01 2.08377286e-01 1.89468798e-02 3.91724341e+02] [-2.08351010e-01 9.78048304e-01 -3.37229120e-03 -6.37563481e+01] [-1.92336726e-02 -6.49956076e-04 9.99814805e-01 -7.85278828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.094012739 meters 0.0469152460371557 Centerline is valid? [True, True] Translation: X:391.76, Y:-63.74, Z:-7.85 [[ 9.77248674e-01 2.11063816e-01 2.09067848e-02 3.91755699e+02] [-2.11032449e-01 9.77471976e-01 -3.72055870e-03 -6.37434509e+01] [-2.12210716e-02 -7.76098931e-04 9.99774506e-01 -7.85062026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters 0.04663942510128584 Centerline is valid? [True, True] Translation: X:391.78, Y:-63.74, Z:-7.85 [[ 9.77328234e-01 2.10696239e-01 2.08953915e-02 3.91784306e+02] [-2.10664841e-01 9.77551280e-01 -3.71763223e-03 -6.37436446e+01] [-2.12096078e-02 -7.68577378e-04 9.99774756e-01 -7.85147799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.154012739 meters 0.04193211260242945 Centerline is valid? [True, True] Translation: X:391.81, Y:-63.75, Z:-7.86 [[ 9.78537410e-01 2.05204976e-01 1.88535466e-02 3.91813554e+02] [-2.05178461e-01 9.78718841e-01 -3.35091989e-03 -6.37469042e+01] [-1.91399468e-02 -5.89341207e-04 9.99816641e-01 -7.85565037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters 0.03792302265972972 Centerline is valid? [True, True] Translation: X:391.84, Y:-63.75, Z:-7.86 [[ 9.79356095e-01 2.01328697e-01 1.81216633e-02 3.91842462e+02] [-2.01303542e-01 9.79523615e-01 -3.22056870e-03 -6.37534122e+01] [-1.83989901e-02 -4.93871424e-04 9.99830602e-01 -7.85758278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.214012739 meters 0.03378417939845669 Centerline is valid? [True, True] Translation: X:391.87, Y:-63.76, Z:-7.86 [[ 9.80224117e-01 1.97084748e-01 1.78404629e-02 3.91871407e+02] [-1.97059673e-01 9.80386370e-01 -3.17017676e-03 -6.37603774e+01] [-1.81153402e-02 -4.08152057e-04 9.99835820e-01 -7.85893649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters 0.026550449662164636 Centerline is valid? [True, True] Translation: X:391.90, Y:-63.77, Z:-7.86 [[ 9.81728534e-01 1.89471963e-01 1.75915120e-02 3.91900356e+02] [-1.89446366e-01 9.81886096e-01 -3.12549765e-03 -6.37694266e+01] [-1.78650552e-02 -2.64257792e-04 9.99840372e-01 -7.85910092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.274012739 meters 0.024524146783026498 Centerline is valid? [True, True] Translation: X:391.93, Y:-63.77, Z:-7.86 [[ 9.82359655e-01 1.86083222e-01 1.85079258e-02 3.91927752e+02] [-1.86054290e-01 9.82533963e-01 -3.28814918e-03 -6.37748870e+01] [-1.87965350e-02 -2.13333903e-04 9.99823307e-01 -7.85848003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters 0.021562637413908955 Centerline is valid? [True, True] Translation: X:391.96, Y:-63.78, Z:-7.86 [[ 9.83363324e-01 1.80638937e-01 1.91349613e-02 3.91955211e+02] [-1.80607004e-01 9.83549471e-01 -3.39832319e-03 -6.37820782e+01] [-1.94340506e-02 -1.14121642e-04 9.99811134e-01 -7.85677167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.334012739 meters 0.020969374888877727 Centerline is valid? [True, True] Translation: X:391.98, Y:-63.79, Z:-7.86 [[ 9.83789977e-01 1.78381530e-01 1.83660416e-02 3.91982832e+02] [-1.78351735e-01 9.83961394e-01 -3.26093420e-03 -6.37877957e+01] [-1.86531663e-02 -6.75409989e-05 9.99826012e-01 -7.85850453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters 0.02072594843797 Centerline is valid? [True, True] Translation: X:392.01, Y:-63.80, Z:-7.86 [[ 9.84209228e-01 1.76168517e-01 1.72293261e-02 3.92011045e+02] [-1.76141973e-01 9.84360022e-01 -3.05812783e-03 -6.37951369e+01] [-1.74986056e-02 -2.49698615e-05 9.99846887e-01 -7.86122794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.394012739 meters 0.02094301793159132 Centerline is valid? [True, True] Translation: X:392.04, Y:-63.81, Z:-7.86 [[ 9.85100261e-01 1.71093952e-01 1.74452203e-02 3.92037584e+02] [-1.71065958e-01 9.85254716e-01 -3.09563657e-03 -6.38081748e+01] [-1.77176303e-02 6.52290764e-05 9.99843028e-01 -7.86120777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters 0.023551919077087816 Centerline is valid? [True, True] Translation: X:392.06, Y:-63.82, Z:-7.86 [[ 9.86063135e-01 1.65003420e-01 2.12923503e-02 3.92062623e+02] [-1.64960322e-01 9.86292972e-01 -3.77701446e-03 -6.38249641e+01] [-2.16237158e-02 2.11981755e-04 9.99766158e-01 -7.85566574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.454012739 meters 0.02393997667845146 Centerline is valid? [True, True] Translation: X:392.09, Y:-63.83, Z:-7.85 [[ 9.86391594e-01 1.62828976e-01 2.27672586e-02 3.92090714e+02] [-1.62779153e-01 9.86654270e-01 -4.03719496e-03 -6.38308723e+01] [-2.31207852e-02 2.76220096e-04 9.99732641e-01 -7.85394117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters 0.026475727147404027 Centerline is valid? [True, True] Translation: X:392.12, Y:-63.84, Z:-7.85 [[ 9.86690753e-01 1.60959321e-01 2.30966308e-02 3.92117317e+02] [-1.60907561e-01 9.86960988e-01 -4.09443101e-03 -6.38410547e+01] [-2.34545104e-02 3.23514694e-04 9.99724853e-01 -7.85354999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.514012739 meters 0.026144807385864197 Centerline is valid? [True, True] Translation: X:392.15, Y:-63.85, Z:-7.86 [[ 9.86915805e-01 1.59686051e-01 2.23060478e-02 3.92146013e+02] [-1.59637478e-01 9.87167792e-01 -3.95301010e-03 -6.38454966e+01] [-2.26510525e-02 3.40406912e-04 9.99743374e-01 -7.85647725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters 0.026825770537699956 Centerline is valid? [True, True] Translation: X:392.17, Y:-63.85, Z:-7.86 [[ 9.87113969e-01 1.58847306e-01 1.93273419e-02 3.92173868e+02] [-1.58810696e-01 9.87303113e-01 -3.42433346e-03 -6.38521548e+01] [-1.96258910e-02 3.10818762e-04 9.99807345e-01 -7.86101290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.574012739 meters 0.027283809941171362 Centerline is valid? [True, True] Translation: X:392.20, Y:-63.86, Z:-7.86 [[ 9.87190665e-01 1.58495804e-01 1.82666706e-02 3.92201266e+02] [-1.58463057e-01 9.87359605e-01 -3.23560398e-03 -6.38591225e+01] [-1.85486023e-02 2.99565590e-04 9.99827915e-01 -7.86195959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters 0.02808167676983178 Centerline is valid? [True, True] Translation: X:392.23, Y:-63.87, Z:-7.86 [[ 9.87307763e-01 1.57699553e-01 1.88210694e-02 3.92227814e+02] [-1.57664666e-01 9.87487087e-01 -3.33264280e-03 -6.38666938e+01] [-1.91111193e-02 3.22926501e-04 9.99817314e-01 -7.86263598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.634012739 meters 0.03285254190056411 Centerline is valid? [True, True] Translation: X:392.26, Y:-63.87, Z:-7.86 [[ 9.87492486e-01 1.56508893e-01 1.90671380e-02 3.92256437e+02] [-1.56472888e-01 9.87676488e-01 -3.37505973e-03 -6.38721503e+01] [-1.93603907e-02 3.49355974e-04 9.99812509e-01 -7.85520246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters 0.029108040759279592 Centerline is valid? [True, True] Translation: X:392.28, Y:-63.88, Z:-7.86 [[ 9.87925587e-01 1.53544052e-01 2.06702471e-02 3.92284143e+02] [-1.53501111e-01 9.88141705e-01 -3.65773724e-03 -6.38839119e+01] [-2.09867570e-02 4.40666315e-04 9.99779657e-01 -7.86297281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.694012739 meters 0.03125725507535772 Centerline is valid? [True, True] Translation: X:392.31, Y:-63.89, Z:-7.87 [[ 9.88240270e-01 1.51890888e-01 1.76161060e-02 3.92311730e+02] [-1.51859443e-01 9.88397184e-01 -3.11694754e-03 -6.38932314e+01] [-1.78851455e-02 4.05121033e-04 9.99839966e-01 -7.86886692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters 0.03207846032424304 Centerline is valid? [True, True] Translation: X:392.34, Y:-63.90, Z:-7.87 [[ 9.88268286e-01 1.51819286e-01 1.66342480e-02 3.92338916e+02] [-1.51791248e-01 9.88408194e-01 -2.94271765e-03 -6.38997281e+01] [-1.68881883e-02 3.83261257e-04 9.99857311e-01 -7.87186392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.754012739 meters 0.0337984835691115 Centerline is valid? [True, True] Translation: X:392.37, Y:-63.91, Z:-7.87 [[ 9.88285210e-01 1.51772740e-01 1.60430418e-02 3.92365534e+02] [-1.51746668e-01 9.88415347e-01 -2.83720784e-03 -6.39089395e+01] [-1.62877996e-02 3.69492405e-04 9.99867277e-01 -7.87410789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters 0.03244206556468763 Centerline is valid? [True, True] Translation: X:392.39, Y:-63.91, Z:-7.88 [[ 9.88325049e-01 1.51588533e-01 1.53138700e-02 3.92394006e+02] [-1.51564771e-01 9.88443621e-01 -2.70723317e-03 -6.39144510e+01] [-1.55472826e-02 3.54583149e-04 9.99879071e-01 -7.87515455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.814012739 meters 0.03150517006562101 Centerline is valid? [True, True] Translation: X:392.42, Y:-63.92, Z:-7.88 [[ 9.88105577e-01 1.53083692e-01 1.45859981e-02 3.92421164e+02] [-1.53062307e-01 9.88213178e-01 -2.57796661e-03 -6.39213299e+01] [-1.48087201e-02 3.14736669e-04 9.99890295e-01 -7.87616373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters 0.02945905835518216 Centerline is valid? [True, True] Translation: X:392.45, Y:-63.92, Z:-7.88 [[ 9.87493360e-01 1.56921865e-01 1.52444023e-02 3.92449863e+02] [-1.56898980e-01 9.87610984e-01 -2.69325606e-03 -6.39238513e+01] [-1.54781699e-02 2.67741310e-04 9.99880170e-01 -7.87611088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.874012739 meters 0.02687673509164328 Centerline is valid? [True, True] Translation: X:392.48, Y:-63.93, Z:-7.87 [[ 9.87140411e-01 1.59031773e-01 1.62081751e-02 3.92478628e+02] [-1.59006196e-01 9.87273434e-01 -2.86290501e-03 -6.39250818e+01] [-1.64571935e-02 2.48888971e-04 9.99864540e-01 -7.87476497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters 0.0257212215666095 Centerline is valid? [True, True] Translation: X:392.51, Y:-63.93, Z:-7.87 [[ 9.86856446e-01 1.60687497e-01 1.71430489e-02 3.92506622e+02] [-1.60659145e-01 9.87005306e-01 -3.02744909e-03 -6.39287343e+01] [-1.74067534e-02 2.33470077e-04 9.99848464e-01 -7.87383552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.934012739 meters 0.02416063854207239 Centerline is valid? [True, True] Translation: X:392.53, Y:-63.93, Z:-7.87 [[ 9.86372479e-01 1.63554617e-01 1.78667376e-02 3.92534335e+02] [-1.63524311e-01 9.86534263e-01 -3.15413669e-03 -6.39311266e+01] [-1.81420225e-02 1.89507666e-04 9.99835402e-01 -7.87241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters 0.022919021362263158 Centerline is valid? [True, True] Translation: X:392.56, Y:-63.93, Z:-7.87 [[ 9.86167174e-01 1.64739246e-01 1.83108077e-02 3.92563594e+02] [-1.64707640e-01 9.86337139e-01 -3.23139505e-03 -6.39329057e+01] [-1.85929672e-02 1.70765816e-04 9.99827121e-01 -7.87221141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.994012739 meters 0.021854297507963572 Centerline is valid? [True, True] Translation: X:392.59, Y:-63.93, Z:-7.87 [[ 9.85754381e-01 1.67102676e-01 1.91048723e-02 3.92591252e+02] [-1.67068731e-01 9.85939490e-01 -3.37056289e-03 -6.39348630e+01] [-1.93994782e-02 1.30720374e-04 9.99811804e-01 -7.87162999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters 0.021375819051590684 Centerline is valid? [True, True] Translation: X:392.62, Y:-63.94, Z:-7.87 [[ 9.85531092e-01 1.68315212e-01 1.99613761e-02 3.92619727e+02] [-1.68278429e-01 9.85733218e-01 -3.52040002e-03 -6.39375833e+01] [-2.02691284e-02 1.10394667e-04 9.99794554e-01 -7.87069175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05401273900003 meters 0.02095063102043424 Centerline is valid? [True, True] Translation: X:392.65, Y:-63.94, Z:-7.87 [[ 9.85281075e-01 1.69738731e-01 2.02476348e-02 3.92647875e+02] [-1.69701206e-01 9.85489095e-01 -3.56986868e-03 -6.39402537e+01] [-2.05597682e-02 8.12760085e-05 9.99788622e-01 -7.87163679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters 0.0206896639012102 Centerline is valid? [True, True] Translation: X:392.68, Y:-63.94, Z:-7.87 [[ 9.84955263e-01 1.71649129e-01 1.99926738e-02 3.92677744e+02] [-1.71612961e-01 9.85158147e-01 -3.52370408e-03 -6.39393643e+01] [-2.03007862e-02 3.96889216e-05 9.99793917e-01 -7.87266303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.114012739 meters 0.020641155861033503 Centerline is valid? [True, True] Translation: X:392.71, Y:-63.94, Z:-7.87 [[ 9.84975658e-01 1.71541960e-01 1.99074936e-02 3.92705738e+02] [-1.71506098e-01 9.85176814e-01 -3.50774455e-03 -6.39429367e+01] [-2.02141265e-02 4.07864582e-05 9.99795673e-01 -7.87360253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters 0.02082932593149761 Centerline is valid? [True, True] Translation: X:392.73, Y:-63.95, Z:-7.87 [[ 9.85141315e-01 1.70503113e-01 2.06222846e-02 3.92734284e+02] [-1.70464432e-01 9.85357136e-01 -3.63217758e-03 -6.39474874e+01] [-2.09396129e-02 6.28421570e-05 9.99780740e-01 -7.87200641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.174012739 meters 0.02080286750025967 Centerline is valid? [True, True] Translation: X:392.76, Y:-63.95, Z:-7.87 [[ 9.85190387e-01 1.70166723e-01 2.10520514e-02 3.92762383e+02] [-1.70126359e-01 9.85415284e-01 -3.70682708e-03 -6.39511513e+01] [-2.13757918e-02 7.04215587e-05 9.99771509e-01 -7.87153142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters 0.02082575494455068 Centerline is valid? [True, True] Translation: X:392.79, Y:-63.95, Z:-7.87 [[ 9.85159568e-01 1.70491107e-01 1.98345125e-02 3.92789407e+02] [-1.70455370e-01 9.85359213e-01 -3.49109808e-03 -6.39522723e+01] [-2.01393208e-02 5.83895053e-05 9.99797182e-01 -7.87431851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.234012739 meters 0.020900447218126846 Centerline is valid? [True, True] Translation: X:392.82, Y:-63.96, Z:-7.88 [[ 9.85158946e-01 1.70657236e-01 1.83836714e-02 3.92816913e+02] [-1.70626592e-01 9.85330455e-01 -3.23430581e-03 -6.39552271e+01] [-1.86659490e-02 4.95621068e-05 9.99825775e-01 -7.87752568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters 0.021075277709348677 Centerline is valid? [True, True] Translation: X:392.84, Y:-63.96, Z:-7.88 [[ 9.85185666e-01 1.70630253e-01 1.71615960e-02 3.92844084e+02] [-1.70603565e-01 9.85335128e-01 -3.01811127e-03 -6.39585109e+01] [-1.74249045e-02 4.55704949e-05 9.99848174e-01 -7.88077564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.294012739 meters 0.021136286435117196 Centerline is valid? [True, True] Translation: X:392.87, Y:-63.96, Z:-7.88 [[ 9.85359194e-01 1.69546985e-01 1.79186759e-02 3.92870527e+02] [-1.69517731e-01 9.85522103e-01 -3.15016066e-03 -6.39614732e+01] [-1.81933514e-02 6.65064850e-05 9.99834485e-01 -7.87967388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters 0.021300305345480164 Centerline is valid? [True, True] Translation: X:392.90, Y:-63.97, Z:-7.88 [[ 9.85600020e-01 1.68053152e-01 1.87280015e-02 3.92899508e+02] [-1.68020957e-01 9.85777931e-01 -3.29077834e-03 -6.39662049e+01] [-1.90146763e-02 9.66944631e-05 9.99819200e-01 -7.87724143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.354012739 meters 0.021468931439264604 Centerline is valid? [True, True] Translation: X:392.93, Y:-63.97, Z:-7.88 [[ 9.85679970e-01 1.67622818e-01 1.83735548e-02 3.92926386e+02] [-1.67591771e-01 9.85851196e-01 -3.22765542e-03 -6.39722004e+01] [-1.86546197e-02 1.02178714e-04 9.99825982e-01 -7.87864927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters 0.02186328594231755 Centerline is valid? [True, True] Translation: X:392.95, Y:-63.98, Z:-7.88 [[ 9.85778707e-01 1.67127819e-01 1.75679480e-02 3.92954352e+02] [-1.67099375e-01 9.85935232e-01 -3.08511151e-03 -6.39782471e+01] [-1.78364668e-02 1.05644112e-04 9.99840912e-01 -7.88217505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.414012739 meters 0.021992252269993264 Centerline is valid? [True, True] Translation: X:392.98, Y:-63.98, Z:-7.88 [[ 9.85884746e-01 1.66621931e-01 1.63828933e-02 3.92982781e+02] [-1.66597137e-01 9.86020852e-01 -2.87629484e-03 -6.39833670e+01] [-1.66331282e-02 1.06352097e-04 9.99861654e-01 -7.88465042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters 0.02189070332208851 Centerline is valid? [True, True] Translation: X:393.01, Y:-63.98, Z:-7.89 [[ 9.85836370e-01 1.66889084e-01 1.65736001e-02 3.93011642e+02] [-1.66863761e-01 9.85975671e-01 -2.90898402e-03 -6.39840604e+01] [-1.68266441e-02 1.02249006e-04 9.99858417e-01 -7.88537683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.474012739 meters 0.02167065853616921 Centerline is valid? [True, True] Translation: X:393.04, Y:-63.99, Z:-7.88 [[ 9.85840659e-01 1.66616375e-01 1.88991482e-02 3.93040306e+02] [-1.66583415e-01 9.86021789e-01 -3.31614042e-03 -6.39888176e+01] [-1.91874952e-02 1.20901401e-04 9.99815896e-01 -7.88045092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters 0.021863434142699305 Centerline is valid? [True, True] Translation: X:393.07, Y:-64.00, Z:-7.88 [[ 9.85868828e-01 1.66406446e-01 1.92755830e-02 3.93066093e+02] [-1.66372138e-01 9.86057239e-01 -3.38127636e-03 -6.39955119e+01] [-1.95694943e-02 1.26575019e-04 9.99808491e-01 -7.88022938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.534012739 meters 0.021863434142699305 Centerline is valid? [True, True] Translation: X:393.09, Y:-64.00, Z:-7.88 [[ 9.85879995e-01 1.66340244e-01 1.92758586e-02 3.93093187e+02] [-1.66305954e-01 9.86068409e-01 -3.37970447e-03 -6.40001267e+01] [-1.95694961e-02 1.26292969e-04 9.99808491e-01 -7.88078773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters 0.02193489226664225 Centerline is valid? [True, True] Translation: X:393.12, Y:-64.01, Z:-7.88 [[ 9.85964262e-01 1.65949051e-01 1.83135589e-02 3.93121137e+02] [-1.65918055e-01 9.86134320e-01 -3.20974590e-03 -6.40056563e+01] [-1.85922832e-02 1.26144672e-04 9.99827141e-01 -7.88264232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.594012739 meters 0.022328009442628416 Centerline is valid? [True, True] Translation: X:393.15, Y:-64.01, Z:-7.89 [[ 9.86074142e-01 1.65376214e-01 1.75640015e-02 3.93148010e+02] [-1.65347626e-01 9.86230547e-01 -3.07761094e-03 -6.40111612e+01] [-1.78311185e-02 1.30586613e-04 9.99841004e-01 -7.88514161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters 0.022427249082984404 Centerline is valid? [True, True] Translation: X:393.18, Y:-64.02, Z:-7.88 [[ 9.86251986e-01 1.64234258e-01 1.82791736e-02 3.93175923e+02] [-1.64203119e-01 9.86421352e-01 -3.20178598e-03 -6.40162051e+01] [-1.85568101e-02 1.56270452e-04 9.99827795e-01 -7.88469308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.654012739 meters 0.02309162440954747 Centerline is valid? [True, True] Translation: X:393.20, Y:-64.02, Z:-7.88 [[ 9.86330067e-01 1.63558783e-01 2.00380539e-02 3.93202450e+02] [-1.63521245e-01 9.86533573e-01 -3.50881898e-03 -6.40247012e+01] [-2.03421111e-02 1.84206127e-04 9.99793061e-01 -7.88139262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters 0.022301682473127107 Centerline is valid? [True, True] Translation: X:393.23, Y:-64.03, Z:-7.88 [[ 9.86310136e-01 1.63659464e-01 2.01964255e-02 3.93230500e+02] [-1.63621376e-01 9.86516876e-01 -3.53533751e-03 -6.40266679e+01] [-2.05027060e-02 1.82372290e-04 9.99789781e-01 -7.88121522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.714012739 meters 0.022280860091811575 Centerline is valid? [True, True] Translation: X:393.26, Y:-64.03, Z:-7.88 [[ 9.86266116e-01 1.63961159e-01 1.98968867e-02 3.93258429e+02] [-1.63924283e-01 9.86466780e-01 -3.48147188e-03 -6.40302100e+01] [-2.01984440e-02 1.72074851e-04 9.99795976e-01 -7.88273599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters 0.022430324477044142 Centerline is valid? [True, True] Translation: X:393.29, Y:-64.03, Z:-7.89 [[ 9.86210128e-01 1.64454696e-01 1.85536166e-02 3.93285691e+02] [-1.64422738e-01 9.86384626e-01 -3.24538970e-03 -6.40344106e+01] [-1.88347217e-02 1.49999748e-04 9.99822600e-01 -7.88690531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.774012739 meters 0.022372386233334273 Centerline is valid? [True, True] Translation: X:393.31, Y:-64.04, Z:-7.89 [[ 9.86271018e-01 1.64135824e-01 1.81358942e-02 3.93313831e+02] [-1.64105256e-01 9.86437737e-01 -3.17123834e-03 -6.40395768e+01] [-1.84104443e-02 1.51504897e-04 9.99830502e-01 -7.88887376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters 0.024450156501879663 Centerline is valid? [True, True] Translation: X:393.34, Y:-64.05, Z:-7.89 [[ 9.86901913e-01 1.60198741e-01 1.89993852e-02 3.93339331e+02] [-1.60164480e-01 9.87084752e-01 -3.32129106e-03 -6.40519529e+01] [-1.92860701e-02 2.34761843e-04 9.99813979e-01 -7.88826509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.834012739 meters 0.026359561610655707 Centerline is valid? [True, True] Translation: X:393.37, Y:-64.06, Z:-7.89 [[ 9.87355609e-01 1.57319763e-01 1.94780516e-02 3.93365694e+02] [-1.57283220e-01 9.87547672e-01 -3.40361246e-03 -6.40616712e+01] [-1.97709600e-02 2.97005178e-04 9.99804491e-01 -7.88737793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters 0.02842090212845799 Centerline is valid? [True, True] Translation: X:393.39, Y:-64.07, Z:-7.89 [[ 9.87787112e-01 1.54638281e-01 1.90689222e-02 3.93393646e+02] [-1.54602779e-01 9.87971095e-01 -3.33100837e-03 -6.40712484e+01] [-1.93546453e-02 3.42218760e-04 9.99812623e-01 -7.88850393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.894012739 meters 0.03148803801345958 Centerline is valid? [True, True] Translation: X:393.42, Y:-64.08, Z:-7.89 [[ 9.88361197e-01 1.51145870e-01 1.72357355e-02 3.93420746e+02] [-1.51116349e-01 9.88511400e-01 -3.01004053e-03 -6.40842066e+01] [-1.74926763e-02 3.70405828e-04 9.99846923e-01 -7.89298742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters 0.032664124215190146 Centerline is valid? [True, True] Translation: X:393.45, Y:-64.09, Z:-7.90 [[ 9.88547093e-01 1.50035618e-01 1.62468070e-02 3.93447285e+02] [-1.50009246e-01 9.88680524e-01 -2.83685475e-03 -6.40924035e+01] [-1.64885309e-02 3.67193253e-04 9.99863988e-01 -7.89572793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.954012739 meters 0.034194562913098484 Centerline is valid? [True, True] Translation: X:393.47, Y:-64.10, Z:-7.90 [[ 9.88619392e-01 1.49574669e-01 1.60970813e-02 3.93474294e+02] [-1.49548737e-01 9.88750363e-01 -2.80960403e-03 -6.41008197e+01] [-1.63362406e-02 3.70330838e-04 9.99866486e-01 -7.89704210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters 0.03176288522937784 Centerline is valid? [True, True] Translation: X:393.50, Y:-64.10, Z:-7.89 [[ 9.88468270e-01 1.50412884e-01 1.75055240e-02 3.93502663e+02] [-1.50382367e-01 9.88623192e-01 -3.05429664e-03 -6.41038646e+01] [-1.77657726e-02 3.86553173e-04 9.99842101e-01 -7.89359955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.014012739 meters 0.02899732135367161 Centerline is valid? [True, True] Translation: X:393.53, Y:-64.11, Z:-7.89 [[ 9.88134865e-01 1.52542084e-01 1.78997848e-02 3.93531411e+02] [-1.52510541e-01 9.88296912e-01 -3.12222504e-03 -6.41067933e+01] [-1.81665728e-02 3.55273546e-04 9.99834911e-01 -7.89370616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters 0.03162173033554627 Centerline is valid? [True, True] Translation: X:393.56, Y:-64.12, Z:-7.90 [[ 9.88009299e-01 1.53443545e-01 1.71085940e-02 3.93557490e+02] [-1.53414878e-01 9.88157363e-01 -2.98347754e-03 -6.41169264e+01] [-1.73637785e-02 3.22990687e-04 9.99849186e-01 -7.89650804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.074012739 meters 0.0311024489360105 Centerline is valid? [True, True] Translation: X:393.59, Y:-64.12, Z:-7.90 [[ 9.87922855e-01 1.54019443e-01 1.69246518e-02 3.93586163e+02] [-1.53991492e-01 9.88067769e-01 -2.95030318e-03 -6.41220327e+01] [-1.71771070e-02 3.08419556e-04 9.99852415e-01 -7.89861013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters 0.030246544421401286 Centerline is valid? [True, True] Translation: X:393.61, Y:-64.13, Z:-7.90 [[ 9.87955463e-01 1.53806203e-01 1.69604004e-02 3.93614480e+02] [-1.53778116e-01 9.88100984e-01 -2.95579539e-03 -6.41259037e+01] [-1.72132080e-02 3.12055785e-04 9.99851793e-01 -7.89927167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.134012739 meters 0.029678630450244683 Centerline is valid? [True, True] Translation: X:393.64, Y:-64.13, Z:-7.90 [[ 9.88085036e-01 1.52857382e-01 1.79605659e-02 3.93642689e+02] [-1.52825743e-01 9.88248198e-01 -3.12923938e-03 -6.41309407e+01] [-1.82278242e-02 3.47117784e-04 9.99833799e-01 -7.89698780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters 0.029850159295000744 Centerline is valid? [True, True] Translation: X:393.67, Y:-64.14, Z:-7.90 [[ 9.88171502e-01 1.52235518e-01 1.84777971e-02 3.93670917e+02] [-1.52201938e-01 9.88344177e-01 -3.21846227e-03 -6.41364567e+01] [-1.87523875e-02 3.68036171e-04 9.99824091e-01 -7.89661399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.194012739 meters 0.030493399273801205 Centerline is valid? [True, True] Translation: X:393.70, Y:-64.14, Z:-7.90 [[ 9.88282284e-01 1.51502056e-01 1.85810258e-02 3.93699076e+02] [-1.51467987e-01 9.88456868e-01 -3.23555949e-03 -6.41424822e+01] [-1.88567365e-02 3.83215549e-04 9.99822122e-01 -7.89736632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters 0.03385003720922751 Centerline is valid? [True, True] Translation: X:393.73, Y:-64.15, Z:-7.90 [[ 9.88815498e-01 1.48034986e-01 1.81535912e-02 3.93726611e+02] [-1.48001898e-01 9.88982028e-01 -3.16027699e-03 -6.41533055e+01] [-1.84214069e-02 4.38164915e-04 9.99830215e-01 -7.90013853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.254012739 meters 0.03620763905574895 Centerline is valid? [True, True] Translation: X:393.75, Y:-64.16, Z:-7.90 [[ 9.89203856e-01 1.45383877e-01 1.84189857e-02 3.93754395e+02] [-1.45349367e-01 9.89375199e-01 -3.20579867e-03 -6.41632163e+01] [-1.86893591e-02 4.94000490e-04 9.99825217e-01 -7.90044459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters 0.04690378805804705 Centerline is valid? [True, True] Translation: X:393.78, Y:-64.19, Z:-7.90 [[ 9.90150780e-01 1.38792550e-01 1.83864575e-02 3.93780286e+02] [-1.38757039e-01 9.90321285e-01 -3.19942771e-03 -6.41875072e+01] [-1.86525570e-02 6.16665437e-04 9.99825836e-01 -7.90135134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.314012739 meters 0.04524094840748842 Centerline is valid? [True, True] Translation: X:393.81, Y:-64.19, Z:-7.90 [[ 9.90572335e-01 1.35841249e-01 1.77088616e-02 3.93811069e+02] [-1.35807835e-01 9.90730405e-01 -3.08156628e-03 -6.41924486e+01] [-1.79633114e-02 6.47512160e-04 9.99838437e-01 -7.90270068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters 0.04941169544713923 Centerline is valid? [True, True] Translation: X:393.84, Y:-64.21, Z:-7.90 [[ 9.91106333e-01 1.31866352e-01 1.78746213e-02 3.93839687e+02] [-1.31831656e-01 9.91267238e-01 -3.11086374e-03 -6.42083823e+01] [-1.81287448e-02 7.26755828e-04 9.99835397e-01 -7.90300329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.374012739 meters 0.05355508627438431 Centerline is valid? [True, True] Translation: X:393.87, Y:-64.22, Z:-7.90 [[ 9.91228892e-01 1.30756889e-01 1.91812145e-02 3.93868714e+02] [-1.30716726e-01 9.91414138e-01 -3.33830382e-03 -6.42223755e+01] [-1.94530335e-02 8.01717633e-04 9.99810450e-01 -7.90032471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters 0.05245305896331576 Centerline is valid? [True, True] Translation: X:393.90, Y:-64.23, Z:-7.90 [[ 9.91401068e-01 1.29211978e-01 2.06926664e-02 3.93899768e+02] [-1.29164830e-01 9.91616586e-01 -3.60462218e-03 -6.42320898e+01] [-2.09849516e-02 9.00861532e-04 9.99779386e-01 -7.89708479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.434012739 meters 0.0539192932390595 Centerline is valid? [True, True] Translation: X:393.93, Y:-64.24, Z:-7.90 [[ 9.91419984e-01 1.29064062e-01 2.07095076e-02 3.93929242e+02] [-1.29016784e-01 9.91635844e-01 -3.60858670e-03 -6.42424224e+01] [-2.10020289e-02 9.05750898e-04 9.99779023e-01 -7.89809625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters 0.053942568906715886 Centerline is valid? [True, True] Translation: X:393.96, Y:-64.25, Z:-7.90 [[ 9.91460904e-01 1.28805455e-01 2.03575637e-02 3.93960246e+02] [-1.28759654e-01 9.91669475e-01 -3.55025142e-03 -6.42523502e+01] [-2.06452663e-02 8.98702615e-04 9.99786460e-01 -7.90040261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.494012739 meters 0.05313676170966573 Centerline is valid? [True, True] Translation: X:393.99, Y:-64.27, Z:-7.90 [[ 9.91788151e-01 1.26418592e-01 1.93546571e-02 3.93989420e+02] [-1.26376680e-01 9.91976573e-01 -3.37838429e-03 -6.42666060e+01] [-1.96264570e-02 9.04664207e-04 9.99806973e-01 -7.90384136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters 0.05696398613774726 Centerline is valid? [True, True] Translation: X:394.02, Y:-64.28, Z:-7.91 [[ 9.92077757e-01 1.24294877e-01 1.82347817e-02 3.94017091e+02] [-1.24257309e-01 9.92244923e-01 -3.18335339e-03 -6.42814411e+01] [-1.84890441e-02 8.92329180e-04 9.99828665e-01 -7.90618571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55401273900003 meters 0.0676227318647656 Centerline is valid? [True, True] Translation: X:394.04, Y:-64.31, Z:-7.91 [[ 9.92610219e-01 1.20180490e-01 1.67810354e-02 3.94042256e+02] [-1.20148087e-01 9.92751658e-01 -2.92959242e-03 -6.43100918e+01] [-1.70114806e-02 8.91734073e-04 9.99854897e-01 -7.90931280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters 0.06335337692427603 Centerline is valid? [True, True] Translation: X:394.07, Y:-64.32, Z:-7.91 [[ 9.92807064e-01 1.18520718e-01 1.69402750e-02 3.94072858e+02] [-1.18487460e-01 9.92951145e-01 -2.95718044e-03 -6.43154790e+01] [-1.71713526e-02 9.28699477e-04 9.99852130e-01 -7.90937359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.614012739 meters 0.07029840548778496 Centerline is valid? [True, True] Translation: X:394.10, Y:-64.34, Z:-7.91 [[ 9.92952828e-01 1.17234049e-01 1.73452848e-02 3.94099347e+02] [-1.17198982e-01 9.93103836e-01 -3.02805734e-03 -6.43420470e+01] [-1.75806603e-02 9.73868366e-04 9.99844974e-01 -7.90953271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters 0.06279468251815822 Centerline is valid? [True, True] Translation: X:394.13, Y:-64.34, Z:-7.91 [[ 9.92853324e-01 1.18028667e-01 1.76496805e-02 3.94131884e+02] [-1.17992483e-01 9.93009708e-01 -3.08128282e-03 -6.43437178e+01] [-1.78899838e-02 9.76732261e-04 9.99839484e-01 -7.90933523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.674012739 meters 0.06513115524440412 Centerline is valid? [True, True] Translation: X:394.16, Y:-64.36, Z:-7.91 [[ 9.92641503e-01 1.19569278e-01 1.91320139e-02 3.94160364e+02] [-1.19526977e-01 9.92825323e-01 -3.34356589e-03 -6.43576886e+01] [-1.93945357e-02 1.03217048e-03 9.99811376e-01 -7.90879394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters 0.057430179963556656 Centerline is valid? [True, True] Translation: X:394.19, Y:-64.36, Z:-7.91 [[ 9.92033582e-01 1.24248185e-01 2.07788613e-02 3.94190011e+02] [-1.24199277e-01 9.92250645e-01 -3.63290109e-03 -6.43634697e+01] [-2.10692199e-02 1.02324032e-03 9.99777496e-01 -7.90593361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.734012739 meters 0.05472473991961046 Centerline is valid? [True, True] Translation: X:394.22, Y:-64.37, Z:-7.91 [[ 9.91652575e-01 1.27426636e-01 1.96881338e-02 3.94219780e+02] [-1.27383354e-01 9.91847585e-01 -3.44218541e-03 -6.43696821e+01] [-1.99662541e-02 9.05511509e-04 9.99800244e-01 -7.90779407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters 0.04801077261321015 Centerline is valid? [True, True] Translation: X:394.25, Y:-64.37, Z:-7.91 [[ 9.90796714e-01 1.34323505e-01 1.67053076e-02 3.94250062e+02] [-1.34293324e-01 9.90937320e-01 -2.92067694e-03 -6.43739934e+01] [-1.69462283e-02 6.50385846e-04 9.99856191e-01 -7.91377766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.794012739 meters 0.04763327280857004 Centerline is valid? [True, True] Translation: X:394.28, Y:-64.38, Z:-7.92 [[ 9.90357731e-01 1.37583796e-01 1.61945810e-02 3.94278853e+02] [-1.37555867e-01 9.90489963e-01 -2.83138746e-03 -6.43823500e+01] [-1.64301230e-02 5.76426830e-04 9.99864850e-01 -7.91520729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters 0.03870986364399268 Centerline is valid? [True, True] Translation: X:394.31, Y:-64.38, Z:-7.91 [[ 9.89426375e-01 1.43902713e-01 1.80957624e-02 3.94310200e+02] [-1.43868895e-01 9.89591699e-01 -3.16378145e-03 -6.43827987e+01] [-1.83626930e-02 5.26911456e-04 9.99831253e-01 -7.91142055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.854012739 meters 0.03646333322112099 Centerline is valid? [True, True] Translation: X:394.34, Y:-64.39, Z:-7.91 [[ 9.88925138e-01 1.47059331e-01 2.00156078e-02 3.94340529e+02] [-1.47018601e-01 9.89127537e-01 -3.49943875e-03 -6.43883003e+01] [-2.03126140e-02 5.18016284e-04 9.99793543e-01 -7.90897086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters 0.03249067572047314 Centerline is valid? [True, True] Translation: X:394.37, Y:-64.39, Z:-7.91 [[ 9.88410846e-01 1.50319252e-01 2.11688725e-02 3.94372125e+02] [-1.50274428e-01 9.88637393e-01 -3.70159465e-03 -6.43905166e+01] [-2.14847598e-02 4.77556092e-04 9.99769062e-01 -7.90709677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.914012739 meters 0.02755922092310332 Centerline is valid? [True, True] Translation: X:394.40, Y:-64.39, Z:-7.91 [[ 9.87410456e-01 1.56808786e-01 2.07749102e-02 3.94402639e+02] [-1.56767039e-01 9.87628926e-01 -3.63317952e-03 -6.43903751e+01] [-2.10876167e-02 3.30618286e-04 9.99777577e-01 -7.90790802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters 0.02576535827705895 Centerline is valid? [True, True] Translation: X:394.43, Y:-64.39, Z:-7.91 [[ 9.86942975e-01 1.59857206e-01 1.97291327e-02 3.94434146e+02] [-1.59820162e-01 9.87140117e-01 -3.45046909e-03 -6.43936737e+01] [-2.00270007e-02 2.52303034e-04 9.99799408e-01 -7.91059110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.974012739 meters 0.023488476053740496 Centerline is valid? [True, True] Translation: X:394.47, Y:-64.40, Z:-7.91 [[ 9.86478048e-01 1.62800741e-01 1.88939155e-02 3.94466029e+02] [-1.62767251e-01 9.86658950e-01 -3.30730272e-03 -6.43973487e+01] [-1.91802822e-02 1.87270829e-04 9.99816024e-01 -7.91395601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters 0.022785410979278466 Centerline is valid? [True, True] Translation: X:394.50, Y:-64.40, Z:-7.91 [[ 9.86327500e-01 1.63640192e-01 1.94923325e-02 3.94497915e+02] [-1.63604646e-01 9.86520074e-01 -3.41531598e-03 -6.44026658e+01] [-1.97884602e-02 1.79583924e-04 9.99804173e-01 -7.91355943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.034012739 meters 0.021430321867719277 Centerline is valid? [True, True] Translation: X:394.53, Y:-64.40, Z:-7.91 [[ 9.85837492e-01 1.66462587e-01 2.03628685e-02 3.94528835e+02] [-1.66424324e-01 9.86047762e-01 -3.57136366e-03 -6.44044901e+01] [-2.06732594e-02 1.31907573e-04 9.99786277e-01 -7.91242271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters 0.020728555861686836 Centerline is valid? [True, True] Translation: X:394.56, Y:-64.41, Z:-7.91 [[ 9.85458663e-01 1.68774142e-01 1.96598961e-02 3.94561038e+02] [-1.68738878e-01 9.85654748e-01 -3.45097188e-03 -6.44063415e+01] [-1.99603048e-02 8.34013187e-05 9.99800770e-01 -7.91474332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.094012739 meters 0.02019056353748364 Centerline is valid? [True, True] Translation: X:394.59, Y:-64.41, Z:-7.92 [[ 9.85009367e-01 1.71477606e-01 1.87610749e-02 3.94592878e+02] [-1.71445927e-01 9.85188017e-01 -3.29611067e-03 -6.44075619e+01] [-1.90483954e-02 3.01900010e-05 9.99818562e-01 -7.91643833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters 0.020646051635845757 Centerline is valid? [True, True] Translation: X:394.62, Y:-64.40, Z:-7.92 [[ 9.84074661e-01 1.76716790e-01 1.91894961e-02 3.94624859e+02] [-1.76684583e-01 9.84261739e-01 -3.37445924e-03 -6.44032491e+01] [-1.94838104e-02 -6.97682724e-05 9.99810170e-01 -7.91630397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.154012739 meters 0.021543865252758043 Centerline is valid? [True, True] Translation: X:394.66, Y:-64.40, Z:-7.92 [[ 9.83599840e-01 1.79395332e-01 1.86727052e-02 3.94655713e+02] [-1.79365319e-01 9.83777058e-01 -3.28358193e-03 -6.44037332e+01] [-1.89588383e-02 -1.19505057e-04 9.99820258e-01 -7.91837777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters 0.024935767596832505 Centerline is valid? [True, True] Translation: X:394.69, Y:-64.40, Z:-7.92 [[ 9.82740719e-01 1.84133526e-01 1.77629945e-02 3.94685467e+02] [-1.84107138e-01 9.82901218e-01 -3.12368699e-03 -6.43996549e+01] [-1.80344444e-02 -2.00519676e-04 9.99837346e-01 -7.92170219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.214012739 meters 0.026439394735547964 Centerline is valid? [True, True] Translation: X:394.71, Y:-64.40, Z:-7.92 [[ 9.82349035e-01 1.86253031e-01 1.73257399e-02 3.94714979e+02] [-1.86228266e-01 9.82501783e-01 -3.04618346e-03 -6.44014185e+01] [-1.75899313e-02 -2.34127114e-04 9.99845258e-01 -7.92278822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters 0.028635719595257476 Centerline is valid? [True, True] Translation: X:394.74, Y:-64.40, Z:-7.92 [[ 9.81893946e-01 1.88548697e-01 1.82665545e-02 3.94743371e+02] [-1.88521573e-01 9.82063799e-01 -3.21121177e-03 -6.43993861e+01] [-1.85443917e-02 -2.90570197e-04 9.99827996e-01 -7.92118383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.274012739 meters 0.029364458587475092 Centerline is valid? [True, True] Translation: X:394.77, Y:-64.40, Z:-7.92 [[ 9.81817603e-01 1.88915902e-01 1.85735662e-02 3.94771300e+02] [-1.88887945e-01 9.81993223e-01 -3.26410508e-03 -6.44003462e+01] [-1.88557575e-02 -3.03566934e-04 9.99822168e-01 -7.92099122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters 0.02785538306501322 Centerline is valid? [True, True] Translation: X:394.80, Y:-64.41, Z:-7.92 [[ 9.81784784e-01 1.89151100e-01 1.79025052e-02 3.94799508e+02] [-1.89125184e-01 9.81947948e-01 -3.14518648e-03 -6.44055336e+01] [-1.81742437e-02 -2.97918351e-04 9.99834790e-01 -7.92223247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.334012739 meters 0.029830346660520625 Centerline is valid? [True, True] Translation: X:394.83, Y:-64.40, Z:-7.93 [[ 9.81846614e-01 1.88895859e-01 1.71924925e-02 3.94827974e+02] [-1.88871932e-01 9.81997085e-01 -3.01971270e-03 -6.44035751e+01] [-1.74533888e-02 -2.82284585e-04 9.99847638e-01 -7.92554249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters 0.02944222701318352 Centerline is valid? [True, True] Translation: X:394.86, Y:-64.41, Z:-7.93 [[ 9.81986755e-01 1.88179368e-01 1.70451900e-02 3.94855145e+02] [-1.88155760e-01 9.82134641e-01 -2.99273714e-03 -6.44074753e+01] [-1.73038430e-02 -2.68322460e-04 9.99850241e-01 -7.92606487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.394012739 meters 0.02944222701318352 Centerline is valid? [True, True] Translation: X:394.88, Y:-64.41, Z:-7.93 [[ 9.81994799e-01 1.88137370e-01 1.70453551e-02 3.94883063e+02] [-1.88113772e-01 9.82142687e-01 -2.99179649e-03 -6.44122794e+01] [-1.73038396e-02 -2.68537459e-04 9.99850241e-01 -7.92664020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters 0.024759363078340226 Centerline is valid? [True, True] Translation: X:394.91, Y:-64.42, Z:-7.92 [[ 9.82596585e-01 1.84922405e-01 1.75400799e-02 3.94911105e+02] [-1.84896920e-01 9.82753100e-01 -3.07778280e-03 -6.44229256e+01] [-1.78067189e-02 -2.18887886e-04 9.99841424e-01 -7.92474381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.454012739 meters 0.022634606870857474 Centerline is valid? [True, True] Translation: X:394.94, Y:-64.43, Z:-7.93 [[ 9.83210671e-01 1.81627666e-01 1.75546987e-02 3.94939638e+02] [-1.81601621e-01 9.83367360e-01 -3.07992407e-03 -6.44320799e+01] [-1.78221172e-02 -1.59747532e-04 9.99841161e-01 -7.92546092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters 0.020166121788201992 Centerline is valid? [True, True] Translation: X:394.97, Y:-64.45, Z:-7.92 [[ 9.84679319e-01 1.73391730e-01 1.84917795e-02 3.94967665e+02] [-1.73361386e-01 9.84852937e-01 -3.24378260e-03 -6.44502892e+01] [-1.87741284e-02 -1.16748724e-05 9.99823750e-01 -7.92498798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.514012739 meters 0.020439931066873675 Centerline is valid? [True, True] Translation: X:395.00, Y:-64.46, Z:-7.92 [[ 9.85289212e-01 1.69756973e-01 1.96910930e-02 3.94997494e+02] [-1.69721828e-01 9.85485954e-01 -3.45467253e-03 -6.44622186e+01] [-1.99917503e-02 6.18432768e-05 9.99800143e-01 -7.92393920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters 0.02151780001156738 Centerline is valid? [True, True] Translation: X:395.03, Y:-64.47, Z:-7.92 [[ 9.85752051e-01 1.66912655e-01 2.08100698e-02 3.95027740e+02] [-1.66872758e-01 9.85971678e-01 -3.65147533e-03 -6.44727183e+01] [-2.11276169e-02 1.26815558e-04 9.99776779e-01 -7.92240377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.574012739 meters 0.022487963447423473 Centerline is valid? [True, True] Translation: X:395.06, Y:-64.48, Z:-7.93 [[ 9.86213986e-01 1.64344002e-01 1.93138140e-02 3.95057933e+02] [-1.64309138e-01 9.86403072e-01 -3.38923485e-03 -6.44833137e+01] [-1.96082058e-02 1.69074686e-04 9.99807726e-01 -7.92544839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters 0.02277478029135854 Centerline is valid? [True, True] Translation: X:395.09, Y:-64.49, Z:-7.93 [[ 9.86262360e-01 1.64309066e-01 1.70025776e-02 3.95089390e+02] [-1.64282005e-01 9.86408895e-01 -2.98579878e-03 -6.44937486e+01] [-1.72620876e-02 1.51563409e-04 9.99850988e-01 -7.92934499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.634012739 meters 0.022672075453284417 Centerline is valid? [True, True] Translation: X:395.12, Y:-64.50, Z:-7.93 [[ 9.86082671e-01 1.65352419e-01 1.73073024e-02 3.95120060e+02] [-1.65324479e-01 9.86234535e-01 -3.04278921e-03 -6.45004580e+01] [-1.75721919e-02 1.39120969e-04 9.99845587e-01 -7.92980948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters 0.021447033745443073 Centerline is valid? [True, True] Translation: X:395.15, Y:-64.50, Z:-7.93 [[ 9.85736439e-01 1.67311144e-01 1.81838939e-02 3.95152024e+02] [-1.67280580e-01 9.85904138e-01 -3.19984550e-03 -6.45037072e+01] [-1.84629460e-02 1.12391985e-04 9.99829539e-01 -7.92838672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.694012739 meters 0.020054972999029624 Centerline is valid? [True, True] Translation: X:395.18, Y:-64.50, Z:-7.93 [[ 9.84816093e-01 1.72471781e-01 1.97673580e-02 3.95183898e+02] [-1.72436628e-01 9.85014459e-01 -3.48206727e-03 -6.45034769e+01] [-2.00716918e-02 2.05793212e-05 9.99798543e-01 -7.92627578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters 0.020685326275752196 Centerline is valid? [True, True] Translation: X:395.21, Y:-64.50, Z:-7.92 [[ 9.83848683e-01 1.77790767e-01 2.07897132e-02 3.95213773e+02] [-1.77753003e-01 9.84068308e-01 -3.66538206e-03 -6.45031719e+01] [-2.11101690e-02 -8.92526301e-05 9.99777152e-01 -7.92436542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.754012739 meters 0.021382402768495425 Centerline is valid? [True, True] Translation: X:395.25, Y:-64.51, Z:-7.93 [[ 9.83422024e-01 1.80264053e-01 1.96467461e-02 3.95245410e+02] [-1.80230826e-01 9.83618246e-01 -3.46359098e-03 -6.45075286e+01] [-1.99492589e-02 -1.34777619e-04 9.99800985e-01 -7.92660332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters 0.0225122271255498 Centerline is valid? [True, True] Translation: X:395.28, Y:-64.51, Z:-7.93 [[ 9.83008303e-01 1.82627411e-01 1.84906590e-02 3.95276394e+02] [-1.82598337e-01 9.83182181e-01 -3.26300255e-03 -6.45089896e+01] [-1.87756001e-02 -1.68804970e-04 9.99823709e-01 -7.92928534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.814012739 meters 0.02711624115981338 Centerline is valid? [True, True] Translation: X:395.31, Y:-64.50, Z:-7.93 [[ 9.81786152e-01 1.89155090e-01 1.77849262e-02 3.95307144e+02] [-1.89129261e-01 9.81947184e-01 -3.13851710e-03 -6.45025647e+01] [-1.80575246e-02 -2.82297313e-04 9.99836910e-01 -7.93214218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters 0.029868638969732048 Centerline is valid? [True, True] Translation: X:395.34, Y:-64.50, Z:-7.93 [[ 9.81248377e-01 1.91944224e-01 1.75794762e-02 3.95335863e+02] [-1.91919442e-01 9.81405780e-01 -3.10189892e-03 -6.45022384e+01] [-1.78479912e-02 -3.30109990e-04 9.99840657e-01 -7.93277123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.874012739 meters 0.035096843613224314 Centerline is valid? [True, True] Translation: X:395.37, Y:-64.49, Z:-7.93 [[ 9.80328106e-01 1.96560079e-01 1.79147659e-02 3.95366212e+02] [-1.96535129e-01 9.80491691e-01 -3.16016829e-03 -6.44941568e+01] [-1.81864421e-02 -4.22879035e-04 9.99834524e-01 -7.93172851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters 0.03448348208034477 Centerline is valid? [True, True] Translation: X:395.39, Y:-64.50, Z:-7.93 [[ 9.79934768e-01 1.98460709e-01 1.84715500e-02 3.95394689e+02] [-1.98434535e-01 9.80108730e-01 -3.25763351e-03 -6.44964300e+01] [-1.87506397e-02 -4.73125110e-04 9.99824079e-01 -7.93143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.934012739 meters 0.037565998252794164 Centerline is valid? [True, True] Translation: X:395.42, Y:-64.49, Z:-7.94 [[ 9.79394176e-01 2.01236798e-01 1.70528661e-02 3.95424434e+02] [-2.01214927e-01 9.79542503e-01 -3.00645513e-03 -6.44907290e+01] [-1.73090166e-02 -4.86786576e-04 9.99850069e-01 -7.93511669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters 0.03907437432283675 Centerline is valid? [True, True] Translation: X:395.45, Y:-64.49, Z:-7.94 [[ 9.79422610e-01 2.01164426e-01 1.62549809e-02 3.95452757e+02] [-2.01144556e-01 9.79557379e-01 -2.86508756e-03 -6.44909764e+01] [-1.64990401e-02 -4.63469366e-04 9.99863774e-01 -7.93799415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.994012739 meters 0.03567709048778958 Centerline is valid? [True, True] Translation: X:395.48, Y:-64.50, Z:-7.94 [[ 9.79982014e-01 1.98379483e-01 1.67581025e-02 3.95481195e+02] [-1.98357975e-01 9.80125194e-01 -2.95268669e-03 -6.44969954e+01] [-1.70107909e-02 -4.30523417e-04 9.99855213e-01 -7.93766875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters 0.03494373730189605 Centerline is valid? [True, True] Translation: X:395.51, Y:-64.50, Z:-7.94 [[ 9.80398522e-01 1.96236924e-01 1.76013807e-02 3.95509317e+02] [-1.96212867e-01 9.80556423e-01 -3.10036802e-03 -6.45009519e+01] [-1.78675536e-02 -4.14021157e-04 9.99840277e-01 -7.93671641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05401273900003 meters 0.030228124889303112 Centerline is valid? [True, True] Translation: X:395.54, Y:-64.51, Z:-7.94 [[ 9.81027029e-01 1.93032867e-01 1.80078020e-02 3.95537827e+02] [-1.93007159e-01 9.81192223e-01 -3.17132964e-03 -6.45064534e+01] [-1.82812861e-02 -3.64474599e-04 9.99832817e-01 -7.93561465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters 0.02991663219221064 Centerline is valid? [True, True] Translation: X:395.57, Y:-64.51, Z:-7.94 [[ 9.81218764e-01 1.92141564e-01 1.70691745e-02 3.95565311e+02] [-1.92118344e-01 9.81367164e-01 -3.00528268e-03 -6.45080521e+01] [-1.73285671e-02 -3.30461787e-04 9.99849794e-01 -7.93798954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.114012739 meters 0.030945511875219867 Centerline is valid? [True, True] Translation: X:395.59, Y:-64.51, Z:-7.94 [[ 9.81362610e-01 1.91477973e-01 1.62361543e-02 3.95593790e+02] [-1.91456889e-01 9.81496864e-01 -2.85769047e-03 -6.45079067e+01] [-1.64829193e-02 -3.04093010e-04 9.99864101e-01 -7.94133317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters 0.02820215322236865 Centerline is valid? [True, True] Translation: X:395.62, Y:-64.51, Z:-7.94 [[ 9.81703068e-01 1.89733325e-01 1.61354109e-02 3.95621963e+02] [-1.89712283e-01 9.81835623e-01 -2.83894701e-03 -6.45138550e+01] [-1.63809641e-02 -2.74082643e-04 9.99865785e-01 -7.94160439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.174012739 meters 0.02903751367506696 Centerline is valid? [True, True] Translation: X:395.65, Y:-64.52, Z:-7.94 [[ 9.81872455e-01 1.88837269e-01 1.63391478e-02 3.95650201e+02] [-1.88815581e-01 9.82008359e-01 -2.87399406e-03 -6.45168078e+01] [-1.65878969e-02 -2.63190082e-04 9.99862377e-01 -7.94216147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters 0.026296365993092 Centerline is valid? [True, True] Translation: X:395.68, Y:-64.53, Z:-7.94 [[ 9.82207064e-01 1.87024542e-01 1.70617697e-02 3.95678380e+02] [-1.87000635e-01 9.82355211e-01 -3.00020402e-03 -6.45256359e+01] [-1.73218301e-02 -2.43740179e-04 9.99849936e-01 -7.94051079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.234012739 meters 0.02617810276693135 Centerline is valid? [True, True] Translation: X:395.71, Y:-64.53, Z:-7.94 [[ 9.82251869e-01 1.86761245e-01 1.73638464e-02 3.95706327e+02] [-1.86736453e-01 9.82405302e-01 -3.05274494e-03 -6.45291596e+01] [-1.76284692e-02 -2.43898658e-04 9.99844577e-01 -7.94022351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters 0.025398654801646797 Centerline is valid? [True, True] Translation: X:395.73, Y:-64.53, Z:-7.94 [[ 9.82230325e-01 1.86796343e-01 1.81855474e-02 3.95734798e+02] [-1.86769176e-01 9.82398626e-01 -3.19603683e-03 -6.45325452e+01] [-1.84624647e-02 -2.57255408e-04 9.99829521e-01 -7.93906448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.294012739 meters 0.025906138072429728 Centerline is valid? [True, True] Translation: X:395.76, Y:-64.54, Z:-7.94 [[ 9.82250238e-01 1.86694056e-01 1.81603813e-02 3.95762303e+02] [-1.86666964e-01 9.82418070e-01 -3.19073390e-03 -6.45352785e+01] [-1.84367778e-02 -2.55844109e-04 9.99829995e-01 -7.93997312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters 0.025897119903313576 Centerline is valid? [True, True] Translation: X:395.79, Y:-64.54, Z:-7.94 [[ 9.82357865e-01 1.86127787e-01 1.81513535e-02 3.95789988e+02] [-1.86100646e-01 9.82525514e-01 -3.18801840e-03 -6.45401086e+01] [-1.84275467e-02 -2.46203650e-04 9.99830168e-01 -7.94172619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.354012739 meters 0.02425952465481549 Centerline is valid? [True, True] Translation: X:395.82, Y:-64.55, Z:-7.94 [[ 9.82676232e-01 1.84437256e-01 1.81747754e-02 3.95817962e+02] [-1.84409775e-01 9.82844266e-01 -3.19102176e-03 -6.45486845e+01] [-1.84515171e-02 -2.15865013e-04 9.99829733e-01 -7.94199113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters 0.023568734700723796 Centerline is valid? [True, True] Translation: X:395.84, Y:-64.55, Z:-7.94 [[ 9.82955419e-01 1.82929309e-01 1.83169759e-02 3.95844989e+02] [-1.82901152e-01 9.83126051e-01 -3.21509766e-03 -6.45548551e+01] [-1.85960318e-02 -1.89898315e-04 9.99827061e-01 -7.94192179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.414012739 meters 0.02143945392822042 Centerline is valid? [True, True] Translation: X:395.87, Y:-64.57, Z:-7.94 [[ 9.83776146e-01 1.78358369e-01 1.93076911e-02 3.95871507e+02] [-1.78326227e-01 9.83965589e-01 -3.38773193e-03 -6.45681255e+01] [-1.96023340e-02 -1.10297845e-04 9.99807850e-01 -7.94077355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters 0.020480796408959716 Centerline is valid? [True, True] Translation: X:395.90, Y:-64.58, Z:-7.94 [[ 9.84242723e-01 1.75689356e-01 1.99878068e-02 3.95899621e+02] [-1.75654379e-01 9.84445654e-01 -3.50606436e-03 -6.45796863e+01] [-2.02928877e-02 -6.01274655e-05 9.99794076e-01 -7.94015610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.474012739 meters 0.02023607971921373 Centerline is valid? [True, True] Translation: X:395.93, Y:-64.59, Z:-7.94 [[ 9.84960050e-01 1.71577688e-01 2.03665717e-02 3.95926902e+02] [-1.71540504e-01 9.85170593e-01 -3.57198595e-03 -6.45924211e+01] [-2.06774206e-02 2.45714861e-05 9.99786199e-01 -7.94026271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters 0.020433676585333148 Centerline is valid? [True, True] Translation: X:395.96, Y:-64.60, Z:-7.94 [[ 9.85168233e-01 1.70453806e-01 1.97244374e-02 3.95955740e+02] [-1.70418709e-01 9.85365667e-01 -3.45912642e-03 -6.46005240e+01] [-2.00254046e-02 4.64083050e-05 9.99799470e-01 -7.94227790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.534012739 meters 0.02104981525698812 Centerline is valid? [True, True] Translation: X:395.98, Y:-64.61, Z:-7.95 [[ 9.85311814e-01 1.69934124e-01 1.68232869e-02 3.95983967e+02] [-1.69908520e-01 9.85455423e-01 -2.95017032e-03 -6.46097331e+01] [-1.70799339e-02 4.84178805e-05 9.99854126e-01 -7.94885456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters 0.021053318679624712 Centerline is valid? [True, True] Translation: X:396.01, Y:-64.62, Z:-7.95 [[ 9.85242816e-01 1.70460033e-01 1.54909969e-02 3.96013214e+02] [-1.70438391e-01 9.85364590e-01 -2.71642604e-03 -6.46151575e+01] [-1.57273219e-02 3.60786458e-05 9.99876317e-01 -7.95066210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.594012739 meters 0.021017141921780124 Centerline is valid? [True, True] Translation: X:396.04, Y:-64.62, Z:-7.95 [[ 9.85175879e-01 1.70970759e-01 1.40530019e-02 3.96042176e+02] [-1.70953005e-01 9.85276103e-01 -2.46397077e-03 -6.46214985e+01] [-1.42673539e-02 2.50416631e-05 9.99898216e-01 -7.95300160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters 0.021117794620445086 Centerline is valid? [True, True] Translation: X:396.07, Y:-64.63, Z:-7.95 [[ 9.85139695e-01 1.71144339e-01 1.44705197e-02 3.96070714e+02] [-1.71125537e-01 9.85245967e-01 -2.53687759e-03 -6.46270064e+01] [-1.46911935e-02 2.29033518e-05 9.99892078e-01 -7.95435854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.654012739 meters 0.020755332758099303 Centerline is valid? [True, True] Translation: X:396.10, Y:-64.63, Z:-7.95 [[ 9.85135536e-01 1.71048736e-01 1.58210308e-02 3.96100080e+02] [-1.71026260e-01 9.85262569e-01 -2.77294735e-03 -6.46328903e+01] [-1.60621786e-02 2.59172602e-05 9.99870995e-01 -7.95139357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters 0.02033244308139341 Centerline is valid? [True, True] Translation: X:396.13, Y:-64.64, Z:-7.95 [[ 9.85066799e-01 1.71138753e-01 1.88395580e-02 3.96128736e+02] [-1.71106908e-01 9.85246937e-01 -3.30147140e-03 -6.46403313e+01] [-1.91266265e-02 2.85913487e-05 9.99817069e-01 -7.94635224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.714012739 meters 0.02035735011670694 Centerline is valid? [True, True] Translation: X:396.16, Y:-64.65, Z:-7.95 [[ 9.85133906e-01 1.70738266e-01 1.89639637e-02 3.96158477e+02] [-1.70705934e-01 9.85316418e-01 -3.32279767e-03 -6.46481185e+01] [-1.92528335e-02 3.61395162e-05 9.99814646e-01 -7.94634965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters 0.020395439910221046 Centerline is valid? [True, True] Translation: X:396.19, Y:-64.65, Z:-7.95 [[ 9.85131175e-01 1.70801630e-01 1.85302567e-02 3.96188893e+02] [-1.70770771e-01 9.85305436e-01 -3.24680509e-03 -6.46532748e+01] [-1.88125223e-02 3.41026821e-05 9.99823028e-01 -7.94785377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.774012739 meters 0.020467735368491738 Centerline is valid? [True, True] Translation: X:396.22, Y:-64.66, Z:-7.95 [[ 9.85040186e-01 1.71387812e-01 1.79457199e-02 3.96218735e+02] [-1.71358967e-01 9.85203643e-01 -3.14438465e-03 -6.46573634e+01] [-1.82190978e-02 2.21852187e-05 9.99834018e-01 -7.94966718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters 0.02054329629096433 Centerline is valid? [True, True] Translation: X:396.25, Y:-64.66, Z:-7.95 [[ 9.84751859e-01 1.73177496e-01 1.65327608e-02 3.96248962e+02] [-1.73153266e-01 9.84890631e-01 -2.89681103e-03 -6.46614426e+01] [-1.67846237e-02 -1.00614896e-05 9.99859128e-01 -7.95288018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.834012739 meters 0.020763078379406826 Centerline is valid? [True, True] Translation: X:396.28, Y:-64.66, Z:-7.95 [[ 9.84441533e-01 1.74952925e-01 1.63199599e-02 3.96277943e+02] [-1.74929558e-01 9.84576799e-01 -2.85961720e-03 -6.46646397e+01] [-1.65685522e-02 -3.97174257e-05 9.99862731e-01 -7.95312204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters 0.020515412868612002 Centerline is valid? [True, True] Translation: X:396.31, Y:-64.67, Z:-7.95 [[ 9.84272548e-01 1.75772464e-01 1.76519945e-02 3.96307790e+02] [-1.75745267e-01 9.84430819e-01 -3.09253547e-03 -6.46689316e+01] [-1.79207500e-02 -5.83567201e-05 9.99839409e-01 -7.95021730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.894012739 meters 0.02092269163364162 Centerline is valid? [True, True] Translation: X:396.34, Y:-64.67, Z:-7.95 [[ 9.84063335e-01 1.76787743e-01 1.91166806e-02 3.96336197e+02] [-1.76756046e-01 9.84248996e-01 -3.34862724e-03 -6.46717919e+01] [-1.94075699e-02 -8.37275855e-05 9.99811652e-01 -7.94847368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters 0.021393442780197662 Centerline is valid? [True, True] Translation: X:396.37, Y:-64.68, Z:-7.95 [[ 9.83826260e-01 1.78184262e-01 1.83373803e-02 3.96365576e+02] [-1.78155352e-01 9.83997133e-01 -3.21143607e-03 -6.46768602e+01] [-1.86161570e-02 -1.07407320e-04 9.99826699e-01 -7.95118999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.954012739 meters 0.021731405226277735 Centerline is valid? [True, True] Translation: X:396.40, Y:-64.68, Z:-7.95 [[ 9.83741182e-01 1.78801693e-01 1.68297758e-02 3.96395132e+02] [-1.78777438e-01 9.83885127e-01 -2.94704929e-03 -6.46813016e+01] [-1.70855035e-02 -1.09650453e-04 9.99854026e-01 -7.95497330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters 0.023390602140790487 Centerline is valid? [True, True] Translation: X:396.42, Y:-64.68, Z:-7.96 [[ 9.83282655e-01 1.81408884e-01 1.56855952e-02 3.96424092e+02] [-1.81388150e-01 9.83407747e-01 -2.74649961e-03 -6.46792899e+01] [-1.59235753e-02 -1.44595671e-04 9.99873201e-01 -7.95773388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.014012739 meters 0.024529442346635427 Centerline is valid? [True, True] Translation: X:396.45, Y:-64.68, Z:-7.96 [[ 9.82978919e-01 1.82985556e-01 1.63930390e-02 3.96451872e+02] [-1.82963146e-01 9.83115585e-01 -2.86931779e-03 -6.46806362e+01] [-1.66412958e-02 -1.78843082e-04 9.99861508e-01 -7.95587635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters 0.02681586993617466 Centerline is valid? [True, True] Translation: X:396.48, Y:-64.68, Z:-7.95 [[ 9.82309834e-01 1.86437866e-01 1.75588243e-02 3.96480971e+02] [-1.86412725e-01 9.82466721e-01 -3.07225412e-03 -6.46796450e+01] [-1.78237450e-02 -2.55282856e-04 9.99841112e-01 -7.95326743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.074012739 meters 0.028933062493086366 Centerline is valid? [True, True] Translation: X:396.51, Y:-64.68, Z:-7.95 [[ 9.81926976e-01 1.88428358e-01 1.77247499e-02 3.96509377e+02] [-1.88403083e-01 9.82086894e-01 -3.10023688e-03 -6.46792478e+01] [-1.79914171e-02 -2.95191311e-04 9.99838098e-01 -7.95395998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters 0.030712412658186795 Centerline is valid? [True, True] Translation: X:396.54, Y:-64.68, Z:-7.95 [[ 9.81578282e-01 1.90189525e-01 1.82214398e-02 3.96538112e+02] [-1.90163137e-01 9.81747335e-01 -3.18602142e-03 -6.46791647e+01] [-1.84947979e-02 -3.37716725e-04 9.99828900e-01 -7.95441307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.134012739 meters 0.0345481813712032 Centerline is valid? [True, True] Translation: X:396.57, Y:-64.68, Z:-7.95 [[ 9.80828915e-01 1.93908514e-01 1.93423878e-02 3.96567134e+02] [-1.93879525e-01 9.81019521e-01 -3.38083453e-03 -6.46761512e+01] [-1.96308326e-02 -4.34072700e-04 9.99807202e-01 -7.95316362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters 0.037306916586361406 Centerline is valid? [True, True] Translation: X:396.60, Y:-64.68, Z:-7.95 [[ 9.80377439e-01 1.96163574e-01 1.94917692e-02 3.96597662e+02] [-1.96134598e-01 9.80571067e-01 -3.40604946e-03 -6.46750295e+01] [-1.97812078e-02 -4.83796282e-04 9.99804216e-01 -7.95282242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.194012739 meters 0.03548890262560099 Centerline is valid? [True, True] Translation: X:396.63, Y:-64.68, Z:-7.95 [[ 9.80163979e-01 1.97258526e-01 1.91741551e-02 3.96625467e+02] [-1.97230704e-01 9.80351379e-01 -3.35015587e-03 -6.46803803e+01] [-1.94582562e-02 -4.98030006e-04 9.99810546e-01 -7.95347731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters 0.04021055893790569 Centerline is valid? [True, True] Translation: X:396.65, Y:-64.68, Z:-7.96 [[ 9.79997787e-01 1.98139181e-01 1.85796008e-02 3.96654418e+02] [-1.98113236e-01 9.80173767e-01 -3.24519783e-03 -6.46764868e+01] [-1.88542382e-02 -5.00578157e-04 9.99822118e-01 -7.95558150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.254012739 meters 0.03757772166436072 Centerline is valid? [True, True] Translation: X:396.68, Y:-64.69, Z:-7.96 [[ 9.79953100e-01 1.98402360e-01 1.81224999e-02 3.96682338e+02] [-1.98377741e-01 9.80120533e-01 -3.16428593e-03 -6.46850211e+01] [-1.83900361e-02 -4.94248786e-04 9.99830767e-01 -7.95647089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters 0.03641439995098283 Centerline is valid? [True, True] Translation: X:396.71, Y:-64.69, Z:-7.96 [[ 9.80171615e-01 1.97301683e-01 1.83207675e-02 3.96710161e+02] [-1.97276347e-01 9.80342703e-01 -3.19802754e-03 -6.46917431e+01] [-1.85916069e-02 -4.79638254e-04 9.99827046e-01 -7.95718720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.314012739 meters 0.03220840481077798 Centerline is valid? [True, True] Translation: X:396.74, Y:-64.70, Z:-7.96 [[ 9.81146892e-01 1.92391017e-01 1.83431929e-02 3.96738156e+02] [-1.92364776e-01 9.81318270e-01 -3.20103326e-03 -6.47022002e+01] [-1.86163604e-02 -3.87900374e-04 9.99826625e-01 -7.95828878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters 0.03220840481077798 Centerline is valid? [True, True] Translation: X:396.77, Y:-64.71, Z:-7.96 [[ 9.81160104e-01 1.92323620e-01 1.83432528e-02 3.96765264e+02] [-1.92297374e-01 9.81331481e-01 -3.20069010e-03 -6.47067918e+01] [-1.86163798e-02 -3.86969917e-04 9.99826625e-01 -7.95884720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.374012739 meters 0.029688806855970137 Centerline is valid? [True, True] Translation: X:396.79, Y:-64.72, Z:-7.96 [[ 9.81729727e-01 1.89385549e-01 1.84351950e-02 3.96793240e+02] [-1.89358546e-01 9.81902746e-01 -3.21538353e-03 -6.47159072e+01] [-1.87105158e-02 -3.34224142e-04 9.99824887e-01 -7.95938396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters 0.025923112169220743 Centerline is valid? [True, True] Translation: X:396.82, Y:-64.73, Z:-7.96 [[ 9.82683565e-01 1.84366513e-01 1.84932301e-02 3.96819849e+02] [-1.84338468e-01 9.82857534e-01 -3.22461584e-03 -6.47297572e+01] [-1.87707217e-02 -2.40236709e-04 9.99823786e-01 -7.95920372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.434012739 meters 0.024280211557788485 Centerline is valid? [True, True] Translation: X:396.85, Y:-64.74, Z:-7.96 [[ 9.83016222e-01 1.82656583e-01 1.77673849e-02 3.96847480e+02] [-1.82630428e-01 9.83176755e-01 -3.09748576e-03 -6.47379069e+01] [-1.80342560e-02 -1.99986363e-04 9.99837350e-01 -7.96101516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters 0.02449160849570128 Centerline is valid? [True, True] Translation: X:396.87, Y:-64.74, Z:-7.96 [[ 9.83121019e-01 1.82174142e-01 1.69009795e-02 3.96874786e+02] [-1.82150416e-01 9.83266265e-01 -2.94571379e-03 -6.47408158e+01] [-1.71547958e-02 -1.82527298e-04 9.99852829e-01 -7.96382060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.494012739 meters 0.025083152843651795 Centerline is valid? [True, True] Translation: X:396.90, Y:-64.75, Z:-7.96 [[ 9.82992200e-01 1.82841579e-01 1.71840882e-02 3.96903231e+02] [-1.82817172e-01 9.83142369e-01 -2.99397475e-03 -6.47451580e+01] [-1.74418282e-02 -1.98492580e-04 9.99847860e-01 -7.96369103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters 0.027306313523395673 Centerline is valid? [True, True] Translation: X:396.93, Y:-64.75, Z:-7.96 [[ 9.82465812e-01 1.85544494e-01 1.82803061e-02 3.96931477e+02] [-1.85517358e-01 9.82635829e-01 -3.18408504e-03 -6.47467781e+01] [-1.85536732e-02 -2.63059398e-04 9.99827831e-01 -7.96188698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55401273900003 meters 0.02785031967118682 Centerline is valid? [True, True] Translation: X:396.96, Y:-64.75, Z:-7.96 [[ 9.82241426e-01 1.86749822e-01 1.80633325e-02 3.96960399e+02] [-1.86723550e-01 9.82407463e-01 -3.14524895e-03 -6.47504815e+01] [-1.83329274e-02 -2.83455749e-04 9.99831898e-01 -7.96244994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters 0.029959416530090797 Centerline is valid? [True, True] Translation: X:396.99, Y:-64.75, Z:-7.96 [[ 9.81799750e-01 1.89019544e-01 1.84624536e-02 3.96988379e+02] [-1.88992515e-01 9.81973269e-01 -3.21388066e-03 -6.47523679e+01] [-1.87371221e-02 -3.33878299e-04 9.99824389e-01 -7.96286156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.614012739 meters 0.030784555189447976 Centerline is valid? [True, True] Translation: X:397.02, Y:-64.76, Z:-7.96 [[ 9.81637873e-01 1.89802984e-01 1.90240348e-02 3.97016920e+02] [-1.89774454e-01 9.81822131e-01 -3.31049000e-03 -6.47578420e+01] [-1.93065593e-02 -3.60573448e-04 9.99813546e-01 -7.96253367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters 0.03178722742159787 Centerline is valid? [True, True] Translation: X:397.05, Y:-64.76, Z:-7.96 [[ 9.81472561e-01 1.90596528e-01 1.96105934e-02 3.97045205e+02] [-1.90566389e-01 9.81668382e-01 -3.41162974e-03 -6.47626903e+01] [-1.99013443e-02 -3.88698987e-04 9.99801873e-01 -7.96128774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.674012739 meters 0.034338792945345746 Centerline is valid? [True, True] Translation: X:397.07, Y:-64.76, Z:-7.96 [[ 9.81000947e-01 1.92877332e-01 2.08680631e-02 3.97073208e+02] [-1.92843740e-01 9.81222768e-01 -3.62936635e-03 -6.47630846e+01] [-2.11762411e-02 -4.63863513e-04 9.99775651e-01 -7.95978081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters 0.04050482796234754 Centerline is valid? [True, True] Translation: X:397.11, Y:-64.76, Z:-7.96 [[ 9.79903890e-01 1.98555384e-01 1.90820924e-02 3.97105268e+02] [-1.98528391e-01 9.80089522e-01 -3.31772284e-03 -6.47559993e+01] [-1.93609105e-02 -5.37287575e-04 9.99812416e-01 -7.96352488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.734012739 meters 0.045037834806582355 Centerline is valid? [True, True] Translation: X:397.14, Y:-64.75, Z:-7.97 [[ 9.79180135e-01 2.02265180e-01 1.71773275e-02 3.97135394e+02] [-2.02243881e-01 9.79330636e-01 -2.98632548e-03 -6.47528218e+01] [-1.74263127e-02 -5.49858789e-04 9.99847999e-01 -7.96707679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters 0.0479360066866356 Centerline is valid? [True, True] Translation: X:397.17, Y:-64.75, Z:-7.97 [[ 9.78402740e-01 2.06076267e-01 1.61446553e-02 3.97166476e+02] [-2.06057976e-01 9.78535761e-01 -2.80641229e-03 -6.47515283e+01] [-1.63764575e-02 -5.80933519e-04 9.99865728e-01 -7.96983258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.794012739 meters 0.05365449342780935 Centerline is valid? [True, True] Translation: X:397.20, Y:-64.74, Z:-7.97 [[ 9.77354241e-01 2.11076514e-01 1.50130699e-02 3.97198500e+02] [-2.11061288e-01 9.77469346e-01 -2.60949874e-03 -6.47433096e+01] [-1.52256196e-02 -6.18273225e-04 9.99883892e-01 -7.97262997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters 0.057216260448288064 Centerline is valid? [True, True] Translation: X:397.23, Y:-64.74, Z:-7.97 [[ 9.77358918e-01 2.11034192e-01 1.53008490e-02 3.97226146e+02] [-2.11018366e-01 9.77478478e-01 -2.65988050e-03 -6.47401862e+01] [-1.55175763e-02 -6.29102232e-04 9.99879397e-01 -7.97342853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.854012739 meters 0.05099616976692876 Centerline is valid? [True, True] Translation: X:397.26, Y:-64.75, Z:-7.97 [[ 9.78033908e-01 2.07684668e-01 1.77975474e-02 3.97255101e+02] [-2.07662736e-01 9.78195598e-01 -3.09207180e-03 -6.47483938e+01] [-1.80516584e-02 -6.71736321e-04 9.99836830e-01 -7.96730449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters 0.04253913860658505 Centerline is valid? [True, True] Translation: X:397.28, Y:-64.76, Z:-7.97 [[ 9.78594352e-01 2.04904688e-01 1.91615122e-02 3.97283373e+02] [-2.04878736e-01 9.78781703e-01 -3.32883914e-03 -6.47627815e+01] [-1.94370323e-02 -6.68203233e-04 9.99810860e-01 -7.96535070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.914012739 meters 0.03799524996037398 Centerline is valid? [True, True] Translation: X:397.31, Y:-64.77, Z:-7.97 [[ 9.79733672e-01 1.99329277e-01 1.97426418e-02 3.97311749e+02] [-1.99300600e-01 9.79932400e-01 -3.42954947e-03 -6.47718964e+01] [-2.00300640e-02 -5.74675273e-04 9.99799213e-01 -7.96622057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters 0.04135496569055977 Centerline is valid? [True, True] Translation: X:397.34, Y:-64.77, Z:-7.97 [[ 9.80195345e-01 1.97126780e-01 1.89240150e-02 3.97340112e+02] [-1.97100025e-01 9.80377874e-01 -3.28715206e-03 -6.47708789e+01] [-1.92006713e-02 -5.07872674e-04 9.99815521e-01 -7.96864493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.974012739 meters 0.0391968656188094 Centerline is valid? [True, True] Translation: X:397.37, Y:-64.77, Z:-7.97 [[ 9.80695837e-01 1.94883300e-01 1.60054441e-02 3.97367643e+02] [-1.94863882e-01 9.80826358e-01 -2.77905669e-03 -6.47744654e+01] [-1.62401532e-02 -3.93473644e-04 9.99868043e-01 -7.97390183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters 0.036961035216290246 Centerline is valid? [True, True] Translation: X:397.40, Y:-64.78, Z:-7.98 [[ 9.80817143e-01 1.94341362e-01 1.51382934e-02 3.97396020e+02] [-1.94323939e-01 9.80933893e-01 -2.62768244e-03 -6.47808563e+01] [-1.53603325e-02 -3.64456817e-04 9.99881957e-01 -7.97668880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.034012739 meters 0.03200271432975923 Centerline is valid? [True, True] Translation: X:397.42, Y:-64.79, Z:-7.98 [[ 9.80988134e-01 1.93446609e-01 1.55141920e-02 3.97423687e+02] [-1.93428209e-01 9.81110738e-01 -2.69222478e-03 -6.47917767e+01] [-1.57419421e-02 -3.59841801e-04 9.99876023e-01 -7.97507007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters 0.03327121803890382 Centerline is valid? [True, True] Translation: X:397.45, Y:-64.79, Z:-7.97 [[ 9.81704778e-01 1.89579970e-01 1.77528269e-02 3.97452353e+02] [-1.89555263e-01 9.81865224e-01 -3.07964494e-03 -6.47946015e+01] [-1.80147224e-02 -3.41839624e-04 9.99837663e-01 -7.97411481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.094012739 meters 0.024989160926631154 Centerline is valid? [True, True] Translation: X:397.48, Y:-64.82, Z:-7.98 [[ 9.82897075e-01 1.83388730e-01 1.67903084e-02 3.97478285e+02] [-1.83365736e-01 9.83040450e-01 -2.91204943e-03 -6.48169216e+01] [-1.70395894e-02 -2.16522390e-04 9.99854792e-01 -7.97673339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters 0.022765389590061892 Centerline is valid? [True, True] Translation: X:397.51, Y:-64.83, Z:-7.98 [[ 9.83597568e-01 1.79670092e-01 1.59524807e-02 3.97505526e+02] [-1.79648851e-01 9.83726912e-01 -2.76648007e-03 -6.48283807e+01] [-1.61899383e-02 -1.44741754e-04 9.99868924e-01 -7.97910721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.154012739 meters 0.021436131599884514 Centerline is valid? [True, True] Translation: X:397.53, Y:-64.84, Z:-7.98 [[ 9.84241466e-01 1.76129193e-01 1.57240213e-02 3.97531597e+02] [-1.76108115e-01 9.84367056e-01 -2.72614707e-03 -6.48386086e+01] [-1.59583626e-02 -8.59407516e-05 9.99872654e-01 -7.98065180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters 0.020294221024046342 Centerline is valid? [True, True] Translation: X:397.56, Y:-64.86, Z:-7.98 [[ 9.85288963e-01 1.70156716e-01 1.58855589e-02 3.97558130e+02] [-1.70134443e-01 9.85417014e-01 -2.75305030e-03 -6.48572206e+01] [-1.61223500e-02 9.86935882e-06 9.99870026e-01 -7.98016692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.214012739 meters 0.021057487381135612 Centerline is valid? [True, True] Translation: X:397.58, Y:-64.88, Z:-7.98 [[ 9.86070794e-01 1.65387892e-01 1.76418369e-02 3.97584061e+02] [-1.65359672e-01 9.86228592e-01 -3.05663599e-03 -6.48786231e+01] [-1.79044145e-02 9.68111252e-05 9.99839698e-01 -7.97731774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters 0.021663106442682125 Centerline is valid? [True, True] Translation: X:397.61, Y:-64.89, Z:-7.98 [[ 9.86350166e-01 1.63657189e-01 1.81569232e-02 3.97612539e+02] [-1.63627008e-01 9.86517262e-01 -3.14561341e-03 -6.48900321e+01] [-1.84269204e-02 1.31713295e-04 9.99830201e-01 -7.97627276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.274012739 meters 0.02200731410136314 Centerline is valid? [True, True] Translation: X:397.64, Y:-64.90, Z:-7.98 [[ 9.86497678e-01 1.62835737e-01 1.75172319e-02 3.97642587e+02] [-1.62807515e-01 9.86653182e-01 -3.03491452e-03 -6.48998648e+01] [-1.77776251e-02 1.41999141e-04 9.99841955e-01 -7.97841363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters 0.021624943658777707 Centerline is valid? [True, True] Translation: X:397.67, Y:-64.91, Z:-7.98 [[ 9.86341777e-01 1.63902823e-01 1.63022770e-02 3.97672622e+02] [-1.63878519e-01 9.86476483e-01 -2.82477639e-03 -6.49124313e+01] [-1.65448017e-02 1.14601948e-04 9.99863119e-01 -7.98071408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.334012739 meters 0.020732797189340162 Centerline is valid? [True, True] Translation: X:397.70, Y:-64.92, Z:-7.98 [[ 9.85997864e-01 1.65878535e-01 1.71033075e-02 3.97703024e+02] [-1.65852074e-01 9.86146188e-01 -2.96401296e-03 -6.49192022e+01] [-1.73580276e-02 8.58914409e-05 9.99849334e-01 -7.97902558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters 0.019769387493136108 Centerline is valid? [True, True] Translation: X:397.73, Y:-64.92, Z:-7.97 [[ 9.84881106e-01 1.72100930e-01 1.97604646e-02 3.97732971e+02] [-1.72066847e-01 9.85079321e-01 -3.42507473e-03 -6.49226103e+01] [-2.00550836e-02 -2.68294453e-05 9.99798876e-01 -7.97370504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.394012739 meters 0.020829879704218762 Centerline is valid? [True, True] Translation: X:397.76, Y:-64.92, Z:-7.97 [[ 9.84215192e-01 1.75783463e-01 2.05092489e-02 3.97761502e+02] [-1.75747546e-01 9.84428851e-01 -3.55484840e-03 -6.49234751e+01] [-2.08147799e-02 -1.05714362e-04 9.99783343e-01 -7.97297091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters 0.02378670128443772 Centerline is valid? [True, True] Translation: X:397.79, Y:-64.93, Z:-7.98 [[ 9.83140744e-01 1.81891292e-01 1.87039157e-02 3.97791259e+02] [-1.81862533e-01 9.83318622e-01 -3.24147926e-03 -6.49262726e+01] [-1.89815055e-02 -2.14711159e-04 9.99819812e-01 -7.97806782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.454012739 meters 0.02567202810925666 Centerline is valid? [True, True] Translation: X:397.82, Y:-64.93, Z:-7.98 [[ 9.82682829e-01 1.84493046e-01 1.72270969e-02 3.97820461e+02] [-1.84469051e-01 9.82833789e-01 -2.98541729e-03 -6.49286073e+01] [-1.74821616e-02 -2.44147899e-04 9.99847146e-01 -7.98127876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters 0.02992366135553216 Centerline is valid? [True, True] Translation: X:397.85, Y:-64.93, Z:-7.99 [[ 9.81826243e-01 1.89172148e-01 1.52028608e-02 3.97849995e+02] [-1.89154028e-01 9.81943896e-01 -2.63415388e-03 -6.49270100e+01] [-1.54266649e-02 -2.89400948e-04 9.99880960e-01 -7.98534655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.514012739 meters 0.03203714823906872 Centerline is valid? [True, True] Translation: X:397.88, Y:-64.93, Z:-7.98 [[ 9.81362048e-01 1.91500436e-01 1.60035694e-02 3.97879255e+02] [-1.91480677e-01 9.81492468e-01 -2.77232091e-03 -6.49285677e+01] [-1.62382835e-02 -3.43723764e-04 9.99868091e-01 -7.98412787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters 0.03389664875815735 Centerline is valid? [True, True] Translation: X:397.91, Y:-64.93, Z:-7.98 [[ 9.80905678e-01 1.93684995e-01 1.76117720e-02 3.97908067e+02] [-1.93661432e-01 9.81063682e-01 -3.04998319e-03 -6.49296052e+01] [-1.78690058e-02 -4.18975157e-04 9.99840249e-01 -7.98114231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.574012739 meters 0.03791190896150779 Centerline is valid? [True, True] Translation: X:397.94, Y:-64.92, Z:-7.98 [[ 9.79948558e-01 1.98312885e-01 1.93086341e-02 3.97939708e+02] [-1.98285480e-01 9.80138610e-01 -3.34281407e-03 -6.49241978e+01] [-1.95880609e-02 -5.52835966e-04 9.99807983e-01 -7.97825185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters 0.04282490243637427 Centerline is valid? [True, True] Translation: X:397.97, Y:-64.92, Z:-7.99 [[ 9.79190283e-01 2.02248844e-01 1.67867738e-02 3.97970187e+02] [-2.02228710e-01 9.79334010e-01 -2.90608563e-03 -6.49195392e+01] [-1.70276109e-02 -5.49156793e-04 9.99854869e-01 -7.98536921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.634012739 meters 0.04047095064887964 Centerline is valid? [True, True] Translation: X:398.00, Y:-64.93, Z:-7.99 [[ 9.78973315e-01 2.03350034e-01 1.61248786e-02 3.97997810e+02] [-2.03331610e-01 9.79105952e-01 -2.79123917e-03 -6.49268089e+01] [-1.63555632e-02 -5.46148860e-04 9.99866090e-01 -7.98642048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters 0.04708079240885482 Centerline is valid? [True, True] Translation: X:398.03, Y:-64.92, Z:-7.99 [[ 9.78806361e-01 2.04132106e-01 1.63765502e-02 3.98026575e+02] [-2.04113223e-01 9.78943185e-01 -2.83409063e-03 -6.49209733e+01] [-1.66102411e-02 -5.68644510e-04 9.99861879e-01 -7.98721374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.694012739 meters 0.04113137427149796 Centerline is valid? [True, True] Translation: X:398.06, Y:-64.93, Z:-7.99 [[ 9.79217808e-01 2.02074115e-01 1.72781958e-02 3.98055070e+02] [-2.02052803e-01 9.79370070e-01 -2.98853628e-03 -6.49295398e+01] [-1.75256536e-02 -5.64679951e-04 9.99846254e-01 -7.98527881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters 0.03980012001281495 Centerline is valid? [True, True] Translation: X:398.08, Y:-64.93, Z:-7.99 [[ 9.80172566e-01 1.97444927e-01 1.66506102e-02 3.98083560e+02] [-1.97424478e-01 9.80313871e-01 -2.87937305e-03 -6.49340116e+01] [-1.68913417e-02 -4.64955551e-04 9.99857223e-01 -7.98760293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.754012739 meters 0.037751876187473374 Centerline is valid? [True, True] Translation: X:398.11, Y:-64.94, Z:-7.99 [[ 9.80579401e-01 1.95374414e-01 1.71136122e-02 3.98111780e+02] [-1.95352503e-01 9.80728629e-01 -2.95908165e-03 -6.49412613e+01] [-1.73619383e-02 -4.41572480e-04 9.99849173e-01 -7.98751574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters 0.03232577362836455 Centerline is valid? [True, True] Translation: X:398.14, Y:-64.95, Z:-7.98 [[ 9.81076027e-01 1.92713169e-01 1.87473716e-02 3.98139702e+02] [-1.92686407e-01 9.81255037e-01 -3.24061854e-03 -6.49516400e+01] [-1.90204627e-02 -4.33070526e-04 9.99819001e-01 -7.98418001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.814012739 meters 0.03419810021009783 Centerline is valid? [True, True] Translation: X:398.17, Y:-64.95, Z:-7.98 [[ 9.81271145e-01 1.91705170e-01 1.88697444e-02 3.98168058e+02] [-1.91677883e-01 9.81452472e-01 -3.26111154e-03 -6.49519725e+01] [-1.91449292e-02 -4.16878009e-04 9.99816632e-01 -7.98428841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters 0.030661291153915665 Centerline is valid? [True, True] Translation: X:398.20, Y:-64.96, Z:-7.98 [[ 9.81523726e-01 1.90431004e-01 1.86335327e-02 3.98195520e+02] [-1.90404190e-01 9.81700505e-01 -3.21910343e-03 -6.49616350e+01] [-1.89055655e-02 -3.88276293e-04 9.99821198e-01 -7.98496734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.874012739 meters 0.02884364685969208 Centerline is valid? [True, True] Translation: X:398.22, Y:-64.97, Z:-7.99 [[ 9.82268051e-01 1.86693924e-01 1.71713443e-02 3.98222342e+02] [-1.86670594e-01 9.82418085e-01 -2.96577854e-03 -6.49693078e+01] [-1.74231320e-02 -2.92195525e-04 9.99848163e-01 -7.98788264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters 0.024305470822037583 Centerline is valid? [True, True] Translation: X:398.25, Y:-64.98, Z:-7.99 [[ 9.83104320e-01 1.82144088e-01 1.81501324e-02 3.98249754e+02] [-1.82117269e-01 9.83271824e-01 -3.13362662e-03 -6.49824623e+01] [-1.84172853e-02 -2.24770669e-04 9.99830362e-01 -7.98715094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.934012739 meters 0.023000399587511655 Centerline is valid? [True, True] Translation: X:398.28, Y:-64.99, Z:-7.99 [[ 9.83467980e-01 1.80103058e-01 1.88048191e-02 3.98277962e+02] [-1.80073909e-01 9.83647727e-01 -3.24597186e-03 -6.49909361e+01] [-1.90819270e-02 -1.93947899e-04 9.99817905e-01 -7.98612121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters 0.02147908968875137 Centerline is valid? [True, True] Translation: X:398.30, Y:-65.00, Z:-7.99 [[ 9.84077032e-01 1.76707620e-01 1.91523291e-02 3.98304864e+02] [-1.76676759e-01 9.84263379e-01 -3.30501171e-03 -6.50018181e+01] [-1.94349570e-02 -1.31385319e-04 9.99811115e-01 -7.98606350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.994012739 meters 0.02107942898419467 Centerline is valid? [True, True] Translation: X:398.33, Y:-65.01, Z:-7.99 [[ 9.84245776e-01 1.75816651e-01 1.86750292e-02 3.98334071e+02] [-1.75787161e-01 9.84422924e-01 -3.22197925e-03 -6.50082781e+01] [-1.89506044e-02 -1.11610902e-04 9.99820415e-01 -7.98772575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters 0.02100120150710999 Centerline is valid? [True, True] Translation: X:398.36, Y:-65.01, Z:-7.99 [[ 9.84311867e-01 1.75476846e-01 1.83854823e-02 3.98362283e+02] [-1.75448212e-01 9.84483553e-01 -3.17161401e-03 -6.50126973e+01] [-1.86567498e-02 -1.03842690e-04 9.99825942e-01 -7.98936286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05401273900003 meters 0.021421559055206086 Centerline is valid? [True, True] Translation: X:398.39, Y:-65.02, Z:-7.99 [[ 9.84142826e-01 1.76407180e-01 1.85312015e-02 3.98390471e+02] [-1.76378268e-01 9.84317272e-01 -3.19610406e-03 -6.50168489e+01] [-1.88043974e-02 -1.23078329e-04 9.99823174e-01 -7.98938174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters 0.021549451655730825 Centerline is valid? [True, True] Translation: X:398.42, Y:-65.03, Z:-7.99 [[ 9.84055853e-01 1.76936377e-01 1.80996389e-02 3.98419300e+02] [-1.76908901e-01 9.84222282e-01 -3.12080280e-03 -6.50264111e+01] [-1.83662515e-02 -1.30942979e-04 9.99831318e-01 -7.99067608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.114012739 meters 0.021554909031552594 Centerline is valid? [True, True] Translation: X:398.45, Y:-65.03, Z:-7.99 [[ 9.84101300e-01 1.76759464e-01 1.73413777e-02 3.98448269e+02] [-1.76734222e-01 9.84254071e-01 -2.98966134e-03 -6.50342003e+01] [-1.75967725e-02 -1.22685271e-04 9.99845157e-01 -7.99176540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters 0.022042566027495828 Centerline is valid? [True, True] Translation: X:398.48, Y:-65.04, Z:-8.00 [[ 9.84087619e-01 1.76923911e-01 1.64160671e-02 3.98476799e+02] [-1.76901320e-01 9.84224525e-01 -2.82976320e-03 -6.50391585e+01] [-1.66577486e-02 -1.19288991e-04 9.99861243e-01 -7.99506207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.174012739 meters 0.023101675430111053 Centerline is valid? [True, True] Translation: X:398.51, Y:-65.04, Z:-8.00 [[ 9.83747562e-01 1.78816147e-01 1.62948041e-02 3.98505722e+02] [-1.78794153e-01 9.83882495e-01 -2.80852982e-03 -6.50400128e+01] [-1.65343830e-02 -1.50531339e-04 9.99863286e-01 -7.99521154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters 0.023101675430111053 Centerline is valid? [True, True] Translation: X:398.53, Y:-65.04, Z:-8.00 [[ 9.83755581e-01 1.78772013e-01 1.62949305e-02 3.98533652e+02] [-1.78750026e-01 9.83890515e-01 -2.80779628e-03 -6.50447316e+01] [-1.65343830e-02 -1.50533985e-04 9.99863286e-01 -7.99578684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.234012739 meters 0.023723073571218913 Centerline is valid? [True, True] Translation: X:398.56, Y:-65.05, Z:-7.99 [[ 9.83379837e-01 1.80767775e-01 1.69442770e-02 3.98562100e+02] [-1.80744310e-01 9.83525787e-01 -2.91887257e-03 -6.50472043e+01] [-1.71927715e-02 -1.92221222e-04 9.99852175e-01 -7.99479252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters 0.026835902762862275 Centerline is valid? [True, True] Translation: X:398.59, Y:-65.05, Z:-7.99 [[ 9.82629741e-01 1.84724069e-01 1.77710376e-02 3.98591159e+02] [-1.84698921e-01 9.82790386e-01 -3.06038860e-03 -6.50451335e+01] [-1.80305323e-02 -2.75062610e-04 9.99837399e-01 -7.99400202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.294012739 meters 0.028528646867858703 Centerline is valid? [True, True] Translation: X:398.62, Y:-65.05, Z:-7.99 [[ 9.82332586e-01 1.86289597e-01 1.78571369e-02 3.98619687e+02] [-1.86264478e-01 9.82494831e-01 -3.07438087e-03 -6.50454946e+01] [-1.81172698e-02 -3.06085777e-04 9.99835822e-01 -7.99437716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters 0.03090628973475411 Centerline is valid? [True, True] Translation: X:398.65, Y:-65.04, Z:-8.00 [[ 9.81711721e-01 1.89586406e-01 1.72942603e-02 3.98650396e+02] [-1.89563376e-01 9.81863976e-01 -2.97638830e-03 -6.50427445e+01] [-1.75448939e-02 -3.56403092e-04 9.99846013e-01 -7.99511401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.354012739 meters 0.032823235783753124 Centerline is valid? [True, True] Translation: X:398.68, Y:-65.04, Z:-8.00 [[ 9.81494549e-01 1.90760662e-01 1.66979231e-02 3.98678486e+02] [-1.90739367e-01 9.81636509e-01 -2.87353997e-03 -6.50422363e+01] [-1.69394493e-02 -3.64587459e-04 9.99856451e-01 -7.99751674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters 0.034245999112507274 Centerline is valid? [True, True] Translation: X:398.71, Y:-65.04, Z:-8.00 [[ 9.81268348e-01 1.91933074e-01 1.65566781e-02 3.98708398e+02] [-1.91912326e-01 9.81407942e-01 -2.84793678e-03 -6.50402367e+01] [-1.67954687e-02 -3.82840396e-04 9.99858873e-01 -7.99851668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.414012739 meters 0.033585302614761586 Centerline is valid? [True, True] Translation: X:398.74, Y:-65.04, Z:-8.00 [[ 9.81420378e-01 1.91102025e-01 1.71480864e-02 3.98735807e+02] [-1.91079655e-01 9.81570104e-01 -2.94886615e-03 -6.50428044e+01] [-1.73955832e-02 -3.82573088e-04 9.99848612e-01 -7.99763757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters 0.03231554642557107 Centerline is valid? [True, True] Translation: X:398.76, Y:-65.05, Z:-8.00 [[ 9.81649558e-01 1.89854702e-01 1.78700081e-02 3.98764192e+02] [-1.89830222e-01 9.81812126e-01 -3.07190002e-03 -6.50463034e+01] [-1.81282053e-02 -3.76738301e-04 9.99835600e-01 -7.99667173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.474012739 meters 0.030069123810579995 Centerline is valid? [True, True] Translation: X:398.79, Y:-65.05, Z:-8.00 [[ 9.82104929e-01 1.87424830e-01 1.84889454e-02 3.98792388e+02] [-1.87398210e-01 9.82278888e-01 -3.17742467e-03 -6.50480300e+01] [-1.87568291e-02 -3.44230854e-04 9.99824016e-01 -7.99516240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters 0.028499992423780464 Centerline is valid? [True, True] Translation: X:398.82, Y:-65.05, Z:-8.00 [[ 9.82480034e-01 1.85405694e-01 1.89132624e-02 3.98820179e+02] [-1.85377486e-01 9.82662012e-01 -3.24922599e-03 -6.50515071e+01] [-1.91877695e-02 -3.13793386e-04 9.99815849e-01 -7.99541293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.534012739 meters 0.026968144503038444 Centerline is valid? [True, True] Translation: X:398.85, Y:-65.06, Z:-8.00 [[ 9.82640405e-01 1.84595011e-01 1.85071778e-02 3.98848525e+02] [-1.84567877e-01 9.82814630e-01 -3.17840666e-03 -6.50572129e+01] [-1.87758431e-02 -2.92599704e-04 9.99823676e-01 -7.99676273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters 0.027453585329554133 Centerline is valid? [True, True] Translation: X:398.88, Y:-65.06, Z:-8.00 [[ 9.82763745e-01 1.83961616e-01 1.82632447e-02 3.98876752e+02] [-1.83935100e-01 9.82933389e-01 -3.13567648e-03 -6.50589904e+01] [-1.85283971e-02 -2.77622581e-04 9.99828296e-01 -7.99829515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.594012739 meters 0.025488305904790017 Centerline is valid? [True, True] Translation: X:398.91, Y:-65.06, Z:-8.00 [[ 9.83074927e-01 1.82262692e-01 1.85472083e-02 3.98905353e+02] [-1.82235063e-01 9.83249840e-01 -3.18329495e-03 -6.50633906e+01] [-1.88167355e-02 -2.50534227e-04 9.99822918e-01 -7.99869042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters 0.023043609049304633 Centerline is valid? [True, True] Translation: X:398.93, Y:-65.07, Z:-8.00 [[ 9.83447837e-01 1.80147570e-01 1.94217545e-02 3.98933134e+02] [-1.80116880e-01 9.83639570e-01 -3.33244216e-03 -6.50738690e+01] [-1.97043376e-02 -2.20902796e-04 9.99805826e-01 -7.99635333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.654012739 meters 0.022904712457716657 Centerline is valid? [True, True] Translation: X:398.96, Y:-65.08, Z:-8.00 [[ 9.83739430e-01 1.78522104e-01 1.96619376e-02 3.98960288e+02] [-1.78490346e-01 9.83935883e-01 -3.37265950e-03 -6.50804451e+01] [-1.99481802e-02 -1.91647915e-04 9.99800997e-01 -7.99689281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters 0.021699759458729567 Centerline is valid? [True, True] Translation: X:398.99, Y:-65.09, Z:-8.00 [[ 9.84219319e-01 1.75842715e-01 1.97906848e-02 3.98987056e+02] [-1.75810024e-01 9.84418265e-01 -3.39344536e-03 -6.50914492e+01] [-2.00790242e-02 -1.39506286e-04 9.99798386e-01 -7.99872912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.714012739 meters 0.02125065815024254 Centerline is valid? [True, True] Translation: X:399.01, Y:-65.10, Z:-8.00 [[ 9.84411468e-01 1.74784711e-01 1.96052622e-02 3.99014550e+02] [-1.74752437e-01 9.84606668e-01 -3.36075365e-03 -6.50979685e+01] [-1.98908802e-02 -1.17702920e-04 9.99802150e-01 -7.99991934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters 0.020765900854485254 Centerline is valid? [True, True] Translation: X:399.04, Y:-65.11, Z:-8.00 [[ 9.84544063e-01 1.74078062e-01 1.92305872e-02 3.99042394e+02] [-1.74046898e-01 9.84731851e-01 -3.29537703e-03 -6.51053482e+01] [-1.95106246e-02 -1.02580153e-04 9.99809644e-01 -8.00099883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.774012739 meters 0.020627068622645885 Centerline is valid? [True, True] Translation: X:399.07, Y:-65.11, Z:-8.00 [[ 9.84652048e-01 1.73550154e-01 1.84577610e-02 3.99068580e+02] [-1.73521366e-01 9.84825028e-01 -3.16214842e-03 -6.51149227e+01] [-1.87264563e-02 -8.91999938e-05 9.99824641e-01 -8.00277800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters 0.020618283221450064 Centerline is valid? [True, True] Translation: X:399.10, Y:-65.12, Z:-8.00 [[ 9.84747201e-01 1.73023671e-01 1.83237439e-02 3.99095390e+02] [-1.72995230e-01 9.84917663e-01 -3.13805426e-03 -6.51225637e+01] [-1.85903367e-02 -7.97301376e-05 9.99827182e-01 -8.00377891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.834012739 meters 0.020361865190832513 Centerline is valid? [True, True] Translation: X:399.12, Y:-65.13, Z:-8.01 [[ 9.84926459e-01 1.72145955e-01 1.69008824e-02 3.99123815e+02] [-1.72121647e-01 9.85071453e-01 -2.89340077e-03 -6.51338016e+01] [-1.71466640e-02 -5.92207459e-05 9.99852983e-01 -8.00802005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters 0.020430314967029926 Centerline is valid? [True, True] Translation: X:399.15, Y:-65.14, Z:-8.01 [[ 9.85093990e-01 1.71402133e-01 1.45306612e-02 3.99151781e+02] [-1.71384089e-01 9.85201151e-01 -2.48734168e-03 -6.51442015e+01] [-1.47419598e-02 -4.00588014e-05 9.99891331e-01 -8.01260159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.894012739 meters 0.020475698272844137 Centerline is valid? [True, True] Translation: X:399.18, Y:-65.15, Z:-8.01 [[ 9.85164853e-01 1.71022697e-01 1.41932956e-02 3.99180705e+02] [-1.71005447e-01 9.85267089e-01 -2.42926446e-03 -6.51521810e+01] [-1.43996464e-02 -3.39048912e-05 9.99896319e-01 -8.01332279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters 0.020389520083203137 Centerline is valid? [True, True] Translation: X:399.21, Y:-65.16, Z:-8.01 [[ 9.85109819e-01 1.71315393e-01 1.44803340e-02 3.99209885e+02] [-1.71297475e-01 9.85216237e-01 -2.47803263e-03 -6.51598269e+01] [-1.46907853e-02 -3.93103714e-05 9.99892084e-01 -8.01283834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.954012739 meters 0.020772495555655923 Centerline is valid? [True, True] Translation: X:399.24, Y:-65.17, Z:-8.01 [[ 9.84934600e-01 1.72221277e-01 1.56097746e-02 3.99237993e+02] [-1.72200574e-01 9.85058287e-01 -2.67095259e-03 -6.51676327e+01] [-1.58365327e-02 -5.72985211e-05 9.99874593e-01 -8.01268081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters 0.021005991328877177 Centerline is valid? [True, True] Translation: X:399.27, Y:-65.17, Z:-8.01 [[ 9.84707721e-01 1.73521567e-01 1.55232075e-02 3.99267500e+02] [-1.73501264e-01 9.84830066e-01 -2.65552980e-03 -6.51738565e+01] [-1.57485131e-02 -7.83754202e-05 9.99875981e-01 -8.01267882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.014012739 meters 0.023000901700694 Centerline is valid? [True, True] Translation: X:399.30, Y:-65.18, Z:-8.02 [[ 9.83913115e-01 1.78063050e-01 1.44406519e-02 3.99297495e+02] [-1.78045973e-01 9.84019070e-01 -2.47002743e-03 -6.51764074e+01] [-1.46496975e-02 -1.40807528e-04 9.99892678e-01 -8.01586042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters 0.02792667981609001 Centerline is valid? [True, True] Translation: X:399.33, Y:-65.17, Z:-8.02 [[ 9.82836844e-01 1.83893548e-01 1.46594923e-02 3.99327410e+02] [-1.83876601e-01 9.82946138e-01 -2.50715641e-03 -6.51724782e+01] [-1.48705412e-02 -2.31411932e-04 9.99889401e-01 -8.01642662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.074012739 meters 0.030169555120466752 Centerline is valid? [True, True] Translation: X:399.36, Y:-65.17, Z:-8.02 [[ 9.82337769e-01 1.86502156e-01 1.51477469e-02 3.99356637e+02] [-1.86484380e-01 9.82454512e-01 -2.59013140e-03 -6.51732321e+01] [-1.53650374e-02 -2.80434295e-04 9.99881912e-01 -8.01557791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters 0.03230565884414069 Centerline is valid? [True, True] Translation: X:399.38, Y:-65.17, Z:-8.02 [[ 9.81964028e-01 1.88401738e-01 1.58566480e-02 3.99384521e+02] [-1.88382518e-01 9.82091991e-01 -2.71061519e-03 -6.51740611e+01] [-1.60833717e-02 -3.25388689e-04 9.99870601e-01 -8.01526331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.134012739 meters 0.034525688216987725 Centerline is valid? [True, True] Translation: X:399.41, Y:-65.18, Z:-8.01 [[ 9.81499549e-01 1.90738562e-01 1.66564095e-02 3.99412940e+02] [-1.90717708e-01 9.81640797e-01 -2.84631385e-03 -6.51761876e+01] [-1.68935129e-02 -3.83016483e-04 9.99857221e-01 -8.01462010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters 0.033991355093720754 Centerline is valid? [True, True] Translation: X:399.44, Y:-65.18, Z:-8.02 [[ 9.81583331e-01 1.90349760e-01 1.61595922e-02 3.99441314e+02] [-1.90330094e-01 9.81716270e-01 -2.76048125e-03 -6.51839649e+01] [-1.63895915e-02 -3.66014319e-04 9.99865615e-01 -8.01609274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.194012739 meters 0.032902432954973485 Centerline is valid? [True, True] Translation: X:399.47, Y:-65.19, Z:-8.02 [[ 9.81750858e-01 1.89424454e-01 1.68413124e-02 3.99469021e+02] [-1.89402972e-01 9.81895230e-01 -2.87612431e-03 -6.51908452e+01] [-1.70812126e-02 -3.66157104e-04 9.99854038e-01 -8.01510497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters 0.032173460840248705 Centerline is valid? [True, True] Translation: X:399.50, Y:-65.20, Z:-8.01 [[ 9.81882352e-01 1.88328427e-01 2.09630530e-02 3.99497079e+02] [-1.88294918e-01 9.82106011e-01 -3.57883284e-03 -6.51959098e+01] [-2.12619363e-02 -4.33243527e-04 9.99773846e-01 -8.00653488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.254012739 meters 0.03213388870638872 Centerline is valid? [True, True] Translation: X:399.53, Y:-65.20, Z:-8.00 [[ 9.81795954e-01 1.88666024e-01 2.19507738e-02 3.99525760e+02] [-1.88629391e-01 9.82041199e-01 -3.74640536e-03 -6.52004298e+01] [-2.22633837e-02 -4.62355468e-04 9.99752033e-01 -8.00436913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters 0.033030783600712085 Centerline is valid? [True, True] Translation: X:399.55, Y:-65.20, Z:-8.01 [[ 9.81595706e-01 1.89766275e-01 2.14156466e-02 3.99553955e+02] [-1.89731689e-01 9.81829178e-01 -3.65409752e-03 -6.52033822e+01] [-2.17199312e-02 -4.76380361e-04 9.99763981e-01 -8.00543222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.314012739 meters 0.03766219139718359 Centerline is valid? [True, True] Translation: X:399.58, Y:-65.20, Z:-8.01 [[ 9.80946055e-01 1.93451012e-01 1.79316462e-02 3.99583327e+02] [-1.93427395e-01 9.81109824e-01 -3.05873938e-03 -6.51997326e+01] [-1.81846305e-02 -4.68013295e-04 9.99834536e-01 -8.01358895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters 0.036004621107675126 Centerline is valid? [True, True] Translation: X:399.61, Y:-65.20, Z:-8.02 [[ 9.80719385e-01 1.94687107e-01 1.69239110e-02 3.99611119e+02] [-1.94666262e-01 9.80865289e-01 -2.88638258e-03 -6.52049298e+01] [-1.71620183e-02 -4.63783150e-04 9.99852614e-01 -8.01530723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.374012739 meters 0.03781231727705092 Centerline is valid? [True, True] Translation: X:399.64, Y:-65.20, Z:-8.01 [[ 9.80429363e-01 1.95997558e-01 1.85262591e-02 3.99640016e+02] [-1.95972835e-01 9.80604238e-01 -3.15843298e-03 -6.52034667e+01] [-1.87859734e-02 -5.34023094e-04 9.99823385e-01 -8.01232209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters 0.03733798411715045 Centerline is valid? [True, True] Translation: X:399.67, Y:-65.21, Z:-8.01 [[ 9.80424823e-01 1.95907417e-01 1.96837370e-02 3.99667943e+02] [-1.95879515e-01 9.80622232e-01 -3.35451621e-03 -6.52074367e+01] [-1.99594847e-02 -5.66789895e-04 9.99800629e-01 -8.01051608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.434012739 meters 0.03884162836855187 Centerline is valid? [True, True] Translation: X:399.70, Y:-65.21, Z:-8.01 [[ 9.80558247e-01 1.95268733e-01 1.93815985e-02 3.99695993e+02] [-1.95241584e-01 9.80749623e-01 -3.30165436e-03 -6.52066746e+01] [-1.96532053e-02 -5.46629582e-04 9.99806708e-01 -8.01238829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters 0.03685110816579007 Centerline is valid? [True, True] Translation: X:399.72, Y:-65.21, Z:-8.02 [[ 9.80753426e-01 1.94454896e-01 1.76071477e-02 3.99723884e+02] [-1.94432380e-01 9.80911342e-01 -2.99826753e-03 -6.52121385e+01] [-1.78540786e-02 -4.82838468e-04 9.99840487e-01 -8.01692152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.494012739 meters 0.03371484029968246 Centerline is valid? [True, True] Translation: X:399.75, Y:-65.22, Z:-8.02 [[ 9.81585859e-01 1.90461460e-01 1.46161850e-02 3.99752084e+02] [-1.90445511e-01 9.81694614e-01 -2.48828413e-03 -6.52192143e+01] [-1.48225524e-02 -3.41122306e-04 9.99890082e-01 -8.02251464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters 0.0316956233849673 Centerline is valid? [True, True] Translation: X:399.78, Y:-65.23, Z:-8.02 [[ 9.82171655e-01 1.87359593e-01 1.53370086e-02 3.99779252e+02] [-1.87341657e-01 9.82291345e-01 -2.61077497e-03 -6.52256062e+01] [-1.55545645e-02 -3.09031434e-04 9.99878973e-01 -8.02196168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55401273900003 meters 0.027380247038236338 Centerline is valid? [True, True] Translation: X:399.81, Y:-65.24, Z:-8.02 [[ 9.82766933e-01 1.84063768e-01 1.70201166e-02 3.99807025e+02] [-1.84041205e-01 9.82914263e-01 -2.89612209e-03 -6.52359109e+01] [-1.72623865e-02 -2.86189732e-04 9.99850953e-01 -8.01905111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters 0.023406622103072854 Centerline is valid? [True, True] Translation: X:399.83, Y:-65.25, Z:-8.02 [[ 9.83788890e-01 1.78320908e-01 1.90019307e-02 3.99834494e+02] [-1.78291732e-01 9.83972363e-01 -3.23230589e-03 -6.52463412e+01] [-1.92737624e-02 -2.07980514e-04 9.99814222e-01 -8.01719347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.614012739 meters 0.02068243185693396 Centerline is valid? [True, True] Translation: X:399.86, Y:-65.26, Z:-8.02 [[ 9.84762445e-01 1.72918402e-01 1.84973919e-02 3.99862731e+02] [-1.72889814e-01 9.84936148e-01 -3.14582970e-03 -6.52603581e+01] [-1.87627218e-02 -1.00115695e-04 9.99823960e-01 -8.01848051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters 0.01993629837889381 Centerline is valid? [True, True] Translation: X:399.89, Y:-65.27, Z:-8.02 [[ 9.85171040e-01 1.70634543e-01 1.79408831e-02 3.99891839e+02] [-1.70607281e-01 9.85334385e-01 -3.05056301e-03 -6.52695120e+01] [-1.81983004e-02 -5.55189448e-05 9.99834396e-01 -8.01915377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.674012739 meters 0.019678335259048798 Centerline is valid? [True, True] Translation: X:399.92, Y:-65.28, Z:-8.02 [[ 9.85558822e-01 1.68441017e-01 1.73617983e-02 3.99921221e+02] [-1.68415146e-01 9.85711735e-01 -2.95209882e-03 -6.52781256e+01] [-1.76109829e-02 -1.45227635e-05 9.99844915e-01 -8.02002289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters 0.019955360388895747 Centerline is valid? [True, True] Translation: X:399.95, Y:-65.29, Z:-8.02 [[ 9.86190157e-01 1.64726371e-01 1.71521940e-02 3.99948765e+02] [-1.64700560e-01 9.86339303e-01 -2.91642733e-03 -6.52908766e+01] [-1.73982955e-02 5.11759719e-05 9.99848637e-01 -8.02178871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.734012739 meters 0.020685333356676282 Centerline is valid? [True, True] Translation: X:399.98, Y:-65.30, Z:-8.02 [[ 9.86556714e-01 1.62552717e-01 1.68067046e-02 3.99978270e+02] [-1.62527617e-01 9.86699856e-01 -2.85782280e-03 -6.53046197e+01] [-1.70477199e-02 8.78506151e-05 9.99854673e-01 -8.02386383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters 0.02093352713437007 Centerline is valid? [True, True] Translation: X:400.01, Y:-65.31, Z:-8.03 [[ 9.86636879e-01 1.62091947e-01 1.65490105e-02 4.00008278e+02] [-1.62067540e-01 9.86775654e-01 -2.81439092e-03 -6.53133203e+01] [-1.67863508e-02 9.47244581e-05 9.99859095e-01 -8.02533841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.794012739 meters 0.02132690629075986 Centerline is valid? [True, True] Translation: X:400.04, Y:-65.33, Z:-8.03 [[ 9.86820420e-01 1.61071054e-01 1.55426382e-02 4.00038431e+02] [-1.61049403e-01 9.86942807e-01 -2.64293017e-03 -6.53251586e+01] [-1.57653945e-02 1.04964859e-04 9.99875713e-01 -8.02736649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters 0.0217650074864168 Centerline is valid? [True, True] Translation: X:400.07, Y:-65.33, Z:-8.03 [[ 9.86914815e-01 1.60568895e-01 1.47233520e-02 4.00069188e+02] [-1.60549376e-01 9.87024629e-01 -2.50592689e-03 -6.53348784e+01] [-1.49346850e-02 1.09311384e-04 9.99888465e-01 -8.02863630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.854012739 meters 0.022161344648436925 Centerline is valid? [True, True] Translation: X:400.10, Y:-65.35, Z:-8.03 [[ 9.86945230e-01 1.60389362e-01 1.46412315e-02 4.00099990e+02] [-1.60370001e-01 9.87053818e-01 -2.49467375e-03 -6.53452994e+01] [-1.48518025e-02 1.14092060e-04 9.99889699e-01 -8.03002691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters 0.021310902574561353 Centerline is valid? [True, True] Translation: X:400.13, Y:-65.36, Z:-8.03 [[ 9.86770177e-01 1.61372785e-01 1.56026557e-02 4.00130322e+02] [-1.61350891e-01 9.86893516e-01 -2.66032164e-03 -6.53565602e+01] [-1.58274633e-02 1.07623654e-04 9.99874732e-01 -8.02795759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.914012739 meters 0.02064532975008063 Centerline is valid? [True, True] Translation: X:400.16, Y:-65.37, Z:-8.02 [[ 9.86530552e-01 1.62550269e-01 1.82997006e-02 4.00161303e+02] [-1.62520286e-01 9.86700258e-01 -3.12381514e-03 -6.53676701e+01] [-1.85640963e-02 1.07666490e-04 9.99827667e-01 -8.02416018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters 0.02045663945374114 Centerline is valid? [True, True] Translation: X:400.19, Y:-65.38, Z:-8.02 [[ 9.86386092e-01 1.63321046e-01 1.92019085e-02 4.00191871e+02] [-1.63288114e-01 9.86572970e-01 -3.28118443e-03 -6.53767239e+01] [-1.94799704e-02 1.01071265e-04 9.99810242e-01 -8.02369104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.974012739 meters 0.020202866901666984 Centerline is valid? [True, True] Translation: X:400.22, Y:-65.39, Z:-8.02 [[ 9.86268955e-01 1.63986476e-01 1.95444103e-02 4.00224073e+02] [-1.63952419e-01 9.86462583e-01 -3.34325094e-03 -6.53857332e+01] [-1.98280774e-02 9.29912655e-05 9.99803400e-01 -8.02366614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters 0.019999998196592973 Centerline is valid? [True, True] Translation: X:400.26, Y:-65.40, Z:-8.03 [[ 9.86113791e-01 1.65043859e-01 1.84422377e-02 4.00255556e+02] [-1.65013657e-01 9.86286226e-01 -3.15804715e-03 -6.53972222e+01] [-1.87105413e-02 7.09727487e-05 9.99824940e-01 -8.02634168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.034012739 meters 0.01998106796679616 Centerline is valid? [True, True] Translation: X:400.29, Y:-65.40, Z:-8.03 [[ 9.85977531e-01 1.66029868e-01 1.68045255e-02 4.00287127e+02] [-1.66004886e-01 9.86120723e-01 -2.88057053e-03 -6.54040474e+01] [-1.70495516e-02 5.05444864e-05 9.99854645e-01 -8.02984991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters 0.019638557204705084 Centerline is valid? [True, True] Translation: X:400.32, Y:-65.41, Z:-8.03 [[ 9.85432959e-01 1.69271414e-01 1.64033962e-02 4.00319959e+02] [-1.69248012e-01 9.85569474e-01 -2.81465031e-03 -6.54105866e+01] [-1.66431264e-02 -2.59301404e-06 9.99861494e-01 -8.03071478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.094012739 meters 0.01950441443329085 Centerline is valid? [True, True] Translation: X:400.35, Y:-65.42, Z:-8.03 [[ 9.85139414e-01 1.70856927e-01 1.75569002e-02 4.00351056e+02] [-1.70830301e-01 9.85295849e-01 -3.01638458e-03 -6.54174037e+01] [-1.78141111e-02 -2.76912100e-05 9.99841316e-01 -8.02886623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters 0.019321132811983176 Centerline is valid? [True, True] Translation: X:400.38, Y:-65.43, Z:-8.03 [[ 9.85022826e-01 1.71366558e-01 1.90666189e-02 4.00381915e+02] [-1.71335175e-01 9.85207339e-01 -3.27963227e-03 -6.54267552e+01] [-1.93465922e-02 -3.62698466e-05 9.99812837e-01 -8.02601175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.154012739 meters 0.019321132811983176 Centerline is valid? [True, True] Translation: X:400.41, Y:-65.43, Z:-8.03 [[ 9.84991076e-01 1.71549016e-01 1.90660514e-02 4.00413905e+02] [-1.71517605e-01 9.85175585e-01 -3.28292824e-03 -6.54324641e+01] [-1.93465914e-02 -3.65084422e-05 9.99812837e-01 -8.02667205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters 0.019288644544096865 Centerline is valid? [True, True] Translation: X:400.44, Y:-65.44, Z:-8.03 [[ 9.85026411e-01 1.71406917e-01 1.85104734e-02 4.00444663e+02] [-1.71377220e-01 9.85200319e-01 -3.19070299e-03 -6.54396516e+01] [-1.87834329e-02 -2.93467605e-05 9.99823575e-01 -8.02855200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.214012739 meters 0.019432630619807014 Centerline is valid? [True, True] Translation: X:400.48, Y:-65.45, Z:-8.03 [[ 9.84973318e-01 1.71775228e-01 1.79118092e-02 4.00475854e+02] [-1.71747427e-01 9.85136168e-01 -3.09055841e-03 -6.54503037e+01] [-1.81764525e-02 -3.21895635e-05 9.99834794e-01 -8.03075778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters 0.019545538693811874 Centerline is valid? [True, True] Translation: X:400.51, Y:-65.46, Z:-8.03 [[ 9.84834475e-01 1.72530607e-01 1.82824306e-02 4.00507333e+02] [-1.72501706e-01 9.85004156e-01 -3.15806156e-03 -6.54582615e+01] [-1.85531324e-02 -4.35825760e-05 9.99827875e-01 -8.03034061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.274012739 meters 0.01966992400525218 Centerline is valid? [True, True] Translation: X:400.54, Y:-65.47, Z:-8.03 [[ 9.84594406e-01 1.73913502e-01 1.81093861e-02 4.00538294e+02] [-1.73885322e-01 9.84760930e-01 -3.13133008e-03 -6.54652623e+01] [-1.83779965e-02 -6.58663544e-05 9.99831108e-01 -8.03168180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters 0.020056538745719714 Centerline is valid? [True, True] Translation: X:400.57, Y:-65.47, Z:-8.03 [[ 9.84443730e-01 1.74866963e-01 1.70905868e-02 4.00570230e+02] [-1.74841961e-01 9.84592067e-01 -2.95791830e-03 -6.54720690e+01] [-1.73444984e-02 -7.62476015e-05 9.99849570e-01 -8.03467700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.334012739 meters 0.020329443154215494 Centerline is valid? [True, True] Translation: X:400.60, Y:-65.48, Z:-8.04 [[ 9.84347699e-01 1.75577275e-01 1.52390318e-02 4.00600496e+02] [-1.75557444e-01 9.84465649e-01 -2.63994161e-03 -6.54840871e+01] [-1.54658171e-02 -7.67050202e-05 9.99880394e-01 -8.03903093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters 0.020492036254710168 Centerline is valid? [True, True] Translation: X:400.63, Y:-65.49, Z:-8.04 [[ 9.84335399e-01 1.75655578e-01 1.51307722e-02 4.00631573e+02] [-1.75635998e-01 9.84451681e-01 -2.62369873e-03 -6.54927905e+01] [-1.53563814e-02 -7.49087327e-05 9.99882081e-01 -8.04008717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.394012739 meters 0.020210665942740246 Centerline is valid? [True, True] Translation: X:400.66, Y:-65.50, Z:-8.04 [[ 9.84324073e-01 1.75612533e-01 1.63204387e-02 4.00663124e+02] [-1.75589691e-01 9.84459360e-01 -2.83335408e-03 -6.55014196e+01] [-1.65643811e-02 -7.67621615e-05 9.99862798e-01 -8.03845622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters 0.020701203563137135 Centerline is valid? [True, True] Translation: X:400.70, Y:-65.51, Z:-8.04 [[ 9.83948134e-01 1.77548265e-01 1.79633665e-02 4.00695187e+02] [-1.77520858e-01 9.84112087e-01 -3.12171934e-03 -6.55083083e+01] [-1.82322220e-02 -1.17262325e-04 9.99833772e-01 -8.03572521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.454012739 meters 0.025451435394388777 Centerline is valid? [True, True] Translation: X:400.73, Y:-65.51, Z:-8.04 [[ 9.82796870e-01 1.83965992e-01 1.63348041e-02 4.00727171e+02] [-1.83944168e-01 9.82932586e-01 -2.84152370e-03 -6.55052480e+01] [-1.65787549e-02 -2.12051337e-04 9.99862541e-01 -8.04016137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters 0.02897560157242548 Centerline is valid? [True, True] Translation: X:400.76, Y:-65.51, Z:-8.04 [[ 9.82037160e-01 1.88016746e-01 1.58971793e-02 4.00759528e+02] [-1.87996569e-01 9.82165785e-01 -2.76768971e-03 -6.55050216e+01] [-1.61340376e-02 -2.70641026e-04 9.99869801e-01 -8.04154569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.514012739 meters 0.03262703245382932 Centerline is valid? [True, True] Translation: X:400.79, Y:-65.50, Z:-8.04 [[ 9.81239079e-01 1.92113386e-01 1.61962102e-02 4.00791362e+02] [-1.92092952e-01 9.81372677e-01 -2.82266173e-03 -6.55038050e+01] [-1.64367893e-02 -3.41471830e-04 9.99864849e-01 -8.04109292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters 0.03913479647260539 Centerline is valid? [True, True] Translation: X:400.82, Y:-65.50, Z:-8.04 [[ 9.79864274e-01 1.98902790e-01 1.74265382e-02 4.00823514e+02] [-1.98880197e-01 9.80019102e-01 -3.03756282e-03 -6.54976523e+01] [-1.76825200e-02 -4.89394055e-04 9.99843532e-01 -8.03848024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.574012739 meters 0.04418399147715182 Centerline is valid? [True, True] Translation: X:400.85, Y:-65.49, Z:-8.04 [[ 9.78931060e-01 2.03454931e-01 1.73225715e-02 4.00854367e+02] [-2.03433316e-01 9.79084148e-01 -3.01950837e-03 -6.54949826e+01] [-1.75745890e-02 -5.68097642e-04 9.99845394e-01 -8.03904554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters 0.04143767526038586 Centerline is valid? [True, True] Translation: X:400.88, Y:-65.50, Z:-8.04 [[ 9.78652804e-01 2.04817943e-01 1.69793819e-02 4.00884428e+02] [-2.04797385e-01 9.78799915e-01 -2.95945172e-03 -6.55032345e+01] [-1.72255663e-02 -5.81057284e-04 9.99851460e-01 -8.04027093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.634012739 meters 0.04863847717329217 Centerline is valid? [True, True] Translation: X:400.92, Y:-65.50, Z:-8.04 [[ 9.78580059e-01 2.05207762e-01 1.64572811e-02 4.00915821e+02] [-2.05188495e-01 9.78718269e-01 -2.86895650e-03 -6.54964189e+01] [-1.66957738e-02 -5.69341129e-04 9.99860454e-01 -8.04318592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters 0.04343983069625834 Centerline is valid? [True, True] Translation: X:400.95, Y:-65.50, Z:-8.04 [[ 9.78482629e-01 2.05585026e-01 1.75083625e-02 4.00945232e+02] [-2.05563285e-01 9.78639066e-01 -3.05193572e-03 -6.55042797e+01] [-1.77617998e-02 -6.12810424e-04 9.99842059e-01 -8.04135125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.694012739 meters 0.043393898769109485 Centerline is valid? [True, True] Translation: X:400.98, Y:-65.51, Z:-8.04 [[ 9.78301231e-01 2.06381847e-01 1.82547107e-02 4.00975470e+02] [-2.06358351e-01 9.78471311e-01 -3.18203393e-03 -6.55077379e+01] [-1.85184247e-02 -6.54024283e-04 9.99828305e-01 -8.04033849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters 0.04934621031592072 Centerline is valid? [True, True] Translation: X:401.01, Y:-65.50, Z:-8.04 [[ 9.77960696e-01 2.08095131e-01 1.70086411e-02 4.01006643e+02] [-2.08074991e-01 9.78108382e-01 -2.96486317e-03 -6.55008813e+01] [-1.72532680e-02 -6.39553206e-04 9.99850947e-01 -8.04341025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.754012739 meters 0.0449390886020493 Centerline is valid? [True, True] Translation: X:401.04, Y:-65.51, Z:-8.05 [[ 9.77757892e-01 2.09189925e-01 1.51353546e-02 4.01035081e+02] [-2.09174110e-01 9.77874855e-01 -2.63822865e-03 -6.55091177e+01] [-1.53523736e-02 -5.86375458e-04 9.99881973e-01 -8.04622160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters 0.05557827142616592 Centerline is valid? [True, True] Translation: X:401.07, Y:-65.49, Z:-8.05 [[ 9.77037948e-01 2.12589630e-01 1.42301876e-02 4.01067254e+02] [-2.12576014e-01 9.77141385e-01 -2.48013346e-03 -6.54946868e+01] [-1.44321559e-02 -6.01812059e-04 9.99895670e-01 -8.04949325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.814012739 meters 0.05246414030776777 Centerline is valid? [True, True] Translation: X:401.10, Y:-65.50, Z:-8.05 [[ 9.76597005e-01 2.14582397e-01 1.45837341e-02 4.01096028e+02] [-2.14568321e-01 9.76705675e-01 -2.54150171e-03 -6.55010865e+01] [-1.47893774e-02 -6.47184387e-04 9.99890422e-01 -8.04815758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters 0.05690805350590959 Centerline is valid? [True, True] Translation: X:401.13, Y:-65.50, Z:-8.05 [[ 9.76288639e-01 2.15931115e-01 1.53051225e-02 4.01125902e+02] [-2.15915790e-01 9.76408348e-01 -2.66643832e-03 -6.54963230e+01] [-1.55198163e-02 -7.01404174e-04 9.99879314e-01 -8.04788801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.874012739 meters 0.058786507906049654 Centerline is valid? [True, True] Translation: X:401.16, Y:-65.49, Z:-8.05 [[ 9.75935547e-01 2.17408356e-01 1.68349249e-02 4.01156732e+02] [-2.17390046e-01 9.76080412e-01 -2.93225814e-03 -6.54917958e+01] [-1.70697378e-02 -7.98050133e-04 9.99853983e-01 -8.04596814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters 0.05306913447779572 Centerline is valid? [True, True] Translation: X:401.18, Y:-65.50, Z:-8.05 [[ 9.75857159e-01 2.17714495e-01 1.74127477e-02 4.01184753e+02] [-2.17694961e-01 9.76012145e-01 -3.03255483e-03 -6.55014159e+01] [-1.76552843e-02 -8.31327073e-04 9.99843788e-01 -8.04505421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.934012739 meters 0.05485634997696494 Centerline is valid? [True, True] Translation: X:401.21, Y:-65.50, Z:-8.04 [[ 9.75758133e-01 2.18051202e-01 1.87013288e-02 4.01213434e+02] [-2.18028750e-01 9.75936915e-01 -3.25600965e-03 -6.54971695e+01] [-1.89612940e-02 -9.00349444e-04 9.99819813e-01 -8.04309614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters 0.05787937137277168 Centerline is valid? [True, True] Translation: X:401.24, Y:-65.49, Z:-8.04 [[ 9.75680726e-01 2.18387358e-01 1.88171052e-02 4.01242332e+02] [-2.18364711e-01 9.75861736e-01 -3.27502614e-03 -6.54937125e+01] [-1.90781173e-02 -9.13611868e-04 9.99817579e-01 -8.04322930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.994012739 meters 0.055333125739898945 Centerline is valid? [True, True] Translation: X:401.27, Y:-65.49, Z:-8.04 [[ 9.75392860e-01 2.19676595e-01 1.87340027e-02 4.01272379e+02] [-2.19654406e-01 9.75572303e-01 -3.25940211e-03 -6.54941726e+01] [-1.89923885e-02 -9.35808699e-04 9.99819190e-01 -8.04437685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters 0.058172907191366544 Centerline is valid? [True, True] Translation: X:401.30, Y:-65.49, Z:-8.05 [[ 9.75231021e-01 2.20412369e-01 1.85160155e-02 4.01301223e+02] [-2.20390829e-01 9.75406328e-01 -3.22132696e-03 -6.54919386e+01] [-1.87706590e-02 -9.39222032e-04 9.99823375e-01 -8.04586596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05401273900003 meters 0.06095073082770396 Centerline is valid? [True, True] Translation: X:401.33, Y:-65.49, Z:-8.05 [[ 9.75486028e-01 2.19425570e-01 1.67160936e-02 4.01330032e+02] [-2.19407885e-01 9.75628888e-01 -2.90728640e-03 -6.54867094e+01] [-1.69466368e-02 -8.31625496e-04 9.99856050e-01 -8.04995044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters 0.05527776503523909 Centerline is valid? [True, True] Translation: X:401.36, Y:-65.50, Z:-8.05 [[ 9.75813869e-01 2.18028908e-01 1.58331609e-02 4.01357692e+02] [-2.18012874e-01 9.75942011e-01 -2.75280705e-03 -6.54959811e+01] [-1.60524384e-02 -7.65605614e-04 9.99870858e-01 -8.05146907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.114012739 meters 0.05421975488634364 Centerline is valid? [True, True] Translation: X:401.39, Y:-65.50, Z:-8.05 [[ 9.76487936e-01 2.15024025e-01 1.53616290e-02 4.01386585e+02] [-2.15008571e-01 9.76608512e-01 -2.67006122e-03 -6.54963613e+01] [-1.55764249e-02 -6.95599337e-04 9.99878438e-01 -8.05296358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters 0.06211109381270407 Centerline is valid? [True, True] Translation: X:401.42, Y:-65.49, Z:-8.05 [[ 9.76666739e-01 2.14133796e-01 1.63950575e-02 4.01416395e+02] [-2.14116078e-01 9.76804068e-01 -2.84913373e-03 -6.54880958e+01] [-1.66248547e-02 -7.27791250e-04 9.99861533e-01 -8.05265719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.174012739 meters 0.051468418840530245 Centerline is valid? [True, True] Translation: X:401.44, Y:-65.50, Z:-8.05 [[ 9.77066103e-01 2.12080470e-01 1.90710575e-02 4.01444615e+02] [-2.12056130e-01 9.77251873e-01 -3.31283419e-03 -6.55012266e+01] [-1.93398141e-02 -8.07276660e-04 9.99812642e-01 -8.04778894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters 0.050710421435128876 Centerline is valid? [True, True] Translation: X:401.47, Y:-65.50, Z:-8.05 [[ 9.77377438e-01 2.10585015e-01 1.96798000e-02 4.01472107e+02] [-2.10558807e-01 9.77575218e-01 -3.41796059e-03 -6.55038564e+01] [-1.99582561e-02 -8.03117650e-04 9.99800492e-01 -8.04720852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.234012739 meters 0.04351944975845917 Centerline is valid? [True, True] Translation: X:401.50, Y:-65.51, Z:-8.05 [[ 9.78149657e-01 2.06834158e-01 2.10447289e-02 4.01500370e+02] [-2.06803348e-01 9.78375708e-01 -3.65374538e-03 -6.55143721e+01] [-2.13453709e-02 -7.78210601e-04 9.99771859e-01 -8.04548444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters 0.04343628489094082 Centerline is valid? [True, True] Translation: X:401.53, Y:-65.52, Z:-8.04 [[ 9.78465788e-01 2.05192252e-01 2.23794894e-02 4.01528207e+02] [-2.05156995e-01 9.78721368e-01 -3.88482411e-03 -6.55171741e+01] [-2.27004203e-02 -7.90141319e-04 9.99742000e-01 -8.04322509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.294012739 meters 0.042073998426936994 Centerline is valid? [True, True] Translation: X:401.56, Y:-65.52, Z:-8.04 [[ 9.78715040e-01 2.03858546e-01 2.36339718e-02 4.01557110e+02] [-2.03818872e-01 9.79000025e-01 -4.10113589e-03 -6.55196064e+01] [-2.39737105e-02 -8.03206098e-04 9.99712267e-01 -8.04183740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters 0.04510194456989028 Centerline is valid? [True, True] Translation: X:401.59, Y:-65.52, Z:-8.04 [[ 9.78576944e-01 2.04621356e-01 2.27434539e-02 4.01586183e+02] [-2.04584848e-01 9.78840883e-01 -3.94544889e-03 -6.55167921e+01] [-2.30695456e-02 -7.92040737e-04 9.99733549e-01 -8.04358067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.354012739 meters 0.04900925038314463 Centerline is valid? [True, True] Translation: X:401.62, Y:-65.51, Z:-8.05 [[ 9.77929856e-01 2.08086983e-01 1.87884189e-02 4.01618074e+02] [-2.08062734e-01 9.78110058e-01 -3.25792966e-03 -6.55077074e+01] [-1.90550742e-02 -7.23143111e-04 9.99818174e-01 -8.05108325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters 0.05204915757667197 Centerline is valid? [True, True] Translation: X:401.65, Y:-65.50, Z:-8.05 [[ 9.77655002e-01 2.09487154e-01 1.74879721e-02 4.01647694e+02] [-2.09466371e-01 9.77811150e-01 -3.03233226e-03 -6.55035491e+01] [-1.77351687e-02 -6.98567250e-04 9.99842475e-01 -8.05430851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.414012739 meters 0.05013291769235488 Centerline is valid? [True, True] Translation: X:401.68, Y:-65.51, Z:-8.05 [[ 9.77452259e-01 2.10429358e-01 1.75090528e-02 4.01676780e+02] [-2.10408685e-01 9.77608803e-01 -3.03546878e-03 -6.55064140e+01] [-1.77557559e-02 -7.17030971e-04 9.99842097e-01 -8.05458897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters 0.05343993269655539 Centerline is valid? [True, True] Translation: X:401.71, Y:-65.50, Z:-8.05 [[ 9.77444891e-01 2.10297814e-01 1.93988148e-02 4.01705401e+02] [-2.10272483e-01 9.77637048e-01 -3.35950218e-03 -6.54988560e+01] [-1.96714959e-02 -7.95308697e-04 9.99806181e-01 -8.05190088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.474012739 meters 0.049435514359869856 Centerline is valid? [True, True] Translation: X:401.73, Y:-65.51, Z:-8.05 [[ 9.77728378e-01 2.08905968e-01 2.01374313e-02 4.01733360e+02] [-2.08878431e-01 9.77935406e-01 -3.48473600e-03 -6.55054114e+01] [-2.04210892e-02 -7.99149778e-04 9.99791148e-01 -8.05076390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters 0.042576794013903456 Centerline is valid? [True, True] Translation: X:401.76, Y:-65.51, Z:-8.05 [[ 9.78930554e-01 2.03194520e-01 2.01731878e-02 4.01763117e+02] [-2.03165691e-01 9.79138153e-01 -3.48997988e-03 -6.55130318e+01] [-2.04614827e-02 -6.82051710e-04 9.99790409e-01 -8.05119584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.534012739 meters 0.03679178618254095 Centerline is valid? [True, True] Translation: X:401.79, Y:-65.52, Z:-8.06 [[ 9.80271239e-01 1.96836312e-01 1.79934692e-02 4.01791377e+02] [-1.96812306e-01 9.80436243e-01 -3.11283990e-03 -6.55231054e+01] [-1.82541692e-02 -4.89908740e-04 9.99833259e-01 -8.05510031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters 0.03449234186601455 Centerline is valid? [True, True] Translation: X:401.82, Y:-65.53, Z:-8.06 [[ 9.80802672e-01 1.94249116e-01 1.71289279e-02 4.01819504e+02] [-1.94226970e-01 9.80952142e-01 -2.96313800e-03 -6.55292751e+01] [-1.73782454e-02 -4.20646091e-04 9.99848898e-01 -8.05779192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.594012739 meters 0.03254963672298141 Centerline is valid? [True, True] Translation: X:401.85, Y:-65.53, Z:-8.06 [[ 9.81206310e-01 1.92256716e-01 1.64782600e-02 4.01847656e+02] [-1.92235952e-01 9.81344597e-01 -2.84983195e-03 -6.55341475e+01] [-1.67187507e-02 -3.71440908e-04 9.99860163e-01 -8.05977698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters 0.029728014614197114 Centerline is valid? [True, True] Translation: X:401.88, Y:-65.54, Z:-8.06 [[ 9.81717165e-01 1.89654140e-01 1.62084939e-02 4.01875907e+02] [-1.89633708e-01 9.81850907e-01 -2.80242253e-03 -6.55395534e+01] [-1.64458155e-02 -3.22490506e-04 9.99864706e-01 -8.06080125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.654012739 meters 0.02804752709730042 Centerline is valid? [True, True] Translation: X:401.90, Y:-65.55, Z:-8.06 [[ 9.82128396e-01 1.87497457e-01 1.63864869e-02 4.01903340e+02] [-1.87476287e-01 9.82265045e-01 -2.83238800e-03 -6.55493275e+01] [-1.66269389e-02 -2.90309044e-04 9.99861721e-01 -8.06037886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters 0.028134407924094905 Centerline is valid? [True, True] Translation: X:401.93, Y:-65.55, Z:-8.06 [[ 9.82302864e-01 1.86550964e-01 1.67278571e-02 4.01931276e+02] [-1.86528777e-01 9.82445245e-01 -2.89068277e-03 -6.55530293e+01] [-1.69734634e-02 -2.80700772e-04 9.99855901e-01 -8.06000752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.714012739 meters 0.02650193547857301 Centerline is valid? [True, True] Translation: X:401.96, Y:-65.56, Z:-8.06 [[ 9.82461521e-01 1.85597404e-01 1.79711680e-02 4.01959854e+02] [-1.85571670e-01 9.82625830e-01 -3.10378299e-03 -6.55567900e+01] [-1.82349880e-02 -2.85592295e-04 9.99833688e-01 -8.05854780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters 0.02803297793873316 Centerline is valid? [True, True] Translation: X:401.99, Y:-65.56, Z:-8.06 [[ 9.82399959e-01 1.85876620e-01 1.84445637e-02 4.01987630e+02] [-1.85849577e-01 9.82573047e-01 -3.18464178e-03 -6.55588569e+01] [-1.87150816e-02 -2.99322406e-04 9.99824813e-01 -8.05853908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.774012739 meters 0.028079184014991054 Centerline is valid? [True, True] Translation: X:402.02, Y:-65.56, Z:-8.06 [[ 9.82286082e-01 1.86445944e-01 1.87606616e-02 4.02016348e+02] [-1.86418093e-01 9.82465170e-01 -3.23804662e-03 -6.55640217e+01] [-1.90354172e-02 -3.16638628e-04 9.99818760e-01 -8.05868460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters 0.030002630746051126 Centerline is valid? [True, True] Translation: X:402.05, Y:-65.56, Z:-8.06 [[ 9.81903369e-01 1.88396454e-01 1.93015505e-02 4.02045243e+02] [-1.88367368e-01 9.82092991e-01 -3.33046558e-03 -6.55645520e+01] [-1.95833653e-02 -3.65586888e-04 9.99808161e-01 -8.05785596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.834012739 meters 0.031640111526881634 Centerline is valid? [True, True] Translation: X:402.07, Y:-65.56, Z:-8.06 [[ 9.81628847e-01 1.89715164e-01 2.03214769e-02 4.02073360e+02] [-1.89683227e-01 9.81839083e-01 -3.50543919e-03 -6.55637240e+01] [-2.06174552e-02 -4.13603086e-04 9.99787352e-01 -8.05742710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters 0.029842812962181116 Centerline is valid? [True, True] Translation: X:402.10, Y:-65.57, Z:-8.06 [[ 9.81624025e-01 1.89654635e-01 2.11043392e-02 4.02100784e+02] [-1.89620216e-01 9.81850770e-01 -3.63859179e-03 -6.55717583e+01] [-2.14113875e-02 -4.30080238e-04 9.99770657e-01 -8.05674642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.894012739 meters 0.029883130647629264 Centerline is valid? [True, True] Translation: X:402.13, Y:-65.58, Z:-8.06 [[ 9.81632395e-01 1.89546405e-01 2.16795305e-02 4.02127335e+02] [-1.89510094e-01 9.81871665e-01 -3.73611104e-03 -6.55755961e+01] [-2.19946831e-02 -4.41002244e-04 9.99757990e-01 -8.05576615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters 0.032527358148327294 Centerline is valid? [True, True] Translation: X:402.16, Y:-65.57, Z:-8.06 [[ 9.81593543e-01 1.89772515e-01 2.14594664e-02 4.02155846e+02] [-1.89737031e-01 9.81827987e-01 -3.69636972e-03 -6.55738596e+01] [-2.17709741e-02 -4.43322793e-04 9.99762886e-01 -8.05665850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.954012739 meters 0.029933574790390258 Centerline is valid? [True, True] Translation: X:402.18, Y:-65.58, Z:-8.06 [[ 9.81576929e-01 1.89884171e-01 2.12305110e-02 4.02184348e+02] [-1.89849506e-01 9.81806399e-01 -3.65508209e-03 -6.55802887e+01] [-2.15382938e-02 -4.42857777e-04 9.99767926e-01 -8.05826568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters 0.031056152906099862 Centerline is valid? [True, True] Translation: X:402.21, Y:-65.58, Z:-8.06 [[ 9.81671222e-01 1.89533723e-01 1.99644577e-02 4.02212321e+02] [-1.89503016e-01 9.81874126e-01 -3.43619356e-03 -6.55825221e+01] [-2.02538590e-02 -4.10112611e-04 9.99794785e-01 -8.06125392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.014012739 meters 0.031056152906099862 Centerline is valid? [True, True] Translation: X:402.24, Y:-65.59, Z:-8.06 [[ 9.81684331e-01 1.89465793e-01 1.99646619e-02 4.02239436e+02] [-1.89435096e-01 9.81887236e-01 -3.43500671e-03 -6.55870496e+01] [-2.02538630e-02 -4.09915383e-04 9.99794785e-01 -8.06181233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters 0.031947597750835395 Centerline is valid? [True, True] Translation: X:402.27, Y:-65.59, Z:-8.06 [[ 9.81911786e-01 1.88362224e-01 1.92071982e-02 4.02266692e+02] [-1.88333627e-01 9.82099553e-01 -3.30335788e-03 -6.55906398e+01] [-1.94856086e-02 -3.73755263e-04 9.99810068e-01 -8.06351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.074012739 meters 0.028028948304934 Centerline is valid? [True, True] Translation: X:402.29, Y:-65.60, Z:-8.06 [[ 9.82424589e-01 1.85730311e-01 1.86058586e-02 4.02294538e+02] [-1.85703025e-01 9.82600709e-01 -3.19885759e-03 -6.56004175e+01] [-1.88762547e-02 -3.12527871e-04 9.99821779e-01 -8.06418273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters 0.02679635874853316 Centerline is valid? [True, True] Translation: X:402.32, Y:-65.61, Z:-8.07 [[ 9.82608270e-01 1.84745138e-01 1.87142375e-02 4.02322351e+02] [-1.84717371e-01 9.82786420e-01 -3.21660339e-03 -6.56069375e+01] [-1.89863503e-02 -2.96183651e-04 9.99819699e-01 -8.06527522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.134012739 meters 0.027474948540834727 Centerline is valid? [True, True] Translation: X:402.35, Y:-65.61, Z:-8.07 [[ 9.82708357e-01 1.84288661e-01 1.79436657e-02 4.02349425e+02] [-1.84263073e-01 9.82872124e-01 -3.08335816e-03 -6.56140577e+01] [-1.82045567e-02 -2.76313143e-04 9.99834245e-01 -8.06849560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters 0.02854456654882527 Centerline is valid? [True, True] Translation: X:402.38, Y:-65.62, Z:-8.07 [[ 9.82663176e-01 1.84613118e-01 1.70610428e-02 4.02376919e+02] [-1.84590050e-01 9.82811235e-01 -2.93072180e-03 -6.56183252e+01] [-1.73088342e-02 -2.69386356e-04 9.99850155e-01 -8.07030288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.194012739 meters 0.02939932138688226 Centerline is valid? [True, True] Translation: X:402.41, Y:-65.62, Z:-8.07 [[ 9.82238238e-01 1.86928758e-01 1.62997776e-02 4.02405206e+02] [-1.86908037e-01 9.82373428e-01 -2.79901472e-03 -6.56217502e+01] [-1.65356847e-02 -2.97260149e-04 9.99863232e-01 -8.07111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters 0.029477475687677054 Centerline is valid? [True, True] Translation: X:402.43, Y:-65.63, Z:-8.07 [[ 9.81982653e-01 1.88202624e-01 1.70247391e-02 4.02433528e+02] [-1.88180225e-01 9.82130165e-01 -2.92265854e-03 -6.56269308e+01] [-1.72705618e-02 -3.33719235e-04 9.99850797e-01 -8.07058809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.254012739 meters 0.031791109562572445 Centerline is valid? [True, True] Translation: X:402.46, Y:-65.63, Z:-8.07 [[ 9.81754879e-01 1.89117992e-01 1.97924694e-02 4.02461016e+02] [-1.89087926e-01 9.81954286e-01 -3.39667265e-03 -6.56313938e+01] [-2.00776720e-02 -4.07817038e-04 9.99798340e-01 -8.06745105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters 0.030931168619604925 Centerline is valid? [True, True] Translation: X:402.49, Y:-65.64, Z:-8.07 [[ 9.81765144e-01 1.88989958e-01 2.04938268e-02 4.02488044e+02] [-1.88957723e-01 9.81978930e-01 -3.51574110e-03 -6.56385976e+01] [-2.07889458e-02 -4.20834768e-04 9.99783798e-01 -8.06706192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.314012739 meters 0.03186416275400651 Centerline is valid? [True, True] Translation: X:402.52, Y:-65.64, Z:-8.07 [[ 9.81596758e-01 1.89895795e-01 2.01839718e-02 4.02516631e+02] [-1.89864747e-01 9.81804155e-01 -3.46116660e-03 -6.56431930e+01] [-2.04739683e-02 -4.34754786e-04 9.99790292e-01 -8.06856555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters 0.03343785293692708 Centerline is valid? [True, True] Translation: X:402.54, Y:-65.65, Z:-8.07 [[ 9.81430045e-01 1.90801887e-01 1.97409838e-02 4.02544659e+02] [-1.90772389e-01 9.81628464e-01 -3.38429297e-03 -6.56468470e+01] [-2.00240411e-02 -4.44587831e-04 9.99799400e-01 -8.06980541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.374012739 meters 0.034483940082774056 Centerline is valid? [True, True] Translation: X:402.57, Y:-65.65, Z:-8.07 [[ 9.81079050e-01 1.92659545e-01 1.91362651e-02 4.02573210e+02] [-1.92632212e-01 9.81265550e-01 -3.27895194e-03 -6.56510033e+01] [-1.94094791e-02 -4.69350026e-04 9.99811508e-01 -8.07077481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters 0.03489607771755719 Centerline is valid? [True, True] Translation: X:402.60, Y:-65.65, Z:-8.07 [[ 9.80950365e-01 1.93338451e-01 1.88845288e-02 4.02601897e+02] [-1.93311975e-01 9.81132007e-01 -3.23492908e-03 -6.56539215e+01] [-1.91536518e-02 -4.77300705e-04 9.99816438e-01 -8.07233356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.434012739 meters 0.03441107910255598 Centerline is valid? [True, True] Translation: X:402.63, Y:-65.66, Z:-8.07 [[ 9.80742348e-01 1.94404869e-01 1.87401597e-02 4.02630133e+02] [-1.94379008e-01 9.80921251e-01 -3.20930879e-03 -6.56579135e+01] [-1.90065262e-02 -4.95188610e-04 9.99819237e-01 -8.07376507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters 0.035978835966533236 Centerline is valid? [True, True] Translation: X:402.66, Y:-65.66, Z:-8.07 [[ 9.80726030e-01 1.94501073e-01 1.85953386e-02 4.02657923e+02] [-1.94475643e-01 9.80902181e-01 -3.18365074e-03 -6.56607005e+01] [-1.88594316e-02 -4.94051281e-04 9.99822023e-01 -8.07466384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.494012739 meters 0.03777647557461749 Centerline is valid? [True, True] Translation: X:402.69, Y:-65.66, Z:-8.07 [[ 9.80649442e-01 1.94894448e-01 1.85155821e-02 4.02685870e+02] [-1.94869340e-01 9.80824094e-01 -3.16822409e-03 -6.56628469e+01] [-1.87779983e-02 -5.01202068e-04 9.99823552e-01 -8.07483036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters 0.038561428058807405 Centerline is valid? [True, True] Translation: X:402.72, Y:-65.66, Z:-8.08 [[ 9.80411575e-01 1.96120151e-01 1.81667472e-02 4.02715002e+02] [-1.96096210e-01 9.80579737e-01 -3.10744716e-03 -6.56639064e+01] [-1.84233771e-02 -5.15853101e-04 9.99830142e-01 -8.07563078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55401273900003 meters 0.04110200313933968 Centerline is valid? [True, True] Translation: X:402.74, Y:-65.66, Z:-8.08 [[ 9.80331852e-01 1.96535778e-01 1.79763275e-02 4.02742952e+02] [-1.96512421e-01 9.80496516e-01 -3.07405960e-03 -6.56635740e+01] [-1.82298892e-02 -5.18973097e-04 9.99833687e-01 -8.07734913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters 0.03800972288541325 Centerline is valid? [True, True] Translation: X:402.77, Y:-65.67, Z:-8.08 [[ 9.80385027e-01 1.96352299e-01 1.70579217e-02 4.02770350e+02] [-1.96331255e-01 9.80533291e-01 -2.91611015e-03 -6.56709725e+01] [-1.72984450e-02 -4.90092449e-04 9.99850251e-01 -8.07966178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.614012739 meters 0.04011511636609495 Centerline is valid? [True, True] Translation: X:402.80, Y:-65.67, Z:-8.08 [[ 9.80589301e-01 1.95309348e-01 1.72881825e-02 4.02798586e+02] [-1.95287593e-01 9.80741571e-01 -2.95416846e-03 -6.56690227e+01] [-1.75322160e-02 -4.79341564e-04 9.99846184e-01 -8.07899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters 0.03721978674211441 Centerline is valid? [True, True] Translation: X:402.83, Y:-65.68, Z:-8.08 [[ 9.80699721e-01 1.94760323e-01 1.72184370e-02 4.02827005e+02] [-1.94738672e-01 9.80850752e-01 -2.94148868e-03 -6.56767456e+01] [-1.74616021e-02 -4.68378429e-04 9.99847425e-01 -8.07901424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.674012739 meters 0.03657864375142968 Centerline is valid? [True, True] Translation: X:402.86, Y:-65.68, Z:-8.08 [[ 9.80865693e-01 1.93886630e-01 1.76200891e-02 4.02856019e+02] [-1.93863871e-01 9.81023831e-01 -3.00704533e-03 -6.56801567e+01] [-1.78687532e-02 -4.66391073e-04 9.99840232e-01 -8.07881929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters 0.03616913555842981 Centerline is valid? [True, True] Translation: X:402.89, Y:-65.68, Z:-8.08 [[ 9.80968079e-01 1.93295983e-01 1.83927038e-02 4.02885053e+02] [-1.93271098e-01 9.81140375e-01 -3.13798553e-03 -6.56829352e+01] [-1.86523843e-02 -4.76514418e-04 9.99825916e-01 -8.07845583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.734012739 meters 0.035841403767610816 Centerline is valid? [True, True] Translation: X:402.91, Y:-65.68, Z:-8.08 [[ 9.81049173e-01 1.92824482e-01 1.90062939e-02 4.02914162e+02] [-1.92797838e-01 9.81233145e-01 -3.24173862e-03 -6.56846855e+01] [-1.92746921e-02 -4.84067385e-04 9.99814109e-01 -8.07828768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters 0.035910356061321015 Centerline is valid? [True, True] Translation: X:402.94, Y:-65.68, Z:-8.08 [[ 9.81093492e-01 1.92598822e-01 1.90066738e-02 4.02943861e+02] [-1.92572152e-01 9.81277465e-01 -3.24090535e-03 -6.56843741e+01] [-1.92750152e-02 -4.80524919e-04 9.99814104e-01 -8.07869796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.794012739 meters 0.03729253428081363 Centerline is valid? [True, True] Translation: X:402.97, Y:-65.68, Z:-8.08 [[ 9.80932450e-01 1.93499758e-01 1.81486010e-02 4.02972564e+02] [-1.93475611e-01 9.81100207e-01 -3.09380116e-03 -6.56833789e+01] [-1.84042460e-02 -4.76501717e-04 9.99830514e-01 -8.08067113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters 0.038308772413512784 Centerline is valid? [True, True] Translation: X:403.00, Y:-65.68, Z:-8.08 [[ 9.80859612e-01 1.93913289e-01 1.76651728e-02 4.03000535e+02] [-1.93890495e-01 9.81018559e-01 -3.01038783e-03 -6.56832550e+01] [-1.79136165e-02 -4.72341265e-04 9.99839427e-01 -8.08175767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.854012739 meters 0.038582474962497684 Centerline is valid? [True, True] Translation: X:403.03, Y:-65.68, Z:-8.08 [[ 9.80797366e-01 1.94234507e-01 1.75921163e-02 4.03029147e+02] [-1.94211967e-01 9.80955009e-01 -2.99717709e-03 -6.56843704e+01] [-1.78392298e-02 -4.76976122e-04 9.99840755e-01 -8.08296987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters 0.03722223755535884 Centerline is valid? [True, True] Translation: X:403.06, Y:-65.69, Z:-8.08 [[ 9.81087156e-01 1.92662811e-01 1.86824196e-02 4.03057735e+02] [-1.92637167e-01 9.81264904e-01 -3.17967950e-03 -6.56869762e+01] [-1.89450087e-02 -4.79385663e-04 9.99820412e-01 -8.08264124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.914012739 meters 0.03120942143562311 Centerline is valid? [True, True] Translation: X:403.08, Y:-65.70, Z:-8.08 [[ 9.82295429e-01 1.86348426e-01 1.92341972e-02 4.03084914e+02] [-1.86320098e-01 9.82483652e-01 -3.27025925e-03 -6.56986925e+01] [-1.95066919e-02 -3.71356797e-04 9.99809657e-01 -8.08284181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters 0.02731224886803877 Centerline is valid? [True, True] Translation: X:403.11, Y:-65.71, Z:-8.08 [[ 9.83183921e-01 1.81626817e-01 1.90019966e-02 4.03112410e+02] [-1.81598295e-01 9.83367492e-01 -3.23036536e-03 -6.57085672e+01] [-1.92726668e-02 -2.74686916e-04 9.99814227e-01 -8.08365554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.974012739 meters 0.02092355337952174 Centerline is valid? [True, True] Translation: X:403.14, Y:-65.73, Z:-8.08 [[ 9.84922143e-01 1.72028895e-01 1.82874450e-02 4.03139283e+02] [-1.72000833e-01 9.85091900e-01 -3.10826929e-03 -6.57284799e+01] [-1.85495261e-02 -8.40525216e-05 9.99827939e-01 -8.08449209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters 0.020245047414943585 Centerline is valid? [True, True] Translation: X:403.17, Y:-65.74, Z:-8.08 [[ 9.85551159e-01 1.68357673e-01 1.85635755e-02 4.03165903e+02] [-1.68328113e-01 9.85725973e-01 -3.15480073e-03 -6.57387927e+01] [-1.88297334e-02 -1.55541150e-05 9.99822705e-01 -8.08380177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.034012739 meters 0.020439698386312464 Centerline is valid? [True, True] Translation: X:403.19, Y:-65.75, Z:-8.08 [[ 9.86066127e-01 1.65298682e-01 1.87066670e-02 4.03191376e+02] [-1.65268134e-01 9.86243552e-01 -3.17802685e-03 -6.57483773e+01] [-1.89746534e-02 4.21286771e-05 9.99819964e-01 -8.08325963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters 0.021114031493806387 Centerline is valid? [True, True] Translation: X:403.22, Y:-65.76, Z:-8.08 [[ 9.86604232e-01 1.61904160e-01 1.99783010e-02 4.03219022e+02] [-1.61868657e-01 9.86806481e-01 -3.39230731e-03 -6.57563622e+01] [-2.02639456e-02 1.13004002e-04 9.99794659e-01 -8.07996369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.094012739 meters 0.02110414076060128 Centerline is valid? [True, True] Translation: X:403.25, Y:-65.76, Z:-8.08 [[ 9.86588844e-01 1.61895045e-01 2.07953899e-02 4.03246778e+02] [-1.61856597e-01 9.86807976e-01 -3.53003918e-03 -6.57587892e+01] [-2.10925524e-02 1.16826224e-04 9.99777521e-01 -8.07929186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters 0.020793131840350428 Centerline is valid? [True, True] Translation: X:403.28, Y:-65.76, Z:-8.08 [[ 9.86429079e-01 1.62954597e-01 2.00865844e-02 4.03275446e+02] [-1.62918972e-01 9.86633565e-01 -3.40836797e-03 -6.57596924e+01] [-2.03735076e-02 8.96275950e-05 9.99792435e-01 -8.08262885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.154012739 meters 0.021044989820343998 Centerline is valid? [True, True] Translation: X:403.30, Y:-65.77, Z:-8.08 [[ 9.86558212e-01 1.62241422e-01 1.95093436e-02 4.03304004e+02] [-1.62207695e-01 9.86751089e-01 -3.30950141e-03 -6.57659080e+01] [-1.97878043e-02 1.00450133e-04 9.99804197e-01 -8.08475918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters 0.023196681585069944 Centerline is valid? [True, True] Translation: X:403.33, Y:-65.78, Z:-8.09 [[ 9.87241914e-01 1.57966807e-01 1.99972670e-02 4.03329714e+02] [-1.57930515e-01 9.87444404e-01 -3.39128044e-03 -6.57797112e+01] [-2.02818991e-02 1.89835537e-04 9.99794283e-01 -8.08512336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.214012739 meters 0.025279289329360626 Centerline is valid? [True, True] Translation: X:403.36, Y:-65.79, Z:-8.08 [[ 9.87717503e-01 1.54835578e-01 2.09780552e-02 4.03356719e+02] [-1.54794959e-01 9.87940217e-01 -3.55630385e-03 -6.57909353e+01] [-2.12757068e-02 2.65326355e-04 9.99773611e-01 -8.08361925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters 0.03167781466528499 Centerline is valid? [True, True] Translation: X:403.38, Y:-65.81, Z:-8.08 [[ 9.88869608e-01 1.47227307e-01 2.14713285e-02 4.03383366e+02] [-1.47182981e-01 9.89102587e-01 -3.63897373e-03 -6.58127156e+01] [-2.17731028e-02 4.38256392e-04 9.99762842e-01 -8.08292419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.274012739 meters 0.03410062867460413 Centerline is valid? [True, True] Translation: X:403.41, Y:-65.82, Z:-8.09 [[ 9.89597113e-01 1.42419938e-01 2.03497993e-02 4.03412063e+02] [-1.42379111e-01 9.89806191e-01 -3.44867600e-03 -6.58245318e+01] [-2.06335176e-02 5.15413484e-04 9.99786973e-01 -8.08551526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters 0.042985899265391314 Centerline is valid? [True, True] Translation: X:403.44, Y:-65.85, Z:-8.09 [[ 9.90953352e-01 1.32822138e-01 1.92284641e-02 4.03438784e+02] [-1.32783883e-01 9.91139659e-01 -3.25841196e-03 -6.58506041e+01] [-1.94908826e-02 6.75704120e-04 9.99809806e-01 -8.08848659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.334012739 meters 0.050799337398675704 Centerline is valid? [True, True] Translation: X:403.47, Y:-65.87, Z:-8.09 [[ 9.91457486e-01 1.29033769e-01 1.90352178e-02 4.03465705e+02] [-1.28995579e-01 9.91639922e-01 -3.22582040e-03 -6.58714905e+01] [-1.92923217e-02 7.42804847e-04 9.99813610e-01 -8.08998397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters 0.05683038601947478 Centerline is valid? [True, True] Translation: X:403.49, Y:-65.89, Z:-8.09 [[ 9.92149010e-01 1.23610972e-01 1.89913226e-02 4.03491987e+02] [-1.23571966e-01 9.92330394e-01 -3.21838719e-03 -6.58949847e+01] [-1.92434946e-02 8.46324604e-04 9.99814469e-01 -8.09021281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.394012739 meters 0.05430869830795693 Centerline is valid? [True, True] Translation: X:403.52, Y:-65.90, Z:-8.09 [[ 9.92271277e-01 1.22663338e-01 1.87461367e-02 4.03523153e+02] [-1.22625169e-01 9.92447972e-01 -3.17653772e-03 -6.59016368e+01] [-1.89942101e-02 8.53238960e-04 9.99819230e-01 -8.09038032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters 0.05427033588103561 Centerline is valid? [True, True] Translation: X:403.55, Y:-65.92, Z:-8.10 [[ 9.92235974e-01 1.23281663e-01 1.64134988e-02 4.03552891e+02] [-1.23252454e-01 9.92371445e-01 -2.78332777e-03 -6.59155557e+01] [-1.66314208e-02 7.38713946e-04 9.99861415e-01 -8.09534640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.454012739 meters 0.05397526607428671 Centerline is valid? [True, True] Translation: X:403.58, Y:-65.93, Z:-8.10 [[ 9.92078008e-01 1.24708377e-01 1.51342765e-02 4.03582876e+02] [-1.24683674e-01 9.92193219e-01 -2.56867603e-03 -6.59251435e+01] [-1.53364619e-02 6.61329808e-04 9.99882171e-01 -8.09896661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters 0.05058312113002918 Centerline is valid? [True, True] Translation: X:403.61, Y:-65.93, Z:-8.10 [[ 9.91590730e-01 1.28638253e-01 1.41429686e-02 4.03610865e+02] [-1.28617038e-01 9.91691425e-01 -2.40329920e-03 -6.59349667e+01] [-1.43346169e-02 5.64062476e-04 9.99897095e-01 -8.10196554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.514012739 meters 0.04884255372078492 Centerline is valid? [True, True] Translation: X:403.64, Y:-65.94, Z:-8.10 [[ 9.91297930e-01 1.30774044e-01 1.50520527e-02 4.03640968e+02] [-1.30750263e-01 9.91412037e-01 -2.55752587e-03 -6.59427526e+01] [-1.52572442e-02 5.67210247e-04 9.99883441e-01 -8.10067110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters 0.0422025054652512 Centerline is valid? [True, True] Translation: X:403.67, Y:-65.95, Z:-8.10 [[ 9.90735278e-01 1.34717519e-01 1.71697082e-02 4.03671091e+02] [-1.34687158e-01 9.90883876e-01 -2.91786540e-03 -6.59472329e+01] [-1.74062746e-02 5.78292990e-04 9.99848332e-01 -8.09637029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.574012739 meters 0.04263475644069352 Centerline is valid? [True, True] Translation: X:403.70, Y:-65.96, Z:-8.10 [[ 9.90428093e-01 1.36884031e-01 1.77469666e-02 4.03700625e+02] [-1.36851942e-01 9.90586922e-01 -3.01591206e-03 -6.59569056e+01] [-1.79927432e-02 5.58337190e-04 9.99837962e-01 -8.09687087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters 0.04125557388657159 Centerline is valid? [True, True] Translation: X:403.73, Y:-65.96, Z:-8.10 [[ 9.90152798e-01 1.38890212e-01 1.75198693e-02 4.03730242e+02] [-1.38859245e-01 9.90307651e-01 -2.97773319e-03 -6.59643404e+01] [-1.77636386e-02 5.15615014e-04 9.99842081e-01 -8.09801101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.634012739 meters 0.03641943031334409 Centerline is valid? [True, True] Translation: X:403.76, Y:-65.97, Z:-8.10 [[ 9.89478980e-01 1.43572687e-01 1.78390727e-02 4.03760393e+02] [-1.43541333e-01 9.89639677e-01 -3.03241856e-03 -6.59709120e+01] [-1.80896266e-02 4.39870145e-04 9.99836273e-01 -8.09845764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters 0.029369028221223475 Centerline is valid? [True, True] Translation: X:403.79, Y:-65.97, Z:-8.10 [[ 9.88551047e-01 1.49695996e-01 1.89192129e-02 4.03791825e+02] [-1.49661844e-01 9.88732010e-01 -3.21633005e-03 -6.59713820e+01] [-1.91875031e-02 3.48022155e-04 9.99815842e-01 -8.09627338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.694012739 meters 0.026880222637688096 Centerline is valid? [True, True] Translation: X:403.82, Y:-65.97, Z:-8.10 [[ 9.88041087e-01 1.53056754e-01 1.86665820e-02 4.03823777e+02] [-1.53024107e-01 9.88217361e-01 -3.17339137e-03 -6.59745825e+01] [-1.89323494e-02 2.79004012e-04 9.99820728e-01 -8.09737301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters 0.024673127689023404 Centerline is valid? [True, True] Translation: X:403.85, Y:-65.98, Z:-8.10 [[ 9.87390910e-01 1.57204341e-01 1.86007018e-02 4.03854588e+02] [-1.57172601e-01 9.87566076e-01 -3.16525013e-03 -6.59770672e+01] [-1.88670131e-02 2.01818517e-04 9.99821982e-01 -8.09859774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.754012739 meters 0.02055857478806229 Centerline is valid? [True, True] Translation: X:403.89, Y:-65.97, Z:-8.10 [[ 9.86102243e-01 1.65090075e-01 1.86449434e-02 4.03885248e+02] [-1.65059534e-01 9.86278492e-01 -3.17586916e-03 -6.59708154e+01] [-1.89134111e-02 5.42060350e-05 9.99821124e-01 -8.09918884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters 0.020120693169184925 Centerline is valid? [True, True] Translation: X:403.92, Y:-65.97, Z:-8.10 [[ 9.85550654e-01 1.68344061e-01 1.87132326e-02 4.03916268e+02] [-1.68313893e-01 9.85728298e-01 -3.18694425e-03 -6.59702816e+01] [-1.89826661e-02 -8.80204012e-06 9.99819813e-01 -8.09945416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.814012739 meters 0.020982055633657362 Centerline is valid? [True, True] Translation: X:403.95, Y:-65.96, Z:-8.10 [[ 9.84648201e-01 1.73598244e-01 1.82090856e-02 4.03947549e+02] [-1.73570575e-01 9.84816551e-01 -3.10113043e-03 -6.59635888e+01] [-1.84709597e-02 -1.07038975e-04 9.99829392e-01 -8.10058066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters 0.02337672060947912 Centerline is valid? [True, True] Translation: X:403.98, Y:-65.96, Z:-8.10 [[ 9.83838546e-01 1.78122471e-01 1.82784228e-02 4.03977568e+02] [-1.78095379e-01 9.84008307e-01 -3.11252936e-03 -6.59556852e+01] [-1.85405313e-02 -1.93076271e-04 9.99828091e-01 -8.10099821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.874012739 meters 0.0244328057745845 Centerline is valid? [True, True] Translation: X:404.01, Y:-65.95, Z:-8.10 [[ 9.83574621e-01 1.79502248e-01 1.89712567e-02 4.04006055e+02] [-1.79473338e-01 9.83757537e-01 -3.22954781e-03 -6.59549210e+01] [-1.92428278e-02 -2.28333495e-04 9.99814814e-01 -8.10027385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters 0.024331473634014014 Centerline is valid? [True, True] Translation: X:404.04, Y:-65.96, Z:-8.10 [[ 9.83476487e-01 1.80006992e-01 1.92738907e-02 4.04035019e+02] [-1.79977273e-01 9.83665301e-01 -3.27989035e-03 -6.59564894e+01] [-1.95494606e-02 -2.43167238e-04 9.99808861e-01 -8.09892769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.934012739 meters 0.02310759834174851 Centerline is valid? [True, True] Translation: X:404.06, Y:-65.96, Z:-8.10 [[ 9.83847672e-01 1.77959102e-01 1.93472322e-02 4.04063316e+02] [-1.77928779e-01 9.84037863e-01 -3.29143480e-03 -6.59569094e+01] [-1.96241498e-02 -2.04158935e-04 9.99807407e-01 -8.09985838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters 0.02310759834174851 Centerline is valid? [True, True] Translation: X:404.09, Y:-65.96, Z:-8.10 [[ 9.83855951e-01 1.77913310e-01 1.93474267e-02 4.04091255e+02] [-1.77882999e-01 9.84046143e-01 -3.29029119e-03 -6.59615699e+01] [-1.96241472e-02 -2.04405734e-04 9.99807407e-01 -8.10043368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.994012739 meters 0.02146704040445204 Centerline is valid? [True, True] Translation: X:404.12, Y:-65.97, Z:-8.10 [[ 9.84410837e-01 1.74816055e-01 1.93558956e-02 4.04119634e+02] [-1.74785138e-01 9.84601100e-01 -3.29080509e-03 -6.59680889e+01] [-1.96331217e-02 -1.43618686e-04 9.99807241e-01 -8.10124316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters 0.01984871373320437 Centerline is valid? [True, True] Translation: X:404.15, Y:-65.98, Z:-8.10 [[ 9.85691118e-01 1.67498978e-01 1.88974397e-02 4.04147027e+02] [-1.67468179e-01 9.85872250e-01 -3.21192470e-03 -6.59778957e+01] [-1.91684555e-02 1.24582911e-06 9.99816268e-01 -8.10374173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05401273900003 meters 0.020507621163030856 Centerline is valid? [True, True] Translation: X:404.17, Y:-65.99, Z:-8.11 [[ 9.86291092e-01 1.64013354e-01 1.81521913e-02 4.04174736e+02] [-1.63984352e-01 9.86458116e-01 -3.08494983e-03 -6.59852005e+01] [-1.84123494e-02 6.59832091e-05 9.99830476e-01 -8.10528980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters 0.022949146232212503 Centerline is valid? [True, True] Translation: X:404.20, Y:-65.99, Z:-8.11 [[ 9.87200466e-01 1.58622707e-01 1.65552798e-02 4.04203135e+02] [-1.58597836e-01 9.87339260e-01 -2.81294336e-03 -6.59928648e+01] [-1.67918744e-02 1.51307440e-04 9.99858995e-01 -8.10852448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.114012739 meters 0.024767878753666327 Centerline is valid? [True, True] Translation: X:404.23, Y:-66.00, Z:-8.11 [[ 9.87543496e-01 1.56510834e-01 1.61926861e-02 4.04231407e+02] [-1.56486758e-01 9.87676225e-01 -2.75123765e-03 -6.59998250e+01] [-1.64237296e-02 1.83025907e-04 9.99865105e-01 -8.10986147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters 0.027214835716188393 Centerline is valid? [True, True] Translation: X:404.26, Y:-66.01, Z:-8.11 [[ 9.88266243e-01 1.51664671e-01 1.81013939e-02 4.04260439e+02] [-1.51633785e-01 9.88431961e-01 -3.07475547e-03 -6.60087117e+01] [-1.83583281e-02 2.93894158e-04 9.99831428e-01 -8.10620985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.174012739 meters 0.032511058626265354 Centerline is valid? [True, True] Translation: X:404.29, Y:-66.02, Z:-8.10 [[ 9.88977625e-01 1.46587137e-01 2.08678811e-02 4.04288662e+02] [-1.46544957e-01 9.89197660e-01 -3.54468289e-03 -6.60230996e+01] [-2.11620641e-02 4.47529331e-04 9.99775958e-01 -8.10213743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters 0.033713875326889554 Centerline is valid? [True, True] Translation: X:404.32, Y:-66.03, Z:-8.10 [[ 9.89239560e-01 1.44726959e-01 2.14289405e-02 4.04320015e+02] [-1.44682038e-01 9.89471504e-01 -3.64021532e-03 -6.60306588e+01] [-2.17301632e-02 5.00662238e-04 9.99763747e-01 -8.10154493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.234012739 meters 0.035898375552767696 Centerline is valid? [True, True] Translation: X:404.35, Y:-66.04, Z:-8.10 [[ 9.89459536e-01 1.43234453e-01 2.13006481e-02 4.04350060e+02] [-1.43189649e-01 9.89688641e-01 -3.62185017e-03 -6.60398712e+01] [-2.15997832e-02 5.33641877e-04 9.99766555e-01 -8.10242019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters 0.03689700925177357 Centerline is valid? [True, True] Translation: X:404.38, Y:-66.05, Z:-8.11 [[ 9.89892092e-01 1.40430481e-01 1.98223761e-02 4.04380700e+02] [-1.40391062e-01 9.90090385e-01 -3.37328435e-03 -6.60518343e+01] [-2.00996559e-02 5.56303065e-04 9.99797827e-01 -8.10673960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.294012739 meters 0.038910010591025015 Centerline is valid? [True, True] Translation: X:404.41, Y:-66.06, Z:-8.11 [[ 9.90087825e-01 1.39199796e-01 1.86953375e-02 4.04410600e+02] [-1.39164501e-01 9.90264164e-01 -3.18218013e-03 -6.60633279e+01] [-1.89562816e-02 5.48910486e-04 9.99820163e-01 -8.10941410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters 0.03985675631910602 Centerline is valid? [True, True] Translation: X:404.44, Y:-66.08, Z:-8.11 [[ 9.90396388e-01 1.36930533e-01 1.91056096e-02 4.04441154e+02] [-1.36893189e-01 9.90580466e-01 -3.25509446e-03 -6.60769427e+01] [-1.93713654e-02 6.08405966e-04 9.99812172e-01 -8.10915483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.354012739 meters 0.043226311682676564 Centerline is valid? [True, True] Translation: X:404.47, Y:-66.09, Z:-8.11 [[ 9.90452018e-01 1.36435599e-01 1.97516671e-02 4.04470026e+02] [-1.36395570e-01 9.90648736e-01 -3.36612014e-03 -6.60908218e+01] [-2.00262227e-02 6.39940602e-04 9.99799250e-01 -8.10838612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters 0.041177298246911825 Centerline is valid? [True, True] Translation: X:404.50, Y:-66.10, Z:-8.11 [[ 9.90206267e-01 1.38131731e-01 2.02774241e-02 4.04500699e+02] [-1.38089831e-01 9.90413668e-01 -3.45895272e-03 -6.61010995e+01] [-2.05608291e-02 6.24970601e-04 9.99788408e-01 -8.10725655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.414012739 meters 0.039064375576329295 Centerline is valid? [True, True] Translation: X:404.53, Y:-66.11, Z:-8.11 [[ 9.89890188e-01 1.40489023e-01 1.94999806e-02 4.04531762e+02] [-1.40450670e-01 9.90082079e-01 -3.32945130e-03 -6.61064424e+01] [-1.97743327e-02 5.57005831e-04 9.99804314e-01 -8.10934534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters 0.03246936803881191 Centerline is valid? [True, True] Translation: X:404.56, Y:-66.11, Z:-8.12 [[ 9.89150468e-01 1.45938031e-01 1.68357503e-02 4.04563448e+02] [-1.45910224e-01 9.89293658e-01 -2.87492072e-03 -6.61062332e+01] [-1.70750613e-02 3.87221077e-04 9.99854136e-01 -8.11500583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.474012739 meters 0.032073038565747086 Centerline is valid? [True, True] Translation: X:404.59, Y:-66.11, Z:-8.12 [[ 9.88677052e-01 1.49222754e-01 1.58194759e-02 4.04592897e+02] [-1.49198621e-01 9.88803556e-01 -2.70155371e-03 -6.61127160e+01] [-1.60454873e-02 3.10720167e-04 9.99871215e-01 -8.11781446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters 0.024489194635521017 Centerline is valid? [True, True] Translation: X:404.63, Y:-66.11, Z:-8.12 [[ 9.87558353e-01 1.56498421e-01 1.53864931e-02 4.04625321e+02] [-1.56476471e-01 9.87678191e-01 -2.62773308e-03 -6.61078869e+01] [-1.56081397e-02 1.87415613e-04 9.99878168e-01 -8.11738841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.534012739 meters 0.02234820929866088 Centerline is valid? [True, True] Translation: X:404.66, Y:-66.11, Z:-8.12 [[ 9.86942925e-01 1.60244467e-01 1.62902841e-02 4.04656155e+02] [-1.60220364e-01 9.87077349e-01 -2.78254508e-03 -6.61089258e+01] [-1.65256579e-02 1.36177941e-04 9.99863433e-01 -8.11670975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters 0.01994961378171428 Centerline is valid? [True, True] Translation: X:404.69, Y:-66.10, Z:-8.12 [[ 9.85636997e-01 1.67917549e-01 1.79834928e-02 4.04687796e+02] [-1.67889445e-01 9.85801043e-01 -3.07205011e-03 -6.61025526e+01] [-1.82439971e-02 8.68760686e-06 9.99833564e-01 -8.11571331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.594012739 meters 0.02029363526487814 Centerline is valid? [True, True] Translation: X:404.72, Y:-66.10, Z:-8.12 [[ 9.84951226e-01 1.71923482e-01 1.77030597e-02 4.04716646e+02] [-1.71896897e-01 9.85110305e-01 -3.02396854e-03 -6.61010515e+01] [-1.79593578e-02 -6.46395256e-05 9.99838716e-01 -8.11658672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters 0.02354690542566271 Centerline is valid? [True, True] Translation: X:404.75, Y:-66.09, Z:-8.12 [[ 9.83607688e-01 1.79426795e-01 1.79427192e-02 4.04748168e+02] [-1.79400741e-01 9.83771306e-01 -3.06444634e-03 -6.60942362e+01] [-1.82013761e-02 -2.04724141e-04 9.99834320e-01 -8.11567915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.654012739 meters 0.026633282446398104 Centerline is valid? [True, True] Translation: X:404.78, Y:-66.09, Z:-8.11 [[ 9.82964673e-01 1.82813426e-01 1.89658475e-02 4.04777432e+02] [-1.82784954e-01 9.83147584e-01 -3.23873569e-03 -6.60903326e+01] [-1.92383115e-02 -2.83108795e-04 9.99814886e-01 -8.11444120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters 0.03191896523885846 Centerline is valid? [True, True] Translation: X:404.81, Y:-66.08, Z:-8.12 [[ 9.81937514e-01 1.88200152e-01 1.94787308e-02 4.04807211e+02] [-1.88171202e-01 9.82130614e-01 -3.32510028e-03 -6.60819235e+01] [-1.97564422e-02 -4.00295477e-04 9.99804742e-01 -8.11559400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.714012739 meters 0.03380186221301495 Centerline is valid? [True, True] Translation: X:404.84, Y:-66.08, Z:-8.12 [[ 9.81635063e-01 1.89897499e-01 1.82083232e-02 4.04835839e+02] [-1.89872508e-01 9.81803837e-01 -3.10746816e-03 -6.60818170e+01] [-1.84671020e-02 -4.06860293e-04 9.99829386e-01 -8.11871387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters 0.03370126220101191 Centerline is valid? [True, True] Translation: X:404.86, Y:-66.08, Z:-8.12 [[ 9.81383916e-01 1.91254331e-01 1.75325558e-02 4.04864803e+02] [-1.91231395e-01 9.81540425e-01 -2.99115265e-03 -6.60841238e+01] [-1.77809831e-02 -4.17305992e-04 9.99841819e-01 -8.11977543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.774012739 meters 0.035190674881398216 Centerline is valid? [True, True] Translation: X:404.90, Y:-66.08, Z:-8.12 [[ 9.80956045e-01 1.93390901e-01 1.80332329e-02 4.04895450e+02] [-1.93367013e-01 9.81121674e-01 -3.07568647e-03 -6.60782863e+01] [-1.82876054e-02 -4.69919138e-04 9.99832657e-01 -8.11787804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters 0.0376426428781154 Centerline is valid? [True, True] Translation: X:404.92, Y:-66.07, Z:-8.12 [[ 9.80669889e-01 1.94783552e-01 1.85993622e-02 4.04924955e+02] [-1.94758407e-01 9.80846117e-01 -3.17134305e-03 -6.60708419e+01] [-1.88608377e-02 -5.12341510e-04 9.99821987e-01 -8.11796131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.834012739 meters 0.03792272979350328 Centerline is valid? [True, True] Translation: X:404.95, Y:-66.07, Z:-8.12 [[ 9.80662975e-01 1.94867355e-01 1.80788276e-02 4.04953561e+02] [-1.94843632e-01 9.80829477e-01 -3.08151814e-03 -6.60716199e+01] [-1.83327343e-02 -5.00613680e-04 9.99831816e-01 -8.11990747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters 0.03811129033104577 Centerline is valid? [True, True] Translation: X:404.98, Y:-66.07, Z:-8.12 [[ 9.80767451e-01 1.94411928e-01 1.72976665e-02 4.04982367e+02] [-1.94390152e-01 9.80919864e-01 -2.94770581e-03 -6.60692911e+01] [-1.75406938e-02 -4.71482106e-04 9.99846039e-01 -8.12296050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.894012739 meters 0.03783837385036502 Centerline is valid? [True, True] Translation: X:405.01, Y:-66.07, Z:-8.12 [[ 9.80897062e-01 1.93714919e-01 1.77618506e-02 4.05011208e+02] [-1.93691873e-01 9.81057749e-01 -3.02520828e-03 -6.60704765e+01] [-1.80114291e-02 -4.72908195e-04 9.99837669e-01 -8.12237089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters 0.037735920602194 Centerline is valid? [True, True] Translation: X:405.04, Y:-66.07, Z:-8.12 [[ 9.80919305e-01 1.93582285e-01 1.79781937e-02 4.05040880e+02] [-1.93558682e-01 9.81083926e-01 -3.06037106e-03 -6.60679570e+01] [-1.82305505e-02 -4.77858431e-04 9.99833696e-01 -8.12174683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.954012739 meters 0.03877898342709275 Centerline is valid? [True, True] Translation: X:405.07, Y:-66.07, Z:-8.12 [[ 9.80828032e-01 1.94028023e-01 1.81520809e-02 4.05068953e+02] [-1.94004053e-01 9.80995864e-01 -3.08914199e-03 -6.60680441e+01] [-1.84064964e-02 -4.91660203e-04 9.99830465e-01 -8.12234301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters 0.040325817382704764 Centerline is valid? [True, True] Translation: X:405.10, Y:-66.07, Z:-8.12 [[ 9.80569771e-01 1.95184712e-01 1.96431367e-02 4.05099037e+02] [-1.95156898e-01 9.80766342e-01 -3.34170902e-03 -6.60654522e+01] [-1.99175778e-02 -5.56714771e-04 9.99801470e-01 -8.12003969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.014012739 meters 0.04114267976122947 Centerline is valid? [True, True] Translation: X:405.13, Y:-66.07, Z:-8.12 [[ 9.80497371e-01 1.95510663e-01 2.00121449e-02 4.05126984e+02] [-1.95481928e-01 9.80701406e-01 -3.40121755e-03 -6.60650926e+01] [-2.02909129e-02 -5.77127790e-04 9.99793952e-01 -8.11957338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters 0.041332610467098865 Centerline is valid? [True, True] Translation: X:405.16, Y:-66.07, Z:-8.12 [[ 9.80420954e-01 1.95886460e-01 2.00810546e-02 4.05156510e+02] [-1.95857640e-01 9.80626406e-01 -3.41121725e-03 -6.60655283e+01] [-2.03602237e-02 -5.88599091e-04 9.99792536e-01 -8.11977677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.074012739 meters 0.0428641002466971 Centerline is valid? [True, True] Translation: X:405.19, Y:-66.06, Z:-8.12 [[ 9.80289083e-01 1.96677881e-01 1.87383290e-02 4.05185336e+02] [-1.96652946e-01 9.80467996e-01 -3.18234522e-03 -6.60606908e+01] [-1.89982289e-02 -5.65329325e-04 9.99819358e-01 -8.12297878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters 0.043392576894256046 Centerline is valid? [True, True] Translation: X:405.21, Y:-66.06, Z:-8.13 [[ 9.80332450e-01 1.96543043e-01 1.78639528e-02 4.05213380e+02] [-1.96520374e-01 9.80495050e-01 -3.03293723e-03 -6.60569747e+01] [-1.81116200e-02 -5.37343909e-04 9.99835827e-01 -8.12608560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.134012739 meters 0.04297990668319991 Centerline is valid? [True, True] Translation: X:405.24, Y:-66.06, Z:-8.13 [[ 9.80483573e-01 1.95722883e-01 1.85611280e-02 4.05241405e+02] [-1.95698293e-01 9.80659093e-01 -3.14974520e-03 -6.60585491e+01] [-1.88186162e-02 -5.44107643e-04 9.99822766e-01 -8.12565045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters 0.03305998163323341 Centerline is valid? [True, True] Translation: X:405.27, Y:-66.07, Z:-8.12 [[ 9.81410455e-01 1.90905542e-01 1.97127410e-02 4.05269279e+02] [-1.90876858e-01 9.81608294e-01 -3.34398939e-03 -6.60716729e+01] [-1.99885761e-02 -4.80879915e-04 9.99800093e-01 -8.12467337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.194012739 meters 0.03440081487523777 Centerline is valid? [True, True] Translation: X:405.30, Y:-66.07, Z:-8.13 [[ 9.82045078e-01 1.87696153e-01 1.89108286e-02 4.05297325e+02] [-1.87669168e-01 9.82227059e-01 -3.20755321e-03 -6.60714958e+01] [-1.91767730e-02 -3.99017633e-04 9.99816029e-01 -8.12642515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters 0.026564154977699195 Centerline is valid? [True, True] Translation: X:405.33, Y:-66.08, Z:-8.13 [[ 9.82984768e-01 1.82852958e-01 1.74854421e-02 4.05325435e+02] [-1.82829140e-01 9.83140232e-01 -2.96472017e-03 -6.60837627e+01] [-1.77327495e-02 -2.82573576e-04 9.99842723e-01 -8.12930782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.254012739 meters 0.028314143127056105 Centerline is valid? [True, True] Translation: X:405.35, Y:-66.08, Z:-8.13 [[ 9.83200863e-01 1.81632193e-01 1.80501677e-02 4.05353852e+02] [-1.81606613e-01 9.83366500e-01 -3.06008274e-03 -6.60829980e+01] [-1.83057397e-02 -2.69353828e-04 9.99832400e-01 -8.12911060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters 0.02645266972363215 Centerline is valid? [True, True] Translation: X:405.38, Y:-66.09, Z:-8.12 [[ 9.83209687e-01 1.81396439e-01 1.98505309e-02 4.05383094e+02] [-1.81365481e-01 9.83410009e-01 -3.36396468e-03 -6.60856910e+01] [-2.01314220e-02 -2.92718420e-04 9.99797300e-01 -8.12400122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.314012739 meters 0.02919532508078831 Centerline is valid? [True, True] Translation: X:405.41, Y:-66.08, Z:-8.12 [[ 9.83020672e-01 1.82432745e-01 1.97142581e-02 4.05412168e+02] [-1.82402436e-01 9.83218285e-01 -3.33996562e-03 -6.60827418e+01] [-1.99927382e-02 -3.12673461e-04 9.99800076e-01 -8.12495954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters 0.027603673399610965 Centerline is valid? [True, True] Translation: X:405.44, Y:-66.09, Z:-8.13 [[ 9.82794382e-01 1.83746139e-01 1.87765446e-02 4.05440140e+02] [-1.83718904e-01 9.82973678e-01 -3.18007327e-03 -6.60873661e+01] [-1.90411753e-02 -3.24248043e-04 9.99818648e-01 -8.12756581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.374012739 meters 0.0287637117636576 Centerline is valid? [True, True] Translation: X:405.47, Y:-66.09, Z:-8.13 [[ 9.82663680e-01 1.84598695e-01 1.71876317e-02 4.05469870e+02] [-1.84576016e-01 9.82813932e-01 -2.91033920e-03 -6.60864561e+01] [-1.74294887e-02 -3.12539958e-04 9.99848046e-01 -8.13110253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters 0.027637104690733903 Centerline is valid? [True, True] Translation: X:405.50, Y:-66.09, Z:-8.13 [[ 9.82885998e-01 1.83386471e-01 1.74503970e-02 4.05498899e+02] [-1.83362956e-01 9.83040850e-01 -2.95184344e-03 -6.60886526e+01] [-1.76957812e-02 -2.98430771e-04 9.99843373e-01 -8.13121202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.434012739 meters 0.027943212694889936 Centerline is valid? [True, True] Translation: X:405.53, Y:-66.09, Z:-8.13 [[ 9.82996371e-01 1.82734305e-01 1.80639976e-02 4.05526872e+02] [-1.82709059e-01 9.83162288e-01 -3.05224081e-03 -6.60901917e+01] [-1.83175903e-02 -3.00114349e-04 9.99832174e-01 -8.13041841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters 0.026617431324041554 Centerline is valid? [True, True] Translation: X:405.56, Y:-66.10, Z:-8.13 [[ 9.83142372e-01 1.81894846e-01 1.85833750e-02 4.05555003e+02] [-1.81867995e-01 9.83317944e-01 -3.13900422e-03 -6.60950300e+01] [-1.88443348e-02 -2.93633116e-04 9.99822387e-01 -8.13028495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.494012739 meters 0.02529074220725496 Centerline is valid? [True, True] Translation: X:405.58, Y:-66.10, Z:-8.13 [[ 9.83448965e-01 1.80295200e-01 1.79380721e-02 4.05583852e+02] [-1.80269969e-01 9.83612513e-01 -3.02707043e-03 -6.60999770e+01] [-1.81898784e-02 -2.56726423e-04 9.99834518e-01 -8.13121559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters 0.024498419530160853 Centerline is valid? [True, True] Translation: X:405.61, Y:-66.10, Z:-8.13 [[ 9.83687192e-01 1.78996740e-01 1.78794943e-02 4.05612967e+02] [-1.78971510e-01 9.83849639e-01 -3.01439762e-03 -6.61023695e+01] [-1.81303013e-02 -2.34695763e-04 9.99835605e-01 -8.13231563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55401273900003 meters 0.026537136320497336 Centerline is valid? [True, True] Translation: X:405.64, Y:-66.10, Z:-8.13 [[ 9.83660117e-01 1.79127355e-01 1.80600082e-02 4.05641354e+02] [-1.79101696e-01 9.83825865e-01 -3.04150181e-03 -6.61007255e+01] [-1.83127193e-02 -2.42774066e-04 9.99832279e-01 -8.13318228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters 0.025377471311586002 Centerline is valid? [True, True] Translation: X:405.67, Y:-66.11, Z:-8.13 [[ 9.83552105e-01 1.79669743e-01 1.85483101e-02 4.05670182e+02] [-1.79642793e-01 9.83726952e-01 -3.12273462e-03 -6.61056886e+01] [-1.88075335e-02 -2.60698018e-04 9.99823089e-01 -8.13223461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.614012739 meters 0.02702433547750273 Centerline is valid? [True, True] Translation: X:405.70, Y:-66.10, Z:-8.13 [[ 9.83285227e-01 1.81005651e-01 1.96753067e-02 4.05698958e+02] [-1.80975664e-01 9.83482008e-01 -3.30894177e-03 -6.61043708e+01] [-1.99492473e-02 -3.07118127e-04 9.99800947e-01 -8.13099377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters 0.026090456114976776 Centerline is valid? [True, True] Translation: X:405.73, Y:-66.11, Z:-8.13 [[ 9.83316821e-01 1.80752418e-01 2.04105923e-02 4.05726333e+02] [-1.80720120e-01 9.83528578e-01 -3.43129811e-03 -6.61087197e+01] [-2.06946163e-02 -3.14551548e-04 9.99785794e-01 -8.13000482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.674012739 meters 0.02518695460764184 Centerline is valid? [True, True] Translation: X:405.75, Y:-66.11, Z:-8.13 [[ 9.83548800e-01 1.79579272e-01 1.95714750e-02 4.05754667e+02] [-1.79549414e-01 9.83743465e-01 -3.28662964e-03 -6.61120393e+01] [-1.98435212e-02 -2.81486239e-04 9.99803058e-01 -8.13228029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters 0.02511468346084214 Centerline is valid? [True, True] Translation: X:405.78, Y:-66.12, Z:-8.14 [[ 9.83702869e-01 1.78940523e-01 1.75770880e-02 4.05782047e+02] [-1.78916385e-01 9.83859863e-01 -2.94913588e-03 -6.61163097e+01] [-1.78211113e-02 -2.43755614e-04 9.99841162e-01 -8.13725985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.734012739 meters 0.026169090722344992 Centerline is valid? [True, True] Translation: X:405.81, Y:-66.12, Z:-8.14 [[ 9.83780373e-01 1.78591125e-01 1.67746233e-02 4.05808666e+02] [-1.78569148e-01 9.83923349e-01 -2.81108233e-03 -6.61185631e+01] [-1.70069779e-02 -2.29942567e-04 9.99855344e-01 -8.13923431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters 0.02379329057557215 Centerline is valid? [True, True] Translation: X:405.84, Y:-66.12, Z:-8.14 [[ 9.84122021e-01 1.76565479e-01 1.81239756e-02 4.05836540e+02] [-1.76539508e-01 9.84288874e-01 -3.03570550e-03 -6.61247641e+01] [-1.83752283e-02 -2.12093106e-04 9.99831139e-01 -8.13646251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.794012739 meters 0.022634603757506977 Centerline is valid? [True, True] Translation: X:405.87, Y:-66.13, Z:-8.13 [[ 9.84415975e-01 1.74812748e-01 1.91230630e-02 4.05865003e+02] [-1.74783569e-01 9.84601679e-01 -3.19970628e-03 -6.61309756e+01] [-1.93879494e-02 -1.92555218e-04 9.99812018e-01 -8.13499133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters 0.021390035312865593 Centerline is valid? [True, True] Translation: X:405.89, Y:-66.14, Z:-8.13 [[ 9.84852877e-01 1.72267318e-01 1.97175493e-02 4.05891953e+02] [-1.72235854e-01 9.85050226e-01 -3.29576955e-03 -6.61382721e+01] [-1.99905298e-02 -1.50220820e-04 9.99800158e-01 -8.13441096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.854012739 meters 0.021390035312865593 Centerline is valid? [True, True] Translation: X:405.92, Y:-66.14, Z:-8.13 [[ 9.84864638e-01 1.72200033e-01 1.97178301e-02 4.05919080e+02] [-1.72168589e-01 9.85061991e-01 -3.29408880e-03 -6.61426681e+01] [-1.99905272e-02 -1.50559410e-04 9.99800158e-01 -8.13496933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters 0.019644778360968708 Centerline is valid? [True, True] Translation: X:405.95, Y:-66.16, Z:-8.14 [[ 9.85814723e-01 1.66802863e-01 1.86047516e-02 4.05946181e+02] [-1.66773930e-01 9.85990265e-01 -3.10687604e-03 -6.61574170e+01] [-1.88623398e-02 -3.99834087e-05 9.99822089e-01 -8.13761061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.914012739 meters 0.01995732487037097 Centerline is valid? [True, True] Translation: X:405.97, Y:-66.17, Z:-8.14 [[ 9.86665343e-01 1.61833043e-01 1.73656634e-02 4.05972829e+02] [-1.61807079e-01 9.86818151e-01 -2.89921102e-03 -6.61714525e+01] [-1.76059400e-02 5.06637667e-05 9.99845002e-01 -8.14110931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters 0.020549314903709582 Centerline is valid? [True, True] Translation: X:406.00, Y:-66.18, Z:-8.14 [[ 9.87064944e-01 1.59417845e-01 1.69925899e-02 4.06000745e+02] [-1.59392640e-01 9.87211195e-01 -2.83613948e-03 -6.61800566e+01] [-1.72274062e-02 9.09600877e-05 9.99851593e-01 -8.14172080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.974012739 meters 0.022686746720174806 Centerline is valid? [True, True] Translation: X:406.03, Y:-66.20, Z:-8.14 [[ 9.87711747e-01 1.55271583e-01 1.77831664e-02 4.06026230e+02] [-1.55243322e-01 9.87871807e-01 -2.96720107e-03 -6.61950739e+01] [-1.80282108e-02 1.70021526e-04 9.99837464e-01 -8.14016829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters 0.023748031515567605 Centerline is valid? [True, True] Translation: X:406.05, Y:-66.20, Z:-8.14 [[ 9.87946666e-01 1.53699197e-01 1.83832087e-02 4.06053952e+02] [-1.53668746e-01 9.88117663e-01 -3.06614066e-03 -6.62040410e+01] [-1.86360366e-02 2.04258801e-04 9.99826313e-01 -8.13908308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.034012739 meters 0.023727568604307574 Centerline is valid? [True, True] Translation: X:406.08, Y:-66.21, Z:-8.14 [[ 9.88090009e-01 1.52740934e-01 1.86638947e-02 4.06081861e+02] [-1.52709392e-01 9.88266238e-01 -3.11209617e-03 -6.62109455e+01] [-1.89202415e-02 2.24879125e-04 9.99820971e-01 -8.13899871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters 0.023183959276914856 Centerline is valid? [True, True] Translation: X:406.11, Y:-66.22, Z:-8.14 [[ 9.88055384e-01 1.53085361e-01 1.76473832e-02 4.06109747e+02] [-1.53057231e-01 9.88212948e-01 -2.94182392e-03 -6.62187234e+01] [-1.78897227e-02 2.05625366e-04 9.99839945e-01 -8.14160388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.094012739 meters 0.023522891542835146 Centerline is valid? [True, True] Translation: X:406.14, Y:-66.23, Z:-8.15 [[ 9.87851250e-01 1.54678993e-01 1.49772195e-02 4.06136398e+02] [-1.54658922e-01 9.87964770e-01 -2.49619174e-03 -6.62265396e+01] [-1.51830736e-02 1.49505504e-04 9.99884719e-01 -8.14853159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters 0.022700995745637883 Centerline is valid? [True, True] Translation: X:406.17, Y:-66.23, Z:-8.15 [[ 9.87788137e-01 1.55111896e-01 1.46593332e-02 4.06165387e+02] [-1.55092730e-01 9.87896898e-01 -2.44229202e-03 -6.62309417e+01] [-1.48607384e-02 1.38911082e-04 9.99889563e-01 -8.14858347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.154012739 meters 0.023000132543627674 Centerline is valid? [True, True] Translation: X:406.19, Y:-66.24, Z:-8.15 [[ 9.87750442e-01 1.55150786e-01 1.66522651e-02 4.06191482e+02] [-1.55126075e-01 9.87890788e-01 -2.77344173e-03 -6.62425254e+01] [-1.68809210e-02 1.56267772e-04 9.99857495e-01 -8.14600227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters 0.022427071385026084 Centerline is valid? [True, True] Translation: X:406.22, Y:-66.25, Z:-8.15 [[ 9.87788100e-01 1.54863739e-01 1.70848162e-02 4.06219087e+02] [-1.54837701e-01 9.87935826e-01 -2.84447998e-03 -6.62487806e+01] [-1.73192088e-02 1.64369818e-04 9.99849998e-01 -8.14519957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.214012739 meters 0.02204790000455551 Centerline is valid? [True, True] Translation: X:406.25, Y:-66.26, Z:-8.14 [[ 9.87863603e-01 1.54324754e-01 1.75889544e-02 4.06246663e+02] [-1.54297095e-01 9.88020161e-01 -2.92708185e-03 -6.62589355e+01] [-1.78299628e-02 1.77633058e-04 9.99841018e-01 -8.14481775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters 0.022237648852893907 Centerline is valid? [True, True] Translation: X:406.27, Y:-66.27, Z:-8.14 [[ 9.87747243e-01 1.54981486e-01 1.83336385e-02 4.06273697e+02] [-1.54951565e-01 9.87917360e-01 -3.05008302e-03 -6.62666414e+01] [-1.85848261e-02 1.71885119e-04 9.99827272e-01 -8.14420607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.274012739 meters 0.021522739785415527 Centerline is valid? [True, True] Translation: X:406.30, Y:-66.27, Z:-8.14 [[ 9.87541680e-01 1.56123196e-01 1.96717771e-02 4.06300715e+02] [-1.56088999e-01 9.87737578e-01 -3.27140201e-03 -6.62721099e+01] [-1.99412952e-02 1.60097840e-04 9.99801140e-01 -8.14200985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters 0.019612340315603556 Centerline is valid? [True, True] Translation: X:406.33, Y:-66.27, Z:-8.14 [[ 9.86917338e-01 1.59631118e-01 2.26290333e-02 4.06330099e+02] [-1.59586821e-01 9.87176730e-01 -3.76175247e-03 -6.62749769e+01] [-2.29393479e-02 1.01243241e-04 9.99736853e-01 -8.13639131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.334012739 meters 0.01918867872703751 Centerline is valid? [True, True] Translation: X:406.36, Y:-66.28, Z:-8.14 [[ 9.86359171e-01 1.63111576e-01 2.21404335e-02 4.06357728e+02] [-1.63070065e-01 9.86607629e-01 -3.67971146e-03 -6.62764696e+01] [-2.24441241e-02 1.90752126e-05 9.99748099e-01 -8.13810533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters 0.019247274112290273 Centerline is valid? [True, True] Translation: X:406.38, Y:-66.28, Z:-8.14 [[ 9.86189043e-01 1.64368863e-01 2.03481579e-02 4.06384825e+02] [-1.64334093e-01 9.86398944e-01 -3.38073051e-03 -6.62789399e+01] [-2.06270883e-02 -9.85667033e-06 9.99787239e-01 -8.14205992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.394012739 meters 0.019481890986669168 Centerline is valid? [True, True] Translation: X:406.41, Y:-66.28, Z:-8.15 [[ 9.86104660e-01 1.65130704e-01 1.81507393e-02 4.06412993e+02] [-1.65103192e-01 9.86271692e-01 -3.01428754e-03 -6.62820914e+01] [-1.83993118e-02 -2.43420116e-05 9.99830718e-01 -8.14664864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters 0.019792211029041343 Centerline is valid? [True, True] Translation: X:406.44, Y:-66.29, Z:-8.15 [[ 9.86308517e-01 1.64173371e-01 1.55760369e-02 4.06441366e+02] [-1.64153001e-01 9.86431500e-01 -2.58607172e-03 -6.62873696e+01] [-1.57892575e-02 -6.18863279e-06 9.99875342e-01 -8.15180427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.454012739 meters 0.0197741506643387 Centerline is valid? [True, True] Translation: X:406.47, Y:-66.29, Z:-8.15 [[ 9.86555592e-01 1.62647202e-01 1.59358588e-02 4.06469080e+02] [-1.62625689e-01 9.86684290e-01 -2.64539169e-03 -6.62939378e+01] [-1.61539271e-02 1.82459560e-05 9.99869517e-01 -8.15132923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters 0.01994153040335843 Centerline is valid? [True, True] Translation: X:406.50, Y:-66.30, Z:-8.15 [[ 9.87034305e-01 1.59456109e-01 1.83583842e-02 4.06495736e+02] [-1.59427032e-01 9.87205016e-01 -3.04607104e-03 -6.63028637e+01] [-1.86092036e-02 7.97539008e-05 9.99826831e-01 -8.14687337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.514012739 meters 0.02061237075781237 Centerline is valid? [True, True] Translation: X:406.52, Y:-66.31, Z:-8.15 [[ 9.87290211e-01 1.57782043e-01 1.90490466e-02 4.06522808e+02] [-1.57750453e-01 9.87473956e-01 -3.15922827e-03 -6.63093931e+01] [-1.93089069e-02 1.14079411e-04 9.99813559e-01 -8.14563296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters 0.020258013047646288 Centerline is valid? [True, True] Translation: X:406.55, Y:-66.31, Z:-8.15 [[ 9.87271755e-01 1.57995092e-01 1.82217520e-02 4.06550513e+02] [-1.57966242e-01 9.87439892e-01 -3.02101352e-03 -6.63109570e+01] [-1.84701902e-02 1.04139638e-04 9.99829406e-01 -8.14718166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.574012739 meters 0.021198564800695298 Centerline is valid? [True, True] Translation: X:406.58, Y:-66.32, Z:-8.15 [[ 9.87412225e-01 1.57249581e-01 1.70196250e-02 4.06577891e+02] [-1.57224321e-01 9.87558888e-01 -2.82054883e-03 -6.63152995e+01] [-1.72514120e-02 1.09145421e-04 9.99851177e-01 -8.15143640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters 0.021446893939369542 Centerline is valid? [True, True] Translation: X:406.61, Y:-66.32, Z:-8.15 [[ 9.87648559e-01 1.55745700e-01 1.71348136e-02 4.06606393e+02] [-1.55719889e-01 9.87797175e-01 -2.83857758e-03 -6.63206669e+01] [-1.73678168e-02 1.35285779e-04 9.99849159e-01 -8.15112388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.634012739 meters 0.023553770222227134 Centerline is valid? [True, True] Translation: X:406.63, Y:-66.33, Z:-8.15 [[ 9.88264163e-01 1.51744387e-01 1.75381091e-02 4.06633780e+02] [-1.51716732e-01 9.88419747e-01 -2.90453319e-03 -6.63322023e+01] [-1.77757600e-02 2.09621470e-04 9.99841977e-01 -8.15041992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters 0.025534039737844544 Centerline is valid? [True, True] Translation: X:406.66, Y:-66.34, Z:-8.15 [[ 9.88638947e-01 1.49268655e-01 1.76607472e-02 4.06660242e+02] [-1.49240231e-01 9.88796644e-01 -2.92402973e-03 -6.63412710e+01] [-1.78993536e-02 2.55115674e-04 9.99839761e-01 -8.15073536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.694012739 meters 0.029525252856480437 Centerline is valid? [True, True] Translation: X:406.69, Y:-66.36, Z:-8.15 [[ 9.89418624e-01 1.43935671e-01 1.82567788e-02 4.06687961e+02] [-1.43904409e-01 9.89586980e-01 -3.02154115e-03 -6.63554374e+01] [-1.85015782e-02 3.62338129e-04 9.99828765e-01 -8.14956780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters 0.032852509759158266 Centerline is valid? [True, True] Translation: X:406.71, Y:-66.37, Z:-8.15 [[ 9.89743185e-01 1.41615375e-01 1.88019440e-02 4.06714918e+02] [-1.41581808e-01 9.89921669e-01 -3.11132681e-03 -6.63667140e+01] [-1.90530636e-02 4.17401282e-04 9.99818387e-01 -8.14881732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.754012739 meters 0.035037095211863066 Centerline is valid? [True, True] Translation: X:406.74, Y:-66.38, Z:-8.15 [[ 9.90138542e-01 1.38693276e-01 1.97444623e-02 4.06743224e+02] [-1.38655692e-01 9.90335261e-01 -3.26656545e-03 -6.63771461e+01] [-2.00066879e-02 4.96670259e-04 9.99799723e-01 -8.14812971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters 0.036156361405576015 Centerline is valid? [True, True] Translation: X:406.77, Y:-66.39, Z:-8.15 [[ 9.90296343e-01 1.37437204e-01 2.05953453e-02 4.06772315e+02] [-1.37396050e-01 9.90510333e-01 -3.40684611e-03 -6.63856336e+01] [-2.08681297e-02 5.44068159e-04 9.99782089e-01 -8.14790477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.814012739 meters 0.03844572936014441 Centerline is valid? [True, True] Translation: X:406.80, Y:-66.40, Z:-8.15 [[ 9.90659375e-01 1.34750549e-01 2.08876263e-02 4.06801167e+02] [-1.34707631e-01 9.90879367e-01 -3.45473906e-03 -6.64000798e+01] [-2.11626459e-02 6.08746985e-04 9.99775861e-01 -8.14680218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters 0.03905350741886275 Centerline is valid? [True, True] Translation: X:406.83, Y:-66.41, Z:-8.15 [[ 9.90876529e-01 1.33286741e-01 1.99586964e-02 4.06831100e+02] [-1.33247254e-01 9.91077328e-01 -3.30131587e-03 -6.64091796e+01] [-2.02206331e-02 6.11754921e-04 9.99795355e-01 -8.14908565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.874012739 meters 0.03962168524903374 Centerline is valid? [True, True] Translation: X:406.86, Y:-66.42, Z:-8.15 [[ 9.90964977e-01 1.32791957e-01 1.88337353e-02 4.06860862e+02] [-1.32756700e-01 9.91143759e-01 -3.11565165e-03 -6.64207245e+01] [-1.90806727e-02 5.87197110e-04 9.99817775e-01 -8.15173458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters 0.036449008079443804 Centerline is valid? [True, True] Translation: X:406.89, Y:-66.43, Z:-8.15 [[ 9.90614029e-01 1.35102847e-01 2.07621362e-02 4.06891173e+02] [-1.35060495e-01 9.90831399e-01 -3.43518759e-03 -6.64270660e+01] [-2.10358801e-02 5.98800623e-04 9.99778542e-01 -8.14931855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.934012739 meters 0.036192882157877755 Centerline is valid? [True, True] Translation: X:406.92, Y:-66.43, Z:-8.15 [[ 9.90334848e-01 1.37042325e-01 2.13609252e-02 4.06920427e+02] [-1.36997940e-01 9.90565027e-01 -3.53451917e-03 -6.64347916e+01] [-2.16437642e-02 5.73954768e-04 9.99765582e-01 -8.14839747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters 0.034698105054480635 Centerline is valid? [True, True] Translation: X:406.95, Y:-66.44, Z:-8.15 [[ 9.90038347e-01 1.39156227e-01 2.14386630e-02 4.06950955e+02] [-1.39112007e-01 9.90270298e-01 -3.54765125e-03 -6.64398690e+01] [-2.17237489e-02 5.29935344e-04 9.99763871e-01 -8.14821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.994012739 meters 0.03127391302721535 Centerline is valid? [True, True] Translation: X:406.98, Y:-66.44, Z:-8.15 [[ 9.89512100e-01 1.43003676e-01 2.03899998e-02 4.06980149e+02] [-1.42964484e-01 9.89722066e-01 -3.37455335e-03 -6.64435158e+01] [-2.06630062e-02 4.24115574e-04 9.99786407e-01 -8.15140174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters 0.02940405073639183 Centerline is valid? [True, True] Translation: X:407.01, Y:-66.45, Z:-8.15 [[ 9.89378027e-01 1.44124981e-01 1.89502016e-02 4.07009996e+02] [-1.44091338e-01 9.89559423e-01 -3.13605437e-03 -6.64481413e+01] [-1.92043344e-02 3.72183370e-04 9.99815510e-01 -8.15487206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05401273900003 meters 0.02706182036320997 Centerline is valid? [True, True] Translation: X:407.04, Y:-66.45, Z:-8.16 [[ 9.88983837e-01 1.47099657e-01 1.65124498e-02 4.07039349e+02] [-1.47074528e-01 9.89121639e-01 -2.73263268e-03 -6.64548591e+01] [-1.67347907e-02 2.73968787e-04 9.99859926e-01 -8.16028695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters 0.024399906785973858 Centerline is valid? [True, True] Translation: X:407.07, Y:-66.46, Z:-8.16 [[ 9.88461078e-01 1.50468092e-01 1.74370554e-02 4.07068371e+02] [-1.50440592e-01 9.88614840e-01 -2.88570616e-03 -6.64606890e+01] [-1.76727384e-02 2.29167285e-04 9.99843799e-01 -8.15956140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.114012739 meters 0.024393449450677066 Centerline is valid? [True, True] Translation: X:407.10, Y:-66.47, Z:-8.16 [[ 9.88283092e-01 1.51541702e-01 1.82110781e-02 4.07096080e+02] [-1.51511897e-01 9.88450841e-01 -3.01334795e-03 -6.64683450e+01] [-1.84574033e-02 2.18845828e-04 9.99829624e-01 -8.15843644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters 0.02226071537612643 Centerline is valid? [True, True] Translation: X:407.13, Y:-66.47, Z:-8.16 [[ 9.87971183e-01 1.53513209e-01 1.86181526e-02 4.07125221e+02] [-1.53482414e-01 9.88146578e-01 -3.08029174e-03 -6.64737958e+01] [-1.88703292e-02 1.85680466e-04 9.99821922e-01 -8.15806146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.174012739 meters 0.021742859055971828 Centerline is valid? [True, True] Translation: X:407.15, Y:-66.48, Z:-8.16 [[ 9.87712197e-01 1.55295980e-01 1.75435061e-02 4.07154391e+02] [-1.55268927e-01 9.87867976e-01 -2.90207382e-03 -6.64792334e+01] [-1.77813482e-02 1.42452337e-04 9.99841889e-01 -8.16128763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters 0.020650407888245587 Centerline is valid? [True, True] Translation: X:407.18, Y:-66.48, Z:-8.16 [[ 9.87403215e-01 1.57318528e-01 1.69048045e-02 4.07183785e+02] [-1.57293708e-01 9.87547908e-01 -2.79626356e-03 -6.64814885e+01] [-1.71342084e-02 1.02020237e-04 9.99853193e-01 -8.16277142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.234012739 meters 0.019474749034950948 Centerline is valid? [True, True] Translation: X:407.21, Y:-66.48, Z:-8.16 [[ 9.86526404e-01 1.62752418e-01 1.66524949e-02 4.07212729e+02] [-1.62729111e-01 9.86666940e-01 -2.75425896e-03 -6.64792792e+01] [-1.68787285e-02 7.30348837e-06 9.99857544e-01 -8.16405477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters 0.01964274901176901 Centerline is valid? [True, True] Translation: X:407.24, Y:-66.48, Z:-8.16 [[ 9.86041511e-01 1.65593241e-01 1.73498514e-02 4.07242173e+02] [-1.65568400e-01 9.86194137e-01 -2.86845284e-03 -6.64804962e+01] [-1.75853181e-02 -4.41735682e-05 9.99845365e-01 -8.16320949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.294012739 meters 0.020985605911003243 Centerline is valid? [True, True] Translation: X:407.27, Y:-66.48, Z:-8.16 [[ 9.85323555e-01 1.69806367e-01 1.74152244e-02 4.07271430e+02] [-1.69782007e-01 9.85477439e-01 -2.87866725e-03 -6.64788367e+01] [-1.76511268e-02 -1.20373108e-04 9.99844199e-01 -8.16273148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters 0.022503890014803206 Centerline is valid? [True, True] Translation: X:407.30, Y:-66.48, Z:-8.16 [[ 9.84892352e-01 1.72319854e-01 1.71149896e-02 4.07300025e+02] [-1.72296719e-01 9.85041035e-01 -2.82827060e-03 -6.64774627e+01] [-1.73463342e-02 -1.63314471e-04 9.99849528e-01 -8.16478891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.354012739 meters 0.02300155400028598 Centerline is valid? [True, True] Translation: X:407.33, Y:-66.48, Z:-8.17 [[ 9.84797158e-01 1.72853256e-01 1.72136377e-02 4.07327961e+02] [-1.72829954e-01 9.84947573e-01 -2.84354394e-03 -6.64800003e+01] [-1.74460465e-02 -1.74718209e-04 9.99847791e-01 -8.16555005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters 0.022097343996494483 Centerline is valid? [True, True] Translation: X:407.36, Y:-66.48, Z:-8.16 [[ 9.84908702e-01 1.71878268e-01 2.03152436e-02 4.07356842e+02] [-1.71845632e-01 9.85118179e-01 -3.35450291e-03 -6.64848187e+01] [-2.05894819e-02 -1.87206767e-04 9.99787997e-01 -8.16033517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.414012739 meters 0.021349548198777192 Centerline is valid? [True, True] Translation: X:407.38, Y:-66.49, Z:-8.16 [[ 9.85110313e-01 1.70484905e-01 2.21938742e-02 4.07384022e+02] [-1.70445627e-01 9.85360273e-01 -3.66354202e-03 -6.64898712e+01] [-2.24935405e-02 -1.73855767e-04 9.99746973e-01 -8.15758966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters 0.019954948253845306 Centerline is valid? [True, True] Translation: X:407.41, Y:-66.50, Z:-8.16 [[ 9.85706767e-01 1.66892456e-01 2.30016818e-02 4.07411197e+02] [-1.66849320e-01 9.85975101e-01 -3.79548820e-03 -6.64983256e+01] [-2.33125239e-02 -9.65765561e-05 9.99728222e-01 -8.15731860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.474012739 meters 0.019529222505954305 Centerline is valid? [True, True] Translation: X:407.44, Y:-66.50, Z:-8.16 [[ 9.85953493e-01 1.65515194e-01 2.23703117e-02 4.07439247e+02] [-1.65474067e-01 9.86207238e-01 -3.69007814e-03 -6.65043660e+01] [-2.26725273e-02 -6.34610162e-05 9.99742943e-01 -8.15938323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters 0.01990716223771922 Centerline is valid? [True, True] Translation: X:407.47, Y:-66.50, Z:-8.16 [[ 9.85866736e-01 1.66404848e-01 1.93960084e-02 4.07467162e+02] [-1.66374118e-01 9.86057514e-01 -3.19869651e-03 -6.65043570e+01] [-1.96578584e-02 -7.35053013e-05 9.99806763e-01 -8.16475917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.534012739 meters 0.020422707341647684 Centerline is valid? [True, True] Translation: X:407.50, Y:-66.50, Z:-8.16 [[ 9.85559592e-01 1.68217009e-01 1.93733916e-02 4.07495998e+02] [-1.68186724e-01 9.85749981e-01 -3.19376611e-03 -6.65044612e+01] [-1.96345662e-02 -1.10700444e-04 9.99807217e-01 -8.16477537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters 0.022582084491532105 Centerline is valid? [True, True] Translation: X:407.53, Y:-66.50, Z:-8.16 [[ 9.84838611e-01 1.72079028e-01 2.19480655e-02 4.07525281e+02] [-1.72041143e-01 9.85083125e-01 -3.61702265e-03 -6.64970011e+01] [-2.22430827e-02 -2.13786717e-04 9.99752569e-01 -8.15984596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.594012739 meters 0.024201098594545088 Centerline is valid? [True, True] Translation: X:407.55, Y:-66.50, Z:-8.16 [[ 9.84541823e-01 1.73660941e-01 2.27876459e-02 4.07553889e+02] [-1.73620557e-01 9.84805468e-01 -3.75400130e-03 -6.64953412e+01] [-2.30933216e-02 -2.60432487e-04 9.99733280e-01 -8.15843281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters 0.026599224791198448 Centerline is valid? [True, True] Translation: X:407.58, Y:-66.49, Z:-8.16 [[ 9.84032865e-01 1.76675939e-01 2.15623129e-02 4.07583481e+02] [-1.76640530e-01 9.84269025e-01 -3.55098787e-03 -6.64910116e+01] [-2.18504908e-02 -3.14489604e-04 9.99761200e-01 -8.16256921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.654012739 meters 0.028209176581436828 Centerline is valid? [True, True] Translation: X:407.61, Y:-66.49, Z:-8.17 [[ 9.83900291e-01 1.77550430e-01 2.03975876e-02 4.07611452e+02] [-1.77518950e-01 9.84111652e-01 -3.35828018e-03 -6.64890479e+01] [-2.06697677e-02 -3.16745480e-04 9.99786307e-01 -8.16601416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters 0.02861863148471227 Centerline is valid? [True, True] Translation: X:407.64, Y:-66.49, Z:-8.17 [[ 9.83904088e-01 1.77560679e-01 2.01233776e-02 4.07639124e+02] [-1.77530069e-01 9.84109804e-01 -3.31177014e-03 -6.64851729e+01] [-2.03916534e-02 -3.14040438e-04 9.99792019e-01 -8.16807000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.714012739 meters 0.025375779393106482 Centerline is valid? [True, True] Translation: X:407.67, Y:-66.49, Z:-8.17 [[ 9.84282048e-01 1.75417098e-01 2.04375116e-02 4.07666988e+02] [-1.75385114e-01 9.84494167e-01 -3.36100375e-03 -6.64921641e+01] [-2.07101885e-02 -2.76259652e-04 9.99785483e-01 -8.16813551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters 0.023658244922999495 Centerline is valid? [True, True] Translation: X:407.69, Y:-66.50, Z:-8.17 [[ 9.84652243e-01 1.73384495e-01 1.99443429e-02 4.07694708e+02] [-1.73353637e-01 9.84854184e-01 -3.27898180e-03 -6.64994909e+01] [-2.02107941e-02 -2.28767600e-04 9.99795715e-01 -8.16962212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.774012739 meters 0.023658244922999495 Centerline is valid? [True, True] Translation: X:407.72, Y:-66.50, Z:-8.17 [[ 9.84664464e-01 1.73315061e-01 1.99444968e-02 4.07721852e+02] [-1.73284209e-01 9.84866406e-01 -3.27804511e-03 -6.65038159e+01] [-2.02107995e-02 -2.28291819e-04 9.99795715e-01 -8.17018043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters 0.02088419441043587 Centerline is valid? [True, True] Translation: X:407.75, Y:-66.51, Z:-8.17 [[ 9.85657787e-01 1.67615613e-01 1.95891059e-02 4.07748603e+02] [-1.67584752e-01 9.85852420e-01 -3.21823542e-03 -6.65134664e+01] [-1.98513939e-02 -1.10756643e-04 9.99802936e-01 -8.17094834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.834012739 meters 0.020035074958995716 Centerline is valid? [True, True] Translation: X:407.78, Y:-66.52, Z:-8.17 [[ 9.86238300e-01 1.64083799e-01 2.02613303e-02 4.07775884e+02] [-1.64050063e-01 9.86446403e-01 -3.32741806e-03 -6.65226586e+01] [-2.05326918e-02 -4.22453865e-05 9.99789181e-01 -8.17078790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters 0.021103865887472553 Centerline is valid? [True, True] Translation: X:407.80, Y:-66.54, Z:-8.17 [[ 9.87542491e-01 1.55882073e-01 2.14617610e-02 4.07802002e+02] [-1.55842305e-01 9.87775663e-01 -3.52346654e-03 -6.65427393e+01] [-2.17486505e-02 1.34922634e-04 9.99763461e-01 -8.17069156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.894012739 meters 0.022991767968533642 Centerline is valid? [True, True] Translation: X:407.83, Y:-66.56, Z:-8.17 [[ 9.88174569e-01 1.51822811e-01 2.14675297e-02 4.07828794e+02] [-1.51782085e-01 9.88407701e-01 -3.52339471e-03 -6.65551864e+01] [-2.17536033e-02 2.23342631e-04 9.99763337e-01 -8.17131743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters 0.02602619633432985 Centerline is valid? [True, True] Translation: X:407.86, Y:-66.57, Z:-8.17 [[ 9.88859861e-01 1.47527790e-01 1.97920947e-02 4.07857653e+02] [-1.47492325e-01 9.89057868e-01 -3.24784479e-03 -6.65681665e+01] [-2.00546743e-02 2.92481289e-04 9.99798842e-01 -8.17493655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.954012739 meters 0.026552725984802066 Centerline is valid? [True, True] Translation: X:407.89, Y:-66.58, Z:-8.18 [[ 9.88920823e-01 1.47248723e-01 1.87994508e-02 4.07885733e+02] [-1.47216675e-01 9.89099456e-01 -3.08499782e-03 -6.65753196e+01] [-1.90487886e-02 2.83225936e-04 9.99818515e-01 -8.17740332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters 0.026206042619159695 Centerline is valid? [True, True] Translation: X:407.91, Y:-66.59, Z:-8.18 [[ 9.88893672e-01 1.47320931e-01 1.96430201e-02 4.07914019e+02] [-1.47285971e-01 9.89088700e-01 -3.22269394e-03 -6.65873835e+01] [-1.99034595e-02 2.93760352e-04 9.99801863e-01 -8.17546387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.014012739 meters 0.02602495859865108 Centerline is valid? [True, True] Translation: X:407.94, Y:-66.60, Z:-8.17 [[ 9.88875846e-01 1.47254195e-01 2.09943427e-02 4.07942793e+02] [-1.47214255e-01 9.89098631e-01 -3.44386712e-03 -6.65950469e+01] [-2.12725995e-02 3.14890487e-04 9.99773663e-01 -8.17307014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters 0.025032174223482386 Centerline is valid? [True, True] Translation: X:407.97, Y:-66.60, Z:-8.17 [[ 9.88643401e-01 1.48562284e-01 2.26599542e-02 4.07972455e+02] [-1.48516109e-01 9.88903005e-01 -3.71657754e-03 -6.66005764e+01] [-2.29606400e-02 3.09001643e-04 9.99736322e-01 -8.17129599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.074012739 meters 0.024164958958305335 Centerline is valid? [True, True] Translation: X:408.00, Y:-66.61, Z:-8.17 [[ 9.88404676e-01 1.50226767e-01 2.20933406e-02 4.08001326e+02] [-1.50183290e-01 9.88651531e-01 -3.62361989e-03 -6.66060908e+01] [-2.23869797e-02 2.63552270e-04 9.99749345e-01 -8.17348926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters 0.022017043537945175 Centerline is valid? [True, True] Translation: X:408.03, Y:-66.61, Z:-8.18 [[ 9.87820155e-01 1.54324993e-01 1.98780848e-02 4.08030829e+02] [-1.54290631e-01 9.88020128e-01 -3.26008198e-03 -6.66117348e+01] [-2.01430600e-02 1.53372426e-04 9.99797096e-01 -8.17770623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.134012739 meters 0.02119457398510081 Centerline is valid? [True, True] Translation: X:408.06, Y:-66.61, Z:-8.18 [[ 9.87540576e-01 1.56246660e-01 1.87240753e-02 4.08060385e+02] [-1.56216538e-01 9.87718062e-01 -3.06974154e-03 -6.66149505e+01] [-1.89737443e-02 1.06484094e-04 9.99819977e-01 -8.17974990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters 0.020399455335824185 Centerline is valid? [True, True] Translation: X:408.09, Y:-66.61, Z:-8.18 [[ 9.86856406e-01 1.60712644e-01 1.69079700e-02 4.08089469e+02] [-1.60688742e-01 9.87001239e-01 -2.77171808e-03 -6.66131771e+01] [-1.71336375e-02 1.83673142e-05 9.99853208e-01 -8.18420195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.194012739 meters 0.020688136682485345 Centerline is valid? [True, True] Translation: X:408.12, Y:-66.61, Z:-8.18 [[ 9.86145778e-01 1.64884093e-01 1.81587728e-02 4.08117143e+02] [-1.64857247e-01 9.86312948e-01 -2.97586140e-03 -6.66135504e+01] [-1.84009050e-02 -5.89721461e-05 9.99830687e-01 -8.18287129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters 0.0209161090536377 Centerline is valid? [True, True] Translation: X:408.15, Y:-66.62, Z:-8.18 [[ 9.85958183e-01 1.65848532e-01 1.95122080e-02 4.08145257e+02] [-1.65817748e-01 9.86151235e-01 -3.19643286e-03 -6.66169720e+01] [-1.97721117e-02 -8.39212543e-05 9.99804509e-01 -8.18097675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.254012739 meters 0.020908531097409845 Centerline is valid? [True, True] Translation: X:408.17, Y:-66.62, Z:-8.18 [[ 9.85902373e-01 1.66070461e-01 2.04233231e-02 4.08173292e+02] [-1.66036810e-01 9.86113885e-01 -3.34434080e-03 -6.66210405e+01] [-2.06951187e-02 -9.38298768e-05 9.99785829e-01 -8.17911920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters 0.02051952944975497 Centerline is valid? [True, True] Translation: X:408.20, Y:-66.63, Z:-8.18 [[ 9.86083014e-01 1.64630186e-01 2.31774009e-02 4.08201315e+02] [-1.64586483e-01 9.86355360e-01 -3.79386211e-03 -6.66289580e+01] [-2.34857378e-02 -7.36239112e-05 9.99724169e-01 -8.17678313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.314012739 meters 0.02017299535025231 Centerline is valid? [True, True] Translation: X:408.23, Y:-66.64, Z:-8.17 [[ 9.86408756e-01 1.62393129e-01 2.50247215e-02 4.08228645e+02] [-1.62341490e-01 9.86726138e-01 -4.09507269e-03 -6.66414848e+01] [-2.53575585e-02 -2.31350186e-05 9.99678445e-01 -8.17398013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters 0.020090615943851062 Centerline is valid? [True, True] Translation: X:408.26, Y:-66.65, Z:-8.17 [[ 9.86664795e-01 1.60865125e-01 2.47990796e-02 4.08257591e+02] [-1.60813950e-01 9.86976399e-01 -4.05735490e-03 -6.66502160e+01] [-2.51287931e-02 1.52112869e-05 9.99684222e-01 -8.17451918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.374012739 meters 0.020430225154506907 Centerline is valid? [True, True] Translation: X:408.29, Y:-66.66, Z:-8.18 [[ 9.87218523e-01 1.57799485e-01 2.23363165e-02 4.08286069e+02] [-1.57757195e-01 9.87471172e-01 -3.65401235e-03 -6.66616432e+01] [-2.26330699e-02 8.35940466e-05 9.99743836e-01 -8.17884437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters 0.020829406101404536 Centerline is valid? [True, True] Translation: X:408.31, Y:-66.67, Z:-8.18 [[ 9.87342731e-01 1.57150619e-01 2.14012736e-02 4.08314954e+02] [-1.57111644e-01 9.87574642e-01 -3.50103224e-03 -6.66695962e+01] [-2.16855445e-02 9.43294598e-05 9.99764836e-01 -8.18113851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.434012739 meters 0.020340614549151686 Centerline is valid? [True, True] Translation: X:408.34, Y:-66.67, Z:-8.18 [[ 9.87030446e-01 1.59131626e-01 2.11666096e-02 4.08344801e+02] [-1.59093962e-01 9.87257374e-01 -3.46238772e-03 -6.66736629e+01] [-2.14478668e-02 5.00023084e-05 9.99769967e-01 -8.18169737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters 0.02006129559072951 Centerline is valid? [True, True] Translation: X:408.37, Y:-66.67, Z:-8.18 [[ 9.86708835e-01 1.61051933e-01 2.16321455e-02 4.08374870e+02] [-1.61013066e-01 9.86945933e-01 -3.53804418e-03 -6.66749620e+01] [-2.19195669e-02 7.96137210e-06 9.99759737e-01 -8.18198667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.494012739 meters 0.020728898316446993 Centerline is valid? [True, True] Translation: X:408.40, Y:-66.67, Z:-8.18 [[ 9.85970129e-01 1.65507270e-01 2.16852019e-02 4.08404520e+02] [-1.65469301e-01 9.86208566e-01 -3.54616942e-03 -6.66721842e+01] [-2.19730487e-02 -9.18180769e-05 9.99758559e-01 -8.18254058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters 0.021704806346793785 Centerline is valid? [True, True] Translation: X:408.43, Y:-66.67, Z:-8.18 [[ 9.85679306e-01 1.67286748e-01 2.12473412e-02 4.08432443e+02] [-1.67250727e-01 9.85908275e-01 -3.47377470e-03 -6.66721992e+01] [-2.15290460e-02 -1.29605428e-04 9.99768215e-01 -8.18419635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55401273900003 meters 0.022882633277180396 Centerline is valid? [True, True] Translation: X:408.46, Y:-66.67, Z:-8.19 [[ 9.85204485e-01 1.70215867e-01 1.99670059e-02 4.08461617e+02] [-1.70184681e-01 9.85406782e-01 -3.26332336e-03 -6.66713554e+01] [-2.02310925e-02 -1.83037723e-04 9.99795314e-01 -8.18748213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters 0.02353210616776635 Centerline is valid? [True, True] Translation: X:408.49, Y:-66.67, Z:-8.19 [[ 9.84995586e-01 1.71499911e-01 1.92737024e-02 4.08490356e+02] [-1.71471116e-01 9.85184115e-01 -3.14912437e-03 -6.66722627e+01] [-1.95282200e-02 -2.03009649e-04 9.99809286e-01 -8.18888638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.614012739 meters 0.02479747703717263 Centerline is valid? [True, True] Translation: X:408.52, Y:-66.67, Z:-8.19 [[ 9.84750995e-01 1.72984190e-01 1.84918317e-02 4.08519386e+02] [-1.72957961e-01 9.84924576e-01 -3.02053666e-03 -6.66690902e+01] [-1.87355645e-02 -2.23833018e-04 9.99824449e-01 -8.19057693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters 0.025444412101743353 Centerline is valid? [True, True] Translation: X:408.55, Y:-66.67, Z:-8.19 [[ 9.84696160e-01 1.73157576e-01 1.97465299e-02 4.08546248e+02] [-1.73127727e-01 9.84894103e-01 -3.22421766e-03 -6.66698446e+01] [-2.00065385e-02 -2.43797084e-04 9.99799819e-01 -8.18930547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.674012739 meters 0.02424746686933978 Centerline is valid? [True, True] Translation: X:408.57, Y:-66.67, Z:-8.18 [[ 9.84794401e-01 1.72166149e-01 2.32121871e-02 4.08574624e+02] [-1.72124676e-01 9.85067889e-01 -3.78800946e-03 -6.66747196e+01] [-2.35177472e-02 -2.64979691e-04 9.99723384e-01 -8.18295666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters 0.023265494308105965 Centerline is valid? [True, True] Translation: X:408.60, Y:-66.68, Z:-8.18 [[ 9.85028459e-01 1.70720704e-01 2.39452939e-02 4.08603242e+02] [-1.70676171e-01 9.85319433e-01 -3.90648519e-03 -6.66809806e+01] [-2.42606813e-02 -2.38891988e-04 9.99705638e-01 -8.18267398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.734012739 meters 0.02119906976078015 Centerline is valid? [True, True] Translation: X:408.63, Y:-66.69, Z:-8.19 [[ 9.85808330e-01 1.66457220e-01 2.17699486e-02 4.08630965e+02] [-1.66419392e-01 9.86048670e-01 -3.55065212e-03 -6.66914471e+01] [-2.20572605e-02 -1.22679168e-04 9.99756702e-01 -8.18736910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters 0.020217751036468043 Centerline is valid? [True, True] Translation: X:408.66, Y:-66.71, Z:-8.19 [[ 9.86628180e-01 1.61618893e-01 2.10753012e-02 4.08658401e+02] [-1.61582356e-01 9.86853248e-01 -3.43641995e-03 -6.67058356e+01] [-2.13536199e-02 -1.49280737e-05 9.99771985e-01 -8.19037501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.794012739 meters 0.020195101523320814 Centerline is valid? [True, True] Translation: X:408.69, Y:-66.72, Z:-8.19 [[ 9.86993099e-01 1.59236303e-01 2.21003037e-02 4.08686105e+02] [-1.59195540e-01 9.87240497e-01 -3.60298272e-03 -6.67161661e+01] [-2.23920404e-02 3.78492977e-05 9.99749266e-01 -8.18861874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters 0.02113998589361563 Centerline is valid? [True, True] Translation: X:408.71, Y:-66.73, Z:-8.19 [[ 9.87627700e-01 1.55056937e-01 2.34280459e-02 4.08714729e+02] [-1.55009970e-01 9.87905525e-01 -3.81869534e-03 -6.67304891e+01] [-2.37368112e-02 1.39868593e-04 9.99718232e-01 -8.18609903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.854012739 meters 0.021941598358215336 Centerline is valid? [True, True] Translation: X:408.74, Y:-66.74, Z:-8.19 [[ 9.87879640e-01 1.53580557e-01 2.25128678e-02 4.08743553e+02] [-1.53536805e-01 9.88136116e-01 -3.66955361e-03 -6.67392682e+01] [-2.28093498e-02 1.68523515e-04 9.99739819e-01 -8.18801012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters 0.022234684348329238 Centerline is valid? [True, True] Translation: X:408.77, Y:-66.75, Z:-8.19 [[ 9.87960863e-01 1.53409938e-01 1.99680573e-02 4.08772731e+02] [-1.53375480e-01 9.88162622e-01 -3.25496463e-03 -6.67475801e+01] [-2.02310318e-02 1.53167292e-04 9.99795320e-01 -8.19416437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.914012739 meters 0.02137079097752217 Centerline is valid? [True, True] Translation: X:408.80, Y:-66.75, Z:-8.19 [[ 9.87714239e-01 1.54932057e-01 2.04117360e-02 4.08803496e+02] [-1.54896371e-01 9.87925120e-01 -3.32752249e-03 -6.67510909e+01] [-2.06808066e-02 1.24937522e-04 9.99786121e-01 -8.19432453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters 0.02029285952394982 Centerline is valid? [True, True] Translation: X:408.83, Y:-66.75, Z:-8.19 [[ 9.87120291e-01 1.58407514e-01 2.23738984e-02 4.08834087e+02] [-1.58365529e-01 9.87373818e-01 -3.64730730e-03 -6.67514353e+01] [-2.26691624e-02 5.70767817e-05 9.99743020e-01 -8.19071730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.974012739 meters 0.020129515770874722 Centerline is valid? [True, True] Translation: X:408.86, Y:-66.75, Z:-8.19 [[ 9.86908357e-01 1.59628552e-01 2.30352053e-02 4.08864462e+02] [-1.59584399e-01 9.87177150e-01 -3.75434100e-03 -6.67544493e+01] [-2.33391283e-02 2.91311220e-05 9.99727605e-01 -8.18998130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters 0.02021176456002319 Centerline is valid? [True, True] Translation: X:408.89, Y:-66.76, Z:-8.19 [[ 9.86850820e-01 1.60079829e-01 2.23586299e-02 4.08893076e+02] [-1.60038348e-01 9.87104072e-01 -3.64404289e-03 -6.67613419e+01] [-2.26536323e-02 1.78885243e-05 9.99743373e-01 -8.19223636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.034012739 meters 0.0202569194719215 Centerline is valid? [True, True] Translation: X:408.92, Y:-66.77, Z:-8.19 [[ 9.86925418e-01 1.59625452e-01 2.23144637e-02 4.08921619e+02] [-1.59584025e-01 9.87177651e-01 -3.63657623e-03 -6.67690588e+01] [-2.26088300e-02 2.79975854e-05 9.99744387e-01 -8.19320264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters 0.02062092348539401 Centerline is valid? [True, True] Translation: X:408.95, Y:-66.78, Z:-8.20 [[ 9.87234304e-01 1.57739751e-01 2.20590151e-02 4.08951111e+02] [-1.57698802e-01 9.87480717e-01 -3.59471291e-03 -6.67798280e+01] [-2.23498812e-02 7.01436416e-05 9.99750208e-01 -8.19552416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.094012739 meters 0.02066772628232429 Centerline is valid? [True, True] Translation: X:408.98, Y:-66.79, Z:-8.20 [[ 9.87339399e-01 1.57119014e-01 2.17836166e-02 4.08981942e+02] [-1.57078929e-01 9.87579672e-01 -3.54987603e-03 -6.67872934e+01] [-2.20708099e-02 8.31853153e-05 9.99756407e-01 -8.19751244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters 0.02079465577996981 Centerline is valid? [True, True] Translation: X:409.01, Y:-66.80, Z:-8.20 [[ 9.87370435e-01 1.56993806e-01 2.12736705e-02 4.09011314e+02] [-1.56955536e-01 9.87599584e-01 -3.46725894e-03 -6.67954324e+01] [-2.15542063e-02 8.44486224e-05 9.99767678e-01 -8.19872810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.154012739 meters 0.020466426681410844 Centerline is valid? [True, True] Translation: X:409.04, Y:-66.80, Z:-8.20 [[ 9.87209581e-01 1.58050080e-01 2.09144585e-02 4.09042420e+02] [-1.58013324e-01 9.87431096e-01 -3.40896958e-03 -6.67976959e+01] [-2.11903746e-02 6.06043352e-05 9.99775457e-01 -8.19889053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters 0.020324445497445085 Centerline is valid? [True, True] Translation: X:409.07, Y:-66.79, Z:-8.20 [[ 9.86587537e-01 1.62059255e-01 1.95404671e-02 4.09073124e+02] [-1.62027947e-01 9.86781028e-01 -3.18547640e-03 -6.67947691e+01] [-1.97983982e-02 -2.33504515e-05 9.99803992e-01 -8.20098121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.214012739 meters 0.020653280983304947 Centerline is valid? [True, True] Translation: X:409.10, Y:-66.80, Z:-8.20 [[ 9.86169654e-01 1.64522769e-01 2.00417752e-02 4.09102995e+02] [-1.64490347e-01 9.86373283e-01 -3.26694998e-03 -6.67959064e+01] [-2.03061593e-02 -7.49116293e-05 9.99793806e-01 -8.20116022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters 0.02042450652311982 Centerline is valid? [True, True] Translation: X:409.13, Y:-66.80, Z:-8.20 [[ 9.86204259e-01 1.64202494e-01 2.09451950e-02 4.09130931e+02] [-1.64167022e-01 9.86426650e-01 -3.41367222e-03 -6.68003398e+01] [-2.12214321e-02 -7.19322147e-05 9.99774797e-01 -8.20038935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.274012739 meters 0.020348090508120063 Centerline is valid? [True, True] Translation: X:409.16, Y:-66.80, Z:-8.20 [[ 9.86285620e-01 1.63613912e-01 2.17063080e-02 4.09159448e+02] [-1.63575690e-01 9.86524447e-01 -3.53690777e-03 -6.68047673e+01] [-2.19924908e-02 -6.22230357e-05 9.99758134e-01 -8.19938626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters 0.02050777494355271 Centerline is valid? [True, True] Translation: X:409.19, Y:-66.81, Z:-8.20 [[ 9.86342980e-01 1.63231543e-01 2.19770318e-02 4.09187903e+02] [-1.63192284e-01 9.86587786e-01 -3.58022972e-03 -6.68093686e+01] [-2.22666775e-02 -5.51475639e-05 9.99752065e-01 -8.19990767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.334012739 meters 0.02044379731783615 Centerline is valid? [True, True] Translation: X:409.22, Y:-66.81, Z:-8.20 [[ 9.86328663e-01 1.63380342e-01 2.15088801e-02 4.09216986e+02] [-1.63342789e-01 9.86563156e-01 -3.50325358e-03 -6.68145813e+01] [-2.17922314e-02 -5.79610398e-05 9.99762519e-01 -8.20190769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters 0.0205809849436556 Centerline is valid? [True, True] Translation: X:409.25, Y:-66.82, Z:-8.20 [[ 9.86248010e-01 1.64075884e-01 1.98485854e-02 4.09246552e+02] [-1.64044055e-01 9.86447718e-01 -3.23239080e-03 -6.68168384e+01] [-2.01099491e-02 -6.81034270e-05 9.99797772e-01 -8.20474804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.394012739 meters 0.021622950924122298 Centerline is valid? [True, True] Translation: X:409.28, Y:-66.81, Z:-8.21 [[ 9.85817239e-01 1.66868609e-01 1.78672511e-02 4.09276362e+02] [-1.66843278e-01 9.85979135e-01 -2.90961438e-03 -6.68143725e+01] [-1.81022601e-02 -1.12682732e-04 9.99836134e-01 -8.20836471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters 0.021966688157125845 Centerline is valid? [True, True] Translation: X:409.31, Y:-66.82, Z:-8.21 [[ 9.85571980e-01 1.68323091e-01 1.77541526e-02 4.09305692e+02] [-1.68298331e-01 9.85731869e-01 -2.89035350e-03 -6.68158097e+01] [-1.79873473e-02 -1.39342831e-04 9.99838205e-01 -8.20833502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.454012739 meters 0.022752185576715822 Centerline is valid? [True, True] Translation: X:409.33, Y:-66.81, Z:-8.20 [[ 9.85256153e-01 1.69815136e-01 2.08118245e-02 4.09333931e+02] [-1.69781470e-01 9.85475916e-01 -3.38693842e-03 -6.68140866e+01] [-2.10847052e-02 -1.96460245e-04 9.99777674e-01 -8.20371686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters 0.02269162373566615 Centerline is valid? [True, True] Translation: X:409.36, Y:-66.82, Z:-8.20 [[ 9.85196449e-01 1.69915266e-01 2.27323534e-02 4.09362437e+02] [-1.69875159e-01 9.85458652e-01 -3.69802208e-03 -6.68174639e+01] [-2.30301448e-02 -2.18383948e-04 9.99734747e-01 -8.20049812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.514012739 meters 0.021976779121137387 Centerline is valid? [True, True] Translation: X:409.39, Y:-66.82, Z:-8.20 [[ 9.85346122e-01 1.68739985e-01 2.48965509e-02 4.09390978e+02] [-1.68691535e-01 9.85660577e-01 -4.04878636e-03 -6.68222121e+01] [-2.52227409e-02 -2.10381457e-04 9.99681834e-01 -8.19739318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters 0.022750887467823607 Centerline is valid? [True, True] Translation: X:409.42, Y:-66.82, Z:-8.20 [[ 9.85419661e-01 1.68383642e-01 2.43934742e-02 4.09420040e+02] [-1.68337049e-01 9.85721517e-01 -3.96586362e-03 -6.68240380e+01] [-2.47129590e-02 -1.98285488e-04 9.99694569e-01 -8.19799273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.574012739 meters 0.022042258761451043 Centerline is valid? [True, True] Translation: X:409.45, Y:-66.83, Z:-8.21 [[ 9.85441874e-01 1.68650077e-01 2.14817225e-02 4.09449137e+02] [-1.68614024e-01 9.85675970e-01 -3.49176429e-03 -6.68266222e+01] [-2.17629040e-02 -1.81188913e-04 9.99763144e-01 -8.20577411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters 0.022350867851242302 Centerline is valid? [True, True] Translation: X:409.48, Y:-66.83, Z:-8.21 [[ 9.85384030e-01 1.69197510e-01 1.97614678e-02 4.09477825e+02] [-1.69167128e-01 9.85582148e-01 -3.21125158e-03 -6.68283555e+01] [-2.00198856e-02 -1.78674716e-04 9.99799566e-01 -8.20893068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.634012739 meters 0.022811223296893175 Centerline is valid? [True, True] Translation: X:409.51, Y:-66.83, Z:-8.21 [[ 9.85285376e-01 1.69844614e-01 1.91189786e-02 4.09506171e+02] [-1.69816315e-01 9.85470838e-01 -3.10594915e-03 -6.68284408e+01] [-1.93687246e-02 -1.86468221e-04 9.99812391e-01 -8.20949010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters 0.022811223296893175 Centerline is valid? [True, True] Translation: X:409.53, Y:-66.83, Z:-8.21 [[ 9.85293432e-01 1.69797854e-01 1.91191658e-02 4.09534143e+02] [-1.69769568e-01 9.85478896e-01 -3.10479665e-03 -6.68328936e+01] [-1.93687222e-02 -1.86716764e-04 9.99812391e-01 -8.21006540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.694012739 meters 0.02315875142160921 Centerline is valid? [True, True] Translation: X:409.56, Y:-66.83, Z:-8.21 [[ 9.85352712e-01 1.69370230e-01 1.98433450e-02 4.09562313e+02] [-1.69339694e-01 9.85552480e-01 -3.22139660e-03 -6.68347928e+01] [-2.01022666e-02 -1.86054104e-04 9.99797912e-01 -8.20912491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters 0.02146739797911009 Centerline is valid? [True, True] Translation: X:409.59, Y:-66.84, Z:-8.21 [[ 9.85601843e-01 1.67700577e-01 2.15760074e-02 4.09590968e+02] [-1.67664105e-01 9.85837963e-01 -3.50128418e-03 -6.68407970e+01] [-2.18576146e-02 -1.66649839e-04 9.99761080e-01 -8.20699345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.754012739 meters 0.021451306056276827 Centerline is valid? [True, True] Translation: X:409.62, Y:-66.85, Z:-8.21 [[ 9.85689671e-01 1.67108755e-01 2.21480498e-02 4.09618307e+02] [-1.67070200e-01 9.85938456e-01 -3.59297141e-03 -6.68453158e+01] [-2.24370310e-02 -1.58724303e-04 9.99748246e-01 -8.20732468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters 0.021088890457487297 Centerline is valid? [True, True] Translation: X:409.65, Y:-66.85, Z:-8.21 [[ 9.86014661e-01 1.65378045e-01 2.06201565e-02 4.09645343e+02] [-1.65344273e-01 9.86230242e-01 -3.34393228e-03 -6.68519009e+01] [-2.08892349e-02 -1.12258535e-04 9.99781790e-01 -8.21073269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.814012739 meters 0.020769296212709298 Centerline is valid? [True, True] Translation: X:409.67, Y:-66.86, Z:-8.21 [[ 9.86246181e-01 1.64152179e-01 1.93011059e-02 4.09673427e+02] [-1.64122376e-01 9.86435023e-01 -3.12892012e-03 -6.68607626e+01] [-1.95529059e-02 -8.18578481e-05 9.99808820e-01 -8.21415722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters 0.020651774189920858 Centerline is valid? [True, True] Translation: X:409.70, Y:-66.87, Z:-8.21 [[ 9.86276486e-01 1.63985935e-01 1.91652540e-02 4.09701498e+02] [-1.63956536e-01 9.86462674e-01 -3.10599204e-03 -6.68671725e+01] [-1.94151467e-02 -7.89017480e-05 9.99811505e-01 -8.21461421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.874012739 meters 0.0208475271537464 Centerline is valid? [True, True] Translation: X:409.73, Y:-66.87, Z:-8.22 [[ 9.86166517e-01 1.64637366e-01 1.92389893e-02 4.09729002e+02] [-1.64607883e-01 9.86354160e-01 -3.11702710e-03 -6.68732480e+01] [-1.94896362e-02 -9.29815279e-05 9.99810055e-01 -8.21520401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters 0.021308361237726798 Centerline is valid? [True, True] Translation: X:409.76, Y:-66.88, Z:-8.22 [[ 9.85954444e-01 1.65901372e-01 1.92501992e-02 4.09756235e+02] [-1.65872118e-01 9.86142343e-01 -3.11767882e-03 -6.68761036e+01] [-1.95006637e-02 -1.19182016e-04 9.99809837e-01 -8.21532301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.934012739 meters 0.023267878140489265 Centerline is valid? [True, True] Translation: X:409.79, Y:-66.88, Z:-8.22 [[ 9.85368322e-01 1.69402987e-01 1.87589424e-02 4.09785077e+02] [-1.69375855e-01 9.85546850e-01 -3.03740640e-03 -6.68754519e+01] [-1.90023623e-02 -1.84347853e-04 9.99819422e-01 -8.21702704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters 0.023702706783332285 Centerline is valid? [True, True] Translation: X:409.81, Y:-66.88, Z:-8.22 [[ 9.85195839e-01 1.70454866e-01 1.82838168e-02 4.09813209e+02] [-1.70429292e-01 9.85365464e-01 -2.95940161e-03 -6.68793418e+01] [-1.85206860e-02 -2.00507803e-04 9.99828457e-01 -8.21815817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.994012739 meters 0.02409450027984097 Centerline is valid? [True, True] Translation: X:409.84, Y:-66.88, Z:-8.22 [[ 9.85117224e-01 1.70911797e-01 1.82541010e-02 4.09840862e+02] [-1.70886400e-01 9.85286311e-01 -2.95372877e-03 -6.68833954e+01] [-1.84903429e-02 -2.09608516e-04 9.99829017e-01 -8.21935693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters 0.023891339481809836 Centerline is valid? [True, True] Translation: X:409.87, Y:-66.89, Z:-8.22 [[ 9.85093914e-01 1.71005207e-01 1.86333023e-02 4.09869156e+02] [-1.70978783e-01 9.85270101e-01 -3.01392279e-03 -6.68878788e+01] [-1.88742322e-02 -2.16902346e-04 9.99821842e-01 -8.21923001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05401273900003 meters 0.02436224503985622 Centerline is valid? [True, True] Translation: X:409.90, Y:-66.89, Z:-8.21 [[ 9.85073362e-01 1.70870211e-01 2.08288802e-02 4.09896999e+02] [-1.70837186e-01 9.85293516e-01 -3.36791129e-03 -6.68893560e+01] [-2.10980363e-02 -2.40707600e-04 9.99777383e-01 -8.21494062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters 0.02371111201851725 Centerline is valid? [True, True] Translation: X:409.93, Y:-66.89, Z:-8.21 [[ 9.85173190e-01 1.70145618e-01 2.20057669e-02 4.09925916e+02] [-1.70108609e-01 9.85418901e-01 -3.55668048e-03 -6.68945380e+01] [-2.22900522e-02 -2.39424136e-04 9.99751517e-01 -8.21287997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.114012739 meters 0.021424619751566683 Centerline is valid? [True, True] Translation: X:409.95, Y:-66.91, Z:-8.21 [[ 9.85812448e-01 1.66184779e-01 2.35889321e-02 4.09953044e+02] [-1.66141160e-01 9.86094617e-01 -3.81077439e-03 -6.69052605e+01] [-2.38942117e-02 -1.62383716e-04 9.99714479e-01 -8.21125923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters 0.020061740979566773 Centerline is valid? [True, True] Translation: X:409.98, Y:-66.92, Z:-8.21 [[ 9.86579194e-01 1.61596276e-01 2.34123341e-02 4.09981503e+02] [-1.61552040e-01 9.86856951e-01 -3.78120767e-03 -6.69173063e+01] [-2.37156538e-02 -5.18495176e-05 9.99718743e-01 -8.21225580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.174012739 meters 0.019930857099137833 Centerline is valid? [True, True] Translation: X:410.01, Y:-66.93, Z:-8.21 [[ 9.86892062e-01 1.59766262e-01 2.27771794e-02 4.10010555e+02] [-1.59723918e-01 9.87154872e-01 -3.67809450e-03 -6.69253199e+01] [-2.30722390e-02 -8.17807790e-06 9.99733800e-01 -8.21352169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters 0.020346228545657034 Centerline is valid? [True, True] Translation: X:410.04, Y:-66.94, Z:-8.22 [[ 9.87501050e-01 1.56110656e-01 2.17057345e-02 4.10039366e+02] [-1.56071329e-01 9.87739570e-01 -3.50461121e-03 -6.69380994e+01] [-2.19867200e-02 7.31644066e-05 9.99758260e-01 -8.21734507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.234012739 meters 0.020698438838803346 Centerline is valid? [True, True] Translation: X:410.07, Y:-66.95, Z:-8.22 [[ 9.87687876e-01 1.55049619e-01 2.07912453e-02 4.10068942e+02] [-1.55013301e-01 9.87906679e-01 -3.35700042e-03 -6.69462072e+01] [-2.10603118e-02 9.27490456e-05 9.99778203e-01 -8.21902839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters 0.02075737105674945 Centerline is valid? [True, True] Translation: X:410.10, Y:-66.95, Z:-8.22 [[ 9.87666435e-01 1.55411725e-01 1.90317935e-02 4.10097885e+02] [-1.55381341e-01 9.87849781e-01 -3.07398194e-03 -6.69512392e+01] [-1.92782859e-02 7.88831929e-05 9.99814153e-01 -8.22236521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.294012739 meters 0.020110048133306933 Centerline is valid? [True, True] Translation: X:410.13, Y:-66.95, Z:-8.22 [[ 9.87226704e-01 1.58191260e-01 1.89462328e-02 4.10128022e+02] [-1.58161665e-01 9.87408489e-01 -3.05994840e-03 -6.69517460e+01] [-1.91917282e-02 2.42950590e-05 9.99815822e-01 -8.22202349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters 0.019992990407735327 Centerline is valid? [True, True] Translation: X:410.16, Y:-66.95, Z:-8.22 [[ 9.86913760e-01 1.60022804e-01 1.98477155e-02 4.10156799e+02] [-1.59990705e-01 9.87113318e-01 -3.20505253e-03 -6.69536314e+01] [-2.01048258e-02 -1.23395547e-05 9.99797877e-01 -8.22092533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.354012739 meters 0.020219846129641138 Centerline is valid? [True, True] Translation: X:410.19, Y:-66.95, Z:-8.22 [[ 9.86528653e-01 1.62295284e-01 2.05294566e-02 4.10185870e+02] [-1.62261455e-01 9.86742234e-01 -3.31408937e-03 -6.69544656e+01] [-2.07951429e-02 -6.16953819e-05 9.99783756e-01 -8.22053320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters 0.021489804372476013 Centerline is valid? [True, True] Translation: X:410.21, Y:-66.95, Z:-8.22 [[ 9.85926687e-01 1.65946397e-01 2.02573526e-02 4.10214499e+02] [-1.65914249e-01 9.86134765e-01 -3.26917115e-03 -6.69519386e+01] [-2.05189868e-02 -1.37820359e-04 9.99789454e-01 -8.22247137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.414012739 meters 0.02210462007943788 Centerline is valid? [True, True] Translation: X:410.24, Y:-66.95, Z:-8.22 [[ 9.85732958e-01 1.67125039e-01 1.99939264e-02 4.10242347e+02] [-1.67093992e-01 9.85935695e-01 -3.22530221e-03 -6.69535291e+01] [-2.02517545e-02 -1.61578292e-04 9.99794899e-01 -8.22410138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters 0.022569192201249942 Centerline is valid? [True, True] Translation: X:410.27, Y:-66.96, Z:-8.22 [[ 9.85599127e-01 1.67845842e-01 2.05458845e-02 4.10269897e+02] [-1.67813240e-01 9.85813238e-01 -3.31307246e-03 -6.69550181e+01] [-2.08104904e-02 -1.82510122e-04 9.99783422e-01 -8.22357042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.474012739 meters 0.02249794364327886 Centerline is valid? [True, True] Translation: X:410.30, Y:-66.96, Z:-8.22 [[ 9.85717847e-01 1.67106947e-01 2.08708897e-02 4.10297494e+02] [-1.67073166e-01 9.85938760e-01 -3.36421446e-03 -6.69593012e+01] [-2.11396027e-02 -1.70799385e-04 9.99776519e-01 -8.22232690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters 0.020821046262109035 Centerline is valid? [True, True] Translation: X:410.32, Y:-66.97, Z:-8.22 [[ 9.86288102e-01 1.63671129e-01 2.11551641e-02 4.10323804e+02] [-1.63635660e-01 9.86514952e-01 -3.40869170e-03 -6.69700819e+01] [-2.14277901e-02 -9.97871798e-05 9.99770394e-01 -8.22269553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.534012739 meters 0.020035572764138906 Centerline is valid? [True, True] Translation: X:410.35, Y:-66.99, Z:-8.22 [[ 9.87094736e-01 1.58721987e-01 2.12441272e-02 4.10351484e+02] [-1.58685098e-01 9.87323316e-01 -3.42185554e-03 -6.69858625e+01] [-2.15179458e-02 6.56918847e-06 9.99768462e-01 -8.22462158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters 0.02041027763032614 Centerline is valid? [True, True] Translation: X:410.38, Y:-67.00, Z:-8.23 [[ 9.87540534e-01 1.55901311e-01 2.14120393e-02 4.10380489e+02] [-1.55863183e-01 9.87772634e-01 -3.44841660e-03 -6.69967285e+01] [-2.16878391e-02 6.81025733e-05 9.99764789e-01 -8.22503158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.594012739 meters 0.020976225879156412 Centerline is valid? [True, True] Translation: X:410.41, Y:-67.01, Z:-8.22 [[ 9.87869855e-01 1.53738247e-01 2.18563519e-02 4.10409259e+02] [-1.53697991e-01 9.88111602e-01 -3.51997331e-03 -6.70088228e+01] [-2.21376694e-02 1.17998148e-04 9.99754925e-01 -8.22435000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters 0.020734591045508816 Centerline is valid? [True, True] Translation: X:410.44, Y:-67.02, Z:-8.22 [[ 9.87744196e-01 1.54457341e-01 2.24573729e-02 4.10439355e+02] [-1.54415025e-01 9.87999453e-01 -3.61679635e-03 -6.70150899e+01] [-2.27465129e-02 1.04713819e-04 9.99741259e-01 -8.22371966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.654012739 meters 0.02011733041319051 Centerline is valid? [True, True] Translation: X:410.47, Y:-67.02, Z:-8.22 [[ 9.86953143e-01 1.59423449e-01 2.25312650e-02 4.10470069e+02] [-1.59382142e-01 9.87210294e-01 -3.62893387e-03 -6.70150901e+01] [-2.28216339e-02 -9.49358162e-06 9.99739553e-01 -8.22416069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters 0.02075038557067415 Centerline is valid? [True, True] Translation: X:410.50, Y:-67.01, Z:-8.23 [[ 9.86373782e-01 1.63141617e-01 2.12502704e-02 4.10499185e+02] [-1.63105737e-01 9.86602658e-01 -3.42257126e-03 -6.70140479e+01] [-2.15239371e-02 -9.01064517e-05 9.99768329e-01 -8.22751250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.714012739 meters 0.02491159818089048 Centerline is valid? [True, True] Translation: X:410.53, Y:-67.01, Z:-8.23 [[ 9.85084304e-01 1.71010078e-01 1.90910371e-02 4.10530269e+02] [-1.70982607e-01 9.85269251e-01 -3.07418527e-03 -6.70076933e+01] [-1.93355285e-02 -2.35903636e-04 9.99813023e-01 -8.23210401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters 0.027513567982661476 Centerline is valid? [True, True] Translation: X:410.56, Y:-67.01, Z:-8.23 [[ 9.84447671e-01 1.74528094e-01 2.00680723e-02 4.10559667e+02] [-1.74498480e-01 9.84652142e-01 -3.23101592e-03 -6.70068791e+01] [-2.03239735e-02 -3.21082011e-04 9.99793395e-01 -8.23043763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.774012739 meters 0.03234208394774814 Centerline is valid? [True, True] Translation: X:410.59, Y:-67.00, Z:-8.23 [[ 9.83528751e-01 1.79475934e-01 2.14379237e-02 4.10589566e+02] [-1.79443335e-01 9.83762260e-01 -3.45048689e-03 -6.70004883e+01] [-2.17090996e-02 -4.53239452e-04 9.99764227e-01 -8.22792873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters 0.03455623705840168 Centerline is valid? [True, True] Translation: X:410.62, Y:-67.00, Z:-8.23 [[ 9.83206093e-01 1.81511352e-01 1.89580535e-02 4.10619080e+02] [-1.81486253e-01 9.83388750e-01 -3.05052613e-03 -6.69977709e+01] [-1.91968417e-02 -4.41330222e-04 9.99815626e-01 -8.23389565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.834012739 meters 0.03483622614204377 Centerline is valid? [True, True] Translation: X:410.65, Y:-67.00, Z:-8.24 [[ 9.83241072e-01 1.81436599e-01 1.78256914e-02 4.10646350e+02] [-1.81414409e-01 9.83402557e-01 -2.86762452e-03 -6.69995887e+01] [-1.80501225e-02 -4.14271053e-04 9.99836997e-01 -8.23728760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters 0.031104813628536326 Centerline is valid? [True, True] Translation: X:410.67, Y:-67.01, Z:-8.24 [[ 9.83535921e-01 1.79828776e-01 1.78522650e-02 4.10674263e+02] [-1.79806282e-01 9.83697851e-01 -2.87038405e-03 -6.70058736e+01] [-1.80774123e-02 -3.86823569e-04 9.99836515e-01 -8.23776034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.894012739 meters 0.032110962895979325 Centerline is valid? [True, True] Translation: X:410.70, Y:-67.01, Z:-8.24 [[ 9.83824594e-01 1.78074677e-01 1.94570843e-02 4.10702528e+02] [-1.78047635e-01 9.84016900e-01 -3.12738113e-03 -6.70063515e+01] [-1.97030071e-02 -3.87493371e-04 9.99805802e-01 -8.23630452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters 0.027959423310062338 Centerline is valid? [True, True] Translation: X:410.73, Y:-67.02, Z:-8.23 [[ 9.84543711e-01 1.73716559e-01 2.22764150e-02 4.10730719e+02] [-1.73680031e-01 9.84795633e-01 -3.57897768e-03 -6.70150254e+01] [-2.25594439e-02 -3.45308479e-04 9.99745444e-01 -8.23133528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.954012739 meters 0.025886247733106434 Centerline is valid? [True, True] Translation: X:410.76, Y:-67.02, Z:-8.23 [[ 9.85009061e-01 1.71042898e-01 2.23936986e-02 4.10757800e+02] [-1.71005328e-01 9.85263541e-01 -3.59626170e-03 -6.70232406e+01] [-2.26788098e-02 -2.87091428e-04 9.99742761e-01 -8.23139446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters 0.0215810788223288 Centerline is valid? [True, True] Translation: X:410.78, Y:-67.04, Z:-8.24 [[ 9.86161816e-01 1.64505296e-01 2.05640375e-02 4.10784892e+02] [-1.64472214e-01 9.86376192e-01 -3.30136674e-03 -6.70396335e+01] [-2.08269693e-02 -1.26530958e-04 9.99783087e-01 -8.23658275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.014012739 meters 0.020562942549238208 Centerline is valid? [True, True] Translation: X:410.81, Y:-67.05, Z:-8.24 [[ 9.86692095e-01 1.61442920e-01 1.93621380e-02 4.10811772e+02] [-1.61413015e-01 9.86882050e-01 -3.10779526e-03 -6.70482595e+01] [-1.96098780e-02 -5.88640461e-05 9.99807706e-01 -8.23921268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters 0.02029439058134742 Centerline is valid? [True, True] Translation: X:410.84, Y:-67.06, Z:-8.24 [[ 9.87424433e-01 1.56866892e-01 1.96409789e-02 4.10838769e+02] [-1.56835237e-01 9.87619753e-01 -3.15139695e-03 -6.70595525e+01] [-1.98921686e-02 3.13687617e-05 9.99802131e-01 -8.23900792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.074012739 meters 0.021208376217290055 Centerline is valid? [True, True] Translation: X:410.87, Y:-67.07, Z:-8.24 [[ 9.87943393e-01 1.53478713e-01 2.03011585e-02 4.10866215e+02] [-1.53444197e-01 9.88151949e-01 -3.25638599e-03 -6.70691796e+01] [-2.05604152e-02 1.02030067e-04 9.99788607e-01 -8.23739805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters 0.021578979594507868 Centerline is valid? [True, True] Translation: X:410.90, Y:-67.07, Z:-8.24 [[ 9.88132430e-01 1.52353996e-01 1.95591452e-02 4.10895775e+02] [-1.52321746e-01 9.88325981e-01 -3.13690467e-03 -6.70749846e+01] [-1.98087314e-02 1.20394079e-04 9.99803781e-01 -8.23940665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.134012739 meters 0.021717862114490945 Centerline is valid? [True, True] Translation: X:410.93, Y:-67.08, Z:-8.24 [[ 9.88286526e-01 1.51436023e-01 1.88910991e-02 4.10925467e+02] [-1.51405779e-01 9.88467052e-01 -3.02932389e-03 -6.70796118e+01] [-1.91319778e-02 1.33618406e-04 9.99816958e-01 -8.24166278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters 0.022582270326259573 Centerline is valid? [True, True] Translation: X:410.95, Y:-67.08, Z:-8.24 [[ 9.88462998e-01 1.50311113e-01 1.86405875e-02 4.10954513e+02] [-1.50281466e-01 9.88638734e-01 -2.98916947e-03 -6.70837892e+01] [-1.88781122e-02 1.53348602e-04 9.99821781e-01 -8.24213732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.194012739 meters 0.022400144441132384 Centerline is valid? [True, True] Translation: X:410.98, Y:-67.09, Z:-8.24 [[ 9.88480085e-01 1.50096584e-01 1.94457615e-02 4.10984313e+02] [-1.50064284e-01 9.88671325e-01 -3.11804891e-03 -6.70859499e+01] [-1.96934753e-02 1.64014974e-04 9.99806051e-01 -8.24146656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters 0.02251491629894379 Centerline is valid? [True, True] Translation: X:411.01, Y:-67.09, Z:-8.24 [[ 9.88493393e-01 1.49950805e-01 1.98888785e-02 4.11014138e+02] [-1.49916996e-01 9.88693444e-01 -3.18861895e-03 -6.70888230e+01] [-2.01421397e-02 1.70247850e-04 9.99797112e-01 -8.24170519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.254012739 meters 0.02308795368324671 Centerline is valid? [True, True] Translation: X:411.04, Y:-67.09, Z:-8.24 [[ 9.88633645e-01 1.48815756e-01 2.13866109e-02 4.11043123e+02] [-1.48776408e-01 9.88864919e-01 -3.42821473e-03 -6.70933248e+01] [-2.16586416e-02 2.07425281e-04 9.99765403e-01 -8.23976242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters 0.023582371737468147 Centerline is valid? [True, True] Translation: X:411.07, Y:-67.10, Z:-8.24 [[ 9.88734439e-01 1.48028404e-01 2.21765855e-02 4.11073592e+02] [-1.47985902e-01 9.88983083e-01 -3.55460181e-03 -6.70981575e+01] [-2.24584500e-02 2.32735205e-04 9.99747750e-01 -8.23839992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.314012739 meters 0.025456937429425897 Centerline is valid? [True, True] Translation: X:411.10, Y:-67.10, Z:-8.24 [[ 9.89043299e-01 1.46079834e-01 2.13080976e-02 4.11102839e+02] [-1.46040144e-01 9.89272769e-01 -3.41538047e-03 -6.71028536e+01] [-2.15784389e-02 2.66121522e-04 9.99767123e-01 -8.24053009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters 0.026185094114887234 Centerline is valid? [True, True] Translation: X:411.13, Y:-67.11, Z:-8.24 [[ 9.89294077e-01 1.44426924e-01 2.09306484e-02 4.11133134e+02] [-1.44388264e-01 9.89515425e-01 -3.35465124e-03 -6.71079452e+01] [-2.11957014e-02 2.96596632e-04 9.99775302e-01 -8.24244386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.374012739 meters 0.031572791657927375 Centerline is valid? [True, True] Translation: X:411.16, Y:-67.12, Z:-8.24 [[ 9.90107686e-01 1.38622947e-01 2.16898179e-02 4.11161339e+02] [-1.38580037e-01 9.90345136e-01 -3.47634571e-03 -6.71228312e+01] [-2.19623070e-02 4.36180832e-04 9.99758704e-01 -8.24279230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters 0.03753002582928591 Centerline is valid? [True, True] Translation: X:411.19, Y:-67.14, Z:-8.24 [[ 9.90974293e-01 1.32359224e-01 2.12364441e-02 4.11190145e+02] [-1.32316646e-01 9.91201654e-01 -3.40391339e-03 -6.71395682e+01] [-2.15001378e-02 5.63255614e-04 9.99768687e-01 -8.24292532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.434012739 meters 0.0426724477621994 Centerline is valid? [True, True] Translation: X:411.22, Y:-67.16, Z:-8.24 [[ 9.91591584e-01 1.27779197e-01 2.04599112e-02 4.11217973e+02] [-1.27738700e-01 9.91802435e-01 -3.27955010e-03 -6.71564513e+01] [-2.07112480e-02 6.38451824e-04 9.99785295e-01 -8.24463195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters 0.044139334687332284 Centerline is valid? [True, True] Translation: X:411.25, Y:-67.17, Z:-8.25 [[ 9.91778703e-01 1.26356029e-01 2.02276662e-02 4.11248459e+02] [-1.26316150e-01 9.91984737e-01 -3.24233771e-03 -6.71663563e+01] [-2.04752250e-02 6.60600578e-04 9.99790142e-01 -8.24588043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.494012739 meters 0.04183552945623125 Centerline is valid? [True, True] Translation: X:411.28, Y:-67.17, Z:-8.25 [[ 9.91836493e-01 1.25957820e-01 1.98745627e-02 4.11279936e+02] [-1.25919210e-01 9.92035379e-01 -3.18732193e-03 -6.71737081e+01] [-2.01177375e-02 6.58712975e-04 9.99797401e-01 -8.24858138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters 0.04469286255192464 Centerline is valid? [True, True] Translation: X:411.31, Y:-67.19, Z:-8.25 [[ 9.91662365e-01 1.27329967e-01 1.98200174e-02 4.11309218e+02] [-1.27291776e-01 9.91860212e-01 -3.18182275e-03 -6.71861347e+01] [-2.00638281e-02 6.32368653e-04 9.99798501e-01 -8.24849259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55401273900003 meters 0.0423850485128237 Centerline is valid? [True, True] Translation: X:411.34, Y:-67.19, Z:-8.25 [[ 9.91386200e-01 1.29433742e-01 2.00077403e-02 4.11339966e+02] [-1.29395190e-01 9.91587892e-01 -3.21503538e-03 -6.71914925e+01] [-2.02555671e-02 5.98436339e-04 9.99794656e-01 -8.24860431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters 0.0423850485128237 Centerline is valid? [True, True] Translation: X:411.37, Y:-67.20, Z:-8.25 [[ 9.91363847e-01 1.29604849e-01 2.00076715e-02 4.11372041e+02] [-1.29566323e-01 9.91565544e-01 -3.21546345e-03 -6.71968454e+01] [-2.02556574e-02 5.95373780e-04 9.99794656e-01 -8.24926479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.614012739 meters 0.035756504904776894 Centerline is valid? [True, True] Translation: X:411.40, Y:-67.20, Z:-8.25 [[ 9.90521598e-01 1.35982627e-01 1.93826796e-02 4.11401812e+02] [-1.35947622e-01 9.90711118e-01 -3.11846609e-03 -6.71983073e+01] [-1.96266934e-02 4.53878815e-04 9.99807275e-01 -8.25020264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters 0.028727150458347627 Centerline is valid? [True, True] Translation: X:411.43, Y:-67.20, Z:-8.25 [[ 9.89509463e-01 1.43394816e-01 1.75769495e-02 4.11433371e+02] [-1.43367202e-01 9.89665524e-01 -2.82772747e-03 -6.71976486e+01] [-1.78007824e-02 2.78105020e-04 9.99841515e-01 -8.25431285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.674012739 meters 0.02684404992611209 Centerline is valid? [True, True] Translation: X:411.46, Y:-67.20, Z:-8.26 [[ 9.89098914e-01 1.46162985e-01 1.78807287e-02 4.11463513e+02] [-1.46134855e-01 9.89260495e-01 -2.87688256e-03 -6.72021496e+01] [-1.81091922e-02 2.32523729e-04 9.99835988e-01 -8.25508663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters 0.024036188249055398 Centerline is valid? [True, True] Translation: X:411.49, Y:-67.21, Z:-8.25 [[ 9.88607822e-01 1.49218982e-01 1.97045470e-02 4.11494018e+02] [-1.49185422e-01 9.88804155e-01 -3.17055800e-03 -6.72083514e+01] [-1.99570454e-02 1.94807291e-04 9.99800819e-01 -8.25281064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.734012739 meters 0.02409512876168774 Centerline is valid? [True, True] Translation: X:411.53, Y:-67.22, Z:-8.25 [[ 9.88589431e-01 1.49290340e-01 2.00831034e-02 4.11525334e+02] [-1.49255484e-01 9.88793384e-01 -3.23192502e-03 -6.72169192e+01] [-2.03405349e-02 1.97533614e-04 9.99793090e-01 -8.25314177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters 0.025122296615830677 Centerline is valid? [True, True] Translation: X:411.55, Y:-67.23, Z:-8.26 [[ 9.88772498e-01 1.48292930e-01 1.83889805e-02 4.11554536e+02] [-1.48263486e-01 9.88943459e-01 -2.96188011e-03 -6.72301959e+01] [-1.86248879e-02 2.02211240e-04 9.99826521e-01 -8.25637453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.794012739 meters 0.025667025433489508 Centerline is valid? [True, True] Translation: X:411.59, Y:-67.24, Z:-8.26 [[ 9.88863057e-01 1.47842291e-01 1.71029948e-02 4.11585719e+02] [-1.47816715e-01 9.89010929e-01 -2.75695332e-03 -6.72397551e+01] [-1.73226431e-02 1.98140768e-04 9.99849932e-01 -8.25970453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters 0.026200095585882533 Centerline is valid? [True, True] Translation: X:411.62, Y:-67.25, Z:-8.26 [[ 9.88884095e-01 1.47577073e-01 1.81453495e-02 4.11617245e+02] [-1.47548187e-01 9.89050535e-01 -2.92788457e-03 -6.72524626e+01] [-1.83787562e-02 2.18025075e-04 9.99831073e-01 -8.25898829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.854012739 meters 0.025591846411877808 Centerline is valid? [True, True] Translation: X:411.65, Y:-67.26, Z:-8.25 [[ 9.88741173e-01 1.48236149e-01 2.04190187e-02 4.11648951e+02] [-1.48199628e-01 9.88951965e-01 -3.29872299e-03 -6.72595832e+01] [-2.06824186e-02 2.35492262e-04 9.99786068e-01 -8.25483116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters 0.023193602602292605 Centerline is valid? [True, True] Translation: X:411.68, Y:-67.26, Z:-8.25 [[ 9.88466182e-01 1.49800013e-01 2.22387628e-02 4.11681233e+02] [-1.49757004e-01 9.88716292e-01 -3.59638582e-03 -6.72639167e+01] [-2.25265658e-02 2.24495275e-04 9.99746220e-01 -8.25246686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.914012739 meters 0.023699511513319338 Centerline is valid? [True, True] Translation: X:411.71, Y:-67.27, Z:-8.26 [[ 9.88309272e-01 1.51243092e-01 1.92434367e-02 4.11711271e+02] [-1.51211110e-01 9.88496585e-01 -3.11475278e-03 -6.72714531e+01] [-1.94931563e-02 1.68517626e-04 9.99809976e-01 -8.25860213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters 0.02328859450916199 Centerline is valid? [True, True] Translation: X:411.74, Y:-67.28, Z:-8.26 [[ 9.88212642e-01 1.52037644e-01 1.78977600e-02 4.11744020e+02] [-1.52010063e-01 9.88374693e-01 -2.89945511e-03 -6.72760329e+01] [-1.81305193e-02 1.44638573e-04 9.99835618e-01 -8.26207518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.974012739 meters 0.022636269340409944 Centerline is valid? [True, True] Translation: X:411.78, Y:-67.28, Z:-8.26 [[ 9.88179885e-01 1.52388466e-01 1.66814580e-02 4.11776672e+02] [-1.52364513e-01 9.88320666e-01 -2.70497846e-03 -6.72798082e+01] [-1.68988372e-02 1.31343078e-04 9.99857196e-01 -8.26377735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters 0.023082221059594066 Centerline is valid? [True, True] Translation: X:411.81, Y:-67.29, Z:-8.26 [[ 9.88388781e-01 1.50846866e-01 1.82439442e-02 4.11808546e+02] [-1.50817883e-01 9.88557126e-01 -2.96209864e-03 -6.72853197e+01] [-1.84820044e-02 1.76192008e-04 9.99829178e-01 -8.26169100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.034012739 meters 0.023347666082937917 Centerline is valid? [True, True] Translation: X:411.84, Y:-67.29, Z:-8.26 [[ 9.88419255e-01 1.50500624e-01 1.94149230e-02 4.11840887e+02] [-1.50467667e-01 9.88609894e-01 -3.15564737e-03 -6.72907045e+01] [-1.96687119e-02 1.97784446e-04 9.99806533e-01 -8.26026944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters 0.022770269974600292 Centerline is valid? [True, True] Translation: X:411.87, Y:-67.29, Z:-8.26 [[ 9.88252260e-01 1.51496117e-01 2.01593153e-02 4.11872768e+02] [-1.51460710e-01 9.88457835e-01 -3.28062362e-03 -6.72933981e+01] [-2.04236349e-02 1.88739498e-04 9.99791398e-01 -8.25923874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.094012739 meters 0.022493461505018877 Centerline is valid? [True, True] Translation: X:411.90, Y:-67.30, Z:-8.26 [[ 9.88125491e-01 1.52399424e-01 1.95557947e-02 4.11904553e+02] [-1.52366220e-01 9.88318970e-01 -3.18556871e-03 -6.72966106e+01] [-1.98128417e-02 1.68099134e-04 9.99803692e-01 -8.26135061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters 0.02231033291892672 Centerline is valid? [True, True] Translation: X:411.94, Y:-67.30, Z:-8.26 [[ 9.88086740e-01 1.52783315e-01 1.84892628e-02 4.11937006e+02] [-1.52753647e-01 9.88259700e-01 -3.01470199e-03 -6.72999326e+01] [-1.87327895e-02 1.54484730e-04 9.99824514e-01 -8.26464628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.154012739 meters 0.022773529239771835 Centerline is valid? [True, True] Translation: X:411.97, Y:-67.31, Z:-8.27 [[ 9.88138991e-01 1.52473498e-01 1.82528833e-02 4.11968554e+02] [-1.52444467e-01 9.88307546e-01 -2.97964460e-03 -6.73067232e+01] [-1.84937792e-02 1.61751929e-04 9.99828962e-01 -8.26585164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters 0.022260106794675997 Centerline is valid? [True, True] Translation: X:412.00, Y:-67.31, Z:-8.27 [[ 9.88170815e-01 1.52349725e-01 1.75500033e-02 4.12001111e+02] [-1.52322815e-01 9.88326634e-01 -2.86786170e-03 -6.73125601e+01] [-1.77820536e-02 1.60671335e-04 9.99841874e-01 -8.26540476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.214012739 meters 0.021974186643473934 Centerline is valid? [True, True] Translation: X:412.03, Y:-67.32, Z:-8.27 [[ 9.88047916e-01 1.53105497e-01 1.78891739e-02 4.12033540e+02] [-1.53077593e-01 9.88209838e-01 -2.92703080e-03 -6.73166242e+01] [-1.81264021e-02 1.53615016e-04 9.99835691e-01 -8.26543752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters 0.02135807874269733 Centerline is valid? [True, True] Translation: X:412.06, Y:-67.32, Z:-8.26 [[ 9.87591614e-01 1.55818888e-01 1.95774750e-02 4.12064704e+02] [-1.55785925e-01 9.87785635e-01 -3.20704923e-03 -6.73170749e+01] [-1.98380674e-02 1.17359869e-04 9.99803199e-01 -8.26384903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.274012739 meters 0.020590356734496256 Centerline is valid? [True, True] Translation: X:412.10, Y:-67.32, Z:-8.26 [[ 9.87317966e-01 1.57350712e-01 2.10710074e-02 4.12097295e+02] [-1.57312797e-01 9.87542781e-01 -3.45539304e-03 -6.73192399e+01] [-2.13522298e-02 9.68325170e-05 9.99772010e-01 -8.26269182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters 0.019922380278833935 Centerline is valid? [True, True] Translation: X:412.13, Y:-67.32, Z:-8.26 [[ 9.86765856e-01 1.60708334e-01 2.15865066e-02 4.12130110e+02] [-1.60669264e-01 9.87001940e-01 -3.54361665e-03 -6.73188721e+01] [-2.18754127e-02 2.84317895e-05 9.99760704e-01 -8.26248519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.334012739 meters 0.019892507270970954 Centerline is valid? [True, True] Translation: X:412.16, Y:-67.32, Z:-8.27 [[ 9.86651059e-01 1.61542990e-01 2.05803546e-02 4.12163397e+02] [-1.61507589e-01 9.86865676e-01 -3.38176147e-03 -6.73212035e+01] [-2.08563454e-02 1.27350715e-05 9.99782483e-01 -8.26562054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters 0.0201011839932828 Centerline is valid? [True, True] Translation: X:412.20, Y:-67.32, Z:-8.27 [[ 9.86577729e-01 1.62284461e-01 1.81145980e-02 4.12195666e+02] [-1.62257103e-01 9.86744016e-01 -2.97976961e-03 -6.73223927e+01] [-1.83580415e-02 5.52147267e-07 9.99831477e-01 -8.27200208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.394012739 meters 0.02017285416389594 Centerline is valid? [True, True] Translation: X:412.23, Y:-67.33, Z:-8.27 [[ 9.86535387e-01 1.62634375e-01 1.72624059e-02 4.12226435e+02] [-1.62609522e-01 9.86686404e-01 -2.84309813e-03 -6.73266321e+01] [-1.74949667e-02 -2.21466539e-06 9.99846951e-01 -8.27287651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters 0.020068117006694825 Centerline is valid? [True, True] Translation: X:412.26, Y:-67.33, Z:-8.27 [[ 9.86565316e-01 1.62469675e-01 1.71021210e-02 4.12255800e+02] [-1.62445248e-01 9.86713537e-01 -2.81722103e-03 -6.73302045e+01] [-1.73326073e-02 1.21426813e-06 9.99849779e-01 -8.27337344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.454012739 meters 0.02017848696207304 Centerline is valid? [True, True] Translation: X:412.29, Y:-67.33, Z:-8.27 [[ 9.86465331e-01 1.63120256e-01 1.66712950e-02 4.12286500e+02] [-1.63097141e-01 9.86606194e-01 -2.74601333e-03 -6.73292136e+01] [-1.68959333e-02 -1.01936101e-05 9.99857253e-01 -8.27363318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters 0.02084407514782709 Centerline is valid? [True, True] Translation: X:412.32, Y:-67.32, Z:-8.27 [[ 9.85863992e-01 1.66634731e-01 1.74658579e-02 4.12316784e+02] [-1.66609910e-01 9.86018692e-01 -2.87698346e-03 -6.73236674e+01] [-1.77010677e-02 -7.36706083e-05 9.99843321e-01 -8.27285290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.514012739 meters 0.021446658200255174 Centerline is valid? [True, True] Translation: X:412.35, Y:-67.32, Z:-8.27 [[ 9.85515285e-01 1.68582405e-01 1.84281500e-02 4.12346342e+02] [-1.68555126e-01 9.85687557e-01 -3.03479735e-03 -6.73223094e+01] [-1.86760116e-02 -1.15319969e-04 9.99825581e-01 -8.27159315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters 0.023289175656645733 Centerline is valid? [True, True] Translation: X:412.38, Y:-67.31, Z:-8.27 [[ 9.84846923e-01 1.72385503e-01 1.89677568e-02 4.12376380e+02] [-1.72357325e-01 9.85029543e-01 -3.12276223e-03 -6.73140093e+01] [-1.92221198e-02 -1.93789062e-04 9.99815219e-01 -8.27088859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.574012739 meters 0.023539464097051283 Centerline is valid? [True, True] Translation: X:412.41, Y:-67.31, Z:-8.27 [[ 9.84751402e-01 1.73021041e-01 1.81216709e-02 4.12405317e+02] [-1.72995448e-01 9.84918108e-01 -2.98240309e-03 -6.73149359e+01] [-1.83643803e-02 -1.98040950e-04 9.99831341e-01 -8.27252846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters 0.022627075531121296 Centerline is valid? [True, True] Translation: X:412.43, Y:-67.32, Z:-8.28 [[ 9.85086069e-01 1.71231217e-01 1.68910395e-02 4.12434319e+02] [-1.71208728e-01 9.85230860e-01 -2.77934977e-03 -6.73156935e+01] [-1.71174848e-02 -1.53994664e-04 9.99853473e-01 -8.27593117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.634012739 meters 0.020749026871056016 Centerline is valid? [True, True] Translation: X:412.46, Y:-67.32, Z:-8.28 [[ 9.85859139e-01 1.66660166e-01 1.74970804e-02 4.12462966e+02] [-1.66635330e-01 9.86014393e-01 -2.87818454e-03 -6.73190477e+01] [-1.77320518e-02 -7.81472268e-05 9.99842772e-01 -8.27641380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters 0.02010050612561629 Centerline is valid? [True, True] Translation: X:412.49, Y:-67.32, Z:-8.28 [[ 9.86311270e-01 1.63856073e-01 1.84734035e-02 4.12490969e+02] [-1.63827913e-01 9.86484255e-01 -3.03784079e-03 -6.73241893e+01] [-1.87214903e-02 -3.02025452e-05 9.99824737e-01 -8.27554525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.694012739 meters 0.020042301546817715 Centerline is valid? [True, True] Translation: X:412.52, Y:-67.33, Z:-8.27 [[ 9.86768081e-01 1.60989709e-01 1.92631235e-02 4.12518507e+02] [-1.60958563e-01 9.86956085e-01 -3.16672666e-03 -6.73300600e+01] [-1.95216673e-02 2.42601219e-05 9.99809434e-01 -8.27494123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters 0.02137812746487657 Centerline is valid? [True, True] Translation: X:412.55, Y:-67.34, Z:-8.28 [[ 9.87639273e-01 1.55670446e-01 1.83133549e-02 4.12545626e+02] [-1.55641401e-01 9.87809039e-01 -3.00950986e-03 -6.73388196e+01] [-1.85585893e-02 1.21993919e-04 9.99827767e-01 -8.27619560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.754012739 meters 0.024783716619115527 Centerline is valid? [True, True] Translation: X:412.57, Y:-67.35, Z:-8.28 [[ 9.88530742e-01 1.50034460e-01 1.72230190e-02 4.12573500e+02] [-1.50007929e-01 9.88680745e-01 -2.82945745e-03 -6.73499534e+01] [-1.74525834e-02 2.13416261e-04 9.99847669e-01 -8.27940676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters 0.026228487628200476 Centerline is valid? [True, True] Translation: X:412.60, Y:-67.36, Z:-8.28 [[ 9.88960383e-01 1.47247837e-01 1.65962529e-02 4.12602554e+02] [-1.47222814e-01 9.89099596e-01 -2.72624936e-03 -6.73580429e+01] [-1.68167814e-02 2.52805548e-04 9.99858556e-01 -8.28109015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.814012739 meters 0.03112009964529819 Centerline is valid? [True, True] Translation: X:412.63, Y:-67.37, Z:-8.28 [[ 9.89763186e-01 1.41874227e-01 1.55093447e-02 4.12630285e+02] [-1.41851717e-01 9.89884640e-01 -2.54752393e-03 -6.73742931e+01] [-1.57138901e-02 3.21418219e-04 9.99876478e-01 -8.28372587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters 0.03331034541520693 Centerline is valid? [True, True] Translation: X:412.66, Y:-67.39, Z:-8.28 [[ 9.90079260e-01 1.39550850e-01 1.63896248e-02 4.12659976e+02] [-1.39525377e-01 9.90214833e-01 -2.69319916e-03 -6.73855480e+01] [-1.66050878e-02 3.79712052e-04 9.99862054e-01 -8.28197088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.874012739 meters 0.033381808874458824 Centerline is valid? [True, True] Translation: X:412.69, Y:-67.39, Z:-8.28 [[ 9.90079806e-01 1.39403826e-01 1.75656176e-02 4.12690853e+02] [-1.39374534e-01 9.90235530e-01 -2.88688642e-03 -6.73924342e+01] [-1.77965417e-02 4.10048179e-04 9.99841545e-01 -8.28004304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters 0.034883106752462124 Centerline is valid? [True, True] Translation: X:412.72, Y:-67.41, Z:-8.28 [[ 9.89992449e-01 1.39608185e-01 2.06035577e-02 4.12720852e+02] [-1.39567914e-01 9.90206709e-01 -3.38680368e-03 -6.74051677e+01] [-2.08746065e-02 4.77314510e-04 9.99781988e-01 -8.27552357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.934012739 meters 0.03277602114157267 Centerline is valid? [True, True] Translation: X:412.75, Y:-67.41, Z:-8.28 [[ 9.89881444e-01 1.40351456e-01 2.08853083e-02 4.12753005e+02] [-1.40310174e-01 9.90101635e-01 -3.43632649e-03 -6.74100287e+01] [-2.11608713e-02 4.71134579e-04 9.99775973e-01 -8.27598244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters 0.030289719289179926 Centerline is valid? [True, True] Translation: X:412.78, Y:-67.42, Z:-8.28 [[ 9.89514593e-01 1.43164989e-01 1.90959913e-02 4.12783423e+02] [-1.43130944e-01 9.89698764e-01 -3.14488590e-03 -6.74157507e+01] [-1.93495165e-02 3.78683228e-04 9.99812709e-01 -8.28004988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.994012739 meters 0.027915125478211046 Centerline is valid? [True, True] Translation: X:412.81, Y:-67.42, Z:-8.28 [[ 9.89053859e-01 1.46446426e-01 1.80529268e-02 4.12814346e+02] [-1.46416543e-01 9.89218558e-01 -2.97324997e-03 -6.74194117e+01] [-1.82937121e-02 2.97457221e-04 9.99832612e-01 -8.28184180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters 0.02713049265958667 Centerline is valid? [True, True] Translation: X:412.84, Y:-67.42, Z:-8.28 [[ 9.88784900e-01 1.48172739e-01 1.86885263e-02 4.12844109e+02] [-1.48140963e-01 9.88961456e-01 -3.08105954e-03 -6.74241475e+01] [-1.89387612e-02 2.77968866e-04 9.99820607e-01 -8.28040944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05401273900003 meters 0.024350208591317823 Centerline is valid? [True, True] Translation: X:412.88, Y:-67.43, Z:-8.28 [[ 9.88319657e-01 1.51142627e-01 1.94977597e-02 4.12875760e+02] [-1.51108612e-01 9.88511939e-01 -3.21470219e-03 -6.74262191e+01] [-1.97596468e-02 2.30873954e-04 9.99804732e-01 -8.27889319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters 0.023587112890834896 Centerline is valid? [True, True] Translation: X:412.91, Y:-67.43, Z:-8.28 [[ 9.88133628e-01 1.52416129e-01 1.90067558e-02 4.12907042e+02] [-1.52384033e-01 9.88316388e-01 -3.13417528e-03 -6.74299496e+01] [-1.92623871e-02 2.00657887e-04 9.99814443e-01 -8.28063606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.114012739 meters 0.022907254381227246 Centerline is valid? [True, True] Translation: X:412.94, Y:-67.43, Z:-8.29 [[ 9.87924049e-01 1.53990350e-01 1.71185890e-02 4.12936953e+02] [-1.53964544e-01 9.88072340e-01 -2.82323572e-03 -6.74321757e+01] [-1.73491553e-02 1.53486725e-04 9.99849480e-01 -8.28653520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters 0.022718421920538513 Centerline is valid? [True, True] Translation: X:412.97, Y:-67.44, Z:-8.29 [[ 9.87859393e-01 1.54489407e-01 1.63353174e-02 4.12967507e+02] [-1.54465977e-01 9.87994435e-01 -2.69405683e-03 -6.74370695e+01] [-1.65554059e-02 1.38098583e-04 9.99862940e-01 -8.28829371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.174012739 meters 0.022659076409949904 Centerline is valid? [True, True] Translation: X:413.00, Y:-67.44, Z:-8.29 [[ 9.87834060e-01 1.54493569e-01 1.77653350e-02 4.12996718e+02] [-1.54465857e-01 9.87993783e-01 -2.92992418e-03 -6.74432386e+01] [-1.80046950e-02 1.50141193e-04 9.99837891e-01 -8.28602572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters 0.022531473863352473 Centerline is valid? [True, True] Translation: X:413.03, Y:-67.45, Z:-8.29 [[ 9.87796432e-01 1.54682759e-01 1.82058294e-02 4.13026703e+02] [-1.54653692e-01 9.87964180e-01 -3.00234010e-03 -6.74471003e+01] [-1.84511176e-02 1.50102107e-04 9.99829752e-01 -8.28564458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.234012739 meters 0.02231082638849914 Centerline is valid? [True, True] Translation: X:413.06, Y:-67.45, Z:-8.29 [[ 9.87731083e-01 1.55191522e-01 1.74040175e-02 4.13057259e+02] [-1.55165038e-01 9.87884393e-01 -2.87011256e-03 -6.74506016e+01] [-1.76385744e-02 1.34404336e-04 9.99844419e-01 -8.28808867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters 0.021905057778014138 Centerline is valid? [True, True] Translation: X:413.09, Y:-67.45, Z:-8.29 [[ 9.87564485e-01 1.56344109e-01 1.65199076e-02 4.13087343e+02] [-1.56320408e-01 9.87702641e-01 -2.72439191e-03 -6.74523402e+01] [-1.67426990e-02 1.08113993e-04 9.99859825e-01 -8.29058439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.294012739 meters 0.021025141939067758 Centerline is valid? [True, True] Translation: X:413.12, Y:-67.45, Z:-8.29 [[ 9.87460823e-01 1.56926991e-01 1.71767776e-02 4.13117176e+02] [-1.56901462e-01 9.87610201e-01 -2.83232424e-03 -6.74536586e+01] [-1.74084289e-02 1.01747711e-04 9.99848457e-01 -8.28899747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters 0.02104008748423841 Centerline is valid? [True, True] Translation: X:413.15, Y:-67.46, Z:-8.29 [[ 9.87488681e-01 1.56620163e-01 1.83365861e-02 4.13145937e+02] [-1.56591026e-01 9.87658905e-01 -3.02306030e-03 -6.74580607e+01] [-1.85837648e-02 1.13892989e-04 9.99827300e-01 -8.28750119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.354012739 meters 0.021832380303685273 Centerline is valid? [True, True] Translation: X:413.17, Y:-67.47, Z:-8.29 [[ 9.87568489e-01 1.56103899e-01 1.84405079e-02 4.13174593e+02] [-1.56074347e-01 9.87740633e-01 -3.03992871e-03 -6.74651320e+01] [-1.86889837e-02 1.24047585e-04 9.99825338e-01 -8.28844342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters 0.022449352375424777 Centerline is valid? [True, True] Translation: X:413.20, Y:-67.47, Z:-8.29 [[ 9.87715487e-01 1.55275228e-01 1.75419597e-02 4.13202699e+02] [-1.55248349e-01 9.87871240e-01 -2.89207447e-03 -6.74694659e+01] [-1.77782650e-02 1.33186462e-04 9.99841945e-01 -8.28989603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.414012739 meters 0.021805888957971555 Centerline is valid? [True, True] Translation: X:413.23, Y:-67.47, Z:-8.29 [[ 9.87719764e-01 1.55297201e-01 1.71010622e-02 4.13232462e+02] [-1.55271667e-01 9.87867786e-01 -2.81899925e-03 -6.74709024e+01] [-1.73313711e-02 1.29070851e-04 9.99849792e-01 -8.29105115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters 0.022757118944981187 Centerline is valid? [True, True] Translation: X:413.26, Y:-67.48, Z:-8.29 [[ 9.87807921e-01 1.54624795e-01 1.80744258e-02 4.13260687e+02] [-1.54596166e-01 9.87973254e-01 -2.97901665e-03 -6.74752001e+01] [-1.83176791e-02 1.48459315e-04 9.99832206e-01 -8.28979584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.474012739 meters 0.022757118944981187 Centerline is valid? [True, True] Translation: X:413.29, Y:-67.48, Z:-8.29 [[ 9.87811186e-01 1.54603918e-01 1.80745339e-02 4.13289467e+02] [-1.54575299e-01 9.87976521e-01 -2.97836029e-03 -6.74798948e+01] [-1.83176813e-02 1.48181133e-04 9.99832206e-01 -8.29038809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters 0.02411780323626685 Centerline is valid? [True, True] Translation: X:413.32, Y:-67.49, Z:-8.29 [[ 9.88073072e-01 1.52635750e-01 2.03453151e-02 4.13317921e+02] [-1.52599080e-01 9.88282492e-01 -3.35204507e-03 -6.74867249e+01] [-2.06185606e-02 2.07389117e-04 9.99787393e-01 -8.28622354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.534012739 meters 0.02650475775189782 Centerline is valid? [True, True] Translation: X:413.35, Y:-67.50, Z:-8.28 [[ 9.88466408e-01 1.49948044e-01 2.12071719e-02 4.13347421e+02] [-1.49907595e-01 9.88693840e-01 -3.49341699e-03 -6.74972647e+01] [-2.14912312e-02 2.74009205e-04 9.99768999e-01 -8.28457437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters 0.024933838832332543 Centerline is valid? [True, True] Translation: X:413.38, Y:-67.50, Z:-8.29 [[ 9.88668447e-01 1.48674340e-01 2.07519398e-02 4.13379530e+02] [-1.48635307e-01 9.88886168e-01 -3.41940696e-03 -6.74993082e+01] [-2.10296843e-02 2.96188815e-04 9.99778808e-01 -8.28625855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.594012739 meters 0.027212365896167028 Centerline is valid? [True, True] Translation: X:413.41, Y:-67.51, Z:-8.29 [[ 9.88982524e-01 1.46869415e-01 1.85187247e-02 4.13409743e+02] [-1.46837963e-01 9.89155844e-01 -3.05426285e-03 -6.75075436e+01] [-1.87664826e-02 3.01360775e-04 9.99823849e-01 -8.29060756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters 0.027213867434673928 Centerline is valid? [True, True] Translation: X:413.44, Y:-67.51, Z:-8.29 [[ 9.89081236e-01 1.46268287e-01 1.79971469e-02 4.13441167e+02] [-1.46238432e-01 9.89244911e-01 -2.97098892e-03 -6.75129525e+01] [-1.82381474e-02 3.06674855e-04 9.99833624e-01 -8.29239371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.654012739 meters 0.027837106929001886 Centerline is valid? [True, True] Translation: X:413.47, Y:-67.52, Z:-8.29 [[ 9.89161542e-01 1.45728313e-01 1.79639265e-02 4.13471922e+02] [-1.45698421e-01 9.89324596e-01 -2.96871165e-03 -6.75200236e+01] [-1.82047797e-02 3.19219662e-04 9.99834228e-01 -8.29260491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters 0.02976384271969817 Centerline is valid? [True, True] Translation: X:413.50, Y:-67.53, Z:-8.29 [[ 9.89264325e-01 1.44901873e-01 1.89616175e-02 4.13502036e+02] [-1.44868381e-01 9.89445967e-01 -3.13545998e-03 -6.75287752e+01] [-1.92158300e-02 3.54859874e-04 9.99815296e-01 -8.29103699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.714012739 meters 0.032391053529333975 Centerline is valid? [True, True] Translation: X:413.53, Y:-67.54, Z:-8.29 [[ 9.89860898e-01 1.40565880e-01 2.04116472e-02 4.13531705e+02] [-1.40526105e-01 9.90071214e-01 -3.37721998e-03 -6.75405047e+01] [-2.06837062e-02 4.74608728e-04 9.99785957e-01 -8.28888893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters 0.035308253501532105 Centerline is valid? [True, True] Translation: X:413.56, Y:-67.55, Z:-8.29 [[ 9.90275504e-01 1.37647234e-01 2.01907037e-02 4.13561937e+02] [-1.37607700e-01 9.90481175e-01 -3.34114099e-03 -6.75535111e+01] [-2.04584107e-02 5.30253789e-04 9.99790564e-01 -8.29001498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.774012739 meters 0.0401996481652733 Centerline is valid? [True, True] Translation: X:413.59, Y:-67.57, Z:-8.29 [[ 9.90954567e-01 1.32756446e-01 1.96156014e-02 4.13588622e+02] [-1.32718156e-01 9.91148500e-01 -3.24689059e-03 -6.75731310e+01] [-1.98730196e-02 6.14174610e-04 9.99802323e-01 -8.29101018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters 0.04298347105536714 Centerline is valid? [True, True] Translation: X:413.62, Y:-67.59, Z:-8.29 [[ 9.91180797e-01 1.31066857e-01 1.95475387e-02 4.13617400e+02] [-1.31028505e-01 9.91373321e-01 -3.23555049e-03 -6.75882797e+01] [-1.98029818e-02 6.45730732e-04 9.99803693e-01 -8.29164237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.834012739 meters 0.041839272808383135 Centerline is valid? [True, True] Translation: X:413.65, Y:-67.60, Z:-8.29 [[ 9.91044212e-01 1.32128055e-01 1.93273715e-02 4.13648774e+02] [-1.32090708e-01 9.91232461e-01 -3.20198643e-03 -6.75956925e+01] [-1.95809903e-02 6.20343939e-04 9.99808082e-01 -8.29294468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters 0.037593792870883845 Centerline is valid? [True, True] Translation: X:413.68, Y:-67.60, Z:-8.29 [[ 9.90392118e-01 1.37036096e-01 1.85623532e-02 4.13677806e+02] [-1.37002450e-01 9.90565926e-01 -3.07829863e-03 -6.76006228e+01] [-1.88090726e-02 5.05634844e-04 9.99822966e-01 -8.29422745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.894012739 meters 0.03449017561115772 Centerline is valid? [True, True] Translation: X:413.71, Y:-67.60, Z:-8.30 [[ 9.89952672e-01 1.40250384e-01 1.79871336e-02 4.13709782e+02] [-1.40219306e-01 9.90115975e-01 -2.98370831e-03 -6.76033043e+01] [-1.82278146e-02 4.31586610e-04 9.99833766e-01 -8.29526777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters 0.028222561394484428 Centerline is valid? [True, True] Translation: X:413.74, Y:-67.60, Z:-8.30 [[ 9.88892003e-01 1.47635587e-01 1.72145449e-02 4.13739947e+02] [-1.47608224e-01 9.89041785e-01 -2.85647060e-03 -6.76007860e+01] [-1.74476209e-02 2.83732531e-04 9.99847738e-01 -8.29758376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.954012739 meters 0.025403918448221305 Centerline is valid? [True, True] Translation: X:413.77, Y:-67.60, Z:-8.30 [[ 9.88336884e-01 1.51263602e-01 1.75933388e-02 4.13772100e+02] [-1.51235607e-01 9.88493436e-01 -2.91869806e-03 -6.76026441e+01] [-1.78323926e-02 2.23917682e-04 9.99840965e-01 -8.29794777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters 0.02171732156666367 Centerline is valid? [True, True] Translation: X:413.80, Y:-67.60, Z:-8.30 [[ 9.87402787e-01 1.57167430e-01 1.82793477e-02 4.13804619e+02] [-1.57138158e-01 9.87571964e-01 -3.03574063e-03 -6.76018393e+01] [-1.85292908e-02 1.25115730e-04 9.99828310e-01 -8.29710092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.014012739 meters 0.020316312754250162 Centerline is valid? [True, True] Translation: X:413.83, Y:-67.60, Z:-8.30 [[ 9.86705390e-01 1.61576080e-01 1.74826872e-02 4.13834967e+02] [-1.61549978e-01 9.86860258e-01 -2.90442051e-03 -6.75978104e+01] [-1.77222541e-02 4.14796346e-05 9.99842948e-01 -8.29943743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters 0.02006069204335209 Centerline is valid? [True, True] Translation: X:413.86, Y:-67.60, Z:-8.30 [[ 9.86431754e-01 1.63208918e-01 1.77550862e-02 4.13864623e+02] [-1.63182265e-01 9.86591531e-01 -2.94949512e-03 -6.75977260e+01] [-1.79984016e-02 1.21604706e-05 9.99838016e-01 -8.30011560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.074012739 meters 0.019963034506714283 Centerline is valid? [True, True] Translation: X:413.89, Y:-67.60, Z:-8.30 [[ 9.86082889e-01 1.65108063e-01 1.94901055e-02 4.13894974e+02] [-1.65076327e-01 9.86275482e-01 -3.23721599e-03 -6.75989738e+01] [-1.97571036e-02 -2.51917211e-05 9.99804809e-01 -8.29781671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters 0.019832625064401987 Centerline is valid? [True, True] Translation: X:413.93, Y:-67.61, Z:-8.30 [[ 9.86160660e-01 1.64641161e-01 1.95048998e-02 4.13925604e+02] [-1.64609285e-01 9.86353531e-01 -3.23966041e-03 -6.76061018e+01] [-1.97721082e-02 -1.58619590e-05 9.99804513e-01 -8.29722042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.134012739 meters 0.019817761749766547 Centerline is valid? [True, True] Translation: X:413.96, Y:-67.61, Z:-8.30 [[ 9.86342632e-01 1.63595665e-01 1.90963699e-02 4.13955441e+02] [-1.63564906e-01 9.86527475e-01 -3.17227255e-03 -6.76123519e+01] [-1.93580636e-02 5.45171446e-06 9.99812615e-01 -8.29877764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters 0.020172336051459898 Centerline is valid? [True, True] Translation: X:413.99, Y:-67.62, Z:-8.30 [[ 9.86689334e-01 1.61555499e-01 1.85466851e-02 4.13985394e+02] [-1.61526120e-01 9.86863627e-01 -3.08116012e-03 -6.76212027e+01] [-1.88008273e-02 4.43737392e-05 9.99823248e-01 -8.30135043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.194012739 meters 0.020434620299675275 Centerline is valid? [True, True] Translation: X:414.02, Y:-67.63, Z:-8.30 [[ 9.86869853e-01 1.60481204e-01 1.82668159e-02 4.14015535e+02] [-1.60452514e-01 9.87038894e-01 -3.03509047e-03 -6.76293626e+01] [-1.85171327e-02 6.42827535e-05 9.99828541e-01 -8.30249651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters 0.020722505316361897 Centerline is valid? [True, True] Translation: X:414.05, Y:-67.64, Z:-8.30 [[ 9.87041944e-01 1.59430743e-01 1.81669784e-02 4.14045373e+02] [-1.59402180e-01 9.87209112e-01 -3.01893189e-03 -6.76398523e+01] [-1.84159172e-02 8.39564341e-05 9.99830409e-01 -8.30238521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.254012739 meters 0.020603538063162428 Centerline is valid? [True, True] Translation: X:414.08, Y:-67.65, Z:-8.30 [[ 9.86953217e-01 1.59978299e-01 1.81739450e-02 4.14076560e+02] [-1.59949803e-01 9.87120529e-01 -3.02025725e-03 -6.76455625e+01] [-1.84230498e-02 7.39336789e-05 9.99830278e-01 -8.30276954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters 0.02017447307664864 Centerline is valid? [True, True] Translation: X:414.11, Y:-67.65, Z:-8.30 [[ 9.86337171e-01 1.63761767e-01 1.79183881e-02 4.14108159e+02] [-1.63734632e-01 9.86499916e-01 -2.98103752e-03 -6.76454235e+01] [-1.81646683e-02 6.44742977e-06 9.99835009e-01 -8.30394222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.314012739 meters 0.021739939602479243 Centerline is valid? [True, True] Translation: X:414.14, Y:-67.64, Z:-8.30 [[ 9.85170221e-01 1.70604781e-01 1.82659460e-02 4.14138276e+02] [-1.70577748e-01 9.85339532e-01 -3.03941268e-03 -6.76368816e+01] [-1.85166970e-02 -1.21425066e-04 9.99828544e-01 -8.30373643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters 0.023711548048252564 Centerline is valid? [True, True] Translation: X:414.17, Y:-67.63, Z:-8.30 [[ 9.84609323e-01 1.73811960e-01 1.82725002e-02 4.14166728e+02] [-1.73785471e-01 9.84778843e-01 -3.03988483e-03 -6.76345352e+01] [-1.85227400e-02 -1.82396115e-04 9.99828423e-01 -8.30444007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.374012739 meters 0.024324088055458073 Centerline is valid? [True, True] Translation: X:414.20, Y:-67.64, Z:-8.30 [[ 9.84106044e-01 1.76600638e-01 1.86415770e-02 4.14196786e+02] [-1.76573589e-01 9.84282559e-01 -3.10014374e-03 -6.76353878e+01] [-1.88960665e-02 -2.40739964e-04 9.99821424e-01 -8.30434519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters 0.02473402626741697 Centerline is valid? [True, True] Translation: X:414.23, Y:-67.64, Z:-8.30 [[ 9.84096175e-01 1.76578514e-01 1.93583680e-02 4.14225443e+02] [-1.76549350e-01 9.84286526e-01 -3.21885207e-03 -6.76377365e+01] [-1.96225609e-02 -2.50047277e-04 9.99807428e-01 -8.30431660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.434012739 meters 0.024563147565126314 Centerline is valid? [True, True] Translation: X:414.25, Y:-67.64, Z:-8.30 [[ 9.84447395e-01 1.74591538e-01 1.95223185e-02 4.14254309e+02] [-1.74561503e-01 9.84640924e-01 -3.24537026e-03 -6.76416245e+01] [-1.97890879e-02 -2.12948949e-04 9.99804154e-01 -8.30492512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters 0.022057646595913544 Centerline is valid? [True, True] Translation: X:414.28, Y:-67.65, Z:-8.31 [[ 9.84896763e-01 1.72065817e-01 1.92800721e-02 4.14282336e+02] [-1.72036047e-01 9.85085442e-01 -3.20463899e-03 -6.76528752e+01] [-1.95439272e-02 -1.60628814e-04 9.99808986e-01 -8.30617554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.494012739 meters 0.02033903925587836 Centerline is valid? [True, True] Translation: X:414.31, Y:-67.67, Z:-8.31 [[ 9.86081048e-01 1.65246820e-01 1.83754153e-02 4.14310865e+02] [-1.65218602e-01 9.86252244e-01 -3.05377045e-03 -6.76669764e+01] [-1.86274205e-02 -2.46952640e-05 9.99826494e-01 -8.30796115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters 0.02037122517392092 Centerline is valid? [True, True] Translation: X:414.34, Y:-67.68, Z:-8.31 [[ 9.86618730e-01 1.62011755e-01 1.83213527e-02 4.14339634e+02] [-1.61983140e-01 9.86788827e-01 -3.04505596e-03 -6.76767700e+01] [-1.85726410e-02 3.65590056e-05 9.99827513e-01 -8.30885491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55401273900003 meters 0.021914617108997517 Centerline is valid? [True, True] Translation: X:414.37, Y:-67.69, Z:-8.31 [[ 9.87229157e-01 1.58466916e-01 1.63348773e-02 4.14368300e+02] [-1.58443692e-01 9.87364283e-01 -2.71450572e-03 -6.76875684e+01] [-1.65586338e-02 9.16809323e-05 9.99862892e-01 -8.31350641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters 0.021330926853436714 Centerline is valid? [True, True] Translation: X:414.40, Y:-67.69, Z:-8.31 [[ 9.87183133e-01 1.58800060e-01 1.58745854e-02 4.14399588e+02] [-1.58778155e-01 9.87310758e-01 -2.63888831e-03 -6.76914400e+01] [-1.60922046e-02 8.45286443e-05 9.99870509e-01 -8.31336686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.614012739 meters 0.020990234548216073 Centerline is valid? [True, True] Translation: X:414.43, Y:-67.70, Z:-8.31 [[ 9.87097593e-01 1.59233091e-01 1.68274769e-02 4.14430910e+02] [-1.59208533e-01 9.87241012e-01 -2.79772421e-03 -6.76967530e+01] [-1.70582656e-02 8.25489241e-05 9.99854494e-01 -8.31158631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters 0.020768712589359136 Centerline is valid? [True, True] Translation: X:414.46, Y:-67.71, Z:-8.31 [[ 9.87000556e-01 1.59666101e-01 1.83477369e-02 4.14461051e+02] [-1.59636970e-01 9.87171074e-01 -3.05097483e-03 -6.77053965e+01] [-1.85994924e-02 8.23367447e-05 9.99827011e-01 -8.30892140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.674012739 meters 0.020673139744706942 Centerline is valid? [True, True] Translation: X:414.49, Y:-67.71, Z:-8.31 [[ 9.86941512e-01 1.60004100e-01 1.85779258e-02 4.14492144e+02] [-1.59974289e-01 9.87116347e-01 -3.08949190e-03 -6.77128485e+01] [-1.88329056e-02 7.71573370e-05 9.99822642e-01 -8.30859584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters 0.02041072632503006 Centerline is valid? [True, True] Translation: X:414.52, Y:-67.72, Z:-8.31 [[ 9.86656818e-01 1.61638002e-01 1.95314999e-02 4.14522961e+02] [-1.61605301e-01 9.86850117e-01 -3.25165638e-03 -6.77207265e+01] [-1.98002542e-02 5.18750212e-05 9.99803954e-01 -8.30773633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.734012739 meters 0.02017764901210134 Centerline is valid? [True, True] Translation: X:414.55, Y:-67.73, Z:-8.31 [[ 9.86378484e-01 1.63296971e-01 1.97885483e-02 4.14554540e+02] [-1.63263666e-01 9.86576960e-01 -3.29792443e-03 -6.77266137e+01] [-2.00614669e-02 2.22507604e-05 9.99798748e-01 -8.30853941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters 0.02031776655636251 Centerline is valid? [True, True] Translation: X:414.59, Y:-67.73, Z:-8.31 [[ 9.85807371e-01 1.66716750e-01 1.97319983e-02 4.14585680e+02] [-1.66684247e-01 9.86004829e-01 -3.29219007e-03 -6.77284588e+01] [-2.00047088e-02 -4.35480291e-05 9.99799885e-01 -8.30985700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.794012739 meters 0.020764635455891547 Centerline is valid? [True, True] Translation: X:414.62, Y:-67.73, Z:-8.31 [[ 9.85462592e-01 1.68837084e-01 1.89081400e-02 4.14616830e+02] [-1.68807621e-01 9.85643968e-01 -3.15516617e-03 -6.77310132e+01] [-1.91694032e-02 -8.25398981e-05 9.99816247e-01 -8.31171729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters 0.02287320883926783 Centerline is valid? [True, True] Translation: X:414.65, Y:-67.73, Z:-8.31 [[ 9.84679917e-01 1.73413367e-01 1.82555750e-02 4.14646148e+02] [-1.73386678e-01 9.84849114e-01 -3.04678529e-03 -6.77311966e+01] [-1.85073402e-02 -1.65165216e-04 9.99828711e-01 -8.31284984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.854012739 meters 0.024989821890704134 Centerline is valid? [True, True] Translation: X:414.68, Y:-67.73, Z:-8.31 [[ 9.84027335e-01 1.77059641e-01 1.84414333e-02 4.14676082e+02] [-1.77033055e-01 9.84200095e-01 -3.07735478e-03 -6.77311583e+01] [-1.86949357e-02 -2.36542041e-04 9.99825206e-01 -8.31239698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters 0.026233398120494796 Centerline is valid? [True, True] Translation: X:414.70, Y:-67.73, Z:-8.31 [[ 9.83827862e-01 1.78186000e-01 1.82342525e-02 4.14704734e+02] [-1.78160208e-01 9.83996791e-01 -3.04237151e-03 -6.77315359e+01] [-1.84845540e-02 -2.55448377e-04 9.99829113e-01 -8.31329268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.914012739 meters 0.02708348857465119 Centerline is valid? [True, True] Translation: X:414.73, Y:-67.73, Z:-8.32 [[ 9.83540641e-01 1.79746853e-01 1.84086119e-02 4.14734219e+02] [-1.79720851e-01 9.83712857e-01 -3.07081763e-03 -6.77314636e+01] [-1.86607580e-02 -2.88137458e-04 9.99825831e-01 -8.31548581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters 0.027225488837853255 Centerline is valid? [True, True] Translation: X:414.76, Y:-67.73, Z:-8.32 [[ 9.83519615e-01 1.79836508e-01 1.86547101e-02 4.14763120e+02] [-1.79809839e-01 9.83696469e-01 -3.11096447e-03 -6.77346981e+01] [-1.89100374e-02 -2.94605840e-04 9.99821146e-01 -8.31530839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.974012739 meters 0.027538540419453705 Centerline is valid? [True, True] Translation: X:414.79, Y:-67.73, Z:-8.31 [[ 9.83477724e-01 1.79972007e-01 1.95356654e-02 4.14790961e+02] [-1.79942806e-01 9.83671683e-01 -3.25690379e-03 -6.77349630e+01] [-1.98028324e-02 -3.12210134e-04 9.99803856e-01 -8.31347105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters 0.02732086987482657 Centerline is valid? [True, True] Translation: X:414.82, Y:-67.74, Z:-8.31 [[ 9.83401712e-01 1.80407187e-01 1.93473371e-02 4.14820239e+02] [-1.80378653e-01 9.83591961e-01 -3.22436060e-03 -6.77368492e+01] [-1.96115830e-02 -3.19004863e-04 9.99807624e-01 -8.31403767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.034012739 meters 0.02898661089680499 Centerline is valid? [True, True] Translation: X:414.85, Y:-67.73, Z:-8.31 [[ 9.83060952e-01 1.82217917e-01 1.96925274e-02 4.14850319e+02] [-1.82188738e-01 9.83258104e-01 -3.28091987e-03 -6.77329865e+01] [-1.99606795e-02 -3.62412484e-04 9.99800700e-01 -8.31473614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters 0.02890168869652502 Centerline is valid? [True, True] Translation: X:414.88, Y:-67.74, Z:-8.31 [[ 9.82824101e-01 1.83448807e-01 2.00828522e-02 4.14879532e+02] [-1.83418736e-01 9.83029185e-01 -3.34496492e-03 -6.77353142e+01] [-2.03556596e-02 -3.96059213e-04 9.99792724e-01 -8.31413376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.094012739 meters 0.033666666025583145 Centerline is valid? [True, True] Translation: X:414.91, Y:-67.73, Z:-8.31 [[ 9.82390014e-01 1.85766447e-01 2.00171676e-02 4.14908891e+02] [-1.85737073e-01 9.82593828e-01 -3.33302792e-03 -6.77260522e+01] [-2.02879101e-02 -4.43596787e-04 9.99794081e-01 -8.31341948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters 0.03289686644260591 Centerline is valid? [True, True] Translation: X:414.94, Y:-67.72, Z:-8.32 [[ 9.82255425e-01 1.86519261e-01 1.96174711e-02 4.14937997e+02] [-1.86491224e-01 9.82451201e-01 -3.26525425e-03 -6.77235551e+01] [-1.98822409e-02 -4.51172499e-04 9.99802227e-01 -8.31533981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.154012739 meters 0.030038120196565647 Centerline is valid? [True, True] Translation: X:414.97, Y:-67.73, Z:-8.32 [[ 9.82468704e-01 1.85435456e-01 1.92077371e-02 4.14966551e+02] [-1.85408393e-01 9.82656356e-01 -3.19592121e-03 -6.77295719e+01] [-1.94672421e-02 -4.21383096e-04 9.99810406e-01 -8.31704636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters 0.02784046552630896 Centerline is valid? [True, True] Translation: X:415.00, Y:-67.73, Z:-8.32 [[ 9.83438731e-01 1.80187294e-01 1.95141366e-02 4.14995570e+02] [-1.80158346e-01 9.83632266e-01 -3.24588017e-03 -6.77325812e+01] [-1.97796008e-02 -3.23510304e-04 9.99804312e-01 -8.31743982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.214012739 meters 0.02485072537902723 Centerline is valid? [True, True] Translation: X:415.02, Y:-67.74, Z:-8.32 [[ 9.84058186e-01 1.76771904e-01 1.95238488e-02 4.15023396e+02] [-1.76742265e-01 9.84251812e-01 -3.24701533e-03 -6.77400389e+01] [-1.97903646e-02 -2.55437247e-04 9.99804119e-01 -8.31704977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters 0.02177986061901537 Centerline is valid? [True, True] Translation: X:415.05, Y:-67.75, Z:-8.32 [[ 9.85230351e-01 1.70396616e-01 1.69159159e-02 4.15051034e+02] [-1.70373438e-01 9.85375553e-01 -2.81259114e-03 -6.77462916e+01] [-1.71477860e-02 -1.10972587e-04 9.99852960e-01 -8.32205283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.274012739 meters 0.020784852935412865 Centerline is valid? [True, True] Translation: X:415.08, Y:-67.75, Z:-8.32 [[ 9.86023665e-01 1.65853745e-01 1.58071956e-02 4.15078797e+02] [-1.65832933e-01 9.86150361e-01 -2.62753694e-03 -6.77520853e+01] [-1.60240585e-02 -3.05400158e-05 9.99871606e-01 -8.32474458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters 0.020556334069731265 Centerline is valid? [True, True] Translation: X:415.11, Y:-67.76, Z:-8.32 [[ 9.86225731e-01 1.64518718e-01 1.70996990e-02 4.15107392e+02] [-1.64494178e-01 9.86373961e-01 -2.84146623e-03 -6.77559156e+01] [-1.73341722e-02 -1.04738285e-05 9.99849752e-01 -8.32325655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.334012739 meters 0.020266294687076462 Centerline is valid? [True, True] Translation: X:415.14, Y:-67.76, Z:-8.32 [[ 9.86408440e-01 1.63098787e-01 1.99292564e-02 4.15136095e+02] [-1.63065187e-01 9.86609743e-01 -3.31052577e-03 -6.77569801e+01] [-2.02023413e-02 1.57626522e-05 9.99795912e-01 -8.31802168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters 0.020266294687076462 Centerline is valid? [True, True] Translation: X:415.16, Y:-67.76, Z:-8.32 [[ 9.86416092e-01 1.63052481e-01 1.99294126e-02 4.15164049e+02] [-1.63018890e-01 9.86617397e-01 -3.30958505e-03 -6.77615340e+01] [-2.02023413e-02 1.57572339e-05 9.99795912e-01 -8.31859695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.394012739 meters 0.0202784171060025 Centerline is valid? [True, True] Translation: X:415.19, Y:-67.77, Z:-8.32 [[ 9.86565774e-01 1.62088170e-01 2.03813391e-02 4.15191163e+02] [-1.62052853e-01 9.86776279e-01 -3.38362543e-03 -6.77655982e+01] [-2.06602676e-02 3.53148815e-05 9.99786553e-01 -8.31745541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters 0.020938827703865383 Centerline is valid? [True, True] Translation: X:415.22, Y:-67.78, Z:-8.32 [[ 9.87138670e-01 1.58491651e-01 2.09199212e-02 4.15219725e+02] [-1.58453661e-01 9.87360311e-01 -3.47178398e-03 -6.77761281e+01] [-2.12057487e-02 1.12294112e-04 9.99775127e-01 -8.31692070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.454012739 meters 0.021542149502390983 Centerline is valid? [True, True] Translation: X:415.25, Y:-67.79, Z:-8.32 [[ 9.87436187e-01 1.56426714e-01 2.23709589e-02 4.15248022e+02] [-1.56382754e-01 9.87689554e-01 -3.71202150e-03 -6.77856253e+01] [-2.26762218e-02 1.66952184e-04 9.99742847e-01 -8.31547507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters 0.02250615579018834 Centerline is valid? [True, True] Translation: X:415.28, Y:-67.80, Z:-8.31 [[ 9.87735000e-01 1.54275462e-01 2.40551900e-02 4.15275943e+02] [-1.54224008e-01 9.88027848e-01 -3.99091484e-03 -6.77979778e+01] [-2.43828979e-02 2.32078440e-04 9.99702666e-01 -8.31263649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.514012739 meters 0.022710675763403326 Centerline is valid? [True, True] Translation: X:415.31, Y:-67.80, Z:-8.32 [[ 9.87789067e-01 1.54110566e-01 2.28624608e-02 4.15305787e+02] [-1.54064046e-01 9.88053583e-01 -3.79296312e-03 -6.78048865e+01] [-2.31738720e-02 2.24364301e-04 9.99731425e-01 -8.31526173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters 0.022587196740961945 Centerline is valid? [True, True] Translation: X:415.33, Y:-67.81, Z:-8.32 [[ 9.87728084e-01 1.54919038e-01 1.98323964e-02 4.15334871e+02] [-1.54884177e-01 9.87927153e-01 -3.29124159e-03 -6.78105179e+01] [-2.01028389e-02 1.79127358e-04 9.99797901e-01 -8.32109110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.574012739 meters 0.021834712811674335 Centerline is valid? [True, True] Translation: X:415.36, Y:-67.82, Z:-8.32 [[ 9.87506336e-01 1.56364171e-01 1.95315750e-02 4.15363575e+02] [-1.56330642e-01 9.87699461e-01 -3.24133146e-03 -6.78176951e+01] [-1.97981542e-02 1.47451696e-04 9.99803986e-01 -8.32180858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters 0.021414101337656942 Centerline is valid? [True, True] Translation: X:415.39, Y:-67.82, Z:-8.32 [[ 9.87383078e-01 1.57128862e-01 1.96259466e-02 4.15391382e+02] [-1.57095168e-01 9.87578100e-01 -3.25652433e-03 -6.78243943e+01] [-1.98938490e-02 1.32295636e-04 9.99802089e-01 -8.32206982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.634012739 meters 0.02093300495111306 Centerline is valid? [True, True] Translation: X:415.42, Y:-67.83, Z:-8.32 [[ 9.87163954e-01 1.58525439e-01 1.94168411e-02 4.15420736e+02] [-1.58492743e-01 9.87354888e-01 -3.22114454e-03 -6.78312201e+01] [-1.96819463e-02 1.02369375e-04 9.99806286e-01 -8.32392907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters 0.020691759285977076 Centerline is valid? [True, True] Translation: X:415.45, Y:-67.84, Z:-8.33 [[ 9.87015503e-01 1.59542495e-01 1.86169140e-02 4.15449507e+02] [-1.59512631e-01 9.87191059e-01 -3.08774080e-03 -6.78357169e+01] [-1.88710770e-02 7.80150971e-05 9.99821922e-01 -8.32680196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.694012739 meters 0.020553683803434187 Centerline is valid? [True, True] Translation: X:415.48, Y:-67.84, Z:-8.33 [[ 9.86769674e-01 1.61191681e-01 1.74026655e-02 4.15478144e+02] [-1.61165850e-01 9.86923118e-01 -2.88596490e-03 -6.78410414e+01] [-1.76402864e-02 4.30672739e-05 9.99844397e-01 -8.33005181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters 0.020324722784474718 Centerline is valid? [True, True] Translation: X:415.51, Y:-67.85, Z:-8.33 [[ 9.86673153e-01 1.61801698e-01 1.72133881e-02 4.15506073e+02] [-1.61776525e-01 9.86823292e-01 -2.85420391e-03 -6.78470403e+01] [-1.74483873e-02 3.14442732e-05 9.99847765e-01 -8.33000681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.754012739 meters 0.020051596964266612 Centerline is valid? [True, True] Translation: X:415.54, Y:-67.85, Z:-8.33 [[ 9.86344655e-01 1.63685902e-01 1.81974251e-02 4.15535547e+02] [-1.63658102e-01 9.86512507e-01 -3.01665835e-03 -6.78531489e+01] [-1.84457719e-02 -2.69120396e-06 9.99829862e-01 -8.32824086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters 0.020505569981231184 Centerline is valid? [True, True] Translation: X:415.56, Y:-67.86, Z:-8.33 [[ 9.85903555e-01 1.66409262e-01 1.73821093e-02 4.15563758e+02] [-1.66384327e-01 9.86056771e-01 -2.88112852e-03 -6.78564934e+01] [-1.76191930e-02 -5.15956963e-05 9.99844769e-01 -8.33099404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.814012739 meters 0.0210574794977965 Centerline is valid? [True, True] Translation: X:415.59, Y:-67.86, Z:-8.33 [[ 9.85578720e-01 1.68392219e-01 1.66927542e-02 4.15592222e+02] [-1.68369517e-01 9.85720068e-01 -2.76632134e-03 -6.78594689e+01] [-1.69202098e-02 -8.41235175e-05 9.99856839e-01 -8.33309972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters 0.022966901624557525 Centerline is valid? [True, True] Translation: X:415.62, Y:-67.86, Z:-8.33 [[ 9.84985938e-01 1.71847726e-01 1.64639280e-02 4.15620435e+02] [-1.71826136e-01 9.85123514e-01 -2.72765927e-03 -6.78597323e+01] [-1.66877446e-02 -1.42227107e-04 9.99860740e-01 -8.33392597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.874012739 meters 0.023163895274842233 Centerline is valid? [True, True] Translation: X:415.65, Y:-67.86, Z:-8.33 [[ 9.84721206e-01 1.73211199e-01 1.79451309e-02 4.15648877e+02] [-1.73185797e-01 9.84884688e-01 -2.97184531e-03 -6.78645105e+01] [-1.81886415e-02 -1.81402710e-04 9.99834557e-01 -8.33134718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters 0.02412153012184499 Centerline is valid? [True, True] Translation: X:415.68, Y:-67.87, Z:-8.32 [[ 9.84436329e-01 1.74391394e-01 2.17429618e-02 4.15676532e+02] [-1.74354417e-01 9.84676384e-01 -3.59951756e-03 -6.78678242e+01] [-2.20375059e-02 -2.47485588e-04 9.99757114e-01 -8.32462385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.934012739 meters 0.02397434744870236 Centerline is valid? [True, True] Translation: X:415.70, Y:-67.87, Z:-8.32 [[ 9.84381183e-01 1.74540798e-01 2.30042938e-02 4.15704424e+02] [-1.74499480e-01 9.84649907e-01 -3.80691780e-03 -6.78734414e+01] [-2.33156382e-02 -2.66779065e-04 9.99728118e-01 -8.32348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters 0.024098799822622724 Centerline is valid? [True, True] Translation: X:415.73, Y:-67.88, Z:-8.33 [[ 9.84462227e-01 1.74356265e-01 2.08330469e-02 4.15732187e+02] [-1.74322357e-01 9.84682607e-01 -3.44671675e-03 -6.78792006e+01] [-2.11148955e-02 -2.38503386e-04 9.99777027e-01 -8.32874313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.994012739 meters 0.02440491397421304 Centerline is valid? [True, True] Translation: X:415.76, Y:-67.88, Z:-8.33 [[ 9.84464615e-01 1.74463938e-01 1.97928413e-02 4.15759741e+02] [-1.74433362e-01 9.84663537e-01 -3.27420150e-03 -6.78838121e+01] [-2.00605192e-02 -2.29196329e-04 9.99798741e-01 -8.33139968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters 0.025028758198056746 Centerline is valid? [True, True] Translation: X:415.79, Y:-67.89, Z:-8.33 [[ 9.84297132e-01 1.75434404e-01 1.95429273e-02 4.15788094e+02] [-1.75404811e-01 9.84491091e-01 -3.23162110e-03 -6.78887205e+01] [-1.98067754e-02 -2.47048096e-04 9.99803796e-01 -8.33221659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05401273900003 meters 0.027238456000901426 Centerline is valid? [True, True] Translation: X:415.82, Y:-67.89, Z:-8.33 [[ 9.83948239e-01 1.77538803e-01 1.80509558e-02 4.15815355e+02] [-1.77513923e-01 9.84113765e-01 -2.98417774e-03 -6.78906525e+01] [-1.82940014e-02 -2.68019544e-04 9.99832615e-01 -8.33470958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters 0.028520928201225697 Centerline is valid? [True, True] Translation: X:415.84, Y:-67.89, Z:-8.34 [[ 9.83717776e-01 1.78882174e-01 1.73350957e-02 4.15844453e+02] [-1.78859459e-01 9.83870463e-01 -2.86461150e-03 -6.78938169e+01] [-1.75679166e-02 -2.82576602e-04 9.99845632e-01 -8.33667335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.114012739 meters 0.029218727474906583 Centerline is valid? [True, True] Translation: X:415.87, Y:-67.90, Z:-8.34 [[ 9.83576302e-01 1.79701510e-01 1.68826996e-02 4.15872712e+02] [-1.79680099e-01 9.83721141e-01 -2.78910136e-03 -6.78974615e+01] [-1.71090743e-02 -2.90191139e-04 9.99853587e-01 -8.33845748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters 0.02835747217509283 Centerline is valid? [True, True] Translation: X:415.90, Y:-67.90, Z:-8.34 [[ 9.83406801e-01 1.80543005e-01 1.77563085e-02 4.15901315e+02] [-1.80519473e-01 9.83567039e-01 -2.93256682e-03 -6.79036580e+01] [-1.79939742e-02 -3.21453296e-04 9.99838044e-01 -8.33709111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.174012739 meters 0.028681913528170365 Centerline is valid? [True, True] Translation: X:415.93, Y:-67.91, Z:-8.34 [[ 9.83314736e-01 1.80970687e-01 1.84862263e-02 4.15929518e+02] [-1.80945273e-01 9.83488430e-01 -3.05217600e-03 -6.79077145e+01] [-1.87333441e-02 -3.43745635e-04 9.99824456e-01 -8.33570478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters 0.028447583092835328 Centerline is valid? [True, True] Translation: X:415.96, Y:-67.91, Z:-8.33 [[ 9.83382484e-01 1.80543425e-01 1.90515695e-02 4.15956638e+02] [-1.80516371e-01 9.83566953e-01 -3.14457726e-03 -6.79135904e+01] [-1.93062269e-02 -3.46797989e-04 9.99813557e-01 -8.33492011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.234012739 meters 0.029564232317201868 Centerline is valid? [True, True] Translation: X:415.98, Y:-67.92, Z:-8.34 [[ 9.83226335e-01 1.81447155e-01 1.85176736e-02 4.15983757e+02] [-1.81421778e-01 9.83400632e-01 -3.05531608e-03 -6.79169424e+01] [-1.87646703e-02 -3.55442032e-04 9.99823865e-01 -8.33599073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters 0.030450932130372546 Centerline is valid? [True, True] Translation: X:416.01, Y:-67.92, Z:-8.34 [[ 9.83059682e-01 1.82313855e-01 1.88499433e-02 4.16012541e+02] [-1.82287745e-01 9.83240313e-01 -3.10872853e-03 -6.79189381e+01] [-1.91007885e-02 -3.80047996e-04 9.99817491e-01 -8.33571312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.294012739 meters 0.03462493878317369 Centerline is valid? [True, True] Translation: X:416.04, Y:-67.91, Z:-8.34 [[ 9.82510171e-01 1.85292015e-01 1.84562288e-02 4.16041947e+02] [-1.85267525e-01 9.82683410e-01 -3.04293949e-03 -6.79144998e+01] [-1.87004622e-02 -4.29620828e-04 9.99825039e-01 -8.33687447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters 0.03561154926919907 Centerline is valid? [True, True] Translation: X:416.07, Y:-67.92, Z:-8.34 [[ 9.82083855e-01 1.87616367e-01 1.76465627e-02 4.16071571e+02] [-1.87594369e-01 9.82242278e-01 -2.90859484e-03 -6.79164542e+01] [-1.78788999e-02 -4.53911746e-04 9.99840057e-01 -8.33863408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.354012739 meters 0.04144185491616836 Centerline is valid? [True, True] Translation: X:416.10, Y:-67.91, Z:-8.34 [[ 9.81039325e-01 1.93044596e-01 1.71938054e-02 4.16103856e+02] [-1.93024552e-01 9.81189836e-01 -2.83350099e-03 -6.79088776e+01] [-1.74173791e-02 -5.39050684e-04 9.99848161e-01 -8.33936200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters 0.04432920796429976 Centerline is valid? [True, True] Translation: X:416.13, Y:-67.91, Z:-8.34 [[ 9.80580939e-01 1.95311222e-01 1.77354998e-02 4.16133603e+02] [-1.95290263e-01 9.80741133e-01 -2.92290999e-03 -6.79063273e+01] [-1.79648113e-02 -5.97420611e-04 9.99838441e-01 -8.33907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.414012739 meters 0.047213328641374924 Centerline is valid? [True, True] Translation: X:416.16, Y:-67.90, Z:-8.34 [[ 9.80055622e-01 1.97922261e-01 1.78257066e-02 4.16164376e+02] [-1.97901532e-01 9.80217505e-01 -2.93712160e-03 -6.79013139e+01] [-1.80543914e-02 -6.49192117e-04 9.99836795e-01 -8.33995307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters 0.047970577172706065 Centerline is valid? [True, True] Translation: X:416.19, Y:-67.90, Z:-8.34 [[ 9.79913000e-01 1.98609307e-01 1.80237601e-02 4.16193190e+02] [-1.98588237e-01 9.80078515e-01 -2.96937696e-03 -6.79024880e+01] [-1.82544459e-02 -6.69575667e-04 9.99833150e-01 -8.34100881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.474012739 meters 0.04930620960638916 Centerline is valid? [True, True] Translation: X:416.22, Y:-67.90, Z:-8.34 [[ 9.79794814e-01 1.99117908e-01 1.88197108e-02 4.16221725e+02] [-1.99095047e-01 9.79975283e-01 -3.09960820e-03 -6.78990770e+01] [-1.90600389e-02 -7.09931166e-04 9.99818089e-01 -8.33934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters 0.054114523871724315 Centerline is valid? [True, True] Translation: X:416.25, Y:-67.89, Z:-8.33 [[ 9.79529388e-01 2.00205326e-01 2.09763210e-02 4.16251273e+02] [-2.00177203e-01 9.79753623e-01 -3.45345194e-03 -6.78887238e+01] [-2.12430260e-02 -8.16223600e-04 9.99774008e-01 -8.33499702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.534012739 meters 0.05153943533665673 Centerline is valid? [True, True] Translation: X:416.28, Y:-67.89, Z:-8.33 [[ 9.79518025e-01 2.00196779e-01 2.15797974e-02 4.16279451e+02] [-2.00167045e-01 9.79755348e-01 -3.55132549e-03 -6.78926334e+01] [-2.18538859e-02 -8.40976934e-04 9.99760822e-01 -8.33473858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters 0.04944446214153896 Centerline is valid? [True, True] Translation: X:416.31, Y:-67.89, Z:-8.34 [[ 9.79932284e-01 1.98273148e-01 2.05055431e-02 4.16309600e+02] [-1.98245898e-01 9.80146511e-01 -3.37366763e-03 -6.78918414e+01] [-2.07673442e-02 -7.59173972e-04 9.99784047e-01 -8.33826471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.594012739 meters 0.04771706658978053 Centerline is valid? [True, True] Translation: X:416.34, Y:-67.89, Z:-8.34 [[ 9.80277101e-01 1.96643658e-01 1.96996475e-02 4.16338346e+02] [-1.96618188e-01 9.80474776e-01 -3.24065614e-03 -6.78943468e+01] [-1.99522619e-02 -6.96567974e-04 9.99800691e-01 -8.34053979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters 0.04166200504364012 Centerline is valid? [True, True] Translation: X:416.37, Y:-67.90, Z:-8.34 [[ 9.80951661e-01 1.93270762e-01 1.95000362e-02 4.16367250e+02] [-1.93245156e-01 9.81145262e-01 -3.20692846e-03 -6.79010744e+01] [-1.97521737e-02 -6.22445746e-04 9.99804713e-01 -8.34207419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.654012739 meters 0.0404073281374751 Centerline is valid? [True, True] Translation: X:416.40, Y:-67.90, Z:-8.34 [[ 9.81766900e-01 1.89075731e-01 1.95990439e-02 4.16396792e+02] [-1.89049039e-01 9.81962359e-01 -3.22274508e-03 -6.79020067e+01] [-1.98548663e-02 -5.41195968e-04 9.99802726e-01 -8.34277675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters 0.03784535453085412 Centerline is valid? [True, True] Translation: X:416.42, Y:-67.91, Z:-8.34 [[ 9.82244987e-01 1.86544621e-01 1.98969860e-02 4.16424570e+02] [-1.86516600e-01 9.82446363e-01 -3.27126503e-03 -6.79067893e+01] [-2.01579585e-02 -4.97934521e-04 9.99796684e-01 -8.34252422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.714012739 meters 0.03279179215746214 Centerline is valid? [True, True] Translation: X:416.45, Y:-67.91, Z:-8.34 [[ 9.83173573e-01 1.81522759e-01 2.04747032e-02 4.16452986e+02] [-1.81492018e-01 9.83386659e-01 -3.36531295e-03 -6.79146159e+01] [-2.07454309e-02 -4.07308455e-04 9.99784707e-01 -8.34316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters 0.030686470913464433 Centerline is valid? [True, True] Translation: X:416.48, Y:-67.92, Z:-8.35 [[ 9.83639651e-01 1.79051121e-01 1.98426827e-02 4.16480171e+02] [-1.79021754e-01 9.83839711e-01 -3.26101360e-03 -6.79223098e+01] [-2.01059073e-02 -3.44609582e-04 9.99797796e-01 -8.34562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.774012739 meters 0.027427917772580922 Centerline is valid? [True, True] Translation: X:416.51, Y:-67.93, Z:-8.35 [[ 9.84298638e-01 1.75595541e-01 1.79554168e-02 4.16507839e+02] [-1.75570945e-01 9.84462363e-01 -2.94948833e-03 -6.79329974e+01] [-1.81943491e-02 -2.49272153e-04 9.99834438e-01 -8.34989887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters 0.0268507859252809 Centerline is valid? [True, True] Translation: X:416.53, Y:-67.94, Z:-8.35 [[ 9.84480321e-01 1.74614389e-01 1.75588356e-02 4.16534714e+02] [-1.74590725e-01 9.84636869e-01 -2.88361195e-03 -6.79386053e+01] [-1.77925971e-02 -2.26750615e-04 9.99841674e-01 -8.35082140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.834012739 meters 0.024857309296422183 Centerline is valid? [True, True] Translation: X:416.56, Y:-67.95, Z:-8.35 [[ 9.84721120e-01 1.73185774e-01 1.81935101e-02 4.16562385e+02] [-1.73160143e-01 9.84889153e-01 -2.98678528e-03 -6.79496165e+01] [-1.84358595e-02 -2.09240281e-04 9.99830023e-01 -8.35001280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters 0.025045802922591627 Centerline is valid? [True, True] Translation: X:416.59, Y:-67.96, Z:-8.35 [[ 9.84866949e-01 1.72363042e-01 1.81128327e-02 4.16590113e+02] [-1.72337514e-01 9.85033474e-01 -2.97271333e-03 -6.79553794e+01] [-1.83541324e-02 -1.93793461e-04 9.99831530e-01 -8.35132296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.894012739 meters 0.023329753234320096 Centerline is valid? [True, True] Translation: X:416.62, Y:-67.96, Z:-8.35 [[ 9.85126274e-01 1.70820474e-01 1.86169076e-02 4.16618257e+02] [-1.70793246e-01 9.85302155e-01 -3.05455334e-03 -6.79647475e+01] [-1.88650594e-02 -1.70521334e-04 9.99822024e-01 -8.35122716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters 0.022786052876363153 Centerline is valid? [True, True] Translation: X:416.65, Y:-67.97, Z:-8.35 [[ 9.85278385e-01 1.69847456e-01 1.94511051e-02 4.16645685e+02] [-1.69817558e-01 9.85470353e-01 -3.19074195e-03 -6.79723007e+01] [-1.97104268e-02 -1.59370079e-04 9.99805718e-01 -8.34950652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.954012739 meters 0.023037865926502872 Centerline is valid? [True, True] Translation: X:416.67, Y:-67.98, Z:-8.35 [[ 9.85329274e-01 1.69514134e-01 1.97782891e-02 4.16672401e+02] [-1.69483177e-01 9.85527744e-01 -3.24327924e-03 -6.79773946e+01] [-2.00418343e-02 -1.56389288e-04 9.99799130e-01 -8.34889821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters 0.0223557132283374 Centerline is valid? [True, True] Translation: X:416.70, Y:-67.99, Z:-8.35 [[ 9.85420540e-01 1.69014434e-01 1.95059063e-02 4.16700239e+02] [-1.68984256e-01 9.85613565e-01 -3.19708363e-03 -6.79852849e+01] [-1.97656391e-02 -1.45719177e-04 9.99804630e-01 -8.34925363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.014012739 meters 0.02119057021877841 Centerline is valid? [True, True] Translation: X:416.73, Y:-67.99, Z:-8.35 [[ 9.85701655e-01 1.67371435e-01 1.94692331e-02 4.16728479e+02] [-1.67341067e-01 9.85893904e-01 -3.19020524e-03 -6.79940541e+01] [-1.97285475e-02 -1.13411653e-04 9.99805367e-01 -8.34947876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters 0.021352895028939785 Centerline is valid? [True, True] Translation: X:416.76, Y:-68.00, Z:-8.35 [[ 9.85849094e-01 1.66441637e-01 1.99685982e-02 4.16756514e+02] [-1.66409520e-01 9.86051303e-01 -3.27104490e-03 -6.79979207e+01] [-2.02345003e-02 -9.82081844e-05 9.99795257e-01 -8.34959065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.074012739 meters 0.02065701158131357 Centerline is valid? [True, True] Translation: X:416.78, Y:-68.01, Z:-8.35 [[ 9.86031903e-01 1.65315239e-01 2.02967479e-02 4.16784190e+02] [-1.65281845e-01 9.86240775e-01 -3.32356971e-03 -6.80083052e+01] [-2.05669171e-02 -7.75381719e-05 9.99788476e-01 -8.35053285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters 0.020473562881281097 Centerline is valid? [True, True] Translation: X:416.81, Y:-68.01, Z:-8.35 [[ 9.85993735e-01 1.65501385e-01 2.06311682e-02 4.16812751e+02] [-1.65466943e-01 9.86209554e-01 -3.37732956e-03 -6.80147553e+01] [-2.09056079e-02 -8.37505362e-05 9.99781450e-01 -8.34956462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.134012739 meters 0.021000978266149085 Centerline is valid? [True, True] Translation: X:416.84, Y:-68.02, Z:-8.35 [[ 9.85895250e-01 1.66075331e-01 2.07253664e-02 4.16840976e+02] [-1.66040722e-01 9.86113064e-01 -3.39170207e-03 -6.80165971e+01] [-2.10008326e-02 -9.73918522e-05 9.99779453e-01 -8.34881321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters 0.020939592584287632 Centerline is valid? [True, True] Translation: X:416.87, Y:-68.02, Z:-8.35 [[ 9.85807356e-01 1.66566387e-01 2.09641561e-02 4.16869168e+02] [-1.66531114e-01 9.86030236e-01 -3.42947987e-03 -6.80222143e+01] [-2.12425279e-02 -1.10377796e-04 9.99774346e-01 -8.34941583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.194012739 meters 0.021257466439004807 Centerline is valid? [True, True] Translation: X:416.90, Y:-68.03, Z:-8.35 [[ 9.85742207e-01 1.67135550e-01 1.94424637e-02 4.16897138e+02] [-1.67105340e-01 9.85933920e-01 -3.17969255e-03 -6.80281886e+01] [-1.97004241e-02 -1.14582355e-04 9.99805921e-01 -8.35315411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters 0.022044519960353632 Centerline is valid? [True, True] Translation: X:416.92, Y:-68.03, Z:-8.36 [[ 9.85549022e-01 1.68439981e-01 1.79192140e-02 4.16924820e+02] [-1.68414549e-01 9.85711903e-01 -2.92981266e-03 -6.80286562e+01] [-1.81566801e-02 -1.30382342e-04 9.99835145e-01 -8.35589950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.254012739 meters 0.022566648772740523 Centerline is valid? [True, True] Translation: X:416.95, Y:-68.03, Z:-8.36 [[ 9.85384262e-01 1.69409963e-01 1.78359543e-02 4.16954072e+02] [-1.69384946e-01 9.85545657e-01 -2.91510584e-03 -6.80309220e+01] [-1.80719953e-02 -1.48642740e-04 9.99836677e-01 -8.35664229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters 0.022566648772740523 Centerline is valid? [True, True] Translation: X:416.98, Y:-68.04, Z:-8.36 [[ 9.85395899e-01 1.69342249e-01 1.78360789e-02 4.16981221e+02] [-1.69317234e-01 9.85557295e-01 -2.91434351e-03 -6.80352185e+01] [-1.80719991e-02 -1.48173395e-04 9.99836677e-01 -8.35720060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.314012739 meters 0.023081890161135654 Centerline is valid? [True, True] Translation: X:417.01, Y:-68.04, Z:-8.36 [[ 9.85177051e-01 1.70616435e-01 1.77823276e-02 4.17010523e+02] [-1.70591802e-01 9.85337507e-01 -2.90425917e-03 -6.80368154e+01] [-1.80171087e-02 -1.72309828e-04 9.99837664e-01 -8.35708286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters 0.02306213638923759 Centerline is valid? [True, True] Translation: X:417.04, Y:-68.04, Z:-8.36 [[ 9.85157403e-01 1.70707658e-01 1.79941009e-02 4.17038823e+02] [-1.70682465e-01 9.85321706e-01 -2.93802591e-03 -6.80401816e+01] [-1.82315217e-02 -1.76859509e-04 9.99833776e-01 -8.35796143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.374012739 meters 0.023645827622070015 Centerline is valid? [True, True] Translation: X:417.07, Y:-68.04, Z:-8.36 [[ 9.85069980e-01 1.71217389e-01 1.79371213e-02 4.17066545e+02] [-1.71192463e-01 9.85233257e-01 -2.92739034e-03 -6.80399911e+01] [-1.81734686e-02 -1.87015641e-04 9.99834831e-01 -8.35886449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters 0.02262585959482345 Centerline is valid? [True, True] Translation: X:417.09, Y:-68.04, Z:-8.36 [[ 9.85256114e-01 1.70051501e-01 1.87850350e-02 4.17094989e+02] [-1.70023974e-01 9.85435161e-01 -3.06459159e-03 -6.80445767e+01] [-1.90325723e-02 -1.74498698e-04 9.99818849e-01 -8.35694063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.434012739 meters 0.022057422935828876 Centerline is valid? [True, True] Translation: X:417.12, Y:-68.05, Z:-8.36 [[ 9.85503041e-01 1.68538571e-01 1.94552588e-02 4.17122131e+02] [-1.68508769e-01 9.85695048e-01 -3.17295548e-03 -6.80493861e+01] [-1.97117177e-02 -1.51424444e-04 9.99805694e-01 -8.35624849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters 0.021010920475253346 Centerline is valid? [True, True] Translation: X:417.15, Y:-68.05, Z:-8.36 [[ 9.85913518e-01 1.66057209e-01 1.99884686e-02 4.17149131e+02] [-1.66025266e-01 9.86116115e-01 -3.25867544e-03 -6.80546551e+01] [-2.02520775e-02 -1.05818643e-04 9.99794900e-01 -8.35623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.494012739 meters 0.02084826609310189 Centerline is valid? [True, True] Translation: X:417.18, Y:-68.06, Z:-8.36 [[ 9.86002424e-01 1.65588325e-01 1.94865692e-02 4.17176977e+02] [-1.65557896e-01 9.86194959e-01 -3.17575617e-03 -6.80591154e+01] [-1.97434244e-02 -9.48521028e-05 9.99805075e-01 -8.35779049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters 0.021236630431635335 Centerline is valid? [True, True] Translation: X:417.21, Y:-68.06, Z:-8.36 [[ 9.85964667e-01 1.66068781e-01 1.71707713e-02 4.17205460e+02] [-1.66045247e-01 9.86114167e-01 -2.79724547e-03 -6.80613234e+01] [-1.73968759e-02 -9.31397636e-05 9.99848659e-01 -8.36169985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55401273900003 meters 0.021378460917700848 Centerline is valid? [True, True] Translation: X:417.23, Y:-68.06, Z:-8.36 [[ 9.85796589e-01 1.67081319e-01 1.69976051e-02 4.17234343e+02] [-1.67058422e-01 9.85943112e-01 -2.76823080e-03 -6.80627589e+01] [-1.72211913e-02 -1.10680597e-04 9.99851698e-01 -8.36207527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters 0.023550537027578325 Centerline is valid? [True, True] Translation: X:417.26, Y:-68.06, Z:-8.36 [[ 9.85070029e-01 1.71165619e-01 1.84219573e-02 4.17264052e+02] [-1.71139455e-01 9.85242250e-01 -2.99923119e-03 -6.80560013e+01] [-1.86634559e-02 -1.98270974e-04 9.99825803e-01 -8.35955557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.614012739 meters 0.025845031699715453 Centerline is valid? [True, True] Translation: X:417.29, Y:-68.05, Z:-8.36 [[ 9.84415196e-01 1.74782612e-01 1.94360716e-02 4.17294594e+02] [-1.74754217e-01 9.84607007e-01 -3.16307177e-03 -6.80499246e+01] [-1.96897422e-02 -2.82759555e-04 9.99806098e-01 -8.35753530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters 0.031058212641255616 Centerline is valid? [True, True] Translation: X:417.32, Y:-68.04, Z:-8.36 [[ 9.84274717e-01 1.75523578e-01 1.98684401e-02 4.17323761e+02] [-1.75494076e-01 9.84475180e-01 -3.23245750e-03 -6.80424014e+01] [-2.01273586e-02 -3.05167346e-04 9.99797378e-01 -8.35813460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.674012739 meters 0.026668130936338515 Centerline is valid? [True, True] Translation: X:417.35, Y:-68.05, Z:-8.36 [[ 9.84341489e-01 1.75088048e-01 2.03962636e-02 4.17351761e+02] [-1.75056891e-01 9.84552732e-01 -3.31707873e-03 -6.80522723e+01] [-2.06619778e-02 -3.05368259e-04 9.99786472e-01 -8.35787809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters 0.023596877831674242 Centerline is valid? [True, True] Translation: X:417.38, Y:-68.06, Z:-8.36 [[ 9.85033102e-01 1.71116358e-01 2.07118521e-02 4.17379548e+02] [-1.71083371e-01 9.85250801e-01 -3.36741867e-03 -6.80606439e+01] [-2.09825893e-02 -2.26434627e-04 9.99779816e-01 -8.35866939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.734012739 meters 0.021791425396535613 Centerline is valid? [True, True] Translation: X:417.41, Y:-68.07, Z:-8.36 [[ 9.85581001e-01 1.68001535e-01 2.01389046e-02 4.17408018e+02] [-1.67969716e-01 9.85786721e-01 -3.27334267e-03 -6.80681110e+01] [-2.04025913e-02 -1.56581756e-04 9.99791833e-01 -8.35966433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters 0.019899978548585957 Centerline is valid? [True, True] Translation: X:417.44, Y:-68.08, Z:-8.36 [[ 9.86577737e-01 1.62178026e-01 1.90435389e-02 4.17435328e+02] [-1.62148500e-01 9.86761515e-01 -3.09468514e-03 -6.80779656e+01] [-1.92933212e-02 -3.47338059e-05 9.99813866e-01 -8.36220831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.794012739 meters 0.019926313992993702 Centerline is valid? [True, True] Translation: X:417.46, Y:-68.09, Z:-8.36 [[ 9.86957276e-01 1.59859508e-01 1.89808549e-02 4.17462451e+02] [-1.59829765e-01 9.87139776e-01 -3.08362185e-03 -6.80850362e+01] [-1.92297032e-02 9.69744623e-06 9.99815092e-01 -8.36282856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters 0.020035763461195556 Centerline is valid? [True, True] Translation: X:417.49, Y:-68.09, Z:-8.36 [[ 9.87403192e-01 1.56894722e-01 2.04690454e-02 4.17489081e+02] [-1.56859527e-01 9.87615331e-01 -3.32378808e-03 -6.80943878e+01] [-2.07370278e-02 7.11541846e-05 9.99784962e-01 -8.36007955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.854012739 meters 0.01953681958742076 Centerline is valid? [True, True] Translation: X:417.52, Y:-68.09, Z:-8.36 [[ 9.87144518e-01 1.58387131e-01 2.14293555e-02 4.17518180e+02] [-1.58348937e-01 9.87377089e-01 -3.47839031e-03 -6.80939422e+01] [-2.17097869e-02 4.03582777e-05 9.99764314e-01 -8.35826533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters 0.01959799303099443 Centerline is valid? [True, True] Translation: X:417.55, Y:-68.09, Z:-8.36 [[ 9.86810758e-01 1.60569289e-01 2.05434185e-02 4.17545846e+02] [-1.60534681e-01 9.87024571e-01 -3.33360881e-03 -6.80930657e+01] [-2.08121340e-02 -8.29008203e-06 9.99783404e-01 -8.35995596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.914012739 meters 0.020696698273008476 Centerline is valid? [True, True] Translation: X:417.58, Y:-68.09, Z:-8.36 [[ 9.85962100e-01 1.65848368e-01 1.93146694e-02 4.17575387e+02] [-1.65818818e-01 9.86151259e-01 -3.13265703e-03 -6.80880465e+01] [-1.95667316e-02 -1.14054558e-04 9.99808547e-01 -8.36460248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters 0.021570471689942236 Centerline is valid? [True, True] Translation: X:417.60, Y:-68.09, Z:-8.37 [[ 9.85643440e-01 1.67750524e-01 1.91512544e-02 4.17603256e+02] [-1.67721850e-01 9.85829467e-01 -3.10523026e-03 -6.80884557e+01] [-1.94007749e-02 -1.51433973e-04 9.99811776e-01 -8.36559356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.974012739 meters 0.022736843600993 Centerline is valid? [True, True] Translation: X:417.63, Y:-68.09, Z:-8.37 [[ 9.85404284e-01 1.69094773e-01 1.96304827e-02 4.17631584e+02] [-1.69064936e-01 9.85599779e-01 -3.18169935e-03 -6.80870773e+01] [-1.98858081e-02 -1.83566135e-04 9.99802241e-01 -8.36525402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters 0.02216053620877457 Centerline is valid? [True, True] Translation: X:417.66, Y:-68.09, Z:-8.37 [[ 9.85551981e-01 1.68302433e-01 1.90153639e-02 4.17659666e+02] [-1.68274312e-01 9.85735393e-01 -3.08086662e-03 -6.80914030e+01] [-1.92626346e-02 -1.63443080e-04 9.99814445e-01 -8.36602188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.034012739 meters 0.021439118084219583 Centerline is valid? [True, True] Translation: X:417.69, Y:-68.10, Z:-8.37 [[ 9.85780824e-01 1.66955784e-01 1.90245149e-02 4.17688493e+02] [-1.66927400e-01 9.85964374e-01 -3.08156430e-03 -6.80965872e+01] [-1.92719789e-02 -1.37965808e-04 9.99814269e-01 -8.36693229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters 0.020454398925676253 Centerline is valid? [True, True] Translation: X:417.72, Y:-68.10, Z:-8.37 [[ 9.86054953e-01 1.65292380e-01 1.93406260e-02 4.17716638e+02] [-1.65262785e-01 9.86244603e-01 -3.12968201e-03 -6.81024724e+01] [-1.95919006e-02 -1.10247263e-04 9.99808054e-01 -8.36712101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.094012739 meters 0.019541494884194193 Centerline is valid? [True, True] Translation: X:417.74, Y:-68.11, Z:-8.36 [[ 9.86651093e-01 1.61535584e-01 2.06367832e-02 4.17743521e+02] [-1.61501089e-01 9.86866888e-01 -3.33833439e-03 -6.81088233e+01] [-2.09050178e-02 -3.90916825e-05 9.99781465e-01 -8.36495769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters 0.01944226943279438 Centerline is valid? [True, True] Translation: X:417.77, Y:-68.12, Z:-8.37 [[ 9.86947630e-01 1.59716682e-01 2.06145107e-02 4.17770083e+02] [-1.59681891e-01 9.87162895e-01 -3.33346447e-03 -6.81158511e+01] [-2.08822899e-02 -1.80919265e-06 9.99781941e-01 -8.36593235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.154012739 meters 0.019567192785639037 Centerline is valid? [True, True] Translation: X:417.80, Y:-68.13, Z:-8.37 [[ 9.87371196e-01 1.57111025e-01 2.03530378e-02 4.17797163e+02] [-1.57076588e-01 9.87580945e-01 -3.28974537e-03 -6.81263729e+01] [-2.06171276e-02 5.12140973e-05 9.99787443e-01 -8.36739372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters 0.01964997631731052 Centerline is valid? [True, True] Translation: X:417.83, Y:-68.13, Z:-8.37 [[ 9.87482557e-01 1.56398215e-01 2.04401149e-02 4.17825509e+02] [-1.56363350e-01 9.87694079e-01 -3.30283470e-03 -6.81315819e+01] [-2.07051379e-02 6.54068131e-05 9.99785624e-01 -8.36670889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.214012739 meters 0.01958534782893473 Centerline is valid? [True, True] Translation: X:417.85, Y:-68.13, Z:-8.36 [[ 9.87444212e-01 1.56466472e-01 2.17295034e-02 4.17852663e+02] [-1.56427111e-01 9.87683268e-01 -3.51001514e-03 -6.81337709e+01] [-2.20110666e-02 6.68606980e-05 9.99757725e-01 -8.36466894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters 0.019517684830226804 Centerline is valid? [True, True] Translation: X:417.88, Y:-68.14, Z:-8.36 [[ 9.87413426e-01 1.56594847e-01 2.21986541e-02 4.17880023e+02] [-1.56553842e-01 9.87662923e-01 -3.58392255e-03 -6.81370592e+01] [-2.24860114e-02 6.35286487e-05 9.99747156e-01 -8.36480500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.274012739 meters 0.0197753425393584 Centerline is valid? [True, True] Translation: X:417.91, Y:-68.14, Z:-8.37 [[ 9.87552692e-01 1.55883926e-01 2.09733580e-02 4.17907683e+02] [-1.55847194e-01 9.87775377e-01 -3.38464492e-03 -6.81431885e+01] [-2.12445783e-02 7.38762032e-05 9.99774306e-01 -8.36852690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters 0.019961398057200163 Centerline is valid? [True, True] Translation: X:417.93, Y:-68.15, Z:-8.37 [[ 9.87699436e-01 1.55074235e-01 2.00450991e-02 4.17934754e+02] [-1.55040545e-01 9.87902816e-01 -3.23344307e-03 -6.81499210e+01] [-2.03040336e-02 8.58668075e-05 9.99793848e-01 -8.36955726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.334012739 meters 0.01994190287502328 Centerline is valid? [True, True] Translation: X:417.96, Y:-68.16, Z:-8.37 [[ 9.87764054e-01 1.54613145e-01 2.04193315e-02 4.17961118e+02] [-1.54578113e-01 9.87975084e-01 -3.29254133e-03 -6.81554563e+01] [-2.06828609e-02 9.58722478e-05 9.99786082e-01 -8.36917251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters 0.02046329751959241 Centerline is valid? [True, True] Translation: X:417.99, Y:-68.16, Z:-8.37 [[ 9.87962337e-01 1.53236743e-01 2.11877414e-02 4.17988867e+02] [-1.53198746e-01 9.88189498e-01 -3.41466886e-03 -6.81627572e+01] [-2.14607562e-02 1.27628820e-04 9.99769683e-01 -8.36817352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.394012739 meters 0.020760705935764727 Centerline is valid? [True, True] Translation: X:418.02, Y:-68.17, Z:-8.37 [[ 9.88093415e-01 1.52360942e-01 2.13903490e-02 4.18016766e+02] [-1.52322031e-01 9.88324907e-01 -3.44631641e-03 -6.81681878e+01] [-2.16656987e-02 1.47061153e-04 9.99765260e-01 -8.36853335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters 0.021546571351888207 Centerline is valid? [True, True] Translation: X:418.04, Y:-68.18, Z:-8.37 [[ 9.88408529e-01 1.50389948e-01 2.07712115e-02 4.18043850e+02] [-1.50352842e-01 9.88626739e-01 -3.34559541e-03 -6.81778856e+01] [-2.10381190e-02 1.83804358e-04 9.99778657e-01 -8.37088518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.454012739 meters 0.02225214369428907 Centerline is valid? [True, True] Translation: X:418.07, Y:-68.19, Z:-8.37 [[ 9.88603168e-01 1.49208970e-01 2.00115003e-02 4.18071639e+02] [-1.49174311e-01 9.88805665e-01 -3.22208756e-03 -6.81855584e+01] [-2.02682492e-02 2.00164208e-04 9.99794558e-01 -8.37292517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters 0.024473953904582686 Centerline is valid? [True, True] Translation: X:418.10, Y:-68.20, Z:-8.38 [[ 9.89130015e-01 1.45824278e-01 1.88969005e-02 4.18098026e+02] [-1.45792770e-01 9.89310475e-01 -3.04179767e-03 -6.81989916e+01] [-1.91384696e-02 2.53701903e-04 9.99816811e-01 -8.37619813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.514012739 meters 0.026198104059487536 Centerline is valid? [True, True] Translation: X:418.13, Y:-68.21, Z:-8.38 [[ 9.89492341e-01 1.43402111e-01 1.84591798e-02 4.18125008e+02] [-1.43371644e-01 9.89664463e-01 -2.97027976e-03 -6.82093328e+01] [-1.86943386e-02 2.92546117e-04 9.99825203e-01 -8.37807194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters 0.02811965208013151 Centerline is valid? [True, True] Translation: X:418.15, Y:-68.22, Z:-8.38 [[ 9.89821993e-01 1.41137680e-01 1.82367023e-02 4.18151988e+02] [-1.41107580e-01 9.89989922e-01 -2.93336922e-03 -6.82206554e+01] [-1.84681604e-02 3.30176433e-04 9.99829394e-01 -8.37913061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.574012739 meters 0.03103197053044136 Centerline is valid? [True, True] Translation: X:418.18, Y:-68.24, Z:-8.38 [[ 9.90285822e-01 1.37947245e-01 1.74513071e-02 4.18178751e+02] [-1.37919196e-01 9.90439508e-01 -2.80653452e-03 -6.82367055e+01] [-1.76716177e-02 3.72401105e-04 9.99843775e-01 -8.37957470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters 0.031256012681726474 Centerline is valid? [True, True] Translation: X:418.21, Y:-68.24, Z:-8.38 [[ 9.90289726e-01 1.37905077e-01 1.75627034e-02 4.18206164e+02] [-1.37876673e-01 9.90445379e-01 -2.82383213e-03 -6.82449758e+01] [-1.77843192e-02 3.74924838e-04 9.99841776e-01 -8.37962254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.634012739 meters 0.02947102064998942 Centerline is valid? [True, True] Translation: X:418.23, Y:-68.25, Z:-8.38 [[ 9.89897313e-01 1.40428706e-01 1.95726446e-02 4.18233616e+02] [-1.40393936e-01 9.90090725e-01 -3.14623629e-03 -6.82528820e+01] [-1.98205158e-02 3.66570246e-04 9.99803487e-01 -8.37700497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters 0.027384272887498087 Centerline is valid? [True, True] Translation: X:418.26, Y:-68.26, Z:-8.38 [[ 9.89605826e-01 1.42329717e-01 2.05563043e-02 4.18262832e+02] [-1.42291779e-01 9.89819242e-01 -3.30405541e-03 -6.82568550e+01] [-2.08172909e-02 3.44719362e-04 9.99783237e-01 -8.37631322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.694012739 meters 0.02594519864287127 Centerline is valid? [True, True] Translation: X:418.29, Y:-68.26, Z:-8.38 [[ 9.89309090e-01 1.44364613e-01 2.06490678e-02 4.18290864e+02] [-1.44326785e-01 9.89524516e-01 -3.31849354e-03 -6.82605634e+01] [-2.09118318e-02 3.02802263e-04 9.99781278e-01 -8.37676624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters 0.021895196779137902 Centerline is valid? [True, True] Translation: X:418.32, Y:-68.26, Z:-8.38 [[ 9.88643517e-01 1.49094444e-01 1.88372700e-02 4.18320992e+02] [-1.49063827e-01 9.88822943e-01 -3.02703134e-03 -6.82581140e+01] [-1.90780383e-02 1.84699354e-04 9.99817981e-01 -8.37980981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.754012739 meters 0.02039079920975225 Centerline is valid? [True, True] Translation: X:418.35, Y:-68.26, Z:-8.38 [[ 9.87996002e-01 1.53398421e-01 1.82434762e-02 4.18349377e+02] [-1.53370448e-01 9.88164417e-01 -2.93101623e-03 -6.82583449e+01] [-1.84771673e-02 9.78222084e-05 9.99829278e-01 -8.38147115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters 0.01954437620926686 Centerline is valid? [True, True] Translation: X:418.38, Y:-68.26, Z:-8.38 [[ 9.87666203e-01 1.55395808e-01 1.91732694e-02 4.18377268e+02] [-1.55365311e-01 9.87852286e-01 -3.07917885e-03 -6.82597945e+01] [-1.94188495e-02 6.23399214e-05 9.99811434e-01 -8.38013062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.814012739 meters 0.01912132792633485 Centerline is valid? [True, True] Translation: X:418.41, Y:-68.26, Z:-8.38 [[ 9.87325330e-01 1.57438571e-01 2.00446586e-02 4.18406447e+02] [-1.57405683e-01 9.87528782e-01 -3.21793637e-03 -6.82611626e+01] [-2.03013046e-02 2.20069101e-05 9.99793907e-01 -8.37879876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters 0.01904168219668833 Centerline is valid? [True, True] Translation: X:418.43, Y:-68.26, Z:-8.38 [[ 9.87042825e-01 1.59106140e-01 2.07773334e-02 4.18434879e+02] [-1.59071195e-01 9.87261483e-01 -3.33453252e-03 -6.82620059e+01] [-2.10432056e-02 -1.37488463e-05 9.99778567e-01 -8.37883630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.874012739 meters 0.019137490447923882 Centerline is valid? [True, True] Translation: X:418.46, Y:-68.26, Z:-8.38 [[ 9.87080389e-01 1.58947233e-01 2.02010665e-02 4.18462107e+02] [-1.58914189e-01 9.87287079e-01 -3.24088761e-03 -6.82649390e+01] [-2.04593821e-02 -1.12195089e-05 9.99790685e-01 -8.38104466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters 0.019271636523400994 Centerline is valid? [True, True] Translation: X:418.49, Y:-68.27, Z:-8.38 [[ 9.87281149e-01 1.57813195e-01 1.92594927e-02 4.18490079e+02] [-1.57782965e-01 9.87468985e-01 -3.08878023e-03 -6.82675104e+01] [-1.95056019e-02 1.06746406e-05 9.99809748e-01 -8.38407684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.934012739 meters 0.01939292668136389 Centerline is valid? [True, True] Translation: X:418.52, Y:-68.27, Z:-8.38 [[ 9.87479227e-01 1.56617572e-01 1.88603155e-02 4.18518975e+02] [-1.56588384e-01 9.87659321e-01 -3.02372633e-03 -6.82723886e+01] [-1.91011351e-02 3.25606137e-05 9.99817556e-01 -8.38446252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters 0.01947658208954759 Centerline is valid? [True, True] Translation: X:418.55, Y:-68.28, Z:-8.39 [[ 9.87659913e-01 1.55487724e-01 1.87473833e-02 4.18547398e+02] [-1.55458698e-01 9.87837823e-01 -3.00472647e-03 -6.82774696e+01] [-1.89865724e-02 5.32040798e-05 9.99819737e-01 -8.38519731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.994012739 meters 0.02053204202002527 Centerline is valid? [True, True] Translation: X:418.57, Y:-68.28, Z:-8.38 [[ 9.88114959e-01 1.52548197e-01 1.89176096e-02 4.18574428e+02] [-1.52518120e-01 9.88296026e-01 -3.03110074e-03 -6.82838298e+01] [-1.91585873e-02 1.09797747e-04 9.99816451e-01 -8.38498370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters 0.021085647476265908 Centerline is valid? [True, True] Translation: X:418.60, Y:-68.29, Z:-8.38 [[ 9.88342941e-01 1.50973675e-01 1.96260225e-02 4.18603133e+02] [-1.50941017e-01 9.88537773e-01 -3.14338492e-03 -6.82879361e+01] [-1.98756329e-02 1.44370506e-04 9.99802450e-01 -8.38417658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05401273900003 meters 0.022566268366471808 Centerline is valid? [True, True] Translation: X:418.63, Y:-68.29, Z:-8.38 [[ 9.88752267e-01 1.48113422e-01 2.07693982e-02 4.18631057e+02] [-1.48076238e-01 9.88970358e-01 -3.32549886e-03 -6.82932425e+01] [-2.10328702e-02 2.12640192e-04 9.99778762e-01 -8.38306200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters 0.022815016188023705 Centerline is valid? [True, True] Translation: X:418.66, Y:-68.30, Z:-8.38 [[ 9.88892641e-01 1.47130949e-01 2.10672435e-02 4.18660047e+02] [-1.47092493e-01 9.89116994e-01 -3.37196434e-03 -6.82967882e+01] [-2.13340889e-02 2.35677365e-04 9.99772375e-01 -8.38335167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.114012739 meters 0.023287403443152468 Centerline is valid? [True, True] Translation: X:418.69, Y:-68.30, Z:-8.39 [[ 9.89080415e-01 1.45992609e-01 2.01517077e-02 4.18689299e+02] [-1.45957206e-01 9.89285650e-01 -3.22451523e-03 -6.82984670e+01] [-2.04065507e-02 2.48017905e-04 9.99791734e-01 -8.38604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters 0.023986572136879297 Centerline is valid? [True, True] Translation: X:418.72, Y:-68.30, Z:-8.39 [[ 9.89214092e-01 1.45182696e-01 1.94284707e-02 4.18716609e+02] [-1.45149650e-01 9.89404831e-01 -3.10789717e-03 -6.83029608e+01] [-1.96738357e-02 2.54339949e-04 9.99806419e-01 -8.38794564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.174012739 meters 0.023986572136879297 Centerline is valid? [True, True] Translation: X:418.74, Y:-68.31, Z:-8.39 [[ 9.89220821e-01 1.45136817e-01 1.94286524e-02 4.18744591e+02] [-1.45103785e-01 9.89411562e-01 -3.10676109e-03 -6.83073482e+01] [-1.96738387e-02 2.54101769e-04 9.99806419e-01 -8.38852096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters 0.025477179887971664 Centerline is valid? [True, True] Translation: X:418.77, Y:-68.31, Z:-8.39 [[ 9.89418357e-01 1.43824521e-01 1.91264666e-02 4.18772033e+02] [-1.43792280e-01 9.89603169e-01 -3.05755582e-03 -6.83140478e+01] [-1.93673635e-02 2.74963611e-04 9.99812397e-01 -8.39010572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.234012739 meters 0.027533055749228513 Centerline is valid? [True, True] Translation: X:418.80, Y:-68.32, Z:-8.39 [[ 9.89957698e-01 1.40081703e-01 1.89966281e-02 4.18800469e+02] [-1.40049231e-01 9.90139888e-01 -3.03564715e-03 -6.83224620e+01] [-1.92345579e-02 3.44699104e-04 9.99814939e-01 -8.39090673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters 0.02858532973821016 Centerline is valid? [True, True] Translation: X:418.83, Y:-68.33, Z:-8.39 [[ 9.90202620e-01 1.38392095e-01 1.86118050e-02 4.18829415e+02] [-1.38360635e-01 9.90377449e-01 -2.97371894e-03 -6.83287559e+01] [-1.88442511e-02 3.69443124e-04 9.99822363e-01 -8.39159503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.294012739 meters 0.030941193024946773 Centerline is valid? [True, True] Translation: X:418.86, Y:-68.34, Z:-8.39 [[ 9.90433131e-01 1.36703672e-01 1.88233621e-02 4.18856377e+02] [-1.36671197e-01 9.90611903e-01 -3.00709239e-03 -6.83387766e+01] [-1.90577271e-02 4.05712510e-04 9.99818303e-01 -8.39209874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters 0.02988897266509368 Centerline is valid? [True, True] Translation: X:418.89, Y:-68.34, Z:-8.39 [[ 9.90500915e-01 1.36095103e-01 1.96484269e-02 4.18885592e+02] [-1.36059618e-01 9.90695682e-01 -3.13791038e-03 -6.83421072e+01] [-1.98926659e-02 4.34745648e-04 9.99802027e-01 -8.39162443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.354012739 meters 0.03038448032080048 Centerline is valid? [True, True] Translation: X:418.91, Y:-68.35, Z:-8.39 [[ 9.90476447e-01 1.36149616e-01 2.04863457e-02 4.18913518e+02] [-1.36111062e-01 9.90688184e-01 -3.27120575e-03 -6.83473402e+01] [-2.07409540e-02 4.51633972e-04 9.99784781e-01 -8.39073655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters 0.030059394697668253 Centerline is valid? [True, True] Translation: X:418.94, Y:-68.35, Z:-8.39 [[ 9.90262960e-01 1.37639002e-01 2.08512826e-02 4.18942021e+02] [-1.37599407e-01 9.90482369e-01 -3.32871463e-03 -6.83500506e+01] [-2.11109888e-02 4.27178665e-04 9.99777047e-01 -8.39077148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.414012739 meters 0.028761487504134715 Centerline is valid? [True, True] Translation: X:418.97, Y:-68.35, Z:-8.39 [[ 9.90135600e-01 1.38664267e-01 2.00926676e-02 4.18971291e+02] [-1.38627726e-01 9.90339371e-01 -3.20691849e-03 -6.83529172e+01] [-2.03432448e-02 3.89883334e-04 9.99792979e-01 -8.39208157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters 0.027262503567744935 Centerline is valid? [True, True] Translation: X:419.00, Y:-68.36, Z:-8.39 [[ 9.89833153e-01 1.40905471e-01 1.93901452e-02 4.18999636e+02] [-1.40871880e-01 9.90022999e-01 -3.09435694e-03 -6.83556405e+01] [-1.96327015e-02 3.31370871e-04 9.99807205e-01 -8.39453844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.474012739 meters 0.025979949479486286 Centerline is valid? [True, True] Translation: X:419.03, Y:-68.36, Z:-8.39 [[ 9.89591423e-01 1.42522217e-01 1.99056192e-02 4.19028854e+02] [-1.42487157e-01 9.89791556e-01 -3.17590267e-03 -6.83575971e+01] [-2.01550505e-02 3.06550938e-04 9.99796819e-01 -8.39409707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters 0.024470716358345745 Centerline is valid? [True, True] Translation: X:419.06, Y:-68.36, Z:-8.39 [[ 9.89309802e-01 1.44391056e-01 2.04288462e-02 4.19058177e+02] [-1.44354547e-01 9.89520666e-01 -3.25839956e-03 -6.83586849e+01] [-2.06852493e-02 2.74569783e-04 9.99786000e-01 -8.39343790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.534012739 meters 0.022600991507367656 Centerline is valid? [True, True] Translation: X:419.09, Y:-68.36, Z:-8.39 [[ 9.88884026e-01 1.47338398e-01 1.99945106e-02 4.19087622e+02] [-1.47304046e-01 9.89086120e-01 -3.18819574e-03 -6.83576130e+01] [-2.02460366e-02 2.07483530e-04 9.99795006e-01 -8.39494366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters 0.021928889247720382 Centerline is valid? [True, True] Translation: X:419.12, Y:-68.36, Z:-8.40 [[ 9.88743986e-01 1.48305630e-01 1.97679059e-02 4.19117054e+02] [-1.48272264e-01 9.88941558e-01 -3.15113639e-03 -6.83585279e+01] [-2.00166349e-02 1.84635000e-04 9.99799630e-01 -8.39633018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.594012739 meters 0.021633107669464968 Centerline is valid? [True, True] Translation: X:419.15, Y:-68.36, Z:-8.40 [[ 9.88501565e-01 1.49951446e-01 1.94735514e-02 4.19145526e+02] [-1.49919404e-01 9.88693351e-01 -3.10328035e-03 -6.83579136e+01] [-1.97187121e-02 1.48134270e-04 9.99805556e-01 -8.39818520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters 0.02140314095501551 Centerline is valid? [True, True] Translation: X:419.17, Y:-68.36, Z:-8.40 [[ 9.88425790e-01 1.50474392e-01 1.92850989e-02 4.19174314e+02] [-1.50443090e-01 9.88613898e-01 -3.07206766e-03 -6.83605710e+01] [-1.95277843e-02 1.35201030e-04 9.99809305e-01 -8.39901734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.654012739 meters 0.02129666345851355 Centerline is valid? [True, True] Translation: X:419.20, Y:-68.36, Z:-8.40 [[ 9.88424424e-01 1.50529411e-01 1.89223124e-02 4.19203212e+02] [-1.50499303e-01 9.88605523e-01 -3.01340632e-03 -6.83647854e+01] [-1.91603088e-02 1.30729592e-04 9.99816416e-01 -8.40087632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters 0.02255436787704854 Centerline is valid? [True, True] Translation: X:419.23, Y:-68.37, Z:-8.40 [[ 9.88714652e-01 1.48718059e-01 1.80631008e-02 4.19230533e+02] [-1.48690336e-01 9.88879626e-01 -2.87578204e-03 -6.83723931e+01] [-1.82899131e-02 1.57519323e-04 9.99832713e-01 -8.40391490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.714012739 meters 0.02343166822830845 Centerline is valid? [True, True] Translation: X:419.26, Y:-68.38, Z:-8.40 [[ 9.89032146e-01 1.46591745e-01 1.80630803e-02 4.19258570e+02] [-1.46563686e-01 9.89197059e-01 -2.87468241e-03 -6.83783251e+01] [-1.82893506e-02 1.95761678e-04 9.99832717e-01 -8.40442277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters 0.027084006559092492 Centerline is valid? [True, True] Translation: X:419.29, Y:-68.39, Z:-8.40 [[ 9.89790275e-01 1.41239829e-01 1.91447460e-02 4.19286178e+02] [-1.41207327e-01 9.89975360e-01 -3.04585798e-03 -6.83912985e+01] [-1.93830232e-02 3.11382208e-04 9.99812083e-01 -8.40314131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.774012739 meters 0.029413018197866923 Centerline is valid? [True, True] Translation: X:419.31, Y:-68.40, Z:-8.40 [[ 9.90182837e-01 1.38287675e-01 2.03585145e-02 4.19314759e+02] [-1.38250311e-01 9.90392026e-01 -3.23820568e-03 -6.84010043e+01] [-2.06107143e-02 3.91844726e-04 9.99787500e-01 -8.40175337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters 0.036431234669674656 Centerline is valid? [True, True] Translation: X:419.34, Y:-68.42, Z:-8.40 [[ 9.91140870e-01 1.31029522e-01 2.17034746e-02 4.19341926e+02] [-1.30985328e-01 9.91378298e-01 -3.45161936e-03 -6.84192846e+01] [-2.19686178e-02 5.78204261e-04 9.99758494e-01 -8.40083107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.834012739 meters 0.03749221050929357 Centerline is valid? [True, True] Translation: X:419.37, Y:-68.43, Z:-8.40 [[ 9.91630549e-01 1.27330483e-01 2.13495542e-02 4.19372098e+02] [-1.27286866e-01 9.91860135e-01 -3.39516504e-03 -6.84279976e+01] [-2.16080797e-02 6.49231531e-04 9.99766307e-01 -8.40141950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters 0.04093936122176697 Centerline is valid? [True, True] Translation: X:419.40, Y:-68.44, Z:-8.40 [[ 9.92125777e-01 1.23469036e-01 2.10199667e-02 4.19401586e+02] [-1.23425884e-01 9.92348162e-01 -3.34299952e-03 -6.84401587e+01] [-2.12718822e-02 7.22268036e-04 9.99773467e-01 -8.40278465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.894012739 meters 0.04876315598805976 Centerline is valid? [True, True] Translation: X:419.43, Y:-68.46, Z:-8.40 [[ 9.92590618e-01 1.19744245e-01 2.06199282e-02 4.19428987e+02] [-1.19701912e-01 9.92804460e-01 -3.27961310e-03 -6.84582491e+01] [-2.08642715e-02 7.87068355e-04 9.99782008e-01 -8.40364604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters 0.05093207666889289 Centerline is valid? [True, True] Translation: X:419.46, Y:-68.47, Z:-8.40 [[ 9.93228880e-01 1.14218330e-01 2.12265125e-02 4.19458971e+02] [-1.14172209e-01 9.93455237e-01 -3.37609335e-03 -6.84664158e+01] [-2.14732018e-02 9.29755602e-04 9.99768992e-01 -8.39516009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.954012739 meters 0.050897830105525683 Centerline is valid? [True, True] Translation: X:419.49, Y:-68.48, Z:-8.40 [[ 9.93531462e-01 1.11486656e-01 2.15860761e-02 4.19486863e+02] [-1.11438313e-01 9.93765422e-01 -3.43336978e-03 -6.84827400e+01] [-2.18342710e-02 1.00564499e-03 9.99761098e-01 -8.40345402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters 0.05924424696822495 Centerline is valid? [True, True] Translation: X:419.51, Y:-68.50, Z:-8.40 [[ 9.93579980e-01 1.11218976e-01 2.07162512e-02 4.19514866e+02] [-1.11174381e-01 9.93795450e-01 -3.29563345e-03 -6.85022012e+01] [-2.09542531e-02 9.71359018e-04 9.99779964e-01 -8.40458554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.014012739 meters 0.05597902889533581 Centerline is valid? [True, True] Translation: X:419.55, Y:-68.51, Z:-8.41 [[ 9.93583766e-01 1.11273045e-01 2.02388136e-02 4.19547388e+02] [-1.11230440e-01 9.93789417e-01 -3.22229328e-03 -6.85059453e+01] [-2.04716732e-02 9.50446149e-04 9.99789982e-01 -8.40605240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters 0.053021099463432704 Centerline is valid? [True, True] Translation: X:419.58, Y:-68.51, Z:-8.40 [[ 9.93386954e-01 1.12848033e-01 2.11584602e-02 4.19578445e+02] [-1.12801740e-01 9.93611792e-01 -3.37260215e-03 -6.85129278e+01] [-2.14038870e-02 9.63587850e-04 9.99770446e-01 -8.40444017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.074012739 meters 0.05004417911907625 Centerline is valid? [True, True] Translation: X:419.61, Y:-68.52, Z:-8.40 [[ 9.93166710e-01 1.14653802e-01 2.17805329e-02 4.19609275e+02] [-1.14605163e-01 9.93405052e-01 -3.47252489e-03 -6.85177332e+01] [-2.20350296e-02 9.52634598e-04 9.99756745e-01 -8.40376822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters 0.04616270549131072 Centerline is valid? [True, True] Translation: X:419.64, Y:-68.53, Z:-8.41 [[ 9.92689675e-01 1.18862376e-01 2.09510089e-02 4.19638596e+02] [-1.18818298e-01 9.92910395e-01 -3.34073490e-03 -6.85263750e+01] [-2.11995622e-02 8.26949836e-04 9.99774922e-01 -8.40617913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.134012739 meters 0.05016755844224079 Centerline is valid? [True, True] Translation: X:419.67, Y:-68.54, Z:-8.41 [[ 9.92535343e-01 1.20421361e-01 1.92947608e-02 4.19667301e+02] [-1.20384270e-01 9.92722601e-01 -3.07666988e-03 -6.85408400e+01] [-1.95248419e-02 7.30917891e-04 9.99809105e-01 -8.40966117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters 0.04144523407332098 Centerline is valid? [True, True] Translation: X:419.70, Y:-68.54, Z:-8.41 [[ 9.92378871e-01 1.21799253e-01 1.86846952e-02 4.19699936e+02] [-1.21764710e-01 9.92554521e-01 -2.97961631e-03 -6.85380146e+01] [-1.89084937e-02 6.81771775e-04 9.99820986e-01 -8.41141018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.194012739 meters 0.040622971689510255 Centerline is valid? [True, True] Translation: X:419.73, Y:-68.55, Z:-8.41 [[ 9.91863281e-01 1.25805959e-01 1.94959710e-02 4.19728112e+02] [-1.25769053e-01 9.92054664e-01 -3.11261212e-03 -6.85507867e+01] [-1.97326541e-02 6.35295867e-04 9.99805090e-01 -8.40975638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters 0.03737623862872559 Centerline is valid? [True, True] Translation: X:419.76, Y:-68.56, Z:-8.41 [[ 9.91419947e-01 1.29061315e-01 2.07283865e-02 4.19759444e+02] [-1.29020304e-01 9.91636430e-01 -3.30940922e-03 -6.85553885e+01] [-2.09821398e-02 6.06631596e-04 9.99779667e-01 -8.40789072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.254012739 meters 0.03113861109216561 Centerline is valid? [True, True] Translation: X:419.79, Y:-68.55, Z:-8.41 [[ 9.90348519e-01 1.36946875e-01 2.13392608e-02 4.19790024e+02] [-1.36905214e-01 9.90578289e-01 -3.40806604e-03 -6.85542195e+01] [-2.16049325e-02 4.53717088e-04 9.99766483e-01 -8.40625594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters 0.02821765874820984 Centerline is valid? [True, True] Translation: X:419.82, Y:-68.56, Z:-8.41 [[ 9.89722515e-01 1.41490775e-01 2.07292855e-02 4.19821155e+02] [-1.41452456e-01 9.89939514e-01 -3.31067094e-03 -6.85550971e+01] [-2.09891683e-02 3.44437216e-04 9.99779644e-01 -8.40804407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.314012739 meters 0.024113834955234677 Centerline is valid? [True, True] Translation: X:419.85, Y:-68.55, Z:-8.41 [[ 9.89101957e-01 1.45806521e-01 2.04395994e-02 4.19853081e+02] [-1.45770177e-01 9.89313093e-01 -3.26487952e-03 -6.85529609e+01] [-2.06972040e-02 2.49814699e-04 9.99785759e-01 -8.40989405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters 0.020826673243884507 Centerline is valid? [True, True] Translation: X:419.88, Y:-68.55, Z:-8.41 [[ 9.88090908e-01 1.52404454e-01 2.11952957e-02 4.19884503e+02] [-1.52366879e-01 9.88318202e-01 -3.38608354e-03 -6.85487834e+01] [-2.14637508e-02 1.16297308e-04 9.99769620e-01 -8.40984870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.374012739 meters 0.019997441594378752 Centerline is valid? [True, True] Translation: X:419.92, Y:-68.54, Z:-8.41 [[ 9.87419508e-01 1.56751130e-01 2.07797510e-02 4.19915476e+02] [-1.56715975e-01 9.87638134e-01 -3.31968896e-03 -6.85435712e+01] [-2.10432395e-02 2.14066955e-05 9.99778566e-01 -8.41139784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters 0.02005686193925203 Centerline is valid? [True, True] Translation: X:419.95, Y:-68.54, Z:-8.41 [[ 9.87178806e-01 1.58326082e-01 2.02695982e-02 4.19945101e+02] [-1.58292969e-01 9.87386880e-01 -3.23795082e-03 -6.85439141e+01] [-2.05265874e-02 -1.20984539e-05 9.99789307e-01 -8.41265194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.434012739 meters 0.020077215077756443 Centerline is valid? [True, True] Translation: X:419.97, Y:-68.55, Z:-8.41 [[ 9.87012291e-01 1.59365688e-01 2.02315246e-02 4.19974636e+02] [-1.59332928e-01 9.87219619e-01 -3.23138712e-03 -6.85455279e+01] [-2.04879303e-02 -3.41292558e-05 9.99790100e-01 -8.41325118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters 0.019999374760125175 Centerline is valid? [True, True] Translation: X:420.00, Y:-68.55, Z:-8.41 [[ 9.87049016e-01 1.58966696e-01 2.15367048e-02 4.20003744e+02] [-1.58929489e-01 9.87283945e-01 -3.43928581e-03 -6.85470969e+01] [-2.18095748e-02 -2.80738170e-05 9.99762143e-01 -8.41154151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.494012739 meters 0.01998935397202264 Centerline is valid? [True, True] Translation: X:420.03, Y:-68.55, Z:-8.41 [[ 9.87195947e-01 1.58074004e-01 2.13722395e-02 4.20032081e+02] [-1.58037170e-01 9.87427268e-01 -3.41225956e-03 -6.85507147e+01] [-2.16429216e-02 -9.03944293e-06 9.99765764e-01 -8.41245664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters 0.020190970725648683 Centerline is valid? [True, True] Translation: X:420.06, Y:-68.56, Z:-8.41 [[ 9.87517971e-01 1.56055451e-01 2.13296219e-02 4.20060945e+02] [-1.56018310e-01 9.87748295e-01 -3.40471316e-03 -6.85567361e+01] [-2.15996217e-02 3.44038824e-05 9.99766700e-01 -8.41481798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55401273900003 meters 0.02044245990581555 Centerline is valid? [True, True] Translation: X:420.09, Y:-68.56, Z:-8.42 [[ 9.87705888e-01 1.54982624e-01 2.04319565e-02 4.20089256e+02] [-1.54948323e-01 9.87917195e-01 -3.26096167e-03 -6.85630037e+01] [-2.06904735e-02 5.49736456e-05 9.99785928e-01 -8.41676423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters 0.02046841742888924 Centerline is valid? [True, True] Translation: X:420.12, Y:-68.57, Z:-8.42 [[ 9.87815183e-01 1.54437621e-01 1.92401847e-02 4.20118299e+02] [-1.54407110e-01 9.88002539e-01 -3.07031900e-03 -6.85681589e+01] [-1.94835241e-02 6.20864141e-05 9.99810176e-01 -8.41863140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.614012739 meters 0.02066011523196729 Centerline is valid? [True, True] Translation: X:420.15, Y:-68.57, Z:-8.42 [[ 9.87898833e-01 1.54033816e-01 1.81515629e-02 4.20147335e+02] [-1.54006599e-01 9.88065574e-01 -2.89620139e-03 -6.85728896e+01] [-1.83810474e-02 6.56934965e-05 9.99831052e-01 -8.42157338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters 0.020548105308525192 Centerline is valid? [True, True] Translation: X:420.18, Y:-68.58, Z:-8.42 [[ 9.87872816e-01 1.54170977e-01 1.84013671e-02 4.20176797e+02] [-1.54143038e-01 9.88044182e-01 -2.93562467e-03 -6.85777740e+01] [-1.86339518e-02 6.35811792e-05 9.99826371e-01 -8.42122446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.674012739 meters 0.020536666562002006 Centerline is valid? [True, True] Translation: X:420.20, Y:-68.58, Z:-8.42 [[ 9.87829669e-01 1.54394879e-01 1.88352454e-02 4.20204880e+02] [-1.54365656e-01 9.88009219e-01 -3.00439161e-03 -6.85834180e+01] [-1.90732588e-02 6.03121532e-05 9.99818087e-01 -8.42156719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters 0.0202255864508344 Centerline is valid? [True, True] Translation: X:420.23, Y:-68.59, Z:-8.42 [[ 9.87663835e-01 1.55351003e-01 1.96523601e-02 4.20233478e+02] [-1.55319393e-01 9.87859334e-01 -3.13398897e-03 -6.85887956e+01] [-1.99006357e-02 4.29349177e-05 9.99801962e-01 -8.42093625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.734012739 meters 0.020108879726490798 Centerline is valid? [True, True] Translation: X:420.26, Y:-68.59, Z:-8.42 [[ 9.87579436e-01 1.55840843e-01 2.00122297e-02 4.20262430e+02] [-1.55808180e-01 9.87782178e-01 -3.19067115e-03 -6.85940145e+01] [-2.02649607e-02 3.29721265e-05 9.99794644e-01 -8.42073802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters 0.02007824919839891 Centerline is valid? [True, True] Translation: X:420.29, Y:-68.60, Z:-8.42 [[ 9.87307844e-01 1.57699494e-01 1.88173126e-02 4.20291019e+02] [-1.57670962e-01 9.87487149e-01 -2.99970570e-03 -6.86013383e+01] [-1.90549064e-02 -5.31080402e-06 9.99818439e-01 -8.42375014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.794012739 meters 0.020134724242959645 Centerline is valid? [True, True] Translation: X:420.32, Y:-68.61, Z:-8.43 [[ 9.87127445e-01 1.58954235e-01 1.76906444e-02 4.20319232e+02] [-1.58929222e-01 9.87285952e-01 -2.81995500e-03 -6.86069516e+01] [-1.79139685e-02 -2.79053782e-05 9.99839532e-01 -8.42592516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters 0.020412842288558462 Centerline is valid? [True, True] Translation: X:420.35, Y:-68.61, Z:-8.43 [[ 9.86901386e-01 1.60377881e-01 1.74524901e-02 4.20347199e+02] [-1.60353771e-01 9.87055689e-01 -2.78136203e-03 -6.86112759e+01] [-1.76726486e-02 -5.36425575e-05 9.99843825e-01 -8.42639758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.854012739 meters 0.02174988894013427 Centerline is valid? [True, True] Translation: X:420.38, Y:-68.61, Z:-8.42 [[ 9.86126469e-01 1.64935802e-01 1.87288101e-02 4.20376576e+02] [-1.64908870e-01 9.86304294e-01 -2.98405844e-03 -6.86123473e+01] [-1.89644839e-02 -1.45887902e-04 9.99820147e-01 -8.42339529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters 0.02359115942492949 Centerline is valid? [True, True] Translation: X:420.41, Y:-68.61, Z:-8.42 [[ 9.85547745e-01 1.68260909e-01 1.95936106e-02 4.20405600e+02] [-1.68232109e-01 9.85742470e-01 -3.12085181e-03 -6.86125664e+01] [-1.98393714e-02 -2.20525970e-04 9.99803156e-01 -8.42229139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.914012739 meters 0.029355669196088303 Centerline is valid? [True, True] Translation: X:420.44, Y:-68.61, Z:-8.42 [[ 9.84021337e-01 1.76794981e-01 2.11078937e-02 4.20436832e+02] [-1.76763539e-01 9.84247609e-01 -3.36098294e-03 -6.86072534e+01] [-2.13695989e-02 -4.23827066e-04 9.99771554e-01 -8.42083735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters 0.034283958655951116 Centerline is valid? [True, True] Translation: X:420.47, Y:-68.60, Z:-8.42 [[ 9.83252743e-01 1.80976858e-01 2.14806979e-02 4.20466619e+02] [-1.80945299e-01 9.83487215e-01 -3.42003961e-03 -6.86037368e+01] [-2.17449398e-02 -5.24067968e-04 9.99763413e-01 -8.42053217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.974012739 meters 0.042598386963401964 Centerline is valid? [True, True] Translation: X:420.50, Y:-68.59, Z:-8.42 [[ 9.81908951e-01 1.88066684e-01 2.20393952e-02 4.20497970e+02] [-1.88035260e-01 9.82156013e-01 -3.50824053e-03 -6.85924720e+01] [-2.23059077e-02 -6.99410631e-04 9.99750948e-01 -8.41950716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters 0.04538723313982812 Centerline is valid? [True, True] Translation: X:420.53, Y:-68.59, Z:-8.42 [[ 9.81378938e-01 1.90818750e-01 2.19905443e-02 4.20527654e+02] [-1.90788157e-01 9.81624993e-01 -3.50039737e-03 -6.85906168e+01] [-2.22544093e-02 -7.60319145e-04 9.99752051e-01 -8.41984964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.034012739 meters 0.04568585764246088 Centerline is valid? [True, True] Translation: X:420.56, Y:-68.59, Z:-8.42 [[ 9.80980599e-01 1.92872277e-01 2.18483233e-02 4.20557182e+02] [-1.92842603e-01 9.81223543e-01 -3.47702697e-03 -6.85922389e+01] [-2.21087113e-02 -8.02391533e-04 9.99755251e-01 -8.42146588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters 0.04916259769649946 Centerline is valid? [True, True] Translation: X:420.59, Y:-68.59, Z:-8.42 [[ 9.80313587e-01 1.96277283e-01 2.14592611e-02 4.20588457e+02] [-1.96249480e-01 9.80548052e-01 -3.41462821e-03 -6.85858887e+01] [-2.17120506e-02 -8.63962396e-04 9.99763892e-01 -8.42244909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.094012739 meters 0.04916259769649946 Centerline is valid? [True, True] Translation: X:420.62, Y:-68.59, Z:-8.42 [[ 9.80327117e-01 1.96209689e-01 2.14593132e-02 4.20615642e+02] [-1.96181877e-01 9.80561581e-01 -3.41430042e-03 -6.85900807e+01] [-2.17120969e-02 -8.62797056e-04 9.99763892e-01 -8.42300777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters 0.05160196670199046 Centerline is valid? [True, True] Translation: X:420.64, Y:-68.59, Z:-8.42 [[ 9.80100243e-01 1.97289422e-01 2.19179895e-02 4.20644694e+02] [-1.97260714e-01 9.80344868e-01 -3.48566539e-03 -6.85864410e+01] [-2.21748734e-02 -9.07256752e-04 9.99753696e-01 -8.42288477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.154012739 meters 0.05066873092906327 Centerline is valid? [True, True] Translation: X:420.67, Y:-68.59, Z:-8.42 [[ 9.79732720e-01 1.98966222e-01 2.31568579e-02 4.20674573e+02] [-1.98934692e-01 9.80005837e-01 -3.68065190e-03 -6.85853695e+01] [-2.34261813e-02 -1.00064730e-03 9.99725069e-01 -8.42224023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters 0.05251863087208875 Centerline is valid? [True, True] Translation: X:420.70, Y:-68.59, Z:-8.42 [[ 9.79722968e-01 1.99010812e-01 2.31862619e-02 4.20702577e+02] [-1.98979243e-01 9.79996780e-01 -3.68410824e-03 -6.85853170e+01] [-2.34556394e-02 -1.00417938e-03 9.99724374e-01 -8.42310350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.214012739 meters 0.052046114140105536 Centerline is valid? [True, True] Translation: X:420.73, Y:-68.59, Z:-8.43 [[ 9.79847861e-01 1.98477283e-01 2.24708052e-02 4.20731449e+02] [-1.98447521e-01 9.80105016e-01 -3.56915216e-03 -6.85882181e+01] [-2.27321445e-02 -9.62049477e-04 9.99741129e-01 -8.42506155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters 0.05112388596207444 Centerline is valid? [True, True] Translation: X:420.76, Y:-68.58, Z:-8.43 [[ 9.80232474e-01 1.96847248e-01 1.98860972e-02 4.20760244e+02] [-1.96823621e-01 9.80433828e-01 -3.15778446e-03 -6.85846867e+01] [-2.01186036e-02 -8.18690784e-04 9.99797265e-01 -8.42925697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.274012739 meters 0.04944192494854233 Centerline is valid? [True, True] Translation: X:420.79, Y:-68.59, Z:-8.43 [[ 9.80397759e-01 1.96082010e-01 1.92893608e-02 4.20789086e+02] [-1.96059651e-01 9.80587190e-01 -3.06201571e-03 -6.85865949e+01] [-1.95153063e-02 -7.79872017e-04 9.99809254e-01 -8.43058708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters 0.04745663089350667 Centerline is valid? [True, True] Translation: X:420.82, Y:-68.59, Z:-8.43 [[ 9.80554692e-01 1.95177673e-01 2.04492394e-02 4.20818303e+02] [-1.95152423e-01 9.80767566e-01 -3.24251787e-03 -6.85861877e+01] [-2.06888178e-02 -8.11252518e-04 9.99785634e-01 -8.42912096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.334012739 meters 0.05082628769237751 Centerline is valid? [True, True] Translation: X:420.85, Y:-68.58, Z:-8.43 [[ 9.80746696e-01 1.94162913e-01 2.08969300e-02 4.20847380e+02] [-1.94136391e-01 9.80968963e-01 -3.30994791e-03 -6.85814177e+01] [-2.11419089e-02 -8.10634091e-04 9.99776156e-01 -8.42904810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters 0.049869536687551584 Centerline is valid? [True, True] Translation: X:420.88, Y:-68.58, Z:-8.43 [[ 9.81041601e-01 1.92698071e-01 2.06114102e-02 4.20876989e+02] [-1.92671984e-01 9.81257795e-01 -3.26288640e-03 -6.85823087e+01] [-2.08538588e-02 -7.70213997e-04 9.99782238e-01 -8.43059902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.394012739 meters 0.04191250955934998 Centerline is valid? [True, True] Translation: X:420.91, Y:-68.59, Z:-8.44 [[ 9.81918543e-01 1.88388171e-01 1.85976107e-02 4.20905708e+02] [-1.88366210e-01 9.82094455e-01 -2.94142783e-03 -6.85900742e+01] [-1.88187406e-02 -6.14918916e-04 9.99822723e-01 -8.43511147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters 0.04162929945036978 Centerline is valid? [True, True] Translation: X:420.93, Y:-68.59, Z:-8.44 [[ 9.82514171e-01 1.85297824e-01 1.81829669e-02 4.20934050e+02] [-1.85276310e-01 9.82682258e-01 -2.87545075e-03 -6.85933037e+01] [-1.84008938e-02 -5.43701902e-04 9.99830541e-01 -8.43737150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.454012739 meters 0.03512832855594658 Centerline is valid? [True, True] Translation: X:420.96, Y:-68.61, Z:-8.44 [[ 9.83806897e-01 1.78200958e-01 1.91939728e-02 4.20961762e+02] [-1.78175648e-01 9.83994019e-01 -3.03458196e-03 -6.86051248e+01] [-1.94275199e-02 -4.34455879e-04 9.99811174e-01 -8.43595603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters 0.029867780402451898 Centerline is valid? [True, True] Translation: X:420.99, Y:-68.62, Z:-8.44 [[ 9.84438506e-01 1.74623727e-01 1.96819974e-02 4.20989459e+02] [-1.74596404e-01 9.84635168e-01 -3.11145132e-03 -6.86162128e+01] [-1.99229200e-02 -3.73373481e-04 9.99801449e-01 -8.43557376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.514012739 meters 0.027861453122215513 Centerline is valid? [True, True] Translation: X:421.02, Y:-68.62, Z:-8.44 [[ 9.84978933e-01 1.71589311e-01 1.93289653e-02 4.21016825e+02] [-1.71562393e-01 9.85168521e-01 -3.05476006e-03 -6.86228676e+01] [-1.95664523e-02 -3.07249233e-04 9.99808511e-01 -8.43660060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters 0.02604602957049477 Centerline is valid? [True, True] Translation: X:421.04, Y:-68.63, Z:-8.44 [[ 9.85497574e-01 1.68678339e-01 1.84972613e-02 4.21044561e+02] [-1.68653203e-01 9.85671122e-01 -2.92184070e-03 -6.86286927e+01] [-1.87250675e-02 -2.40155425e-04 9.99824642e-01 -8.43844654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.574012739 meters 0.025121113220161424 Centerline is valid? [True, True] Translation: X:421.07, Y:-68.63, Z:-8.44 [[ 9.85494219e-01 1.68648872e-01 1.89394517e-02 4.21072310e+02] [-1.68622531e-01 9.85676162e-01 -2.99080904e-03 -6.86330789e+01] [-1.91725626e-02 -2.46193246e-04 9.99816159e-01 -8.43751283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters 0.026172792992280054 Centerline is valid? [True, True] Translation: X:421.10, Y:-68.63, Z:-8.44 [[ 9.85316650e-01 1.69528143e-01 2.02807327e-02 4.21101162e+02] [-1.69498157e-01 9.85525306e-01 -3.20103379e-03 -6.86310486e+01] [-2.05298406e-02 -2.83514921e-04 9.99789200e-01 -8.43601532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.634012739 meters 0.02545384451581982 Centerline is valid? [True, True] Translation: X:421.13, Y:-68.64, Z:-8.44 [[ 9.85381491e-01 1.69048517e-01 2.11167356e-02 4.21129432e+02] [-1.69015925e-01 9.85607689e-01 -3.33166550e-03 -6.86352678e+01] [-2.13760301e-02 -2.86103096e-04 9.99771466e-01 -8.43532229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters 0.024490468164541142 Centerline is valid? [True, True] Translation: X:421.16, Y:-68.64, Z:-8.44 [[ 9.85622025e-01 1.67581266e-01 2.15810674e-02 4.21158044e+02] [-1.67546896e-01 9.85858231e-01 -3.40387089e-03 -6.86413485e+01] [-2.18462979e-02 -2.60910743e-04 9.99761307e-01 -8.43525753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.694012739 meters 0.021565898563864455 Centerline is valid? [True, True] Translation: X:421.18, Y:-68.66, Z:-8.44 [[ 9.86585705e-01 1.61761393e-01 2.19521881e-02 4.21184162e+02] [-1.61724414e-01 9.86829891e-01 -3.46128928e-03 -6.86551645e+01] [-2.22229783e-02 -1.35346217e-04 9.99753030e-01 -8.43511604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters 0.02026070104517843 Centerline is valid? [True, True] Translation: X:421.21, Y:-68.67, Z:-8.44 [[ 9.87270422e-01 1.57561274e-01 2.17154076e-02 4.21211127e+02] [-1.57524106e-01 9.87509212e-01 -3.42239841e-03 -6.86678961e+01] [-2.19834025e-02 -4.18674435e-05 9.99758335e-01 -8.43624132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.754012739 meters 0.021541420570164567 Centerline is valid? [True, True] Translation: X:421.24, Y:-68.69, Z:-8.44 [[ 9.88533629e-01 1.49547287e-01 2.09015196e-02 4.21236546e+02] [-1.49511081e-01 9.88754566e-01 -3.29311040e-03 -6.86877975e+01] [-2.11589487e-02 1.30341571e-04 9.99776116e-01 -8.43767781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters 0.022975377252740768 Centerline is valid? [True, True] Translation: X:421.26, Y:-68.70, Z:-8.44 [[ 9.88969351e-01 1.46677957e-01 2.06203689e-02 4.21264521e+02] [-1.46642124e-01 9.89184281e-01 -3.24742566e-03 -6.86979051e+01] [-2.08736706e-02 1.87789749e-04 9.99782104e-01 -8.43853546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.814012739 meters 0.024200977348067976 Centerline is valid? [True, True] Translation: X:421.29, Y:-68.71, Z:-8.44 [[ 9.89238128e-01 1.44826132e-01 2.08162924e-02 4.21290900e+02] [-1.44789225e-01 9.89457093e-01 -3.27731536e-03 -6.87062135e+01] [-2.10714691e-02 2.28070466e-04 9.99777946e-01 -8.43864428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters 0.02475230793321346 Centerline is valid? [True, True] Translation: X:421.32, Y:-68.71, Z:-8.44 [[ 9.89356418e-01 1.43927747e-01 2.14168527e-02 4.21318356e+02] [-1.43888501e-01 9.89588167e-01 -3.37041318e-03 -6.87146578e+01] [-2.16789599e-02 2.52901085e-04 9.99764952e-01 -8.43832392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.874012739 meters 0.024748462725556725 Centerline is valid? [True, True] Translation: X:421.35, Y:-68.72, Z:-8.44 [[ 9.89349302e-01 1.44009808e-01 2.11927793e-02 4.21346218e+02] [-1.43971417e-01 9.89576230e-01 -3.33420703e-03 -6.87208897e+01] [-2.14520291e-02 2.47540925e-04 9.99769848e-01 -8.43970518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters 0.02529993831466716 Centerline is valid? [True, True] Translation: X:421.37, Y:-68.73, Z:-8.45 [[ 9.89483039e-01 1.43415334e-01 1.88509276e-02 4.21373494e+02] [-1.43384866e-01 9.89662563e-01 -2.96502551e-03 -6.87302942e+01] [-1.90812874e-02 2.30904719e-04 9.99817909e-01 -8.44600345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.934012739 meters 0.024846180344064446 Centerline is valid? [True, True] Translation: X:421.40, Y:-68.74, Z:-8.45 [[ 9.89648024e-01 1.42394572e-01 1.79045960e-02 4.21401523e+02] [-1.42366933e-01 9.89809946e-01 -2.81543146e-03 -6.87358791e+01] [-1.81230493e-02 2.37263767e-04 9.99835736e-01 -8.44785086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters 0.027573449384612755 Centerline is valid? [True, True] Translation: X:421.43, Y:-68.75, Z:-8.45 [[ 9.89819043e-01 1.41213281e-01 1.78064860e-02 4.21428390e+02] [-1.41185769e-01 9.89979163e-01 -2.79912605e-03 -6.87485212e+01] [-1.80233239e-02 2.56605842e-04 9.99837534e-01 -8.44903592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.994012739 meters 0.029770393411725833 Centerline is valid? [True, True] Translation: X:421.45, Y:-68.76, Z:-8.45 [[ 9.90109286e-01 1.39066995e-01 1.85465213e-02 4.21454705e+02] [-1.39036787e-01 9.90282927e-01 -2.91471387e-03 -6.87624238e+01] [-1.87716439e-02 3.07236535e-04 9.99823750e-01 -8.44783227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters 0.028317422510491148 Centerline is valid? [True, True] Translation: X:421.48, Y:-68.77, Z:-8.45 [[ 9.90185663e-01 1.38506763e-01 1.86609310e-02 4.21484444e+02] [-1.38476082e-01 9.90361436e-01 -2.93263865e-03 -6.87672059e+01] [-1.88872567e-02 3.19764139e-04 9.99821569e-01 -8.44800992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05401273900003 meters 0.028125801634251824 Centerline is valid? [True, True] Translation: X:421.51, Y:-68.78, Z:-8.45 [[ 9.90087749e-01 1.39343869e-01 1.75936083e-02 4.21512858e+02] [-1.39316737e-01 9.90244013e-01 -2.76449577e-03 -6.87774584e+01] [-1.78071808e-02 2.86009286e-04 9.99841399e-01 -8.45094546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters 0.028977934032036367 Centerline is valid? [True, True] Translation: X:421.54, Y:-68.79, Z:-8.45 [[ 9.89985641e-01 1.40164754e-01 1.68009546e-02 4.21540765e+02] [-1.40140133e-01 9.90128161e-01 -2.63979834e-03 -6.87862109e+01] [-1.70051049e-02 2.58874449e-04 9.99855369e-01 -8.45308212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.114012739 meters 0.026710880123361556 Centerline is valid? [True, True] Translation: X:421.57, Y:-68.79, Z:-8.45 [[ 9.89831419e-01 1.41209240e-01 1.71380465e-02 4.21570183e+02] [-1.41183784e-01 9.89979742e-01 -2.69237187e-03 -6.87894219e+01] [-1.73465067e-02 2.45380009e-04 9.99849508e-01 -8.45278314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters 0.02447266088856179 Centerline is valid? [True, True] Translation: X:421.60, Y:-68.79, Z:-8.45 [[ 9.89551401e-01 1.43004964e-01 1.83740463e-02 4.21599308e+02] [-1.42976021e-01 9.89721945e-01 -2.88609913e-03 -6.87949124e+01] [-1.85979234e-02 2.28895404e-04 9.99827017e-01 -8.45045474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.174012739 meters 0.0244342423978643 Centerline is valid? [True, True] Translation: X:421.63, Y:-68.80, Z:-8.45 [[ 9.89365110e-01 1.44278515e-01 1.84496463e-02 4.21628216e+02] [-1.44249563e-01 9.89537098e-01 -2.89751554e-03 -6.88023410e+01] [-1.86746587e-02 2.05347374e-04 9.99825592e-01 -8.45107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters 0.02267323097697559 Centerline is valid? [True, True] Translation: X:421.66, Y:-68.81, Z:-8.45 [[ 9.89038369e-01 1.46605118e-01 1.76080431e-02 4.21657146e+02] [-1.46579119e-01 9.89195085e-01 -2.76517260e-03 -6.88071063e+01] [-1.78231782e-02 1.53890349e-04 9.99841143e-01 -8.45301012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.234012739 meters 0.033550406494722185 Centerline is valid? [True, True] Translation: X:421.69, Y:-68.81, Z:-8.45 [[ 9.88803250e-01 1.48314255e-01 1.64625101e-02 4.21686988e+02] [-1.48291772e-01 9.88940276e-01 -2.58492586e-03 -6.88109980e+01] [-1.66638206e-02 1.14728296e-04 9.99861142e-01 -8.44538971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters 0.021022639637552288 Centerline is valid? [True, True] Translation: X:421.72, Y:-68.82, Z:-8.45 [[ 9.88539583e-01 1.49972997e-01 1.72508779e-02 4.21715937e+02] [-1.49948568e-01 9.88690089e-01 -2.70827384e-03 -6.88151008e+01] [-1.74619400e-02 9.04914416e-05 9.99847525e-01 -8.45442199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.294012739 meters 0.020076081803980687 Centerline is valid? [True, True] Translation: X:421.74, Y:-68.82, Z:-8.45 [[ 9.87924842e-01 1.53750952e-01 1.91089575e-02 4.21744487e+02] [-1.53721694e-01 9.88109632e-01 -2.99946680e-03 -6.88194143e+01] [-1.93429159e-02 2.57864447e-05 9.99812908e-01 -8.45118743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters 0.01991261086704989 Centerline is valid? [True, True] Translation: X:421.77, Y:-68.82, Z:-8.45 [[ 9.87627215e-01 1.55387837e-01 2.11448625e-02 4.21773526e+02] [-1.55352404e-01 9.87853542e-01 -3.31816709e-03 -6.88229858e+01] [-2.14036301e-02 -7.79310058e-06 9.99770916e-01 -8.44850298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.354012739 meters 0.020344614078386176 Centerline is valid? [True, True] Translation: X:421.80, Y:-68.83, Z:-8.44 [[ 9.87264250e-01 1.57279174e-01 2.39282527e-02 4.21801968e+02] [-1.57234383e-01 9.87554180e-01 -3.75374940e-03 -6.88273664e+01] [-2.42208326e-02 -5.64014617e-05 9.99706631e-01 -8.44390573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters 0.020291941064990583 Centerline is valid? [True, True] Translation: X:421.83, Y:-68.83, Z:-8.44 [[ 9.87150975e-01 1.57954302e-01 2.41534925e-02 4.21831011e+02] [-1.57908882e-01 9.87446420e-01 -3.78843525e-03 -6.88322660e+01] [-2.44486794e-02 -7.42934477e-05 9.99701084e-01 -8.44453839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.414012739 meters 0.020544537468998973 Centerline is valid? [True, True] Translation: X:421.86, Y:-68.84, Z:-8.45 [[ 9.87079490e-01 1.58523295e-01 2.33333396e-02 4.21859655e+02] [-1.58481079e-01 9.87355234e-01 -3.65921633e-03 -6.88360056e+01] [-2.36183660e-02 -8.59554499e-05 9.99721044e-01 -8.44613505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters 0.02071462263960368 Centerline is valid? [True, True] Translation: X:421.89, Y:-68.84, Z:-8.45 [[ 9.87043251e-01 1.59086379e-01 2.09079981e-02 4.21888768e+02] [-1.59052625e-01 9.87264664e-01 -3.27820419e-03 -6.88399491e+01] [-2.11632454e-02 -8.97426637e-05 9.99776029e-01 -8.45160822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.474012739 meters 0.02067772793707043 Centerline is valid? [True, True] Translation: X:421.92, Y:-68.84, Z:-8.45 [[ 9.87182294e-01 1.58278271e-01 2.04720881e-02 4.21917218e+02] [-1.58245746e-01 9.87394543e-01 -3.20938066e-03 -6.88446680e+01] [-2.07220033e-02 -7.13771033e-05 9.99785274e-01 -8.45345564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters 0.020073096851680943 Centerline is valid? [True, True] Translation: X:421.95, Y:-68.86, Z:-8.45 [[ 9.87821221e-01 1.54119500e-01 2.13638564e-02 4.21945783e+02] [-1.54083117e-01 9.88052215e-01 -3.34866461e-03 -6.88567977e+01] [-2.16247002e-02 1.60723740e-05 9.99766159e-01 -8.45292450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.534012739 meters 0.02049961878692574 Centerline is valid? [True, True] Translation: X:421.98, Y:-68.87, Z:-8.45 [[ 9.88221872e-01 1.51533791e-01 2.13316926e-02 4.21975065e+02] [-1.51496925e-01 9.88452075e-01 -3.34314777e-03 -6.88666359e+01] [-2.15919557e-02 7.20858973e-05 9.99766864e-01 -8.45383685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters 0.021402471454777736 Centerline is valid? [True, True] Translation: X:422.00, Y:-68.88, Z:-8.46 [[ 9.88647015e-01 1.48846294e-01 2.05392230e-02 4.22004191e+02] [-1.48811537e-01 9.88860336e-01 -3.21895593e-03 -6.88770753e+01] [-2.07895526e-02 1.25937830e-04 9.99783866e-01 -8.45575636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.594012739 meters 0.0235414575027649 Centerline is valid? [True, True] Translation: X:422.03, Y:-68.89, Z:-8.46 [[ 9.89328268e-01 1.44504328e-01 1.86568442e-02 4.22034453e+02] [-1.44474878e-01 9.89504149e-01 -2.92392848e-03 -6.88906789e+01] [-1.88835451e-02 1.97279798e-04 9.99821671e-01 -8.45941150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters 0.02551062862751045 Centerline is valid? [True, True] Translation: X:422.06, Y:-68.90, Z:-8.46 [[ 9.89467813e-01 1.43563939e-01 1.85159844e-02 4.22064865e+02] [-1.43534710e-01 9.89641020e-01 -2.90491879e-03 -6.89006929e+01] [-1.87412193e-02 2.16637182e-04 9.99824344e-01 -8.46052048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.654012739 meters 0.02641324823383442 Centerline is valid? [True, True] Translation: X:422.09, Y:-68.91, Z:-8.46 [[ 9.89589885e-01 1.42788227e-01 1.79828401e-02 4.22094667e+02] [-1.42760477e-01 9.89753237e-01 -2.82409093e-03 -6.89105532e+01] [-1.82018211e-02 2.27452980e-04 9.99834307e-01 -8.46232332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters 0.025427476432868995 Centerline is valid? [True, True] Translation: X:422.13, Y:-68.92, Z:-8.46 [[ 9.89556491e-01 1.43162106e-01 1.68096072e-02 4.22125883e+02] [-1.43137888e-01 9.89699231e-01 -2.64133674e-03 -6.89152760e+01] [-1.70145946e-02 2.07660255e-04 9.99855220e-01 -8.46484419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.714012739 meters 0.02466935843456211 Centerline is valid? [True, True] Translation: X:422.16, Y:-68.92, Z:-8.47 [[ 9.89383474e-01 1.44504514e-01 1.54527481e-02 4.22155446e+02] [-1.44484206e-01 9.89504127e-01 -2.42849847e-03 -6.89202597e+01] [-1.56414870e-02 1.70038211e-04 9.99877650e-01 -8.46864316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters 0.02384494865970175 Centerline is valid? [True, True] Translation: X:422.19, Y:-68.92, Z:-8.47 [[ 9.89330625e-01 1.44923290e-01 1.49048317e-02 4.22186680e+02] [-1.44904443e-01 9.89442881e-01 -2.34248713e-03 -6.89241076e+01] [-1.50869606e-02 1.57717927e-04 9.99886173e-01 -8.46962691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.774012739 meters 0.024181489966308527 Centerline is valid? [True, True] Translation: X:422.22, Y:-68.93, Z:-8.47 [[ 9.89261324e-01 1.45403902e-01 1.48236006e-02 4.22216011e+02] [-1.45385307e-01 9.89372368e-01 -2.33013651e-03 -6.89311231e+01] [-1.50048718e-02 1.49980200e-04 9.99887409e-01 -8.47157925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters 0.022805940356787263 Centerline is valid? [True, True] Translation: X:422.25, Y:-68.93, Z:-8.47 [[ 9.88955470e-01 1.47445446e-01 1.50638591e-02 4.22246650e+02] [-1.47426477e-01 9.89070182e-01 -2.36814660e-03 -6.89344471e+01] [-1.52483863e-02 1.21179858e-04 9.99883729e-01 -8.47087128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.834012739 meters 0.021970644660862088 Centerline is valid? [True, True] Translation: X:422.28, Y:-68.94, Z:-8.47 [[ 9.88704563e-01 1.49091935e-01 1.53258460e-02 4.22277083e+02] [-1.49072498e-01 9.88823334e-01 -2.40933282e-03 -6.89364623e+01] [-1.55137662e-02 9.74561989e-05 9.99879650e-01 -8.46993892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters 0.020307405365679602 Centerline is valid? [True, True] Translation: X:422.31, Y:-68.93, Z:-8.46 [[ 9.87936714e-01 1.53723948e-01 1.87082139e-02 4.22306359e+02] [-1.53695813e-01 9.88113833e-01 -2.94111227e-03 -6.89329081e+01] [-1.89379643e-02 3.02586534e-05 9.99820660e-01 -8.46444752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.894012739 meters 0.020169615101092938 Centerline is valid? [True, True] Translation: X:422.34, Y:-68.93, Z:-8.46 [[ 9.87461505e-01 1.56588408e-01 1.99961503e-02 4.22336246e+02] [-1.56556868e-01 9.87663946e-01 -3.14284465e-03 -6.89324298e+01] [-2.02416097e-02 -2.70965420e-05 9.99795117e-01 -8.46174552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters 0.02265102142891554 Centerline is valid? [True, True] Translation: X:422.37, Y:-68.92, Z:-8.46 [[ 9.86365429e-01 1.63304641e-01 2.03675008e-02 4.22366171e+02] [-1.63273358e-01 9.86575677e-01 -3.20072535e-03 -6.89235732e+01] [-2.06167742e-02 -1.68385408e-04 9.99787438e-01 -8.46119052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.954012739 meters 0.02371467611127959 Centerline is valid? [True, True] Translation: X:422.40, Y:-68.92, Z:-8.46 [[ 9.85827623e-01 1.66638170e-01 1.93808939e-02 4.22395174e+02] [-1.66610505e-01 9.86018087e-01 -3.04483524e-03 -6.89229477e+01] [-1.96172977e-02 -2.27377839e-04 9.99807536e-01 -8.46315285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters 0.02371467611127959 Centerline is valid? [True, True] Translation: X:422.42, Y:-68.93, Z:-8.46 [[ 9.85835694e-01 1.66590393e-01 1.93810415e-02 4.22423169e+02] [-1.66562737e-01 9.86026161e-01 -3.04389580e-03 -6.89272562e+01] [-1.96172977e-02 -2.27378186e-04 9.99807536e-01 -8.46372816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.014012739 meters 0.027945411357410837 Centerline is valid? [True, True] Translation: X:422.45, Y:-68.92, Z:-8.47 [[ 9.85293611e-01 1.69886601e-01 1.83041929e-02 4.22452204e+02] [-1.69862517e-01 9.85463579e-01 -2.87393879e-03 -6.89215766e+01] [-1.85263592e-02 -2.77522765e-04 9.99828334e-01 -8.46720890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters 0.029434602210393315 Centerline is valid? [True, True] Translation: X:422.48, Y:-68.92, Z:-8.47 [[ 9.84317956e-01 1.75621023e-01 1.65957394e-02 4.22482392e+02] [-1.75602056e-01 9.84457787e-01 -2.60466034e-03 -6.89201726e+01] [-1.67952380e-02 -3.50432028e-04 9.99858889e-01 -8.47060962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.074012739 meters 0.03355405352846229 Centerline is valid? [True, True] Translation: X:422.51, Y:-68.92, Z:-8.47 [[ 9.83890472e-01 1.78014258e-01 1.64457462e-02 4.22511553e+02] [-1.77995971e-01 9.84027832e-01 -2.58084000e-03 -6.89156023e+01] [-1.66424983e-02 -3.88012689e-04 9.99861429e-01 -8.47182432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters 0.03725989874273071 Centerline is valid? [True, True] Translation: X:422.54, Y:-68.91, Z:-8.47 [[ 9.83294560e-01 1.81077332e-01 1.85150576e-02 4.22541046e+02] [-1.81054722e-01 9.83468735e-01 -2.90422439e-03 -6.89092170e+01] [-1.87348694e-02 -4.96530553e-04 9.99824364e-01 -8.46776112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.134012739 meters 0.036775202222656615 Centerline is valid? [True, True] Translation: X:422.57, Y:-68.91, Z:-8.47 [[ 9.83181646e-01 1.81613695e-01 1.92436243e-02 4.22570274e+02] [-1.81589391e-01 9.83369812e-01 -3.01754732e-03 -6.89115521e+01] [-1.94716271e-02 -5.27640867e-04 9.99810271e-01 -8.46697054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters 0.03608715146513149 Centerline is valid? [True, True] Translation: X:422.60, Y:-68.91, Z:-8.47 [[ 9.83261166e-01 1.81148584e-01 1.95619357e-02 4.22599082e+02] [-1.81123397e-01 9.83455597e-01 -3.06650743e-03 -6.89133207e+01] [-1.97937887e-02 -5.27946584e-04 9.99803944e-01 -8.46689214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.194012739 meters 0.033437932153209546 Centerline is valid? [True, True] Translation: X:422.63, Y:-68.92, Z:-8.47 [[ 9.83774595e-01 1.78340277e-01 1.95522675e-02 4.22627659e+02] [-1.78314579e-01 9.83968761e-01 -3.06404763e-03 -6.89154441e+01] [-1.97852635e-02 -4.72122120e-04 9.99804141e-01 -8.46925330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters 0.03337661819723087 Centerline is valid? [True, True] Translation: X:422.66, Y:-68.92, Z:-8.47 [[ 9.84107614e-01 1.76537935e-01 1.91457901e-02 4.22655373e+02] [-1.76512970e-01 9.84293744e-01 -2.99944223e-03 -6.89170206e+01] [-1.93745967e-02 -4.27706334e-04 9.99812203e-01 -8.47038125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.254012739 meters 0.029521876533317313 Centerline is valid? [True, True] Translation: X:422.68, Y:-68.92, Z:-8.47 [[ 9.84698250e-01 1.73254282e-01 1.87699560e-02 4.22684037e+02] [-1.73229708e-01 9.84877062e-01 -2.93968200e-03 -6.89213209e+01] [-1.89954116e-02 -3.56814278e-04 9.99819507e-01 -8.47209498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters 0.027659592467396247 Centerline is valid? [True, True] Translation: X:422.71, Y:-68.92, Z:-8.47 [[ 9.84997009e-01 1.71572536e-01 1.85406977e-02 4.22712714e+02] [-1.71548278e-01 9.85171438e-01 -2.90289442e-03 -6.89246625e+01] [-1.87638228e-02 -3.21282440e-04 9.99823892e-01 -8.47247826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.314012739 meters 0.026711334974425637 Centerline is valid? [True, True] Translation: X:422.74, Y:-68.93, Z:-8.47 [[ 9.85300641e-01 1.69745719e-01 1.92103597e-02 4.22740810e+02] [-1.69719348e-01 9.85487850e-01 -3.00677975e-03 -6.89262966e+01] [-1.94419641e-02 -2.97787709e-04 9.99810943e-01 -8.47146870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters 0.024322958553849243 Centerline is valid? [True, True] Translation: X:422.77, Y:-68.93, Z:-8.47 [[ 9.85877766e-01 1.66206098e-01 2.05076263e-02 4.22769375e+02] [-1.66175311e-01 9.86091007e-01 -3.20826811e-03 -6.89276449e+01] [-2.07556196e-02 -2.44900981e-04 9.99784549e-01 -8.46981251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.374012739 meters 0.021805002334461258 Centerline is valid? [True, True] Translation: X:422.80, Y:-68.93, Z:-8.48 [[ 9.86779538e-01 1.61023401e-01 1.83740896e-02 4.22797372e+02] [-1.60997803e-01 9.86950581e-01 -2.87370566e-03 -6.89333624e+01] [-1.85970523e-02 -1.22474111e-04 9.99827052e-01 -8.47526068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters 0.02091304796724648 Centerline is valid? [True, True] Translation: X:422.82, Y:-68.94, Z:-8.48 [[ 9.87253505e-01 1.58186920e-01 1.75332363e-02 4.22824472e+02] [-1.58163177e-01 9.87409183e-01 -2.74143426e-03 -6.89386143e+01] [-1.77461376e-02 -6.66217838e-05 9.99842523e-01 -8.47731553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.434012739 meters 0.020385150712782886 Centerline is valid? [True, True] Translation: X:422.85, Y:-68.94, Z:-8.48 [[ 9.87697725e-01 1.55352887e-01 1.78517264e-02 4.22852661e+02] [-1.55327831e-01 9.87859039e-01 -2.79012932e-03 -6.89439235e+01] [-1.80684439e-02 -1.70655534e-05 9.99836752e-01 -8.47673079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters 0.020382599434190685 Centerline is valid? [True, True] Translation: X:422.88, Y:-68.95, Z:-8.48 [[ 9.88065281e-01 1.52890061e-01 1.87517891e-02 4.22881497e+02] [-1.52861988e-01 9.88243203e-01 -2.92987265e-03 -6.89482034e+01] [-1.89792766e-02 2.84696817e-05 9.99819877e-01 -8.47558333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.494012739 meters 0.02094635232628767 Centerline is valid? [True, True] Translation: X:422.91, Y:-68.95, Z:-8.47 [[ 9.88579407e-01 1.49324455e-01 2.03214989e-02 4.22908658e+02] [-1.49290753e-01 9.88788246e-01 -3.17408280e-03 -6.89520258e+01] [-2.05676275e-02 1.04021014e-04 9.99788459e-01 -8.47333268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters 0.02129940555326096 Centerline is valid? [True, True] Translation: X:422.94, Y:-68.96, Z:-8.47 [[ 9.88813306e-01 1.47669008e-01 2.10263980e-02 4.22937207e+02] [-1.47632579e-01 9.89036826e-01 -3.28291503e-03 -6.89564274e+01] [-2.12806668e-02 1.42008697e-04 9.99773531e-01 -8.47349022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55401273900003 meters 0.023297233026374903 Centerline is valid? [True, True] Translation: X:422.96, Y:-68.96, Z:-8.47 [[ 9.89349672e-01 1.44133380e-01 2.03173822e-02 4.22964698e+02] [-1.44098641e-01 9.89558247e-01 -3.17126103e-03 -6.89624085e+01] [-2.05623177e-02 2.09778881e-04 9.99788551e-01 -8.47492885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters 0.024568459724831654 Centerline is valid? [True, True] Translation: X:422.99, Y:-68.97, Z:-8.48 [[ 9.89731086e-01 1.41506976e-01 2.02027880e-02 4.22993212e+02] [-1.41472105e-01 9.89937224e-01 -3.15216846e-03 -6.89675464e+01] [-2.04455457e-02 2.61668179e-04 9.99790934e-01 -8.47639701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.614012739 meters 0.026674410025943545 Centerline is valid? [True, True] Translation: X:423.02, Y:-68.97, Z:-8.48 [[ 9.90151397e-01 1.38566330e-01 1.99895932e-02 4.23020867e+02] [-1.38531612e-01 9.90353104e-01 -3.11795810e-03 -6.89746300e+01] [-2.02287997e-02 3.18060009e-04 9.99795326e-01 -8.47727866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters 0.03312134466292359 Centerline is valid? [True, True] Translation: X:423.05, Y:-68.99, Z:-8.48 [[ 9.91219315e-01 1.30527220e-01 2.11403548e-02 4.23048893e+02] [-1.30486576e-01 9.91444595e-01 -3.29669042e-03 -6.89906254e+01] [-2.13897983e-02 5.09210719e-04 9.99771082e-01 -8.47638503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.674012739 meters 0.038533370618517006 Centerline is valid? [True, True] Translation: X:423.08, Y:-69.00, Z:-8.48 [[ 9.91770153e-01 1.26250585e-01 2.12779896e-02 4.23077355e+02] [-1.26208427e-01 9.91998197e-01 -3.31807337e-03 -6.90042737e+01] [-2.15266361e-02 6.05304533e-04 9.99768092e-01 -8.47651617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters 0.04406622985317268 Centerline is valid? [True, True] Translation: X:423.11, Y:-69.02, Z:-8.48 [[ 9.92578658e-01 1.19935370e-01 2.00777142e-02 4.23106009e+02] [-1.19896523e-01 9.92781454e-01 -3.13190360e-03 -6.90180245e+01] [-2.03084083e-02 7.01412553e-04 9.99793517e-01 -8.48012589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.734012739 meters 0.04456667296859468 Centerline is valid? [True, True] Translation: X:423.14, Y:-69.02, Z:-8.48 [[ 9.92749865e-01 1.18647432e-01 1.92481991e-02 4.23137248e+02] [-1.18611489e-01 9.92936201e-01 -3.00242293e-03 -6.90240074e+01] [-1.94684635e-02 6.97597395e-04 9.99810228e-01 -8.48167998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters 0.04674468708567948 Centerline is valid? [True, True] Translation: X:423.17, Y:-69.03, Z:-8.48 [[ 9.92755228e-01 1.18717134e-01 1.85283567e-02 4.23167665e+02] [-1.18683791e-01 9.92927887e-01 -2.89284126e-03 -6.90329072e+01] [-1.87407519e-02 6.72867675e-04 9.99824150e-01 -8.48315722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.794012739 meters 0.04612987208252807 Centerline is valid? [True, True] Translation: X:423.20, Y:-69.04, Z:-8.48 [[ 9.92767567e-01 1.18644526e-01 1.83312402e-02 4.23198272e+02] [-1.18611821e-01 9.92936568e-01 -2.86502909e-03 -6.90380503e+01] [-1.85416787e-02 6.70006178e-04 9.99827864e-01 -8.48416889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters 0.04726140066508847 Centerline is valid? [True, True] Translation: X:423.23, Y:-69.05, Z:-8.49 [[ 9.92829999e-01 1.18307400e-01 1.70865980e-02 4.23228169e+02] [-1.18278937e-01 9.92976818e-01 -2.67048996e-03 -6.90467511e+01] [-1.72825345e-02 6.30357902e-04 9.99850447e-01 -8.48739073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.854012739 meters 0.041654503036050484 Centerline is valid? [True, True] Translation: X:423.26, Y:-69.05, Z:-8.49 [[ 9.92881975e-01 1.17794805e-01 1.76002319e-02 4.23259929e+02] [-1.17764470e-01 9.93037737e-01 -2.75376575e-03 -6.90458732e+01] [-1.78020738e-02 6.61482396e-04 9.99841312e-01 -8.48797183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters 0.048449385920441575 Centerline is valid? [True, True] Translation: X:423.29, Y:-69.06, Z:-8.49 [[ 9.92879989e-01 1.17799318e-01 1.76818391e-02 4.23289736e+02] [-1.17768701e-01 9.93037199e-01 -2.76659314e-03 -6.90633396e+01] [-1.78846268e-02 6.64527733e-04 9.99839836e-01 -8.48851648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.914012739 meters 0.049531015147304285 Centerline is valid? [True, True] Translation: X:423.32, Y:-69.08, Z:-8.49 [[ 9.92858835e-01 1.17943413e-01 1.79077002e-02 4.23320025e+02] [-1.17911971e-01 9.93020089e-01 -2.80530947e-03 -6.90761510e+01] [-1.81135738e-02 6.73744073e-04 9.99835709e-01 -8.48853769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters 0.048646270252925346 Centerline is valid? [True, True] Translation: X:423.35, Y:-69.08, Z:-8.49 [[ 9.92786212e-01 1.18624106e-01 1.74315454e-02 4.23351438e+02] [-1.18594368e-01 9.92939023e-01 -2.73359194e-03 -6.90833784e+01] [-1.76327316e-02 6.46589275e-04 9.99844322e-01 -8.48927067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.974012739 meters 0.0477094075474726 Centerline is valid? [True, True] Translation: X:423.38, Y:-69.09, Z:-8.49 [[ 9.92725765e-01 1.19108461e-01 1.75707031e-02 4.23382451e+02] [-1.19078272e-01 9.92881039e-01 -2.75819909e-03 -6.90907830e+01] [-1.77741428e-02 6.45846327e-04 9.99841819e-01 -8.48980426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters 0.04732196607323092 Centerline is valid? [True, True] Translation: X:423.41, Y:-69.10, Z:-8.49 [[ 9.92524842e-01 1.20702830e-01 1.80350776e-02 4.23411047e+02] [-1.20671228e-01 9.92688481e-01 -2.83434717e-03 -6.91041821e+01] [-1.82453275e-02 6.36845019e-04 9.99833337e-01 -8.49016567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.034012739 meters 0.044047875347899695 Centerline is valid? [True, True] Translation: X:423.44, Y:-69.11, Z:-8.49 [[ 9.92336487e-01 1.22206141e-01 1.82744814e-02 4.23443259e+02] [-1.22173950e-01 9.92504548e-01 -2.87191792e-03 -6.91084503e+01] [-1.84884719e-02 6.17243363e-04 9.99828883e-01 -8.49004099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters 0.04292999687531033 Centerline is valid? [True, True] Translation: X:423.47, Y:-69.12, Z:-8.49 [[ 9.91909407e-01 1.25617971e-01 1.83262992e-02 4.23471813e+02] [-1.25586119e-01 9.92078532e-01 -2.88327933e-03 -6.91180220e+01] [-1.85433197e-02 5.58423103e-04 9.99827902e-01 -8.49119799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.094012739 meters 0.03985531647120433 Centerline is valid? [True, True] Translation: X:423.50, Y:-69.12, Z:-8.49 [[ 9.91652343e-01 1.27606549e-01 1.84986498e-02 4.23503309e+02] [-1.27574442e-01 9.91824728e-01 -2.91032339e-03 -6.91218285e+01] [-1.87187947e-02 5.26074085e-04 9.99824650e-01 -8.49198761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters 0.036781878439851916 Centerline is valid? [True, True] Translation: X:423.54, Y:-69.13, Z:-8.49 [[ 9.91369247e-01 1.29782256e-01 1.85359437e-02 4.23535518e+02] [-1.29750386e-01 9.91542399e-01 -2.91687157e-03 -6.91256065e+01] [-1.87577323e-02 4.86650923e-04 9.99823940e-01 -8.49168018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.154012739 meters 0.030833775754616002 Centerline is valid? [True, True] Translation: X:423.57, Y:-69.12, Z:-8.49 [[ 9.90810463e-01 1.33859782e-01 1.93954895e-02 4.23567774e+02] [-1.33825602e-01 9.91000188e-01 -3.05547361e-03 -6.91245960e+01] [-1.96299387e-02 4.31782163e-04 9.99807221e-01 -8.48951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters 0.030012168259191375 Centerline is valid? [True, True] Translation: X:423.60, Y:-69.13, Z:-8.49 [[ 9.90572360e-01 1.35569462e-01 1.96804492e-02 4.23599090e+02] [-1.35534588e-01 9.90767762e-01 -3.10129633e-03 -6.91294070e+01] [-1.99191957e-02 4.04676840e-04 9.99801511e-01 -8.48990401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.214012739 meters 0.032759087365373855 Centerline is valid? [True, True] Translation: X:423.63, Y:-69.14, Z:-8.49 [[ 9.90438056e-01 1.36519486e-01 1.98717452e-02 4.23628659e+02] [-1.36484053e-01 9.90637308e-01 -3.13488792e-03 -6.91401984e+01] [-2.01136655e-02 3.92735965e-04 9.99797623e-01 -8.49046102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters 0.029361187636582683 Centerline is valid? [True, True] Translation: X:423.66, Y:-69.14, Z:-8.49 [[ 9.90321305e-01 1.37336122e-01 2.00624567e-02 4.23660867e+02] [-1.37300133e-01 9.90524429e-01 -3.16691992e-03 -6.91416877e+01] [-2.03072860e-02 3.81690294e-04 9.99793713e-01 -8.49096748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.274012739 meters 0.03146368995682441 Centerline is valid? [True, True] Translation: X:423.69, Y:-69.15, Z:-8.49 [[ 9.90150930e-01 1.38575965e-01 1.99458795e-02 4.23691277e+02] [-1.38540579e-01 9.90351743e-01 -3.15179536e-03 -6.91523918e+01] [-2.01901996e-02 3.57439422e-04 9.99796093e-01 -8.49176074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters 0.026975251352498886 Centerline is valid? [True, True] Translation: X:423.72, Y:-69.15, Z:-8.49 [[ 9.90005858e-01 1.39689658e-01 1.93700978e-02 4.23724740e+02] [-1.39656436e-01 9.90195280e-01 -3.06397699e-03 -6.91497419e+01] [-1.96081853e-02 3.28196338e-04 9.99807687e-01 -8.49295491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.334012739 meters 0.02712413118229324 Centerline is valid? [True, True] Translation: X:423.76, Y:-69.15, Z:-8.50 [[ 9.89520843e-01 1.43276370e-01 1.78992209e-02 4.23755380e+02] [-1.43248571e-01 9.89682689e-01 -2.83235934e-03 -6.91535211e+01] [-1.81203592e-02 2.38640796e-04 9.99835784e-01 -8.49711059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters 0.02456836383559169 Centerline is valid? [True, True] Translation: X:423.79, Y:-69.15, Z:-8.50 [[ 9.89277628e-01 1.44961896e-01 1.77714219e-02 4.23786025e+02] [-1.44934751e-01 9.89437217e-01 -2.81285937e-03 -6.91530083e+01] [-1.79914637e-02 2.07002246e-04 9.99838119e-01 -8.49764388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.394012739 meters 0.023360206277755244 Centerline is valid? [True, True] Translation: X:423.82, Y:-69.16, Z:-8.50 [[ 9.89097077e-01 1.46106625e-01 1.84343638e-02 4.23816807e+02] [-1.46077615e-01 9.89268829e-01 -2.91778977e-03 -6.91555351e+01] [-1.86628500e-02 1.93129433e-04 9.99825815e-01 -8.49638268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters 0.02451695805659158 Centerline is valid? [True, True] Translation: X:423.85, Y:-69.16, Z:-8.50 [[ 9.89039151e-01 1.46433955e-01 1.89381672e-02 4.23845416e+02] [-1.46403397e-01 9.89220430e-01 -2.99753174e-03 -6.91633558e+01] [-1.91729624e-02 1.92064222e-04 9.99816163e-01 -8.49563954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.454012739 meters 0.023997191342019136 Centerline is valid? [True, True] Translation: X:423.88, Y:-69.17, Z:-8.50 [[ 9.89189751e-01 1.45418593e-01 1.88962735e-02 4.23875165e+02] [-1.45387986e-01 9.89370198e-01 -2.99090081e-03 -6.91678256e+01] [-1.91303425e-02 2.11277275e-04 9.99816976e-01 -8.49598979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters 0.026898373885874613 Centerline is valid? [True, True] Translation: X:423.90, Y:-69.18, Z:-8.50 [[ 9.89394954e-01 1.43956309e-01 1.93444060e-02 4.23904021e+02] [-1.43923953e-01 9.89584014e-01 -3.06182293e-03 -6.91802804e+01] [-1.95836837e-02 2.45228782e-04 9.99808191e-01 -8.49667288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.514012739 meters 0.02545228717974281 Centerline is valid? [True, True] Translation: X:423.93, Y:-69.19, Z:-8.50 [[ 9.89547961e-01 1.42851736e-01 1.97031534e-02 4.23934761e+02] [-1.42817945e-01 9.89744062e-01 -3.11883354e-03 -6.91852548e+01] [-1.99466099e-02 2.72271492e-04 9.99801010e-01 -8.49642025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters 0.027138224159425958 Centerline is valid? [True, True] Translation: X:423.96, Y:-69.20, Z:-8.50 [[ 9.89777466e-01 1.41107046e-01 2.07212240e-02 4.23964332e+02] [-1.41069279e-01 9.89994291e-01 -3.28054341e-03 -6.91976961e+01] [-2.09768013e-02 3.23879814e-04 9.99779910e-01 -8.49606601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.574012739 meters 0.027027657667594525 Centerline is valid? [True, True] Translation: X:424.00, Y:-69.20, Z:-8.50 [[ 9.89766858e-01 1.41268718e-01 2.01175813e-02 4.23996487e+02] [-1.41233117e-01 9.89971238e-01 -3.18669952e-03 -6.92047180e+01] [-2.03660078e-02 3.12820858e-04 9.99792542e-01 -8.49723827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters 0.026450475486274754 Centerline is valid? [True, True] Translation: X:424.03, Y:-69.21, Z:-8.50 [[ 9.89584442e-01 1.42875543e-01 1.75843986e-02 4.24026858e+02] [-1.42848546e-01 9.89740632e-01 -2.78835311e-03 -6.92117516e+01] [-1.78023813e-02 2.47405068e-04 9.99841494e-01 -8.50177575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.634012739 meters 0.025390669938284472 Centerline is valid? [True, True] Translation: X:424.06, Y:-69.22, Z:-8.50 [[ 9.89373725e-01 1.44429021e-01 1.67298912e-02 4.24058053e+02] [-1.44404759e-01 9.89515140e-01 -2.65566154e-03 -6.92170186e+01] [-1.69380353e-02 2.11565844e-04 9.99856519e-01 -8.50388989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters 0.024432221426909078 Centerline is valid? [True, True] Translation: X:424.09, Y:-69.22, Z:-8.50 [[ 9.89123376e-01 1.46168523e-01 1.64228475e-02 4.24087932e+02] [-1.46145376e-01 9.89259688e-01 -2.60733557e-03 -6.92218167e+01] [-1.66275714e-02 1.78853351e-04 9.99861736e-01 -8.50450698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.694012739 meters 0.022228414077317158 Centerline is valid? [True, True] Translation: X:424.12, Y:-69.22, Z:-8.50 [[ 9.88610427e-01 1.49399586e-01 1.81435132e-02 4.24118304e+02] [-1.49371873e-01 9.88776893e-01 -2.88076862e-03 -6.92248844e+01] [-1.83702723e-02 1.37827337e-04 9.99831243e-01 -8.50179430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters 0.021350557849103637 Centerline is valid? [True, True] Translation: X:424.15, Y:-69.23, Z:-8.50 [[ 9.88436900e-01 1.50435378e-01 1.90181974e-02 4.24149617e+02] [-1.50405120e-01 9.88619837e-01 -3.01962286e-03 -6.92279669e+01] [-1.92560253e-02 1.24272399e-04 9.99814578e-01 -8.50043539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.754012739 meters 0.02127911770645622 Centerline is valid? [True, True] Translation: X:424.18, Y:-69.23, Z:-8.50 [[ 9.88334706e-01 1.50951648e-01 2.02016934e-02 4.24179912e+02] [-1.50917604e-01 9.88541140e-01 -3.20806676e-03 -6.92341895e+01] [-2.04544680e-02 1.21852545e-04 9.99790778e-01 -8.49865318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters 0.026033559400618963 Centerline is valid? [True, True] Translation: X:424.21, Y:-69.24, Z:-8.49 [[ 9.88364566e-01 1.50752239e-01 2.02298433e-02 4.24211110e+02] [-1.50718019e-01 9.88571569e-01 -3.21446928e-03 -6.92390968e+01] [-2.04832363e-02 1.28065640e-04 9.99790188e-01 -8.49138146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.814012739 meters 0.020868355840495022 Centerline is valid? [True, True] Translation: X:424.24, Y:-69.24, Z:-8.50 [[ 9.88237479e-01 1.51526464e-01 2.06498165e-02 4.24241411e+02] [-1.51490967e-01 9.88453194e-01 -3.28170284e-03 -6.92444392e+01] [-2.09086419e-02 1.14841083e-04 9.99781384e-01 -8.49880246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters 0.020688666686585314 Centerline is valid? [True, True] Translation: X:424.27, Y:-69.25, Z:-8.50 [[ 9.88096431e-01 1.52442075e-01 2.06605305e-02 4.24272520e+02] [-1.52406730e-01 9.88312402e-01 -3.28390388e-03 -6.92487041e+01] [-2.09196637e-02 9.60098019e-05 9.99781155e-01 -8.49925894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.874012739 meters 0.020241678298685065 Centerline is valid? [True, True] Translation: X:424.30, Y:-69.25, Z:-8.50 [[ 9.87689825e-01 1.55063548e-01 2.05938201e-02 4.24303219e+02] [-1.55028990e-01 9.87904497e-01 -3.27378685e-03 -6.92509610e+01] [-2.08523725e-02 4.08468312e-05 9.99782565e-01 -8.50058076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters 0.020241678298685065 Centerline is valid? [True, True] Translation: X:424.33, Y:-69.26, Z:-8.50 [[ 9.87689825e-01 1.55063553e-01 2.05937828e-02 4.24332841e+02] [-1.55028990e-01 9.87904496e-01 -3.27402158e-03 -6.92556701e+01] [-2.08523720e-02 4.10844546e-05 9.99782565e-01 -8.50118995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.934012739 meters 0.02007833658740006 Centerline is valid? [True, True] Translation: X:424.36, Y:-69.26, Z:-8.50 [[ 9.87473210e-01 1.56433546e-01 2.06205264e-02 4.24363384e+02] [-1.56399192e-01 9.87688486e-01 -3.27827331e-03 -6.92585691e+01] [-2.08794884e-02 1.21734038e-05 9.99782000e-01 -8.50252034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters 0.020162368498992306 Centerline is valid? [True, True] Translation: X:424.39, Y:-69.26, Z:-8.51 [[ 9.87202101e-01 1.58237931e-01 1.98184094e-02 4.24393237e+02] [-1.58206562e-01 9.87401011e-01 -3.15075726e-03 -6.92605063e+01] [-2.00672868e-02 -2.49682303e-05 9.99798631e-01 -8.50523552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.994012739 meters 0.020410088666421078 Centerline is valid? [True, True] Translation: X:424.42, Y:-69.27, Z:-8.51 [[ 9.87132244e-01 1.58857276e-01 1.82838461e-02 4.24423594e+02] [-1.58830691e-01 9.87301557e-01 -2.90637018e-03 -6.92654216e+01] [-1.85133677e-02 -3.50641968e-05 9.99828612e-01 -8.50865680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters 0.020570612795586717 Centerline is valid? [True, True] Translation: X:424.45, Y:-69.27, Z:-8.51 [[ 9.87065162e-01 1.59433964e-01 1.68278679e-02 4.24452934e+02] [-1.59411527e-01 9.87208595e-01 -2.67500585e-03 -6.92706996e+01] [-1.70391026e-02 -4.21510380e-05 9.99854823e-01 -8.51174805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05401273900003 meters 0.020787217302258864 Centerline is valid? [True, True] Translation: X:424.48, Y:-69.28, Z:-8.51 [[ 9.86892827e-01 1.60508684e-01 1.67185754e-02 4.24480788e+02] [-1.60486698e-01 9.87034426e-01 -2.65728222e-03 -6.92768060e+01] [-1.69283264e-02 -6.06562103e-05 9.99856704e-01 -8.51132387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters 0.020633140703077424 Centerline is valid? [True, True] Translation: X:424.51, Y:-69.28, Z:-8.51 [[ 9.86821632e-01 1.60870126e-01 1.74318236e-02 4.24510199e+02] [-1.60846292e-01 9.86975581e-01 -2.76998016e-03 -6.92820707e+01] [-1.76503912e-02 -7.03678407e-05 9.99844217e-01 -8.50949388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.114012739 meters 0.020606469696767004 Centerline is valid? [True, True] Translation: X:424.54, Y:-69.29, Z:-8.51 [[ 9.86771044e-01 1.61083338e-01 1.83047830e-02 4.24538974e+02] [-1.61057101e-01 9.86940805e-01 -2.90825254e-03 -6.92867164e+01] [-1.85342083e-02 -7.83358928e-05 9.99828224e-01 -8.50940424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters 0.020825017565703957 Centerline is valid? [True, True] Translation: X:424.57, Y:-69.29, Z:-8.51 [[ 9.86800588e-01 1.60991246e-01 1.75047953e-02 4.24567832e+02] [-1.60967250e-01 9.86955831e-01 -2.78049249e-03 -6.92948968e+01] [-1.77240947e-02 -7.39071423e-05 9.99842913e-01 -8.51258350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.174012739 meters 0.02100617800031266 Centerline is valid? [True, True] Translation: X:424.60, Y:-69.30, Z:-8.51 [[ 9.86790688e-01 1.61144837e-01 1.66276821e-02 4.24595607e+02] [-1.61123210e-01 9.86930766e-01 -2.64106780e-03 -6.93008558e+01] [-1.68359655e-02 -7.29244002e-05 9.99858262e-01 -8.51470680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters 0.022104501423675458 Centerline is valid? [True, True] Translation: X:424.63, Y:-69.30, Z:-8.52 [[ 9.86380330e-01 1.63805101e-01 1.48907408e-02 4.24625552e+02] [-1.63788066e-01 9.86492715e-01 -2.36467941e-03 -6.93030304e+01] [-1.50769539e-02 -1.06452386e-04 9.99886331e-01 -8.51688754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.234012739 meters 0.023647806483172103 Centerline is valid? [True, True] Translation: X:424.65, Y:-69.30, Z:-8.52 [[ 9.85977512e-01 1.66186829e-01 1.51751102e-02 4.24654085e+02] [-1.66169423e-01 9.86094274e-01 -2.40964725e-03 -6.93036071e+01] [-1.53645409e-02 -1.45781294e-04 9.99881948e-01 -8.51610499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters 0.0239967728842302 Centerline is valid? [True, True] Translation: X:424.68, Y:-69.31, Z:-8.51 [[ 9.85465401e-01 1.69104713e-01 1.61721567e-02 4.24683669e+02] [-1.69085355e-01 9.85598069e-01 -2.56684802e-03 -6.93071263e+01] [-1.63733126e-02 -2.04934941e-04 9.99865927e-01 -8.51325172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.294012739 meters 0.035029999579685986 Centerline is valid? [True, True] Translation: X:424.71, Y:-69.29, Z:-8.51 [[ 9.84216863e-01 1.76096681e-01 1.75250147e-02 4.24714970e+02] [-1.76075062e-01 9.84372814e-01 -2.78115621e-03 -6.92909427e+01] [-1.77409005e-02 -3.48457220e-04 9.99842557e-01 -8.51206576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters 0.03164396488810021 Centerline is valid? [True, True] Translation: X:424.74, Y:-69.30, Z:-8.51 [[ 9.83504507e-01 1.80095164e-01 1.68705779e-02 4.24743991e+02] [-1.80075732e-01 9.83649108e-01 -2.67643480e-03 -6.92982205e+01] [-1.70767419e-02 -4.05695982e-04 9.99854100e-01 -8.51257834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.354012739 meters 0.036985645457184226 Centerline is valid? [True, True] Translation: X:424.78, Y:-69.29, Z:-8.51 [[ 9.82753725e-01 1.84220573e-01 1.60591273e-02 4.24775003e+02] [-1.84203523e-01 9.82884822e-01 -2.54727459e-03 -6.92917930e+01] [-1.62535328e-02 -4.54804224e-04 9.99867799e-01 -8.51482701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters 0.04109277533418564 Centerline is valid? [True, True] Translation: X:424.80, Y:-69.29, Z:-8.52 [[ 9.82078850e-01 1.87811266e-01 1.57499193e-02 4.24804950e+02] [-1.87795329e-01 9.82205006e-01 -2.49808644e-03 -6.92883001e+01] [-1.59388184e-02 -5.04443426e-04 9.99872842e-01 -8.51634367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.414012739 meters 0.0453177903409875 Centerline is valid? [True, True] Translation: X:424.84, Y:-69.29, Z:-8.52 [[ 9.81253208e-01 1.92022706e-01 1.64140543e-02 4.24836012e+02] [-1.92005993e-01 9.81390301e-01 -2.60296968e-03 -6.92850031e+01] [-1.66084230e-02 -5.97424439e-04 9.99861892e-01 -8.51525903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters 0.047440149263326264 Centerline is valid? [True, True] Translation: X:424.86, Y:-69.28, Z:-8.52 [[ 9.81187674e-01 1.92340414e-01 1.66106674e-02 4.24863912e+02] [-1.92323343e-01 9.81328076e-01 -2.63411042e-03 -6.92848754e+01] [-1.68071602e-02 -6.10062418e-04 9.99858564e-01 -8.51575320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.474012739 meters 0.043721902759233544 Centerline is valid? [True, True] Translation: X:424.89, Y:-69.29, Z:-8.52 [[ 9.81485076e-01 1.90821059e-01 1.65641101e-02 4.24892322e+02] [-1.90803885e-01 9.81624665e-01 -2.62571910e-03 -6.92896443e+01] [-1.67607816e-02 -5.83392454e-04 9.99859358e-01 -8.51602246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters 0.04345856472961793 Centerline is valid? [True, True] Translation: X:424.92, Y:-69.29, Z:-8.52 [[ 9.81649955e-01 1.89951535e-01 1.67862834e-02 4.24919658e+02] [-1.89933784e-01 9.81793299e-01 -2.66016400e-03 -6.92922219e+01] [-1.69859628e-02 -5.76932453e-04 9.99855562e-01 -8.51607887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.534012739 meters 0.04487602994157094 Centerline is valid? [True, True] Translation: X:424.95, Y:-69.29, Z:-8.52 [[ 9.81836952e-01 1.88977335e-01 1.68453894e-02 4.24948235e+02] [-1.88959332e-01 9.81981288e-01 -2.66849048e-03 -6.92926310e+01] [-1.70461414e-02 -5.63070963e-04 9.99854545e-01 -8.51657297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters 0.04182581790869368 Centerline is valid? [True, True] Translation: X:424.98, Y:-69.30, Z:-8.52 [[ 9.82188353e-01 1.87199798e-01 1.61948709e-02 4.24976577e+02] [-1.87182930e-01 9.82321726e-01 -2.56471358e-03 -6.92989075e+01] [-1.63886874e-02 -5.12371570e-04 9.99865565e-01 -8.51768001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.594012739 meters 0.0411314474827246 Centerline is valid? [True, True] Translation: X:425.01, Y:-69.30, Z:-8.52 [[ 9.82334050e-01 1.86447913e-01 1.60309207e-02 4.25005611e+02] [-1.86431297e-01 9.82464722e-01 -2.53796679e-03 -6.93033662e+01] [-1.62230127e-02 -4.95534144e-04 9.99868275e-01 -8.51830890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters 0.037058045319582074 Centerline is valid? [True, True] Translation: X:425.03, Y:-69.31, Z:-8.52 [[ 9.82445073e-01 1.85850927e-01 1.61589382e-02 4.25033231e+02] [-1.85833972e-01 9.82577830e-01 -2.55772245e-03 -6.93126384e+01] [-1.63527695e-02 -4.90057843e-04 9.99866164e-01 -8.51814125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.654012739 meters 0.03789726919195791 Centerline is valid? [True, True] Translation: X:425.06, Y:-69.31, Z:-8.52 [[ 9.82777580e-01 1.84176300e-01 1.50770611e-02 4.25061429e+02] [-1.84161353e-01 9.82893129e-01 -2.38585594e-03 -6.93133357e+01] [-1.52585579e-02 -4.31846244e-04 9.99883488e-01 -8.52126344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters 0.03390672872564976 Centerline is valid? [True, True] Translation: X:425.09, Y:-69.32, Z:-8.52 [[ 9.83041445e-01 1.82766747e-01 1.50277440e-02 4.25089429e+02] [-1.82751747e-01 9.83156218e-01 -2.37706485e-03 -6.93222750e+01] [-1.52090683e-02 -4.09593200e-04 9.99884252e-01 -8.52070024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.714012739 meters 0.03178683194317882 Centerline is valid? [True, True] Translation: X:425.12, Y:-69.33, Z:-8.52 [[ 9.83783968e-01 1.78537266e-01 1.71332940e-02 4.25117314e+02] [-1.78517145e-01 9.83933072e-01 -2.70907808e-03 -6.93283718e+01] [-1.73416860e-02 -3.93439135e-04 9.99849544e-01 -8.51721859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters 0.03108625852206751 Centerline is valid? [True, True] Translation: X:425.14, Y:-69.33, Z:-8.52 [[ 9.84110572e-01 1.76659428e-01 1.78277729e-02 4.25144488e+02] [-1.76637346e-01 9.84271967e-01 -2.81823764e-03 -6.93335310e+01] [-1.80452454e-02 -3.75593043e-04 9.99837101e-01 -8.51594327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.774012739 meters 0.02923609151130959 Centerline is valid? [True, True] Translation: X:425.17, Y:-69.34, Z:-8.52 [[ 9.84354536e-01 1.75281029e-01 1.79640800e-02 4.25172582e+02] [-1.75258399e-01 9.84518377e-01 -2.83866875e-03 -6.93404104e+01] [-1.81835316e-02 -3.54099442e-04 9.99834603e-01 -8.51523205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters 0.028096956941978963 Centerline is valid? [True, True] Translation: X:425.20, Y:-69.35, Z:-8.52 [[ 9.84614141e-01 1.73907248e-01 1.70664127e-02 4.25200847e+02] [-1.73886632e-01 9.84761987e-01 -2.69601198e-03 -6.93453310e+01] [-1.72752105e-02 -3.13089499e-04 9.99850723e-01 -8.51820630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.834012739 meters 0.029378430320538704 Centerline is valid? [True, True] Translation: X:425.23, Y:-69.35, Z:-8.52 [[ 9.84733187e-01 1.73296352e-01 1.63989389e-02 4.25228838e+02] [-1.73277240e-01 9.84869682e-01 -2.59009314e-03 -6.93472783e+01] [-1.65996714e-02 -2.91012192e-04 9.99862174e-01 -8.52065883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters 0.029109062744610475 Centerline is valid? [True, True] Translation: X:425.26, Y:-69.35, Z:-8.52 [[ 9.84800053e-01 1.72935029e-01 1.61966226e-02 4.25257244e+02] [-1.72916353e-01 9.84933194e-01 -2.55711967e-03 -6.93514107e+01] [-1.63948068e-02 -2.82409320e-04 9.99865556e-01 -8.52135716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.894012739 meters 0.027934891942567593 Centerline is valid? [True, True] Translation: X:425.29, Y:-69.35, Z:-8.52 [[ 9.84607146e-01 1.73976278e-01 1.67637133e-02 4.25286161e+02] [-1.73956436e-01 9.84749795e-01 -2.64586376e-03 -6.93540372e+01] [-1.69683807e-02 -3.11019449e-04 9.99855978e-01 -8.51850672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters 0.028914144217641224 Centerline is valid? [True, True] Translation: X:425.31, Y:-69.35, Z:-8.52 [[ 9.84365488e-01 1.75361151e-01 1.65243394e-02 4.25314831e+02] [-1.75342079e-01 9.84504117e-01 -2.60729138e-03 -6.93545690e+01] [-1.67254978e-02 -3.30884377e-04 9.99860064e-01 -8.51973369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.954012739 meters 0.03441374461766604 Centerline is valid? [True, True] Translation: X:425.35, Y:-69.35, Z:-8.52 [[ 9.83577369e-01 1.79885223e-01 1.47263846e-02 4.25345806e+02] [-1.79870595e-01 9.83687539e-01 -2.32278970e-03 -6.93475446e+01] [-1.49039966e-02 -3.64200173e-04 9.99888863e-01 -8.52447418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters 0.035317053815943 Centerline is valid? [True, True] Translation: X:425.38, Y:-69.35, Z:-8.53 [[ 9.83234899e-01 1.81833745e-01 1.36243331e-02 4.25375456e+02] [-1.81821412e-01 9.83329221e-01 -2.14889336e-03 -6.93489470e+01] [-1.37879462e-02 -3.64328539e-04 9.99904875e-01 -8.52585304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.014012739 meters 0.0378295086316312 Centerline is valid? [True, True] Translation: X:425.40, Y:-69.35, Z:-8.53 [[ 9.82938472e-01 1.83457537e-01 1.32397949e-02 4.25403510e+02] [-1.83446038e-01 9.83027563e-01 -2.08826142e-03 -6.93464425e+01] [-1.33981906e-02 -3.76155423e-04 9.99910169e-01 -8.52706129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters 0.03943428097544744 Centerline is valid? [True, True] Translation: X:425.43, Y:-69.34, Z:-8.53 [[ 9.82802067e-01 1.84130247e-01 1.40053262e-02 4.25431867e+02] [-1.84117461e-01 9.82901768e-01 -2.20801718e-03 -6.93446166e+01] [-1.41724227e-02 -4.08581255e-04 9.99899483e-01 -8.52573951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.074012739 meters 0.03863446957418124 Centerline is valid? [True, True] Translation: X:425.46, Y:-69.35, Z:-8.52 [[ 9.82714737e-01 1.84390261e-01 1.64917171e-02 4.25460506e+02] [-1.84372601e-01 9.82852987e-01 -2.59807955e-03 -6.93459531e+01] [-1.66879939e-02 -4.87449708e-04 9.99860627e-01 -8.52165258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters 0.040414112085373634 Centerline is valid? [True, True] Translation: X:425.49, Y:-69.35, Z:-8.52 [[ 9.82816245e-01 1.83914662e-01 1.57361612e-02 4.25488814e+02] [-1.83898533e-01 9.82942108e-01 -2.47834295e-03 -6.93480977e+01] [-1.59235390e-02 -4.58101246e-04 9.99873107e-01 -8.52420314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.134012739 meters 0.03726508367832273 Centerline is valid? [True, True] Translation: X:425.52, Y:-69.36, Z:-8.53 [[ 9.82910450e-01 1.83593093e-01 1.34396360e-02 4.25516683e+02] [-1.83581306e-01 9.83002251e-01 -2.11616650e-03 -6.93573843e+01] [-1.35997060e-02 -3.87263752e-04 9.99907445e-01 -8.52731913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters 0.03956165832008198 Centerline is valid? [True, True] Translation: X:425.55, Y:-69.36, Z:-8.53 [[ 9.82719401e-01 1.84829572e-01 1.00303954e-02 4.25545508e+02] [-1.84823073e-01 9.82770542e-01 -1.57911362e-03 -6.93561600e+01] [-1.01494440e-02 -3.02022906e-04 9.99948447e-01 -8.53455943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.194012739 meters 0.04462343708745653 Centerline is valid? [True, True] Translation: X:425.57, Y:-69.35, Z:-8.54 [[ 9.82399375e-01 1.86496560e-01 1.05119687e-02 4.25574520e+02] [-1.86489522e-01 9.82455557e-01 -1.65448443e-03 -6.93519811e+01] [-1.06360977e-02 -3.35007546e-04 9.99943379e-01 -8.53510430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters 0.047924265804456696 Centerline is valid? [True, True] Translation: X:425.60, Y:-69.35, Z:-8.53 [[ 9.81797992e-01 1.89495672e-01 1.28099217e-02 4.25604984e+02] [-1.89485492e-01 9.81881453e-01 -2.01487169e-03 -6.93493692e+01] [-1.29596340e-02 -4.49097342e-04 9.99915920e-01 -8.52993779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.254012739 meters 0.04837219127076071 Centerline is valid? [True, True] Translation: X:425.63, Y:-69.35, Z:-8.53 [[ 9.81633281e-01 1.90329875e-01 1.30629762e-02 4.25633749e+02] [-1.90319355e-01 9.81720082e-01 -2.05525990e-03 -6.93517338e+01] [-1.32153635e-02 -4.68625689e-04 9.99912563e-01 -8.52979170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters 0.04675018329310975 Centerline is valid? [True, True] Translation: X:425.66, Y:-69.36, Z:-8.53 [[ 9.81417857e-01 1.91468162e-01 1.26068726e-02 4.25662495e+02] [-1.91458479e-01 9.81498713e-01 -1.98184398e-03 -6.93554749e+01] [-1.27530893e-02 -4.68675585e-04 9.99918566e-01 -8.53037136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.314012739 meters 0.04958532192928504 Centerline is valid? [True, True] Translation: X:425.69, Y:-69.36, Z:-8.53 [[ 9.81405708e-01 1.91442187e-01 1.38825630e-02 4.25690818e+02] [-1.91430489e-01 9.81503754e-01 -2.17904610e-03 -6.93550027e+01] [-1.40429490e-02 -5.19017548e-04 9.99901258e-01 -8.52917091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters 0.049979175252547914 Centerline is valid? [True, True] Translation: X:425.72, Y:-69.36, Z:-8.53 [[ 9.81392545e-01 1.91344376e-01 1.60000664e-02 4.25719059e+02] [-1.91328842e-01 9.81522783e-01 -2.51028078e-03 -6.93575477e+01] [-1.61847578e-02 -5.97703339e-04 9.99868840e-01 -8.52562610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.374012739 meters 0.049880746036085916 Centerline is valid? [True, True] Translation: X:425.75, Y:-69.36, Z:-8.52 [[ 9.81425674e-01 1.91069578e-01 1.72065001e-02 4.25747923e+02] [-1.91051585e-01 9.81576288e-01 -2.69878837e-03 -6.93603835e+01] [-1.74051488e-02 -6.38668905e-04 9.99848315e-01 -8.52298660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters 0.049115746970683584 Centerline is valid? [True, True] Translation: X:425.78, Y:-69.36, Z:-8.52 [[ 9.81661681e-01 1.89863084e-01 1.70983566e-02 4.25776508e+02] [-1.89845180e-01 9.81810384e-01 -2.67913768e-03 -6.93614460e+01] [-1.72960134e-02 -6.16033791e-04 9.99850223e-01 -8.52446632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.434012739 meters 0.045382817980486254 Centerline is valid? [True, True] Translation: X:425.80, Y:-69.37, Z:-8.53 [[ 9.81920030e-01 1.88661930e-01 1.54832735e-02 4.25804128e+02] [-1.88647133e-01 9.82041946e-01 -2.42396380e-03 -6.93691879e+01] [-1.56625337e-02 -5.40736534e-04 9.99877189e-01 -8.52834912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters 0.04423229271404275 Centerline is valid? [True, True] Translation: X:425.83, Y:-69.37, Z:-8.53 [[ 9.82218974e-01 1.87251610e-01 1.35174311e-02 4.25832263e+02] [-1.87240223e-01 9.82311879e-01 -2.11441613e-03 -6.93733515e+01] [-1.36742610e-02 -4.54187180e-04 9.99906400e-01 -8.53249354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.494012739 meters 0.045484340443188345 Centerline is valid? [True, True] Translation: X:425.86, Y:-69.37, Z:-8.54 [[ 9.82688539e-01 1.84872244e-01 1.20618723e-02 4.25861329e+02] [-1.84863029e-01 9.82762489e-01 -1.88418581e-03 -6.93706602e+01] [-1.22022893e-02 -3.78226447e-04 9.99925478e-01 -8.53612947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters 0.042717609439174485 Centerline is valid? [True, True] Translation: X:425.89, Y:-69.38, Z:-8.54 [[ 9.82863983e-01 1.83921310e-01 1.23021328e-02 4.25889290e+02] [-1.83911646e-01 9.82940900e-01 -1.92201352e-03 -6.93758668e+01] [-1.24457687e-02 -3.73427620e-04 9.99922479e-01 -8.53504052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55401273900003 meters 0.042796388150634614 Centerline is valid? [True, True] Translation: X:425.92, Y:-69.37, Z:-8.53 [[ 9.83224433e-01 1.81852471e-01 1.41206861e-02 4.25917786e+02] [-1.81839572e-01 9.83325743e-01 -2.20291492e-03 -6.93745451e+01] [-1.42858397e-02 -4.01739740e-04 9.99897871e-01 -8.53289629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters 0.037060434260776966 Centerline is valid? [True, True] Translation: X:425.95, Y:-69.38, Z:-8.53 [[ 9.83416580e-01 1.80763447e-01 1.47107489e-02 4.25945343e+02] [-1.80749336e-01 9.83526519e-01 -2.29418749e-03 -6.93836633e+01] [-1.48831169e-02 -4.02816083e-04 9.99889159e-01 -8.53051051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.614012739 meters 0.041200016086222875 Centerline is valid? [True, True] Translation: X:425.97, Y:-69.38, Z:-8.53 [[ 9.83530371e-01 1.80104489e-01 1.51783760e-02 4.25974482e+02] [-1.80089438e-01 9.83647399e-01 -2.36394573e-03 -6.93782779e+01] [-1.53559273e-02 -4.08452782e-04 9.99882007e-01 -8.53168055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters 0.034431566187243946 Centerline is valid? [True, True] Translation: X:426.00, Y:-69.39, Z:-8.53 [[ 9.83757930e-01 1.78866169e-01 1.50740872e-02 4.26002186e+02] [-1.78851193e-01 9.83873337e-01 -2.34675937e-03 -6.93885063e+01] [-1.52507484e-02 -3.87375346e-04 9.99883626e-01 -8.53046895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.674012739 meters 0.03786799490263771 Centerline is valid? [True, True] Translation: X:426.03, Y:-69.38, Z:-8.53 [[ 9.84194465e-01 1.76518254e-01 1.42323847e-02 4.26031609e+02] [-1.76504657e-01 9.84297311e-01 -2.21577566e-03 -6.93820939e+01] [-1.44000229e-02 -3.31328047e-04 9.99896259e-01 -8.53491240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters 0.030993233928761483 Centerline is valid? [True, True] Translation: X:426.06, Y:-69.39, Z:-8.54 [[ 9.84457777e-01 1.75140648e-01 1.29860882e-02 4.26058980e+02] [-1.75129245e-01 9.84543382e-01 -2.01903722e-03 -6.93945666e+01] [-1.31389827e-02 -2.86586927e-04 9.99913639e-01 -8.53518730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.734012739 meters 0.029436584720420312 Centerline is valid? [True, True] Translation: X:426.09, Y:-69.40, Z:-8.54 [[ 9.85044065e-01 1.71931661e-01 1.13001797e-02 4.26087074e+02] [-1.71922819e-01 9.85108856e-01 -1.75659368e-03 -6.93958623e+01] [-1.14339212e-02 -2.12436572e-04 9.99934608e-01 -8.53896695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters 0.029055185858782463 Centerline is valid? [True, True] Translation: X:426.11, Y:-69.40, Z:-8.54 [[ 9.85341413e-01 1.70243948e-01 1.09223993e-02 4.26114831e+02] [-1.70235590e-01 9.85401930e-01 -1.69721967e-03 -6.93971175e+01] [-1.10518947e-02 -1.87040263e-04 9.99938908e-01 -8.54072036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.794012739 meters 0.029055185858782463 Centerline is valid? [True, True] Translation: X:426.14, Y:-69.40, Z:-8.54 [[ 9.85372618e-01 1.70063241e-01 1.09223223e-02 4.26141999e+02] [-1.70054867e-01 9.85433133e-01 -1.69771670e-03 -6.94011308e+01] [-1.10519375e-02 -1.84510510e-04 9.99938908e-01 -8.54127826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters 0.02694135713548663 Centerline is valid? [True, True] Translation: X:426.17, Y:-69.41, Z:-8.54 [[ 9.85632182e-01 1.68549329e-01 1.09693385e-02 4.26170604e+02] [-1.68540814e-01 9.85693205e-01 -1.70279010e-03 -6.94056058e+01] [-1.10994066e-02 -1.70456522e-04 9.99938385e-01 -8.54072061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.854012739 meters 0.02578176185225758 Centerline is valid? [True, True] Translation: X:426.20, Y:-69.41, Z:-8.54 [[ 9.85883693e-01 1.66937700e-01 1.28509882e-02 4.26199021e+02] [-1.66925922e-01 9.85967429e-01 -1.99131100e-03 -6.94058031e+01] [-1.30030807e-02 -1.81962016e-04 9.99915440e-01 -8.53826184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters 0.025235363123624167 Centerline is valid? [True, True] Translation: X:426.23, Y:-69.41, Z:-8.54 [[ 9.85977708e-01 1.66339382e-01 1.33854135e-02 4.26227131e+02] [-1.66326561e-01 9.86068546e-01 -2.07325715e-03 -6.94075878e+01] [-1.35437996e-02 -1.82164473e-04 9.99908262e-01 -8.53797249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.914012739 meters 0.025038410971291163 Centerline is valid? [True, True] Translation: X:426.26, Y:-69.41, Z:-8.54 [[ 9.86079655e-01 1.65714276e-01 1.36268899e-02 4.26256395e+02] [-1.65700941e-01 9.86173792e-01 -2.10974134e-03 -6.94092134e+01] [-1.37880959e-02 -1.77615471e-04 9.99904924e-01 -8.53763401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters 0.02363347033741347 Centerline is valid? [True, True] Translation: X:426.29, Y:-69.41, Z:-8.54 [[ 9.86468042e-01 1.63468138e-01 1.26083167e-02 4.26285148e+02] [-1.63456545e-01 9.86548605e-01 -1.95151611e-03 -6.94095640e+01] [-1.27577280e-02 -1.35803611e-04 9.99918608e-01 -8.53942741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.974012739 meters 0.02233957360246208 Centerline is valid? [True, True] Translation: X:426.31, Y:-69.41, Z:-8.54 [[ 9.86734373e-01 1.61790307e-01 1.33856037e-02 4.26313448e+02] [-1.61777095e-01 9.86825153e-01 -2.07113149e-03 -6.94134505e+01] [-1.35443394e-02 -1.21827448e-04 9.99908264e-01 -8.53838820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters 0.0211766292330505 Centerline is valid? [True, True] Translation: X:426.34, Y:-69.42, Z:-8.54 [[ 9.87027671e-01 1.59844528e-01 1.50367621e-02 4.26342087e+02] [-1.59827643e-01 9.87142196e-01 -2.32577339e-03 -6.94185617e+01] [-1.52151846e-02 -1.07687562e-04 9.99884237e-01 -8.53578022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.034012739 meters 0.019557132557853796 Centerline is valid? [True, True] Translation: X:426.37, Y:-69.43, Z:-8.53 [[ 9.87665773e-01 1.55535550e-01 1.80281421e-02 4.26369784e+02] [-1.55510579e-01 9.87830294e-01 -2.78740202e-03 -6.94253862e+01] [-1.82422850e-02 -5.05452421e-05 9.99833594e-01 -8.53170247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters 0.01943453060045511 Centerline is valid? [True, True] Translation: X:426.40, Y:-69.43, Z:-8.53 [[ 9.87954139e-01 1.53657650e-01 1.83288487e-02 4.26396091e+02] [-1.53631530e-01 9.88124145e-01 -2.83314272e-03 -6.94298163e+01] [-1.85465120e-02 -1.68739804e-05 9.99827999e-01 -8.53215092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.094012739 meters 0.0197133441855928 Centerline is valid? [True, True] Translation: X:426.42, Y:-69.44, Z:-8.54 [[ 9.88340105e-01 1.51431443e-01 1.58856530e-02 4.26424191e+02] [-1.51411567e-01 9.88467763e-01 -2.45349407e-03 -6.94350297e+01] [-1.60739920e-02 1.96149815e-05 9.99870805e-01 -8.53713884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters 0.020041028087256024 Centerline is valid? [True, True] Translation: X:426.45, Y:-69.44, Z:-8.54 [[ 9.88446644e-01 1.50884472e-01 1.43912769e-02 4.26451828e+02] [-1.50868110e-01 9.88551403e-01 -2.22214616e-03 -6.94403532e+01] [-1.45618043e-02 2.52881653e-05 9.99893971e-01 -8.54091126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.154012739 meters 0.020315786424472116 Centerline is valid? [True, True] Translation: X:426.48, Y:-69.45, Z:-8.54 [[ 9.88512832e-01 1.50548334e-01 1.33259025e-02 4.26479279e+02] [-1.50534285e-01 9.88602649e-01 -2.05690407e-03 -6.94454349e+01] [-1.34836860e-02 2.72708690e-05 9.99909091e-01 -8.54383433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters 0.01992636163775073 Centerline is valid? [True, True] Translation: X:426.51, Y:-69.45, Z:-8.54 [[ 9.88442733e-01 1.50963650e-01 1.38180786e-02 4.26508132e+02] [-1.50948597e-01 9.88539314e-01 -2.13196702e-03 -6.94476678e+01] [-1.39815635e-02 2.15077267e-05 9.99902253e-01 -8.54239495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.214012739 meters 0.019917020671065173 Centerline is valid? [True, True] Translation: X:426.54, Y:-69.45, Z:-8.54 [[ 9.88353575e-01 1.51446541e-01 1.48712994e-02 4.26535631e+02] [-1.51429168e-01 9.88465450e-01 -2.29389897e-03 -6.94496946e+01] [-1.50471687e-02 1.52347447e-05 9.99886785e-01 -8.54140910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters 0.019718862907710827 Centerline is valid? [True, True] Translation: X:426.56, Y:-69.45, Z:-8.54 [[ 9.88258322e-01 1.51992911e-01 1.56091166e-02 4.26564882e+02] [-1.51973866e-01 9.88381584e-01 -2.40602615e-03 -6.94522565e+01] [-1.57934623e-02 5.59756417e-06 9.99875275e-01 -8.53957695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.274012739 meters 0.019660475537115155 Centerline is valid? [True, True] Translation: X:426.59, Y:-69.46, Z:-8.54 [[ 9.88260548e-01 1.51895781e-01 1.63939630e-02 4.26593378e+02] [-1.51874773e-01 9.88396515e-01 -2.52618594e-03 -6.94580571e+01] [-1.65874529e-02 6.70048573e-06 9.99862419e-01 -8.53997484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters 0.019861151765107877 Centerline is valid? [True, True] Translation: X:426.62, Y:-69.46, Z:-8.54 [[ 9.88391497e-01 1.51019083e-01 1.65977774e-02 4.26619524e+02] [-1.50997437e-01 9.88530847e-01 -2.55690655e-03 -6.94646370e+01] [-1.67935567e-02 2.10028358e-05 9.99858978e-01 -8.54181302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.334012739 meters 0.019933411241350143 Centerline is valid? [True, True] Translation: X:426.65, Y:-69.47, Z:-8.54 [[ 9.88599558e-01 1.49690327e-01 1.62394346e-02 4.26647255e+02] [-1.49669450e-01 9.88732929e-01 -2.50023679e-03 -6.94719616e+01] [-1.64307250e-02 4.11857393e-05 9.99865006e-01 -8.54310407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters 0.019986963264091613 Centerline is valid? [True, True] Translation: X:426.68, Y:-69.48, Z:-8.54 [[ 9.88657629e-01 1.49333434e-01 1.59880729e-02 4.26675827e+02] [-1.49313164e-01 9.88786895e-01 -2.46080656e-03 -6.94764743e+01] [-1.61762776e-02 4.56654309e-05 9.99869154e-01 -8.54369992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.394012739 meters 0.02040607783424897 Centerline is valid? [True, True] Translation: X:426.70, Y:-69.48, Z:-8.55 [[ 9.88702995e-01 1.49176771e-01 1.45834740e-02 4.26702899e+02] [-1.49159898e-01 9.88810543e-01 -2.24407367e-03 -6.94813153e+01] [-1.47550565e-02 4.34528677e-05 9.99891137e-01 -8.54689280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters 0.020488127237561736 Centerline is valid? [True, True] Translation: X:426.73, Y:-69.49, Z:-8.55 [[ 9.88674563e-01 1.49502368e-01 1.31015135e-02 4.26730930e+02] [-1.49488788e-01 9.88761367e-01 -2.01528465e-03 -6.94856805e+01] [-1.32555602e-02 3.39312941e-05 9.99912141e-01 -8.54935604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.454012739 meters 0.020330400672793385 Centerline is valid? [True, True] Translation: X:426.76, Y:-69.49, Z:-8.55 [[ 9.88471523e-01 1.50922096e-01 1.21065766e-02 4.26759625e+02] [-1.50910613e-01 9.88545659e-01 -1.86178372e-03 -6.94892182e+01] [-1.22488881e-02 1.33092937e-05 9.99924979e-01 -8.55105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters 0.0200765386033299 Centerline is valid? [True, True] Translation: X:426.79, Y:-69.49, Z:-8.55 [[ 9.88341066e-01 1.51678437e-01 1.32510410e-02 4.26787592e+02] [-1.51664753e-01 9.88429892e-01 -2.03733422e-03 -6.94922543e+01] [-1.34067447e-02 3.86520983e-06 9.99910126e-01 -8.55077772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.514012739 meters 0.019827826911285776 Centerline is valid? [True, True] Translation: X:426.82, Y:-69.50, Z:-8.55 [[ 9.88215745e-01 1.52304501e-01 1.52636718e-02 4.26815789e+02] [-1.52286449e-01 9.88333617e-01 -2.34488466e-03 -6.94959205e+01] [-1.54427364e-02 -7.19844289e-06 9.99880754e-01 -8.54837087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters 0.01983997752435327 Centerline is valid? [True, True] Translation: X:426.84, Y:-69.50, Z:-8.55 [[ 9.88458671e-01 1.50625711e-01 1.61663505e-02 4.26842405e+02] [-1.50605248e-01 9.88590863e-01 -2.48278923e-03 -6.95037972e+01] [-1.63558783e-02 1.93973025e-05 9.99866233e-01 -8.54758001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.574012739 meters 0.020394305952791455 Centerline is valid? [True, True] Translation: X:426.87, Y:-69.51, Z:-8.55 [[ 9.88844812e-01 1.48194025e-01 1.49822657e-02 4.26870479e+02] [-1.48176184e-01 9.88958305e-01 -2.30009276e-03 -6.95123860e+01] [-1.51576961e-02 5.44198314e-05 9.99885114e-01 -8.55069527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters 0.023145579459082268 Centerline is valid? [True, True] Translation: X:426.90, Y:-69.53, Z:-8.56 [[ 9.89734923e-01 1.42374312e-01 1.24232558e-02 4.26897915e+02] [-1.42361594e-01 9.89812882e-01 -1.90663903e-03 -6.95266496e+01] [-1.25681550e-02 1.18472746e-04 9.99921011e-01 -8.55587143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.634012739 meters 0.024002520972546144 Centerline is valid? [True, True] Translation: X:426.93, Y:-69.53, Z:-8.56 [[ 9.90121951e-01 1.39633874e-01 1.26848011e-02 4.26926190e+02] [-1.39620392e-01 9.90203190e-01 -1.94666316e-03 -6.95340601e+01] [-1.28323506e-02 1.56377033e-04 9.99917650e-01 -8.55511529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters 0.025519912606432174 Centerline is valid? [True, True] Translation: X:426.95, Y:-69.54, Z:-8.55 [[ 9.90417342e-01 1.37450232e-01 1.34507631e-02 4.26952528e+02] [-1.37434877e-01 9.90508655e-01 -2.06375735e-03 -6.95427719e+01] [-1.36067612e-02 1.95377103e-04 9.99907405e-01 -8.55447564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.694012739 meters 0.02732784234696502 Centerline is valid? [True, True] Translation: X:426.98, Y:-69.55, Z:-8.55 [[ 9.90823425e-01 1.34221096e-01 1.59259972e-02 4.26980044e+02] [-1.34199182e-01 9.90951370e-01 -2.44167665e-03 -6.95523998e+01] [-1.61096133e-02 2.82014622e-04 9.99870192e-01 -8.55145637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters 0.028931955599497815 Centerline is valid? [True, True] Translation: X:427.01, Y:-69.56, Z:-8.55 [[ 9.91084292e-01 1.32242445e-01 1.62438580e-02 4.27006970e+02] [-1.32219393e-01 9.91217349e-01 -2.48965972e-03 -6.95600846e+01] [-1.64304326e-02 3.19709587e-04 9.99864960e-01 -8.55145578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.754012739 meters 0.029892051465048433 Centerline is valid? [True, True] Translation: X:427.03, Y:-69.57, Z:-8.55 [[ 9.91309738e-01 1.30503214e-01 1.65503359e-02 4.27034535e+02] [-1.30479059e-01 9.91447823e-01 -2.53562424e-03 -6.95667394e+01] [-1.67397017e-02 3.54116742e-04 9.99859819e-01 -8.55152808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters 0.032991167763191186 Centerline is valid? [True, True] Translation: X:427.06, Y:-69.58, Z:-8.55 [[ 9.91731919e-01 1.27148928e-01 1.73479406e-02 4.27061376e+02] [-1.27121896e-01 9.91883544e-01 -2.65666330e-03 -6.95798474e+01] [-1.75449287e-02 4.29394697e-04 9.99845984e-01 -8.55170023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.814012739 meters 0.03490087824259431 Centerline is valid? [True, True] Translation: X:427.09, Y:-69.59, Z:-8.55 [[ 9.91959568e-01 1.25380048e-01 1.72063378e-02 4.27089420e+02] [-1.25353200e-01 9.92108681e-01 -2.63437174e-03 -6.95892987e+01] [-1.74008548e-02 4.56320749e-04 9.99848490e-01 -8.55241018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters 0.03871499923840129 Centerline is valid? [True, True] Translation: X:427.12, Y:-69.60, Z:-8.56 [[ 9.92485901e-01 1.21300527e-01 1.60598741e-02 4.27118002e+02] [-1.21276614e-01 9.92615706e-01 -2.45818104e-03 -6.96042232e+01] [-1.62394619e-02 4.92022866e-04 9.99868010e-01 -8.55531815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.874012739 meters 0.04008305331806429 Centerline is valid? [True, True] Translation: X:427.15, Y:-69.61, Z:-8.56 [[ 9.92720316e-01 1.19427922e-01 1.55995107e-02 4.27146043e+02] [-1.19405128e-01 9.92842744e-01 -2.38787478e-03 -6.96129987e+01] [-1.57730399e-02 5.07830234e-04 9.99875469e-01 -8.55643746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters 0.04660415768315548 Centerline is valid? [True, True] Translation: X:427.17, Y:-69.63, Z:-8.56 [[ 9.92869095e-01 1.18134746e-01 1.59731931e-02 4.27173764e+02] [-1.18110690e-01 9.92997427e-01 -2.44439520e-03 -6.96289422e+01] [-1.61501077e-02 5.40359586e-04 9.99869432e-01 -8.55694570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.934012739 meters 0.04200555088454757 Centerline is valid? [True, True] Translation: X:427.20, Y:-69.63, Z:-8.55 [[ 9.92922638e-01 1.17465240e-01 1.75086343e-02 4.27203718e+02] [-1.17436236e-01 9.93076811e-01 -2.67916691e-03 -6.96299446e+01] [-1.77021277e-02 6.04057365e-04 9.99843123e-01 -8.55397264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters 0.04179196185871862 Centerline is valid? [True, True] Translation: X:427.23, Y:-69.64, Z:-8.55 [[ 9.92871865e-01 1.17622654e-01 1.92450380e-02 4.27232584e+02] [-1.17587651e-01 9.93058143e-01 -2.94437379e-03 -6.96399050e+01] [-1.94577668e-02 6.60407087e-04 9.99810462e-01 -8.55179568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.994012739 meters 0.04073125101316963 Centerline is valid? [True, True] Translation: X:427.26, Y:-69.65, Z:-8.55 [[ 9.92845260e-01 1.17842392e-01 1.92733276e-02 4.27262413e+02] [-1.17807336e-01 9.93032094e-01 -2.94823072e-03 -6.96456296e+01] [-1.94864594e-02 6.56597507e-04 9.99809905e-01 -8.55323323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters 0.04238653385308893 Centerline is valid? [True, True] Translation: X:427.29, Y:-69.66, Z:-8.56 [[ 9.92852976e-01 1.17960575e-01 1.81182318e-02 4.27291438e+02] [-1.17929617e-01 9.93018089e-01 -2.77142276e-03 -6.96580234e+01] [-1.83186505e-02 6.14939203e-04 9.99832010e-01 -8.55571277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05401273900003 meters 0.04151132945388071 Centerline is valid? [True, True] Translation: X:427.32, Y:-69.66, Z:-8.56 [[ 9.92854041e-01 1.17829571e-01 1.88956737e-02 4.27321316e+02] [-1.17795852e-01 9.93033623e-01 -2.89155902e-03 -6.96647992e+01] [-1.91047505e-02 6.45064077e-04 9.99817280e-01 -8.55626275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters 0.04199511364804021 Centerline is valid? [True, True] Translation: X:427.35, Y:-69.68, Z:-8.56 [[ 9.92821757e-01 1.18139710e-01 1.86538788e-02 4.27350355e+02] [-1.18106904e-01 9.92996783e-01 -2.85454112e-03 -6.96774196e+01] [-1.88604763e-02 6.30898656e-04 9.99821926e-01 -8.55682646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.114012739 meters 0.0434002485195277 Centerline is valid? [True, True] Translation: X:427.38, Y:-69.69, Z:-8.56 [[ 9.92768079e-01 1.18698819e-01 1.79480209e-02 4.27380202e+02] [-1.18668537e-01 9.92930125e-01 -2.74670287e-03 -6.96860621e+01] [-1.81471610e-02 5.96973553e-04 9.99835148e-01 -8.55828658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters 0.0486414005765976 Centerline is valid? [True, True] Translation: X:427.41, Y:-69.70, Z:-8.56 [[ 9.92691462e-01 1.19582775e-01 1.62363905e-02 4.27408944e+02] [-1.19558109e-01 9.92824095e-01 -2.48494793e-03 -6.96985700e+01] [-1.64170367e-02 5.25594456e-04 9.99865093e-01 -8.56200439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.174012739 meters 0.03983536661609591 Centerline is valid? [True, True] Translation: X:427.44, Y:-69.69, Z:-8.56 [[ 9.92559588e-01 1.20800523e-01 1.52544591e-02 4.27441446e+02] [-1.20778877e-01 9.92676688e-01 -2.33576117e-03 -6.96914903e+01] [-1.54249071e-02 4.75965702e-04 9.99880916e-01 -8.56329965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters 0.038938553357983685 Centerline is valid? [True, True] Translation: X:427.47, Y:-69.70, Z:-8.57 [[ 9.92212215e-01 1.23616572e-01 1.52925701e-02 4.27469988e+02] [-1.23595146e-01 9.92329963e-01 -2.34194278e-03 -6.96970955e+01] [-1.54647785e-02 4.33616792e-04 9.99880319e-01 -8.56515218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.234012739 meters 0.03734639774550707 Centerline is valid? [True, True] Translation: X:427.50, Y:-69.70, Z:-8.56 [[ 9.92062818e-01 1.24526706e-01 1.74489005e-02 4.27499680e+02] [-1.24498961e-01 9.92216141e-01 -2.67169675e-03 -6.97009999e+01] [-1.76457783e-02 4.78121035e-04 9.99844187e-01 -8.56283845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters 0.03778801551604671 Centerline is valid? [True, True] Translation: X:427.53, Y:-69.71, Z:-8.56 [[ 9.91970704e-01 1.24860314e-01 2.01003805e-02 4.27528448e+02] [-1.24823573e-01 9.92174182e-01 -3.07715065e-03 -6.97088321e+01] [-2.03272926e-02 5.43441981e-04 9.99793232e-01 -8.55920726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.294012739 meters 0.03755420666583361 Centerline is valid? [True, True] Translation: X:427.56, Y:-69.72, Z:-8.56 [[ 9.91995343e-01 1.24670205e-01 2.00643653e-02 4.27559126e+02] [-1.24633552e-01 9.92198086e-01 -3.07189855e-03 -6.97150061e+01] [-2.02907990e-02 5.46615951e-04 9.99793971e-01 -8.56003156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters 0.03601395756040818 Centerline is valid? [True, True] Translation: X:427.59, Y:-69.72, Z:-8.56 [[ 9.92015106e-01 1.24687533e-01 1.89485975e-02 4.27589946e+02] [-1.24654839e-01 9.92195925e-01 -2.90147563e-03 -6.97193110e+01] [-1.91624991e-02 5.16273279e-04 9.99816249e-01 -8.56295747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.354012739 meters 0.03658801448306331 Centerline is valid? [True, True] Translation: X:427.62, Y:-69.73, Z:-8.57 [[ 9.91948564e-01 1.25563474e-01 1.64881723e-02 4.27619069e+02] [-1.25538836e-01 9.92085493e-01 -2.52505226e-03 -6.97271580e+01] [-1.66747308e-02 4.34816015e-04 9.99860872e-01 -8.56839966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters 0.03460426693205158 Centerline is valid? [True, True] Translation: X:427.65, Y:-69.73, Z:-8.57 [[ 9.91807975e-01 1.26649398e-01 1.66394565e-02 4.27649198e+02] [-1.26624450e-01 9.91947455e-01 -2.54869135e-03 -6.97292187e+01] [-1.68282567e-02 4.20850378e-04 9.99858306e-01 -8.56886581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.414012739 meters 0.033172513815904164 Centerline is valid? [True, True] Translation: X:427.68, Y:-69.73, Z:-8.57 [[ 9.91592467e-01 1.28266816e-01 1.70880806e-02 4.27679784e+02] [-1.28240744e-01 9.91739613e-01 -2.61740780e-03 -6.97322926e+01] [-1.72826530e-02 4.04013694e-04 9.99850562e-01 -8.56851624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters 0.030614541461672976 Centerline is valid? [True, True] Translation: X:427.71, Y:-69.74, Z:-8.57 [[ 9.91080021e-01 1.31796616e-01 1.97495118e-02 4.27708874e+02] [-1.31762490e-01 9.91276700e-01 -3.02507083e-03 -6.97351270e+01] [-1.99759250e-02 3.95842415e-04 9.99800383e-01 -8.56570996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.474012739 meters 0.028113069512672957 Centerline is valid? [True, True] Translation: X:427.74, Y:-69.74, Z:-8.57 [[ 9.90785398e-01 1.34044566e-01 1.93997126e-02 4.27740028e+02] [-1.34012077e-01 9.90975245e-01 -2.97103020e-03 -6.97362821e+01] [-1.96228854e-02 3.43857567e-04 9.99807394e-01 -8.56657834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters 0.024863334551097575 Centerline is valid? [True, True] Translation: X:427.77, Y:-69.74, Z:-8.57 [[ 9.90258502e-01 1.37921535e-01 1.91245925e-02 4.27770764e+02] [-1.37890681e-01 9.90443123e-01 -2.92903371e-03 -6.97352375e+01] [-1.93457980e-02 2.63397437e-04 9.99812818e-01 -8.56774767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.534012739 meters 0.024994755844537732 Centerline is valid? [True, True] Translation: X:427.80, Y:-69.74, Z:-8.57 [[ 9.89992086e-01 1.39854203e-01 1.88804401e-02 4.27799303e+02] [-1.39824487e-01 9.90172082e-01 -2.89144798e-03 -6.97394789e+01] [-1.90992659e-02 2.22562761e-04 9.99817568e-01 -8.56813756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters 0.023614369000157714 Centerline is valid? [True, True] Translation: X:427.83, Y:-69.74, Z:-8.57 [[ 9.89747800e-01 1.41471595e-01 1.96234801e-02 4.27827933e+02] [-1.41439825e-01 9.89942296e-01 -3.00452303e-03 -6.97406833e+01] [-1.98511676e-02 1.98178466e-04 9.99802927e-01 -8.56759935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.594012739 meters 0.02245253396497441 Centerline is valid? [True, True] Translation: X:427.86, Y:-69.74, Z:-8.57 [[ 9.89557734e-01 1.42742547e-01 2.00013988e-02 4.27856681e+02] [-1.42709820e-01 9.89759837e-01 -3.06149527e-03 -6.97418491e+01] [-2.02335868e-02 1.75130306e-04 9.99795265e-01 -8.56676039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters 0.021560876256238846 Centerline is valid? [True, True] Translation: X:427.89, Y:-69.74, Z:-8.57 [[ 9.89458749e-01 1.43387208e-01 2.02852636e-02 4.27885965e+02] [-1.43353699e-01 9.89666652e-01 -3.10402578e-03 -6.97436296e+01] [-2.05207265e-02 1.63337889e-04 9.99789414e-01 -8.56759219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.654012739 meters 0.022222270889255248 Centerline is valid? [True, True] Translation: X:427.91, Y:-69.75, Z:-8.57 [[ 9.89629959e-01 1.42354944e-01 1.91732479e-02 4.27914199e+02] [-1.42324832e-01 9.89815660e-01 -2.93299456e-03 -6.97505358e+01] [-1.93955072e-02 1.73750015e-04 9.99811874e-01 -8.57036140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters 0.023552696765453664 Centerline is valid? [True, True] Translation: X:427.94, Y:-69.76, Z:-8.57 [[ 9.90072504e-01 1.39262115e-01 1.90394381e-02 4.27942474e+02] [-1.39231863e-01 9.90255527e-01 -2.91183998e-03 -6.97601107e+01] [-1.92594178e-02 2.32036272e-04 9.99814493e-01 -8.57182586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.714012739 meters 0.023552696765453664 Centerline is valid? [True, True] Translation: X:427.97, Y:-69.76, Z:-8.57 [[ 9.90075787e-01 1.39238766e-01 1.90395068e-02 4.27971305e+02] [-1.39208518e-01 9.90258811e-01 -2.91139019e-03 -6.97644762e+01] [-1.92594178e-02 2.32035409e-04 9.99814493e-01 -8.57241813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters 0.025076820720172588 Centerline is valid? [True, True] Translation: X:428.00, Y:-69.77, Z:-8.57 [[ 9.90245124e-01 1.37976614e-01 1.94177557e-02 4.27999993e+02] [-1.37944920e-01 9.90435453e-01 -2.96874330e-03 -6.97733416e+01] [-1.96416509e-02 2.61202812e-04 9.99807050e-01 -8.57181730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.774012739 meters 0.025463663898401136 Centerline is valid? [True, True] Translation: X:428.03, Y:-69.78, Z:-8.57 [[ 9.90431473e-01 1.36465406e-01 2.05594137e-02 4.28029665e+02] [-1.36429554e-01 9.90644789e-01 -3.14303406e-03 -6.97797277e+01] [-2.07959915e-02 3.08048213e-04 9.99783693e-01 -8.57050612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters 0.028221380880895666 Centerline is valid? [True, True] Translation: X:428.06, Y:-69.79, Z:-8.57 [[ 9.90848249e-01 1.33211401e-01 2.17823495e-02 4.28058065e+02] [-1.33170370e-01 9.91087566e-01 -3.33001140e-03 -6.97937718e+01] [-2.20318113e-02 3.98772416e-04 9.99757191e-01 -8.56940793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.834012739 meters 0.029741980372300834 Centerline is valid? [True, True] Translation: X:428.09, Y:-69.80, Z:-8.57 [[ 9.91062720e-01 1.31666211e-01 2.14171426e-02 4.28089177e+02] [-1.31626174e-01 9.91294017e-01 -3.27463370e-03 -6.98039690e+01] [-2.16618439e-02 4.26310850e-04 9.99765264e-01 -8.57067986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters 0.032752886120622535 Centerline is valid? [True, True] Translation: X:428.12, Y:-69.82, Z:-8.57 [[ 9.91521112e-01 1.28392601e-01 2.00306049e-02 4.28119573e+02] [-1.28356851e-01 9.91723308e-01 -3.06571374e-03 -6.98186621e+01] [-2.02584327e-02 4.68654545e-04 9.99794667e-01 -8.57417059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.894012739 meters 0.03353669488346387 Centerline is valid? [True, True] Translation: X:428.15, Y:-69.83, Z:-8.57 [[ 9.91674254e-01 1.27077599e-01 2.08196246e-02 4.28150661e+02] [-1.27038663e-01 9.91892644e-01 -3.18758067e-03 -6.98272693e+01] [-2.10559026e-02 5.16144411e-04 9.99778167e-01 -8.57418505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters 0.03496748165418402 Centerline is valid? [True, True] Translation: X:428.18, Y:-69.84, Z:-8.57 [[ 9.91739664e-01 1.26448816e-01 2.15205902e-02 4.28181214e+02] [-1.26406985e-01 9.91972980e-01 -3.29857422e-03 -6.98368979e+01] [-2.17649448e-02 5.50973965e-04 9.99762964e-01 -8.57314855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.954012739 meters 0.03479339827658708 Centerline is valid? [True, True] Translation: X:428.21, Y:-69.85, Z:-8.57 [[ 9.91894895e-01 1.25008133e-01 2.27482577e-02 4.28212141e+02] [-1.24960930e-01 9.92155524e-01 -3.49045338e-03 -6.98470941e+01] [-2.30061446e-02 6.19519454e-04 9.99735132e-01 -8.57230074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters 0.03641252180246695 Centerline is valid? [True, True] Translation: X:428.24, Y:-69.86, Z:-8.58 [[ 9.91980259e-01 1.24599443e-01 2.12166121e-02 4.28241663e+02] [-1.24558219e-01 9.92206950e-01 -3.25869886e-03 -6.98574621e+01] [-2.14573020e-02 5.89861529e-04 9.99769592e-01 -8.57542628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.014012739 meters 0.03535808672068791 Centerline is valid? [True, True] Translation: X:428.27, Y:-69.87, Z:-8.58 [[ 9.91885483e-01 1.25757211e-01 1.86631431e-02 4.28273266e+02] [-1.25725490e-01 9.92060923e-01 -2.86804063e-03 -6.98667432e+01] [-1.88756518e-02 4.98335053e-04 9.99821715e-01 -8.57971987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters 0.033779550259319994 Centerline is valid? [True, True] Translation: X:428.30, Y:-69.87, Z:-8.58 [[ 9.91643769e-01 1.27490410e-01 1.97188068e-02 4.28304769e+02] [-1.27455317e-01 9.91839681e-01 -3.03145713e-03 -6.98717186e+01] [-1.99443767e-02 4.92858792e-04 9.99800970e-01 -8.57897022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.074012739 meters 0.03221714570941709 Centerline is valid? [True, True] Translation: X:428.34, Y:-69.88, Z:-8.58 [[ 9.91305743e-01 1.29986767e-01 2.04050030e-02 4.28335237e+02] [-1.29949646e-01 9.91515621e-01 -3.14039278e-03 -6.98758924e+01] [-2.06400887e-02 4.61466488e-04 9.99786864e-01 -8.57742195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters 0.0294875298119441 Centerline is valid? [True, True] Translation: X:428.37, Y:-69.88, Z:-8.58 [[ 9.90901500e-01 1.32852880e-01 2.15482973e-02 4.28366935e+02] [-1.32812142e-01 9.91135678e-01 -3.31713655e-03 -6.98778206e+01] [-2.17979774e-02 4.25080064e-04 9.99762305e-01 -8.57643239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.134012739 meters 0.025606769868787217 Centerline is valid? [True, True] Translation: X:428.40, Y:-69.88, Z:-8.58 [[ 9.90225734e-01 1.37862029e-01 2.11437126e-02 4.28399274e+02] [-1.37823936e-01 9.90451395e-01 -3.25535874e-03 -6.98772848e+01] [-2.13906100e-02 3.09430294e-04 9.99771147e-01 -8.57870598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters 0.02451138470708404 Centerline is valid? [True, True] Translation: X:428.43, Y:-69.88, Z:-8.58 [[ 9.89997297e-01 1.39553028e-01 2.07437879e-02 4.28430919e+02] [-1.39516717e-01 9.90214563e-01 -3.19458783e-03 -6.98810943e+01] [-2.09866153e-02 2.68528120e-04 9.99779721e-01 -8.58080378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.194012739 meters 0.022936602010195893 Centerline is valid? [True, True] Translation: X:428.46, Y:-69.89, Z:-8.58 [[ 9.89650973e-01 1.42043561e-01 2.03612034e-02 4.28462367e+02] [-1.42009036e-01 9.89860384e-01 -3.13896400e-03 -6.98881674e+01] [-2.06006183e-02 2.15003903e-04 9.99787762e-01 -8.58313775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters 0.022443202902349482 Centerline is valid? [True, True] Translation: X:428.49, Y:-69.89, Z:-8.58 [[ 9.89537670e-01 1.42785985e-01 2.06727243e-02 4.28494094e+02] [-1.42750485e-01 9.89753565e-01 -3.19045039e-03 -6.98948752e+01] [-2.09164542e-02 2.06029417e-04 9.99781206e-01 -8.58249296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.254012739 meters 0.021468683801316103 Centerline is valid? [True, True] Translation: X:428.52, Y:-69.90, Z:-8.58 [[ 9.89222538e-01 1.44759362e-01 2.19885945e-02 4.28524558e+02] [-1.44719603e-01 9.89466874e-01 -3.39724922e-03 -6.99007099e+01] [-2.22487695e-02 1.78454842e-04 9.99752450e-01 -8.58022175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters 0.02069919299521529 Centerline is valid? [True, True] Translation: X:428.56, Y:-69.90, Z:-8.58 [[ 9.89000156e-01 1.46345637e-01 2.14859492e-02 4.28556944e+02] [-1.46308004e-01 9.89233509e-01 -3.32168139e-03 -6.99038577e+01] [-2.17407345e-02 1.41577082e-04 9.99763632e-01 -8.58235172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.314012739 meters 0.02006430955245668 Centerline is valid? [True, True] Translation: X:428.59, Y:-69.91, Z:-8.58 [[ 9.88701730e-01 1.48499544e-01 2.04150473e-02 4.28588301e+02] [-1.48465961e-01 9.88912472e-01 -3.15936882e-03 -6.99066019e+01] [-2.06578598e-02 9.27338055e-05 9.99786599e-01 -8.58480076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters 0.019352877646892096 Centerline is valid? [True, True] Translation: X:428.62, Y:-69.91, Z:-8.59 [[ 9.88334642e-01 1.50947487e-01 2.02359055e-02 4.28619949e+02] [-1.50914941e-01 9.88541782e-01 -3.13472426e-03 -6.99086787e+01] [-2.04772168e-02 4.42561039e-05 9.99790319e-01 -8.58553334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.374012739 meters 0.019649741511566423 Centerline is valid? [True, True] Translation: X:428.65, Y:-69.91, Z:-8.58 [[ 9.87408010e-01 1.56781960e-01 2.10912155e-02 4.28650937e+02] [-1.56747923e-01 9.87633237e-01 -3.26772255e-03 -6.99053834e+01] [-2.13427054e-02 -7.94288044e-05 9.99772215e-01 -8.58343805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters 0.020687644658171727 Centerline is valid? [True, True] Translation: X:428.68, Y:-69.90, Z:-8.58 [[ 9.86900797e-01 1.59841242e-01 2.18539144e-02 4.28680477e+02] [-1.59805450e-01 9.87142722e-01 -3.38582353e-03 -6.99038424e+01] [-2.21141268e-02 -1.50902676e-04 9.99755441e-01 -8.58218921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.434012739 meters 0.023724981421227028 Centerline is valid? [True, True] Translation: X:428.71, Y:-69.90, Z:-8.58 [[ 9.85859472e-01 1.65935511e-01 2.33774877e-02 4.28711652e+02] [-1.65896285e-01 9.86136558e-01 -3.62099369e-03 -6.98971198e+01] [-2.36542467e-02 -3.08447420e-04 9.99720152e-01 -8.58092221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters 0.027732931244571893 Centerline is valid? [True, True] Translation: X:428.74, Y:-69.89, Z:-8.58 [[ 9.85399037e-01 1.68667103e-01 2.32410428e-02 4.28741128e+02] [-1.68629107e-01 9.85673003e-01 -3.59924703e-03 -6.98916568e+01] [-2.35151431e-02 -3.72421754e-04 9.99723411e-01 -8.58123049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.494012739 meters 0.028368603915964793 Centerline is valid? [True, True] Translation: X:428.77, Y:-69.89, Z:-8.58 [[ 9.85017142e-01 1.70966560e-01 2.26200394e-02 4.28770221e+02] [-1.70931193e-01 9.85276744e-01 -3.50223119e-03 -6.98921447e+01] [-2.28857632e-02 -4.16712562e-04 9.99738000e-01 -8.58397200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters 0.03085610406398559 Centerline is valid? [True, True] Translation: X:428.80, Y:-69.89, Z:-8.59 [[ 9.84538996e-01 1.73978428e-01 2.03585658e-02 4.28800720e+02] [-1.73950441e-01 9.84749366e-01 -3.15122292e-03 -6.98870880e+01] [-2.05963295e-02 -4.38879634e-04 9.99787777e-01 -8.58847750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55401273900003 meters 0.030006423252729994 Centerline is valid? [True, True] Translation: X:428.83, Y:-69.89, Z:-8.59 [[ 9.84492780e-01 1.74245096e-01 2.03128525e-02 4.28829290e+02] [-1.74217301e-01 9.84702214e-01 -3.14365548e-03 -6.98905572e+01] [-2.05498774e-02 -4.43944207e-04 9.99788730e-01 -8.58949842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters 0.030181004645785506 Centerline is valid? [True, True] Translation: X:428.86, Y:-69.89, Z:-8.59 [[ 9.84591635e-01 1.73666422e-01 2.04764558e-02 4.28857467e+02] [-1.73638074e-01 9.84804439e-01 -3.16794933e-03 -6.98917289e+01] [-2.07154710e-02 -4.36355935e-04 9.99785316e-01 -8.58917056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.614012739 meters 0.02857320766052205 Centerline is valid? [True, True] Translation: X:428.89, Y:-69.89, Z:-8.59 [[ 9.85099630e-01 1.70704548e-01 2.09446124e-02 4.28885853e+02] [-1.70674247e-01 9.85322186e-01 -3.23906171e-03 -6.98913940e+01] [-2.11901138e-02 -3.83907462e-04 9.99775391e-01 -8.58931339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters 0.026861994405813994 Centerline is valid? [True, True] Translation: X:428.91, Y:-69.90, Z:-8.59 [[ 9.85392119e-01 1.68998309e-01 2.10224341e-02 4.28914781e+02] [-1.68967421e-01 9.85616279e-01 -3.24983569e-03 -6.98954349e+01] [-2.12692700e-02 -3.49743991e-04 9.99773722e-01 -8.58977565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.674012739 meters 0.023867986051803836 Centerline is valid? [True, True] Translation: X:428.94, Y:-69.90, Z:-8.59 [[ 9.85865623e-01 1.66187972e-01 2.12257041e-02 4.28943398e+02] [-1.66155854e-01 9.86094048e-01 -3.28024762e-03 -6.99019417e+01] [-2.14756782e-02 -2.92891631e-04 9.99769328e-01 -8.58988340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters 0.023930221684389137 Centerline is valid? [True, True] Translation: X:428.97, Y:-69.90, Z:-8.59 [[ 9.86022296e-01 1.65234387e-01 2.13922831e-02 4.28971056e+02] [-1.65201557e-01 9.86254289e-01 -3.30515063e-03 -6.99044888e+01] [-2.16443555e-02 -2.75086256e-04 9.99765696e-01 -8.59055864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.734012739 meters 0.023433353479943752 Centerline is valid? [True, True] Translation: X:429.00, Y:-69.91, Z:-8.59 [[ 9.86192157e-01 1.64244964e-01 2.11806939e-02 4.28999005e+02] [-1.64212579e-01 9.86419550e-01 -3.27115926e-03 -6.99075813e+01] [-2.14303220e-02 -2.52144777e-04 9.99770312e-01 -8.59091583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters 0.021436368571152283 Centerline is valid? [True, True] Translation: X:429.03, Y:-69.91, Z:-8.59 [[ 9.86510137e-01 1.62095002e-01 2.28683103e-02 4.29027572e+02] [-1.62056706e-01 9.86775132e-01 -3.53035639e-03 -6.99123933e+01] [-2.31381330e-02 -2.23230681e-04 9.99732253e-01 -8.58981269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.794012739 meters 0.021117755445790247 Centerline is valid? [True, True] Translation: X:429.06, Y:-69.92, Z:-8.59 [[ 9.86698032e-01 1.60802203e-01 2.38672303e-02 4.29055174e+02] [-1.60760141e-01 9.86986631e-01 -3.68327950e-03 -6.99161894e+01] [-2.41489167e-02 -2.02614684e-04 9.99708352e-01 -8.58855103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters 0.020162975586048324 Centerline is valid? [True, True] Translation: X:429.08, Y:-69.92, Z:-8.59 [[ 9.86931545e-01 1.59290970e-01 2.43415824e-02 4.29083177e+02] [-1.59246797e-01 9.87231664e-01 -3.75499704e-03 -6.99225191e+01] [-2.46289180e-02 -1.70393996e-04 9.99696648e-01 -8.58834018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.854012739 meters 0.019374176749571717 Centerline is valid? [True, True] Translation: X:429.11, Y:-69.93, Z:-8.59 [[ 9.87448940e-01 1.56210670e-01 2.32984367e-02 4.29110244e+02] [-1.56169371e-01 9.87723756e-01 -3.59292967e-03 -6.99290486e+01] [-2.35736734e-02 -9.06676208e-05 9.99722098e-01 -8.59007824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters 0.01904135566603424 Centerline is valid? [True, True] Translation: X:429.14, Y:-69.93, Z:-8.59 [[ 9.87692031e-01 1.54755159e-01 2.27000623e-02 4.29137808e+02] [-1.54715602e-01 9.87952852e-01 -3.49926416e-03 -6.99349549e+01] [-2.29681205e-02 -5.58584967e-05 9.99736196e-01 -8.59198454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.914012739 meters 0.01881642205423188 Centerline is valid? [True, True] Translation: X:429.17, Y:-69.94, Z:-8.60 [[ 9.88110457e-01 1.52240408e-01 2.14611945e-02 4.29165958e+02] [-1.52204484e-01 9.88343492e-01 -3.30709232e-03 -6.99437204e+01] [-2.17145050e-02 1.28246863e-06 9.99764212e-01 -8.59542285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters 0.018961872350336417 Centerline is valid? [True, True] Translation: X:429.19, Y:-69.95, Z:-8.60 [[ 9.88307986e-01 1.51040615e-01 2.08340564e-02 4.29193610e+02] [-1.51006514e-01 9.88527557e-01 -3.20951389e-03 -6.99503375e+01] [-2.10798058e-02 2.59099880e-05 9.99777796e-01 -8.59702530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.974012739 meters 0.019016849489317728 Centerline is valid? [True, True] Translation: X:429.22, Y:-69.96, Z:-8.60 [[ 9.88416170e-01 1.50393309e-01 2.03796088e-02 4.29221357e+02] [-1.50360561e-01 9.88626244e-01 -3.13856133e-03 -6.99560164e+01] [-2.06198347e-02 3.79153677e-05 9.99787388e-01 -8.59841335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters 0.01898534329368298 Centerline is valid? [True, True] Translation: X:429.25, Y:-69.96, Z:-8.60 [[ 9.88456687e-01 1.50192078e-01 1.98926569e-02 4.29249953e+02] [-1.50160859e-01 9.88656835e-01 -3.06242552e-03 -6.99598874e+01] [-2.01269633e-02 3.99765367e-05 9.99797431e-01 -8.59867918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.034012739 meters 0.018813370590685576 Centerline is valid? [True, True] Translation: X:429.28, Y:-69.96, Z:-8.60 [[ 9.88368312e-01 1.50706730e-01 2.03853226e-02 4.29277371e+02] [-1.50674075e-01 9.88578515e-01 -3.13728229e-03 -6.99633212e+01] [-2.06253015e-02 2.92507762e-05 9.99787275e-01 -8.59792794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters 0.01881342054228084 Centerline is valid? [True, True] Translation: X:429.31, Y:-69.97, Z:-8.60 [[ 9.88269998e-01 1.51175442e-01 2.16424787e-02 4.29306358e+02] [-1.51138775e-01 9.88506948e-01 -3.32943282e-03 -6.99668576e+01] [-2.18970690e-02 1.93608445e-05 9.99760230e-01 -8.59671340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.094012739 meters 0.01878910408404006 Centerline is valid? [True, True] Translation: X:429.34, Y:-69.97, Z:-8.60 [[ 9.88196606e-01 1.51679304e-01 2.14675516e-02 4.29335012e+02] [-1.51643368e-01 9.88429759e-01 -3.30152873e-03 -6.99702830e+01] [-2.17199404e-02 7.14765063e-06 9.99764094e-01 -8.59742258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters 0.018901136391607603 Centerline is valid? [True, True] Translation: X:429.36, Y:-69.97, Z:-8.60 [[ 9.88073065e-01 1.52542948e-01 2.10301624e-02 4.29363844e+02] [-1.52508678e-01 9.88296842e-01 -3.23330233e-03 -6.99732009e+01] [-2.12772606e-02 -1.25433315e-05 9.99773613e-01 -8.59915947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.154012739 meters 0.01921346775788539 Centerline is valid? [True, True] Translation: X:429.39, Y:-69.97, Z:-8.60 [[ 9.87707990e-01 1.54876495e-01 2.11234091e-02 4.29392776e+02] [-1.54842475e-01 9.87933837e-01 -3.24664368e-03 -6.99743933e+01] [-2.13713594e-02 -6.40650487e-05 9.99771604e-01 -8.59952032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters 0.01937254973329135 Centerline is valid? [True, True] Translation: X:429.42, Y:-69.98, Z:-8.60 [[ 9.87500332e-01 1.56153529e-01 2.14282489e-02 4.29420366e+02] [-1.56118843e-01 9.87732791e-01 -3.29246468e-03 -6.99761096e+01] [-2.16795141e-02 -9.40434644e-05 9.99764967e-01 -8.59962803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.214012739 meters 0.020317832015323143 Centerline is valid? [True, True] Translation: X:429.45, Y:-69.98, Z:-8.60 [[ 9.87216842e-01 1.57980758e-01 2.10947382e-02 4.29448355e+02] [-1.57947586e-01 9.87442182e-01 -3.24001309e-03 -6.99765473e+01] [-2.13416941e-02 -1.33267489e-04 9.99772231e-01 -8.60003021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters 0.02108761090244681 Centerline is valid? [True, True] Translation: X:429.48, Y:-69.98, Z:-8.60 [[ 9.86968696e-01 1.59534781e-01 2.10106263e-02 4.29477524e+02] [-1.59502251e-01 9.87192294e-01 -3.22589371e-03 -6.99785229e+01] [-2.12561707e-02 -1.67386088e-04 9.99774048e-01 -8.60129831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.274012739 meters 0.023714796992456513 Centerline is valid? [True, True] Translation: X:429.51, Y:-69.98, Z:-8.60 [[ 9.86386279e-01 1.63143712e-01 2.06455550e-02 4.29505263e+02] [-1.63113112e-01 9.86602286e-01 -3.16888577e-03 -6.99773353e+01] [-2.08859356e-02 -2.41815289e-04 9.99781836e-01 -8.60286929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters 0.02510369530113409 Centerline is valid? [True, True] Translation: X:429.53, Y:-69.98, Z:-8.60 [[ 9.86131875e-01 1.64685828e-01 2.05548966e-02 4.29533860e+02] [-1.64655860e-01 9.86346036e-01 -3.15356780e-03 -6.99794113e+01] [-2.07935887e-02 -2.74650458e-04 9.99783752e-01 -8.60333339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.334012739 meters 0.02806092027667135 Centerline is valid? [True, True] Translation: X:429.56, Y:-69.98, Z:-8.60 [[ 9.85623908e-01 1.67709567e-01 2.04698199e-02 4.29562876e+02] [-1.67680518e-01 9.85836389e-01 -3.13958245e-03 -6.99786239e+01] [-2.07064314e-02 -3.37942493e-04 9.99785542e-01 -8.60423800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters 0.03020701311093487 Centerline is valid? [True, True] Translation: X:429.59, Y:-69.98, Z:-8.60 [[ 9.85260290e-01 1.69848936e-01 2.03346784e-02 4.29591371e+02] [-1.69820744e-01 9.85470037e-01 -3.11793050e-03 -6.99788846e+01] [-2.05687934e-02 -3.81277098e-04 9.99788367e-01 -8.60498004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.394012739 meters 0.0326293415986521 Centerline is valid? [True, True] Translation: X:429.62, Y:-69.98, Z:-8.60 [[ 9.84873697e-01 1.72026869e-01 2.07498846e-02 4.29620004e+02] [-1.71998022e-01 9.85092161e-01 -3.18037257e-03 -6.99785675e+01] [-2.09876582e-02 -4.36673814e-04 9.99779639e-01 -8.60402388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters 0.03702734673630445 Centerline is valid? [True, True] Translation: X:429.65, Y:-69.98, Z:-8.60 [[ 9.84212042e-01 1.75656956e-01 2.17092073e-02 4.29649406e+02] [-1.75626302e-01 9.84451290e-01 -3.32558593e-03 -6.99755835e+01] [-2.19558195e-02 -5.39626084e-04 9.99758796e-01 -8.60273748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.454012739 meters 0.038364491939971226 Centerline is valid? [True, True] Translation: X:429.68, Y:-69.98, Z:-8.60 [[ 9.84010089e-01 1.76750747e-01 2.19844838e-02 4.29677751e+02] [-1.76719607e-01 9.84255478e-01 -3.36666313e-03 -6.99773022e+01] [-2.22334088e-02 -5.72258840e-04 9.99752643e-01 -8.60329967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters 0.03871774440609335 Centerline is valid? [True, True] Translation: X:429.70, Y:-69.98, Z:-8.60 [[ 9.84022155e-01 1.76662825e-01 2.21504866e-02 4.29704411e+02] [-1.76631220e-01 9.84271261e-01 -3.39079227e-03 -6.99798605e+01] [-2.24011143e-02 -5.75852753e-04 9.99748898e-01 -8.60369406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.514012739 meters 0.03773033528606556 Centerline is valid? [True, True] Translation: X:429.73, Y:-69.99, Z:-8.61 [[ 9.84253299e-01 1.75462291e-01 2.14109073e-02 4.29731881e+02] [-1.75432512e-01 9.84486009e-01 -3.27599424e-03 -6.99864869e+01] [-2.16535521e-02 -5.31761102e-04 9.99765393e-01 -8.60642554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters 0.036165618895414614 Centerline is valid? [True, True] Translation: X:429.76, Y:-69.99, Z:-8.61 [[ 9.84559958e-01 1.73850946e-01 2.04337244e-02 4.29758475e+02] [-1.73823499e-01 9.84771864e-01 -3.12539946e-03 -6.99940481e+01] [-2.06659106e-02 -4.74718314e-04 9.99786325e-01 -8.60866866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.574012739 meters 0.033627335064834334 Centerline is valid? [True, True] Translation: X:429.79, Y:-70.00, Z:-8.61 [[ 9.84979911e-01 1.71442230e-01 2.05459911e-02 4.29786894e+02] [-1.71413979e-01 9.85194082e-01 -3.14144635e-03 -7.00017018e+01] [-2.07803654e-02 -4.27608548e-04 9.99783973e-01 -8.60781366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters 0.033627335064834334 Centerline is valid? [True, True] Translation: X:429.81, Y:-70.01, Z:-8.61 [[ 9.84990891e-01 1.71379122e-01 2.05460938e-02 4.29814090e+02] [-1.71350872e-01 9.85205062e-01 -3.14077429e-03 -7.00057147e+01] [-2.07803788e-02 -4.26957025e-04 9.99783973e-01 -8.60837204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.634012739 meters 0.033160363836679876 Centerline is valid? [True, True] Translation: X:429.84, Y:-70.01, Z:-8.61 [[ 9.85049264e-01 1.70953213e-01 2.12825543e-02 4.29843265e+02] [-1.70922832e-01 9.85279052e-01 -3.25195024e-03 -7.00090436e+01] [-2.15251863e-02 -4.34343258e-04 9.99768212e-01 -8.60706139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters 0.03370748556103333 Centerline is valid? [True, True] Translation: X:429.87, Y:-70.01, Z:-8.61 [[ 9.84984336e-01 1.71290856e-01 2.15708061e-02 4.29872443e+02] [-1.71259743e-01 9.85220403e-01 -3.29526284e-03 -7.00107034e+01] [-2.18164467e-02 -4.48428436e-04 9.99761892e-01 -8.60664786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.694012739 meters 0.036814970611779574 Centerline is valid? [True, True] Translation: X:429.90, Y:-70.01, Z:-8.61 [[ 9.84622896e-01 1.73303794e-01 2.19897162e-02 4.29900872e+02] [-1.73271986e-01 9.84868286e-01 -3.35821263e-03 -7.00081636e+01] [-2.22389651e-02 -5.03628745e-04 9.99752557e-01 -8.60778282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters 0.037959562786052316 Centerline is valid? [True, True] Translation: X:429.93, Y:-70.01, Z:-8.61 [[ 9.84487436e-01 1.74091061e-01 2.18355256e-02 4.29930142e+02] [-1.74059928e-01 9.84729421e-01 -3.33296827e-03 -7.00097440e+01] [-2.20823244e-02 -5.19424621e-04 9.99756021e-01 -8.60874876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.754012739 meters 0.039187649972423425 Centerline is valid? [True, True] Translation: X:429.96, Y:-70.01, Z:-8.61 [[ 9.84367253e-01 1.74770599e-01 2.18254020e-02 4.29958328e+02] [-1.74739683e-01 9.84609035e-01 -3.33046968e-03 -7.00078843e+01] [-2.20715562e-02 -5.35358538e-04 9.99756250e-01 -8.60815756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters 0.03794335539995512 Centerline is valid? [True, True] Translation: X:429.99, Y:-70.01, Z:-8.61 [[ 9.84285237e-01 1.75220904e-01 2.19136128e-02 4.29987050e+02] [-1.75189875e-01 9.84528991e-01 -3.34277389e-03 -7.00115310e+01] [-2.21603110e-02 -5.48800093e-04 9.99754280e-01 -8.60864758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.814012739 meters 0.035103392719464645 Centerline is valid? [True, True] Translation: X:430.02, Y:-70.02, Z:-8.61 [[ 9.84171233e-01 1.75875839e-01 2.17869799e-02 4.30015431e+02] [-1.75845349e-01 9.84412197e-01 -3.32249380e-03 -7.00181002e+01] [-2.20317151e-02 -5.61236269e-04 9.99757115e-01 -8.61036009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters 0.03519109166617412 Centerline is valid? [True, True] Translation: X:430.04, Y:-70.02, Z:-8.61 [[ 9.84125837e-01 1.76158287e-01 2.15544862e-02 4.30044569e+02] [-1.76128534e-01 9.84361692e-01 -3.28602641e-03 -7.00196000e+01] [-2.17962713e-02 -5.62496558e-04 9.99762275e-01 -8.61062886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.874012739 meters 0.04124862239002991 Centerline is valid? [True, True] Translation: X:430.07, Y:-70.01, Z:-8.61 [[ 9.84205081e-01 1.75783981e-01 2.09845348e-02 4.30073843e+02] [-1.75755716e-01 9.84428616e-01 -3.19815348e-03 -7.00133018e+01] [-2.12199607e-02 -5.40513041e-04 9.99774685e-01 -8.61166481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters 0.03907477749179511 Centerline is valid? [True, True] Translation: X:430.10, Y:-70.02, Z:-8.62 [[ 9.84382721e-01 1.74978702e-01 1.93161189e-02 4.30102524e+02] [-1.74954619e-01 9.84572101e-01 -2.94281950e-03 -7.00171527e+01] [-1.95330425e-02 -4.82583553e-04 9.99809095e-01 -8.61626405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.934012739 meters 0.038368910173807586 Centerline is valid? [True, True] Translation: X:430.13, Y:-70.02, Z:-8.62 [[ 9.84512877e-01 1.74234342e-01 1.94110490e-02 4.30131310e+02] [-1.74209894e-01 9.84704104e-01 -2.95643865e-03 -7.00210447e+01] [-1.96292528e-02 -4.70944875e-04 9.99807217e-01 -8.61686684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters 0.03365504873093457 Centerline is valid? [True, True] Translation: X:430.16, Y:-70.03, Z:-8.62 [[ 9.84619050e-01 1.73580450e-01 1.98784632e-02 4.30159125e+02] [-1.73554695e-01 9.84819581e-01 -3.02675074e-03 -7.00312932e+01] [-2.01020846e-02 -4.69804180e-04 9.99797822e-01 -8.61632245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.994012739 meters 0.03834493184056118 Centerline is valid? [True, True] Translation: X:430.19, Y:-70.03, Z:-8.61 [[ 9.84816061e-01 1.72372883e-01 2.06134882e-02 4.30188093e+02] [-1.72344945e-01 9.85031662e-01 -3.13764428e-03 -7.00252496e+01] [-2.08457834e-02 -4.62628011e-04 9.99782596e-01 -8.61461337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters 0.03628194161333695 Centerline is valid? [True, True] Translation: X:430.22, Y:-70.03, Z:-8.62 [[ 9.84890390e-01 1.71968136e-01 2.04421357e-02 4.30216748e+02] [-1.71940609e-01 9.85102409e-01 -3.10982657e-03 -7.00304420e+01] [-2.06723882e-02 -4.51994957e-04 9.99786201e-01 -8.61509617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05401273900003 meters 0.037711549536233124 Centerline is valid? [True, True] Translation: X:430.24, Y:-70.03, Z:-8.62 [[ 9.85015471e-01 1.71329701e-01 1.97650270e-02 4.30244569e+02] [-1.71303855e-01 9.85213659e-01 -3.00600562e-03 -7.00295527e+01] [-1.99877926e-02 -4.24863280e-04 9.99800134e-01 -8.61757046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters 0.038128113884686725 Centerline is valid? [True, True] Translation: X:430.27, Y:-70.03, Z:-8.62 [[ 9.85011922e-01 1.71392577e-01 1.93932592e-02 4.30273648e+02] [-1.71367727e-01 9.85202725e-01 -2.94844195e-03 -7.00321728e+01] [-1.96116328e-02 -4.19128278e-04 9.99807586e-01 -8.61878735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.114012739 meters 0.03802370783335295 Centerline is valid? [True, True] Translation: X:430.30, Y:-70.03, Z:-8.62 [[ 9.85042319e-01 1.71169880e-01 1.98116757e-02 4.30302473e+02] [-1.71143919e-01 9.85241438e-01 -3.01119232e-03 -7.00342002e+01] [-2.00347093e-02 -4.24495950e-04 9.99799195e-01 -8.61880362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters 0.029962751948614638 Centerline is valid? [True, True] Translation: X:430.33, Y:-70.04, Z:-8.62 [[ 9.85099688e-01 1.70724106e-01 2.07818432e-02 4.30329790e+02] [-1.70695459e-01 9.85318775e-01 -3.15771634e-03 -7.00443410e+01] [-2.10158386e-02 -4.36700897e-04 9.99779047e-01 -8.61600225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.174012739 meters 0.03035192357853508 Centerline is valid? [True, True] Translation: X:430.36, Y:-70.05, Z:-8.61 [[ 9.85181931e-01 1.70150906e-01 2.15692262e-02 4.30357689e+02] [-1.70119934e-01 9.85417919e-01 -3.27625485e-03 -7.00464690e+01] [-2.18121597e-02 -4.41648261e-04 9.99761989e-01 -8.61497596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters 0.0262020503811373 Centerline is valid? [True, True] Translation: X:430.39, Y:-70.06, Z:-8.62 [[ 9.85627311e-01 1.67502320e-01 2.19493968e-02 4.30385801e+02] [-1.67469621e-01 9.85871604e-01 -3.33260430e-03 -7.00573565e+01] [-2.21975060e-02 -3.91151350e-04 9.99753528e-01 -8.61508112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.234012739 meters 0.025737772904762465 Centerline is valid? [True, True] Translation: X:430.41, Y:-70.06, Z:-8.62 [[ 9.85926298e-01 1.65836449e-01 2.11567118e-02 4.30413273e+02] [-1.65805724e-01 9.86153211e-01 -3.21047792e-03 -7.00618677e+01] [-2.13961735e-02 -3.42609293e-04 9.99771017e-01 -8.61744340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters 0.02959553283044847 Centerline is valid? [True, True] Translation: X:430.44, Y:-70.06, Z:-8.62 [[ 9.86226053e-01 1.64132762e-01 2.04599520e-02 4.30441759e+02] [-1.64103686e-01 9.86438213e-01 -3.10352019e-03 -7.00588247e+01] [-2.06918678e-02 -2.96781078e-04 9.99785856e-01 -8.61932557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.294012739 meters 0.023160476784712822 Centerline is valid? [True, True] Translation: X:430.47, Y:-70.07, Z:-8.62 [[ 9.86753195e-01 1.61074506e-01 1.93167296e-02 4.30468492e+02] [-1.61048025e-01 9.86942225e-01 -2.92900000e-03 -7.00733673e+01] [-1.95362833e-02 -2.20721032e-04 9.99809124e-01 -8.62231079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters 0.021535198556368308 Centerline is valid? [True, True] Translation: X:430.50, Y:-70.08, Z:-8.62 [[ 9.86999780e-01 1.59609684e-01 1.88727977e-02 4.30496193e+02] [-1.59584154e-01 9.87180183e-01 -2.86084364e-03 -7.00814803e+01] [-1.90874702e-02 -1.88147409e-04 9.99817800e-01 -8.62308676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.354012739 meters 0.02057128541907484 Centerline is valid? [True, True] Translation: X:430.52, Y:-70.09, Z:-8.62 [[ 9.87261297e-01 1.57959290e-01 1.90786231e-02 4.30523673e+02] [-1.57932909e-01 9.87445613e-01 -2.89112600e-03 -7.00872007e+01] [-1.92957829e-02 -1.58845649e-04 9.99813806e-01 -8.62171536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters 0.02046745002372483 Centerline is valid? [True, True] Translation: X:430.55, Y:-70.09, Z:-8.62 [[ 9.87245452e-01 1.57918584e-01 2.02024519e-02 4.30551934e+02] [-1.57889021e-01 9.87452122e-01 -3.06014543e-03 -7.00903024e+01] [-2.04322078e-02 -1.68630699e-04 9.99791226e-01 -8.61991567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.414012739 meters 0.020326251954049978 Centerline is valid? [True, True] Translation: X:430.58, Y:-70.09, Z:-8.62 [[ 9.87260034e-01 1.57751158e-01 2.07893650e-02 4.30580206e+02] [-1.57719848e-01 9.87478882e-01 -3.14750286e-03 -7.00935689e+01] [-2.10255812e-02 -1.71491722e-04 9.99778923e-01 -8.61929313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters 0.020551949830955756 Centerline is valid? [True, True] Translation: X:430.61, Y:-70.10, Z:-8.62 [[ 9.87251309e-01 1.57762159e-01 2.11176305e-02 4.30606625e+02] [-1.57729889e-01 9.87477124e-01 -3.19558872e-03 -7.00964351e+01] [-2.13573200e-02 -1.76032372e-04 9.99771891e-01 -8.61975581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.474012739 meters 0.020626110945774222 Centerline is valid? [True, True] Translation: X:430.63, Y:-70.10, Z:-8.62 [[ 9.87251856e-01 1.57815508e-01 2.06890688e-02 4.30634096e+02] [-1.57784598e-01 9.87468599e-01 -3.12827510e-03 -7.00996122e+01] [-2.09234961e-02 -1.76021019e-04 9.99781064e-01 -8.62190370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters 0.02073456295642877 Centerline is valid? [True, True] Translation: X:430.66, Y:-70.10, Z:-8.62 [[ 9.87244817e-01 1.57955950e-01 1.99396252e-02 4.30662520e+02] [-1.57927295e-01 9.87446144e-01 -3.01359023e-03 -7.01000123e+01] [-2.01653205e-02 -1.73859737e-04 9.99796644e-01 -8.62339474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.534012739 meters 0.02089039967988306 Centerline is valid? [True, True] Translation: X:430.69, Y:-70.10, Z:-8.62 [[ 9.87142776e-01 1.58642656e-01 1.95358096e-02 4.30691225e+02] [-1.58615312e-01 9.87336049e-01 -2.95117261e-03 -7.01014018e+01] [-1.97565909e-02 -1.85449803e-04 9.99804802e-01 -8.62433559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters 0.022011107972642288 Centerline is valid? [True, True] Translation: X:430.72, Y:-70.10, Z:-8.63 [[ 9.86999061e-01 1.59600355e-01 1.89889605e-02 4.30719072e+02] [-1.59574714e-01 9.87181689e-01 -2.86770291e-03 -7.01007086e+01] [-1.92032405e-02 -1.99737868e-04 9.99815581e-01 -8.62582017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.594012739 meters 0.022581082220880427 Centerline is valid? [True, True] Translation: X:430.75, Y:-70.10, Z:-8.63 [[ 9.86784014e-01 1.60993643e-01 1.83944851e-02 4.30748426e+02] [-1.60969855e-01 9.86955418e-01 -2.77627491e-03 -7.01015296e+01] [-1.86014994e-02 -2.21373907e-04 9.99826953e-01 -8.62702044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters 0.02429892852466396 Centerline is valid? [True, True] Translation: X:430.78, Y:-70.10, Z:-8.63 [[ 9.86481173e-01 1.62867036e-01 1.81445079e-02 4.30776967e+02] [-1.62844223e-01 9.86647994e-01 -2.73769806e-03 -7.00960673e+01] [-1.83481231e-02 -2.54040704e-04 9.99831627e-01 -8.62788955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.654012739 meters 0.02444453633491245 Centerline is valid? [True, True] Translation: X:430.81, Y:-70.10, Z:-8.63 [[ 9.86379907e-01 1.63458805e-01 1.83275222e-02 4.30805487e+02] [-1.63435653e-01 9.86550124e-01 -2.76416061e-03 -7.00967982e+01] [-1.85328457e-02 -2.68858079e-04 9.99828216e-01 -8.62873509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters 0.02400930127235668 Centerline is valid? [True, True] Translation: X:430.83, Y:-70.10, Z:-8.63 [[ 9.86433512e-01 1.62940177e-01 1.99856293e-02 4.30834275e+02] [-1.62912560e-01 9.86635910e-01 -3.01317459e-03 -7.00964372e+01] [-2.02095067e-02 -2.83613645e-04 9.99795727e-01 -8.62662151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.714012739 meters 0.023010567530700146 Centerline is valid? [True, True] Translation: X:430.86, Y:-70.10, Z:-8.63 [[ 9.86638108e-01 1.61581795e-01 2.08941784e-02 4.30862077e+02] [-1.61551330e-01 9.86859286e-01 -3.14905773e-03 -7.01002355e+01] [-2.11284444e-02 -2.68501938e-04 9.99776733e-01 -8.62573108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters 0.021527647347642762 Centerline is valid? [True, True] Translation: X:430.89, Y:-70.10, Z:-8.63 [[ 9.86990022e-01 1.59354880e-01 2.13709661e-02 4.30890618e+02] [-1.59322527e-01 9.87221338e-01 -3.21900777e-03 -7.01046672e+01] [-2.16108383e-02 -2.27747773e-04 9.99766433e-01 -8.62530550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.774012739 meters 0.02040321188742272 Centerline is valid? [True, True] Translation: X:430.92, Y:-70.11, Z:-8.63 [[ 9.87344806e-01 1.57118278e-01 2.15425512e-02 4.30918297e+02] [-1.57084894e-01 9.87579776e-01 -3.24379302e-03 -7.01083274e+01] [-2.17846471e-02 -1.81267192e-04 9.99762670e-01 -8.62549464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters 0.01855901878653127 Centerline is valid? [True, True] Translation: X:430.95, Y:-70.12, Z:-8.63 [[ 9.88109271e-01 1.52413820e-01 2.02508405e-02 4.30946278e+02] [-1.52383354e-01 9.88316762e-01 -3.04815634e-03 -7.01154932e+01] [-2.04788262e-02 -7.39794620e-05 9.99790284e-01 -8.62837763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.834012739 meters 0.0182436598328119 Centerline is valid? [True, True] Translation: X:430.97, Y:-70.12, Z:-8.63 [[ 9.88462186e-01 1.50221162e-01 1.93935338e-02 4.30973730e+02] [-1.50192816e-01 9.88652417e-01 -2.91826135e-03 -7.01207287e+01] [-1.96118486e-02 -2.81784553e-05 9.99807669e-01 -8.62949160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters 0.018179926919352118 Centerline is valid? [True, True] Translation: X:431.00, Y:-70.12, Z:-8.63 [[ 9.88859597e-01 1.47653608e-01 1.88443582e-02 4.31001586e+02] [-1.47626409e-01 9.89039136e-01 -2.83402209e-03 -7.01228680e+01] [-1.90562614e-02 2.05250028e-05 9.99818413e-01 -8.63116899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.894012739 meters 0.018294516246771038 Centerline is valid? [True, True] Translation: X:431.03, Y:-70.12, Z:-8.63 [[ 9.88912307e-01 1.47316476e-01 1.87164251e-02 4.31029300e+02] [-1.47289610e-01 9.89089407e-01 -2.81347746e-03 -7.01243969e+01] [-1.89266894e-02 2.55475368e-05 9.99820874e-01 -8.63222370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters 0.01834760705006821 Centerline is valid? [True, True] Translation: X:431.06, Y:-70.13, Z:-8.63 [[ 9.88965102e-01 1.46934037e-01 1.89318846e-02 4.31057218e+02] [-1.46906504e-01 9.89146292e-01 -2.84453277e-03 -7.01265740e+01] [-1.91443621e-02 3.19266656e-05 9.99816729e-01 -8.63310293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.954012739 meters 0.018795987303241835 Centerline is valid? [True, True] Translation: X:431.09, Y:-70.13, Z:-8.63 [[ 9.89355008e-01 1.44276394e-01 1.89997323e-02 4.31085852e+02] [-1.44248199e-01 9.89537425e-01 -2.85337968e-03 -7.01299646e+01] [-1.92126215e-02 8.23283185e-05 9.99815417e-01 -8.63347867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters 0.019717733694023944 Centerline is valid? [True, True] Translation: X:431.11, Y:-70.13, Z:-8.63 [[ 9.89659769e-01 1.42226738e-01 1.85768020e-02 4.31112963e+02] [-1.42199438e-01 9.89834098e-01 -2.78902688e-03 -7.01345700e+01] [-1.87846262e-02 1.18576895e-04 9.99823546e-01 -8.63464697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.014012739 meters 0.021879741954876172 Centerline is valid? [True, True] Translation: X:431.14, Y:-70.14, Z:-8.64 [[ 9.90260849e-01 1.38101019e-01 1.76510574e-02 4.31141668e+02] [-1.38075736e-01 9.90418131e-01 -2.64904124e-03 -7.01396243e+01] [-1.78477625e-02 1.86059099e-04 9.99840699e-01 -8.63765612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters 0.0236849158302403 Centerline is valid? [True, True] Translation: X:431.17, Y:-70.15, Z:-8.64 [[ 9.90541044e-01 1.36069358e-01 1.77079324e-02 4.31169096e+02] [-1.36043600e-01 9.90699288e-01 -2.65683463e-03 -7.01461366e+01] [-1.79047498e-02 2.22652878e-04 9.99839672e-01 -8.63867936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.074012739 meters 0.03053998545147866 Centerline is valid? [True, True] Translation: X:431.20, Y:-70.16, Z:-8.64 [[ 9.91352880e-01 1.29811782e-01 1.91929093e-02 4.31195387e+02] [-1.29780384e-01 9.91538587e-01 -2.87781361e-03 -7.01595093e+01] [-1.94040843e-02 3.62065674e-04 9.99811657e-01 -8.63682013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters 0.030113761598535092 Centerline is valid? [True, True] Translation: X:431.23, Y:-70.16, Z:-8.63 [[ 9.91821308e-01 1.25989889e-01 2.04215684e-02 4.31225108e+02] [-1.25953551e-01 9.92031417e-01 -3.06107247e-03 -7.01621630e+01] [-2.06445016e-02 4.63867844e-04 9.99786772e-01 -8.63416542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.134012739 meters 0.03701706414456537 Centerline is valid? [True, True] Translation: X:431.25, Y:-70.18, Z:-8.63 [[ 9.92326456e-01 1.21809231e-01 2.12300677e-02 4.31251791e+02] [-1.21769014e-01 9.92553366e-01 -3.18171199e-03 -7.01771865e+01] [-2.14595370e-02 5.72132571e-04 9.99769554e-01 -8.63375405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters 0.041619654677673555 Centerline is valid? [True, True] Translation: X:431.28, Y:-70.19, Z:-8.64 [[ 9.93310438e-01 1.13602680e-01 2.07075962e-02 4.31280294e+02] [-1.13562655e-01 9.93525993e-01 -3.10248350e-03 -7.01934291e+01] [-2.09259855e-02 7.30119649e-04 9.99780761e-01 -8.63682326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.194012739 meters 0.04702744867931743 Centerline is valid? [True, True] Translation: X:431.31, Y:-70.21, Z:-8.64 [[ 9.93752724e-01 1.09872649e-01 1.95837609e-02 4.31307052e+02] [-1.09836128e-01 9.93945379e-01 -2.93412081e-03 -7.02082475e+01] [-1.97875683e-02 7.64786089e-04 9.99803914e-01 -8.63963239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters 0.0564545923553899 Centerline is valid? [True, True] Translation: X:431.33, Y:-70.23, Z:-8.64 [[ 9.94310483e-01 1.04949851e-01 1.82261286e-02 4.31333800e+02] [-1.04917391e-01 9.94477191e-01 -2.73075389e-03 -7.02299617e+01] [-1.84120614e-02 8.02979353e-04 9.99830161e-01 -8.64206825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.254012739 meters 0.05149988548871709 Centerline is valid? [True, True] Translation: X:431.36, Y:-70.23, Z:-8.64 [[ 9.94394394e-01 1.04078749e-01 1.86387719e-02 4.31363818e+02] [-1.04044653e-01 9.94568707e-01 -2.79241606e-03 -7.02311164e+01] [-1.88281704e-02 8.37498316e-04 9.99822384e-01 -8.64170920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters 0.05192131254111027 Centerline is valid? [True, True] Translation: X:431.39, Y:-70.24, Z:-8.64 [[ 9.94396685e-01 1.03999819e-01 1.89544205e-02 4.31392447e+02] [-1.03964553e-01 9.94576950e-01 -2.83926026e-03 -7.02404082e+01] [-1.91469123e-02 8.52763142e-04 9.99816317e-01 -8.64108106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.314012739 meters 0.05130574975463126 Centerline is valid? [True, True] Translation: X:431.42, Y:-70.25, Z:-8.64 [[ 9.94255874e-01 1.05461551e-01 1.82515243e-02 4.31421021e+02] [-1.05429106e-01 9.94423065e-01 -2.73352661e-03 -7.02517191e+01] [-1.84380187e-02 7.93583008e-04 9.99829690e-01 -8.64303435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters 0.050465351908169934 Centerline is valid? [True, True] Translation: X:431.45, Y:-70.26, Z:-8.65 [[ 9.94125720e-01 1.06853439e-01 1.72161470e-02 4.31450805e+02] [-1.06824779e-01 9.94274519e-01 -2.57845839e-03 -7.02580546e+01] [-1.73930934e-02 7.24200701e-04 9.99848466e-01 -8.64603867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.374012739 meters 0.04822599916986274 Centerline is valid? [True, True] Translation: X:431.48, Y:-70.27, Z:-8.65 [[ 9.93824270e-01 1.09785649e-01 1.61378846e-02 4.31480007e+02] [-1.09760852e-01 9.93955086e-01 -2.41701210e-03 -7.02655758e+01] [-1.63056857e-02 6.30777315e-04 9.99866855e-01 -8.64948108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters 0.047043705190270055 Centerline is valid? [True, True] Translation: X:431.51, Y:-70.27, Z:-8.65 [[ 9.93701364e-01 1.10816678e-01 1.66512321e-02 4.31509138e+02] [-1.10790425e-01 9.93840663e-01 -2.49374004e-03 -7.02724490e+01] [-1.68250196e-02 6.33235789e-04 9.99858249e-01 -8.64952470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.434012739 meters 0.04647457858810529 Centerline is valid? [True, True] Translation: X:431.54, Y:-70.28, Z:-8.65 [[ 9.93578543e-01 1.11808574e-01 1.73355393e-02 4.31537088e+02] [-1.11780277e-01 9.93729556e-01 -2.59584131e-03 -7.02797611e+01] [-1.75170751e-02 6.41400852e-04 9.99846359e-01 -8.64814386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters 0.04360231709674381 Centerline is valid? [True, True] Translation: X:431.57, Y:-70.29, Z:-8.65 [[ 9.93205733e-01 1.14987732e-01 1.78939351e-02 4.31565304e+02] [-1.14958109e-01 9.93366728e-01 -2.67880492e-03 -7.02857559e+01] [-1.80832695e-02 6.03551454e-04 9.99836302e-01 -8.64724380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.494012739 meters 0.041461322285396354 Centerline is valid? [True, True] Translation: X:431.60, Y:-70.29, Z:-8.65 [[ 9.92935707e-01 1.17341297e-01 1.75983686e-02 4.31595155e+02] [-1.17313021e-01 9.93091494e-01 -2.63414206e-03 -7.02896526e+01] [-1.77858838e-02 5.51015921e-04 9.99841667e-01 -8.64848981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters 0.041461322285396354 Centerline is valid? [True, True] Translation: X:431.62, Y:-70.29, Z:-8.65 [[ 9.92938287e-01 1.17319452e-01 1.75983933e-02 4.31624011e+02] [-1.17291176e-01 9.93094075e-01 -2.63397657e-03 -7.02939269e+01] [-1.77858769e-02 5.51239935e-04 9.99841667e-01 -8.64908231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55401273900003 meters 0.03672105539745927 Centerline is valid? [True, True] Translation: X:431.65, Y:-70.29, Z:-8.65 [[ 9.92345459e-01 1.22328418e-01 1.69188831e-02 4.31653482e+02] [-1.22303017e-01 9.92489578e-01 -2.53190375e-03 -7.02946930e+01] [-1.71015389e-02 4.43292753e-04 9.99853660e-01 -8.65118501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters 0.033714204715466496 Centerline is valid? [True, True] Translation: X:431.68, Y:-70.30, Z:-8.65 [[ 9.91986696e-01 1.25197083e-01 1.69730883e-02 4.31683151e+02] [-1.25171944e-01 9.92131813e-01 -2.53967255e-03 -7.02953493e+01] [-1.71575005e-02 3.94766930e-04 9.99852721e-01 -8.65186476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.614012739 meters 0.031118473310926317 Centerline is valid? [True, True] Translation: X:431.71, Y:-70.30, Z:-8.65 [[ 9.91622049e-01 1.28041816e-01 1.70588718e-02 4.31712793e+02] [-1.28016849e-01 9.91768709e-01 -2.55215917e-03 -7.02957613e+01] [-1.72452384e-02 3.46954286e-04 9.99851230e-01 -8.65234559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters 0.027998636224573544 Centerline is valid? [True, True] Translation: X:431.74, Y:-70.30, Z:-8.65 [[ 9.91171904e-01 1.31464695e-01 1.71840386e-02 4.31741517e+02] [-1.31439884e-01 9.91320811e-01 -2.57033851e-03 -7.02959491e+01] [-1.73728038e-02 2.88979286e-04 9.99849040e-01 -8.65209626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.674012739 meters 0.028727024308063436 Centerline is valid? [True, True] Translation: X:431.77, Y:-70.30, Z:-8.65 [[ 9.91238704e-01 1.30824154e-01 1.81899011e-02 4.31768804e+02] [-1.30796260e-01 9.91405538e-01 -2.71995090e-03 -7.03006897e+01] [-1.83894039e-02 3.16949583e-04 9.99830850e-01 -8.64984682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters 0.03081772110540367 Centerline is valid? [True, True] Translation: X:431.80, Y:-70.31, Z:-8.65 [[ 9.91457975e-01 1.29004372e-01 1.92082522e-02 4.31796602e+02] [-1.28972947e-01 9.91643956e-01 -2.87109401e-03 -7.03081659e+01] [-1.94181309e-02 3.69224159e-04 9.99811382e-01 -8.64899460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.734012739 meters 0.03286518393516766 Centerline is valid? [True, True] Translation: X:431.82, Y:-70.32, Z:-8.65 [[ 9.91696665e-01 1.27082019e-01 1.96948205e-02 4.31824948e+02] [-1.27048621e-01 9.91892125e-01 -2.94293089e-03 -7.03167595e+01] [-1.99091309e-02 4.16294967e-04 9.99801707e-01 -8.64928757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters 0.03493160802150504 Centerline is valid? [True, True] Translation: X:431.85, Y:-70.33, Z:-8.65 [[ 9.91938045e-01 1.25116983e-01 2.01160516e-02 4.31853685e+02] [-1.25081746e-01 9.92141887e-01 -3.00542490e-03 -7.03256540e+01] [-2.03340071e-02 4.65044441e-04 9.99793135e-01 -8.64886408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.794012739 meters 0.038431580365267615 Centerline is valid? [True, True] Translation: X:431.88, Y:-70.34, Z:-8.65 [[ 9.92289870e-01 1.22152038e-01 2.09688660e-02 4.31882157e+02] [-1.22113097e-01 9.92511249e-01 -3.13237368e-03 -7.03356066e+01] [-2.11944612e-02 5.47649510e-04 9.99775222e-01 -8.64746062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters 0.03222212105829913 Centerline is valid? [True, True] Translation: X:431.91, Y:-70.33, Z:-8.65 [[ 9.92338224e-01 1.21597948e-01 2.18812216e-02 4.31913364e+02] [-1.21555416e-01 9.92579266e-01 -3.26839256e-03 -7.03293306e+01] [-2.21162767e-02 5.83569875e-04 9.99755235e-01 -8.64591122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.854012739 meters 0.038924721653907486 Centerline is valid? [True, True] Translation: X:431.94, Y:-70.34, Z:-8.65 [[ 9.92283647e-01 1.22032525e-01 2.19368609e-02 4.31940837e+02] [-1.21989894e-01 9.92525935e-01 -3.27618789e-03 -7.03430468e+01] [-2.21727048e-02 5.74832341e-04 9.99753990e-01 -8.64521312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters 0.03908892378825104 Centerline is valid? [True, True] Translation: X:431.97, Y:-70.35, Z:-8.65 [[ 9.92252301e-01 1.22343215e-01 2.16219469e-02 4.31968972e+02] [-1.22301879e-01 9.92487695e-01 -3.22886622e-03 -7.03477741e+01] [-2.18545461e-02 5.59445199e-04 9.99761004e-01 -8.64653298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.914012739 meters 0.03369179267699977 Centerline is valid? [True, True] Translation: X:432.00, Y:-70.34, Z:-8.65 [[ 9.92280775e-01 1.22210457e-01 2.10586617e-02 4.31999324e+02] [-1.22171231e-01 9.92504058e-01 -3.14410380e-03 -7.03448430e+01] [-2.12850495e-02 5.47071133e-04 9.99773298e-01 -8.64843778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters 0.03562539494016628 Centerline is valid? [True, True] Translation: X:432.03, Y:-70.36, Z:-8.65 [[ 9.92634726e-01 1.19228314e-01 2.14687920e-02 4.32028511e+02] [-1.19186858e-01 9.92866669e-01 -3.20485744e-03 -7.03550726e+01] [-2.16977578e-02 6.22454920e-04 9.99764382e-01 -8.65089526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.974012739 meters 0.041119503652243934 Centerline is valid? [True, True] Translation: X:432.06, Y:-70.37, Z:-8.65 [[ 9.92952303e-01 1.16466606e-01 2.19374900e-02 4.32056295e+02] [-1.16422647e-01 9.93194363e-01 -3.27482458e-03 -7.03704882e+01] [-2.21695991e-02 6.97723960e-04 9.99753981e-01 -8.65123926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters 0.043209264478401184 Centerline is valid? [True, True] Translation: X:432.08, Y:-70.39, Z:-8.65 [[ 9.93634238e-01 1.10466324e-01 2.20950788e-02 4.32084541e+02] [-1.10420248e-01 9.93879515e-01 -3.29835319e-03 -7.03862220e+01] [-2.23242031e-02 8.37612572e-04 9.99750433e-01 -8.65123263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.034012739 meters 0.05070425920442603 Centerline is valid? [True, True] Translation: X:432.11, Y:-70.40, Z:-8.65 [[ 9.93932371e-01 1.07924907e-01 2.12286733e-02 4.32111880e+02] [-1.07881794e-01 9.94158677e-01 -3.16911710e-03 -7.04043248e+01] [-2.14466965e-02 8.59700713e-04 9.99769624e-01 -8.65322811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters 0.05572200826226038 Centerline is valid? [True, True] Translation: X:432.14, Y:-70.42, Z:-8.66 [[ 9.94331950e-01 1.04831399e-01 1.77299687e-02 4.32138849e+02] [-1.04800818e-01 9.94489707e-01 -2.64776179e-03 -7.04228240e+01] [-1.79098400e-02 7.74638907e-04 9.99839306e-01 -8.66033440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.094012739 meters 0.054066865835227976 Centerline is valid? [True, True] Translation: X:432.17, Y:-70.43, Z:-8.66 [[ 9.94369191e-01 1.04694004e-01 1.64035627e-02 4.32170577e+02] [-1.04667819e-01 9.94504223e-01 -2.44909654e-03 -7.04303366e+01] [-1.65698181e-02 7.18381003e-04 9.99862453e-01 -8.66375930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters 0.0494802526819893 Centerline is valid? [True, True] Translation: X:432.20, Y:-70.43, Z:-8.67 [[ 9.94264063e-01 1.05840809e-01 1.53849051e-02 4.32202134e+02] [-1.05817879e-01 9.94382869e-01 -2.29921521e-03 -7.04344057e+01] [-1.55418368e-02 6.58029036e-04 9.99879002e-01 -8.66534142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.154012739 meters 0.04597626871845998 Centerline is valid? [True, True] Translation: X:432.23, Y:-70.44, Z:-8.66 [[ 9.93829119e-01 1.09733172e-01 1.61960869e-02 4.32230475e+02] [-1.09708218e-01 9.93960880e-01 -2.42394660e-03 -7.04436185e+01] [-1.63642641e-02 6.32144883e-04 9.99865897e-01 -8.66327889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters 0.044556282427314096 Centerline is valid? [True, True] Translation: X:432.26, Y:-70.45, Z:-8.66 [[ 9.93560312e-01 1.11958076e-01 1.74153822e-02 4.32260443e+02] [-1.11929568e-01 9.93712725e-01 -2.60625636e-03 -7.04499813e+01] [-1.75976783e-02 6.40176684e-04 9.99844944e-01 -8.66148815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.214012739 meters 0.038825494246039545 Centerline is valid? [True, True] Translation: X:432.29, Y:-70.45, Z:-8.66 [[ 9.93019568e-01 1.16334864e-01 1.94508712e-02 4.32291364e+02] [-1.16300134e-01 9.93209849e-01 -2.91112834e-03 -7.04542242e+01] [-1.96574626e-02 6.28668487e-04 9.99806576e-01 -8.65910289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters 0.038658101600544545 Centerline is valid? [True, True] Translation: X:432.32, Y:-70.46, Z:-8.66 [[ 9.92763689e-01 1.18561170e-01 1.90658358e-02 4.32321277e+02] [-1.18528207e-01 9.92946585e-01 -2.85370957e-03 -7.04625307e+01] [-1.92696957e-02 5.73219908e-04 9.99814158e-01 -8.66029030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.274012739 meters 0.03589204761031072 Centerline is valid? [True, True] Translation: X:432.35, Y:-70.47, Z:-8.66 [[ 9.92515718e-01 1.20688398e-01 1.86241842e-02 4.32353041e+02] [-1.20657315e-01 9.92690304e-01 -2.78782949e-03 -7.04666213e+01] [-1.88245058e-02 5.19820528e-04 9.99822668e-01 -8.66118687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters 0.03266690770130825 Centerline is valid? [True, True] Translation: X:432.38, Y:-70.47, Z:-8.66 [[ 9.92085355e-01 1.24265566e-01 1.80199018e-02 4.32384666e+02] [-1.24236999e-01 9.92248898e-01 -2.70051583e-03 -7.04705669e+01] [-1.82158088e-02 4.40403675e-04 9.99833981e-01 -8.66209682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.334012739 meters 0.03420771796555616 Centerline is valid? [True, True] Translation: X:432.41, Y:-70.48, Z:-8.66 [[ 9.91803289e-01 1.26481489e-01 1.81292118e-02 4.32414992e+02] [-1.26452937e-01 9.91968886e-01 -2.71731805e-03 -7.04793527e+01] [-1.83273045e-02 4.02552903e-04 9.99831960e-01 -8.66279142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters 0.028080345468641008 Centerline is valid? [True, True] Translation: X:432.45, Y:-70.48, Z:-8.66 [[ 9.91335534e-01 1.30006810e-01 1.87640003e-02 4.32447648e+02] [-1.29976795e-01 9.91513038e-01 -2.81558620e-03 -7.04773097e+01] [-1.89707963e-02 3.52306042e-04 9.99819976e-01 -8.66131248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.394012739 meters 0.027696123962478232 Centerline is valid? [True, True] Translation: X:432.48, Y:-70.48, Z:-8.66 [[ 9.91129664e-01 1.31438078e-01 1.96474355e-02 4.32478643e+02] [-1.31405438e-01 9.91324324e-01 -2.94882240e-03 -7.04816863e+01] [-1.98645682e-02 3.40885497e-04 9.99802622e-01 -8.66045331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters 0.026763124871420827 Centerline is valid? [True, True] Translation: X:432.51, Y:-70.48, Z:-8.66 [[ 9.90970535e-01 1.32476664e-01 2.06719977e-02 4.32509740e+02] [-1.32440689e-01 9.91186066e-01 -3.10582185e-03 -7.04845988e+01] [-2.09012450e-02 3.39964329e-04 9.99781487e-01 -8.65869746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.454012739 meters 0.02443031167717067 Centerline is valid? [True, True] Translation: X:432.54, Y:-70.48, Z:-8.66 [[ 9.90618915e-01 1.34980050e-01 2.13202277e-02 4.32541461e+02] [-1.34942351e-01 9.90848272e-01 -3.20371407e-03 -7.04845377e+01] [-2.15575483e-02 2.96658103e-04 9.99767565e-01 -8.65773338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters 0.022468042291226 Centerline is valid? [True, True] Translation: X:432.57, Y:-70.48, Z:-8.66 [[ 9.90266832e-01 1.37634621e-01 2.06956946e-02 4.32571838e+02] [-1.37599669e-01 9.90483042e-01 -3.11031701e-03 -7.04844760e+01] [-2.09268219e-02 2.32323040e-04 9.99780983e-01 -8.65961167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.514012739 meters 0.021786928583960356 Centerline is valid? [True, True] Translation: X:432.60, Y:-70.49, Z:-8.66 [[ 9.90118774e-01 1.38781999e-01 2.01089387e-02 4.32602689e+02] [-1.38749237e-01 9.90322935e-01 -3.02213456e-03 -7.04860132e+01] [-2.03337610e-02 2.02172259e-04 9.99793227e-01 -8.66165969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters 0.02049588175288837 Centerline is valid? [True, True] Translation: X:432.63, Y:-70.49, Z:-8.66 [[ 9.89985762e-01 1.39850805e-01 1.92339361e-02 4.32633937e+02] [-1.39821034e-01 9.90172572e-01 -2.89063207e-03 -7.04857571e+01] [-1.94491732e-02 1.72375748e-04 9.99810832e-01 -8.66302608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.574012739 meters 0.02067773341732789 Centerline is valid? [True, True] Translation: X:432.66, Y:-70.49, Z:-8.66 [[ 9.89875753e-01 1.40678885e-01 1.88532617e-02 4.32663754e+02] [-1.40650432e-01 9.90055265e-01 -2.83342123e-03 -7.04889273e+01] [-1.90643736e-02 1.53015575e-04 9.99818247e-01 -8.66482541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters 0.020105525081110968 Centerline is valid? [True, True] Translation: X:432.69, Y:-70.49, Z:-8.67 [[ 9.89811860e-01 1.41121595e-01 1.88991571e-02 4.32693722e+02] [-1.41093082e-01 9.89992260e-01 -2.84034672e-03 -7.04897472e+01] [-1.91108535e-02 1.44868538e-04 9.99817360e-01 -8.66592262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.634012739 meters 0.02069240777849216 Centerline is valid? [True, True] Translation: X:432.72, Y:-70.49, Z:-8.67 [[ 9.89871147e-01 1.40616358e-01 1.95487381e-02 4.32722234e+02] [-1.40585762e-01 9.90064147e-01 -2.93749942e-03 -7.04924778e+01] [-1.97675651e-02 1.59471670e-04 9.99804590e-01 -8.66569779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters 0.020634778065117085 Centerline is valid? [True, True] Translation: X:432.75, Y:-70.50, Z:-8.66 [[ 9.89934201e-01 1.40105161e-01 2.00205403e-02 4.32751376e+02] [-1.40072981e-01 9.90136614e-01 -3.00766896e-03 -7.04950418e+01] [-2.02444599e-02 1.73057612e-04 9.99795045e-01 -8.66488798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.694012739 meters 0.020816414895491374 Centerline is valid? [True, True] Translation: X:432.78, Y:-70.50, Z:-8.66 [[ 9.90008782e-01 1.39513052e-01 2.04626655e-02 4.32781101e+02] [-1.39479319e-01 9.90220214e-01 -3.07359693e-03 -7.04991475e+01] [-2.06913519e-02 1.88769309e-04 9.99785893e-01 -8.66492832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters 0.023535352747321433 Centerline is valid? [True, True] Translation: X:432.81, Y:-70.51, Z:-8.67 [[ 9.90436841e-01 1.36618404e-01 1.92425539e-02 4.32809141e+02] [-1.36588031e-01 9.90623721e-01 -2.89012396e-03 -7.05078310e+01] [-1.94569745e-02 2.34182683e-04 9.99810668e-01 -8.66854570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.754012739 meters 0.024055523310767084 Centerline is valid? [True, True] Translation: X:432.84, Y:-70.51, Z:-8.67 [[ 9.90684042e-01 1.34973129e-01 1.80937343e-02 4.32838698e+02] [-1.34946009e-01 9.90849228e-01 -2.71711832e-03 -7.05124929e+01] [-1.82949006e-02 2.50128530e-04 9.99832603e-01 -8.67140087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters 0.025275930868830426 Centerline is valid? [True, True] Translation: X:432.87, Y:-70.52, Z:-8.67 [[ 9.90916503e-01 1.33349771e-01 1.73874362e-02 4.32868790e+02] [-1.33324475e-01 9.91069002e-01 -2.61117456e-03 -7.05177198e+01] [-1.75803485e-02 2.69285159e-04 9.99845417e-01 -8.67304244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.814012739 meters 0.026647935308895324 Centerline is valid? [True, True] Translation: X:432.90, Y:-70.52, Z:-8.67 [[ 9.91130722e-01 1.31710032e-01 1.76737037e-02 4.32898581e+02] [-1.31683636e-01 9.91288240e-01 -2.65416506e-03 -7.05229865e+01] [-1.78693149e-02 3.03286960e-04 9.99840285e-01 -8.67304632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters 0.027286847409149224 Centerline is valid? [True, True] Translation: X:432.93, Y:-70.53, Z:-8.67 [[ 9.91249758e-01 1.30764262e-01 1.80173585e-02 4.32928239e+02] [-1.30736672e-01 9.91413436e-01 -2.70579818e-03 -7.05276724e+01] [-1.82164730e-02 3.26592299e-04 9.99834013e-01 -8.67264426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.874012739 meters 0.02897716589723779 Centerline is valid? [True, True] Translation: X:432.96, Y:-70.53, Z:-8.67 [[ 9.91501316e-01 1.28787759e-01 1.84079811e-02 4.32957095e+02] [-1.28758624e-01 9.91672111e-01 -2.76423747e-03 -7.05337310e+01] [-1.86106814e-02 3.70558782e-04 9.99826738e-01 -8.67195991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters 0.029916109604226852 Centerline is valid? [True, True] Translation: X:432.99, Y:-70.54, Z:-8.67 [[ 9.91597616e-01 1.27971534e-01 1.89064807e-02 4.32987374e+02] [-1.27940656e-01 9.91777762e-01 -2.83883846e-03 -7.05396797e+01] [-1.91143176e-02 3.96077915e-04 9.99817226e-01 -8.67184318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.934012739 meters 0.03077513314024002 Centerline is valid? [True, True] Translation: X:433.02, Y:-70.55, Z:-8.67 [[ 9.91713797e-01 1.27006299e-01 1.93169858e-02 4.33017672e+02] [-1.26973878e-01 9.91901820e-01 -2.90069854e-03 -7.05460762e+01] [-1.95289604e-02 4.23910171e-04 9.99809202e-01 -8.67235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters 0.0341765478190426 Centerline is valid? [True, True] Translation: X:433.05, Y:-70.56, Z:-8.67 [[ 9.92086602e-01 1.24010221e-01 1.96377215e-02 4.33047628e+02] [-1.23976118e-01 9.92280819e-01 -2.94930359e-03 -7.05582456e+01] [-1.98518781e-02 4.91356099e-04 9.99802811e-01 -8.67256932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.994012739 meters 0.036447312856068274 Centerline is valid? [True, True] Translation: X:433.08, Y:-70.57, Z:-8.67 [[ 9.92334829e-01 1.22084397e-01 1.91569342e-02 4.33077498e+02] [-1.22051557e-01 9.92519587e-01 -2.87854675e-03 -7.05685299e+01] [-1.93650580e-02 5.18348558e-04 9.99812345e-01 -8.67347432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters 0.04346449299243033 Centerline is valid? [True, True] Translation: X:433.10, Y:-70.59, Z:-8.67 [[ 9.93021980e-01 1.16403801e-01 1.89077537e-02 4.33104674e+02] [-1.16370724e-01 9.93201775e-01 -2.84407554e-03 -7.05886491e+01] [-1.91102758e-02 6.23920535e-04 9.99817187e-01 -8.67428451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05401273900003 meters 0.04541823580950453 Centerline is valid? [True, True] Translation: X:433.13, Y:-70.60, Z:-8.67 [[ 9.93339133e-01 1.13567413e-01 1.94886846e-02 4.33134372e+02] [-1.13531731e-01 9.93530047e-01 -2.93125540e-03 -7.05991361e+01] [-1.96954888e-02 6.99146616e-04 9.99805781e-01 -8.67381775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters 0.04736235352080227 Centerline is valid? [True, True] Translation: X:433.16, Y:-70.61, Z:-8.67 [[ 9.93501308e-01 1.12034489e-01 2.00854285e-02 4.33164769e+02] [-1.11996270e-01 9.93704034e-01 -3.02124674e-03 -7.06105526e+01] [-2.02974552e-02 7.52119516e-04 9.99793703e-01 -8.67310602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.114012739 meters 0.047957188007015886 Centerline is valid? [True, True] Translation: X:433.19, Y:-70.62, Z:-8.67 [[ 9.93449580e-01 1.12019742e-01 2.25722978e-02 4.33193763e+02] [-1.11971383e-01 9.93705618e-01 -3.39901127e-03 -7.06247616e+01] [-2.28109755e-02 8.49294908e-04 9.99739435e-01 -8.66971551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters 0.046825452635181154 Centerline is valid? [True, True] Translation: X:433.22, Y:-70.63, Z:-8.67 [[ 9.93269662e-01 1.13625580e-01 2.24634637e-02 4.33224594e+02] [-1.13578027e-01 9.93523311e-01 -3.38566374e-03 -7.06327452e+01] [-2.27026728e-02 8.11521197e-04 9.99741932e-01 -8.66976860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.174012739 meters 0.0416099498419014 Centerline is valid? [True, True] Translation: X:433.25, Y:-70.64, Z:-8.68 [[ 9.92701369e-01 1.18918925e-01 2.00569733e-02 4.33253158e+02] [-1.18882079e-01 9.92903776e-01 -3.02376768e-03 -7.06388092e+01] [-2.02742277e-02 6.17283642e-04 9.99794266e-01 -8.67507144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters 0.0355912193293948 Centerline is valid? [True, True] Translation: X:433.29, Y:-70.64, Z:-8.68 [[ 9.92310792e-01 1.22295093e-01 1.90578551e-02 4.33285129e+02] [-1.22262453e-01 9.92493647e-01 -2.87288551e-03 -7.06384028e+01] [-1.92661399e-02 5.20735183e-04 9.99814255e-01 -8.67757878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.234012739 meters 0.029294958403137183 Centerline is valid? [True, True] Translation: X:433.32, Y:-70.64, Z:-8.68 [[ 9.91448969e-01 1.29196792e-01 1.83611115e-02 4.33315484e+02] [-1.29167659e-01 9.91618903e-01 -2.76885057e-03 -7.06409804e+01] [-1.85649519e-02 3.73512253e-04 9.99827587e-01 -8.67974603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters 0.02868005078167762 Centerline is valid? [True, True] Translation: X:433.35, Y:-70.65, Z:-8.68 [[ 9.90981403e-01 1.32726703e-01 1.84249922e-02 4.33345176e+02] [-1.32697973e-01 9.91152626e-01 -2.77862340e-03 -7.06481852e+01] [-1.86307769e-02 3.08604988e-04 9.99826384e-01 -8.67997442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.294012739 meters 0.024782469313136744 Centerline is valid? [True, True] Translation: X:433.38, Y:-70.65, Z:-8.68 [[ 9.90481615e-01 1.36273559e-01 1.93826409e-02 4.33377379e+02] [-1.36242441e-01 9.90671213e-01 -2.92318230e-03 -7.06500892e+01] [-1.96001769e-02 2.54620020e-04 9.99807866e-01 -8.67869840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters 0.019497475771998424 Centerline is valid? [True, True] Translation: X:433.41, Y:-70.65, Z:-8.68 [[ 9.89410715e-01 1.43694346e-01 2.04541550e-02 4.33409501e+02] [-1.43661207e-01 9.89622110e-01 -3.08809231e-03 -7.06480959e+01] [-2.06856254e-02 1.16923033e-04 9.99786023e-01 -8.67689574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.354012739 meters 0.018274539036892325 Centerline is valid? [True, True] Translation: X:433.44, Y:-70.65, Z:-8.68 [[ 9.88906704e-01 1.47113939e-01 2.05187472e-02 4.33441664e+02] [-1.47081312e-01 9.89119551e-01 -3.09853541e-03 -7.06483107e+01] [-2.07513317e-02 4.62381939e-05 9.99784667e-01 -8.67774189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters 0.01871307286497147 Centerline is valid? [True, True] Translation: X:433.47, Y:-70.64, Z:-8.68 [[ 9.88012259e-01 1.53096942e-01 1.98268117e-02 4.33472625e+02] [-1.53067664e-01 9.88211172e-01 -2.99491883e-03 -7.06442201e+01] [-2.00515898e-02 -7.58272409e-05 9.99798944e-01 -8.67957027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.414012739 meters 0.01871307286497147 Centerline is valid? [True, True] Translation: X:433.50, Y:-70.65, Z:-8.68 [[ 9.88012259e-01 1.53096942e-01 1.98268117e-02 4.33502283e+02] [-1.53067664e-01 9.88211172e-01 -2.99491883e-03 -7.06486999e+01] [-2.00515898e-02 -7.58272407e-05 9.99798944e-01 -8.68017946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters 0.02044286594640987 Centerline is valid? [True, True] Translation: X:433.53, Y:-70.65, Z:-8.68 [[ 9.87527725e-01 1.56244159e-01 1.94101817e-02 4.33532092e+02] [-1.56216706e-01 9.87718454e-01 -2.93199281e-03 -7.06485336e+01] [-1.96299014e-02 -1.36770455e-04 9.99807306e-01 -8.68180453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.474012739 meters 0.02296902324114276 Centerline is valid? [True, True] Translation: X:433.56, Y:-70.65, Z:-8.68 [[ 9.87039671e-01 1.59408582e-01 1.84822139e-02 4.33560599e+02] [-1.59384249e-01 9.87212676e-01 -2.79167153e-03 -7.06482893e+01] [-1.86908923e-02 -1.90283239e-04 9.99825292e-01 -8.68460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters 0.02954172437536588 Centerline is valid? [True, True] Translation: X:433.59, Y:-70.64, Z:-8.69 [[ 9.86031479e-01 1.65622003e-01 1.76429684e-02 4.33589965e+02] [-1.65600836e-01 9.86189264e-01 -2.66415523e-03 -7.06408267e+01] [-1.78405488e-02 -2.94749398e-04 9.99840801e-01 -8.68689177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.534012739 meters 0.028183968062475 Centerline is valid? [True, True] Translation: X:433.62, Y:-70.65, Z:-8.69 [[ 9.85678476e-01 1.67690028e-01 1.78324811e-02 4.33618941e+02] [-1.67668755e-01 9.85839714e-01 -2.69207863e-03 -7.06461622e+01] [-1.80314028e-02 -3.36425945e-04 9.99837364e-01 -8.68656272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters 0.030961108126810487 Centerline is valid? [True, True] Translation: X:433.65, Y:-70.64, Z:-8.68 [[ 9.85266771e-01 1.69975112e-01 1.89169356e-02 4.33647639e+02] [-1.69951602e-01 9.85448274e-01 -2.85535325e-03 -7.06437334e+01] [-1.91270005e-02 -4.01678833e-04 9.99816982e-01 -8.68407722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.594012739 meters 0.030619690668021653 Centerline is valid? [True, True] Translation: X:433.68, Y:-70.65, Z:-8.68 [[ 9.85114576e-01 1.70747805e-01 1.98609996e-02 4.33676453e+02] [-1.70722072e-01 9.85314668e-01 -2.99660782e-03 -7.06470379e+01] [-2.00809984e-02 -4.38708957e-04 9.99798260e-01 -8.68305125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters 0.03436798820624935 Centerline is valid? [True, True] Translation: X:433.71, Y:-70.64, Z:-8.68 [[ 9.84878930e-01 1.72079512e-01 2.00533197e-02 4.33705450e+02] [-1.72053573e-01 9.85082951e-01 -3.02465359e-03 -7.06435073e+01] [-2.02746642e-02 -4.71327723e-04 9.99794337e-01 -8.68339001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.654012739 meters 0.036685457437335305 Centerline is valid? [True, True] Translation: X:433.74, Y:-70.64, Z:-8.69 [[ 9.84207325e-01 1.75940189e-01 1.95189953e-02 4.33735614e+02] [-1.75916395e-01 9.84400712e-01 -2.94291478e-03 -7.06405937e+01] [-1.97322898e-02 -5.37273001e-04 9.99805155e-01 -8.68567716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters 0.03882536971209083 Centerline is valid? [True, True] Translation: X:433.77, Y:-70.64, Z:-8.69 [[ 9.83830536e-01 1.78141080e-01 1.85265406e-02 4.33765137e+02] [-1.78120045e-01 9.84004802e-01 -2.79268503e-03 -7.06399252e+01] [-1.87276968e-02 -5.52419439e-04 9.99824469e-01 -8.68812059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.714012739 meters 0.04000501495892275 Centerline is valid? [True, True] Translation: X:433.80, Y:-70.64, Z:-8.69 [[ 9.83485248e-01 1.80050412e-01 1.84015433e-02 4.33795020e+02] [-1.80030010e-01 9.83657210e-01 -2.77293462e-03 -7.06373322e+01] [-1.86000788e-02 -5.85689743e-04 9.99826832e-01 -8.68902256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters 0.04231879868246998 Centerline is valid? [True, True] Translation: X:433.82, Y:-70.63, Z:-8.69 [[ 9.83486765e-01 1.79936541e-01 1.94068061e-02 4.33823421e+02] [-1.79913841e-01 9.83678027e-01 -2.92370184e-03 -7.06348614e+01] [-1.96161296e-02 -6.16130970e-04 9.99807395e-01 -8.68809356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.774012739 meters 0.04267016656244508 Centerline is valid? [True, True] Translation: X:433.85, Y:-70.64, Z:-8.69 [[ 9.83549992e-01 1.79511949e-01 2.01214741e-02 4.33851930e+02] [-1.79487483e-01 9.83755590e-01 -3.03013416e-03 -7.06356608e+01] [-2.03385579e-02 -6.31264308e-04 9.99792951e-01 -8.68761757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters 0.03859395321732922 Centerline is valid? [True, True] Translation: X:433.88, Y:-70.64, Z:-8.69 [[ 9.84081460e-01 1.76551150e-01 2.03315207e-02 4.33880784e+02] [-1.76525558e-01 9.84291298e-01 -3.06083604e-03 -7.06428306e+01] [-2.05525330e-02 -5.76921028e-04 9.99788608e-01 -8.68862283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.834012739 meters 0.035096691863229765 Centerline is valid? [True, True] Translation: X:433.91, Y:-70.65, Z:-8.69 [[ 9.84498392e-01 1.74170764e-01 2.06751302e-02 4.33908575e+02] [-1.74143786e-01 9.84715318e-01 -3.11206698e-03 -7.06500962e+01] [-2.09011485e-02 -5.36620510e-04 9.99781403e-01 -8.68891921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters 0.031133352098875137 Centerline is valid? [True, True] Translation: X:433.94, Y:-70.66, Z:-8.69 [[ 9.85260276e-01 1.69790251e-01 2.08196702e-02 4.33936989e+02] [-1.69761936e-01 9.85480122e-01 -3.13285462e-03 -7.06554653e+01] [-2.10492993e-02 -4.47710309e-04 9.99778339e-01 -8.68933146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.894012739 meters 0.02988881061477527 Centerline is valid? [True, True] Translation: X:433.97, Y:-70.66, Z:-8.69 [[ 9.85539116e-01 1.68194660e-01 2.05720109e-02 4.33965119e+02] [-1.68166677e-01 9.85753716e-01 -3.09510003e-03 -7.06595135e+01] [-2.07995155e-02 -4.09184580e-04 9.99783583e-01 -8.69030687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters 0.028748016812687852 Centerline is valid? [True, True] Translation: X:433.99, Y:-70.66, Z:-8.69 [[ 9.85741425e-01 1.67038060e-01 2.03009653e-02 4.33993438e+02] [-1.67010584e-01 9.85950375e-01 -3.05338381e-03 -7.06634115e+01] [-2.05257756e-02 -3.80629152e-04 9.99789252e-01 -8.69172607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.954012739 meters 0.027684036124475866 Centerline is valid? [True, True] Translation: X:434.02, Y:-70.66, Z:-8.69 [[ 9.86018601e-01 1.65473333e-01 1.96441989e-02 4.34021846e+02] [-1.65447314e-01 9.86214207e-01 -2.95371430e-03 -7.06626846e+01] [-1.98621490e-02 -3.37662695e-04 9.99802671e-01 -8.69288826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters 0.027917779925251487 Centerline is valid? [True, True] Translation: X:434.05, Y:-70.66, Z:-8.69 [[ 9.86098410e-01 1.65047538e-01 1.92155342e-02 4.34050136e+02] [-1.65022582e-01 9.86285560e-01 -2.88816486e-03 -7.06626389e+01] [-1.94286884e-02 -3.22982289e-04 9.99811193e-01 -8.69397692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.014012739 meters 0.027452183014702928 Centerline is valid? [True, True] Translation: X:434.08, Y:-70.66, Z:-8.70 [[ 9.86261606e-01 1.64185811e-01 1.81951842e-02 4.34078366e+02] [-1.64163307e-01 9.86429387e-01 -2.73380931e-03 -7.06630910e+01] [-1.83971171e-02 -2.90730456e-04 9.99830716e-01 -8.69723760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters 0.026727706569215214 Centerline is valid? [True, True] Translation: X:434.11, Y:-70.67, Z:-8.70 [[ 9.86413144e-01 1.63281680e-01 1.81163455e-02 4.34107104e+02] [-1.63259238e-01 9.86579453e-01 -2.72090999e-03 -7.06670881e+01] [-1.83174890e-02 -2.73719373e-04 9.99832183e-01 -8.69824833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.074012739 meters 0.025403647298946758 Centerline is valid? [True, True] Translation: X:434.14, Y:-70.67, Z:-8.70 [[ 9.86625696e-01 1.61953533e-01 1.84604607e-02 4.34135447e+02] [-1.61930013e-01 9.86798352e-01 -2.77173991e-03 -7.06713119e+01] [-1.86656453e-02 -2.54632817e-04 9.99825749e-01 -8.69752424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters 0.02262383894172515 Centerline is valid? [True, True] Translation: X:434.16, Y:-70.68, Z:-8.69 [[ 9.87079107e-01 1.58909284e-01 2.05590820e-02 4.34163844e+02] [-1.58879473e-01 9.87293164e-01 -3.08579536e-03 -7.06761835e+01] [-2.07882026e-02 -2.20491978e-04 9.99783878e-01 -8.69431932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.134012739 meters 0.0220592814852732 Centerline is valid? [True, True] Translation: X:434.19, Y:-70.68, Z:-8.69 [[ 9.87277452e-01 1.57655628e-01 2.06866065e-02 4.34191537e+02] [-1.57625191e-01 9.87494134e-01 -3.10396032e-03 -7.06797866e+01] [-2.09172594e-02 -1.96260271e-04 9.99781191e-01 -8.69437159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters 0.020106493280236903 Centerline is valid? [True, True] Translation: X:434.22, Y:-70.69, Z:-8.70 [[ 9.87563294e-01 1.56005403e-01 1.95206100e-02 4.34219605e+02] [-1.55978000e-01 9.87756190e-01 -2.92793886e-03 -7.06857700e+01] [-1.97383777e-02 -1.53260762e-04 9.99805167e-01 -8.69734434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.194012739 meters 0.020225029842681364 Centerline is valid? [True, True] Translation: X:434.25, Y:-70.69, Z:-8.70 [[ 9.87655721e-01 1.55443023e-01 1.93298812e-02 4.34247417e+02] [-1.55416063e-01 9.87844850e-01 -2.89837803e-03 -7.06881918e+01] [-1.95454562e-02 -1.41574399e-04 9.99808959e-01 -8.69857582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters 0.0205628819819348 Centerline is valid? [True, True] Translation: X:434.28, Y:-70.69, Z:-8.70 [[ 9.87771072e-01 1.54659802e-01 1.97143517e-02 4.34275629e+02] [-1.54631629e-01 9.87967777e-01 -2.95476847e-03 -7.06897202e+01] [-1.99341281e-02 -1.29827506e-04 9.99801287e-01 -8.69894444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.254012739 meters 0.019378935976383148 Centerline is valid? [True, True] Translation: X:434.30, Y:-70.70, Z:-8.70 [[ 9.88081441e-01 1.52444312e-01 2.13494140e-02 4.34303983e+02] [-1.52410783e-01 9.88312058e-01 -3.19844366e-03 -7.06965544e+01] [-2.15874678e-02 -9.35580880e-05 9.99766959e-01 -8.69566220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters 0.01886215460817789 Centerline is valid? [True, True] Translation: X:434.33, Y:-70.70, Z:-8.69 [[ 9.88228909e-01 1.51334415e-01 2.23946098e-02 4.34331954e+02] [-1.51297261e-01 9.88482620e-01 -3.35399496e-03 -7.07021305e+01] [-2.26442574e-02 -7.37283470e-05 9.99743583e-01 -8.69407670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.314012739 meters 0.018441090442339055 Centerline is valid? [True, True] Translation: X:434.36, Y:-70.71, Z:-8.69 [[ 9.88777603e-01 1.47514322e-01 2.36299918e-02 4.34359995e+02] [-1.47471892e-01 9.89059920e-01 -3.53789246e-03 -7.07103915e+01] [-2.38933676e-02 1.34292441e-05 9.99714513e-01 -8.69307618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters 0.018699297990303954 Centerline is valid? [True, True] Translation: X:434.39, Y:-70.72, Z:-8.69 [[ 9.89137478e-01 1.45072254e-01 2.36873406e-02 4.34388977e+02] [-1.45028941e-01 9.89421061e-01 -3.54542708e-03 -7.07177936e+01] [-2.39510967e-02 7.15648785e-05 9.99713129e-01 -8.69458559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.374012739 meters 0.019453349451820576 Centerline is valid? [True, True] Translation: X:434.42, Y:-70.73, Z:-8.70 [[ 9.89515560e-01 1.42529786e-01 2.33284421e-02 4.34417182e+02] [-1.42487083e-01 9.89790505e-01 -3.49115644e-03 -7.07268557e+01] [-2.35878643e-02 1.30551947e-04 9.99721759e-01 -8.69703248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters 0.022319351405009145 Centerline is valid? [True, True] Translation: X:434.45, Y:-70.74, Z:-8.70 [[ 9.90316355e-01 1.37264056e-01 2.07869411e-02 4.34445452e+02] [-1.37228999e-01 9.90534465e-01 -3.11039616e-03 -7.07445069e+01] [-2.10171272e-02 2.27705057e-04 9.99779090e-01 -8.70196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.434012739 meters 0.02523890746408483 Centerline is valid? [True, True] Translation: X:434.47, Y:-70.76, Z:-8.71 [[ 9.90652554e-01 1.35055424e-01 1.91715636e-02 4.34473197e+02] [-1.35025187e-01 9.90838013e-01 -2.86891458e-03 -7.07570941e+01] [-1.93833765e-02 2.53453605e-04 9.99812093e-01 -8.70502403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters 0.0265340320969288 Centerline is valid? [True, True] Translation: X:434.50, Y:-70.77, Z:-8.71 [[ 9.91190726e-01 1.31361226e-01 1.68870636e-02 4.34502936e+02] [-1.31337235e-01 9.91334528e-01 -2.52676891e-03 -7.07693103e+01] [-1.70726487e-02 2.86609673e-04 9.99854211e-01 -8.70891396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.494012739 meters 0.027716024386121172 Centerline is valid? [True, True] Translation: X:434.53, Y:-70.78, Z:-8.71 [[ 9.91270203e-01 1.30740736e-01 1.70365463e-02 4.34532558e+02] [-1.30716219e-01 9.91416547e-01 -2.54958082e-03 -7.07791501e+01] [-1.72236479e-02 3.00370595e-04 9.99851617e-01 -8.70992073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters 0.02712310539694638 Centerline is valid? [True, True] Translation: X:434.56, Y:-70.79, Z:-8.71 [[ 9.91205224e-01 1.31121881e-01 1.78677210e-02 4.34562881e+02] [-1.31094970e-01 9.91366207e-01 -2.67421829e-03 -7.07859006e+01] [-1.80641034e-02 3.08330780e-04 9.99836783e-01 -8.70902764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55401273900003 meters 0.026242199675298544 Centerline is valid? [True, True] Translation: X:434.59, Y:-70.79, Z:-8.71 [[ 9.90994743e-01 1.32562753e-01 1.88821517e-02 4.34592378e+02] [-1.32532961e-01 9.91174570e-01 -2.82603169e-03 -7.07910761e+01] [-1.90901351e-02 2.98075077e-04 9.99817722e-01 -8.70766377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters 0.021998467472263878 Centerline is valid? [True, True] Translation: X:434.62, Y:-70.79, Z:-8.71 [[ 9.90217995e-01 1.38155920e-01 1.95259937e-02 4.34622993e+02] [-1.38125143e-01 9.90410472e-01 -2.92263496e-03 -7.07893929e+01] [-1.97425280e-02 1.97015046e-04 9.99805078e-01 -8.70622931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.614012739 meters 0.019451188335746283 Centerline is valid? [True, True] Translation: X:434.65, Y:-70.79, Z:-8.71 [[ 9.89537643e-01 1.42948774e-01 1.95166771e-02 4.34653916e+02] [-1.42918958e-01 9.89730083e-01 -2.92124046e-03 -7.07903543e+01] [-1.97338302e-02 1.01374246e-04 9.99805264e-01 -8.70736729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters 0.01898871160519378 Centerline is valid? [True, True] Translation: X:434.68, Y:-70.79, Z:-8.71 [[ 9.89333706e-01 1.44378883e-01 1.93275979e-02 4.34684543e+02] [-1.44349915e-01 9.89522477e-01 -2.89293923e-03 -7.07943054e+01] [-1.95427718e-02 7.21451818e-05 9.99809019e-01 -8.70796360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.674012739 meters 0.018850338752489888 Centerline is valid? [True, True] Translation: X:434.71, Y:-70.80, Z:-8.71 [[ 9.89136376e-01 1.45692408e-01 1.95691453e-02 4.34713889e+02] [-1.45662969e-01 9.89329935e-01 -2.92908742e-03 -7.07986237e+01] [-1.97870870e-02 4.67671189e-05 9.99804215e-01 -8.70889501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters 0.018678355690844764 Centerline is valid? [True, True] Translation: X:434.74, Y:-70.80, Z:-8.71 [[ 9.88906218e-01 1.47068930e-01 2.08619874e-02 4.34743389e+02] [-1.47035773e-01 9.89126245e-01 -3.12284809e-03 -7.08046948e+01] [-2.10944132e-02 2.07454585e-05 9.99777488e-01 -8.70779554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.734012739 meters 0.018642169154941057 Centerline is valid? [True, True] Translation: X:434.77, Y:-70.81, Z:-8.71 [[ 9.88878195e-01 1.47203662e-01 2.12367133e-02 4.34772851e+02] [-1.47169344e-01 9.89106203e-01 -3.17845138e-03 -7.08111781e+01] [-2.14732445e-02 1.77081013e-05 9.99769423e-01 -8.70753643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters 0.01870962020294952 Centerline is valid? [True, True] Translation: X:434.80, Y:-70.82, Z:-8.71 [[ 9.88831601e-01 1.47624610e-01 2.04704386e-02 4.34801907e+02] [-1.47592815e-01 9.89043464e-01 -3.06376008e-03 -7.08157615e+01] [-2.06984399e-02 8.25313263e-06 9.99785764e-01 -8.70880352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.794012739 meters 0.018752198684046015 Centerline is valid? [True, True] Translation: X:434.83, Y:-70.82, Z:-8.71 [[ 9.88639569e-01 1.49006083e-01 1.97228167e-02 4.34830991e+02] [-1.48976848e-01 9.88836279e-01 -2.95163564e-03 -7.08175076e+01] [-1.99424484e-02 -2.01392722e-05 9.99801129e-01 -8.71114825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters 0.01906613051905841 Centerline is valid? [True, True] Translation: X:434.86, Y:-70.82, Z:-8.71 [[ 9.88384199e-01 1.50755978e-01 1.92174603e-02 4.34861089e+02] [-1.50728557e-01 9.88571005e-01 -2.87579270e-03 -7.08190575e+01] [-1.94313669e-02 -5.42319809e-05 9.99811192e-01 -8.71282860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.854012739 meters 0.0201610064094064 Centerline is valid? [True, True] Translation: X:434.89, Y:-70.82, Z:-8.72 [[ 9.87930214e-01 1.53866898e-01 1.78569182e-02 4.34889958e+02] [-1.53843735e-01 9.88091578e-01 -2.67185532e-03 -7.08188844e+01] [-1.80553805e-02 -1.07568398e-04 9.99836983e-01 -8.71552493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters 0.020541143284815298 Centerline is valid? [True, True] Translation: X:434.92, Y:-70.82, Z:-8.72 [[ 9.87864160e-01 1.54346106e-01 1.73689490e-02 4.34917847e+02] [-1.54324279e-01 9.88016835e-01 -2.59808340e-03 -7.08215988e+01] [-1.75618181e-02 -1.13897070e-04 9.99845773e-01 -8.71686283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.914012739 meters 0.019983785134431924 Centerline is valid? [True, True] Translation: X:434.95, Y:-70.83, Z:-8.72 [[ 9.87999119e-01 1.53364199e-01 1.83620161e-02 4.34946025e+02] [-1.53339660e-01 9.88169728e-01 -2.74533888e-03 -7.08271456e+01] [-1.85658252e-02 -1.03232901e-04 9.99827635e-01 -8.71515242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters 0.019654896218918947 Centerline is valid? [True, True] Translation: X:434.97, Y:-70.83, Z:-8.71 [[ 9.88106084e-01 1.52487577e-01 1.98470403e-02 4.34974331e+02] [-1.52458751e-01 9.88305383e-01 -2.96633963e-03 -7.08331135e+01] [-2.00672667e-02 -9.47967505e-05 9.99798628e-01 -8.71280600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.974012739 meters 0.01928179139041351 Centerline is valid? [True, True] Translation: X:435.00, Y:-70.84, Z:-8.71 [[ 9.88215288e-01 1.51570432e-01 2.13763797e-02 4.35003365e+02] [-1.51536795e-01 9.88446457e-01 -3.19411440e-03 -7.08390476e+01] [-2.16135400e-02 -8.28353782e-05 9.99766397e-01 -8.71075097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters 0.018957252737925295 Centerline is valid? [True, True] Translation: X:435.03, Y:-70.84, Z:-8.71 [[ 9.88385081e-01 1.50399491e-01 2.17927642e-02 4.35031701e+02] [-1.50364258e-01 9.88625303e-01 -3.25580605e-03 -7.08446278e+01] [-2.20345497e-02 -5.88626990e-05 9.99757208e-01 -8.71108094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.034012739 meters 0.018834259346367888 Centerline is valid? [True, True] Translation: X:435.06, Y:-70.85, Z:-8.71 [[ 9.88519613e-01 1.49626236e-01 2.09991385e-02 4.35060813e+02] [-1.49593358e-01 9.88742630e-01 -3.13676392e-03 -7.08499954e+01] [-2.12320856e-02 -4.05789910e-05 9.99774573e-01 -8.71308316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters 0.01866455560159376 Centerline is valid? [True, True] Translation: X:435.09, Y:-70.86, Z:-8.71 [[ 9.88884379e-01 1.47327869e-01 2.00545252e-02 4.35089059e+02] [-1.47297419e-01 9.89087711e-01 -2.99520360e-03 -7.08595588e+01] [-2.02769613e-02 7.93025419e-06 9.99794401e-01 -8.71470399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.094012739 meters 0.018806290444610456 Centerline is valid? [True, True] Translation: X:435.12, Y:-70.87, Z:-8.71 [[ 9.89119637e-01 1.45703607e-01 2.03175495e-02 4.35119003e+02] [-1.45672005e-01 9.89328286e-01 -3.03473707e-03 -7.08677307e+01] [-2.05428985e-02 4.20198527e-05 9.99788972e-01 -8.71485161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters 0.019071163360579638 Centerline is valid? [True, True] Translation: X:435.15, Y:-70.88, Z:-8.71 [[ 9.89379768e-01 1.43829418e-01 2.09945798e-02 4.35149218e+02] [-1.43795253e-01 9.89602492e-01 -3.13588358e-03 -7.08758226e+01] [-2.12273207e-02 8.36588663e-05 9.99774672e-01 -8.71441180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.154012739 meters 0.020014537534916933 Centerline is valid? [True, True] Translation: X:435.18, Y:-70.89, Z:-8.71 [[ 9.89746903e-01 1.41161693e-01 2.17817581e-02 4.35179314e+02] [-1.41124255e-01 9.89986543e-01 -3.25421863e-03 -7.08876347e+01] [-2.20230184e-02 1.46918429e-04 9.99757453e-01 -8.71302501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters 0.020641401713103878 Centerline is valid? [True, True] Translation: X:435.21, Y:-70.90, Z:-8.71 [[ 9.89858645e-01 1.40231814e-01 2.26914476e-02 4.35209406e+02] [-1.40190855e-01 9.90118683e-01 -3.39374341e-03 -7.08989945e+01] [-2.29431370e-02 1.78192796e-04 9.99736756e-01 -8.71109496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.214012739 meters 0.02074766660261958 Centerline is valid? [True, True] Translation: X:435.24, Y:-70.91, Z:-8.71 [[ 9.89861028e-01 1.40123333e-01 2.32507376e-02 4.35241242e+02] [-1.40080218e-01 9.90134039e-01 -3.48088813e-03 -7.09059860e+01] [-2.35091004e-02 1.88627114e-04 9.99723605e-01 -8.71059465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters 0.020731285413863182 Centerline is valid? [True, True] Translation: X:435.27, Y:-70.91, Z:-8.71 [[ 9.89794228e-01 1.40624348e-01 2.30690105e-02 4.35272867e+02] [-1.40581974e-01 9.90063009e-01 -3.45651598e-03 -7.09118542e+01] [-2.33258443e-02 1.78152520e-04 9.99727900e-01 -8.71074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.274012739 meters 0.020161365505581896 Centerline is valid? [True, True] Translation: X:435.30, Y:-70.92, Z:-8.71 [[ 9.89669061e-01 1.41608832e-01 2.24073543e-02 4.35304833e+02] [-1.41569021e-01 9.89922681e-01 -3.36114063e-03 -7.09157784e+01] [-2.26575154e-02 1.54229674e-04 9.99743274e-01 -8.71296653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters 0.01940615212239734 Centerline is valid? [True, True] Translation: X:435.34, Y:-70.92, Z:-8.72 [[ 9.89422939e-01 1.43602343e-01 2.05089002e-02 4.35335272e+02] [-1.43569358e-01 9.89635467e-01 -3.07940874e-03 -7.09209942e+01] [-2.07385453e-02 1.02388010e-04 9.99784928e-01 -8.71661728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.334012739 meters 0.01940615212239734 Centerline is valid? [True, True] Translation: X:435.37, Y:-70.93, Z:-8.72 [[ 9.89419708e-01 1.43624667e-01 2.05084560e-02 4.35365752e+02] [-1.43591626e-01 9.89632227e-01 -3.08236396e-03 -7.09256199e+01] [-2.07385325e-02 1.04909107e-04 9.99784928e-01 -8.71724350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters 0.01938734344899589 Centerline is valid? [True, True] Translation: X:435.40, Y:-70.93, Z:-8.72 [[ 9.89415264e-01 1.43773384e-01 1.96633827e-02 4.35395603e+02] [-1.43743032e-01 9.89610633e-01 -2.95573276e-03 -7.09338627e+01] [-1.98840483e-02 9.79728570e-05 9.99802288e-01 -8.71950393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.394012739 meters 0.01987850600839008 Centerline is valid? [True, True] Translation: X:435.43, Y:-70.94, Z:-8.72 [[ 9.89555966e-01 1.42777545e-01 1.98384063e-02 4.35425904e+02] [-1.42746390e-01 9.89754797e-01 -2.98502327e-03 -7.09423177e+01] [-2.00613521e-02 1.21986706e-04 9.99798743e-01 -8.72050485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters 0.020765087901644233 Centerline is valid? [True, True] Translation: X:435.46, Y:-70.95, Z:-8.72 [[ 9.89750602e-01 1.41484693e-01 1.93862827e-02 4.35456647e+02] [-1.41454640e-01 9.89940432e-01 -2.91979170e-03 -7.09518317e+01] [-1.96043709e-02 1.47585953e-04 9.99807805e-01 -8.72201458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.454012739 meters 0.02163073054697347 Centerline is valid? [True, True] Translation: X:435.49, Y:-70.96, Z:-8.72 [[ 9.89942198e-01 1.40164968e-01 1.91892047e-02 4.35487114e+02] [-1.40135215e-01 9.90128149e-01 -2.89313409e-03 -7.09618321e+01] [-1.94052878e-02 1.74952188e-04 9.99811684e-01 -8.72380431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters 0.023053222790722767 Centerline is valid? [True, True] Translation: X:435.52, Y:-70.98, Z:-8.72 [[ 9.90118005e-01 1.38894243e-01 1.93578338e-02 4.35516916e+02] [-1.38863667e-01 9.90307198e-01 -2.92142676e-03 -7.09754382e+01] [-1.95759715e-02 2.04457449e-04 9.99808351e-01 -8.72380530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.514012739 meters 0.022677009743032345 Centerline is valid? [True, True] Translation: X:435.55, Y:-70.98, Z:-8.72 [[ 9.90048449e-01 1.39346796e-01 1.96605992e-02 4.35548794e+02] [-1.39315286e-01 9.90243622e-01 -2.97002429e-03 -7.09826231e+01] [-1.98826463e-02 2.01445938e-04 9.99802300e-01 -8.72355242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters 0.020658717123394784 Centerline is valid? [True, True] Translation: X:435.58, Y:-70.99, Z:-8.72 [[ 9.89618383e-01 1.42256896e-01 2.04555818e-02 4.35580331e+02] [-1.42223330e-01 9.89829759e-01 -3.09390119e-03 -7.09877353e+01] [-2.06876724e-02 1.52520526e-04 9.99785976e-01 -8.72210930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.574012739 meters 0.019417221313454493 Centerline is valid? [True, True] Translation: X:435.61, Y:-70.99, Z:-8.72 [[ 9.89252688e-01 1.44784864e-01 2.04074122e-02 4.35611894e+02] [-1.44751928e-01 9.89463154e-01 -3.08978414e-03 -7.09908860e+01] [-2.06397364e-02 1.02565006e-04 9.99786973e-01 -8.72272038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters 0.01853475757704846 Centerline is valid? [True, True] Translation: X:435.64, Y:-70.99, Z:-8.72 [[ 9.88878650e-01 1.47360695e-01 2.00957835e-02 4.35644167e+02] [-1.47329226e-01 9.89082819e-01 -3.04566604e-03 -7.09932731e+01] [-2.03252057e-02 5.10978941e-05 9.99793420e-01 -8.72384185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.634012739 meters 0.01868414015693772 Centerline is valid? [True, True] Translation: X:435.68, Y:-70.99, Z:-8.73 [[ 9.88056090e-01 1.52849918e-01 1.95465231e-02 4.35675583e+02] [-1.52821159e-01 9.88249412e-01 -2.96544731e-03 -7.09903994e+01] [-1.97701083e-02 -5.70940375e-05 9.99804551e-01 -8.72542291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters 0.019512090264513022 Centerline is valid? [True, True] Translation: X:435.71, Y:-70.99, Z:-8.73 [[ 9.87594939e-01 1.55804651e-01 1.95229982e-02 4.35706956e+02] [-1.55776535e-01 9.87787881e-01 -2.96208614e-03 -7.09918445e+01] [-1.97460878e-02 -1.15883729e-04 9.99805020e-01 -8.72613574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.694012739 meters 0.024072778008811878 Centerline is valid? [True, True] Translation: X:435.74, Y:-70.98, Z:-8.73 [[ 9.86718261e-01 1.61233630e-01 1.97683873e-02 4.35737298e+02] [-1.61205881e-01 9.86916240e-01 -2.99980570e-03 -7.09849972e+01] [-1.99934121e-02 -2.26817232e-04 9.99800086e-01 -8.72563178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters 0.02405540738925079 Centerline is valid? [True, True] Translation: X:435.77, Y:-70.99, Z:-8.73 [[ 9.86351060e-01 1.63411572e-01 2.02050870e-02 4.35767284e+02] [-1.63383049e-01 9.86557946e-01 -3.06559088e-03 -7.09886873e+01] [-2.04344422e-02 -2.77419915e-04 9.99791156e-01 -8.72544730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.754012739 meters 0.026349252567927146 Centerline is valid? [True, True] Translation: X:435.80, Y:-70.99, Z:-8.73 [[ 9.86117904e-01 1.64773642e-01 2.05213623e-02 4.35797488e+02] [-1.64744515e-01 9.86331359e-01 -3.11357205e-03 -7.09867029e+01] [-2.07538977e-02 -3.10432731e-04 9.99784566e-01 -8.72577603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters 0.027187998109758527 Centerline is valid? [True, True] Translation: X:435.83, Y:-70.99, Z:-8.73 [[ 9.85832413e-01 1.66421590e-01 2.09358258e-02 4.35827336e+02] [-1.66391651e-01 9.86054628e-01 -3.17619264e-03 -7.09858647e+01] [-2.11724550e-02 -3.52352966e-04 9.99775776e-01 -8.72586063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.814012739 meters 0.027797412551509505 Centerline is valid? [True, True] Translation: X:435.86, Y:-70.99, Z:-8.73 [[ 9.85773231e-01 1.66724372e-01 2.13101048e-02 4.35857161e+02] [-1.66693435e-01 9.86003474e-01 -3.23247375e-03 -7.09884210e+01] [-2.15507695e-02 -3.65768471e-04 9.99767688e-01 -8.72538751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters 0.028937344983056494 Centerline is valid? [True, True] Translation: X:435.89, Y:-70.99, Z:-8.73 [[ 9.85766314e-01 1.66773392e-01 2.12464104e-02 4.35885820e+02] [-1.66742662e-01 9.85995183e-01 -3.22230996e-03 -7.09895776e+01] [-2.14862539e-02 -3.66238413e-04 9.99769077e-01 -8.72560770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.874012739 meters 0.027564248744890888 Centerline is valid? [True, True] Translation: X:435.91, Y:-70.99, Z:-8.73 [[ 9.86031911e-01 1.65219325e-01 2.10628814e-02 4.35913597e+02] [-1.65188785e-01 9.86256795e-01 -3.19373239e-03 -7.09931334e+01] [-2.13010762e-02 -3.30229728e-04 9.99773052e-01 -8.72690765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters 0.02546283301215809 Centerline is valid? [True, True] Translation: X:435.94, Y:-71.00, Z:-8.73 [[ 9.86372887e-01 1.63168583e-01 2.10841257e-02 4.35941537e+02] [-1.63137538e-01 9.86598161e-01 -3.19578150e-03 -7.09996783e+01] [-2.13230108e-02 -2.87380122e-04 9.99772597e-01 -8.72823196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.934012739 meters 0.02123718741483001 Centerline is valid? [True, True] Translation: X:435.97, Y:-71.01, Z:-8.73 [[ 9.87219785e-01 1.57938913e-01 2.12695980e-02 4.35969069e+02] [-1.57906124e-01 9.87448869e-01 -3.22298485e-03 -7.10136662e+01] [-2.15116752e-02 -1.76805371e-04 9.99768582e-01 -8.72844349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters 0.01920569118556774 Centerline is valid? [True, True] Translation: X:436.00, Y:-71.03, Z:-8.73 [[ 9.87684259e-01 1.54965508e-01 2.15753751e-02 4.35997738e+02] [-1.54931064e-01 9.87919875e-01 -3.26909556e-03 -7.10250080e+01] [-2.18213390e-02 -1.13861593e-04 9.99761880e-01 -8.72923979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.994012739 meters 0.018189872047537733 Centerline is valid? [True, True] Translation: X:436.03, Y:-71.04, Z:-8.73 [[ 9.88080575e-01 1.52450476e-01 2.13454661e-02 4.36028511e+02] [-1.52416171e-01 9.88311109e-01 -3.23446642e-03 -7.10353844e+01] [-2.15890572e-02 -5.74807700e-05 9.99766927e-01 -8.73054008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters 0.018069353225007117 Centerline is valid? [True, True] Translation: X:436.06, Y:-71.05, Z:-8.73 [[ 9.88755421e-01 1.48131880e-01 2.04856879e-02 4.36058632e+02] [-1.48099289e-01 9.88967616e-01 -3.10739466e-03 -7.10495461e+01] [-2.07199862e-02 3.85375016e-05 9.99785317e-01 -8.73252478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05401273900003 meters 0.01849399468816451 Centerline is valid? [True, True] Translation: X:436.09, Y:-71.06, Z:-8.73 [[ 9.88983901e-01 1.46627528e-01 2.02783415e-02 4.36090866e+02] [-1.46595206e-01 9.89191772e-01 -3.07942816e-03 -7.10591913e+01] [-2.05106975e-02 7.27972176e-05 9.99789631e-01 -8.73362198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters 0.0192287432359438 Centerline is valid? [True, True] Translation: X:436.12, Y:-71.07, Z:-8.73 [[ 9.89283720e-01 1.44549057e-01 2.05740396e-02 4.36121361e+02] [-1.44515256e-01 9.89497628e-01 -3.12815895e-03 -7.10716708e+01] [-2.08101358e-02 1.21374132e-04 9.99783438e-01 -8.73352306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.114012739 meters 0.01948427885298568 Centerline is valid? [True, True] Translation: X:436.15, Y:-71.08, Z:-8.73 [[ 9.89248151e-01 1.44779438e-01 2.06642455e-02 4.36152844e+02] [-1.44745321e-01 9.89463946e-01 -3.14520150e-03 -7.10784049e+01] [-2.09018864e-02 1.20331931e-04 9.99781524e-01 -8.73344884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters 0.018911694141851787 Centerline is valid? [True, True] Translation: X:436.19, Y:-71.08, Z:-8.73 [[ 9.89141022e-01 1.45515601e-01 2.06215570e-02 4.36185071e+02] [-1.45481711e-01 9.89355951e-01 -3.14221982e-03 -7.10829004e+01] [-2.08593021e-02 1.08039139e-04 9.99782415e-01 -8.73484165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.174012739 meters 0.018213048649125988 Centerline is valid? [True, True] Translation: X:436.22, Y:-71.09, Z:-8.74 [[ 9.88872406e-01 1.47410144e-01 2.00403323e-02 4.36216439e+02] [-1.47378453e-01 9.89075449e-01 -3.05728585e-03 -7.10876385e+01] [-2.02720756e-02 6.97524492e-05 9.99794498e-01 -8.73720817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters 0.018193642041968754 Centerline is valid? [True, True] Translation: X:436.25, Y:-71.09, Z:-8.74 [[ 9.88763777e-01 1.48129646e-01 2.00948287e-02 4.36248329e+02] [-1.48097862e-01 9.88967949e-01 -3.06896485e-03 -7.10936021e+01] [-2.03277463e-02 5.84801020e-05 9.99793368e-01 -8.73706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.234012739 meters 0.01793682658383737 Centerline is valid? [True, True] Translation: X:436.28, Y:-71.10, Z:-8.74 [[ 9.88669386e-01 1.48707046e-01 2.04709665e-02 4.36280157e+02] [-1.48674108e-01 9.88881293e-01 -3.13012527e-03 -7.10999222e+01] [-2.07088275e-02 5.11563340e-05 9.99785548e-01 -8.73687900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters 0.01774425483011431 Centerline is valid? [True, True] Translation: X:436.31, Y:-71.11, Z:-8.74 [[ 9.88574205e-01 1.49242576e-01 2.11588093e-02 4.36313026e+02] [-1.49207428e-01 9.88800613e-01 -3.23911543e-03 -7.11062200e+01] [-2.14052575e-02 4.50544458e-05 9.99770880e-01 -8.73586671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.294012739 meters 0.017766915298819772 Centerline is valid? [True, True] Translation: X:436.34, Y:-71.11, Z:-8.74 [[ 9.88595509e-01 1.49173364e-01 2.06452668e-02 4.36344087e+02] [-1.49139806e-01 9.88811056e-01 -3.16433961e-03 -7.11124020e+01] [-2.08863032e-02 4.92208477e-05 9.99781856e-01 -8.73709466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters 0.018169777942253083 Centerline is valid? [True, True] Translation: X:436.38, Y:-71.12, Z:-8.74 [[ 9.88698374e-01 1.48683147e-01 1.92054191e-02 4.36375520e+02] [-1.48653974e-01 9.88884886e-01 -2.94573779e-03 -7.11190948e+01] [-1.94299302e-02 5.74842854e-05 9.99811219e-01 -8.74031450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.354012739 meters 0.01805676675603148 Centerline is valid? [True, True] Translation: X:436.41, Y:-71.12, Z:-8.74 [[ 9.88705665e-01 1.48683973e-01 1.88197717e-02 4.36408425e+02] [-1.48655899e-01 9.88884762e-01 -2.88980244e-03 -7.11240917e+01] [-1.90402528e-02 5.94939500e-05 9.99818716e-01 -8.74120097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters 0.018040828762677808 Centerline is valid? [True, True] Translation: X:436.44, Y:-71.13, Z:-8.74 [[ 9.88709370e-01 1.48681629e-01 1.86428355e-02 4.36440286e+02] [-1.48654012e-01 9.88885114e-01 -2.86625873e-03 -7.11292696e+01] [-1.88617825e-02 6.25645776e-05 9.99822099e-01 -8.74242422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.414012739 meters 0.017939267303595335 Centerline is valid? [True, True] Translation: X:436.47, Y:-71.13, Z:-8.74 [[ 9.88581151e-01 1.49510562e-01 1.88122364e-02 4.36472537e+02] [-1.49482549e-01 9.88760127e-01 -2.89448575e-03 -7.11331399e+01] [-1.90335454e-02 4.93329979e-05 9.99818844e-01 -8.74168570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters 0.01756104343875 Centerline is valid? [True, True] Translation: X:436.51, Y:-71.14, Z:-8.74 [[ 9.88466046e-01 1.50173268e-01 1.95669226e-02 4.36505261e+02] [-1.50143022e-01 9.88659693e-01 -3.01419300e-03 -7.11359836e+01] [-1.97976789e-02 4.15905561e-05 9.99804006e-01 -8.74068557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.474012739 meters 0.017618415617181617 Centerline is valid? [True, True] Translation: X:436.54, Y:-71.14, Z:-8.74 [[ 9.88398017e-01 1.50382006e-01 2.13216245e-02 4.36537469e+02] [-1.50346040e-01 9.88627963e-01 -3.28910710e-03 -7.11395318e+01] [-2.15737768e-02 4.53251303e-05 9.99767258e-01 -8.73867045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters 0.017762027787318307 Centerline is valid? [True, True] Translation: X:436.57, Y:-71.14, Z:-8.74 [[ 9.88477289e-01 1.49727520e-01 2.22333035e-02 4.36569263e+02] [-1.49688153e-01 9.88727296e-01 -3.43389172e-03 -7.11449971e+01] [-2.24968221e-02 6.62618493e-05 9.99746912e-01 -8.73770267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.534012739 meters 0.017833984765780242 Centerline is valid? [True, True] Translation: X:436.60, Y:-71.15, Z:-8.74 [[ 9.88540055e-01 1.49242556e-01 2.26984492e-02 4.36601503e+02] [-1.49201331e-01 9.88800613e-01 -3.50856165e-03 -7.11504145e+01] [-2.29678672e-02 8.17149045e-05 9.99736200e-01 -8.73754578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters 0.018200757364235945 Centerline is valid? [True, True] Translation: X:436.63, Y:-71.16, Z:-8.74 [[ 9.88655658e-01 1.48394993e-01 2.32145524e-02 4.36634020e+02] [-1.48351536e-01 9.88928164e-01 -3.59266684e-03 -7.11577607e+01] [-2.34906585e-02 1.07995887e-04 9.99724051e-01 -8.73737589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.594012739 meters 0.018630249117170566 Centerline is valid? [True, True] Translation: X:436.67, Y:-71.16, Z:-8.74 [[ 9.88766218e-01 1.47705577e-01 2.29004172e-02 4.36665605e+02] [-1.47663012e-01 9.89031368e-01 -3.54799135e-03 -7.11643056e+01] [-2.31732891e-02 1.26589399e-04 9.99731455e-01 -8.73856891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters 0.01926001089508499 Centerline is valid? [True, True] Translation: X:436.70, Y:-71.17, Z:-8.74 [[ 9.88959056e-01 1.46707116e-01 2.09047302e-02 4.36697074e+02] [-1.46671378e-01 9.89179965e-01 -3.24102017e-03 -7.11704263e+01] [-2.11540210e-02 1.39110667e-04 9.99776219e-01 -8.74324051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.654012739 meters 0.019632937012701607 Centerline is valid? [True, True] Translation: X:436.73, Y:-71.18, Z:-8.74 [[ 9.89002045e-01 1.46418132e-01 2.08970251e-02 4.36729323e+02] [-1.46382280e-01 9.89222780e-01 -3.24336216e-03 -7.11761248e+01] [-2.11467003e-02 1.48737624e-04 9.99776372e-01 -8.74444880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters 0.020227120899354082 Centerline is valid? [True, True] Translation: X:436.76, Y:-71.18, Z:-8.74 [[ 9.89124536e-01 1.45545066e-01 2.11963851e-02 4.36760091e+02] [-1.45507899e-01 9.89351608e-01 -3.29358418e-03 -7.11828342e+01] [-2.14500426e-02 1.73523458e-04 9.99769906e-01 -8.74472213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.714012739 meters 0.02027490168517922 Centerline is valid? [True, True] Translation: X:436.79, Y:-71.19, Z:-8.74 [[ 9.89373137e-01 1.43844422e-01 2.12032534e-02 4.36791626e+02] [-1.43806799e-01 9.89600292e-01 -3.29658189e-03 -7.11895352e+01] [-2.14569407e-02 2.12377555e-04 9.99769751e-01 -8.74448100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters 0.022269919247874703 Centerline is valid? [True, True] Translation: X:436.82, Y:-71.20, Z:-8.75 [[ 9.89449859e-01 1.43385989e-01 2.07228295e-02 4.36822697e+02] [-1.43349878e-01 9.89666817e-01 -3.22538777e-03 -7.11992870e+01] [-2.09711722e-02 2.20744397e-04 9.99780056e-01 -8.74556419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.774012739 meters 0.022925510912790208 Centerline is valid? [True, True] Translation: X:436.85, Y:-71.21, Z:-8.75 [[ 9.89537796e-01 1.42836091e-01 2.03175132e-02 4.36853937e+02] [-1.42801188e-01 9.89746330e-01 -3.16595493e-03 -7.12062830e+01] [-2.05613967e-02 2.31467056e-04 9.99788565e-01 -8.74703633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters 0.024671066196483505 Centerline is valid? [True, True] Translation: X:436.88, Y:-71.22, Z:-8.75 [[ 9.89770149e-01 1.41285436e-01 1.98362619e-02 4.36883825e+02] [-1.41251795e-01 9.89968867e-01 -3.09396474e-03 -7.12182755e+01] [-2.00744139e-02 2.60406331e-04 9.99798455e-01 -8.74965919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.834012739 meters 0.025941269289819876 Centerline is valid? [True, True] Translation: X:436.91, Y:-71.23, Z:-8.75 [[ 9.89924834e-01 1.40267282e-01 1.93368299e-02 4.36914433e+02] [-1.40235067e-01 9.90113636e-01 -3.01875294e-03 -7.12283556e+01] [-1.95690913e-02 2.76636857e-04 9.99808469e-01 -8.75146349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters 0.024931801361846525 Centerline is valid? [True, True] Translation: X:436.95, Y:-71.24, Z:-8.75 [[ 9.90081302e-01 1.39284193e-01 1.84100050e-02 4.36945250e+02] [-1.39254773e-01 9.90252409e-01 -2.87669786e-03 -7.12366745e+01] [-1.86312303e-02 2.84483703e-04 9.99826383e-01 -8.75275133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.894012739 meters 0.024471085981120355 Centerline is valid? [True, True] Translation: X:436.98, Y:-71.24, Z:-8.75 [[ 9.89986920e-01 1.39997281e-01 1.80737491e-02 4.36977174e+02] [-1.39968992e-01 9.90151851e-01 -2.82709685e-03 -7.12427667e+01] [-1.82915420e-02 2.69024464e-04 9.99832660e-01 -8.75332795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters 0.02513673537872283 Centerline is valid? [True, True] Translation: X:437.01, Y:-71.25, Z:-8.75 [[ 9.89702930e-01 1.41982920e-01 1.81372780e-02 4.37007326e+02] [-1.41954708e-01 9.89869080e-01 -2.84009004e-03 -7.12509533e+01] [-1.83567750e-02 2.36173423e-04 9.99831472e-01 -8.75439493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.954012739 meters 0.01861452655217432 Centerline is valid? [True, True] Translation: X:437.04, Y:-71.24, Z:-8.76 [[ 9.88615306e-01 1.49450076e-01 1.74485451e-02 4.37039811e+02] [-1.49425077e-01 9.88769268e-01 -2.73515024e-03 -7.12444972e+01] [-1.76613535e-02 9.67612007e-05 9.99844021e-01 -8.75552662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters 0.01741757629967328 Centerline is valid? [True, True] Translation: X:437.07, Y:-71.24, Z:-8.76 [[ 9.87863734e-01 1.54411477e-01 1.68029721e-02 4.37072708e+02] [-1.54389012e-01 9.88006627e-01 -2.63387147e-03 -7.12431380e+01] [-1.70081478e-02 7.71185310e-06 9.99855351e-01 -8.75719197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.014012739 meters 0.020490094339484375 Centerline is valid? [True, True] Translation: X:437.11, Y:-71.23, Z:-8.76 [[ 9.86280488e-01 1.64140650e-01 1.75683393e-02 4.37106100e+02] [-1.64117572e-01 9.86436932e-01 -2.75725107e-03 -7.12328809e+01] [-1.77826357e-02 -1.63850257e-04 9.99841863e-01 -8.75683641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters 0.023663672649228085 Centerline is valid? [True, True] Translation: X:437.14, Y:-71.23, Z:-8.76 [[ 9.85551488e-01 1.68373934e-01 1.83979218e-02 4.37137205e+02] [-1.68349353e-01 9.85723164e-01 -2.88787599e-03 -7.12300273e+01] [-1.86215007e-02 -2.51127757e-04 9.99826573e-01 -8.75570858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.074012739 meters 0.026521847112490147 Centerline is valid? [True, True] Translation: X:437.17, Y:-71.23, Z:-8.75 [[ 9.85014197e-01 1.71432825e-01 1.89160683e-02 4.37167995e+02] [-1.71407386e-01 9.85195760e-01 -2.97015635e-03 -7.12284377e+01] [-1.91452126e-02 -3.16707660e-04 9.99816663e-01 -8.75469974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters 0.032064355653958446 Centerline is valid? [True, True] Translation: X:437.20, Y:-71.22, Z:-8.75 [[ 9.84253053e-01 1.75732210e-01 1.90818794e-02 4.37198850e+02] [-1.75707134e-01 9.84437924e-01 -2.99599256e-03 -7.12180501e+01] [-1.93114181e-02 -4.04007516e-04 9.99813436e-01 -8.75471538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.134012739 meters 0.033029584571194065 Centerline is valid? [True, True] Translation: X:437.23, Y:-71.22, Z:-8.76 [[ 9.83857888e-01 1.77871971e-01 1.96269969e-02 4.37228606e+02] [-1.77845881e-01 9.84053530e-01 -3.08086200e-03 -7.12170756e+01] [-1.98620146e-02 -4.59450184e-04 9.99802625e-01 -8.75504400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters 0.03564185329720586 Centerline is valid? [True, True] Translation: X:437.26, Y:-71.21, Z:-8.75 [[ 9.83404073e-01 1.80280408e-01 2.03814392e-02 4.37259268e+02] [-1.80252806e-01 9.83615115e-01 -3.19856031e-03 -7.12142988e+01] [-2.06241294e-02 -5.28334353e-04 9.99787160e-01 -8.75428053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.194012739 meters 0.039269001397197294 Centerline is valid? [True, True] Translation: X:437.29, Y:-71.21, Z:-8.75 [[ 9.82816595e-01 1.83423416e-01 2.06734451e-02 4.37289471e+02] [-1.83395721e-01 9.83033818e-01 -3.24389683e-03 -7.12064327e+01] [-2.09177023e-02 -6.03265732e-04 9.99781019e-01 -8.75416172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters 0.039269001397197294 Centerline is valid? [True, True] Translation: X:437.32, Y:-71.21, Z:-8.75 [[ 9.82824753e-01 1.83379688e-01 2.06735548e-02 4.37317478e+02] [-1.83351998e-01 9.83041976e-01 -3.24319772e-03 -7.12107349e+01] [-2.09177087e-02 -6.03042579e-04 9.99781019e-01 -8.75473722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.254012739 meters 0.040662281434118104 Centerline is valid? [True, True] Translation: X:437.35, Y:-71.21, Z:-8.76 [[ 9.82747507e-01 1.83807429e-01 2.05466705e-02 4.37346019e+02] [-1.83780191e-01 9.82962084e-01 -3.22235279e-03 -7.12087061e+01] [-2.07888904e-02 -6.09311863e-04 9.99783702e-01 -8.75537852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters 0.038520488605326295 Centerline is valid? [True, True] Translation: X:437.38, Y:-71.21, Z:-8.76 [[ 9.83023771e-01 1.82220397e-01 2.14474442e-02 4.37375186e+02] [-1.82190371e-01 9.83257527e-01 -3.36222388e-03 -7.12091910e+01] [-2.17010267e-02 -6.02371811e-04 9.99764324e-01 -8.75512545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.314012739 meters 0.03617993960111378 Centerline is valid? [True, True] Translation: X:437.40, Y:-71.21, Z:-8.76 [[ 9.83422679e-01 1.80023046e-01 2.17149113e-02 4.37403752e+02] [-1.79991753e-01 9.83662232e-01 -3.40315831e-03 -7.12144946e+01] [-2.19727851e-02 -5.61761890e-04 9.99758411e-01 -8.75529844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters 0.03382482609205105 Centerline is valid? [True, True] Translation: X:437.43, Y:-71.22, Z:-8.76 [[ 9.83887198e-01 1.77508793e-01 2.13684166e-02 4.37431301e+02] [-1.77477919e-01 9.84119088e-01 -3.34790231e-03 -7.12204491e+01] [-2.16233487e-02 -4.98463877e-04 9.99766064e-01 -8.75688742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.374012739 meters 0.027817583417596374 Centerline is valid? [True, True] Translation: X:437.46, Y:-71.23, Z:-8.76 [[ 9.84933489e-01 1.71953275e-01 1.83873180e-02 4.37460173e+02] [-1.71929461e-01 9.85105053e-01 -2.88006054e-03 -7.12302064e+01] [-1.86086757e-02 -3.24653589e-04 9.99826791e-01 -8.76395451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters 0.02591961387074221 Centerline is valid? [True, True] Translation: X:437.49, Y:-71.24, Z:-8.77 [[ 9.85358039e-01 1.69610452e-01 1.73732684e-02 4.37488579e+02] [-1.69588826e-01 9.85511149e-01 -2.72134977e-03 -7.12363728e+01] [-1.75831191e-02 -2.64808322e-04 9.99845370e-01 -8.76665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.434012739 meters 0.022912945707401596 Centerline is valid? [True, True] Translation: X:437.52, Y:-71.25, Z:-8.76 [[ 9.85890877e-01 1.66354910e-01 1.85801927e-02 4.37515151e+02] [-1.66329613e-01 9.86065918e-01 -2.90950645e-03 -7.12450618e+01] [-1.88053054e-02 -2.21980381e-04 9.99823140e-01 -8.76405688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters 0.02105298541982521 Centerline is valid? [True, True] Translation: X:437.54, Y:-71.25, Z:-8.76 [[ 9.86014614e-01 1.65501199e-01 1.96095425e-02 4.37544077e+02] [-1.65472876e-01 9.86209565e-01 -3.06949923e-03 -7.12528582e+01] [-1.98471242e-02 -2.18276294e-04 9.99803003e-01 -8.76169359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.494012739 meters 0.021935440217276753 Centerline is valid? [True, True] Translation: X:437.57, Y:-71.25, Z:-8.76 [[ 9.86065878e-01 1.65196263e-01 1.96030428e-02 4.37572782e+02] [-1.65167907e-01 9.86260691e-01 -3.06801047e-03 -7.12549857e+01] [-1.98405344e-02 -2.12533123e-04 9.99803135e-01 -8.76231740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters 0.022771166921557316 Centerline is valid? [True, True] Translation: X:437.60, Y:-71.26, Z:-8.77 [[ 9.85994011e-01 1.65923844e-01 1.68845437e-02 4.37601880e+02] [-1.65902923e-01 9.86138550e-01 -2.64206448e-03 -7.12567347e+01] [-1.70888809e-02 -1.96135405e-04 9.99853955e-01 -8.76867022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55401273900003 meters 0.02220547527521822 Centerline is valid? [True, True] Translation: X:437.63, Y:-71.26, Z:-8.77 [[ 9.85948574e-01 1.66280830e-01 1.60029916e-02 4.37630018e+02] [-1.66262095e-01 9.86078419e-01 -2.50345631e-03 -7.12621742e+01] [-1.61964814e-02 -1.92411732e-04 9.99868810e-01 -8.77077670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters 0.023497325812841446 Centerline is valid? [True, True] Translation: X:437.66, Y:-71.26, Z:-8.77 [[ 9.85927708e-01 1.66382672e-01 1.62283879e-02 4.37657809e+02] [-1.66363432e-01 9.86061239e-01 -2.53798465e-03 -7.12631076e+01] [-1.64244609e-02 -1.97540907e-04 9.99865090e-01 -8.77182274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.614012739 meters 0.020597731687606233 Centerline is valid? [True, True] Translation: X:437.69, Y:-71.27, Z:-8.77 [[ 9.86217164e-01 1.64335985e-01 1.92194845e-02 4.37686356e+02] [-1.64308638e-01 9.86404403e-01 -3.00426730e-03 -7.12705593e+01] [-1.94518934e-02 -1.95067349e-04 9.99810775e-01 -8.76596801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters 0.01926690018001746 Centerline is valid? [True, True] Translation: X:437.72, Y:-71.28, Z:-8.76 [[ 9.86540704e-01 1.62260338e-01 2.02242992e-02 4.37715441e+02] [-1.62229640e-01 9.86747970e-01 -3.16031117e-03 -7.12773617e+01] [-2.04690793e-02 -1.63205169e-04 9.99790473e-01 -8.76498510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.674012739 meters 0.017234244691864766 Centerline is valid? [True, True] Translation: X:437.74, Y:-71.29, Z:-8.77 [[ 9.87360861e-01 1.57130698e-01 2.06996283e-02 4.37742932e+02] [-1.57097423e-01 9.87577815e-01 -3.23410283e-03 -7.12904115e+01] [-2.09506705e-02 -5.86317061e-05 9.99780509e-01 -8.76589149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters 0.01697194337174319 Centerline is valid? [True, True] Translation: X:437.77, Y:-71.30, Z:-8.77 [[ 9.87805502e-01 1.54379313e-01 2.01821244e-02 4.37773254e+02] [-1.54347099e-01 9.88011654e-01 -3.15361624e-03 -7.13010228e+01] [-2.04270273e-02 1.07114584e-07 9.99791347e-01 -8.76685007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.734012739 meters 0.017296284972126687 Centerline is valid? [True, True] Translation: X:437.80, Y:-71.31, Z:-8.77 [[ 9.88195782e-01 1.51915682e-01 1.97667028e-02 4.37803706e+02] [-1.51884278e-01 9.88393456e-01 -3.08916655e-03 -7.13116253e+01] [-2.00065725e-02 5.04499594e-05 9.99799847e-01 -8.76865064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters 0.01814319844838357 Centerline is valid? [True, True] Translation: X:437.83, Y:-71.32, Z:-8.77 [[ 9.88565306e-01 1.49659298e-01 1.84589008e-02 4.37833575e+02] [-1.49631516e-01 9.88737623e-01 -2.88498132e-03 -7.13234863e+01] [-1.86827740e-02 8.99591291e-05 9.99825458e-01 -8.77166215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.794012739 meters 0.01785750779434058 Centerline is valid? [True, True] Translation: X:437.87, Y:-71.33, Z:-8.77 [[ 9.88483406e-01 1.50166459e-01 1.87240693e-02 4.37865491e+02] [-1.50137908e-01 9.88660724e-01 -2.92934886e-03 -7.13292032e+01] [-1.89516419e-02 8.44201285e-05 9.99820398e-01 -8.77162738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters 0.017383134628325546 Centerline is valid? [True, True] Translation: X:437.90, Y:-71.33, Z:-8.77 [[ 9.88103938e-01 1.52609711e-01 1.89969431e-02 4.37896733e+02] [-1.52580709e-01 9.88286535e-01 -2.97540134e-03 -7.13345999e+01] [-1.92284982e-02 4.14387339e-05 9.99815114e-01 -8.77210552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.854012739 meters 0.017085236776523835 Centerline is valid? [True, True] Translation: X:437.93, Y:-71.34, Z:-8.77 [[ 9.87916667e-01 1.53839174e-01 1.88193200e-02 4.37927541e+02] [-1.53810926e-01 9.88095900e-01 -2.94802203e-03 -7.13391574e+01] [-1.90488142e-02 1.77830745e-05 9.99818555e-01 -8.77278457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters 0.01714258519139237 Centerline is valid? [True, True] Translation: X:437.96, Y:-71.34, Z:-8.77 [[ 9.87672774e-01 1.55458441e-01 1.83075137e-02 4.37958977e+02] [-1.55431979e-01 9.87842433e-01 -2.86827465e-03 -7.13435032e+01] [-1.85308364e-02 -1.26563024e-05 9.99828289e-01 -8.77479163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.914012739 meters 0.018280717728340043 Centerline is valid? [True, True] Translation: X:437.99, Y:-71.35, Z:-8.78 [[ 9.86968457e-01 1.59988815e-01 1.72291635e-02 4.37989841e+02] [-1.59966061e-01 9.87118823e-01 -2.69978104e-03 -7.13460272e+01] [-1.74391664e-02 -9.14826849e-05 9.99847922e-01 -8.77741254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters 0.01950809439352015 Centerline is valid? [True, True] Translation: X:438.02, Y:-71.35, Z:-8.78 [[ 9.86548834e-01 1.62523904e-01 1.75322232e-02 4.38019356e+02] [-1.62500742e-01 9.86704597e-01 -2.74730040e-03 -7.13483953e+01] [-1.77456272e-02 -1.38653264e-04 9.99842524e-01 -8.77769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.974012739 meters 0.02332772642588693 Centerline is valid? [True, True] Translation: X:438.05, Y:-71.35, Z:-8.78 [[ 9.85770607e-01 1.67190496e-01 1.74255021e-02 4.38047989e+02] [-1.67168345e-01 9.85924586e-01 -2.73046111e-03 -7.13476120e+01] [-1.76367381e-02 -2.21384036e-04 9.99844436e-01 -8.77826948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters 0.02431360714065675 Centerline is valid? [True, True] Translation: X:438.08, Y:-71.35, Z:-8.78 [[ 9.85411637e-01 1.69329108e-01 1.70751035e-02 4.38077015e+02] [-1.69308175e-01 9.85559530e-01 -2.67470511e-03 -7.13520197e+01] [-1.72814364e-02 -2.55269065e-04 9.99850632e-01 -8.77908768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.034012739 meters 0.03037684247296222 Centerline is valid? [True, True] Translation: X:438.11, Y:-71.35, Z:-8.78 [[ 9.85116333e-01 1.71068513e-01 1.67742111e-02 4.38106083e+02] [-1.71048568e-01 9.85259095e-01 -2.62725662e-03 -7.13482233e+01] [-1.69763849e-02 -2.81051375e-04 9.99855851e-01 -8.78142230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters 0.029648031820656152 Centerline is valid? [True, True] Translation: X:438.13, Y:-71.36, Z:-8.78 [[ 9.84470615e-01 1.74707959e-01 1.71679146e-02 4.38134934e+02] [-1.74687635e-01 9.84620234e-01 -2.68800905e-03 -7.13564802e+01] [-1.73734926e-02 -3.52756472e-04 9.99849007e-01 -8.77996389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.094012739 meters 0.031040051526321874 Centerline is valid? [True, True] Translation: X:438.16, Y:-71.36, Z:-8.78 [[ 9.84178295e-01 1.76339213e-01 1.72500688e-02 4.38163961e+02] [-1.76318951e-01 9.84329383e-01 -2.70049853e-03 -7.13593345e+01] [-1.74559533e-02 -3.83741987e-04 9.99847560e-01 -8.77997318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters 0.03238520649821584 Centerline is valid? [True, True] Translation: X:438.19, Y:-71.36, Z:-8.78 [[ 9.83832415e-01 1.78202071e-01 1.78269566e-02 4.38193005e+02] [-1.78180749e-01 9.83993819e-01 -2.79015916e-03 -7.13619017e+01] [-1.80388273e-02 -4.31371458e-04 9.99837194e-01 -8.77909802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.154012739 meters 0.03362675068208154 Centerline is valid? [True, True] Translation: X:438.22, Y:-71.36, Z:-8.78 [[ 9.83244169e-01 1.81276399e-01 1.92294247e-02 4.38221944e+02] [-1.81252191e-01 9.83432046e-01 -3.00892506e-03 -7.13647880e+01] [-1.94562796e-02 -5.26867331e-04 9.99810570e-01 -8.77749960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters 0.034864094399002926 Centerline is valid? [True, True] Translation: X:438.25, Y:-71.37, Z:-8.78 [[ 9.83070948e-01 1.82170127e-01 1.96355645e-02 4.38250102e+02] [-1.82145078e-01 9.83266869e-01 -3.07175263e-03 -7.13677571e+01] [-1.98665816e-02 -5.56770670e-04 9.99802485e-01 -8.77728069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.214012739 meters 0.03916131813385417 Centerline is valid? [True, True] Translation: X:438.28, Y:-71.37, Z:-8.78 [[ 9.82801091e-01 1.83567052e-01 2.01284128e-02 4.38278705e+02] [-1.83541051e-01 9.83007007e-01 -3.14742707e-03 -7.13668169e+01] [-2.03641347e-02 -6.01095287e-04 9.99792449e-01 -8.77732628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters 0.040164230091561205 Centerline is valid? [True, True] Translation: X:438.31, Y:-71.37, Z:-8.78 [[ 9.82656835e-01 1.84329868e-01 2.02001213e-02 4.38307164e+02] [-1.84303847e-01 9.82864241e-01 -3.15846880e-03 -7.13703904e+01] [-2.04361770e-02 -6.19269111e-04 9.99790968e-01 -8.77791492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.274012739 meters 0.04151110298206692 Centerline is valid? [True, True] Translation: X:438.33, Y:-71.37, Z:-8.78 [[ 9.82471898e-01 1.85250493e-01 2.07659644e-02 4.38334699e+02] [-1.85223220e-01 9.82691113e-01 -3.24595086e-03 -7.13729046e+01] [-2.10078426e-02 -6.57283280e-04 9.99779095e-01 -8.77703189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters 0.044157890515558615 Centerline is valid? [True, True] Translation: X:438.36, Y:-71.37, Z:-8.78 [[ 9.82038627e-01 1.87435642e-01 2.16336765e-02 4.38364563e+02] [-1.87406597e-01 9.82276611e-01 -3.38034745e-03 -7.13730752e+01] [-2.18838520e-02 -7.34661934e-04 9.99760250e-01 -8.77578827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.334012739 meters 0.04531898848299882 Centerline is valid? [True, True] Translation: X:438.39, Y:-71.37, Z:-8.78 [[ 9.81912666e-01 1.88005756e-01 2.23908880e-02 4.38392596e+02] [-1.87974805e-01 9.82167621e-01 -3.49805859e-03 -7.13748843e+01] [-2.26492604e-02 -7.74134781e-04 9.99743173e-01 -8.77506511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters 0.044516195402544353 Centerline is valid? [True, True] Translation: X:438.42, Y:-71.38, Z:-8.77 [[ 9.81697580e-01 1.88973116e-01 2.36436747e-02 4.38420921e+02] [-1.88938918e-01 9.81981900e-01 -3.69236484e-03 -7.13777949e+01] [-2.39154183e-02 -8.42424679e-04 9.99713631e-01 -8.77458801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.394012739 meters 0.04692979018570569 Centerline is valid? [True, True] Translation: X:438.45, Y:-71.38, Z:-8.77 [[ 9.81745824e-01 1.88642465e-01 2.42725781e-02 4.38449582e+02] [-1.88606358e-01 9.82045459e-01 -3.78913531e-03 -7.13774862e+01] [-2.45515670e-02 -8.57994785e-04 9.99698197e-01 -8.77339181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters 0.049197882019433654 Centerline is valid? [True, True] Translation: X:438.48, Y:-71.38, Z:-8.77 [[ 9.81882753e-01 1.87884089e-01 2.46135813e-02 4.38478001e+02] [-1.87846758e-01 9.82190838e-01 -3.84093406e-03 -7.13772496e+01] [-2.48968845e-02 -8.52234538e-04 9.99689661e-01 -8.77277508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.454012739 meters 0.04525373137693477 Centerline is valid? [True, True] Translation: X:438.51, Y:-71.38, Z:-8.78 [[ 9.82282517e-01 1.85994327e-01 2.29601360e-02 4.38506341e+02] [-1.85961353e-01 9.82550531e-01 -3.58177839e-03 -7.13845364e+01] [-2.32256843e-02 -7.51379673e-04 9.99729965e-01 -8.77739054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters 0.04409434868599115 Centerline is valid? [True, True] Translation: X:438.53, Y:-71.39, Z:-8.78 [[ 9.82549614e-01 1.84765479e-01 2.14003275e-02 4.38534478e+02] [-1.84736557e-01 9.82782409e-01 -3.33777891e-03 -7.13888616e+01] [-2.16485717e-02 -6.73889436e-04 9.99765415e-01 -8.78035781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.514012739 meters 0.04234917976042138 Centerline is valid? [True, True] Translation: X:438.56, Y:-71.39, Z:-8.78 [[ 9.82839204e-01 1.83331768e-01 2.04098639e-02 4.38563195e+02] [-1.83305171e-01 9.83050907e-01 -3.18244000e-03 -7.13936493e+01] [-2.06473775e-02 -6.13406784e-04 9.99786632e-01 -8.78336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters 0.0393326086528417 Centerline is valid? [True, True] Translation: X:438.59, Y:-71.40, Z:-8.79 [[ 9.83473456e-01 1.80107667e-01 1.84713134e-02 4.38591693e+02] [-1.80085328e-01 9.83646778e-01 -2.87938607e-03 -7.13982103e+01] [-1.86878474e-02 -4.94612767e-04 9.99825245e-01 -8.78701383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.574012739 meters 0.03727333462716047 Centerline is valid? [True, True] Translation: X:438.62, Y:-71.40, Z:-8.79 [[ 9.83800897e-01 1.78319735e-01 1.83811601e-02 4.38620209e+02] [-1.78297305e-01 9.83972490e-01 -2.86518784e-03 -7.14041182e+01] [-1.85974754e-02 -4.58536940e-04 9.99826947e-01 -8.78845988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters 0.035598887549757915 Centerline is valid? [True, True] Translation: X:438.65, Y:-71.41, Z:-8.79 [[ 9.84039117e-01 1.76927173e-01 1.90733470e-02 4.38648308e+02] [-1.76902777e-01 9.84223843e-01 -2.97221499e-03 -7.14105405e+01] [-1.92983085e-02 -4.49352233e-04 9.99813669e-01 -8.78807603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.634012739 meters 0.03057503953207226 Centerline is valid? [True, True] Translation: X:438.68, Y:-71.42, Z:-8.79 [[ 9.84513118e-01 1.74064535e-01 2.08676514e-02 4.38676333e+02] [-1.74034710e-01 9.84734153e-01 -3.25083370e-03 -7.14222527e+01] [-2.11149439e-02 -4.31207251e-04 9.99776962e-01 -8.78583438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters 0.03030869587537098 Centerline is valid? [True, True] Translation: X:438.70, Y:-71.43, Z:-8.79 [[ 9.84655015e-01 1.73298002e-01 2.05500180e-02 4.38704140e+02] [-1.73268926e-01 9.84869349e-01 -3.20064495e-03 -7.14260635e+01] [-2.07937482e-02 -4.09148439e-04 9.99783703e-01 -8.78646942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.694012739 meters 0.02994496489563742 Centerline is valid? [True, True] Translation: X:438.73, Y:-71.43, Z:-8.79 [[ 9.84707773e-01 1.73094360e-01 1.97216940e-02 4.38732633e+02] [-1.73067562e-01 9.84905168e-01 -3.07050875e-03 -7.14299690e+01] [-1.99554861e-02 -3.89631684e-04 9.99800794e-01 -8.78812571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters 0.032035828418464245 Centerline is valid? [True, True] Translation: X:438.76, Y:-71.43, Z:-8.79 [[ 9.84813661e-01 1.72674172e-01 1.80466948e-02 4.38760518e+02] [-1.72651676e-01 9.84978938e-01 -2.80900764e-03 -7.14297440e+01] [-1.82606573e-02 -3.49443005e-04 9.99833199e-01 -8.79267981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.754012739 meters 0.029992202219045198 Centerline is valid? [True, True] Translation: X:438.79, Y:-71.44, Z:-8.79 [[ 9.84942421e-01 1.71906909e-01 1.83423810e-02 4.38788596e+02] [-1.71883558e-01 9.85113140e-01 -2.85386776e-03 -7.14367112e+01] [-1.85599201e-02 -3.41858300e-04 9.99827691e-01 -8.79238785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters 0.028532011519462018 Centerline is valid? [True, True] Translation: X:438.82, Y:-71.44, Z:-8.79 [[ 9.85147416e-01 1.70616970e-01 1.93498718e-02 4.38816969e+02] [-1.70590753e-01 9.85337372e-01 -3.00971350e-03 -7.14429537e+01] [-1.95796600e-02 -3.35897711e-04 9.99808244e-01 -8.79033404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.814012739 meters 0.026526128776966994 Centerline is valid? [True, True] Translation: X:438.84, Y:-71.45, Z:-8.79 [[ 9.85464277e-01 1.68490601e-01 2.17042646e-02 4.38844893e+02] [-1.68457123e-01 9.85703205e-01 -3.37484567e-03 -7.14512996e+01] [-2.19625930e-02 -3.30448127e-04 9.99758739e-01 -8.78608593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters 0.025795338190237025 Centerline is valid? [True, True] Translation: X:438.87, Y:-71.46, Z:-8.78 [[ 9.85616756e-01 1.67524414e-01 2.22526720e-02 4.38872158e+02] [-1.67489000e-01 9.85867876e-01 -3.45908054e-03 -7.14580248e+01] [-2.25176749e-02 -3.17750034e-04 9.99746395e-01 -8.78483903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.874012739 meters 0.024041987218940044 Centerline is valid? [True, True] Translation: X:438.90, Y:-71.47, Z:-8.79 [[ 9.85933623e-01 1.65621331e-01 2.24603001e-02 4.38899349e+02] [-1.65584788e-01 9.86189382e-01 -3.49010599e-03 -7.14676078e+01] [-2.27281455e-02 -2.78071172e-04 9.99741644e-01 -8.78520027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters 0.023558800233772097 Centerline is valid? [True, True] Translation: X:438.93, Y:-71.47, Z:-8.79 [[ 9.86060005e-01 1.64925474e-01 2.20284898e-02 4.38928585e+02] [-1.64890164e-01 9.86305998e-01 -3.42231667e-03 -7.14741938e+01] [-2.22912588e-02 -2.57671692e-04 9.99751486e-01 -8.78698555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.934012739 meters 0.02328152446448265 Centerline is valid? [True, True] Translation: X:438.96, Y:-71.48, Z:-8.79 [[ 9.86106948e-01 1.64649691e-01 2.19901428e-02 4.38957582e+02] [-1.64614446e-01 9.86352075e-01 -3.41587915e-03 -7.14803024e+01] [-2.22524465e-02 -2.51473018e-04 9.99752352e-01 -8.78772785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters 0.023410746894257258 Centerline is valid? [True, True] Translation: X:438.99, Y:-71.49, Z:-8.79 [[ 9.86100037e-01 1.64600491e-01 2.26582507e-02 4.38986804e+02] [-1.64563070e-01 9.86360285e-01 -3.51915326e-03 -7.14878453e+01] [-2.29284530e-02 -2.58474131e-04 9.99737075e-01 -8.78701090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.994012739 meters 0.023720377828903978 Centerline is valid? [True, True] Translation: X:439.02, Y:-71.49, Z:-8.79 [[ 9.86090925e-01 1.64687674e-01 2.24200176e-02 4.39015049e+02] [-1.64651069e-01 9.86345732e-01 -3.48166076e-03 -7.14935611e+01] [-2.26872753e-02 -2.58245791e-04 9.99742577e-01 -8.78794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters 0.024155145673553913 Centerline is valid? [True, True] Translation: X:439.04, Y:-71.50, Z:-8.79 [[ 9.86085201e-01 1.65019166e-01 2.01159277e-02 4.39043734e+02] [-1.64989778e-01 9.86290331e-01 -3.12338641e-03 -7.15008082e+01] [-2.03555636e-02 -2.38997323e-04 9.99792775e-01 -8.79349001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05401273900003 meters 0.024239220651527338 Centerline is valid? [True, True] Translation: X:439.07, Y:-71.51, Z:-8.80 [[ 9.86137063e-01 1.64818547e-01 1.91973655e-02 4.39072055e+02] [-1.64791751e-01 9.86323880e-01 -2.98037892e-03 -7.15071058e+01] [-1.94260417e-02 -2.24505346e-04 9.99811271e-01 -8.79634494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters 0.022074082405305145 Centerline is valid? [True, True] Translation: X:439.10, Y:-71.52, Z:-8.80 [[ 9.86186533e-01 1.64578220e-01 1.87118059e-02 4.39100986e+02] [-1.64552731e-01 9.86364012e-01 -2.90436979e-03 -7.15176001e+01] [-1.89346480e-02 -2.14828392e-04 9.99820700e-01 -8.79762334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.114012739 meters 0.022074082405305145 Centerline is valid? [True, True] Translation: X:439.13, Y:-71.52, Z:-8.80 [[ 9.86186533e-01 1.64578220e-01 1.87118059e-02 4.39130627e+02] [-1.64552731e-01 9.86364012e-01 -2.90436979e-03 -7.15222008e+01] [-1.89346480e-02 -2.14828392e-04 9.99820700e-01 -8.79823257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters 0.025749713938622295 Centerline is valid? [True, True] Translation: X:439.16, Y:-71.52, Z:-8.80 [[ 9.85936448e-01 1.66015849e-01 1.91848653e-02 4.39160195e+02] [-1.65989327e-01 9.86123053e-01 -2.97780653e-03 -7.15227270e+01] [-1.94130010e-02 -2.48554881e-04 9.99811519e-01 -8.79810599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.174012739 meters 0.027838165024662142 Centerline is valid? [True, True] Translation: X:439.19, Y:-71.53, Z:-8.80 [[ 9.85611490e-01 1.67925476e-01 1.92620002e-02 4.39189708e+02] [-1.67899108e-01 9.85799651e-01 -2.98955838e-03 -7.15251727e+01] [-1.94904961e-02 -2.87529566e-04 9.99810001e-01 -8.79839684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters 0.03093365544734487 Centerline is valid? [True, True] Translation: X:439.22, Y:-71.53, Z:-8.80 [[ 9.85183139e-01 1.70419419e-01 1.92718460e-02 4.39218550e+02] [-1.70393509e-01 9.85371558e-01 -2.99069374e-03 -7.15256485e+01] [-1.94996012e-02 -3.37416413e-04 9.99809808e-01 -8.79865851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.234012739 meters 0.03300316209048897 Centerline is valid? [True, True] Translation: X:439.25, Y:-71.53, Z:-8.80 [[ 9.84026894e-01 1.76948532e-01 1.95010131e-02 4.39248790e+02] [-1.76923299e-01 9.84219992e-01 -3.02540313e-03 -7.15256695e+01] [-1.97286276e-02 -4.73105525e-04 9.99805260e-01 -8.79748080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters 0.03577599224224239 Centerline is valid? [True, True] Translation: X:439.28, Y:-71.52, Z:-8.80 [[ 9.83388793e-01 1.80482556e-01 1.93009961e-02 4.39279260e+02] [-1.80458521e-01 9.83578038e-01 -2.99415638e-03 -7.15237943e+01] [-1.95244289e-02 -5.38609395e-04 9.99809235e-01 -8.79895674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.294012739 meters 0.04209588319719037 Centerline is valid? [True, True] Translation: X:439.31, Y:-71.52, Z:-8.80 [[ 9.82256255e-01 1.86750389e-01 1.72319964e-02 4.39311099e+02] [-1.86732201e-01 9.82407218e-01 -2.67276799e-03 -7.15152360e+01] [-1.74279781e-02 -5.92425543e-04 9.99847946e-01 -8.80395112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters 0.044111362858833526 Centerline is valid? [True, True] Translation: X:439.34, Y:-71.51, Z:-8.81 [[ 9.81902476e-01 1.88658566e-01 1.65973933e-02 4.39341012e+02] [-1.88641964e-01 9.82042556e-01 -2.57441103e-03 -7.15148952e+01] [-1.67850312e-02 -6.03144298e-04 9.99858940e-01 -8.80612100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.354012739 meters 0.043615500664562434 Centerline is valid? [True, True] Translation: X:439.37, Y:-71.52, Z:-8.81 [[ 9.81795130e-01 1.89230164e-01 1.64398109e-02 4.39369449e+02] [-1.89213961e-01 9.81932572e-01 -2.54967117e-03 -7.15179937e+01] [-1.66252605e-02 -6.07386991e-04 9.99861606e-01 -8.80636942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters 0.04411417599352713 Centerline is valid? [True, True] Translation: X:439.40, Y:-71.52, Z:-8.80 [[ 9.81908613e-01 1.88566629e-01 1.72656552e-02 4.39398132e+02] [-1.88548669e-01 9.82060199e-01 -2.67690573e-03 -7.15153371e+01] [-1.74606879e-02 -6.26939516e-04 9.99847354e-01 -8.80497820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.414012739 meters 0.045554871655223025 Centerline is valid? [True, True] Translation: X:439.43, Y:-71.51, Z:-8.80 [[ 9.81954184e-01 1.88277405e-01 1.78213381e-02 4.39426917e+02] [-1.88258243e-01 9.82115678e-01 -2.76195457e-03 -7.15137896e+01] [-1.80226292e-02 -6.42900955e-04 9.99837373e-01 -8.80461180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters 0.04436923306629523 Centerline is valid? [True, True] Translation: X:439.46, Y:-71.52, Z:-8.80 [[ 9.81949426e-01 1.88189177e-01 1.89778293e-02 4.39455815e+02] [-1.88167454e-01 9.82132560e-01 -2.93997421e-03 -7.15151859e+01] [-1.91920154e-02 -6.84103842e-04 9.99815582e-01 -8.80347927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.474012739 meters 0.04788067417382671 Centerline is valid? [True, True] Translation: X:439.49, Y:-71.51, Z:-8.80 [[ 9.81741866e-01 1.89059095e-01 2.09658579e-02 4.39485392e+02] [-1.89032805e-01 9.81965405e-01 -3.24682345e-03 -7.15058707e+01] [-2.12015886e-02 -7.75692405e-04 9.99774920e-01 -8.80127011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters 0.049221687670938305 Centerline is valid? [True, True] Translation: X:439.51, Y:-71.50, Z:-8.80 [[ 9.81664355e-01 1.89455267e-01 2.10189369e-02 4.39513758e+02] [-1.89428972e-01 9.81889037e-01 -3.25326399e-03 -7.15041387e+01] [-2.12546117e-02 -7.87982310e-04 9.99773785e-01 -8.80129348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.534012739 meters 0.04786823268401342 Centerline is valid? [True, True] Translation: X:439.54, Y:-71.50, Z:-8.80 [[ 9.81539435e-01 1.90184828e-01 2.02501667e-02 4.39543222e+02] [-1.90160599e-01 9.81747997e-01 -3.13317257e-03 -7.15023112e+01] [-2.04764425e-02 -7.75451385e-04 9.99790035e-01 -8.80255020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters 0.048335736696204945 Centerline is valid? [True, True] Translation: X:439.57, Y:-71.50, Z:-8.80 [[ 9.81571731e-01 1.89979972e-01 2.06045372e-02 4.39571441e+02] [-1.89954863e-01 9.81787652e-01 -3.18702082e-03 -7.15021917e+01] [-2.08347503e-02 -7.85642503e-04 9.99782624e-01 -8.80287638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.594012739 meters 0.04923710676913948 Centerline is valid? [True, True] Translation: X:439.60, Y:-71.50, Z:-8.80 [[ 9.81657650e-01 1.89457297e-01 2.13117516e-02 4.39599271e+02] [-1.89430339e-01 9.81888634e-01 -3.29513579e-03 -7.15017208e+01] [-2.15500542e-02 -8.02397063e-04 9.99767449e-01 -8.80149831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters 0.04740114303984476 Centerline is valid? [True, True] Translation: X:439.63, Y:-71.51, Z:-8.80 [[ 9.81824722e-01 1.88462148e-01 2.24105946e-02 4.39628004e+02] [-1.88432109e-01 9.82080110e-01 -3.46371475e-03 -7.15058608e+01] [-2.26617783e-02 -8.22114844e-04 9.99742851e-01 -8.80037886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.654012739 meters 0.044006332556751696 Centerline is valid? [True, True] Translation: X:439.66, Y:-71.51, Z:-8.80 [[ 9.82539294e-01 1.84524690e-01 2.38154198e-02 4.39656622e+02] [-1.84489636e-01 9.82827570e-01 -3.67978060e-03 -7.15105098e+01] [-2.40854615e-02 -7.78169107e-04 9.99709600e-01 -8.79806567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters 0.04458752141209374 Centerline is valid? [True, True] Translation: X:439.69, Y:-71.51, Z:-8.80 [[ 9.83000813e-01 1.82108572e-01 2.33638366e-02 4.39685203e+02] [-1.82074167e-01 9.83278175e-01 -3.60944608e-03 -7.15127947e+01] [-2.36304617e-02 -7.05862654e-04 9.99720512e-01 -8.79965436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.714012739 meters 0.0349645934770839 Centerline is valid? [True, True] Translation: X:439.71, Y:-71.53, Z:-8.80 [[ 9.84113188e-01 1.76167038e-01 2.20546626e-02 4.39712795e+02] [-1.76134903e-01 9.84360143e-01 -3.40657168e-03 -7.15304586e+01] [-2.23098565e-02 -5.32143724e-04 9.99750963e-01 -8.80420185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters 0.03154766227543357 Centerline is valid? [True, True] Translation: X:439.74, Y:-71.54, Z:-8.81 [[ 9.84715941e-01 1.72801943e-01 2.17716562e-02 4.39740519e+02] [-1.72769801e-01 9.84956490e-01 -3.36300276e-03 -7.15406871e+01] [-2.20252675e-02 -4.49882278e-04 9.99757313e-01 -8.80532405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.774012739 meters 0.025469372587487563 Centerline is valid? [True, True] Translation: X:439.77, Y:-71.56, Z:-8.81 [[ 9.85266636e-01 1.69661925e-01 2.15519637e-02 4.39767824e+02] [-1.69629688e-01 9.85502253e-01 -3.32856168e-03 -7.15560888e+01] [-2.18042390e-02 -3.76332105e-04 9.99762188e-01 -8.80695383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters 0.022902794419072475 Centerline is valid? [True, True] Translation: X:439.79, Y:-71.57, Z:-8.81 [[ 9.86108499e-01 1.64723519e-01 2.13586373e-02 4.39794732e+02] [-1.64690716e-01 9.86339745e-01 -3.29790717e-03 -7.15674857e+01] [-2.16101158e-02 -2.65474985e-04 9.99766439e-01 -8.80737613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.834012739 meters 0.0226896234163204 Centerline is valid? [True, True] Translation: X:439.82, Y:-71.57, Z:-8.81 [[ 9.86331845e-01 1.63356359e-01 2.15451172e-02 4.39822418e+02] [-1.63322673e-01 9.86567100e-01 -3.32585273e-03 -7.15731515e+01] [-2.17990030e-02 -2.38411669e-04 9.99762345e-01 -8.80725572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters 0.022374463195620285 Centerline is valid? [True, True] Translation: X:439.85, Y:-71.58, Z:-8.81 [[ 9.86390428e-01 1.63041775e-01 2.12438718e-02 4.39850353e+02] [-1.63008979e-01 9.86619140e-01 -3.27812608e-03 -7.15787149e+01] [-2.14940820e-02 -2.29429655e-04 9.99768949e-01 -8.80756908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.894012739 meters 0.023054550576926593 Centerline is valid? [True, True] Translation: X:439.88, Y:-71.58, Z:-8.81 [[ 9.86297520e-01 1.63809604e-01 1.95860935e-02 4.39878313e+02] [-1.63781894e-01 9.86491947e-01 -3.02149513e-03 -7.15827901e+01] [-1.98164735e-02 -2.27754342e-04 9.99803608e-01 -8.81067853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters 0.02306192066725337 Centerline is valid? [True, True] Translation: X:439.91, Y:-71.59, Z:-8.81 [[ 9.86160499e-01 1.64716156e-01 1.88694939e-02 4.39907045e+02] [-1.64690623e-01 9.86340981e-01 -2.90989836e-03 -7.15878280e+01] [-1.90910624e-02 -2.38001876e-04 9.99817721e-01 -8.81220408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.954012739 meters 0.024937455439819928 Centerline is valid? [True, True] Translation: X:439.94, Y:-71.59, Z:-8.81 [[ 9.86006604e-01 1.65646938e-01 1.87635208e-02 4.39935268e+02] [-1.65621875e-01 9.86185088e-01 -2.89267986e-03 -7.15892546e+01] [-1.89834680e-02 -2.55448063e-04 9.99819765e-01 -8.81367277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters 0.025077746935536403 Centerline is valid? [True, True] Translation: X:439.96, Y:-71.59, Z:-8.81 [[ 9.85647373e-01 1.67634313e-01 1.99497467e-02 4.39963633e+02] [-1.67606414e-01 9.85849197e-01 -3.07429261e-03 -7.15947784e+01] [-2.01827987e-02 -3.13537068e-04 9.99796257e-01 -8.81231143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.014012739 meters 0.0260089879872184 Centerline is valid? [True, True] Translation: X:439.99, Y:-71.60, Z:-8.81 [[ 9.85427464e-01 1.68866235e-01 2.04182980e-02 4.39992534e+02] [-1.68837295e-01 9.85638916e-01 -3.14548263e-03 -7.15984131e+01] [-2.06562349e-02 -3.47725231e-04 9.99786577e-01 -8.81208955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters 0.029475945112956127 Centerline is valid? [True, True] Translation: X:440.02, Y:-71.60, Z:-8.81 [[ 9.84975936e-01 1.71524194e-01 2.00463586e-02 4.40021121e+02] [-1.71496868e-01 9.85179828e-01 -3.08723095e-03 -7.15970271e+01] [-2.02788029e-02 -3.97039522e-04 9.99794285e-01 -8.81221224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.074012739 meters 0.029703445444654114 Centerline is valid? [True, True] Translation: X:440.05, Y:-71.60, Z:-8.81 [[ 9.84763776e-01 1.72813198e-01 1.93882232e-02 4.40049303e+02] [-1.72787909e-01 9.84954532e-01 -2.98475518e-03 -7.15996048e+01] [-1.96123234e-02 -4.10771769e-04 9.99807576e-01 -8.81376802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters 0.03155163117107375 Centerline is valid? [True, True] Translation: X:440.08, Y:-71.60, Z:-8.82 [[ 9.84543530e-01 1.74182860e-01 1.82857819e-02 4.40077117e+02] [-1.74160623e-01 9.84713237e-01 -2.81382189e-03 -7.15990326e+01] [-1.84963711e-02 -4.14333051e-04 9.99828842e-01 -8.81635692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.134012739 meters 0.03174003390853482 Centerline is valid? [True, True] Translation: X:440.11, Y:-71.60, Z:-8.82 [[ 9.84324759e-01 1.75483493e-01 1.76156936e-02 4.40105505e+02] [-1.75463089e-01 9.84482282e-01 -2.70936373e-03 -7.16007666e+01] [-1.78177869e-02 -4.24010219e-04 9.99841161e-01 -8.81895516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters 0.03968284677249481 Centerline is valid? [True, True] Translation: X:440.14, Y:-71.59, Z:-8.82 [[ 9.83762565e-01 1.78641535e-01 1.72747880e-02 4.40135411e+02] [-1.78622417e-01 9.83914111e-01 -2.65586221e-03 -7.15907566e+01] [-1.74713550e-02 -4.72926572e-04 9.99847252e-01 -8.82061905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.194012739 meters 0.03745025218607425 Centerline is valid? [True, True] Translation: X:440.16, Y:-71.60, Z:-8.82 [[ 9.83523380e-01 1.79896308e-01 1.78628171e-02 4.40163539e+02] [-1.79876090e-01 9.83685445e-01 -2.74536378e-03 -7.15962610e+01] [-1.80652740e-02 -5.12964217e-04 9.99836678e-01 -8.81923576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters 0.038387418625866594 Centerline is valid? [True, True] Translation: X:440.19, Y:-71.59, Z:-8.82 [[ 9.83371152e-01 1.80626058e-01 1.88521737e-02 4.40192727e+02] [-1.80603691e-01 9.83551685e-01 -2.89646719e-03 -7.15947797e+01] [-1.90652647e-02 -5.56469880e-04 9.99818086e-01 -8.81795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.254012739 meters 0.03968208430322028 Centerline is valid? [True, True] Translation: X:440.22, Y:-71.59, Z:-8.82 [[ 9.83335241e-01 1.80830308e-01 1.87670936e-02 4.40220554e+02] [-1.80808195e-01 9.83514152e-01 -2.88252476e-03 -7.15947896e+01] [-1.89789500e-02 -5.58756143e-04 9.99819727e-01 -8.81856857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters 0.039851241483384994 Centerline is valid? [True, True] Translation: X:440.25, Y:-71.59, Z:-8.82 [[ 9.83364082e-01 1.80666559e-01 1.88328815e-02 4.40249526e+02] [-1.80644283e-01 9.83544245e-01 -2.89150052e-03 -7.15948253e+01] [-1.90453697e-02 -5.58654611e-04 9.99818464e-01 -8.81951594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.314012739 meters 0.03632963125860198 Centerline is valid? [True, True] Translation: X:440.28, Y:-71.60, Z:-8.82 [[ 9.83455574e-01 1.80162621e-01 1.88828818e-02 4.40278088e+02] [-1.80140150e-01 9.83636684e-01 -2.89828987e-03 -7.16021236e+01] [-1.90960588e-02 -5.51225832e-04 9.99817502e-01 -8.81945279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters 0.03711344842742226 Centerline is valid? [True, True] Translation: X:440.31, Y:-71.60, Z:-8.82 [[ 9.83678126e-01 1.78940077e-01 1.89154312e-02 4.40306011e+02] [-1.78917316e-01 9.83859832e-01 -2.90262033e-03 -7.16031547e+01] [-1.91295280e-02 -5.29054047e-04 9.99816874e-01 -8.82068635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.374012739 meters 0.03414845130633785 Centerline is valid? [True, True] Translation: X:440.33, Y:-71.61, Z:-8.82 [[ 9.84373662e-01 1.75134540e-01 1.83408162e-02 4.40334391e+02] [-1.75112501e-01 9.84544411e-01 -2.81330480e-03 -7.16101474e+01] [-1.85500549e-02 -4.42363048e-04 9.99827835e-01 -8.82292539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters 0.030288582928878927 Centerline is valid? [True, True] Translation: X:440.36, Y:-71.62, Z:-8.82 [[ 9.84812731e-01 1.72673530e-01 1.81034836e-02 4.40361729e+02] [-1.72651649e-01 9.84979035e-01 -2.77653070e-03 -7.16195981e+01] [-1.83109852e-02 -3.91233516e-04 9.99832263e-01 -8.82420705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.434012739 meters 0.028550262109387964 Centerline is valid? [True, True] Translation: X:440.39, Y:-71.63, Z:-8.82 [[ 9.85244102e-01 1.70176445e-01 1.82766829e-02 4.40389589e+02] [-1.70153730e-01 9.85413546e-01 -2.80220090e-03 -7.16255335e+01] [-1.84869595e-02 -3.48993855e-04 9.99829041e-01 -8.82441761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters 0.025911034796730067 Centerline is valid? [True, True] Translation: X:440.42, Y:-71.63, Z:-8.82 [[ 9.85926585e-01 1.66002445e-01 1.97979154e-02 4.40416581e+02] [-1.65974970e-01 9.86125297e-01 -3.03440628e-03 -7.16336774e+01] [-2.00269441e-02 -2.94256598e-04 9.99799397e-01 -8.82275368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.494012739 meters 0.024171269473764714 Centerline is valid? [True, True] Translation: X:440.44, Y:-71.64, Z:-8.82 [[ 9.86295446e-01 1.63809509e-01 1.96910571e-02 4.40444140e+02] [-1.63781921e-01 9.86491958e-01 -3.01665381e-03 -7.16419228e+01] [-1.99192260e-02 -2.49727221e-04 9.99801561e-01 -8.82304051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters 0.02161964404318651 Centerline is valid? [True, True] Translation: X:440.47, Y:-71.65, Z:-8.83 [[ 9.86740534e-01 1.61212378e-01 1.88066068e-02 4.40471832e+02] [-1.61186756e-01 9.86919720e-01 -2.88033590e-03 -7.16525283e+01] [-1.90249569e-02 -1.89231770e-04 9.99818991e-01 -8.82517847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55401273900003 meters 0.01893258712864297 Centerline is valid? [True, True] Translation: X:440.50, Y:-71.67, Z:-8.83 [[ 9.87788528e-01 1.54854125e-01 1.71471279e-02 4.40497198e+02] [-1.54831879e-01 9.87937344e-01 -2.62547119e-03 -7.16684889e+01] [-1.73468530e-02 -6.15117129e-05 9.99849530e-01 -8.82837601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters 0.018320048057528147 Centerline is valid? [True, True] Translation: X:440.52, Y:-71.68, Z:-8.83 [[ 9.88311380e-01 1.51422110e-01 1.76624366e-02 4.40524400e+02] [-1.51397978e-01 9.88469193e-01 -2.70325203e-03 -7.16804910e+01] [-1.78681065e-02 -2.40244156e-06 9.99840353e-01 -8.82823887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.614012739 meters 0.018679069079418 Centerline is valid? [True, True] Translation: X:440.55, Y:-71.69, Z:-8.83 [[ 9.88784987e-01 1.48207873e-01 1.84031681e-02 4.40551216e+02] [-1.48181136e-01 9.88956229e-01 -2.81564765e-03 -7.16929622e+01] [-1.86172289e-02 5.70677779e-05 9.99826683e-01 -8.82827246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters 0.02110902943521549 Centerline is valid? [True, True] Translation: X:440.58, Y:-71.71, Z:-8.83 [[ 9.89613002e-01 1.42400025e-01 1.97063114e-02 4.40578896e+02] [-1.42368231e-01 9.89809174e-01 -3.01423820e-03 -7.17143407e+01] [-1.99347154e-02 1.77376631e-04 9.99801268e-01 -8.82609099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.674012739 meters 0.023214729300055664 Centerline is valid? [True, True] Translation: X:440.61, Y:-71.73, Z:-8.83 [[ 9.89918287e-01 1.40339315e-01 1.91484050e-02 4.40607866e+02] [-1.40308911e-01 9.90103445e-01 -2.92882758e-03 -7.17280110e+01] [-1.93699314e-02 2.12608140e-04 9.99812363e-01 -8.82784542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters 0.024430707758324892 Centerline is valid? [True, True] Translation: X:440.64, Y:-71.74, Z:-8.83 [[ 9.90104979e-01 1.39197189e-01 1.77840697e-02 4.40636002e+02] [-1.39170753e-01 9.90264659e-01 -2.72162124e-03 -7.17426709e+01] [-1.79897778e-02 2.19668362e-04 9.99838147e-01 -8.83136741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.734012739 meters 0.022429547484671047 Centerline is valid? [True, True] Translation: X:440.67, Y:-71.75, Z:-8.83 [[ 9.89938163e-01 1.40406851e-01 1.75598998e-02 4.40667607e+02] [-1.40381271e-01 9.90093873e-01 -2.68711613e-03 -7.17475636e+01] [-1.77632387e-02 1.94997755e-04 9.99842202e-01 -8.83168358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters 0.02107917256218699 Centerline is valid? [True, True] Translation: X:440.70, Y:-71.75, Z:-8.83 [[ 9.89637845e-01 1.42447022e-01 1.80494152e-02 4.40699367e+02] [-1.42420279e-01 9.89802414e-01 -2.76510402e-03 -7.17535225e+01] [-1.82592356e-02 1.65848833e-04 9.99833273e-01 -8.83084540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.794012739 meters 0.02013876436251353 Centerline is valid? [True, True] Translation: X:440.73, Y:-71.76, Z:-8.83 [[ 9.89198942e-01 1.45301706e-01 1.93097951e-02 4.40729904e+02] [-1.45271573e-01 9.89387386e-01 -2.96167220e-03 -7.17600105e+01] [-1.95352037e-02 1.24518699e-04 9.99809162e-01 -8.82903102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters 0.018157713357282473 Centerline is valid? [True, True] Translation: X:440.76, Y:-71.76, Z:-8.83 [[ 9.88204872e-01 1.51695771e-01 2.09648434e-02 4.40760409e+02] [-1.51661615e-01 9.88427232e-01 -3.21889372e-03 -7.17601256e+01] [-2.12105147e-02 1.36444580e-06 9.99775032e-01 -8.82651690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.854012739 meters 0.018796929143442376 Centerline is valid? [True, True] Translation: X:440.79, Y:-71.76, Z:-8.83 [[ 9.87709854e-01 1.54959775e-01 2.04135294e-02 4.40790258e+02] [-1.54928089e-01 9.87920778e-01 -3.13426653e-03 -7.17621131e+01] [-2.06526351e-02 -6.68831634e-05 9.99786709e-01 -8.82834294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters 0.02150844937761502 Centerline is valid? [True, True] Translation: X:440.82, Y:-71.76, Z:-8.83 [[ 9.86801135e-01 1.60964646e-01 1.77172908e-02 4.40820258e+02] [-1.60941725e-01 9.86960159e-01 -2.72137727e-03 -7.17613391e+01] [-1.79243056e-02 -1.65993160e-04 9.99839333e-01 -8.83489350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.914012739 meters 0.023048197884851476 Centerline is valid? [True, True] Translation: X:440.85, Y:-71.76, Z:-8.84 [[ 9.86454257e-01 1.63147615e-01 1.70544369e-02 4.40849526e+02] [-1.63126710e-01 9.86601650e-01 -2.61917519e-03 -7.17633909e+01] [-1.72532478e-02 -1.98337661e-04 9.99851132e-01 -8.83638978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters 0.02410622388816387 Centerline is valid? [True, True] Translation: X:440.88, Y:-71.77, Z:-8.84 [[ 9.86198247e-01 1.64653266e-01 1.73873651e-02 4.40878477e+02] [-1.64631778e-01 9.86351484e-01 -2.66994782e-03 -7.17666390e+01] [-1.75896690e-02 -2.29414961e-04 9.99845263e-01 -8.83660865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.974012739 meters 0.024817065605170358 Centerline is valid? [True, True] Translation: X:440.91, Y:-71.77, Z:-8.83 [[ 9.86111174e-01 1.64986254e-01 1.90863197e-02 4.40906682e+02] [-1.64960442e-01 9.86295832e-01 -2.92982501e-03 -7.17720002e+01] [-1.93081384e-02 -2.59354544e-04 9.99813547e-01 -8.83363225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters 0.023504701109517082 Centerline is valid? [True, True] Translation: X:440.94, Y:-71.78, Z:-8.83 [[ 9.86213391e-01 1.64293763e-01 1.97663053e-02 4.40936006e+02] [-1.64265955e-01 9.86411422e-01 -3.03347378e-03 -7.17804903e+01] [-1.99960902e-02 -2.55278551e-04 9.99800026e-01 -8.83236138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.034012739 meters 0.023504701109517082 Centerline is valid? [True, True] Translation: X:440.97, Y:-71.79, Z:-8.83 [[ 9.86213391e-01 1.64293763e-01 1.97663053e-02 4.40965655e+02] [-1.64265955e-01 9.86411422e-01 -3.03347378e-03 -7.17850404e+01] [-1.99960902e-02 -2.55278551e-04 9.99800026e-01 -8.83297062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters 0.02234376900136356 Centerline is valid? [True, True] Translation: X:440.99, Y:-71.79, Z:-8.83 [[ 9.86397615e-01 1.63059986e-01 2.07650295e-02 4.40994936e+02] [-1.63029022e-01 9.86616127e-01 -3.18674488e-03 -7.17949376e+01] [-2.10067435e-02 -2.41904894e-04 9.99779305e-01 -8.83174089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.094012739 meters 0.021971283636245113 Centerline is valid? [True, True] Translation: X:441.02, Y:-71.80, Z:-8.83 [[ 9.86551768e-01 1.62092416e-01 2.10156737e-02 4.41024398e+02] [-1.62060481e-01 9.86775556e-01 -3.22522185e-03 -7.18024343e+01] [-2.12605371e-02 -2.23961869e-04 9.99773944e-01 -8.83236898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters 0.021155018694276596 Centerline is valid? [True, True] Translation: X:441.06, Y:-71.81, Z:-8.83 [[ 9.86705068e-01 1.61159303e-01 2.09949608e-02 4.41055099e+02] [-1.61127214e-01 9.86928385e-01 -3.22230650e-03 -7.18112899e+01] [-2.12398274e-02 -2.03393394e-04 9.99774389e-01 -8.83349163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.154012739 meters 0.020817358930907272 Centerline is valid? [True, True] Translation: X:441.09, Y:-71.82, Z:-8.83 [[ 9.86808445e-01 1.60526062e-01 2.09875488e-02 4.41085681e+02] [-1.60493842e-01 9.87031584e-01 -3.22167145e-03 -7.18202743e+01] [-2.12325357e-02 -1.89199731e-04 9.99774546e-01 -8.83457576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters 0.020581738627948282 Centerline is valid? [True, True] Translation: X:441.12, Y:-71.83, Z:-8.84 [[ 9.86775099e-01 1.60840247e-01 2.01325237e-02 4.41117414e+02] [-1.60810654e-01 9.86980435e-01 -3.09089938e-03 -7.18309537e+01] [-2.03675481e-02 -1.87501771e-04 9.99792542e-01 -8.83577924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.214012739 meters 0.021360156423667384 Centerline is valid? [True, True] Translation: X:441.15, Y:-71.84, Z:-8.84 [[ 9.86601707e-01 1.62039007e-01 1.89850669e-02 4.41148412e+02] [-1.62012845e-01 9.86784334e-01 -2.91829508e-03 -7.18365892e+01] [-1.92070442e-02 -1.96629781e-04 9.99815508e-01 -8.83745245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters 0.02312970940035691 Centerline is valid? [True, True] Translation: X:441.18, Y:-71.84, Z:-8.84 [[ 9.86197982e-01 1.64655115e-01 1.73848782e-02 4.41178808e+02] [-1.64633533e-01 9.86351176e-01 -2.67518937e-03 -7.18427567e+01] [-1.75880787e-02 -2.23867572e-04 9.99845293e-01 -8.84083316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.274012739 meters 0.025638789175103444 Centerline is valid? [True, True] Translation: X:441.21, Y:-71.85, Z:-8.84 [[ 9.85910992e-01 1.66309573e-01 1.79064457e-02 4.41208001e+02] [-1.66286942e-01 9.86073556e-01 -2.75593436e-03 -7.18451476e+01] [-1.81154108e-02 -2.60502109e-04 9.99835869e-01 -8.84106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters 0.026032937837575022 Centerline is valid? [True, True] Translation: X:441.24, Y:-71.85, Z:-8.84 [[ 9.85528705e-01 1.68399833e-01 1.93563310e-02 4.41237591e+02] [-1.68373787e-01 9.85718718e-01 -2.97924382e-03 -7.18512118e+01] [-1.95816020e-02 -3.22968457e-04 9.99808210e-01 -8.83861406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.334012739 meters 0.03252539134769639 Centerline is valid? [True, True] Translation: X:441.27, Y:-71.85, Z:-8.84 [[ 9.84540192e-01 1.73847330e-01 2.13942937e-02 4.41267758e+02] [-1.73816795e-01 9.84772501e-01 -3.29288657e-03 -7.18475957e+01] [-2.16409717e-02 -4.76708387e-04 9.99765693e-01 -8.83511653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters 0.033900749121011375 Centerline is valid? [True, True] Translation: X:441.30, Y:-71.85, Z:-8.84 [[ 9.84021867e-01 1.76811490e-01 2.09442758e-02 4.41297583e+02] [-1.76782908e-01 9.84244591e-01 -3.22314075e-03 -7.18505854e+01] [-2.11841785e-02 -5.30948992e-04 9.99775449e-01 -8.83708478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.394012739 meters 0.03642967693729812 Centerline is valid? [True, True] Translation: X:441.33, Y:-71.85, Z:-8.84 [[ 9.83621946e-01 1.79176497e-01 1.95869916e-02 4.41328310e+02] [-1.79151972e-01 9.83816795e-01 -3.01404438e-03 -7.18525115e+01] [-1.98100572e-02 -5.44367967e-04 9.99803613e-01 -8.83979831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters 0.03885713333708244 Centerline is valid? [True, True] Translation: X:441.36, Y:-71.85, Z:-8.84 [[ 9.83276658e-01 1.81237043e-01 1.78927030e-02 4.41357595e+02] [-1.81216917e-01 9.83439296e-01 -2.75337854e-03 -7.18547999e+01] [-1.80954014e-02 -5.35127619e-04 9.99836122e-01 -8.84412106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.454012739 meters 0.039369179547690404 Centerline is valid? [True, True] Translation: X:441.38, Y:-71.86, Z:-8.84 [[ 9.83264074e-01 1.81256333e-01 1.83821477e-02 4.41384936e+02] [-1.81235101e-01 9.83435732e-01 -2.82831021e-03 -7.18579995e+01] [-1.85903101e-02 -5.50514582e-04 9.99827034e-01 -8.84412730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters 0.03915213287284742 Centerline is valid? [True, True] Translation: X:441.41, Y:-71.86, Z:-8.84 [[ 9.83274012e-01 1.81123018e-01 1.91486494e-02 4.41413167e+02] [-1.81099976e-01 9.83460282e-01 -2.94506582e-03 -7.18620094e+01] [-1.93653553e-02 -5.72013259e-04 9.99812310e-01 -8.84336258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.514012739 meters 0.04102862853737822 Centerline is valid? [True, True] Translation: X:441.44, Y:-71.86, Z:-8.84 [[ 9.83039000e-01 1.82307272e-01 1.99595153e-02 4.41442054e+02] [-1.82282501e-01 9.83241411e-01 -3.06880280e-03 -7.18622064e+01] [-2.01844871e-02 -6.21517536e-04 9.99796079e-01 -8.84244170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters 0.04236858526300714 Centerline is valid? [True, True] Translation: X:441.47, Y:-71.86, Z:-8.84 [[ 9.82811618e-01 1.83554937e-01 1.97207419e-02 4.41471434e+02] [-1.83531018e-01 9.83009245e-01 -3.03151568e-03 -7.18631674e+01] [-1.99421212e-02 -6.39958989e-04 9.99800931e-01 -8.84340388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.574012739 meters 0.04446931029414219 Centerline is valid? [True, True] Translation: X:441.50, Y:-71.86, Z:-8.85 [[ 9.82140937e-01 1.87289590e-01 1.79384744e-02 4.41502420e+02] [-1.87270435e-01 9.82304527e-01 -2.75672871e-03 -7.18589344e+01] [-1.81373512e-02 -6.51849791e-04 9.99835292e-01 -8.84683459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters 0.049558055886954146 Centerline is valid? [True, True] Translation: X:441.53, Y:-71.85, Z:-8.85 [[ 9.81783728e-01 1.89183074e-01 1.76202980e-02 4.41532461e+02] [-1.89164900e-01 9.81941602e-01 -2.70768628e-03 -7.18528929e+01] [-1.78143521e-02 -6.74779591e-04 9.99841084e-01 -8.84956270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.634012739 meters 0.051326937104456336 Centerline is valid? [True, True] Translation: X:441.56, Y:-71.85, Z:-8.85 [[ 9.81521126e-01 1.90580911e-01 1.71812614e-02 4.41562649e+02] [-1.90563856e-01 9.81671253e-01 -2.63959614e-03 -7.18517382e+01] [-1.73694070e-02 -6.83308043e-04 9.99848907e-01 -8.85083680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters 0.052026713652755886 Centerline is valid? [True, True] Translation: X:441.59, Y:-71.85, Z:-8.85 [[ 9.81399775e-01 1.91204377e-01 1.71862491e-02 4.41591363e+02] [-1.91187413e-01 9.81550000e-01 -2.64003786e-03 -7.18524585e+01] [-1.73739496e-02 -6.94861931e-04 9.99848820e-01 -8.85084559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.694012739 meters 0.05106898140224331 Centerline is valid? [True, True] Translation: X:441.62, Y:-71.85, Z:-8.85 [[ 9.81755675e-01 1.89249332e-01 1.84522602e-02 4.41620245e+02] [-1.89229449e-01 9.81928809e-01 -2.83359104e-03 -7.18546976e+01] [-1.86550611e-02 -7.09816951e-04 9.99825727e-01 -8.84922202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters 0.04836692474159223 Centerline is valid? [True, True] Translation: X:441.65, Y:-71.86, Z:-8.85 [[ 9.82249872e-01 1.86629912e-01 1.88272437e-02 4.41649547e+02] [-1.86608744e-01 9.82430059e-01 -2.89049367e-03 -7.18620032e+01] [-1.90359027e-02 -6.74141260e-04 9.99818574e-01 -8.84947093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.754012739 meters 0.04053659123550949 Centerline is valid? [True, True] Translation: X:441.68, Y:-71.88, Z:-8.85 [[ 9.83614354e-01 1.79266224e-01 1.91421750e-02 4.41676526e+02] [-1.79242952e-01 9.83800452e-01 -2.93864436e-03 -7.18773630e+01] [-1.93588801e-02 -5.40607170e-04 9.99812453e-01 -8.85043997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters 0.03188370185784288 Centerline is valid? [True, True] Translation: X:441.70, Y:-71.89, Z:-8.85 [[ 9.84283952e-01 1.75589781e-01 1.87970845e-02 4.41703722e+02] [-1.75566680e-01 9.84463314e-01 -2.88512207e-03 -7.18949599e+01] [-1.90116381e-02 -4.60362365e-04 9.99819156e-01 -8.85126230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.814012739 meters 0.03363297542764721 Centerline is valid? [True, True] Translation: X:441.73, Y:-71.90, Z:-8.85 [[ 9.84810158e-01 1.72662273e-01 1.83491547e-02 4.41732874e+02] [-1.72639760e-01 9.84981007e-01 -2.81593294e-03 -7.18975419e+01] [-1.85597742e-02 -3.94634300e-04 9.99827675e-01 -8.85326022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters 0.030146115218786917 Centerline is valid? [True, True] Translation: X:441.76, Y:-71.91, Z:-8.86 [[ 9.85465701e-01 1.68994853e-01 1.72653302e-02 4.41759792e+02] [-1.68974365e-01 9.85616886e-01 -2.64923569e-03 -7.19094810e+01] [-1.74647082e-02 -3.06667307e-04 9.99847433e-01 -8.85509491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.874012739 meters 0.02963732701586004 Centerline is valid? [True, True] Translation: X:441.79, Y:-71.92, Z:-8.86 [[ 9.85558715e-01 1.68427975e-01 1.74939176e-02 4.41787836e+02] [-1.68406861e-01 9.85713917e-01 -2.68375332e-03 -7.19154268e+01] [-1.76960172e-02 -3.01099284e-04 9.99843368e-01 -8.85500953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters 0.029874804025347534 Centerline is valid? [True, True] Translation: X:441.82, Y:-71.92, Z:-8.85 [[ 9.85531833e-01 1.68557798e-01 1.77559654e-02 4.41816180e+02] [-1.68536082e-01 9.85691723e-01 -2.72316467e-03 -7.19203728e+01] [-1.79609187e-02 -3.08755361e-04 9.99838642e-01 -8.85471844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.934012739 meters 0.03221558991046733 Centerline is valid? [True, True] Translation: X:441.84, Y:-71.92, Z:-8.85 [[ 9.85190781e-01 1.70489990e-01 1.82287573e-02 4.41843729e+02] [-1.70467448e-01 9.85359345e-01 -2.79487630e-03 -7.19233704e+01] [-1.84383748e-02 -3.53923365e-04 9.99829936e-01 -8.85445213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters 0.03348794715764947 Centerline is valid? [True, True] Translation: X:441.87, Y:-71.93, Z:-8.85 [[ 9.84986510e-01 1.71620700e-01 1.86523646e-02 4.41871930e+02] [-1.71597320e-01 9.85163026e-01 -2.85877285e-03 -7.19270429e+01] [-1.88662445e-02 -3.84843078e-04 9.99821943e-01 -8.85404998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.994012739 meters 0.03493024104146495 Centerline is valid? [True, True] Translation: X:441.90, Y:-71.93, Z:-8.85 [[ 9.84808262e-01 1.72592895e-01 1.90887216e-02 4.41900244e+02] [-1.72568607e-01 9.84993158e-01 -2.92480712e-03 -7.19302584e+01] [-1.93070611e-02 -4.13739874e-04 9.99813516e-01 -8.85403505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters 0.0368898676517028 Centerline is valid? [True, True] Translation: X:441.93, Y:-71.93, Z:-8.85 [[ 9.84537539e-01 1.74096527e-01 1.93967337e-02 4.41928361e+02] [-1.74071756e-01 9.84728488e-01 -2.97116208e-03 -7.19338654e+01] [-1.96177852e-02 -4.51202899e-04 9.99807451e-01 -8.85362138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05401273900003 meters 0.03194098999062832 Centerline is valid? [True, True] Translation: X:441.96, Y:-71.95, Z:-8.85 [[ 9.84476918e-01 1.74447086e-01 1.93238754e-02 4.41957083e+02] [-1.74422590e-01 9.84666443e-01 -2.95893002e-03 -7.19471181e+01] [-1.95437483e-02 -4.57522088e-04 9.99808898e-01 -8.85404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters 0.03300254535613996 Centerline is valid? [True, True] Translation: X:441.99, Y:-71.95, Z:-8.86 [[ 9.84437752e-01 1.74691742e-01 1.91077729e-02 4.41986576e+02] [-1.74667838e-01 9.84623068e-01 -2.92582954e-03 -7.19513006e+01] [-1.93250722e-02 -4.57216313e-04 9.99813149e-01 -8.85535691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.114012739 meters 0.03220370568350347 Centerline is valid? [True, True] Translation: X:442.02, Y:-71.96, Z:-8.86 [[ 9.84360679e-01 1.75088511e-01 1.94439662e-02 4.42016400e+02] [-1.75063830e-01 9.84552584e-01 -2.97752458e-03 -7.19577466e+01] [-1.96649375e-02 -4.72977086e-04 9.99806515e-01 -8.85552739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters 0.03317500893284776 Centerline is valid? [True, True] Translation: X:442.05, Y:-71.96, Z:-8.86 [[ 9.84216299e-01 1.75842433e-01 1.99428092e-02 4.42045158e+02] [-1.75816624e-01 9.84418198e-01 -3.05391576e-03 -7.19622090e+01] [-2.01690723e-02 -5.00563724e-04 9.99796458e-01 -8.85584317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.174012739 meters 0.035309847257060295 Centerline is valid? [True, True] Translation: X:442.07, Y:-71.97, Z:-8.86 [[ 9.84018215e-01 1.76893513e-01 2.04166239e-02 4.42074528e+02] [-1.76866695e-01 9.84229851e-01 -3.12622196e-03 -7.19650058e+01] [-2.06476591e-02 -5.34761443e-04 9.99786671e-01 -8.85564699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters 0.036701240025921414 Centerline is valid? [True, True] Translation: X:442.10, Y:-71.97, Z:-8.85 [[ 9.83572942e-01 1.79246235e-01 2.13319960e-02 4.42104215e+02] [-1.79217516e-01 9.83804053e-01 -3.26612030e-03 -7.19688100e+01] [-2.15719439e-02 -6.10599792e-04 9.99767112e-01 -8.85438832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.234012739 meters 0.03924015328470722 Centerline is valid? [True, True] Translation: X:442.13, Y:-71.97, Z:-8.85 [[ 9.83338803e-01 1.80538407e-01 2.12292782e-02 4.42133113e+02] [-1.80510271e-01 9.83567730e-01 -3.25012131e-03 -7.19693006e+01] [-2.14672047e-02 -6.36132364e-04 9.99769351e-01 -8.85434022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters 0.04305515196383721 Centerline is valid? [True, True] Translation: X:442.16, Y:-71.97, Z:-8.86 [[ 9.82902597e-01 1.83120576e-01 1.92181930e-02 4.42162310e+02] [-1.83098021e-01 9.83090261e-01 -2.94171617e-03 -7.19683883e+01] [-1.94319071e-02 -6.27392652e-04 9.99810986e-01 -8.85864943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.294012739 meters 0.04230029024786221 Centerline is valid? [True, True] Translation: X:442.19, Y:-71.97, Z:-8.86 [[ 9.82705306e-01 1.84277745e-01 1.82206899e-02 4.42191240e+02] [-1.84257681e-01 9.82874016e-01 -2.78841581e-03 -7.19746893e+01] [-1.84224856e-02 -6.17111045e-04 9.99830101e-01 -8.86087895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters 0.042430194620364785 Centerline is valid? [True, True] Translation: X:442.22, Y:-71.98, Z:-8.86 [[ 9.82544213e-01 1.85156712e-01 1.79961412e-02 4.42219711e+02] [-1.85137293e-01 9.82708807e-01 -2.75368459e-03 -7.19792299e+01] [-1.81948296e-02 -6.26140006e-04 9.99834264e-01 -8.86113371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.354012739 meters 0.044994969366228446 Centerline is valid? [True, True] Translation: X:442.25, Y:-71.98, Z:-8.86 [[ 9.82091770e-01 1.87373306e-01 1.96723113e-02 4.42249808e+02] [-1.87350565e-01 9.82288507e-01 -3.00912762e-03 -7.19787883e+01] [-1.98877155e-02 -7.30379168e-04 9.99801953e-01 -8.85759393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters 0.046534603459177065 Centerline is valid? [True, True] Translation: X:442.28, Y:-71.98, Z:-8.86 [[ 9.81793855e-01 1.88827891e-01 2.06119824e-02 4.42279260e+02] [-1.88803257e-01 9.82009874e-01 -3.15235115e-03 -7.19810598e+01] [-2.08364221e-02 -7.96650427e-04 9.99782581e-01 -8.85687084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.414012739 meters 0.05056983393820309 Centerline is valid? [True, True] Translation: X:442.31, Y:-71.98, Z:-8.86 [[ 9.81434170e-01 1.90730741e-01 2.02176752e-02 4.42308505e+02] [-1.90707453e-01 9.81642048e-01 -3.09157458e-03 -7.19798655e+01] [-2.04361784e-02 -8.21484419e-04 9.99790822e-01 -8.85846684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters 0.045350396612396975 Centerline is valid? [True, True] Translation: X:442.34, Y:-71.99, Z:-8.86 [[ 9.81431361e-01 1.90788120e-01 1.98084965e-02 4.42335954e+02] [-1.90765790e-01 9.81630910e-01 -3.02832184e-03 -7.19900783e+01] [-2.00224003e-02 -8.06693466e-04 9.99799206e-01 -8.86047505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.474012739 meters 0.044777668771965366 Centerline is valid? [True, True] Translation: X:442.36, Y:-71.99, Z:-8.86 [[ 9.81417429e-01 1.90896097e-01 1.94553486e-02 4.42364699e+02] [-1.90874596e-01 9.81609926e-01 -2.97339551e-03 -7.19934196e+01] [-1.96651729e-02 -7.95389641e-04 9.99806305e-01 -8.86110970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters 0.04514136505703227 Centerline is valid? [True, True] Translation: X:442.39, Y:-71.99, Z:-8.86 [[ 9.81349052e-01 1.91270181e-01 1.92290164e-02 4.42393772e+02] [-1.91249268e-01 9.81537104e-01 -2.93786212e-03 -7.19935906e+01] [-1.94359184e-02 -7.94467088e-04 9.99810789e-01 -8.86104670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.534012739 meters 0.047208438153437116 Centerline is valid? [True, True] Translation: X:442.42, Y:-71.99, Z:-8.86 [[ 9.81291592e-01 1.91590655e-01 1.89692595e-02 4.42421741e+02] [-1.91570380e-01 9.81474602e-01 -2.89726369e-03 -7.19931394e+01] [-1.91729351e-02 -7.90887757e-04 9.99815870e-01 -8.86193850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters 0.05149419235354583 Centerline is valid? [True, True] Translation: X:442.45, Y:-71.99, Z:-8.86 [[ 9.81298461e-01 1.91549209e-01 1.90323699e-02 4.42450525e+02] [-1.91528813e-01 9.81482690e-01 -2.90573012e-03 -7.19877092e+01] [-1.92365319e-02 -7.93858719e-04 9.99814646e-01 -8.86256894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.594012739 meters 0.04898203701327463 Centerline is valid? [True, True] Translation: X:442.48, Y:-71.99, Z:-8.86 [[ 9.81565590e-01 1.90091814e-01 1.98518356e-02 4.42478891e+02] [-1.90069351e-01 9.81765992e-01 -3.02958959e-03 -7.19932328e+01] [-2.00657572e-02 -7.99484619e-04 9.99798343e-01 -8.86223554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters 0.04632699380444452 Centerline is valid? [True, True] Translation: X:442.51, Y:-72.00, Z:-8.86 [[ 9.82005717e-01 1.87750542e-01 2.03594280e-02 4.42507786e+02] [-1.87726434e-01 9.82216442e-01 -3.10608402e-03 -7.19995305e+01] [-2.05805339e-02 -7.71810551e-04 9.99787900e-01 -8.86204580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.654012739 meters 0.04170016815079478 Centerline is valid? [True, True] Translation: X:442.54, Y:-72.01, Z:-8.86 [[ 9.82536219e-01 1.84917118e-01 2.06939131e-02 4.42536221e+02] [-1.84891594e-01 9.82753852e-01 -3.15662128e-03 -7.20091856e+01] [-2.09207361e-02 -7.24635838e-04 9.99780875e-01 -8.86308742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters 0.036735119743701646 Centerline is valid? [True, True] Translation: X:442.56, Y:-72.02, Z:-8.86 [[ 9.83658919e-01 1.78930382e-01 1.99762056e-02 4.42564593e+02] [-1.78905373e-01 9.83861568e-01 -3.04667772e-03 -7.20201529e+01] [-2.01989642e-02 -5.76958797e-04 9.99795814e-01 -8.86429065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.714012739 meters 0.034028883883320406 Centerline is valid? [True, True] Translation: X:442.59, Y:-72.03, Z:-8.86 [[ 9.84242532e-01 1.75720503e-01 1.97216599e-02 4.42592248e+02] [-1.75695487e-01 9.84439968e-01 -3.00758171e-03 -7.20282224e+01] [-1.99432840e-02 -5.04816815e-04 9.99800985e-01 -8.86497118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters 0.028598061897471445 Centerline is valid? [True, True] Translation: X:442.62, Y:-72.04, Z:-8.87 [[ 9.85325583e-01 1.69588120e-01 1.93226573e-02 4.42621440e+02] [-1.69562941e-01 9.85514957e-01 -2.94601605e-03 -7.20414833e+01] [-1.95423771e-02 -3.73621617e-04 9.99808960e-01 -8.86543351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.774012739 meters 0.026323204909106307 Centerline is valid? [True, True] Translation: X:442.65, Y:-72.05, Z:-8.87 [[ 9.85836767e-01 1.66604011e-01 1.92086326e-02 4.42650548e+02] [-1.66578558e-01 9.86023836e-01 -2.92886946e-03 -7.20506289e+01] [-1.94281310e-02 -3.12359108e-04 9.99811207e-01 -8.86616357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters 0.02452634437591545 Centerline is valid? [True, True] Translation: X:442.68, Y:-72.06, Z:-8.87 [[ 9.86252287e-01 1.64140869e-01 1.90840879e-02 4.42680366e+02] [-1.64115283e-01 9.86436874e-01 -2.90986753e-03 -7.20602519e+01] [-1.93028762e-02 -2.62126986e-04 9.99813648e-01 -8.86686151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.834012739 meters 0.02201451004007807 Centerline is valid? [True, True] Translation: X:442.71, Y:-72.07, Z:-8.87 [[ 9.86831135e-01 1.60536807e-01 1.98051725e-02 4.42710420e+02] [-1.60508520e-01 9.87029835e-01 -3.02004965e-03 -7.20745736e+01] [-2.00331253e-02 -1.98619903e-04 9.99799297e-01 -8.86570013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters 0.021501593255305554 Centerline is valid? [True, True] Translation: X:442.74, Y:-72.08, Z:-8.87 [[ 9.86980494e-01 1.59601750e-01 1.99195029e-02 4.42741387e+02] [-1.59572925e-01 9.87181467e-01 -3.03849634e-03 -7.20828511e+01] [-2.01491134e-02 -1.79676723e-04 9.99796970e-01 -8.86562692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.894012739 meters 0.02108559816577052 Centerline is valid? [True, True] Translation: X:442.77, Y:-72.09, Z:-8.87 [[ 9.87030205e-01 1.59244626e-01 2.03106839e-02 4.42772963e+02] [-1.59214562e-01 9.87239139e-01 -3.09917581e-03 -7.20902498e+01] [-2.05450292e-02 -1.74776506e-04 9.99788913e-01 -8.86527019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters 0.02108559816577052 Centerline is valid? [True, True] Translation: X:442.80, Y:-72.10, Z:-8.87 [[ 9.87004381e-01 1.59404667e-01 2.03101815e-02 4.42804247e+02] [-1.59374568e-01 9.87213311e-01 -3.10246497e-03 -7.20951804e+01] [-2.05450289e-02 -1.74779894e-04 9.99788913e-01 -8.86591356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.954012739 meters 0.02109753562343872 Centerline is valid? [True, True] Translation: X:442.84, Y:-72.10, Z:-8.87 [[ 9.86972413e-01 1.59597730e-01 2.03475143e-02 4.42835803e+02] [-1.59567492e-01 9.87182118e-01 -3.11154937e-03 -7.21013387e+01] [-2.05832985e-02 -1.75788444e-04 9.99788126e-01 -8.86633017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters 0.02203505654988992 Centerline is valid? [True, True] Translation: X:442.87, Y:-72.11, Z:-8.87 [[ 9.86714438e-01 1.61275154e-01 1.96199479e-02 4.42867833e+02] [-1.61247310e-01 9.86909461e-01 -3.00341517e-03 -7.21062191e+01] [-1.98474884e-02 -2.00150709e-04 9.99802999e-01 -8.86842224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.014012739 meters 0.02295483638405346 Centerline is valid? [True, True] Translation: X:442.90, Y:-72.11, Z:-8.87 [[ 9.86506435e-01 1.62554500e-01 1.95214724e-02 4.42898971e+02] [-1.62527120e-01 9.86699542e-01 -2.99160699e-03 -7.21101875e+01] [-1.97481270e-02 -2.21529138e-04 9.99804962e-01 -8.86985012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters 0.024078934662195572 Centerline is valid? [True, True] Translation: X:442.93, Y:-72.11, Z:-8.87 [[ 9.86206660e-01 1.64127566e-01 2.14141507e-02 4.42929388e+02] [-1.64094975e-01 9.86439084e-01 -3.28234108e-03 -7.21148726e+01] [-2.16624778e-02 -2.76887884e-04 9.99765303e-01 -8.86710337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.074012739 meters 0.02430525172615893 Centerline is valid? [True, True] Translation: X:442.96, Y:-72.12, Z:-8.87 [[ 9.86137822e-01 1.64412336e-01 2.23780979e-02 4.42961478e+02] [-1.64376748e-01 9.86391655e-01 -3.43316285e-03 -7.21210521e+01] [-2.26380234e-02 -2.92867235e-04 9.99743684e-01 -8.86624600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters 0.023593130751559985 Centerline is valid? [True, True] Translation: X:442.99, Y:-72.13, Z:-8.87 [[ 9.86248405e-01 1.63685474e-01 2.28286836e-02 4.42991446e+02] [-1.63648158e-01 9.86512538e-01 -3.50600384e-03 -7.21298146e+01] [-2.30946645e-02 -2.78081314e-04 9.99733244e-01 -8.86566787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.134012739 meters 0.023020985345178078 Centerline is valid? [True, True] Translation: X:443.02, Y:-72.14, Z:-8.87 [[ 9.86352983e-01 1.63067807e-01 2.27306627e-02 4.43021529e+02] [-1.63030569e-01 9.86614830e-01 -3.49431044e-03 -7.21368791e+01] [-2.29962185e-02 -2.59169362e-04 9.99735518e-01 -8.86649935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters 0.022639051629354198 Centerline is valid? [True, True] Translation: X:443.05, Y:-72.14, Z:-8.87 [[ 9.86424662e-01 1.62631045e-01 2.27492814e-02 4.43053191e+02] [-1.62593553e-01 9.86686922e-01 -3.50057235e-03 -7.21442955e+01] [-2.30157202e-02 -2.45835596e-04 9.99735073e-01 -8.86735618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.194012739 meters 0.02258689539861815 Centerline is valid? [True, True] Translation: X:443.08, Y:-72.15, Z:-8.87 [[ 9.86482597e-01 1.62339994e-01 2.23116894e-02 4.43083518e+02] [-1.62303780e-01 9.86734855e-01 -3.43656504e-03 -7.21509492e+01] [-2.25736135e-02 -2.31159909e-04 9.99745157e-01 -8.86836091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters 0.022593263622593906 Centerline is valid? [True, True] Translation: X:443.11, Y:-72.16, Z:-8.87 [[ 9.86303542e-01 1.63556292e-01 2.13228303e-02 4.43114683e+02] [-1.63523461e-01 9.86533973e-01 -3.28617391e-03 -7.21598267e+01] [-2.15731709e-02 -2.45618044e-04 9.99767242e-01 -8.87122777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.254012739 meters 0.023923057367385436 Centerline is valid? [True, True] Translation: X:443.15, Y:-72.16, Z:-8.87 [[ 9.86074508e-01 1.65053504e-01 2.03569737e-02 4.43146001e+02] [-1.65023832e-01 9.86284580e-01 -3.14055196e-03 -7.21637380e+01] [-2.05961283e-02 -2.62567577e-04 9.99787843e-01 -8.87289355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters 0.02461214576145927 Centerline is valid? [True, True] Translation: X:443.18, Y:-72.17, Z:-8.88 [[ 9.85758138e-01 1.67006889e-01 1.97381185e-02 4.43177469e+02] [-1.66979327e-01 9.85955686e-01 -3.04801653e-03 -7.21685174e+01] [-1.99699499e-02 -2.91250631e-04 9.99800538e-01 -8.87514447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.314012739 meters 0.029737150961262282 Centerline is valid? [True, True] Translation: X:443.21, Y:-72.17, Z:-8.88 [[ 9.85194091e-01 1.70268086e-01 2.00345192e-02 4.43208962e+02] [-1.70240293e-01 9.85397712e-01 -3.09721274e-03 -7.21664725e+01] [-2.02693259e-02 -3.59326735e-04 9.99794492e-01 -8.87553144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters 0.030833722071949732 Centerline is valid? [True, True] Translation: X:443.24, Y:-72.17, Z:-8.88 [[ 9.85024438e-01 1.71133477e-01 2.09806873e-02 4.43239918e+02] [-1.71103182e-01 9.85247775e-01 -3.24400813e-03 -7.21714618e+01] [-2.12263338e-02 -3.94435072e-04 9.99774618e-01 -8.87501348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.374012739 meters 0.030533011566888774 Centerline is valid? [True, True] Translation: X:443.27, Y:-72.18, Z:-8.88 [[ 9.85095294e-01 1.70743648e-01 2.08295268e-02 4.43269444e+02] [-1.70713692e-01 9.85315412e-01 -3.22108035e-03 -7.21802041e+01] [-2.10736328e-02 -3.82814332e-04 9.99777853e-01 -8.87542330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters 0.029955738433344422 Centerline is valid? [True, True] Translation: X:443.30, Y:-72.19, Z:-8.88 [[ 9.85173408e-01 1.70318837e-01 2.06119103e-02 4.43299968e+02] [-1.70289405e-01 9.85388937e-01 -3.18765669e-03 -7.21870034e+01] [-2.08536663e-02 -3.69595340e-04 9.99782470e-01 -8.87649057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.434012739 meters 0.02608371848646931 Centerline is valid? [True, True] Translation: X:443.33, Y:-72.20, Z:-8.88 [[ 9.85249841e-01 1.69918444e-01 2.02601132e-02 4.43330420e+02] [-1.69889915e-01 9.85458064e-01 -3.13371297e-03 -7.21996768e+01] [-2.04979675e-02 -3.54498693e-04 9.99789832e-01 -8.87793586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters 0.027018121840078985 Centerline is valid? [True, True] Translation: X:443.36, Y:-72.20, Z:-8.88 [[ 9.85073805e-01 1.70817501e-01 2.12362687e-02 4.43361600e+02] [-1.70786285e-01 9.85302609e-01 -3.28845222e-03 -7.22031506e+01] [-2.14858762e-02 -3.87495292e-04 9.99769077e-01 -8.87693250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.494012739 meters 0.027076169388971755 Centerline is valid? [True, True] Translation: X:443.39, Y:-72.21, Z:-8.88 [[ 9.84754832e-01 1.72502419e-01 2.23793956e-02 4.43393043e+02] [-1.72468102e-01 9.85008994e-01 -3.46915410e-03 -7.22077273e+01] [-2.26423434e-02 -4.43465617e-04 9.99743531e-01 -8.87519764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters 0.02992921768850721 Centerline is valid? [True, True] Translation: X:443.42, Y:-72.21, Z:-8.87 [[ 9.84299385e-01 1.75005899e-01 2.29707783e-02 4.43424610e+02] [-1.74970337e-01 9.84567253e-01 -3.56460313e-03 -7.22069998e+01] [-2.32401027e-02 -5.10568161e-04 9.99729782e-01 -8.87429098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55401273900003 meters 0.0365148336867977 Centerline is valid? [True, True] Translation: X:443.46, Y:-72.20, Z:-8.88 [[ 9.83361839e-01 1.80266464e-01 2.24387115e-02 4.43456340e+02] [-1.80233827e-01 9.83617619e-01 -3.48517598e-03 -7.21992089e+01] [-2.26993724e-02 -6.17025779e-04 9.99742146e-01 -8.87513872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters 0.03806110959526681 Centerline is valid? [True, True] Translation: X:443.49, Y:-72.20, Z:-8.88 [[ 9.82887175e-01 1.82903908e-01 2.18851725e-02 4.43487733e+02] [-1.82873513e-01 9.83130573e-01 -3.39924334e-03 -7.21995383e+01] [-2.21377170e-02 -6.61145698e-04 9.99754712e-01 -8.87712632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.614012739 meters 0.04138284273054684 Centerline is valid? [True, True] Translation: X:443.52, Y:-72.19, Z:-8.88 [[ 9.82153088e-01 1.86704414e-01 2.27326362e-02 4.43518971e+02] [-1.86672625e-01 9.82415829e-01 -3.53133281e-03 -7.21941253e+01] [-2.29922171e-02 -7.75251448e-04 9.99735343e-01 -8.87620359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters 0.04115088606570397 Centerline is valid? [True, True] Translation: X:443.55, Y:-72.20, Z:-8.88 [[ 9.81983804e-01 1.87483458e-01 2.36169868e-02 4.43548462e+02] [-1.87449380e-01 9.82267414e-01 -3.66837585e-03 -7.21959090e+01] [-2.38859563e-02 -8.24703869e-04 9.99714350e-01 -8.87590161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.674012739 meters 0.045005086817792694 Centerline is valid? [True, True] Translation: X:443.58, Y:-72.19, Z:-8.88 [[ 9.81887415e-01 1.87945430e-01 2.39503455e-02 4.43578111e+02] [-1.87910536e-01 9.82179106e-01 -3.71952645e-03 -7.21917965e+01] [-2.42225970e-02 -8.48366042e-04 9.99706230e-01 -8.87577196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters 0.04527604401265959 Centerline is valid? [True, True] Translation: X:443.61, Y:-72.19, Z:-8.88 [[ 9.81907291e-01 1.87791664e-01 2.43385169e-02 4.43607460e+02] [-1.87755605e-01 9.82208508e-01 -3.77888495e-03 -7.21924732e+01] [-2.46151414e-02 -8.59178272e-04 9.99696632e-01 -8.87598701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.734012739 meters 0.040707048031895274 Centerline is valid? [True, True] Translation: X:443.64, Y:-72.20, Z:-8.88 [[ 9.82129553e-01 1.86619486e-01 2.43866565e-02 4.43636484e+02] [-1.86582949e-01 9.82431919e-01 -3.78534092e-03 -7.21966780e+01] [-2.46646481e-02 -8.32439081e-04 9.99695435e-01 -8.87612706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters 0.04013655452456656 Centerline is valid? [True, True] Translation: X:443.67, Y:-72.19, Z:-8.88 [[ 9.82390588e-01 1.85417355e-01 2.30029857e-02 4.43665358e+02] [-1.85384530e-01 9.82659570e-01 -3.57000554e-03 -7.21948466e+01] [-2.32660451e-02 -7.57257860e-04 9.99729022e-01 -8.87885999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.794012739 meters 0.0396297376844504 Centerline is valid? [True, True] Translation: X:443.69, Y:-72.20, Z:-8.88 [[ 9.82584450e-01 1.84457551e-01 2.24323638e-02 4.43692864e+02] [-1.84426104e-01 9.82840220e-01 -3.48060259e-03 -7.21962743e+01] [-2.26894528e-02 -7.17127474e-04 9.99742304e-01 -8.88060521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters 0.04086227807087623 Centerline is valid? [True, True] Translation: X:443.72, Y:-72.20, Z:-8.88 [[ 9.82828445e-01 1.83164207e-01 2.23410313e-02 4.43720909e+02] [-1.83132712e-01 9.83082094e-01 -3.46511234e-03 -7.21959489e+01] [-2.25977524e-02 -6.85762673e-04 9.99744403e-01 -8.88146979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.854012739 meters 0.03646126604950979 Centerline is valid? [True, True] Translation: X:443.75, Y:-72.20, Z:-8.88 [[ 9.83192575e-01 1.81191096e-01 2.24086495e-02 4.43750105e+02] [-1.81158926e-01 9.83447697e-01 -3.47434404e-03 -7.22044924e+01] [-2.26672549e-02 -6.43577614e-04 9.99742858e-01 -8.88273452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters 0.032318806959198296 Centerline is valid? [True, True] Translation: X:443.78, Y:-72.21, Z:-8.88 [[ 9.84160303e-01 1.75836084e-01 2.25869498e-02 4.43778887e+02] [-1.75802005e-01 9.84419319e-01 -3.50132081e-03 -7.22110832e+01] [-2.28506883e-02 -5.24970103e-04 9.99738751e-01 -8.88298881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.914012739 meters 0.029563246348968012 Centerline is valid? [True, True] Translation: X:443.81, Y:-72.22, Z:-8.88 [[ 9.84696191e-01 1.72695936e-01 2.34419744e-02 4.43808446e+02] [-1.72658351e-01 9.84975072e-01 -3.63327264e-03 -7.22184072e+01] [-2.37172118e-02 -4.69782918e-04 9.99718597e-01 -8.88246526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters 0.02570530285634864 Centerline is valid? [True, True] Translation: X:443.84, Y:-72.23, Z:-8.88 [[ 9.85648900e-01 1.67100470e-01 2.39515847e-02 4.43836878e+02] [-1.67059595e-01 9.85939813e-01 -3.71164017e-03 -7.22266392e+01] [-2.42350378e-02 -3.42967990e-04 9.99706230e-01 -8.88207222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.974012739 meters 0.022567561287672972 Centerline is valid? [True, True] Translation: X:443.87, Y:-72.24, Z:-8.88 [[ 9.86041318e-01 1.64797690e-01 2.37537653e-02 4.43866965e+02] [-1.64756824e-01 9.86327350e-01 -3.68084166e-03 -7.22353113e+01] [-2.40355825e-02 -2.84132951e-04 9.99711063e-01 -8.88385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters 0.021957710822734688 Centerline is valid? [True, True] Translation: X:443.90, Y:-72.24, Z:-8.89 [[ 9.86330277e-01 1.63135593e-01 2.32241999e-02 4.43896775e+02] [-1.63096055e-01 9.86603630e-01 -3.59929165e-03 -7.22391451e+01] [-2.35002525e-02 -2.37685076e-04 9.99723803e-01 -8.88504406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.034012739 meters 0.020876135782007726 Centerline is valid? [True, True] Translation: X:443.93, Y:-72.24, Z:-8.89 [[ 9.86811660e-01 1.60229453e-01 2.30058639e-02 4.43925406e+02] [-1.60189861e-01 9.87079781e-01 -3.56565834e-03 -7.22443546e+01] [-2.32799466e-02 -1.66672915e-04 9.99728971e-01 -8.88534069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters 0.019158968845730023 Centerline is valid? [True, True] Translation: X:443.96, Y:-72.25, Z:-8.89 [[ 9.87072450e-01 1.58550921e-01 2.34431884e-02 4.43955813e+02] [-1.58509339e-01 9.87350793e-01 -3.63328307e-03 -7.22535007e+01] [-2.37227110e-02 -1.29650684e-04 9.99718568e-01 -8.88596032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.094012739 meters 0.018620604983343413 Centerline is valid? [True, True] Translation: X:443.99, Y:-72.26, Z:-8.89 [[ 9.87523104e-01 1.55732709e-01 2.33547149e-02 4.43986747e+02] [-1.55690628e-01 9.87799230e-01 -3.62059673e-03 -7.22607254e+01] [-2.36336147e-02 -6.06872957e-05 9.99720685e-01 -8.88627714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters 0.018395337999739504 Centerline is valid? [True, True] Translation: X:444.02, Y:-72.27, Z:-8.89 [[ 9.87610447e-01 1.55199880e-01 2.32078119e-02 4.44018549e+02] [-1.55158089e-01 9.87883088e-01 -3.60165085e-03 -7.22660000e+01] [-2.34855807e-02 -4.38517462e-05 9.99724175e-01 -8.88778175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.154012739 meters 0.01826802145134767 Centerline is valid? [True, True] Translation: X:444.05, Y:-72.27, Z:-8.89 [[ 9.87588898e-01 1.55366630e-01 2.30082445e-02 4.44051503e+02] [-1.55325512e-01 9.87856877e-01 -3.57446131e-03 -7.22711928e+01] [-2.32842046e-02 -4.36690592e-05 9.99728885e-01 -8.88962932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters 0.018490303535115344 Centerline is valid? [True, True] Translation: X:444.08, Y:-72.28, Z:-8.89 [[ 9.87526577e-01 1.55782834e-01 2.28685070e-02 4.44083152e+02] [-1.55742225e-01 9.87791327e-01 -3.55713723e-03 -7.22752428e+01] [-2.31434538e-02 -4.88246088e-05 9.99732153e-01 -8.89024504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.214012739 meters 0.01852885633243671 Centerline is valid? [True, True] Translation: X:444.11, Y:-72.28, Z:-8.89 [[ 9.87338212e-01 1.56900033e-01 2.33588110e-02 4.44114991e+02] [-1.56857886e-01 9.87614487e-01 -3.63719151e-03 -7.22764424e+01] [-2.36401756e-02 -7.28755608e-05 9.99720529e-01 -8.88976447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters 0.018890333417962705 Centerline is valid? [True, True] Translation: X:444.15, Y:-72.28, Z:-8.89 [[ 9.87179860e-01 1.57814578e-01 2.38847980e-02 4.44145906e+02] [-1.57770766e-01 9.87468759e-01 -3.71962564e-03 -7.22774466e+01] [-2.41725030e-02 -9.63833754e-05 9.99707798e-01 -8.88833830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.274012739 meters 0.01964810332477003 Centerline is valid? [True, True] Translation: X:444.18, Y:-72.28, Z:-8.89 [[ 9.86841393e-01 1.59839430e-01 2.44012822e-02 4.44177154e+02] [-1.59794316e-01 9.87143016e-01 -3.80030178e-03 -7.22780661e+01] [-2.46949934e-02 -1.48891093e-04 9.99695021e-01 -8.88862013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters 0.020628677972971413 Centerline is valid? [True, True] Translation: X:444.21, Y:-72.28, Z:-8.89 [[ 9.86680315e-01 1.60929235e-01 2.37431345e-02 4.44207021e+02] [-1.60886838e-01 9.86965932e-01 -3.69775730e-03 -7.22797226e+01] [-2.40287421e-02 -1.71453499e-04 9.99711253e-01 -8.89023415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.334012739 meters 0.020467642185443898 Centerline is valid? [True, True] Translation: X:444.24, Y:-72.28, Z:-8.89 [[ 9.86593059e-01 1.61557537e-01 2.30932381e-02 4.44237325e+02] [-1.61517607e-01 9.86863278e-01 -3.59631266e-03 -7.22842051e+01] [-2.33708801e-02 -1.81867467e-04 9.99726847e-01 -8.89242806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters 0.02123709585343578 Centerline is valid? [True, True] Translation: X:444.27, Y:-72.29, Z:-8.89 [[ 9.86483506e-01 1.62262188e-01 2.28314301e-02 4.44266864e+02] [-1.62223348e-01 9.86747660e-01 -3.55550887e-03 -7.22852309e+01] [-2.31057849e-02 -1.96340177e-04 9.99733006e-01 -8.89411980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.394012739 meters 0.021126313229153156 Centerline is valid? [True, True] Translation: X:444.30, Y:-72.29, Z:-8.90 [[ 9.86402550e-01 1.62819100e-01 2.23595645e-02 4.44297271e+02] [-1.62781997e-01 9.86655917e-01 -3.48179581e-03 -7.22894686e+01] [-2.26280995e-02 -2.05282289e-04 9.99743931e-01 -8.89640658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters 0.0215873495231867 Centerline is valid? [True, True] Translation: X:444.33, Y:-72.29, Z:-8.90 [[ 9.86319116e-01 1.63396726e-01 2.18199862e-02 4.44327875e+02] [-1.63361534e-01 9.86560421e-01 -3.39777353e-03 -7.22936996e+01] [-2.20819198e-02 -2.13257424e-04 9.99756142e-01 -8.89814512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.454012739 meters 0.022372764696789924 Centerline is valid? [True, True] Translation: X:444.36, Y:-72.29, Z:-8.90 [[ 9.86112258e-01 1.64715438e-01 2.12471158e-02 4.44357105e+02] [-1.64682376e-01 9.86341102e-01 -3.30852452e-03 -7.22943740e+01] [-2.15018687e-02 -2.36448928e-04 9.99768780e-01 -8.89993685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters 0.022599275824460405 Centerline is valid? [True, True] Translation: X:444.39, Y:-72.30, Z:-8.90 [[ 9.85957971e-01 1.65553674e-01 2.18828932e-02 4.44386744e+02] [-1.65518828e-01 9.86200746e-01 -3.40673788e-03 -7.22969098e+01] [-2.21449236e-02 -2.63130470e-04 9.99754736e-01 -8.89994502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.514012739 meters 0.023640864313088383 Centerline is valid? [True, True] Translation: X:444.42, Y:-72.30, Z:-8.90 [[ 9.85723959e-01 1.66980505e-01 2.15821163e-02 4.44416907e+02] [-1.66946964e-01 9.85960154e-01 -3.35939578e-03 -7.22973617e+01] [-2.18400603e-02 -2.91631868e-04 9.99761435e-01 -8.90092292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters 0.024156568967347997 Centerline is valid? [True, True] Translation: X:444.45, Y:-72.30, Z:-8.90 [[ 9.85650773e-01 1.67434286e-01 2.14082713e-02 4.44445871e+02] [-1.67401402e-01 9.85883193e-01 -3.33178790e-03 -7.23002745e+01] [-2.16639104e-02 -2.99795316e-04 9.99765265e-01 -8.90164486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.574012739 meters 0.024897768445371806 Centerline is valid? [True, True] Translation: X:444.47, Y:-72.30, Z:-8.90 [[ 9.85674729e-01 1.67303421e-01 2.13282376e-02 4.44473511e+02] [-1.67270774e-01 9.85905410e-01 -3.31828443e-03 -7.23015047e+01] [-2.15827852e-02 -2.96841699e-04 9.99767020e-01 -8.90219437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters 0.02482231615514228 Centerline is valid? [True, True] Translation: X:444.50, Y:-72.30, Z:-8.90 [[ 9.85712316e-01 1.67048624e-01 2.15867373e-02 4.44502796e+02] [-1.67015148e-01 9.85948614e-01 -3.35719978e-03 -7.23037858e+01] [-2.18442293e-02 -2.96078962e-04 9.99761343e-01 -8.90117890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.634012739 meters 0.024668518567133087 Centerline is valid? [True, True] Translation: X:444.53, Y:-72.30, Z:-8.90 [[ 9.85595957e-01 1.67667756e-01 2.20937280e-02 4.44532186e+02] [-1.67632868e-01 9.85843508e-01 -3.43500132e-03 -7.23034617e+01] [-2.23568973e-02 -3.18111566e-04 9.99750003e-01 -8.90030453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters 0.024919985465573242 Centerline is valid? [True, True] Translation: X:444.56, Y:-72.30, Z:-8.90 [[ 9.85509035e-01 1.68153966e-01 2.22752133e-02 4.44561612e+02] [-1.68118650e-01 9.85760687e-01 -3.46214501e-03 -7.23049148e+01] [-2.25402029e-02 -3.32903604e-04 9.99745882e-01 -8.90041314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.694012739 meters 0.026064856737489775 Centerline is valid? [True, True] Translation: X:444.59, Y:-72.30, Z:-8.90 [[ 9.85474220e-01 1.68344563e-01 2.23756790e-02 4.44589986e+02] [-1.68309002e-01 9.85728154e-01 -3.47665366e-03 -7.23005407e+01] [-2.26416125e-02 -3.39875645e-04 9.99743588e-01 -8.90054860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters 0.025456407737011966 Centerline is valid? [True, True] Translation: X:444.62, Y:-72.30, Z:-8.90 [[ 9.85606938e-01 1.67528322e-01 2.26544823e-02 4.44618580e+02] [-1.67491684e-01 9.85867209e-01 -3.51867234e-03 -7.23018226e+01] [-2.29237885e-02 -3.26409521e-04 9.99737162e-01 -8.90062576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.754012739 meters 0.022428280243973104 Centerline is valid? [True, True] Translation: X:444.65, Y:-72.31, Z:-8.90 [[ 9.86098793e-01 1.64420944e-01 2.39775652e-02 4.44647461e+02] [-1.64379003e-01 9.86390227e-01 -3.72329634e-03 -7.23066856e+01] [-2.42634239e-02 -2.69870252e-04 9.99705563e-01 -8.89967958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters 0.020694905030165096 Centerline is valid? [True, True] Translation: X:444.68, Y:-72.31, Z:-8.90 [[ 9.86542458e-01 1.61708001e-01 2.41764353e-02 4.44675484e+02] [-1.61664570e-01 9.86838629e-01 -3.75324505e-03 -7.23133001e+01] [-2.44651700e-02 -2.05737413e-04 9.99700662e-01 -8.89949216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.814012739 meters 0.019563438964311695 Centerline is valid? [True, True] Translation: X:444.70, Y:-72.32, Z:-8.90 [[ 9.86972887e-01 1.59100614e-01 2.39063650e-02 4.44702578e+02] [-1.59057412e-01 9.87262364e-01 -3.71011210e-03 -7.23193675e+01] [-2.41921355e-02 -1.40704485e-04 9.99707318e-01 -8.89936805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters 0.019563438964311695 Centerline is valid? [True, True] Translation: X:444.73, Y:-72.32, Z:-8.90 [[ 9.86980347e-01 1.59054297e-01 2.39065829e-02 4.44730580e+02] [-1.59011115e-01 9.87269827e-01 -3.70870735e-03 -7.23236213e+01] [-2.41921338e-02 -1.40991148e-04 9.99707318e-01 -8.89994333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.874012739 meters 0.01882876787201153 Centerline is valid? [True, True] Translation: X:444.76, Y:-72.33, Z:-8.90 [[ 9.87361813e-01 1.56726266e-01 2.35271657e-02 4.44758871e+02] [-1.56683808e-01 9.87642076e-01 -3.64877443e-03 -7.23292730e+01] [-2.38082776e-02 -8.36653936e-05 9.99716539e-01 -8.90072113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters 0.01836791843501977 Centerline is valid? [True, True] Translation: X:444.79, Y:-72.33, Z:-8.90 [[ 9.87696814e-01 1.54718348e-01 2.27428417e-02 4.44787722e+02] [-1.54678161e-01 9.87958618e-01 -3.52631300e-03 -7.23320523e+01] [-2.30145718e-02 -3.48928059e-05 9.99735129e-01 -8.90293140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.934012739 meters 0.018298675726813422 Centerline is valid? [True, True] Translation: X:444.82, Y:-72.33, Z:-8.90 [[ 9.87723819e-01 1.54476747e-01 2.32075691e-02 4.44815707e+02] [-1.54434861e-01 9.87996424e-01 -3.59719663e-03 -7.23338756e+01] [-2.34846785e-02 -3.10209186e-05 9.99724196e-01 -8.90267309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters 0.018598083971063214 Centerline is valid? [True, True] Translation: X:444.85, Y:-72.33, Z:-8.90 [[ 9.87517611e-01 1.55581782e-01 2.45617007e-02 4.44845250e+02] [-1.55535246e-01 9.87823013e-01 -3.80552356e-03 -7.23312840e+01] [-2.48546834e-02 -6.21886337e-05 9.99691073e-01 -8.90106573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.994012739 meters 0.01877153817981389 Centerline is valid? [True, True] Translation: X:444.87, Y:-72.33, Z:-8.90 [[ 9.87375159e-01 1.56474340e-01 2.46186046e-02 4.44874739e+02] [-1.56427894e-01 9.87682020e-01 -3.81320008e-03 -7.23319945e+01] [-2.49120211e-02 -8.59774337e-05 9.99689644e-01 -8.90188088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters 0.0189582851579653 Centerline is valid? [True, True] Translation: X:444.90, Y:-72.33, Z:-8.90 [[ 9.87227007e-01 1.57571678e-01 2.35372582e-02 4.44903419e+02] [-1.57529560e-01 9.87507546e-01 -3.64464785e-03 -7.23323920e+01] [-2.38175134e-02 -1.09719134e-04 9.99716317e-01 -8.90419354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05401273900003 meters 0.019949833908519458 Centerline is valid? [True, True] Translation: X:444.93, Y:-72.33, Z:-8.91 [[ 9.87035102e-01 1.59045353e-01 2.15935777e-02 4.44932305e+02] [-1.59010278e-01 9.87271269e-01 -3.34271834e-03 -7.23285367e+01] [-2.18503627e-02 -1.34220464e-04 9.99761243e-01 -8.90843477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters 0.01995476434686382 Centerline is valid? [True, True] Translation: X:444.96, Y:-72.33, Z:-8.91 [[ 9.87063092e-01 1.58873548e-01 2.15788716e-02 4.44959980e+02] [-1.58838508e-01 9.87298931e-01 -3.33915681e-03 -7.23299477e+01] [-2.18353006e-02 -1.31597319e-04 9.99761573e-01 -8.90905894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.114012739 meters 0.019806944080240266 Centerline is valid? [True, True] Translation: X:444.99, Y:-72.33, Z:-8.91 [[ 9.87154535e-01 1.58250881e-01 2.19677636e-02 4.44988460e+02] [-1.58214446e-01 9.87398928e-01 -3.39783411e-03 -7.23314192e+01] [-2.22286565e-02 -1.21430205e-04 9.99752906e-01 -8.90907227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters 0.018645671497530505 Centerline is valid? [True, True] Translation: X:445.02, Y:-72.33, Z:-8.91 [[ 9.87570187e-01 1.55482837e-01 2.30263607e-02 4.45017396e+02] [-1.55442078e-01 9.87838592e-01 -3.56046825e-03 -7.23332772e+01] [-2.32999195e-02 -6.30530638e-05 9.99728518e-01 -8.90792551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.174012739 meters 0.018402908927400107 Centerline is valid? [True, True] Translation: X:445.05, Y:-72.34, Z:-8.91 [[ 9.87891087e-01 1.53460900e-01 2.28243670e-02 4.45045058e+02] [-1.53420338e-01 9.88154721e-01 -3.52813075e-03 -7.23368145e+01] [-2.30954361e-02 -1.63131816e-05 9.99733265e-01 -8.90852674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters 0.018801649267283463 Centerline is valid? [True, True] Translation: X:445.07, Y:-72.34, Z:-8.91 [[ 9.88553983e-01 1.49390739e-01 2.10577644e-02 4.45073438e+02] [-1.49355314e-01 9.88778237e-01 -3.25391959e-03 -7.23410211e+01] [-2.13075646e-02 7.15861479e-05 9.99772966e-01 -8.91277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.234012739 meters 0.01968460409373164 Centerline is valid? [True, True] Translation: X:445.10, Y:-72.35, Z:-8.92 [[ 9.88888091e-01 1.47309637e-01 2.00053376e-02 4.45100653e+02] [-1.47277258e-01 9.89090420e-01 -3.09039515e-03 -7.23459472e+01] [-2.02423327e-02 1.09723698e-04 9.99795097e-01 -8.91558026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters 0.020421242838691882 Centerline is valid? [True, True] Translation: X:445.13, Y:-72.35, Z:-8.92 [[ 9.89165251e-01 1.45406194e-01 2.02273537e-02 4.45129332e+02] [-1.45372719e-01 9.89372031e-01 -3.12348705e-03 -7.23494926e+01] [-2.04665524e-02 1.49139444e-04 9.99790527e-01 -8.91600037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.294012739 meters 0.022645554820439638 Centerline is valid? [True, True] Translation: X:445.16, Y:-72.35, Z:-8.91 [[ 9.89667084e-01 1.41752548e-01 2.15703167e-02 4.45156516e+02] [-1.41713635e-01 9.89902095e-01 -3.32978217e-03 -7.23538184e+01] [-2.18245068e-02 2.38567816e-04 9.99761789e-01 -8.91308607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters 0.023600204952122884 Centerline is valid? [True, True] Translation: X:445.19, Y:-72.36, Z:-8.91 [[ 9.89880059e-01 1.40227130e-01 2.17674236e-02 4.45185088e+02] [-1.40187162e-01 9.90119325e-01 -3.35895706e-03 -7.23583252e+01] [-2.20233637e-02 2.73451277e-04 9.99757419e-01 -8.91344465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.354012739 meters 0.024631959272616945 Centerline is valid? [True, True] Translation: X:445.21, Y:-72.36, Z:-8.91 [[ 9.90072024e-01 1.38870548e-01 2.17338182e-02 4.45212835e+02] [-1.38830398e-01 9.90310497e-01 -3.35275403e-03 -7.23630000e+01] [-2.19888270e-02 3.02153347e-04 9.99758171e-01 -8.91443137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters 0.027092791016602013 Centerline is valid? [True, True] Translation: X:445.24, Y:-72.37, Z:-8.92 [[ 9.90478344e-01 1.35999203e-01 2.13744395e-02 4.45241702e+02] [-1.35959727e-01 9.90708882e-01 -3.29615615e-03 -7.23700587e+01] [-2.16241217e-02 3.58708322e-04 9.99766107e-01 -8.91633076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.414012739 meters 0.029145053379412547 Centerline is valid? [True, True] Translation: X:445.27, Y:-72.38, Z:-8.92 [[ 9.90753201e-01 1.33885211e-01 2.19737425e-02 4.45270490e+02] [-1.33842981e-01 9.90996760e-01 -3.38806236e-03 -7.23771817e+01] [-2.22295191e-02 4.15702426e-04 9.99752807e-01 -8.91595217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters 0.03241396276213876 Centerline is valid? [True, True] Translation: X:445.30, Y:-72.39, Z:-8.91 [[ 9.91349385e-01 1.29095755e-01 2.36787607e-02 4.45299605e+02] [-1.29045362e-01 9.91631973e-01 -3.65042064e-03 -7.23856932e+01] [-2.39518700e-02 5.63208006e-04 9.99712954e-01 -8.91349332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.474012739 meters 0.033839728626693086 Centerline is valid? [True, True] Translation: X:445.33, Y:-72.39, Z:-8.91 [[ 9.91630767e-01 1.26823137e-01 2.41726059e-02 4.45329353e+02] [-1.26769951e-01 9.91925145e-01 -3.72631395e-03 -7.23930985e+01] [-2.44499984e-02 6.30767498e-04 9.99700855e-01 -8.91405146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters 0.03749041602015589 Centerline is valid? [True, True] Translation: X:445.36, Y:-72.40, Z:-8.91 [[ 9.91920917e-01 1.24528629e-01 2.41974217e-02 4.45357906e+02] [-1.24474646e-01 9.92215776e-01 -3.73037993e-03 -7.24041973e+01] [-2.44736027e-02 6.88276374e-04 9.99700240e-01 -8.91495282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.534012739 meters 0.041659879746663214 Centerline is valid? [True, True] Translation: X:445.39, Y:-72.42, Z:-8.92 [[ 9.92511685e-01 1.19902609e-01 2.33220754e-02 4.45386766e+02] [-1.19851157e-01 9.92785357e-01 -3.59659669e-03 -7.24189928e+01] [-2.35850562e-02 7.74486519e-04 9.99721534e-01 -8.91750455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters 0.045194756565074115 Centerline is valid? [True, True] Translation: X:445.42, Y:-72.43, Z:-8.92 [[ 9.92833194e-01 1.17246044e-01 2.31433235e-02 4.45415229e+02] [-1.17194652e-01 9.93102550e-01 -3.56925776e-03 -7.24303869e+01] [-2.34021749e-02 8.31403850e-04 9.99725786e-01 -8.91822093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.594012739 meters 0.048617084458261094 Centerline is valid? [True, True] Translation: X:445.44, Y:-72.44, Z:-8.92 [[ 9.93108348e-01 1.14921399e-01 2.29974156e-02 4.45443909e+02] [-1.14870028e-01 9.93374198e-01 -3.54685174e-03 -7.24421366e+01] [-2.32526484e-02 8.80694295e-04 9.99729233e-01 -8.91933853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters 0.05205032513155758 Centerline is valid? [True, True] Translation: X:445.47, Y:-72.46, Z:-8.92 [[ 9.93607504e-01 1.10974000e-01 2.07098948e-02 4.45471967e+02] [-1.10931474e-01 9.93822923e-01 -3.19464837e-03 -7.24583898e+01] [-2.09364911e-02 8.76847447e-04 9.99780423e-01 -8.92380541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.654012739 meters 0.05426137113619236 Centerline is valid? [True, True] Translation: X:445.50, Y:-72.47, Z:-8.93 [[ 9.93722665e-01 1.10161985e-01 1.94834039e-02 4.45501398e+02] [-1.10124192e-01 9.93913291e-01 -3.00541368e-03 -7.24703339e+01] [-1.96958964e-02 8.40953581e-04 9.99805663e-01 -8.92659520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters 0.05135536429287639 Centerline is valid? [True, True] Translation: X:445.53, Y:-72.48, Z:-8.93 [[ 9.93620475e-01 1.11068882e-01 1.95462189e-02 4.45532259e+02] [-1.11030964e-01 9.93812365e-01 -3.01796953e-03 -7.24805558e+01] [-1.97604766e-02 8.28480791e-04 9.99804399e-01 -8.92728417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.714012739 meters 0.05659943781327027 Centerline is valid? [True, True] Translation: X:445.56, Y:-72.50, Z:-8.93 [[ 9.93446085e-01 1.12475314e-01 2.03514140e-02 4.45560771e+02] [-1.12434432e-01 9.93654167e-01 -3.14565929e-03 -7.24961390e+01] [-2.05760764e-02 8.36843236e-04 9.99787940e-01 -8.92555373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters 0.05096206574096754 Centerline is valid? [True, True] Translation: X:445.59, Y:-72.50, Z:-8.92 [[ 9.93247808e-01 1.14028086e-01 2.13632309e-02 4.45592397e+02] [-1.13983364e-01 9.93477166e-01 -3.30349223e-03 -7.24970024e+01] [-2.16005730e-02 8.46133500e-04 9.99766322e-01 -8.92401339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.774012739 meters 0.04522651358890448 Centerline is valid? [True, True] Translation: X:445.62, Y:-72.50, Z:-8.92 [[ 9.92821686e-01 1.17737203e-01 2.10487528e-02 4.45623043e+02] [-1.17694610e-01 9.93044501e-01 -3.25531717e-03 -7.25013482e+01] [-2.12856201e-02 7.54624725e-04 9.99773151e-01 -8.92480725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters 0.0418697602667608 Centerline is valid? [True, True] Translation: X:445.65, Y:-72.51, Z:-8.93 [[ 9.92559331e-01 1.20062310e-01 2.02735544e-02 4.45654689e+02] [-1.20023277e-01 9.92766126e-01 -3.13565935e-03 -7.25055064e+01] [-2.05033725e-02 6.79029518e-04 9.99789553e-01 -8.92727939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.834012739 meters 0.03725389091393483 Centerline is valid? [True, True] Translation: X:445.69, Y:-72.51, Z:-8.93 [[ 9.92284433e-01 1.22438939e-01 1.95015356e-02 4.45685715e+02] [-1.22403261e-01 9.92475863e-01 -3.01725404e-03 -7.25075951e+01] [-1.97242328e-02 6.06922672e-04 9.99805274e-01 -8.92983315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters 0.038677129807688324 Centerline is valid? [True, True] Translation: X:445.71, Y:-72.52, Z:-8.93 [[ 9.91808736e-01 1.26495340e-01 1.77302167e-02 4.45713888e+02] [-1.26466489e-01 9.91967086e-01 -2.74364490e-03 -7.25214324e+01] [-1.79348497e-02 4.78892718e-04 9.99839043e-01 -8.93439162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.894012739 meters 0.03694365892976793 Centerline is valid? [True, True] Translation: X:445.74, Y:-72.53, Z:-8.94 [[ 9.91557746e-01 1.28511732e-01 1.72618189e-02 4.45744638e+02] [-1.28484698e-01 9.91707895e-01 -2.67076062e-03 -7.25265373e+01] [-1.74619061e-02 4.30333801e-04 9.99847437e-01 -8.93583303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters 0.03756330358817218 Centerline is valid? [True, True] Translation: X:445.77, Y:-72.53, Z:-8.94 [[ 9.91296894e-01 1.30459279e-01 1.76307806e-02 4.45774627e+02] [-1.30431338e-01 9.91453585e-01 -2.73043912e-03 -7.25343578e+01] [-1.78363118e-02 4.07069514e-04 9.99840837e-01 -8.93591932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.954012739 meters 0.03138667079827279 Centerline is valid? [True, True] Translation: X:445.81, Y:-72.53, Z:-8.93 [[ 9.90756889e-01 1.34211140e-01 1.97017025e-02 4.45806142e+02] [-1.34176925e-01 9.90952685e-01 -3.05435822e-03 -7.25330782e+01] [-1.99333839e-02 3.82612575e-04 9.99801237e-01 -8.93205738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters 0.029155050861148262 Centerline is valid? [True, True] Translation: X:445.84, Y:-72.54, Z:-8.93 [[ 9.90440845e-01 1.36348693e-01 2.08798253e-02 4.45837566e+02] [-1.36310733e-01 9.90660842e-01 -3.23725288e-03 -7.25361343e+01] [-2.11262205e-02 3.60163185e-04 9.99776752e-01 -8.93059374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.014012739 meters 0.02478575502101642 Centerline is valid? [True, True] Translation: X:445.87, Y:-72.53, Z:-8.93 [[ 9.90082358e-01 1.38821715e-01 2.15744135e-02 4.45870382e+02] [-1.38781759e-01 9.90317338e-01 -3.34564990e-03 -7.25348153e+01] [-2.18299646e-02 3.18333903e-04 9.99761647e-01 -8.93019868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters 0.021830605856840758 Centerline is valid? [True, True] Translation: X:445.90, Y:-72.53, Z:-8.93 [[ 9.89400906e-01 1.43597302e-01 2.15791999e-02 4.45901917e+02] [-1.43558389e-01 9.89636180e-01 -3.34976799e-03 -7.25335216e+01] [-2.18365746e-02 2.16388311e-04 9.99761530e-01 -8.93102252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.074012739 meters 0.021388205813083403 Centerline is valid? [True, True] Translation: X:445.93, Y:-72.54, Z:-8.93 [[ 9.89050572e-01 1.46069340e-01 2.10407746e-02 4.45930972e+02] [-1.46032899e-01 9.89274342e-01 -3.26640911e-03 -7.25366182e+01] [-2.12922206e-02 1.57998491e-04 9.99773282e-01 -8.93212371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters 0.019298624709500452 Centerline is valid? [True, True] Translation: X:445.96, Y:-72.53, Z:-8.93 [[ 9.88498933e-01 1.49874236e-01 2.01884344e-02 4.45961146e+02] [-1.49841486e-01 9.88705066e-01 -3.13385823e-03 -7.25343389e+01] [-2.04300919e-02 7.27505175e-05 9.99791281e-01 -8.93452655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.134012739 meters 0.019125860741889007 Centerline is valid? [True, True] Translation: X:445.99, Y:-72.54, Z:-8.94 [[ 9.88378283e-01 1.50653980e-01 2.02915968e-02 4.45989233e+02] [-1.50621069e-01 9.88586554e-01 -3.14938694e-03 -7.25373825e+01] [-2.05344675e-02 5.64436624e-05 9.99789144e-01 -8.93503573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters 0.01894491825404791 Centerline is valid? [True, True] Translation: X:446.02, Y:-72.54, Z:-8.94 [[ 9.88252145e-01 1.51427373e-01 2.06748271e-02 4.46018737e+02] [-1.51393391e-01 9.88468386e-01 -3.20812916e-03 -7.25390870e+01] [-2.09222115e-02 4.04083494e-05 9.99781106e-01 -8.93515387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.194012739 meters 0.018877337747637616 Centerline is valid? [True, True] Translation: X:446.05, Y:-72.54, Z:-8.93 [[ 9.88144570e-01 1.51800449e-01 2.29550283e-02 4.46047718e+02] [-1.51758672e-01 9.88411161e-01 -3.56135460e-03 -7.25433455e+01] [-2.32296214e-02 3.55086148e-05 9.99730155e-01 -8.93242845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters 0.018862205787921582 Centerline is valid? [True, True] Translation: X:446.08, Y:-72.55, Z:-8.93 [[ 9.88152228e-01 1.51633028e-01 2.37191782e-02 4.46076497e+02] [-1.51588387e-01 9.88436858e-01 -3.67937092e-03 -7.25497961e+01] [-2.40028242e-02 4.02266052e-05 9.99711890e-01 -8.93055907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.254012739 meters 0.01904157400133742 Centerline is valid? [True, True] Translation: X:446.11, Y:-72.56, Z:-8.93 [[ 9.88255441e-01 1.51024727e-01 2.32962469e-02 4.46105674e+02] [-1.50981502e-01 9.88529984e-01 -3.61346117e-03 -7.25564919e+01] [-2.35747606e-02 5.37203169e-05 9.99722075e-01 -8.93209786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters 0.01942230249710731 Centerline is valid? [True, True] Translation: X:446.14, Y:-72.56, Z:-8.94 [[ 9.88610993e-01 1.49135535e-01 2.01716732e-02 4.46135619e+02] [-1.49102743e-01 9.88816760e-01 -3.12843771e-03 -7.25649569e+01] [-2.04126498e-02 8.51561029e-05 9.99791637e-01 -8.93976938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.314012739 meters 0.02047648231238918 Centerline is valid? [True, True] Translation: X:446.16, Y:-72.58, Z:-8.94 [[ 9.88805038e-01 1.48053515e-01 1.85675300e-02 4.46164869e+02] [-1.48025532e-01 9.88979346e-01 -2.88008984e-03 -7.25753453e+01] [-1.87893111e-02 9.93788331e-05 9.99823460e-01 -8.94361566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters 0.020950188712955717 Centerline is valid? [True, True] Translation: X:446.19, Y:-72.59, Z:-8.94 [[ 9.89070479e-01 1.46274209e-01 1.85322443e-02 4.46194238e+02] [-1.46246015e-01 9.89244074e-01 -2.87486463e-03 -7.25875562e+01] [-1.87534314e-02 1.33176856e-04 9.99824130e-01 -8.94459474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.374012739 meters 0.02114846032200568 Centerline is valid? [True, True] Translation: X:446.22, Y:-72.59, Z:-8.94 [[ 9.89095150e-01 1.45970376e-01 1.95814357e-02 4.46222797e+02] [-1.45938840e-01 9.89288951e-01 -3.03762883e-03 -7.25948292e+01] [-1.98151018e-02 1.46811929e-04 9.99803651e-01 -8.94322229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters 0.021476587841652243 Centerline is valid? [True, True] Translation: X:446.25, Y:-72.60, Z:-8.94 [[ 9.89035909e-01 1.46291584e-01 2.01678963e-02 4.46251870e+02] [-1.46258203e-01 9.89241503e-01 -3.12836833e-03 -7.26016917e+01] [-2.04085740e-02 1.44348351e-04 9.99791713e-01 -8.94274584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.434012739 meters 0.01969535236053544 Centerline is valid? [True, True] Translation: X:446.28, Y:-72.60, Z:-8.94 [[ 9.88609173e-01 1.49058071e-01 2.08229253e-02 4.46282388e+02] [-1.49023103e-01 9.88828440e-01 -3.22973998e-03 -7.26041962e+01] [-2.10717195e-02 8.98536294e-05 9.99777963e-01 -8.94242202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters 0.01899080204165108 Centerline is valid? [True, True] Translation: X:446.31, Y:-72.61, Z:-8.94 [[ 9.88336363e-01 1.50840051e-01 2.09406830e-02 4.46312496e+02] [-1.50805087e-01 9.88558181e-01 -3.24800479e-03 -7.26076271e+01] [-2.11910127e-02 5.21597317e-05 9.99775444e-01 -8.94337324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.494012739 meters 0.01886724450917508 Centerline is valid? [True, True] Translation: X:446.34, Y:-72.61, Z:-8.94 [[ 9.87849249e-01 1.54027460e-01 2.07220360e-02 4.46341576e+02] [-1.53993923e-01 9.88066567e-01 -3.21408365e-03 -7.26103619e+01] [-2.09698082e-02 -1.60374969e-05 9.99780109e-01 -8.94384394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters 0.019009342806803022 Centerline is valid? [True, True] Translation: X:446.37, Y:-72.61, Z:-8.94 [[ 9.87682465e-01 1.55082926e-01 2.07998614e-02 4.46370929e+02] [-1.55049376e-01 9.87901455e-01 -3.22591205e-03 -7.26141266e+01] [-2.10484972e-02 -3.88287731e-05 9.99778455e-01 -8.94471970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.554012739 meters 0.019176014094246928 Centerline is valid? [True, True] Translation: X:446.40, Y:-72.62, Z:-8.95 [[ 9.87575851e-01 1.55821043e-01 2.03406043e-02 4.46400528e+02] [-1.55789115e-01 9.87785300e-01 -3.15468450e-03 -7.26192137e+01] [-2.05837161e-02 -5.33545068e-05 9.99788131e-01 -8.94617388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters 0.019255901313626995 Centerline is valid? [True, True] Translation: X:446.43, Y:-72.63, Z:-8.95 [[ 9.87503862e-01 1.56374857e-01 1.95710611e-02 4.46429493e+02] [-1.56345408e-01 9.87697778e-01 -3.03533971e-03 -7.26270489e+01] [-1.98049444e-02 -6.24358516e-05 9.99803861e-01 -8.94826764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.614012739 meters 0.019297341746779325 Centerline is valid? [True, True] Translation: X:446.46, Y:-72.63, Z:-8.95 [[ 9.87397309e-01 1.56990829e-01 2.00108208e-02 4.46459362e+02] [-1.56960173e-01 9.87600058e-01 -3.10329768e-03 -7.26321825e+01] [-2.02498770e-02 -7.67141147e-05 9.99794947e-01 -8.94761337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters 0.019684559231658693 Centerline is valid? [True, True] Translation: X:446.49, Y:-72.64, Z:-8.95 [[ 9.87273041e-01 1.57700598e-01 2.05539237e-02 4.46488488e+02] [-1.57668408e-01 9.87486968e-01 -3.18751687e-03 -7.26355533e+01] [-2.07994051e-02 -9.37549568e-05 9.99783665e-01 -8.94712459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.674012739 meters 0.020216139045636294 Centerline is valid? [True, True] Translation: X:446.52, Y:-72.64, Z:-8.95 [[ 9.86898364e-01 1.59903497e-01 2.15056042e-02 4.46519038e+02] [-1.59868785e-01 9.87132641e-01 -3.33485725e-03 -7.26397296e+01] [-2.17621392e-02 -1.46909663e-04 9.99763166e-01 -8.94656399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters 0.02095581605439993 Centerline is valid? [True, True] Translation: X:446.55, Y:-72.64, Z:-8.95 [[ 9.86725042e-01 1.60921836e-01 2.18598931e-02 4.46548474e+02] [-1.60886222e-01 9.86967139e-01 -3.38977507e-03 -7.26429535e+01] [-2.21204850e-02 -1.72179673e-04 9.99755297e-01 -8.94609835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.734012739 meters 0.02095581605439993 Centerline is valid? [True, True] Translation: X:446.58, Y:-72.65, Z:-8.95 [[ 9.86725042e-01 1.60921831e-01 2.18599295e-02 4.46578115e+02] [-1.60886222e-01 9.86967140e-01 -3.38954032e-03 -7.26475497e+01] [-2.21204831e-02 -1.72417170e-04 9.99755297e-01 -8.94670755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters 0.021818162416809662 Centerline is valid? [True, True] Translation: X:446.61, Y:-72.65, Z:-8.95 [[ 9.86461041e-01 1.62426075e-01 2.26358987e-02 4.46607866e+02] [-1.62388288e-01 9.86720692e-01 -3.50988172e-03 -7.26516119e+01] [-2.29054060e-02 -2.13443271e-04 9.99737614e-01 -8.94595814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.794012739 meters 0.021980268458861425 Centerline is valid? [True, True] Translation: X:446.64, Y:-72.66, Z:-8.95 [[ 9.86382861e-01 1.62998230e-01 2.19186840e-02 4.46637513e+02] [-1.62962937e-01 9.86626337e-01 -3.39883622e-03 -7.26569045e+01] [-2.21795552e-02 -2.19379342e-04 9.99753979e-01 -8.94775371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters 0.022668260993997158 Centerline is valid? [True, True] Translation: X:446.67, Y:-72.66, Z:-8.95 [[ 9.86273467e-01 1.63806511e-01 2.07864370e-02 4.46666602e+02] [-1.63774950e-01 9.86492461e-01 -3.22327094e-03 -7.26610317e+01] [-2.10336562e-02 -2.25271081e-04 9.99778743e-01 -8.95064369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.854012739 meters 0.023441074839664514 Centerline is valid? [True, True] Translation: X:446.70, Y:-72.66, Z:-8.95 [[ 9.86168016e-01 1.64582847e-01 1.96247541e-02 4.46695143e+02] [-1.64554865e-01 9.86363237e-01 -3.04334364e-03 -7.26646622e+01] [-1.98580181e-02 -2.28100594e-04 9.99802784e-01 -8.95343623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters 0.027283707348087834 Centerline is valid? [True, True] Translation: X:446.72, Y:-72.66, Z:-8.96 [[ 9.85754692e-01 1.67134997e-01 1.88037506e-02 4.46723980e+02] [-1.67109783e-01 9.85933984e-01 -2.91540812e-03 -7.26621099e+01] [-1.90265235e-02 -2.68413454e-04 9.99818943e-01 -8.95544670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.914012739 meters 0.02947177917675618 Centerline is valid? [True, True] Translation: X:446.75, Y:-72.66, Z:-8.96 [[ 9.85445159e-01 1.68911121e-01 1.91538823e-02 4.46751731e+02] [-1.68885312e-01 9.85631238e-01 -2.96880695e-03 -7.26620088e+01] [-1.93801292e-02 -3.09212950e-04 9.99812140e-01 -8.95527030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters 0.029135210484727732 Centerline is valid? [True, True] Translation: X:446.78, Y:-72.67, Z:-8.95 [[ 9.85057492e-01 1.71095774e-01 1.96970276e-02 4.46780535e+02] [-1.71068943e-01 9.85254335e-01 -3.05168879e-03 -7.26659385e+01] [-1.99287128e-02 -3.63460775e-04 9.99801337e-01 -8.95474185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.974012739 meters 0.03473394701366375 Centerline is valid? [True, True] Translation: X:446.81, Y:-72.66, Z:-8.96 [[ 9.84065868e-01 1.76666115e-01 2.00860972e-02 4.46812161e+02] [-1.76639391e-01 9.84270718e-01 -3.11102115e-03 -7.26600385e+01] [-2.03197693e-02 -4.86546243e-04 9.99793414e-01 -8.95560414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters 0.03787483487271958 Centerline is valid? [True, True] Translation: X:446.84, Y:-72.66, Z:-8.96 [[ 9.83578065e-01 1.79303796e-01 2.05995078e-02 4.46841459e+02] [-1.79276273e-01 9.83793597e-01 -3.19022117e-03 -7.26583239e+01] [-2.08376826e-02 -5.55171409e-04 9.99782718e-01 -8.95530274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.034012739 meters 0.04300851181951965 Centerline is valid? [True, True] Translation: X:446.87, Y:-72.65, Z:-8.95 [[ 9.82731478e-01 1.83758212e-01 2.17200641e-02 4.46871984e+02] [-1.83728715e-01 9.82971235e-01 -3.36301930e-03 -7.26515933e+01] [-2.19681807e-02 -6.85654545e-04 9.99758435e-01 -8.95455518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters 0.04422169161587517 Centerline is valid? [True, True] Translation: X:446.90, Y:-72.65, Z:-8.95 [[ 9.82595704e-01 1.84489345e-01 2.16648174e-02 4.46901242e+02] [-1.84460182e-01 9.82834264e-01 -3.35418103e-03 -7.26521120e+01] [-2.19117355e-02 -7.00492277e-04 9.99759664e-01 -8.95467372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.094012739 meters 0.043874042091555765 Centerline is valid? [True, True] Translation: X:446.93, Y:-72.65, Z:-8.96 [[ 9.82648483e-01 1.84237547e-01 2.14122443e-02 4.46930068e+02] [-1.84209021e-01 9.82881505e-01 -3.31412281e-03 -7.26548593e+01] [-2.16562847e-02 -6.87710794e-04 9.99765239e-01 -8.95573695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters 0.0417402355725889 Centerline is valid? [True, True] Translation: X:446.96, Y:-72.66, Z:-8.96 [[ 9.83082273e-01 1.81881998e-01 2.16375566e-02 4.46957895e+02] [-1.81852320e-01 9.83320154e-01 -3.34799541e-03 -7.26577836e+01] [-2.18855856e-02 -6.43484921e-04 9.99760275e-01 -8.95593417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.154012739 meters 0.04087642001353371 Centerline is valid? [True, True] Translation: X:446.99, Y:-72.66, Z:-8.96 [[ 9.83279616e-01 1.80759966e-01 2.20688026e-02 4.46987024e+02] [-1.80728837e-01 9.83527038e-01 -3.41351936e-03 -7.26614344e+01] [-2.23222917e-02 -6.32025027e-04 9.99750627e-01 -8.95579126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters 0.03576822575994272 Centerline is valid? [True, True] Translation: X:447.01, Y:-72.67, Z:-8.96 [[ 9.83495215e-01 1.79528435e-01 2.25100689e-02 4.47014600e+02] [-1.79495745e-01 9.83752591e-01 -3.48097126e-03 -7.26708972e+01] [-2.27692719e-02 -6.16942999e-04 9.99740556e-01 -8.95566621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.214012739 meters 0.03382879095566771 Centerline is valid? [True, True] Translation: X:447.04, Y:-72.67, Z:-8.96 [[ 9.84037567e-01 1.76455371e-01 2.30991077e-02 4.47043567e+02] [-1.76420126e-01 9.84308482e-01 -3.57100413e-03 -7.26741021e+01] [-2.33667705e-02 -5.61145269e-04 9.99726802e-01 -8.95600529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters 0.03161512644992501 Centerline is valid? [True, True] Translation: X:447.07, Y:-72.68, Z:-8.96 [[ 9.84378705e-01 1.74579274e-01 2.28175706e-02 4.47072328e+02] [-1.74544394e-01 9.84642989e-01 -3.52682351e-03 -7.26798483e+01] [-2.30828712e-02 -5.10949074e-04 9.99733424e-01 -8.95713824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.274012739 meters 0.030582819140173762 Centerline is valid? [True, True] Translation: X:447.10, Y:-72.68, Z:-8.96 [[ 9.85121691e-01 1.70395589e-01 2.23740241e-02 4.47101132e+02] [-1.70361004e-01 9.85375653e-01 -3.45687731e-03 -7.26843514e+01] [-2.26358552e-02 -4.06216387e-04 9.99743694e-01 -8.95870989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters 0.0275852311196457 Centerline is valid? [True, True] Translation: X:447.13, Y:-72.69, Z:-8.96 [[ 9.85645168e-01 1.67297890e-01 2.26940227e-02 4.47129314e+02] [-1.67261500e-01 9.85906334e-01 -3.50575029e-03 -7.26938439e+01] [-2.29606854e-02 -3.40410454e-04 9.99736311e-01 -8.95872043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.334012739 meters 0.02354444994745886 Centerline is valid? [True, True] Translation: X:447.16, Y:-72.71, Z:-8.96 [[ 9.86190908e-01 1.64067337e-01 2.25699154e-02 4.47156830e+02] [-1.64030516e-01 9.86449106e-01 -3.48580905e-03 -7.27060221e+01] [-2.28359803e-02 -2.64481668e-04 9.99739190e-01 -8.95941878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters 0.019756877625254313 Centerline is valid? [True, True] Translation: X:447.18, Y:-72.72, Z:-8.96 [[ 9.87052329e-01 1.58859682e-01 2.21652968e-02 4.47184643e+02] [-1.58822877e-01 9.87301160e-01 -3.42236206e-03 -7.27216208e+01] [-2.24274986e-02 -1.42305766e-04 9.99748462e-01 -8.96029175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.394012739 meters 0.01969858902079558 Centerline is valid? [True, True] Translation: X:447.21, Y:-72.73, Z:-8.96 [[ 9.87208993e-01 1.57881433e-01 2.21778328e-02 4.47212660e+02] [-1.57844352e-01 9.87458069e-01 -3.42374018e-03 -7.27272949e+01] [-2.24402250e-02 -1.20698563e-04 9.99748179e-01 -8.96004719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters 0.01921435590916305 Centerline is valid? [True, True] Translation: X:447.24, Y:-72.73, Z:-8.96 [[ 9.87219055e-01 1.57839582e-01 2.20273470e-02 4.47242102e+02] [-1.57803009e-01 9.87464760e-01 -3.39974791e-03 -7.27336577e+01] [-2.22878437e-02 -1.19685718e-04 9.99751588e-01 -8.96137617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.454012739 meters 0.0204400359626547 Centerline is valid? [True, True] Translation: X:447.27, Y:-72.73, Z:-8.96 [[ 9.86835662e-01 1.60262081e-01 2.17127065e-02 4.47270900e+02] [-1.60227144e-01 9.87074483e-01 -3.35064346e-03 -7.27342699e+01] [-2.19690396e-02 -1.72430494e-04 9.99758637e-01 -8.96259859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters 0.02155324162358227 Centerline is valid? [True, True] Translation: X:447.30, Y:-72.74, Z:-8.96 [[ 9.86490558e-01 1.62405686e-01 2.14656139e-02 4.47299818e+02] [-1.62372063e-01 9.86724047e-01 -3.31172296e-03 -7.27354414e+01] [-2.17184801e-02 -2.18432591e-04 9.99764102e-01 -8.96343430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.514012739 meters 0.026472544379231973 Centerline is valid? [True, True] Translation: X:447.33, Y:-72.73, Z:-8.97 [[ 9.85693548e-01 1.67272795e-01 2.06891557e-02 4.47329970e+02] [-1.67242652e-01 9.85910601e-01 -3.19097071e-03 -7.27288509e+01] [-2.09314205e-02 -3.14790019e-04 9.99780864e-01 -8.96564725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters 0.026275573114862328 Centerline is valid? [True, True] Translation: X:447.36, Y:-72.73, Z:-8.97 [[ 9.85420669e-01 1.68871564e-01 2.07002553e-02 4.47358004e+02] [-1.68841757e-01 9.85638003e-01 -3.19191972e-03 -7.27325636e+01] [-2.09419828e-02 -3.49683815e-04 9.99780631e-01 -8.96671615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.574012739 meters 0.02881345414900951 Centerline is valid? [True, True] Translation: X:447.39, Y:-72.73, Z:-8.97 [[ 9.85246919e-01 1.69890794e-01 2.06307123e-02 4.47386154e+02] [-1.69861437e-01 9.85462825e-01 -3.17994710e-03 -7.27318694e+01] [-2.08710438e-02 -3.71329349e-04 9.99782107e-01 -8.96736806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters 0.02753553808070924 Centerline is valid? [True, True] Translation: X:447.41, Y:-72.74, Z:-8.97 [[ 9.85244881e-01 1.69886711e-01 2.07612547e-02 4.47413955e+02] [-1.69857009e-01 9.85463528e-01 -3.19867666e-03 -7.27380157e+01] [-2.10028719e-02 -3.74964817e-04 9.99779345e-01 -8.96787700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.634012739 meters 0.027570897922279496 Centerline is valid? [True, True] Translation: X:447.44, Y:-72.74, Z:-8.97 [[ 9.85465640e-01 1.68580689e-01 2.09290345e-02 4.47441927e+02] [-1.68550232e-01 9.85687795e-01 -3.22351686e-03 -7.27427536e+01] [-2.11729166e-02 -3.50928514e-04 9.99775767e-01 -8.96746158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters 0.025624784708611452 Centerline is valid? [True, True] Translation: X:447.47, Y:-72.75, Z:-8.97 [[ 9.85601547e-01 1.67772849e-01 2.10205209e-02 4.47469782e+02] [-1.67741963e-01 9.85825623e-01 -3.23660200e-03 -7.27506613e+01] [-2.12655821e-02 -3.36023510e-04 9.99773805e-01 -8.96747202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.694012739 meters 0.027442741135460556 Centerline is valid? [True, True] Translation: X:447.50, Y:-72.75, Z:-8.97 [[ 9.85517502e-01 1.68128434e-01 2.20926038e-02 4.47498250e+02] [-1.68094432e-01 9.85765032e-01 -3.40054345e-03 -7.27511211e+01] [-2.23498444e-02 -3.62348604e-04 9.99750145e-01 -8.96661030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters 0.028056678676967973 Centerline is valid? [True, True] Translation: X:447.53, Y:-72.75, Z:-8.97 [[ 9.85316131e-01 1.69243635e-01 2.25546786e-02 4.47526533e+02] [-1.69208518e-01 9.85574165e-01 -3.47030417e-03 -7.27535688e+01] [-2.28166355e-02 -3.97097078e-04 9.99739588e-01 -8.96656376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.754012739 meters 0.030079163878720828 Centerline is valid? [True, True] Translation: X:447.55, Y:-72.75, Z:-8.97 [[ 9.85013682e-01 1.71048541e-01 2.21459706e-02 4.47554314e+02] [-1.71015170e-01 9.85262508e-01 -3.40613774e-03 -7.27530560e+01] [-2.24022094e-02 -4.32204642e-04 9.99748946e-01 -8.96711130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters 0.03186548347197072 Centerline is valid? [True, True] Translation: X:447.58, Y:-72.75, Z:-8.97 [[ 9.84198310e-01 1.75794861e-01 2.12097351e-02 4.47584431e+02] [-1.75765382e-01 9.84426685e-01 -3.26077016e-03 -7.27503938e+01] [-2.14526559e-02 -5.18692722e-04 9.99769731e-01 -8.97004332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.814012739 meters 0.034181432497949436 Centerline is valid? [True, True] Translation: X:447.61, Y:-72.75, Z:-8.97 [[ 9.83818761e-01 1.77950086e-01 2.08425717e-02 4.47614678e+02] [-1.77922118e-01 9.84039357e-01 -3.20357761e-03 -7.27494019e+01] [-2.10799877e-02 -5.56614751e-04 9.99777637e-01 -8.97147217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters 0.035711454088919764 Centerline is valid? [True, True] Translation: X:447.64, Y:-72.75, Z:-8.97 [[ 9.83610498e-01 1.79131719e-01 2.05478643e-02 4.47642761e+02] [-1.79104805e-01 9.83824932e-01 -3.15776997e-03 -7.27499190e+01] [-2.07811579e-02 -5.74205518e-04 9.99783884e-01 -8.97330707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.874012739 meters 0.03569564138777755 Centerline is valid? [True, True] Translation: X:447.67, Y:-72.75, Z:-8.98 [[ 9.83748855e-01 1.78486901e-01 1.95094024e-02 4.47670296e+02] [-1.78462534e-01 9.83942143e-01 -2.99706182e-03 -7.27517346e+01] [-1.97310595e-02 -5.33341251e-04 9.99805181e-01 -8.97615851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters 0.036169993500471474 Centerline is valid? [True, True] Translation: X:447.70, Y:-72.75, Z:-8.98 [[ 9.83914715e-01 1.77542359e-01 1.97621811e-02 4.47698748e+02] [-1.77517190e-01 9.84113021e-01 -3.03468632e-03 -7.27534459e+01] [-1.99870051e-02 -5.22254320e-04 9.99800103e-01 -8.97631839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.934012739 meters 0.03444542023972753 Centerline is valid? [True, True] Translation: X:447.73, Y:-72.76, Z:-8.98 [[ 9.84010383e-01 1.76954127e-01 2.02683052e-02 4.47726786e+02] [-1.76927547e-01 9.84218960e-01 -3.11141795e-03 -7.27578410e+01] [-2.04990286e-02 -5.24353967e-04 9.99789735e-01 -8.97563388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters 0.033690164040593905 Centerline is valid? [True, True] Translation: X:447.76, Y:-72.76, Z:-8.98 [[ 9.84220137e-01 1.75731426e-01 2.07168446e-02 4.47756308e+02] [-1.75703407e-01 9.84438015e-01 -3.17927764e-03 -7.27575567e+01] [-2.09531483e-02 -5.10911109e-04 9.99780328e-01 -8.97554116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.994012739 meters 0.033092684967186106 Centerline is valid? [True, True] Translation: X:447.79, Y:-72.76, Z:-8.98 [[ 9.84359202e-01 1.74965128e-01 2.05952745e-02 4.47785323e+02] [-1.74937285e-01 9.84574508e-01 -3.15988817e-03 -7.27594509e+01] [-2.08304525e-02 -4.92416412e-04 9.99782901e-01 -8.97671608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters 0.03199018621787884 Centerline is valid? [True, True] Translation: X:447.81, Y:-72.76, Z:-8.98 [[ 9.84564571e-01 1.73781061e-01 2.08025855e-02 4.47814793e+02] [-1.73752412e-01 9.84784199e-01 -3.19069943e-03 -7.27589423e+01] [-2.10405407e-02 -4.73049779e-04 9.99778511e-01 -8.97709243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.054012739 meters 0.031931807171789735 Centerline is valid? [True, True] Translation: X:447.84, Y:-72.76, Z:-8.98 [[ 9.84693067e-01 1.73107470e-01 2.03314342e-02 4.47842907e+02] [-1.73079979e-01 9.84902839e-01 -3.11749364e-03 -7.27612936e+01] [-2.05641487e-02 -4.49189842e-04 9.99788435e-01 -8.97812760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters 0.031050950349224896 Centerline is valid? [True, True] Translation: X:447.87, Y:-72.77, Z:-8.98 [[ 9.84863688e-01 1.72177130e-01 1.99637630e-02 4.47871090e+02] [-1.72150457e-01 9.85065915e-01 -3.05997008e-03 -7.27653288e+01] [-2.01924794e-02 -4.23117499e-04 9.99796022e-01 -8.97947656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.114012739 meters 0.02685985539564608 Centerline is valid? [True, True] Translation: X:447.90, Y:-72.77, Z:-8.98 [[ 9.85404247e-01 1.69108235e-01 1.95160109e-02 4.47899200e+02] [-1.69082160e-01 9.85597423e-01 -2.99045371e-03 -7.27725752e+01] [-1.97406404e-02 -3.53003492e-04 9.99805072e-01 -8.98038863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters 0.026478253709998303 Centerline is valid? [True, True] Translation: X:447.93, Y:-72.78, Z:-8.98 [[ 9.85744739e-01 1.67074366e-01 1.98359697e-02 4.47926496e+02] [-1.67047037e-01 9.85944245e-01 -3.03850578e-03 -7.27757576e+01] [-2.00648166e-02 -3.18348876e-04 9.99798631e-01 -8.98081639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.174012739 meters 0.024609826319818527 Centerline is valid? [True, True] Translation: X:447.95, Y:-72.78, Z:-8.98 [[ 9.86097642e-01 1.64927824e-01 2.02547290e-02 4.47954189e+02] [-1.64898901e-01 9.86305599e-01 -3.10140509e-03 -7.27818253e+01] [-2.04888606e-02 -2.81694309e-04 9.99790042e-01 -8.98042791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters 0.02194939112756344 Centerline is valid? [True, True] Translation: X:447.98, Y:-72.79, Z:-8.98 [[ 9.86392532e-01 1.63073867e-01 2.08970423e-02 4.47981932e+02] [-1.63042686e-01 9.86613831e-01 -3.19876007e-03 -7.27892609e+01] [-2.11389452e-02 -2.51876859e-04 9.99776516e-01 -8.98025709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.234012739 meters 0.02155825418886779 Centerline is valid? [True, True] Translation: X:448.01, Y:-72.79, Z:-8.98 [[ 9.86689703e-01 1.61039592e-01 2.25761074e-02 4.48009556e+02] [-1.61002694e-01 9.86947921e-01 -3.45456955e-03 -7.27909171e+01] [-2.28377647e-02 -2.26225905e-04 9.99739159e-01 -8.97697820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters 0.020975422067880046 Centerline is valid? [True, True] Translation: X:448.04, Y:-72.79, Z:-8.98 [[ 9.86671338e-01 1.61080999e-01 2.30777658e-02 4.48038044e+02] [-1.61042486e-01 9.86941162e-01 -3.52994727e-03 -7.27945714e+01] [-2.33450044e-02 -2.33602976e-04 9.99727441e-01 -8.97667089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.294012739 meters 0.020525573608089154 Centerline is valid? [True, True] Translation: X:448.07, Y:-72.80, Z:-8.98 [[ 9.86708264e-01 1.60862477e-01 2.30231345e-02 4.48065636e+02] [-1.60824114e-01 9.86976804e-01 -3.52042488e-03 -7.27966295e+01] [-2.32896040e-02 -2.29042887e-04 9.99728734e-01 -8.97867563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters 0.020170293378320298 Centerline is valid? [True, True] Translation: X:448.09, Y:-72.80, Z:-8.98 [[ 9.86880695e-01 1.59944080e-01 2.20087331e-02 4.48093638e+02] [-1.59908828e-01 9.87126056e-01 -3.36381921e-03 -7.28005863e+01] [-2.22634169e-02 -1.99702478e-04 9.99752119e-01 -8.98095997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.354012739 meters 0.019384047456948213 Centerline is valid? [True, True] Translation: X:448.12, Y:-72.81, Z:-8.98 [[ 9.87099317e-01 1.58737799e-01 2.09105066e-02 4.48122177e+02] [-1.58705728e-01 9.87320760e-01 -3.19500305e-03 -7.28056746e+01] [-2.11525450e-02 -1.64831850e-04 9.99776246e-01 -8.98320599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters 0.018619791887415468 Centerline is valid? [True, True] Translation: X:448.15, Y:-72.81, Z:-8.98 [[ 9.87536113e-01 1.56044000e-01 2.05595863e-02 4.48149359e+02] [-1.56012432e-01 9.87750099e-01 -3.14039088e-03 -7.28100972e+01] [-2.07977726e-02 -1.06301671e-04 9.99783697e-01 -8.98435314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.414012739 meters 0.017866382531116907 Centerline is valid? [True, True] Translation: X:448.18, Y:-72.82, Z:-8.98 [[ 9.87793837e-01 1.54259840e-01 2.16156857e-02 4.48176763e+02] [-1.54224549e-01 9.88030312e-01 -3.30032261e-03 -7.28159282e+01] [-2.18660599e-02 -7.36310327e-05 9.99760906e-01 -8.98278198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters 0.017409889143290537 Centerline is valid? [True, True] Translation: X:448.20, Y:-72.82, Z:-8.98 [[ 9.88038578e-01 1.52595418e-01 2.22352397e-02 4.48204428e+02] [-1.52557686e-01 9.88288742e-01 -3.39347363e-03 -7.28218859e+01] [-2.24926655e-02 -3.92738491e-05 9.99747007e-01 -8.98228257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.474012739 meters 0.01721665607952134 Centerline is valid? [True, True] Translation: X:448.23, Y:-72.83, Z:-8.98 [[ 9.88493263e-01 1.49670901e-01 2.19018534e-02 4.48232918e+02] [-1.49633599e-01 9.88735870e-01 -3.34143212e-03 -7.28286474e+01] [-2.21552632e-02 2.57299824e-05 9.99754542e-01 -8.98420616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters 0.017465187408020263 Centerline is valid? [True, True] Translation: X:448.26, Y:-72.83, Z:-8.99 [[ 9.88647946e-01 1.48720337e-01 2.13892610e-02 4.48260372e+02] [-1.48684560e-01 9.88879295e-01 -3.26224790e-03 -7.28332571e+01] [-2.16365599e-02 4.49618240e-05 9.99765901e-01 -8.98635614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.534012739 meters 0.017655709530938788 Centerline is valid? [True, True] Translation: X:448.29, Y:-72.84, Z:-8.99 [[ 9.88751709e-01 1.48147031e-01 2.05551653e-02 4.48288724e+02] [-1.48113890e-01 9.88965345e-01 -3.13389920e-03 -7.28382898e+01] [-2.07926240e-02 5.41426887e-05 9.99783809e-01 -8.98830754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters 0.018189831495975493 Centerline is valid? [True, True] Translation: X:448.32, Y:-72.85, Z:-8.99 [[ 9.89040334e-01 1.46293984e-01 1.99320998e-02 4.48315692e+02] [-1.46262464e-01 9.89241155e-01 -3.03801725e-03 -7.28467941e+01] [-2.01620970e-02 8.94035830e-05 9.99796720e-01 -8.99030782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.594012739 meters 0.01840323204400605 Centerline is valid? [True, True] Translation: X:448.34, Y:-72.85, Z:-8.99 [[ 9.89253613e-01 1.44883191e-01 1.96507006e-02 4.48344315e+02] [-1.44852300e-01 9.89448760e-01 -2.99390526e-03 -7.28525692e+01] [-1.98771279e-02 1.15282416e-04 9.99802424e-01 -8.99061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters 0.019368885369653033 Centerline is valid? [True, True] Translation: X:448.37, Y:-72.86, Z:-8.99 [[ 9.89412199e-01 1.43818746e-01 1.94851089e-02 4.48371250e+02] [-1.43788186e-01 9.89604037e-01 -2.96772982e-03 -7.28605151e+01] [-1.97093576e-02 1.34579629e-04 9.99805743e-01 -8.99146897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.654012739 meters 0.019368885369653033 Centerline is valid? [True, True] Translation: X:448.40, Y:-72.86, Z:-8.99 [[ 9.89418557e-01 1.43774975e-01 1.94852882e-02 4.48399263e+02] [-1.43744430e-01 9.89610397e-01 -2.96655253e-03 -7.28646875e+01] [-1.97093598e-02 1.34260488e-04 9.99805743e-01 -8.99204426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters 0.020062338813177656 Centerline is valid? [True, True] Translation: X:448.43, Y:-72.87, Z:-8.99 [[ 9.89571228e-01 1.42785303e-01 1.90037150e-02 4.48426973e+02] [-1.42756083e-01 9.89753674e-01 -2.89239751e-03 -7.28713658e+01] [-1.92219886e-02 1.49337444e-04 9.99815229e-01 -8.99367709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.714012739 meters 0.020757729184477096 Centerline is valid? [True, True] Translation: X:448.45, Y:-72.88, Z:-8.99 [[ 9.89754169e-01 1.41489329e-01 1.91691195e-02 4.48453225e+02] [-1.41459371e-01 9.89939765e-01 -2.91671426e-03 -7.28808446e+01] [-1.93889576e-02 1.75178511e-04 9.99812001e-01 -8.99462538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters 0.02121599470986076 Centerline is valid? [True, True] Translation: X:448.48, Y:-72.89, Z:-8.99 [[ 9.89833634e-01 1.40884447e-01 1.95179156e-02 4.48480728e+02] [-1.40853296e-01 9.90026028e-01 -2.96855032e-03 -7.28881838e+01] [-1.97414670e-02 1.89208208e-04 9.99805100e-01 -8.99424016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.774012739 meters 0.0203253042158209 Centerline is valid? [True, True] Translation: X:448.51, Y:-72.89, Z:-8.99 [[ 9.89896272e-01 1.40433638e-01 1.95898891e-02 4.48509173e+02] [-1.40402190e-01 9.90090074e-01 -2.97840476e-03 -7.28917690e+01] [-1.98140230e-02 1.97848441e-04 9.99803663e-01 -8.99491030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters 0.02062610960297079 Centerline is valid? [True, True] Translation: X:448.54, Y:-72.90, Z:-9.00 [[ 9.89919706e-01 1.40356621e-01 1.89471568e-02 4.48536891e+02] [-1.40327205e-01 9.90100996e-01 -2.87979830e-03 -7.28985800e+01] [-1.91637976e-02 1.91967523e-04 9.99816339e-01 -8.99664799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.834012739 meters 0.020486117168597422 Centerline is valid? [True, True] Translation: X:448.56, Y:-72.90, Z:-9.00 [[ 9.89867305e-01 1.40709182e-01 1.90694966e-02 4.48563960e+02] [-1.40679468e-01 9.90050954e-01 -2.89747606e-03 -7.29045065e+01] [-1.92874748e-02 1.85430181e-04 9.99813962e-01 -8.99686573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters 0.019746769732862282 Centerline is valid? [True, True] Translation: X:448.59, Y:-72.91, Z:-9.00 [[ 9.89717434e-01 1.41779768e-01 1.89181966e-02 4.48593186e+02] [-1.41750742e-01 9.89898212e-01 -2.87331858e-03 -7.29113834e+01] [-1.91344674e-02 1.62105081e-04 9.99816906e-01 -8.99728231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.894012739 meters 0.019313091473447713 Centerline is valid? [True, True] Translation: X:448.62, Y:-72.92, Z:-9.00 [[ 9.89598899e-01 1.42634914e-01 1.86895539e-02 4.48622113e+02] [-1.42606746e-01 9.89775359e-01 -2.83818401e-03 -7.29153108e+01] [-1.89032840e-02 1.43407306e-04 9.99821307e-01 -8.99820966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters 0.019055257431306316 Centerline is valid? [True, True] Translation: X:448.65, Y:-72.92, Z:-9.00 [[ 9.89440192e-01 1.43690815e-01 1.90014689e-02 4.48650740e+02] [-1.43661912e-01 9.89622622e-01 -2.88460606e-03 -7.29194327e+01] [-1.92187749e-02 1.24357823e-04 9.99815295e-01 -8.99874769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.954012739 meters 0.018467191168978932 Centerline is valid? [True, True] Translation: X:448.68, Y:-72.92, Z:-9.00 [[ 9.89284149e-01 1.44711324e-01 1.93779412e-02 4.48678923e+02] [-1.44681473e-01 9.89473912e-01 -2.94105284e-03 -7.29233164e+01] [-1.95995709e-02 1.05907882e-04 9.99807904e-01 -8.99905053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters 0.01753020831270693 Centerline is valid? [True, True] Translation: X:448.71, Y:-72.93, Z:-9.00 [[ 9.88897384e-01 1.47104358e-01 2.10302713e-02 4.48707500e+02] [-1.47069763e-01 9.89120975e-01 -3.19075399e-03 -7.29268012e+01] [-2.12708563e-02 6.24112662e-05 9.99773748e-01 -8.99583505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.014012739 meters 0.017227821318306982 Centerline is valid? [True, True] Translation: X:448.74, Y:-72.93, Z:-9.00 [[ 9.88645257e-01 1.48743917e-01 2.13495489e-02 4.48735541e+02] [-1.48708668e-01 9.88875749e-01 -3.23814233e-03 -7.29283943e+01] [-2.15937051e-02 2.65110840e-05 9.99766828e-01 -8.99518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters 0.017356140166088798 Centerline is valid? [True, True] Translation: X:448.76, Y:-72.93, Z:-9.00 [[ 9.88186560e-01 1.51826912e-01 2.08784811e-02 4.48764983e+02] [-1.51793916e-01 9.88407096e-01 -3.16540454e-03 -7.29268781e+01] [-2.11170325e-02 -4.12161968e-05 9.99777010e-01 -8.99685377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.074012739 meters 0.017628725229345273 Centerline is valid? [True, True] Translation: X:448.79, Y:-72.93, Z:-9.00 [[ 9.88013786e-01 1.53030232e-01 2.02609798e-02 4.48793807e+02] [-1.52999432e-01 9.88221505e-01 -3.07084013e-03 -7.29299763e+01] [-2.04922673e-02 -6.58860100e-05 9.99790009e-01 -8.99908681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters 0.017821170234335208 Centerline is valid? [True, True] Translation: X:448.82, Y:-72.93, Z:-9.00 [[ 9.87908697e-01 1.53775889e-01 1.97327833e-02 4.48822488e+02] [-1.53746841e-01 9.88105748e-01 -2.98986566e-03 -7.29344932e+01] [-1.99578458e-02 -8.01388103e-05 9.99800819e-01 -9.00116776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.134012739 meters 0.017961585651223393 Centerline is valid? [True, True] Translation: X:448.85, Y:-72.94, Z:-9.00 [[ 9.87892863e-01 1.53983376e-01 1.88894486e-02 4.48849478e+02] [-1.53956813e-01 9.88073435e-01 -2.86122527e-03 -7.29386247e+01] [-1.91047435e-02 -8.15752803e-05 9.99817484e-01 -9.00318566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters 0.01795336418908454 Centerline is valid? [True, True] Translation: X:448.88, Y:-72.94, Z:-9.00 [[ 9.88009121e-01 1.53308808e-01 1.82862094e-02 4.48876760e+02] [-1.53283819e-01 9.88178326e-01 -2.76878540e-03 -7.29430213e+01] [-1.84945150e-02 -6.73947856e-05 9.99828960e-01 -9.00399859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.194012739 meters 0.017563208932978608 Centerline is valid? [True, True] Translation: X:448.91, Y:-72.95, Z:-9.00 [[ 9.88100579e-01 1.52654415e-01 1.88115527e-02 4.48905109e+02] [-1.52627872e-01 9.88279630e-01 -2.84716174e-03 -7.29486404e+01] [-1.90257061e-02 -5.78850874e-05 9.99818993e-01 -9.00351257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters 0.0171340885004089 Centerline is valid? [True, True] Translation: X:448.93, Y:-72.96, Z:-9.00 [[ 9.88292043e-01 1.51181012e-01 2.05703578e-02 4.48933657e+02] [-1.51148976e-01 9.88506095e-01 -3.11231517e-03 -7.29564301e+01] [-2.08044470e-02 -3.33122051e-05 9.99783564e-01 -9.00101463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.254012739 meters 0.01704173006513014 Centerline is valid? [True, True] Translation: X:448.96, Y:-72.96, Z:-9.00 [[ 9.88366457e-01 1.50640814e-01 2.09544981e-02 4.48962252e+02] [-1.50607460e-01 9.88588562e-01 -3.16990523e-03 -7.29620680e+01] [-2.11928943e-02 -2.28757377e-05 9.99775405e-01 -9.00128447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters 0.017152434276063385 Centerline is valid? [True, True] Translation: X:448.99, Y:-72.97, Z:-9.00 [[ 9.88420133e-01 1.50259722e-01 2.11579212e-02 4.48989262e+02] [-1.50225653e-01 9.88646558e-01 -3.19962282e-03 -7.29667053e+01] [-2.13984804e-02 -1.58909006e-05 9.99771026e-01 -9.00228750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.314012739 meters 0.01704112586465738 Centerline is valid? [True, True] Translation: X:449.02, Y:-72.97, Z:-9.00 [[ 9.88490330e-01 1.49884472e-01 2.05307665e-02 4.49018076e+02] [-1.49852337e-01 9.88703517e-01 -3.10358311e-03 -7.29712313e+01] [-2.07640199e-02 -8.72143613e-06 9.99784404e-01 -9.00422216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters 0.017243186257061463 Centerline is valid? [True, True] Translation: X:449.04, Y:-72.98, Z:-9.01 [[ 9.88715188e-01 1.48600642e-01 1.89770091e-02 4.49044865e+02] [-1.48572966e-01 9.88897289e-01 -2.86790144e-03 -7.29789531e+01] [-1.91924848e-02 1.60671906e-05 9.99815807e-01 -9.00812759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.374012739 meters 0.017382179228412394 Centerline is valid? [True, True] Translation: X:449.07, Y:-72.99, Z:-9.01 [[ 9.88927055e-01 1.47256069e-01 1.84100419e-02 4.49072393e+02] [-1.47229804e-01 9.89098402e-01 -2.78141121e-03 -7.29867261e+01] [-1.86189227e-02 4.01059462e-05 9.99826652e-01 -9.00863230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters 0.017642151351912026 Centerline is valid? [True, True] Translation: X:449.10, Y:-73.00, Z:-9.01 [[ 9.89080059e-01 1.46224928e-01 1.84094473e-02 4.49100424e+02] [-1.46198503e-01 9.89251367e-01 -2.78039184e-03 -7.29950702e+01] [-1.86181335e-02 5.85964897e-05 9.99826666e-01 -9.00970637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.434012739 meters 0.017859966168255737 Centerline is valid? [True, True] Translation: X:449.13, Y:-73.00, Z:-9.01 [[ 9.89378548e-01 1.44089973e-01 1.91877103e-02 4.49129104e+02] [-1.44060880e-01 9.89564586e-01 -2.89718378e-03 -7.30018701e+01] [-1.94049337e-02 1.02213060e-04 9.99811701e-01 -9.00741700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters 0.01815383856532818 Centerline is valid? [True, True] Translation: X:449.16, Y:-73.01, Z:-9.01 [[ 9.89421307e-01 1.43742295e-01 1.95864903e-02 4.49157773e+02] [-1.43711922e-01 9.89615148e-01 -2.95689116e-03 -7.30084493e+01] [-1.98081178e-02 1.10798945e-04 9.99803794e-01 -9.00753783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.494012739 meters 0.01834905067522931 Centerline is valid? [True, True] Translation: X:449.19, Y:-73.01, Z:-9.01 [[ 9.89486026e-01 1.43259077e-01 1.98555008e-02 4.49186756e+02] [-1.43227771e-01 9.89685214e-01 -2.99725541e-03 -7.30148561e+01] [-2.00800796e-02 1.21883228e-04 9.99798367e-01 -9.00774108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters 0.018438875155441785 Centerline is valid? [True, True] Translation: X:449.22, Y:-73.02, Z:-9.01 [[ 9.89528107e-01 1.42950695e-01 1.99806073e-02 4.49216188e+02] [-1.42918941e-01 9.89729803e-01 -3.01566228e-03 -7.30230464e+01] [-2.02064935e-02 1.28475353e-04 9.99795820e-01 -9.00883953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.554012739 meters 0.01841708520100109 Centerline is valid? [True, True] Translation: X:449.24, Y:-73.03, Z:-9.01 [[ 9.89494310e-01 1.43225826e-01 1.96818148e-02 4.49244828e+02] [-1.43195068e-01 9.89690026e-01 -2.97057046e-03 -7.30286301e+01] [-1.99043582e-02 1.21023747e-04 9.99801881e-01 -9.00949151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters 0.018053351700199657 Centerline is valid? [True, True] Translation: X:449.28, Y:-73.03, Z:-9.01 [[ 9.89423029e-01 1.43751560e-01 1.94308566e-02 4.49275108e+02] [-1.43721688e-01 9.89613802e-01 -2.93245523e-03 -7.30328835e+01] [-1.96505889e-02 1.08803238e-04 9.99806903e-01 -9.01033920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.614012739 meters 0.01783870808254279 Centerline is valid? [True, True] Translation: X:449.30, Y:-73.04, Z:-9.01 [[ 9.89310717e-01 1.44623789e-01 1.86618720e-02 4.49304031e+02] [-1.44596389e-01 9.89486711e-01 -2.81641913e-03 -7.30367112e+01] [-1.88729955e-02 8.78743261e-05 9.99821885e-01 -9.01104640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters 0.017720715791578655 Centerline is valid? [True, True] Translation: X:449.33, Y:-73.04, Z:-9.01 [[ 9.89216784e-01 1.45239118e-01 1.88614138e-02 4.49332185e+02] [-1.45211245e-01 9.89396580e-01 -2.84633274e-03 -7.30408811e+01] [-1.90748171e-02 7.67507407e-05 9.99818056e-01 -9.01112420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.674012739 meters 0.017419550434075726 Centerline is valid? [True, True] Translation: X:449.36, Y:-73.04, Z:-9.01 [[ 9.89142179e-01 1.45635375e-01 1.96999133e-02 4.49361555e+02] [-1.45605062e-01 9.89338331e-01 -2.97212190e-03 -7.30445056e+01] [-1.99227254e-02 7.14440489e-05 9.99801520e-01 -9.01049217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters 0.016926917448361344 Centerline is valid? [True, True] Translation: X:449.39, Y:-73.05, Z:-9.01 [[ 9.88900128e-01 1.47073175e-01 2.11191491e-02 4.49389781e+02] [-1.47038676e-01 9.89125613e-01 -3.18569069e-03 -7.30479133e+01] [-2.13580209e-02 4.49982046e-05 9.99771890e-01 -9.00862533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.734012739 meters 0.01686242184858216 Centerline is valid? [True, True] Translation: X:449.42, Y:-73.05, Z:-9.01 [[ 9.88798831e-01 1.47731321e-01 2.12680244e-02 4.49417836e+02] [-1.47696503e-01 9.89027530e-01 -3.20738590e-03 -7.30508498e+01] [-2.15084930e-02 3.02466082e-05 9.99768665e-01 -9.00866466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters 0.01672767024201592 Centerline is valid? [True, True] Translation: X:449.45, Y:-73.05, Z:-9.01 [[ 9.88656877e-01 1.48678924e-01 2.12640035e-02 4.49447352e+02] [-1.48644354e-01 9.88885523e-01 -3.20604349e-03 -7.30531440e+01] [-2.15043363e-02 8.90287956e-06 9.99768755e-01 -9.00965858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.794012739 meters 0.016886845735312954 Centerline is valid? [True, True] Translation: X:449.48, Y:-73.06, Z:-9.01 [[ 9.88454875e-01 1.50111156e-01 2.05815503e-02 4.49476189e+02] [-1.50079090e-01 9.88669126e-01 -3.10266434e-03 -7.30552098e+01] [-2.08140879e-02 -2.20166394e-05 9.99783363e-01 -9.01255577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters 0.016904363617343845 Centerline is valid? [True, True] Translation: X:449.51, Y:-73.06, Z:-9.01 [[ 9.88445382e-01 1.50296741e-01 1.96625874e-02 4.49505036e+02] [-1.50267521e-01 9.88640930e-01 -2.96364751e-03 -7.30594470e+01] [-1.98846653e-02 -2.52445743e-05 9.99802280e-01 -9.01481923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.854012739 meters 0.01696621920452028 Centerline is valid? [True, True] Translation: X:449.53, Y:-73.06, Z:-9.02 [[ 9.88446832e-01 1.50349347e-01 1.91816279e-02 4.49533618e+02] [-1.50321557e-01 9.88632932e-01 -2.89071074e-03 -7.30634869e+01] [-1.93982055e-02 -2.60983014e-05 9.99811837e-01 -9.01644637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters 0.017003603819154042 Centerline is valid? [True, True] Translation: X:449.56, Y:-73.07, Z:-9.02 [[ 9.88449564e-01 1.50374031e-01 1.88443854e-02 4.49562078e+02] [-1.50347223e-01 9.88629177e-01 -2.83946138e-03 -7.30676538e+01] [-1.90570904e-02 -2.65366394e-05 9.99818397e-01 -9.01743020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.914012739 meters 0.017014118016877876 Centerline is valid? [True, True] Translation: X:449.59, Y:-73.07, Z:-9.02 [[ 9.88457761e-01 1.50378264e-01 1.83747721e-02 4.49590280e+02] [-1.50352792e-01 9.88628533e-01 -2.76787168e-03 -7.30728357e+01] [-1.85820517e-02 -2.67740334e-05 9.99827338e-01 -9.01890804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters 0.016965959040252894 Centerline is valid? [True, True] Translation: X:449.62, Y:-73.08, Z:-9.02 [[ 9.88456444e-01 1.50341770e-01 1.87405957e-02 4.49618070e+02] [-1.50315284e-01 9.88634084e-01 -2.82203657e-03 -7.30776870e+01] [-1.89518616e-02 -2.75377170e-05 9.99820397e-01 -9.01960212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.974012739 meters 0.01689784887188064 Centerline is valid? [True, True] Translation: X:449.65, Y:-73.08, Z:-9.02 [[ 9.88454577e-01 1.50219703e-01 1.97886571e-02 4.49647386e+02] [-1.50190162e-01 9.88652639e-01 -2.97910142e-03 -7.30827377e+01] [-2.00116277e-02 -2.73551822e-05 9.99799747e-01 -9.01887854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters 0.016831030626724603 Centerline is valid? [True, True] Translation: X:449.68, Y:-73.09, Z:-9.02 [[ 9.88427335e-01 1.50112760e-01 2.18531905e-02 4.49675388e+02] [-1.50076721e-01 9.88668882e-01 -3.28931883e-03 -7.30866121e+01] [-2.20993382e-02 -2.84025181e-05 9.99755779e-01 -9.01601016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.034012739 meters 0.017044382027252048 Centerline is valid? [True, True] Translation: X:449.71, Y:-73.09, Z:-9.02 [[ 9.88336745e-01 1.50698206e-01 2.19209788e-02 4.49705391e+02] [-1.50662103e-01 9.88579814e-01 -3.29876654e-03 -7.30897295e+01] [-2.21677554e-02 -4.23685863e-05 9.99754264e-01 -9.01616178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters 0.0172180149647334 Centerline is valid? [True, True] Translation: X:449.73, Y:-73.09, Z:-9.02 [[ 9.88163877e-01 1.51886841e-01 2.15067236e-02 4.49734031e+02] [-1.51852382e-01 9.88397887e-01 -3.23591386e-03 -7.30920335e+01] [-2.17486929e-02 -6.82340232e-05 9.99763467e-01 -9.01717818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.094012739 meters 0.018763435079383592 Centerline is valid? [True, True] Translation: X:449.76, Y:-73.09, Z:-9.02 [[ 9.87602080e-01 1.55666004e-01 2.02540484e-02 4.49763462e+02] [-1.55636255e-01 9.87809736e-01 -3.04656485e-03 -7.30906783e+01] [-2.04813928e-02 -1.43470456e-04 9.99790224e-01 -9.02020664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters 0.02020852880400722 Centerline is valid? [True, True] Translation: X:449.79, Y:-73.09, Z:-9.02 [[ 9.87219561e-01 1.58104366e-01 2.00136705e-02 4.49793101e+02] [-1.58075839e-01 9.87422388e-01 -3.00946574e-03 -7.30903111e+01] [-2.02377560e-02 -1.92674296e-04 9.99795177e-01 -9.02096634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.154012739 meters 0.022064497971881692 Centerline is valid? [True, True] Translation: X:449.82, Y:-73.09, Z:-9.02 [[ 9.86839899e-01 1.60444245e-01 2.01161095e-02 4.49821720e+02] [-1.60415931e-01 9.87044875e-01 -3.02390333e-03 -7.30886914e+01] [-2.03406707e-02 -2.42835968e-04 9.99793078e-01 -9.02116450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters 0.02661505195224227 Centerline is valid? [True, True] Translation: X:449.85, Y:-73.08, Z:-9.02 [[ 9.86256342e-01 1.63952254e-01 2.04471436e-02 4.49850843e+02] [-1.63923778e-01 9.86468223e-01 -3.07243569e-03 -7.30822398e+01] [-2.06741901e-02 -3.21563847e-04 9.99786214e-01 -9.02099734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.214012739 meters 0.02536383350373037 Centerline is valid? [True, True] Translation: X:449.88, Y:-73.09, Z:-9.02 [[ 9.86075408e-01 1.65041551e-01 2.04101802e-02 4.49879619e+02] [-1.65013436e-01 9.86286555e-01 -3.06568979e-03 -7.30868713e+01] [-2.06362525e-02 -3.44952653e-04 9.99786990e-01 -9.02257666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters 0.02643837888632622 Centerline is valid? [True, True] Translation: X:449.91, Y:-73.09, Z:-9.02 [[ 9.86000206e-01 1.65553454e-01 1.98909157e-02 4.49908036e+02] [-1.65526875e-01 9.86200757e-01 -2.98676313e-03 -7.30868895e+01] [-2.01109050e-02 -3.47532037e-04 9.99797695e-01 -9.02419197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.274012739 meters 0.02681194581641548 Centerline is valid? [True, True] Translation: X:449.94, Y:-73.09, Z:-9.03 [[ 9.86109046e-01 1.64954706e-01 1.94652065e-02 4.49936612e+02] [-1.64929161e-01 9.86301088e-01 -2.92154150e-03 -7.30859577e+01] [-1.96804764e-02 -3.29421688e-04 9.99806266e-01 -9.02544784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters 0.02585696633361613 Centerline is valid? [True, True] Translation: X:449.96, Y:-73.09, Z:-9.03 [[ 9.86311216e-01 1.63700861e-01 1.98043618e-02 4.49963865e+02] [-1.63674189e-01 9.86509975e-01 -2.97125904e-03 -7.30900499e+01] [-2.00235981e-02 -3.10876744e-04 9.99799459e-01 -9.02534847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.334012739 meters 0.024442475657266604 Centerline is valid? [True, True] Translation: X:449.99, Y:-73.10, Z:-9.03 [[ 9.86576039e-01 1.62122058e-01 1.95999610e-02 4.49992150e+02] [-1.62095644e-01 9.86770673e-01 -2.93947396e-03 -7.30952405e+01] [-1.98172203e-02 -2.77053725e-04 9.99803581e-01 -9.02621842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters 0.022617965292237387 Centerline is valid? [True, True] Translation: X:450.02, Y:-73.10, Z:-9.03 [[ 9.86814133e-01 1.60714808e-01 1.91994230e-02 4.50020376e+02] [-1.60689214e-01 9.87000856e-01 -2.87854522e-03 -7.31013256e+01] [-1.94124718e-02 -2.44551089e-04 9.99811530e-01 -9.02754883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.394012739 meters 0.020848112956639162 Centerline is valid? [True, True] Translation: X:450.05, Y:-73.10, Z:-9.03 [[ 9.87250148e-01 1.58018663e-01 1.91637240e-02 4.50048032e+02] [-1.57992673e-01 9.87436107e-01 -2.87229828e-03 -7.31048839e+01] [-1.93768298e-02 -1.92051071e-04 9.99812233e-01 -9.02775720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters 0.019318387922544825 Centerline is valid? [True, True] Translation: X:450.08, Y:-73.11, Z:-9.03 [[ 9.87484099e-01 1.56476107e-01 1.97580872e-02 4.50076087e+02] [-1.56448195e-01 9.87681730e-01 -2.96018154e-03 -7.31098593e+01] [-1.99778994e-02 -1.67984870e-04 9.99800408e-01 -9.02694222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.454012739 meters 0.017883190535210942 Centerline is valid? [True, True] Translation: X:450.10, Y:-73.12, Z:-9.03 [[ 9.88063881e-01 1.52757474e-01 1.98726537e-02 4.50103364e+02] [-1.52728503e-01 9.88263702e-01 -2.97639126e-03 -7.31161665e+01] [-2.00940883e-02 -9.42559626e-05 9.99798089e-01 -9.02731215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters 0.0169706955310729 Centerline is valid? [True, True] Translation: X:450.13, Y:-73.13, Z:-9.03 [[ 9.88421258e-01 1.50406899e-01 2.00295029e-02 4.50131266e+02] [-1.50377012e-01 9.88624176e-01 -2.99868131e-03 -7.31250943e+01] [-2.02526732e-02 -4.80164409e-05 9.99794892e-01 -9.02825276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.514012739 meters 0.01698427298062688 Centerline is valid? [True, True] Translation: X:450.16, Y:-73.14, Z:-9.03 [[ 9.89090003e-01 1.46093923e-01 1.89084969e-02 4.50157445e+02] [-1.46066526e-01 9.89270723e-01 -2.82946215e-03 -7.31362093e+01] [-1.91189897e-02 3.66942733e-05 9.99817215e-01 -9.03070002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters 0.01698427298062688 Centerline is valid? [True, True] Translation: X:450.19, Y:-73.14, Z:-9.03 [[ 9.89096433e-01 1.46050357e-01 1.89086879e-02 4.50185469e+02] [-1.46022976e-01 9.89277156e-01 -2.82818528e-03 -7.31403076e+01] [-1.91189905e-02 3.62450893e-05 9.99817215e-01 -9.03127529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.574012739 meters 0.017766218490928697 Centerline is valid? [True, True] Translation: X:450.21, Y:-73.15, Z:-9.03 [[ 9.89397277e-01 1.44058800e-01 1.84415390e-02 4.50212101e+02] [-1.44032424e-01 9.89569127e-01 -2.75752374e-03 -7.31483426e+01] [-1.86464232e-02 7.21069135e-05 9.99826138e-01 -9.03258242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters 0.018678947441087352 Centerline is valid? [True, True] Translation: X:450.24, Y:-73.16, Z:-9.03 [[ 9.89719283e-01 1.41846357e-01 1.83126399e-02 4.50240369e+02] [-1.41819989e-01 9.89888680e-01 -2.73721113e-03 -7.31572415e+01] [-1.85157384e-02 1.11972244e-04 9.99828563e-01 -9.03373849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.634012739 meters 0.0222074337095584 Centerline is valid? [True, True] Translation: X:450.27, Y:-73.17, Z:-9.03 [[ 9.90398335e-01 1.37015117e-01 1.83846683e-02 4.50267595e+02] [-1.36987724e-01 9.90568936e-01 -2.74712425e-03 -7.31743577e+01] [-1.85876789e-02 2.02273413e-04 9.99827214e-01 -9.03353898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters 0.022235279210090705 Centerline is valid? [True, True] Translation: X:450.30, Y:-73.18, Z:-9.03 [[ 9.90648459e-01 1.35149135e-01 1.87174468e-02 4.50297117e+02] [-1.35120417e-01 9.90825238e-01 -2.79639866e-03 -7.31813155e+01] [-1.89236496e-02 2.41138805e-04 9.99820903e-01 -9.03301589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.694012739 meters 0.02508944735041594 Centerline is valid? [True, True] Translation: X:450.33, Y:-73.19, Z:-9.03 [[ 9.90818791e-01 1.33865715e-01 1.89233794e-02 4.50326532e+02] [-1.33836129e-01 9.90999444e-01 -2.82710599e-03 -7.31924312e+01] [-1.91315110e-02 2.68517904e-04 9.99816940e-01 -9.03313698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters 0.026011974972493128 Centerline is valid? [True, True] Translation: X:450.36, Y:-73.20, Z:-9.03 [[ 9.90932195e-01 1.33064072e-01 1.86370217e-02 4.50356534e+02] [-1.33035214e-01 9.91107398e-01 -2.78531725e-03 -7.31997935e+01] [-1.88419158e-02 2.80680366e-04 9.99822436e-01 -9.03404487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.754012739 meters 0.022736377274411027 Centerline is valid? [True, True] Translation: X:450.39, Y:-73.20, Z:-9.04 [[ 9.90908624e-01 1.33370389e-01 1.76759236e-02 4.50387136e+02] [-1.33344477e-01 9.91066230e-01 -2.64182836e-03 -7.32036765e+01] [-1.78703527e-02 2.60823717e-04 9.99840278e-01 -9.03605152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters 0.022559340540489133 Centerline is valid? [True, True] Translation: X:450.42, Y:-73.21, Z:-9.04 [[ 9.90810611e-01 1.34113208e-01 1.75493649e-02 4.50416716e+02] [-1.34087774e-01 9.90965987e-01 -2.62337404e-03 -7.32102361e+01] [-1.77426529e-02 2.46111556e-04 9.99842556e-01 -9.03754103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.814012739 meters 0.02299944825667916 Centerline is valid? [True, True] Translation: X:450.45, Y:-73.22, Z:-9.04 [[ 9.90667840e-01 1.35214557e-01 1.71538231e-02 4.50446368e+02] [-1.35190420e-01 9.90816317e-01 -2.56430006e-03 -7.32167987e+01] [-1.73430185e-02 2.21337052e-04 9.99849574e-01 -9.03866932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters 0.020732191461932028 Centerline is valid? [True, True] Translation: X:450.48, Y:-73.22, Z:-9.04 [[ 9.90334075e-01 1.37591235e-01 1.75234655e-02 4.50477316e+02] [-1.37566396e-01 9.90489080e-01 -2.62083328e-03 -7.32189923e+01] [-1.77174049e-02 1.84860517e-04 9.99843017e-01 -9.03845819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.874012739 meters 0.020101573969786513 Centerline is valid? [True, True] Translation: X:450.51, Y:-73.22, Z:-9.04 [[ 9.90209789e-01 1.38429193e-01 1.79424647e-02 4.50507110e+02] [-1.38403285e-01 9.90372318e-01 -2.68374694e-03 -7.32243071e+01] [-1.81412293e-02 1.74176448e-04 9.99835419e-01 -9.03911923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters 0.02016331133780218 Centerline is valid? [True, True] Translation: X:450.54, Y:-73.23, Z:-9.04 [[ 9.90117460e-01 1.39097242e-01 1.78710120e-02 4.50535492e+02] [-1.39071649e-01 9.90278714e-01 -2.67305940e-03 -7.32310162e+01] [-1.80690980e-02 1.61291674e-04 9.99836728e-01 -9.03915358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.934012739 meters 0.019788903231270367 Centerline is valid? [True, True] Translation: X:450.56, Y:-73.24, Z:-9.04 [[ 9.89927564e-01 1.40448600e-01 1.78215963e-02 4.50564006e+02] [-1.40423366e-01 9.90087962e-01 -2.66569424e-03 -7.32385086e+01] [-1.80193410e-02 1.36275661e-04 9.99837629e-01 -9.03983958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters 0.01891848899475267 Centerline is valid? [True, True] Translation: X:450.59, Y:-73.24, Z:-9.04 [[ 9.89865230e-01 1.40870944e-01 1.79500180e-02 4.50594012e+02] [-1.40845419e-01 9.90027959e-01 -2.68466872e-03 -7.32420321e+01] [-1.81492115e-02 1.29282414e-04 9.99835281e-01 -9.04033270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.994012739 meters 0.01847217337811421 Centerline is valid? [True, True] Translation: X:450.62, Y:-73.25, Z:-9.04 [[ 9.89749311e-01 1.41717912e-01 1.76729955e-02 4.50624645e+02] [-1.41693305e-01 9.89907077e-01 -2.64323625e-03 -7.32464800e+01] [-1.78692172e-02 1.11996124e-04 9.99840327e-01 -9.04100574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters 0.017392546094844686 Centerline is valid? [True, True] Translation: X:450.66, Y:-73.25, Z:-9.04 [[ 9.89296648e-01 1.44820394e-01 1.78660391e-02 4.50655533e+02] [-1.44795752e-01 9.89457958e-01 -2.67210855e-03 -7.32487950e+01] [-1.80646704e-02 5.65814629e-05 9.99836819e-01 -9.04126537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.054012739 meters 0.01691809742179315 Centerline is valid? [True, True] Translation: X:450.69, Y:-73.25, Z:-9.04 [[ 9.88939204e-01 1.47193825e-01 1.82545409e-02 4.50685115e+02] [-1.47168502e-01 9.89107667e-01 -2.73025817e-03 -7.32503773e+01] [-1.84575835e-02 1.35659084e-05 9.99829644e-01 -9.04030588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters 0.017031858654057038 Centerline is valid? [True, True] Translation: X:450.72, Y:-73.25, Z:-9.04 [[ 9.88513345e-01 1.49982852e-01 1.86148159e-02 4.50715251e+02] [-1.49957022e-01 9.88688597e-01 -2.78368689e-03 -7.32506538e+01] [-1.88217615e-02 -3.97107188e-05 9.99822854e-01 -9.03990366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.114012739 meters 0.019639674748432666 Centerline is valid? [True, True] Translation: X:450.74, Y:-73.25, Z:-9.04 [[ 9.87628854e-01 1.55664394e-01 1.89167470e-02 4.50744749e+02] [-1.55638770e-01 9.87809989e-01 -2.82838370e-03 -7.32450641e+01] [-1.91264303e-02 -1.50785883e-04 9.99817062e-01 -9.03998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters 0.020917369456088197 Centerline is valid? [True, True] Translation: X:450.77, Y:-73.25, Z:-9.04 [[ 9.87208383e-01 1.58319098e-01 1.88327361e-02 4.50774182e+02] [-1.58294196e-01 9.87387980e-01 -2.81515371e-03 -7.32458784e+01] [-1.90409099e-02 -2.01969487e-04 9.99818685e-01 -9.04064048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.174012739 meters 0.02392458528282479 Centerline is valid? [True, True] Translation: X:450.80, Y:-73.24, Z:-9.04 [[ 9.86805236e-01 1.60804747e-01 1.89013085e-02 4.50802180e+02] [-1.60780136e-01 9.86986206e-01 -2.82450648e-03 -7.32435000e+01] [-1.91095248e-02 -2.51717155e-04 9.99817365e-01 -9.04141237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters 0.025868742881613997 Centerline is valid? [True, True] Translation: X:450.83, Y:-73.24, Z:-9.04 [[ 9.86080768e-01 1.65080523e-01 1.98277473e-02 4.50832138e+02] [-1.65054328e-01 9.86280030e-01 -2.96177402e-03 -7.32409497e+01] [-2.00446424e-02 -3.52107097e-04 9.99799024e-01 -9.04060172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.234012739 meters 0.027872438681986706 Centerline is valid? [True, True] Translation: X:450.86, Y:-73.24, Z:-9.04 [[ 9.85719043e-01 1.67189000e-01 2.01446217e-02 4.50860251e+02] [-1.67162415e-01 9.85924783e-01 -3.00836016e-03 -7.32396589e+01] [-2.03640465e-02 -4.02025717e-04 9.99792550e-01 -9.04018876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters 0.031100123722960088 Centerline is valid? [True, True] Translation: X:450.89, Y:-73.24, Z:-9.04 [[ 9.85432395e-01 1.68886690e-01 2.00070376e-02 4.50888900e+02] [-1.68860841e-01 9.85635377e-01 -2.98661678e-03 -7.32362956e+01] [-2.02240439e-02 -4.35296281e-04 9.99795378e-01 -9.04046176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.294012739 meters 0.030136458408656405 Centerline is valid? [True, True] Translation: X:450.92, Y:-73.24, Z:-9.04 [[ 9.85174941e-01 1.70337020e-01 2.03871158e-02 4.50917553e+02] [-1.70310515e-01 9.85385749e-01 -3.04211517e-03 -7.32387981e+01] [-2.06073582e-02 -4.75124567e-04 9.99787533e-01 -9.04032073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters 0.03255347158140047 Centerline is valid? [True, True] Translation: X:450.95, Y:-73.23, Z:-9.04 [[ 9.84908918e-01 1.71801746e-01 2.09424042e-02 4.50947168e+02] [-1.71774131e-01 9.85131407e-01 -3.12390985e-03 -7.32315494e+01] [-2.11677133e-02 -5.20596612e-04 9.99775803e-01 -9.04081380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.354012739 meters 0.032314020274502704 Centerline is valid? [True, True] Translation: X:450.98, Y:-73.23, Z:-9.04 [[ 9.84968263e-01 1.71439230e-01 2.11213357e-02 4.50976152e+02] [-1.71411085e-01 9.85194560e-01 -3.14931263e-03 -7.32330504e+01] [-2.13485407e-02 -5.18458081e-04 9.99771960e-01 -9.04177064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters 0.031437867842833735 Centerline is valid? [True, True] Translation: X:451.00, Y:-73.24, Z:-9.04 [[ 9.85161742e-01 1.70355651e-01 2.08636987e-02 4.51004519e+02] [-1.70327967e-01 9.85382521e-01 -3.10990982e-03 -7.32367553e+01] [-2.10885147e-02 -4.89907205e-04 9.99777493e-01 -9.04266418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.414012739 meters 0.027242124545506015 Centerline is valid? [True, True] Translation: X:451.03, Y:-73.24, Z:-9.05 [[ 9.85867953e-01 1.66471707e-01 1.87496404e-02 4.51033208e+02] [-1.66448663e-01 9.86046163e-01 -2.79396281e-03 -7.32449542e+01] [-1.89531268e-02 -3.66374177e-04 9.99820306e-01 -9.04655840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters 0.02618925431217267 Centerline is valid? [True, True] Translation: X:451.06, Y:-73.25, Z:-9.05 [[ 9.86242701e-01 1.64390098e-01 1.73559964e-02 4.51060980e+02] [-1.64370035e-01 9.86395359e-01 -2.58600333e-03 -7.32493299e+01] [-1.75449876e-02 -3.02378817e-04 9.99846029e-01 -9.04829434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.474012739 meters 0.023223899851541396 Centerline is valid? [True, True] Translation: X:451.09, Y:-73.26, Z:-9.05 [[ 9.86897055e-01 1.60444823e-01 1.70781103e-02 4.51088502e+02] [-1.60424824e-01 9.87044784e-01 -2.54354205e-03 -7.32565982e+01] [-1.72649578e-02 -2.29538674e-04 9.99850923e-01 -9.04902039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters 0.020983110636571416 Centerline is valid? [True, True] Translation: X:451.12, Y:-73.26, Z:-9.05 [[ 9.87192033e-01 1.58486749e-01 1.82713148e-02 4.51116595e+02] [-1.58463540e-01 9.87361082e-01 -2.72032246e-03 -7.32644319e+01] [-1.84715202e-02 -2.09856560e-04 9.99829365e-01 -9.04801205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.534012739 meters 0.020629287487555995 Centerline is valid? [True, True] Translation: X:451.14, Y:-73.27, Z:-9.05 [[ 9.87413493e-01 1.56994031e-01 1.91694418e-02 4.51143697e+02] [-1.56968221e-01 9.87599533e-01 -2.85306046e-03 -7.32686756e+01] [-1.93796452e-02 -1.91842787e-04 9.99812179e-01 -9.04767250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters 0.019210197804926027 Centerline is valid? [True, True] Translation: X:451.17, Y:-73.27, Z:-9.05 [[ 9.87725022e-01 1.54823421e-01 2.07120450e-02 4.51172226e+02] [-1.54792842e-01 9.87942145e-01 -3.08129921e-03 -7.32749972e+01] [-2.09393595e-02 -1.62599971e-04 9.99780734e-01 -9.04602160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.594012739 meters 0.01855133112450515 Centerline is valid? [True, True] Translation: X:451.20, Y:-73.28, Z:-9.05 [[ 9.87838505e-01 1.54168674e-01 2.01769087e-02 4.51199977e+02] [-1.54139537e-01 9.88044533e-01 -3.00074845e-03 -7.32813502e+01] [-2.03983057e-02 -1.45804493e-04 9.99791922e-01 -9.04722421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters 0.018650497163087275 Centerline is valid? [True, True] Translation: X:451.23, Y:-73.29, Z:-9.05 [[ 9.87910863e-01 1.53759413e-01 1.97527059e-02 4.51227757e+02] [-1.53731426e-01 9.88108306e-01 -2.93669981e-03 -7.32855536e+01] [-1.99693580e-02 -1.35414001e-04 9.99800583e-01 -9.04789110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.654012739 meters 0.018637271443571704 Centerline is valid? [True, True] Translation: X:451.26, Y:-73.29, Z:-9.05 [[ 9.87841501e-01 1.54195446e-01 1.98225350e-02 4.51256676e+02] [-1.54167373e-01 9.88040355e-01 -2.94584084e-03 -7.32900892e+01] [-2.00396997e-02 -1.45964300e-04 9.99799174e-01 -9.04730439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters 0.019573216090224603 Centerline is valid? [True, True] Translation: X:451.28, Y:-73.29, Z:-9.05 [[ 9.87727424e-01 1.54895140e-01 2.00507030e-02 4.51284922e+02] [-1.54866581e-01 9.87930903e-01 -2.97874817e-03 -7.32902188e+01] [-2.02701027e-02 -1.62992561e-04 9.99794527e-01 -9.04728383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.714012739 meters 0.019728009495636484 Centerline is valid? [True, True] Translation: X:451.31, Y:-73.29, Z:-9.05 [[ 9.87656900e-01 1.55386628e-01 1.97191420e-02 4.51313414e+02] [-1.55359128e-01 9.87853717e-01 -2.92829110e-03 -7.32924814e+01] [-1.99346450e-02 -1.71401806e-04 9.99801271e-01 -9.04813489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters 0.020057258921320598 Centerline is valid? [True, True] Translation: X:451.34, Y:-73.30, Z:-9.05 [[ 9.87716224e-01 1.55102206e-01 1.89728018e-02 4.51340750e+02] [-1.55076712e-01 9.87898416e-01 -2.81662096e-03 -7.32964639e+01] [-1.91800650e-02 -1.60217507e-04 9.99816033e-01 -9.05011123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.774012739 meters 0.019059199996959948 Centerline is valid? [True, True] Translation: X:451.37, Y:-73.30, Z:-9.05 [[ 9.87892512e-01 1.53987062e-01 1.88777249e-02 4.51368933e+02] [-1.53961641e-01 9.88072854e-01 -2.80138439e-03 -7.33038818e+01] [-1.90839444e-02 -1.38978836e-04 9.99817875e-01 -9.05100446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters 0.018173258684887558 Centerline is valid? [True, True] Translation: X:451.40, Y:-73.31, Z:-9.05 [[ 9.88081851e-01 1.52718188e-01 1.92720004e-02 4.51397272e+02] [-1.52691466e-01 9.88269772e-01 -2.85920857e-03 -7.33117124e+01] [-1.94825886e-02 -1.17537884e-04 9.99810189e-01 -9.05077364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.834012739 meters 0.018177710714008737 Centerline is valid? [True, True] Translation: X:451.42, Y:-73.32, Z:-9.05 [[ 9.88080785e-01 1.52491919e-01 2.10375076e-02 4.51424805e+02] [-1.52460049e-01 9.88304710e-01 -3.11999285e-03 -7.33172328e+01] [-2.12672415e-02 -1.24574448e-04 9.99773819e-01 -9.04832764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters 0.01906296749416989 Centerline is valid? [True, True] Translation: X:451.45, Y:-73.32, Z:-9.05 [[ 9.87844531e-01 1.53997373e-01 2.11658056e-02 4.51452549e+02] [-1.53965486e-01 9.88071244e-01 -3.13771239e-03 -7.33184766e+01] [-2.13965233e-02 -1.59231513e-04 9.99771056e-01 -9.04777980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.894012739 meters 0.020549837501271883 Centerline is valid? [True, True] Translation: X:451.48, Y:-73.32, Z:-9.05 [[ 9.87497471e-01 1.56284868e-01 2.05860291e-02 4.51481940e+02] [-1.56255227e-01 9.87712002e-01 -3.05056541e-03 -7.33183242e+01] [-2.08098252e-02 -2.04249007e-04 9.99783431e-01 -9.04914211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters 0.022820601421212047 Centerline is valid? [True, True] Translation: X:451.51, Y:-73.32, Z:-9.05 [[ 9.87035990e-01 1.59305937e-01 1.95338721e-02 4.51511529e+02] [-1.59279856e-01 9.87229230e-01 -2.89378051e-03 -7.33165850e+01] [-1.97454060e-02 -2.55086841e-04 9.99805008e-01 -9.05123401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.954012739 meters 0.030385934556667257 Centerline is valid? [True, True] Translation: X:451.54, Y:-73.31, Z:-9.05 [[ 9.85982483e-01 1.65779530e-01 1.88597437e-02 4.51542928e+02] [-1.65756418e-01 9.86162770e-01 -2.79300895e-03 -7.33062108e+01] [-1.90618008e-02 -3.72265666e-04 9.99818238e-01 -9.05406942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters 0.031383578235541776 Centerline is valid? [True, True] Translation: X:451.57, Y:-73.31, Z:-9.05 [[ 9.85539899e-01 1.68399796e-01 1.87780725e-02 4.51572181e+02] [-1.68377363e-01 9.85718688e-01 -2.78072457e-03 -7.33086854e+01] [-1.89781704e-02 -4.21287322e-04 9.99819810e-01 -9.05402051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.014012739 meters 0.0344644093616637 Centerline is valid? [True, True] Translation: X:451.60, Y:-73.31, Z:-9.05 [[ 9.85062225e-01 1.71015919e-01 2.01486653e-02 4.51600927e+02] [-1.70990653e-01 9.85268135e-01 -2.98292321e-03 -7.33081819e+01] [-2.03619653e-02 -5.06868481e-04 9.99792545e-01 -9.05232019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters 0.033177329934562 Centerline is valid? [True, True] Translation: X:451.63, Y:-73.31, Z:-9.05 [[ 9.85110478e-01 1.70691925e-01 2.05332120e-02 4.51629593e+02] [-1.70665636e-01 9.85324315e-01 -3.03887600e-03 -7.33133842e+01] [-2.07505846e-02 -5.10685088e-04 9.99784553e-01 -9.05222658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.074012739 meters 0.033797539644067606 Centerline is valid? [True, True] Translation: X:451.66, Y:-73.32, Z:-9.05 [[ 9.85275026e-01 1.69762700e-01 2.03408378e-02 4.51657733e+02] [-1.69736723e-01 9.85484849e-01 -3.00944637e-03 -7.33158940e+01] [-2.05564792e-02 -4.87454803e-04 9.99788574e-01 -9.05376358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters 0.03160867520909125 Centerline is valid? [True, True] Translation: X:451.69, Y:-73.32, Z:-9.06 [[ 9.85481496e-01 1.68621972e-01 1.98204888e-02 4.51686044e+02] [-1.68597099e-01 9.85680691e-01 -2.93131764e-03 -7.33224540e+01] [-2.00309577e-02 -4.52917633e-04 9.99799258e-01 -9.05549551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.134012739 meters 0.0309879652883997 Centerline is valid? [True, True] Translation: X:451.71, Y:-73.32, Z:-9.06 [[ 9.85763176e-01 1.67054072e-01 1.90760875e-02 4.51714038e+02] [-1.67030756e-01 9.85947652e-01 -2.82036079e-03 -7.33249055e+01] [-1.92791765e-02 -4.06085504e-04 9.99814057e-01 -9.05834488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters 0.028439442714551372 Centerline is valid? [True, True] Translation: X:451.74, Y:-73.33, Z:-9.06 [[ 9.85810729e-01 1.66738193e-01 1.93799192e-02 4.51742332e+02] [-1.66714085e-01 9.86001120e-01 -2.86436068e-03 -7.33308351e+01] [-1.95862203e-02 -4.07188006e-04 9.99808089e-01 -9.05750913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.194012739 meters 0.030484920424985643 Centerline is valid? [True, True] Translation: X:451.77, Y:-73.33, Z:-9.06 [[ 9.85845249e-01 1.66482694e-01 1.98155766e-02 4.51769851e+02] [-1.66457459e-01 9.86044290e-01 -2.92777116e-03 -7.33291514e+01] [-2.00264594e-02 -4.12121231e-04 9.99799365e-01 -9.05642185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters 0.030465836827284515 Centerline is valid? [True, True] Translation: X:451.80, Y:-73.33, Z:-9.06 [[ 9.85939319e-01 1.66003469e-01 1.91443929e-02 4.51798175e+02] [-1.65979870e-01 9.86125091e-01 -2.82623806e-03 -7.33289824e+01] [-1.93479315e-02 -3.91084606e-04 9.99812735e-01 -9.05751023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.254012739 meters 0.029803999837472592 Centerline is valid? [True, True] Translation: X:451.83, Y:-73.33, Z:-9.06 [[ 9.86076410e-01 1.65247068e-01 1.86204009e-02 4.51826778e+02] [-1.65224628e-01 9.86252134e-01 -2.74782822e-03 -7.33328010e+01] [-1.88184807e-02 -3.66980214e-04 9.99822849e-01 -9.05921699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters 0.025606539125355585 Centerline is valid? [True, True] Translation: X:451.85, Y:-73.34, Z:-9.06 [[ 9.86562256e-01 1.62297411e-01 1.88272586e-02 4.51854591e+02] [-1.62273948e-01 9.86741836e-01 -2.77748203e-03 -7.33417633e+01] [-1.90284219e-02 -3.15014657e-04 9.99818894e-01 -9.06014974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.314012739 meters 0.023695437066825007 Centerline is valid? [True, True] Translation: X:451.88, Y:-73.35, Z:-9.06 [[ 9.86937869e-01 1.59971647e-01 1.90450737e-02 4.51883185e+02] [-1.59947223e-01 9.87121572e-01 -2.80868696e-03 -7.33475017e+01] [-1.92491134e-02 -2.74207127e-04 9.99814681e-01 -9.05973632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters 0.021823966795093654 Centerline is valid? [True, True] Translation: X:451.91, Y:-73.35, Z:-9.06 [[ 9.87326755e-01 1.57531119e-01 1.92308542e-02 4.51911752e+02] [-1.57505772e-01 9.87513997e-01 -2.83515161e-03 -7.33536910e+01] [-1.94373623e-02 -2.29749502e-04 9.99811050e-01 -9.05953388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.374012739 meters 0.020111015222665646 Centerline is valid? [True, True] Translation: X:451.94, Y:-73.36, Z:-9.06 [[ 9.87650117e-01 1.55475172e-01 1.93576146e-02 4.51940400e+02] [-1.55449113e-01 9.87839782e-01 -2.85290042e-03 -7.33598548e+01] [-1.95657769e-02 -1.91456583e-04 9.99808554e-01 -9.06013225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters 0.018170487810755843 Centerline is valid? [True, True] Translation: X:451.97, Y:-73.37, Z:-9.06 [[ 9.88297714e-01 1.51311200e-01 1.93015450e-02 4.51967604e+02] [-1.51284515e-01 9.88486170e-01 -2.84371242e-03 -7.33679626e+01] [-1.95095958e-02 -1.09590391e-04 9.99809664e-01 -9.06053071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.434012739 meters 0.01753114359977782 Centerline is valid? [True, True] Translation: X:452.00, Y:-73.37, Z:-9.06 [[ 9.88657558e-01 1.48988469e-01 1.89385630e-02 4.51995338e+02] [-1.48962374e-01 9.88838931e-01 -2.78910420e-03 -7.33746249e+01] [-1.91427327e-02 -6.36643523e-05 9.99816759e-01 -9.06165815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters 0.01753114359977782 Centerline is valid? [True, True] Translation: X:452.02, Y:-73.38, Z:-9.06 [[ 9.88664507e-01 1.48942335e-01 1.89386926e-02 4.52023370e+02] [-1.48916248e-01 9.88845881e-01 -2.78822395e-03 -7.33786617e+01] [-1.91427327e-02 -6.36609886e-05 9.99816759e-01 -9.06223342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.494012739 meters 0.017200638587865278 Centerline is valid? [True, True] Translation: X:452.05, Y:-73.39, Z:-9.06 [[ 9.89021476e-01 1.46569154e-01 1.88149762e-02 4.52051429e+02] [-1.46542995e-01 9.89200426e-01 -2.76912160e-03 -7.33857070e+01] [-1.90176503e-02 -1.84822237e-05 9.99819148e-01 -9.06302263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters 0.01780750794114171 Centerline is valid? [True, True] Translation: X:452.08, Y:-73.40, Z:-9.06 [[ 9.89674483e-01 1.42112435e-01 1.86674338e-02 4.52077782e+02] [-1.42085908e-01 9.89850520e-01 -2.74650974e-03 -7.33961407e+01] [-1.88682822e-02 6.57713364e-05 9.99821976e-01 -9.06412033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.554012739 meters 0.01839088133223659 Centerline is valid? [True, True] Translation: X:452.11, Y:-73.40, Z:-9.06 [[ 9.89977564e-01 1.39927242e-01 1.90994563e-02 4.52106099e+02] [-1.39899090e-01 9.90161782e-01 -2.80885853e-03 -7.34040286e+01] [-1.93045875e-02 1.08710386e-04 9.99813643e-01 -9.06409748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters 0.019009472812100664 Centerline is valid? [True, True] Translation: X:452.13, Y:-73.41, Z:-9.06 [[ 9.90279815e-01 1.37746998e-01 1.92782916e-02 4.52134270e+02] [-1.37717920e-01 9.90467436e-01 -2.83424351e-03 -7.34112765e+01] [-1.94849286e-02 1.51727922e-04 9.99810139e-01 -9.06395735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.614012739 meters 0.02126952237362883 Centerline is valid? [True, True] Translation: X:452.16, Y:-73.42, Z:-9.07 [[ 9.90897476e-01 1.33396407e-01 1.80994578e-02 4.52162485e+02] [-1.33370067e-01 9.91062737e-01 -2.66005196e-03 -7.34236464e+01] [-1.82925396e-02 2.21912865e-04 9.99832653e-01 -9.06604461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters 0.024327429820188307 Centerline is valid? [True, True] Translation: X:452.19, Y:-73.44, Z:-9.07 [[ 9.91143216e-01 1.31603790e-01 1.77642614e-02 4.52190033e+02] [-1.31578136e-01 9.91302366e-01 -2.61035863e-03 -7.34352459e+01] [-1.79532874e-02 2.49850848e-04 9.99838796e-01 -9.06737721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.674012739 meters 0.024361106473933587 Centerline is valid? [True, True] Translation: X:452.22, Y:-73.44, Z:-9.07 [[ 9.91358754e-01 1.29899773e-01 1.82720868e-02 4.52218798e+02] [-1.29872351e-01 9.91527088e-01 -2.68451778e-03 -7.34415477e+01] [-1.84659872e-02 2.88281340e-04 9.99829448e-01 -9.06721986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters 0.025474310068902984 Centerline is valid? [True, True] Translation: X:452.25, Y:-73.45, Z:-9.07 [[ 9.91567956e-01 1.28162990e-01 1.91634342e-02 4.52248289e+02] [-1.28132512e-01 9.91753062e-01 -2.81496948e-03 -7.34523464e+01] [-1.93661694e-02 3.35774570e-04 9.99812402e-01 -9.06617523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.734012739 meters 0.02497757154853315 Centerline is valid? [True, True] Translation: X:452.28, Y:-73.46, Z:-9.07 [[ 9.91562592e-01 1.28174170e-01 1.93651517e-02 4.52277875e+02] [-1.28143049e-01 9.91751616e-01 -2.84460031e-03 -7.34581470e+01] [-1.95700247e-02 3.39089674e-04 9.99808431e-01 -9.06584602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters 0.024798400289882852 Centerline is valid? [True, True] Translation: X:452.31, Y:-73.47, Z:-9.07 [[ 9.91525609e-01 1.28579845e-01 1.85523734e-02 4.52307152e+02] [-1.28551355e-01 9.91699109e-01 -2.72511460e-03 -7.34660940e+01] [-1.87487670e-02 3.17088177e-04 9.99824176e-01 -9.06705205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.794012739 meters 0.02590969398407419 Centerline is valid? [True, True] Translation: X:452.34, Y:-73.47, Z:-9.07 [[ 9.91514989e-01 1.28826566e-01 1.73707605e-02 4.52336578e+02] [-1.28801608e-01 9.91667096e-01 -2.55267257e-03 -7.34744575e+01] [-1.75548637e-02 2.93631223e-04 9.99845858e-01 -9.06968514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters 0.02438602293769019 Centerline is valid? [True, True] Translation: X:452.37, Y:-73.48, Z:-9.07 [[ 9.91421496e-01 1.29649471e-01 1.65660090e-02 4.52367257e+02] [-1.29626884e-01 9.91559854e-01 -2.43460284e-03 -7.34787376e+01] [-1.67418344e-02 2.66317474e-04 9.99859810e-01 -9.07200125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.854012739 meters 0.023655527920636375 Centerline is valid? [True, True] Translation: X:452.40, Y:-73.48, Z:-9.07 [[ 9.91286795e-01 1.30746337e-01 1.59964440e-02 4.52397293e+02] [-1.30725415e-01 9.91415825e-01 -2.35113337e-03 -7.34836633e+01] [-1.61665298e-02 2.39505675e-04 9.99869284e-01 -9.07385973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters 0.02126002523041324 Centerline is valid? [True, True] Translation: X:452.43, Y:-73.48, Z:-9.07 [[ 9.90781136e-01 1.34447532e-01 1.66313554e-02 4.52426102e+02] [-1.34425436e-01 9.90920696e-01 -2.44450655e-03 -7.34843933e+01] [-1.68090121e-02 1.86293771e-04 9.99858701e-01 -9.07396135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.914012739 meters 0.020396593251582922 Centerline is valid? [True, True] Translation: X:452.46, Y:-73.49, Z:-9.07 [[ 9.90441125e-01 1.36863328e-01 1.71699672e-02 4.52455277e+02] [-1.36840145e-01 9.90589929e-01 -2.52341330e-03 -7.34865378e+01] [-1.73537593e-02 1.49751510e-04 9.99849401e-01 -9.07377179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters 0.018702017650100124 Centerline is valid? [True, True] Translation: X:452.49, Y:-73.49, Z:-9.07 [[ 9.90084878e-01 1.39375113e-01 1.75074902e-02 4.52485365e+02] [-1.39351410e-01 9.90239651e-01 -2.57259145e-03 -7.34864539e+01] [-1.76951662e-02 1.07390453e-04 9.99843423e-01 -9.07307322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.974012739 meters 0.01734436793901318 Centerline is valid? [True, True] Translation: X:452.52, Y:-73.48, Z:-9.07 [[ 9.89357698e-01 1.44355215e-01 1.82460181e-02 4.52515287e+02] [-1.44330324e-01 9.89525933e-01 -2.68068054e-03 -7.34837265e+01] [-1.84418783e-02 1.86982376e-05 9.99829934e-01 -9.07277634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters 0.017327868905271226 Centerline is valid? [True, True] Translation: X:452.54, Y:-73.48, Z:-9.07 [[ 9.89097807e-01 1.46134652e-01 1.81711940e-02 4.52544693e+02] [-1.46110277e-01 9.89264708e-01 -2.66906592e-03 -7.34847808e+01] [-1.83661639e-02 -1.50309285e-05 9.99831328e-01 -9.07375900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.034012739 meters 0.017844211107746165 Centerline is valid? [True, True] Translation: X:452.57, Y:-73.48, Z:-9.07 [[ 9.88662154e-01 1.48942039e-01 1.90634294e-02 4.52573016e+02] [-1.48915750e-01 9.88845925e-01 -2.79917773e-03 -7.34840212e+01] [-1.92677097e-02 -7.14038014e-05 9.99814358e-01 -9.07290656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters 0.01831727543701327 Centerline is valid? [True, True] Translation: X:452.60, Y:-73.49, Z:-9.07 [[ 9.88525598e-01 1.49793675e-01 1.94678344e-02 4.52600437e+02] [-1.49766448e-01 9.88717273e-01 -2.85738319e-03 -7.34862290e+01] [-1.96762021e-02 -9.10319814e-05 9.99806401e-01 -9.07306181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.094012739 meters 0.018492772636349426 Centerline is valid? [True, True] Translation: X:452.63, Y:-73.49, Z:-9.07 [[ 9.88446188e-01 1.50342282e-01 1.92699506e-02 4.52629368e+02] [-1.50315733e-01 9.88634001e-01 -2.82710782e-03 -7.34903408e+01] [-1.94759622e-02 -1.02132791e-04 9.99810320e-01 -9.07392164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters 0.018589575710686163 Centerline is valid? [True, True] Translation: X:452.66, Y:-73.49, Z:-9.08 [[ 9.88413391e-01 1.50607455e-01 1.88775778e-02 4.52657768e+02] [-1.50582041e-01 9.88593639e-01 -2.76867571e-03 -7.34947639e+01] [-1.90792365e-02 -1.06028045e-04 9.99817969e-01 -9.07578749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.154012739 meters 0.018662810198315248 Centerline is valid? [True, True] Translation: X:452.69, Y:-73.50, Z:-9.08 [[ 9.88516069e-01 1.50108269e-01 1.74209138e-02 4.52685342e+02] [-1.50086561e-01 9.88669560e-01 -2.55433574e-03 -7.35011301e+01] [-1.76069541e-02 -8.96431178e-05 9.99844982e-01 -9.07954519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters 0.01844875420552336 Centerline is valid? [True, True] Translation: X:452.71, Y:-73.51, Z:-9.08 [[ 9.88644145e-01 1.49323905e-01 1.68856701e-02 4.52713385e+02] [-1.49303415e-01 9.88788332e-01 -2.47478261e-03 -7.35077166e+01] [-1.70658977e-02 -7.44088560e-05 9.99854364e-01 -9.08107414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.214012739 meters 0.018236562442005017 Centerline is valid? [True, True] Translation: X:452.74, Y:-73.52, Z:-9.08 [[ 9.88798673e-01 1.48299545e-01 1.68650483e-02 4.52741916e+02] [-1.48278968e-01 9.88942487e-01 -2.47106608e-03 -7.35152466e+01] [-1.70450208e-02 -5.73450947e-05 9.99854721e-01 -9.08157977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters 0.017649659960985643 Centerline is valid? [True, True] Translation: X:452.77, Y:-73.53, Z:-9.08 [[ 9.89206548e-01 1.45595012e-01 1.65075243e-02 4.52768907e+02] [-1.45574941e-01 9.89344274e-01 -2.41743719e-03 -7.35301196e+01] [-1.66835914e-02 -1.17371841e-05 9.99860819e-01 -9.08256753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.274012739 meters 0.017743323342129098 Centerline is valid? [True, True] Translation: X:452.80, Y:-73.54, Z:-9.08 [[ 9.89386237e-01 1.44361688e-01 1.65703778e-02 4.52796836e+02] [-1.44341304e-01 9.89524989e-01 -2.42587915e-03 -7.35398024e+01] [-1.67470069e-02 8.34150583e-06 9.99859759e-01 -9.08277943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters 0.017579122943523092 Centerline is valid? [True, True] Translation: X:452.82, Y:-73.55, Z:-9.08 [[ 9.89433159e-01 1.43877239e-01 1.79266333e-02 4.52823834e+02] [-1.43853319e-01 9.89595544e-01 -2.62351350e-03 -7.35508015e+01] [-1.81175803e-02 1.69855517e-05 9.99835863e-01 -9.08031636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.334012739 meters 0.017439796402560628 Centerline is valid? [True, True] Translation: X:452.85, Y:-73.56, Z:-9.08 [[ 9.89394060e-01 1.44058521e-01 1.86155103e-02 4.52852958e+02] [-1.44032772e-01 9.89569170e-01 -2.72364725e-03 -7.35568061e+01] [-1.88136997e-02 1.35168650e-05 9.99823007e-01 -9.07919786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters 0.017468959754385095 Centerline is valid? [True, True] Translation: X:452.88, Y:-73.56, Z:-9.08 [[ 9.89337959e-01 1.44447249e-01 1.85847910e-02 4.52881938e+02] [-1.44421661e-01 9.89512502e-01 -2.71873282e-03 -7.35623033e+01] [-1.87825965e-02 5.69919124e-06 9.99823591e-01 -9.07928595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.394012739 meters 0.017663648082183663 Centerline is valid? [True, True] Translation: X:452.91, Y:-73.57, Z:-9.08 [[ 9.88994424e-01 1.46773059e-01 1.86467030e-02 4.52910048e+02] [-1.46747721e-01 9.89170191e-01 -2.72738126e-03 -7.35660078e+01] [-1.88450688e-02 -3.89963148e-05 9.99822415e-01 -9.07946457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters 0.017876062154850825 Centerline is valid? [True, True] Translation: X:452.94, Y:-73.57, Z:-9.08 [[ 9.88791765e-01 1.48127251e-01 1.86859128e-02 4.52939665e+02] [-1.48102061e-01 9.88968307e-01 -2.73246675e-03 -7.35704557e+01] [-1.88845284e-02 -6.55815843e-05 9.99821669e-01 -9.08055028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.454012739 meters 0.018424661225898985 Centerline is valid? [True, True] Translation: X:452.97, Y:-73.57, Z:-9.08 [[ 9.88700492e-01 1.48775491e-01 1.83627425e-02 4.52967827e+02] [-1.48751284e-01 9.88870996e-01 -2.68477588e-03 -7.35745613e+01] [-1.85578124e-02 -7.70423053e-05 9.99827786e-01 -9.08226570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters 0.018522928471589782 Centerline is valid? [True, True] Translation: X:453.00, Y:-73.58, Z:-9.08 [[ 9.88598556e-01 1.49479885e-01 1.81289653e-02 4.52997211e+02] [-1.49456418e-01 9.88764763e-01 -2.65012034e-03 -7.35812131e+01] [-1.83214218e-02 -8.95850864e-05 9.99832145e-01 -9.08288420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.514012739 meters 0.019752341412286104 Centerline is valid? [True, True] Translation: X:453.03, Y:-73.58, Z:-9.08 [[ 9.88322933e-01 1.51278444e-01 1.82376936e-02 4.53025145e+02] [-1.51255008e-01 9.88491182e-01 -2.66562861e-03 -7.35849908e+01] [-1.84310515e-02 -1.24040601e-04 9.99830126e-01 -9.08336437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters 0.019969768532149348 Centerline is valid? [True, True] Translation: X:453.05, Y:-73.59, Z:-9.08 [[ 9.88131552e-01 1.52564944e-01 1.78878356e-02 4.53054617e+02] [-1.52542625e-01 9.88293436e-01 -2.61363342e-03 -7.35887196e+01] [-1.80771794e-02 -1.46043760e-04 9.99836584e-01 -9.08446350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.574012739 meters 0.021606914965713115 Centerline is valid? [True, True] Translation: X:453.08, Y:-73.59, Z:-9.09 [[ 9.87956449e-01 1.53780336e-01 1.71365994e-02 4.53083082e+02] [-1.53760044e-01 9.88105046e-01 -2.50339374e-03 -7.35887410e+01] [-1.73177331e-02 -1.61680281e-04 9.99850024e-01 -9.08640332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters 0.023366599833350637 Centerline is valid? [True, True] Translation: X:453.11, Y:-73.59, Z:-9.09 [[ 9.87691607e-01 1.55551278e-01 1.64039449e-02 4.53110856e+02] [-1.55532922e-01 9.87827802e-01 -2.39670467e-03 -7.35884774e+01] [-1.65770833e-02 -1.84148395e-04 9.99862574e-01 -9.08844789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.634012739 meters 0.0243010994624866 Centerline is valid? [True, True] Translation: X:453.14, Y:-73.59, Z:-9.09 [[ 9.87545042e-01 1.56451581e-01 1.66641167e-02 4.53140013e+02] [-1.56432782e-01 9.87685609e-01 -2.43374934e-03 -7.35905122e+01] [-1.68396721e-02 -2.03377045e-04 9.99858182e-01 -9.08850032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters 0.023410391336204962 Centerline is valid? [True, True] Translation: X:453.17, Y:-73.60, Z:-9.09 [[ 9.87407980e-01 1.57230575e-01 1.74363679e-02 4.53168744e+02] [-1.57210129e-01 9.87561894e-01 -2.54574370e-03 -7.35953537e+01] [-1.76197612e-02 -2.27485992e-04 9.99844734e-01 -9.08694242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.694012739 meters 0.02735629774768019 Centerline is valid? [True, True] Translation: X:453.20, Y:-73.59, Z:-9.08 [[ 9.87022685e-01 1.59390127e-01 1.95193993e-02 4.53197930e+02] [-1.59364945e-01 9.87215629e-01 -2.84884185e-03 -7.35910183e+01] [-1.97239334e-02 -2.98836476e-04 9.99805420e-01 -9.08396438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters 0.02824860894806539 Centerline is valid? [True, True] Translation: X:453.23, Y:-73.59, Z:-9.08 [[ 9.86945710e-01 1.59803338e-01 2.00264393e-02 4.53226093e+02] [-1.59776942e-01 9.87148820e-01 -2.92163264e-03 -7.35930481e+01] [-2.02359626e-02 -3.16270424e-04 9.99795182e-01 -9.08331976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.754012739 meters 0.027446246472564488 Centerline is valid? [True, True] Translation: X:453.25, Y:-73.60, Z:-9.09 [[ 9.87123735e-01 1.58879835e-01 1.85453686e-02 4.53253652e+02] [-1.58857053e-01 9.87297889e-01 -2.70464916e-03 -7.35960996e+01] [-1.87395175e-02 -2.76239212e-04 9.99824362e-01 -9.08686651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters 0.026510166905528477 Centerline is valid? [True, True] Translation: X:453.28, Y:-73.60, Z:-9.09 [[ 9.87301043e-01 1.57834010e-01 1.80298491e-02 4.53282644e+02] [-1.57812320e-01 9.87465626e-01 -2.62851870e-03 -7.36001326e+01] [-1.82187259e-02 -2.50193062e-04 9.99833994e-01 -9.08934544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.814012739 meters 0.026152916834481985 Centerline is valid? [True, True] Translation: X:453.31, Y:-73.60, Z:-9.09 [[ 9.87392616e-01 1.57287227e-01 1.77918491e-02 4.53311005e+02] [-1.57266040e-01 9.87552870e-01 -2.59254740e-03 -7.36036479e+01] [-1.79781662e-02 -2.38191490e-04 9.99838351e-01 -9.09034394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters 0.023382665561793543 Centerline is valid? [True, True] Translation: X:453.34, Y:-73.61, Z:-9.09 [[ 9.87423013e-01 1.57133690e-01 1.74584582e-02 4.53339030e+02] [-1.57113278e-01 9.87577313e-01 -2.54325548e-03 -7.36106672e+01] [-1.76412084e-02 -2.31686612e-04 9.99844355e-01 -9.09051909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.874012739 meters 0.023426497178430702 Centerline is valid? [True, True] Translation: X:453.37, Y:-73.61, Z:-9.09 [[ 9.87406229e-01 1.57267625e-01 1.71998225e-02 4.53368001e+02] [-1.57247847e-01 9.87555994e-01 -2.50477164e-03 -7.36130758e+01] [-1.73797073e-02 -2.31407934e-04 9.99848935e-01 -9.09107504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters 0.026419594343669413 Centerline is valid? [True, True] Translation: X:453.40, Y:-73.61, Z:-9.09 [[ 9.87447231e-01 1.57036106e-01 1.69595783e-02 4.53396463e+02] [-1.57016856e-01 9.87592837e-01 -2.46902060e-03 -7.36092629e+01] [-1.71368835e-02 -2.24912121e-04 9.99853128e-01 -9.09333539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.934012739 meters 0.023264442725764223 Centerline is valid? [True, True] Translation: X:453.42, Y:-73.62, Z:-9.09 [[ 9.87538221e-01 1.56486375e-01 1.67414616e-02 4.53424281e+02] [-1.56467555e-01 9.87680094e-01 -2.43623717e-03 -7.36159106e+01] [-1.69164463e-02 -2.13618241e-04 9.99856884e-01 -9.09312552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters 0.02196075852827144 Centerline is valid? [True, True] Translation: X:453.45, Y:-73.62, Z:-9.09 [[ 9.87693311e-01 1.55375219e-01 1.79015549e-02 4.53452906e+02] [-1.55353535e-01 9.87855504e-01 -2.60414971e-03 -7.36184331e+01] [-1.80887699e-02 -2.08968574e-04 9.99836363e-01 -9.09190474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.994012739 meters 0.02176846140520866 Centerline is valid? [True, True] Translation: X:453.48, Y:-73.62, Z:-9.09 [[ 9.87710408e-01 1.55171157e-01 1.87099556e-02 4.53481370e+02] [-1.55147451e-01 9.87887578e-01 -2.72079395e-03 -7.36211748e+01] [-1.89055215e-02 -2.15445421e-04 9.99821251e-01 -9.09095133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters 0.022688136023440695 Centerline is valid? [True, True] Translation: X:453.51, Y:-73.62, Z:-9.09 [[ 9.87651803e-01 1.55425543e-01 1.96676800e-02 4.53509890e+02] [-1.55399418e-01 9.87847583e-01 -2.85906109e-03 -7.36173601e+01] [-1.98730412e-02 -2.32589193e-04 9.99802485e-01 -9.08891188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.054012739 meters 0.022792136584042794 Centerline is valid? [True, True] Translation: X:453.54, Y:-73.62, Z:-9.09 [[ 9.87566575e-01 1.55960961e-01 1.97088414e-02 4.53538792e+02] [-1.55934858e-01 9.87763190e-01 -2.86384585e-03 -7.36181670e+01] [-1.99143162e-02 -2.45056948e-04 9.99801660e-01 -9.08891848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters 0.023603283003148724 Centerline is valid? [True, True] Translation: X:453.57, Y:-73.62, Z:-9.09 [[ 9.87471710e-01 1.56604768e-01 1.93537564e-02 4.53566748e+02] [-1.56579737e-01 9.87661320e-01 -2.81136431e-03 -7.36181544e+01] [-1.95552296e-02 -2.54263361e-04 9.99808746e-01 -9.09007771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.114012739 meters 0.024667842863819997 Centerline is valid? [True, True] Translation: X:453.60, Y:-73.62, Z:-9.09 [[ 9.87147654e-01 1.58599914e-01 1.96360985e-02 4.53596198e+02] [-1.58574565e-01 9.87342888e-01 -2.85120978e-03 -7.36159651e+01] [-1.98397639e-02 -2.99220743e-04 9.99803128e-01 -9.09004981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters 0.025804519007219365 Centerline is valid? [True, True] Translation: X:453.63, Y:-73.62, Z:-9.09 [[ 9.86928825e-01 1.59902154e-01 2.00697823e-02 4.53625368e+02] [-1.59875963e-01 9.87132813e-01 -2.91319633e-03 -7.36153522e+01] [-2.02773670e-02 -3.33558345e-04 9.99794337e-01 -9.09003930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.174012739 meters 0.027130309974509794 Centerline is valid? [True, True] Translation: X:453.65, Y:-73.61, Z:-9.09 [[ 9.86680621e-01 1.61366803e-01 2.05452438e-02 4.53654845e+02] [-1.61339694e-01 9.86894430e-01 -2.98120921e-03 -7.36143686e+01] [-2.07570549e-02 -3.73261993e-04 9.99784479e-01 -9.08960501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters 0.028274921976552653 Centerline is valid? [True, True] Translation: X:453.68, Y:-73.61, Z:-9.09 [[ 9.86531051e-01 1.62285230e-01 2.04936460e-02 4.53682913e+02] [-1.62258475e-01 9.86743812e-01 -2.97274596e-03 -7.36138985e+01] [-2.07044111e-02 -3.92561552e-04 9.99785564e-01 -9.09015283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.234012739 meters 0.02785154938228025 Centerline is valid? [True, True] Translation: X:453.71, Y:-73.62, Z:-9.09 [[ 9.86605140e-01 1.61942613e-01 1.96185524e-02 4.53711605e+02] [-1.61918049e-01 9.86800108e-01 -2.84469344e-03 -7.36150787e+01] [-1.98202667e-02 -3.70008556e-04 9.99803491e-01 -9.09252720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters 0.025453497089147056 Centerline is valid? [True, True] Translation: X:453.74, Y:-73.62, Z:-9.09 [[ 9.86824388e-01 1.60672355e-01 1.90268426e-02 4.53739487e+02] [-1.60649031e-01 9.87007742e-01 -2.75802054e-03 -7.36212561e+01] [-1.92227786e-02 -3.34961886e-04 9.99815169e-01 -9.09437467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.294012739 meters 0.025817820326328948 Centerline is valid? [True, True] Translation: X:453.77, Y:-73.62, Z:-9.10 [[ 9.87137064e-01 1.58786278e-01 1.86369236e-02 4.53767784e+02] [-1.58763581e-01 9.87312935e-01 -2.70060980e-03 -7.36217670e+01] [-1.88292955e-02 -2.92992691e-04 9.99822670e-01 -9.09565743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters 0.025104676996594643 Centerline is valid? [True, True] Translation: X:453.80, Y:-73.63, Z:-9.10 [[ 9.87266506e-01 1.57980599e-01 1.86273025e-02 4.53795895e+02] [-1.57957804e-01 9.87442177e-01 -2.69803961e-03 -7.36257291e+01] [-1.88196220e-02 -2.78643665e-04 9.99822856e-01 -9.09622491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.354012739 meters 0.025104676996594643 Centerline is valid? [True, True] Translation: X:453.82, Y:-73.63, Z:-9.10 [[ 9.87277236e-01 1.57913517e-01 1.86274199e-02 4.53823118e+02] [-1.57890725e-01 9.87452907e-01 -2.69722855e-03 -7.36295310e+01] [-1.88196288e-02 -2.78184494e-04 9.99822856e-01 -9.09678325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters 0.023639107224960577 Centerline is valid? [True, True] Translation: X:453.85, Y:-73.63, Z:-9.10 [[ 9.87400051e-01 1.57182553e-01 1.82971039e-02 4.53851298e+02] [-1.57160461e-01 9.87569530e-01 -2.64811664e-03 -7.36346159e+01] [-1.84859000e-02 -2.60830785e-04 9.99829087e-01 -9.09777501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.414012739 meters 0.02306428599895624 Centerline is valid? [True, True] Translation: X:453.88, Y:-73.64, Z:-9.10 [[ 9.87781347e-01 1.54970704e-01 1.64951664e-02 4.53878989e+02] [-1.54952452e-01 9.87919046e-01 -2.38666729e-03 -7.36358949e+01] [-1.66657526e-02 -1.98461051e-04 9.99861097e-01 -9.10247288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters 0.0221217259666373 Centerline is valid? [True, True] Translation: X:453.91, Y:-73.64, Z:-9.11 [[ 9.88032866e-01 1.53463085e-01 1.54963624e-02 4.53907434e+02] [-1.53446805e-01 9.88154368e-01 -2.24122389e-03 -7.36411628e+01] [-1.56567433e-02 -1.63464438e-04 9.99877412e-01 -9.10534505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.474012739 meters 0.01917606439163445 Centerline is valid? [True, True] Translation: X:453.93, Y:-73.66, Z:-9.11 [[ 9.88627961e-01 1.49649417e-01 1.48258524e-02 4.53934240e+02] [-1.49634096e-01 9.88739117e-01 -2.14364182e-03 -7.36556430e+01] [-1.49796950e-02 -9.91887822e-05 9.99887793e-01 -9.10637353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters 0.01857159911176917 Centerline is valid? [True, True] Translation: X:453.96, Y:-73.66, Z:-9.11 [[ 9.88918730e-01 1.47652663e-01 1.54414159e-02 4.53961475e+02] [-1.47635812e-01 9.89039274e-01 -2.23188699e-03 -7.36635283e+01] [-1.56017108e-02 -7.25511158e-05 9.99878283e-01 -9.10653900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.534012739 meters 0.018041681373661526 Centerline is valid? [True, True] Translation: X:453.99, Y:-73.67, Z:-9.11 [[ 9.89229332e-01 1.45489275e-01 1.60685921e-02 4.53988146e+02] [-1.45470758e-01 9.89359828e-01 -2.32149507e-03 -7.36713212e+01] [-1.62353721e-02 -4.10192467e-05 9.99868197e-01 -9.10636527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters 0.01755677805770301 Centerline is valid? [True, True] Translation: X:454.02, Y:-73.68, Z:-9.11 [[ 9.89520433e-01 1.43464137e-01 1.63509834e-02 4.54015243e+02] [-1.43444706e-01 9.89655516e-01 -2.36118065e-03 -7.36789710e+01] [-1.65205857e-02 -9.02550683e-06 9.99863526e-01 -9.10585719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.594012739 meters 0.01773935385142793 Centerline is valid? [True, True] Translation: X:454.04, Y:-73.69, Z:-9.11 [[ 9.89887808e-01 1.40883014e-01 1.65560969e-02 4.54042176e+02] [-1.40862748e-01 9.90026250e-01 -2.38976408e-03 -7.36892157e+01] [-1.67276477e-02 3.34610131e-05 9.99860083e-01 -9.10599060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters 0.01769337054656547 Centerline is valid? [True, True] Translation: X:454.07, Y:-73.70, Z:-9.10 [[ 9.89898081e-01 1.40708713e-01 1.74025090e-02 4.54070799e+02] [-1.40686314e-01 9.90051037e-01 -2.51088538e-03 -7.36953179e+01] [-1.75826755e-02 3.72257857e-05 9.99845412e-01 -9.10460794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.654012739 meters 0.017438574558665515 Centerline is valid? [True, True] Translation: X:454.10, Y:-73.70, Z:-9.10 [[ 9.89748053e-01 1.41676076e-01 1.80743281e-02 4.54098980e+02] [-1.41652089e-01 9.89913072e-01 -2.60699432e-03 -7.36990454e+01] [-1.82613623e-02 2.00012204e-05 9.99833247e-01 -9.10258466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters 0.017548399014712716 Centerline is valid? [True, True] Translation: X:454.13, Y:-73.70, Z:-9.10 [[ 9.89184382e-01 1.45446768e-01 1.89603899e-02 4.54128054e+02] [-1.45421083e-01 9.89366077e-01 -2.73384659e-03 -7.36996873e+01] [-1.91563957e-02 -5.29620747e-05 9.99816498e-01 -9.10203936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.714012739 meters 0.01863714444356847 Centerline is valid? [True, True] Translation: X:454.16, Y:-73.70, Z:-9.10 [[ 9.88888156e-01 1.47489203e-01 1.86319762e-02 4.54156554e+02] [-1.47464777e-01 9.89063662e-01 -2.68565291e-03 -7.37001767e+01] [-1.88243154e-02 -9.17498671e-05 9.99822803e-01 -9.10350754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters 0.019731463334650524 Centerline is valid? [True, True] Translation: X:454.18, Y:-73.70, Z:-9.10 [[ 9.88399042e-01 1.50803419e-01 1.80461146e-02 4.54184952e+02] [-1.50781080e-01 9.88563759e-01 -2.60002164e-03 -7.37036749e+01] [-1.82318271e-02 -1.51153749e-04 9.99833775e-01 -9.10414650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.774012739 meters 0.020593546746795605 Centerline is valid? [True, True] Translation: X:454.21, Y:-73.71, Z:-9.10 [[ 9.88207912e-01 1.52060925e-01 1.79610228e-02 4.54213899e+02] [-1.52039019e-01 9.88371107e-01 -2.58690267e-03 -7.37066351e+01] [-1.81455228e-02 -1.74378595e-04 9.99835341e-01 -9.10488588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters 0.021446042444710406 Centerline is valid? [True, True] Translation: X:454.24, Y:-73.71, Z:-9.11 [[ 9.88031575e-01 1.53240664e-01 1.76325227e-02 4.54241406e+02] [-1.53219754e-01 9.88188880e-01 -2.53878296e-03 -7.37086664e+01] [-1.78133077e-02 -1.93253069e-04 9.99841312e-01 -9.10595121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.834012739 meters 0.022884002088356527 Centerline is valid? [True, True] Translation: X:454.27, Y:-73.71, Z:-9.11 [[ 9.87839017e-01 1.54483038e-01 1.75803100e-02 4.54269178e+02] [-1.54462467e-01 9.87995417e-01 -2.53020977e-03 -7.37092816e+01] [-1.77601402e-02 -2.16058121e-04 9.99842253e-01 -9.10674034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters 0.02472259402254389 Centerline is valid? [True, True] Translation: X:454.30, Y:-73.71, Z:-9.11 [[ 9.87297060e-01 1.57739086e-01 1.90498422e-02 4.54298591e+02] [-1.57715561e-01 9.87480780e-01 -2.74045973e-03 -7.37073438e+01] [-1.92436307e-02 -2.98808725e-04 9.99814780e-01 -9.10551240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.894012739 meters 0.027173753205293808 Centerline is valid? [True, True] Translation: X:454.33, Y:-73.71, Z:-9.10 [[ 9.86967391e-01 1.59649175e-01 2.01868980e-02 4.54326480e+02] [-1.59623179e-01 9.87173750e-01 -2.90299428e-03 -7.37050564e+01] [-2.03914364e-02 -3.57136143e-04 9.99792009e-01 -9.10423157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters 0.02762584865608147 Centerline is valid? [True, True] Translation: X:454.36, Y:-73.71, Z:-9.10 [[ 9.86725496e-01 1.61050138e-01 2.08722125e-02 4.54355017e+02] [-1.61022692e-01 9.86946145e-01 -2.99999491e-03 -7.37058602e+01] [-2.10828993e-02 -4.00728393e-04 9.99777651e-01 -9.10355332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.954012739 meters 0.03275037578104727 Centerline is valid? [True, True] Translation: X:454.38, Y:-73.70, Z:-9.11 [[ 9.86486216e-01 1.62700764e-01 1.93237602e-02 4.54383890e+02] [-1.62677578e-01 9.86675376e-01 -2.77635855e-03 -7.36981252e+01] [-1.95179940e-02 -4.04703061e-04 9.99809424e-01 -9.10636523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters 0.02980345402933773 Centerline is valid? [True, True] Translation: X:454.41, Y:-73.70, Z:-9.11 [[ 9.86532524e-01 1.62530006e-01 1.83732365e-02 4.54410998e+02] [-1.62509034e-01 9.86703527e-01 -2.63877134e-03 -7.37041611e+01] [-1.85578168e-02 -3.82583170e-04 9.99827716e-01 -9.10846803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.014012739 meters 0.0282332073128553 Centerline is valid? [True, True] Translation: X:454.44, Y:-73.71, Z:-9.11 [[ 9.86848718e-01 1.60698155e-01 1.74845656e-02 4.54439857e+02] [-1.60678897e-01 9.87003542e-01 -2.50990049e-03 -7.37059079e+01] [-1.76606645e-02 -3.32508633e-04 9.99843983e-01 -9.11110318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters 0.027021700361783963 Centerline is valid? [True, True] Translation: X:454.47, Y:-73.71, Z:-9.11 [[ 9.87102931e-01 1.59111321e-01 1.76463051e-02 4.54467606e+02] [-1.59091465e-01 9.87260600e-01 -2.53235978e-03 -7.37099056e+01] [-1.78244289e-02 -3.07676784e-04 9.99841085e-01 -9.11172832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.074012739 meters 0.025406712212945062 Centerline is valid? [True, True] Translation: X:454.50, Y:-73.72, Z:-9.11 [[ 9.87387480e-01 1.57330764e-01 1.76916628e-02 4.54496135e+02] [-1.57310549e-01 9.87545925e-01 -2.53729821e-03 -7.37155171e+01] [-1.78705246e-02 -2.77788698e-04 9.99840271e-01 -9.11207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters 0.022109701400284867 Centerline is valid? [True, True] Translation: X:454.52, Y:-73.72, Z:-9.11 [[ 9.88050217e-01 1.53077445e-01 1.80017946e-02 4.54523285e+02] [-1.53055823e-01 9.88214174e-01 -2.58093647e-03 -7.37238891e+01] [-1.81847118e-02 -2.05184648e-04 9.99834623e-01 -9.11215274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.134012739 meters 0.020209236024653708 Centerline is valid? [True, True] Translation: X:454.55, Y:-73.73, Z:-9.11 [[ 9.88421394e-01 1.50584381e-01 1.86411680e-02 4.54551633e+02] [-1.50560774e-01 9.88597146e-01 -2.67145379e-03 -7.37311172e+01] [-1.88308847e-02 -1.66106608e-04 9.99822669e-01 -9.11150106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters 0.018843284061550544 Centerline is valid? [True, True] Translation: X:454.58, Y:-73.74, Z:-9.11 [[ 9.88765455e-01 1.48188782e-01 1.95693734e-02 4.54579686e+02] [-1.48162315e-01 9.88959083e-01 -2.80352162e-03 -7.37380671e+01] [-1.97687601e-02 -1.27418349e-04 9.99804571e-01 -9.11049952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.194012739 meters 0.017226475869675243 Centerline is valid? [True, True] Translation: X:454.61, Y:-73.75, Z:-9.11 [[ 9.89326291e-01 1.44335085e-01 2.00218169e-02 4.54607490e+02] [-1.44306609e-01 9.89528868e-01 -2.86739526e-03 -7.37495441e+01] [-2.02260315e-02 -5.24909810e-05 9.99795432e-01 -9.11026979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters 0.01704623241737964 Centerline is valid? [True, True] Translation: X:454.63, Y:-73.76, Z:-9.11 [[ 9.89583108e-01 1.42647488e-01 1.94156330e-02 4.54634406e+02] [-1.42620403e-01 9.89773557e-01 -2.77970932e-03 -7.37572720e+01] [-1.96135986e-02 -1.83120041e-05 9.99807635e-01 -9.11189851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.254012739 meters 0.017155750437465672 Centerline is valid? [True, True] Translation: X:454.66, Y:-73.76, Z:-9.11 [[ 9.89857849e-01 1.40874640e-01 1.83241637e-02 4.54662568e+02] [-1.40850230e-01 9.90027442e-01 -2.62243294e-03 -7.37646123e+01] [-1.85108592e-02 1.48731605e-05 9.99828659e-01 -9.11340457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters 0.017298699702729566 Centerline is valid? [True, True] Translation: X:454.69, Y:-73.77, Z:-9.12 [[ 9.90015636e-01 1.39878704e-01 1.74065690e-02 4.54689495e+02] [-1.39856537e-01 9.90168646e-01 -2.49036920e-03 -7.37707435e+01] [-1.75837885e-02 3.10819906e-05 9.99845393e-01 -9.11612367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.314012739 meters 0.017522860373703614 Centerline is valid? [True, True] Translation: X:454.72, Y:-73.78, Z:-9.12 [[ 9.90098830e-01 1.39393400e-01 1.65465351e-02 4.54716520e+02] [-1.39373319e-01 9.90237082e-01 -2.36628006e-03 -7.37771538e+01] [-1.67148365e-02 3.67056115e-05 9.99860297e-01 -9.11784178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters 0.0173178604708917 Centerline is valid? [True, True] Translation: X:454.74, Y:-73.78, Z:-9.12 [[ 9.90069064e-01 1.39530666e-01 1.71593041e-02 4.54744774e+02] [-1.39509109e-01 9.90217750e-01 -2.45287067e-03 -7.37819293e+01] [-1.73336982e-02 3.46321488e-05 9.99849760e-01 -9.11637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.374012739 meters 0.01699802980997577 Centerline is valid? [True, True] Translation: X:454.77, Y:-73.79, Z:-9.11 [[ 9.89971193e-01 1.40083825e-01 1.82636055e-02 4.54772336e+02] [-1.40059514e-01 9.90139647e-01 -2.60981150e-03 -7.37865287e+01] [-1.84491123e-02 2.56464798e-05 9.99829800e-01 -9.11485326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters 0.017100933265568614 Centerline is valid? [True, True] Translation: X:454.80, Y:-73.79, Z:-9.11 [[ 9.89998466e-01 1.39912934e-01 1.80944362e-02 4.54800962e+02] [-1.39889063e-01 9.90163810e-01 -2.58455020e-03 -7.37906754e+01] [-1.82780679e-02 2.74870030e-05 9.99832942e-01 -9.11495291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.434012739 meters 0.01724787253470868 Centerline is valid? [True, True] Translation: X:454.83, Y:-73.80, Z:-9.12 [[ 9.90043195e-01 1.39542374e-01 1.85040082e-02 4.54828390e+02] [-1.39517362e-01 9.90216100e-01 -2.64216424e-03 -7.37962036e+01] [-1.86916607e-02 3.42263078e-05 9.99825295e-01 -9.11586612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters 0.017616563647119086 Centerline is valid? [True, True] Translation: X:454.86, Y:-73.81, Z:-9.11 [[ 9.90318283e-01 1.37267843e-01 2.06697439e-02 4.54855494e+02] [-1.37236166e-01 9.90533963e-01 -2.95004739e-03 -7.38075082e+01] [-2.08790300e-02 8.48494617e-05 9.99782006e-01 -9.11287977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.494012739 meters 0.018571391649236848 Centerline is valid? [True, True] Translation: X:454.88, Y:-73.82, Z:-9.11 [[ 9.90542177e-01 1.35570051e-01 2.11413565e-02 4.54883184e+02] [-1.35536546e-01 9.90767756e-01 -3.01634910e-03 -7.38168334e+01] [-2.13551009e-02 1.22394570e-04 9.99771946e-01 -9.11218681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters 0.019091802106622684 Centerline is valid? [True, True] Translation: X:454.91, Y:-73.82, Z:-9.11 [[ 9.90790677e-01 1.33802718e-01 2.07525258e-02 4.54911864e+02] [-1.33770061e-01 9.91007976e-01 -2.96016171e-03 -7.38235191e+01] [-2.09619963e-02 1.56833971e-04 9.99780261e-01 -9.11321813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.554012739 meters 0.021328141446288324 Centerline is valid? [True, True] Translation: X:454.94, Y:-73.84, Z:-9.12 [[ 9.91256981e-01 1.30510639e-01 1.94054159e-02 4.54940982e+02] [-1.30481463e-01 9.91446886e-01 -2.76756911e-03 -7.38360125e+01] [-1.96006364e-02 2.11325133e-04 9.99807867e-01 -9.11654456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters 0.02227957244192261 Centerline is valid? [True, True] Translation: X:454.97, Y:-73.84, Z:-9.12 [[ 9.91396848e-01 1.29433328e-01 1.94757128e-02 4.54969139e+02] [-1.29403732e-01 9.91588100e-01 -2.77760201e-03 -7.38447447e+01] [-1.96713993e-02 2.33475961e-04 9.99806472e-01 -9.11746545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.614012739 meters 0.02296779463659816 Centerline is valid? [True, True] Translation: X:455.00, Y:-73.85, Z:-9.12 [[ 9.91489306e-01 1.28643170e-01 1.99972785e-02 4.54998860e+02] [-1.28611812e-01 9.91690914e-01 -2.85174759e-03 -7.38527812e+01] [-2.01979772e-02 2.55591017e-04 9.99795967e-01 -9.11720475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters 0.023548625058602352 Centerline is valid? [True, True] Translation: X:455.03, Y:-73.86, Z:-9.12 [[ 9.91568010e-01 1.28050966e-01 1.98955176e-02 4.55028434e+02] [-1.28019807e-01 9.91767553e-01 -2.83722503e-03 -7.38613473e+01] [-2.00950382e-02 2.66281255e-04 9.99798039e-01 -9.11825233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.674012739 meters 0.023186697645640793 Centerline is valid? [True, True] Translation: X:455.06, Y:-73.87, Z:-9.12 [[ 9.91492087e-01 1.28761230e-01 1.90784179e-02 4.55058083e+02] [-1.28732690e-01 9.91675596e-01 -2.72170164e-03 -7.38666486e+01] [-1.92700511e-02 2.42529577e-04 9.99814286e-01 -9.12007432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters 0.022730553036430925 Centerline is valid? [True, True] Translation: X:455.09, Y:-73.87, Z:-9.12 [[ 9.91398451e-01 1.29621268e-01 1.80952323e-02 4.55087063e+02] [-1.29595738e-01 9.91563554e-01 -2.58141605e-03 -7.38724273e+01] [-1.82771793e-02 2.14146892e-04 9.99832935e-01 -9.12342182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.734012739 meters 0.021192847530703777 Centerline is valid? [True, True] Translation: X:455.12, Y:-73.88, Z:-9.13 [[ 9.91116945e-01 1.32004810e-01 1.61842859e-02 4.55116891e+02] [-1.31984701e-01 9.91249064e-01 -2.30903539e-03 -7.38777413e+01] [-1.63474620e-02 1.52445957e-04 9.99866360e-01 -9.12837085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters 0.020425376827317956 Centerline is valid? [True, True] Translation: X:455.15, Y:-73.88, Z:-9.13 [[ 9.90936331e-01 1.33355310e-01 1.61724871e-02 4.55145498e+02] [-1.33335408e-01 9.91068284e-01 -2.30748504e-03 -7.38808158e+01] [-1.63357544e-02 1.30205591e-04 9.99866554e-01 -9.12891081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.794012739 meters 0.019175927721803963 Centerline is valid? [True, True] Translation: X:455.17, Y:-73.88, Z:-9.13 [[ 9.90623912e-01 1.35462288e-01 1.77266289e-02 4.55174075e+02] [-1.35438727e-01 9.90782498e-01 -2.52856356e-03 -7.38845063e+01] [-1.79057587e-02 1.03983473e-04 9.99839674e-01 -9.12609330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters 0.01905120102102666 Centerline is valid? [True, True] Translation: X:455.20, Y:-73.89, Z:-9.13 [[ 9.90613849e-01 1.35556717e-01 1.75663952e-02 4.55202986e+02] [-1.35533605e-01 9.90769583e-01 -2.50509493e-03 -7.38908102e+01] [-1.77438325e-02 1.00744861e-04 9.99842561e-01 -9.12704062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.854012739 meters 0.01938566342609025 Centerline is valid? [True, True] Translation: X:455.23, Y:-73.90, Z:-9.13 [[ 9.90682227e-01 1.35156689e-01 1.67747923e-02 4.55231578e+02] [-1.35135562e-01 9.90824232e-01 -2.39185276e-03 -7.38980044e+01] [-1.69441456e-02 1.02695026e-04 9.99856432e-01 -9.12929247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters 0.020085245114828208 Centerline is valid? [True, True] Translation: X:455.26, Y:-73.91, Z:-9.13 [[ 9.90813264e-01 1.34281556e-01 1.60480674e-02 4.55261291e+02] [-1.34262112e-01 9.90943213e-01 -2.28780314e-03 -7.39059068e+01] [-1.62099332e-02 1.12138277e-04 9.99868604e-01 -9.13203582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.914012739 meters 0.021866818020537575 Centerline is valid? [True, True] Translation: X:455.29, Y:-73.92, Z:-9.14 [[ 9.91138010e-01 1.32001271e-01 1.48697392e-02 4.55288871e+02] [-1.31984321e-01 9.91249537e-01 -2.11979039e-03 -7.39200675e+01] [-1.50194371e-02 1.38432393e-04 9.99887192e-01 -9.13541300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters 0.022117085961469298 Centerline is valid? [True, True] Translation: X:455.32, Y:-73.93, Z:-9.13 [[ 9.91183079e-01 1.31597665e-01 1.54324126e-02 4.55318346e+02] [-1.31579358e-01 9.91303199e-01 -2.20012712e-03 -7.39294766e+01] [-1.55877316e-02 1.50141825e-04 9.99878493e-01 -9.13481257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.974012739 meters 0.02160897214258888 Centerline is valid? [True, True] Translation: X:455.35, Y:-73.94, Z:-9.13 [[ 9.91090412e-01 1.31954523e-01 1.81052221e-02 4.55347868e+02] [-1.31929385e-01 9.91255757e-01 -2.58115530e-03 -7.39394146e+01] [-1.82875007e-02 1.69547463e-04 9.99832755e-01 -9.12877243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters 0.020866046160690186 Centerline is valid? [True, True] Translation: X:455.38, Y:-73.94, Z:-9.13 [[ 9.90959774e-01 1.32863485e-01 1.86016243e-02 4.55378413e+02] [-1.32837106e-01 9.91134335e-01 -2.65211719e-03 -7.39442788e+01] [-1.87890781e-02 1.57155521e-04 9.99823457e-01 -9.12863750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.034012739 meters 0.020014197826484018 Centerline is valid? [True, True] Translation: X:455.41, Y:-73.95, Z:-9.13 [[ 9.90795448e-01 1.34151011e-01 1.81076448e-02 4.55409243e+02] [-1.34126222e-01 9.90960892e-01 -2.58207071e-03 -7.39491057e+01] [-1.82903553e-02 1.29593912e-04 9.99832709e-01 -9.12998823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters 0.018934673440292933 Centerline is valid? [True, True] Translation: X:455.44, Y:-73.95, Z:-9.13 [[ 9.90528735e-01 1.36231849e-01 1.71379500e-02 4.55440648e+02] [-1.36209949e-01 9.90676979e-01 -2.44414332e-03 -7.39530331e+01] [-1.73111427e-02 8.66348921e-05 9.99850147e-01 -9.13240473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.094012739 meters 0.01743860549678294 Centerline is valid? [True, True] Translation: X:455.47, Y:-73.96, Z:-9.13 [[ 9.89866714e-01 1.40914392e-01 1.75220700e-02 4.55470399e+02] [-1.40892225e-01 9.90021785e-01 -2.49939685e-03 -7.39553578e+01] [-1.76994320e-02 5.34631687e-06 9.99843353e-01 -9.13179115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters 0.017449787895126842 Centerline is valid? [True, True] Translation: X:455.50, Y:-73.96, Z:-9.13 [[ 9.89511162e-01 1.43275034e-01 1.84370769e-02 4.55500546e+02] [-1.43250904e-01 9.89682910e-01 -2.62968818e-03 -7.39578035e+01] [-1.86236286e-02 -3.90221224e-05 9.99826564e-01 -9.13035223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.154012739 meters 0.018749243490515974 Centerline is valid? [True, True] Translation: X:455.53, Y:-73.96, Z:-9.13 [[ 9.88788853e-01 1.47979562e-01 1.99662985e-02 4.55530847e+02] [-1.47952221e-01 9.88990410e-01 -2.84780171e-03 -7.39589896e+01] [-2.01678941e-02 -1.38183623e-04 9.99796598e-01 -9.12732860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters 0.022031112967632282 Centerline is valid? [True, True] Translation: X:455.56, Y:-73.96, Z:-9.13 [[ 9.88356841e-01 1.50859868e-01 1.98003862e-02 4.55561016e+02] [-1.50833557e-01 9.88555139e-01 -2.82414125e-03 -7.39565404e+01] [-1.99998231e-02 -1.95303363e-04 9.99799964e-01 -9.12788754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.214012739 meters 0.022838176930293805 Centerline is valid? [True, True] Translation: X:455.59, Y:-73.96, Z:-9.13 [[ 9.87845423e-01 1.54172348e-01 1.98067710e-02 4.55591268e+02] [-1.54146691e-01 9.88043935e-01 -2.82480752e-03 -7.39600159e+01] [-2.00054672e-02 -2.62675039e-04 9.99799836e-01 -9.12805772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters 0.03357971528044893 Centerline is valid? [True, True] Translation: X:455.62, Y:-73.95, Z:-9.13 [[ 9.86783224e-01 1.60846532e-01 1.96789750e-02 4.55623205e+02] [-1.60822531e-01 9.86979350e-01 -2.80658653e-03 -7.39463169e+01] [-1.98741717e-02 -3.95330058e-04 9.99802411e-01 -9.12915435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.274012739 meters 0.03357971528044893 Centerline is valid? [True, True] Translation: X:455.65, Y:-73.95, Z:-9.13 [[ 9.86789882e-01 1.60805678e-01 1.96790061e-02 4.55651263e+02] [-1.60781673e-01 9.86986007e-01 -2.80636911e-03 -7.39502209e+01] [-1.98741837e-02 -3.94726874e-04 9.99802411e-01 -9.12972972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters 0.037498646487347125 Centerline is valid? [True, True] Translation: X:455.68, Y:-73.95, Z:-9.13 [[ 9.86299249e-01 1.63784307e-01 1.97102252e-02 4.55681848e+02] [-1.63760837e-01 9.86496068e-01 -2.80997885e-03 -7.39474941e+01] [-1.99042901e-02 -4.56282941e-04 9.99801786e-01 -9.13052449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.334012739 meters 0.041492322129332966 Centerline is valid? [True, True] Translation: X:455.71, Y:-73.94, Z:-9.13 [[ 9.85618882e-01 1.67729000e-01 2.05524429e-02 4.55713067e+02] [-1.67704346e-01 9.85832983e-01 -2.92960132e-03 -7.39428757e+01] [-2.07526551e-02 -5.59263607e-04 9.99784484e-01 -9.12902417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters 0.04306461042075467 Centerline is valid? [True, True] Translation: X:455.74, Y:-73.94, Z:-9.13 [[ 9.85430623e-01 1.68812582e-01 2.07074777e-02 4.55741574e+02] [-1.68787799e-01 9.85647994e-01 -2.95143803e-03 -7.39430935e+01] [-2.09085237e-02 -5.86732178e-04 9.99781221e-01 -9.12903243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.394012739 meters 0.036950438098478894 Centerline is valid? [True, True] Translation: X:455.77, Y:-73.95, Z:-9.13 [[ 9.85384442e-01 1.69135406e-01 2.02661076e-02 4.55769518e+02] [-1.69111758e-01 9.85592652e-01 -2.88748229e-03 -7.39533298e+01] [-2.04625023e-02 -5.81956972e-04 9.99790452e-01 -9.13012246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters 0.03698931743323519 Centerline is valid? [True, True] Translation: X:455.80, Y:-73.95, Z:-9.13 [[ 9.85443043e-01 1.68860887e-01 1.96979613e-02 4.55797912e+02] [-1.68838510e-01 9.85639734e-01 -2.80563424e-03 -7.39545753e+01] [-1.98888552e-02 -5.60981681e-04 9.99802040e-01 -9.13224087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.454012739 meters 0.0339430454206796 Centerline is valid? [True, True] Translation: X:455.83, Y:-73.96, Z:-9.14 [[ 9.86045023e-01 1.65443367e-01 1.85393033e-02 4.55826503e+02] [-1.65422957e-01 9.86219183e-01 -2.63975609e-03 -7.39590668e+01] [-1.87205467e-02 -4.63908020e-04 9.99824648e-01 -9.13535972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters 0.03239000794870679 Centerline is valid? [True, True] Translation: X:455.85, Y:-73.96, Z:-9.14 [[ 9.86415299e-01 1.63279973e-01 1.80140893e-02 4.55853836e+02] [-1.63260348e-01 9.86579688e-01 -2.56464023e-03 -7.39645711e+01] [-1.81910890e-02 -4.11186136e-04 9.99834444e-01 -9.13752368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.514012739 meters 0.03031709342568104 Centerline is valid? [True, True] Translation: X:455.88, Y:-73.97, Z:-9.14 [[ 9.86796210e-01 1.61013490e-01 1.75469902e-02 4.55882143e+02] [-1.60994530e-01 9.86952140e-01 -2.49712383e-03 -7.39716253e+01] [-1.77201102e-02 -3.60817110e-04 9.99842921e-01 -9.13867224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters 0.02726608789217021 Centerline is valid? [True, True] Translation: X:455.91, Y:-73.98, Z:-9.14 [[ 9.87293574e-01 1.57758718e-01 1.90679371e-02 4.55909295e+02] [-1.57735739e-01 9.87477634e-01 -2.71262438e-03 -7.39789053e+01] [-1.92571015e-02 -3.29538533e-04 9.99814511e-01 -9.13604087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.574012739 meters 0.026156938202075913 Centerline is valid? [True, True] Translation: X:455.94, Y:-73.98, Z:-9.14 [[ 9.87444549e-01 1.56722380e-01 1.97828010e-02 4.55938028e+02] [-1.56697461e-01 9.87642644e-01 -2.81314049e-03 -7.39835776e+01] [-1.99792199e-02 -3.22094449e-04 9.99800344e-01 -9.13527775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters 0.02477574752598454 Centerline is valid? [True, True] Translation: X:455.97, Y:-73.99, Z:-9.14 [[ 9.87621371e-01 1.55712734e-01 1.89095877e-02 4.55966782e+02] [-1.55689797e-01 9.87802339e-01 -2.68813946e-03 -7.39887972e+01] [-1.90975125e-02 -2.89165892e-04 9.99817584e-01 -9.13779381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.634012739 meters 0.025252431959325822 Centerline is valid? [True, True] Translation: X:455.99, Y:-73.99, Z:-9.14 [[ 9.87696362e-01 1.55359817e-01 1.78668312e-02 4.55994499e+02] [-1.55339296e-01 9.87857913e-01 -2.53913947e-03 -7.39914285e+01] [-1.80443708e-02 -2.67522164e-04 9.99837151e-01 -9.13994015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters 0.025916964083205755 Centerline is valid? [True, True] Translation: X:456.02, Y:-73.99, Z:-9.14 [[ 9.87708716e-01 1.55346565e-01 1.72898201e-02 4.56022587e+02] [-1.55327363e-01 9.87859999e-01 -2.45615934e-03 -7.39938473e+01] [-1.74614776e-02 -2.59612185e-04 9.99847503e-01 -9.14176436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.694012739 meters 0.024199408485022177 Centerline is valid? [True, True] Translation: X:456.05, Y:-74.00, Z:-9.14 [[ 9.87748414e-01 1.55049212e-01 1.76864972e-02 4.56051288e+02] [-1.55029091e-01 9.87906713e-01 -2.51144876e-03 -7.40003785e+01] [-1.78620074e-02 -2.61242046e-04 9.99840427e-01 -9.14096958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters 0.02413470414562366 Centerline is valid? [True, True] Translation: X:456.08, Y:-74.00, Z:-9.14 [[ 9.87802337e-01 1.54623136e-01 1.83910175e-02 4.56078587e+02] [-1.54601322e-01 9.87973490e-01 -2.61058958e-03 -7.40045592e+01] [-1.85734953e-02 -2.64529141e-04 9.99827463e-01 -9.14044163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.754012739 meters 0.023771905720287794 Centerline is valid? [True, True] Translation: X:456.11, Y:-74.01, Z:-9.14 [[ 9.87920539e-01 1.53801680e-01 1.89222590e-02 4.56106052e+02] [-1.53778461e-01 9.88101704e-01 -2.68475647e-03 -7.40090529e+01] [-1.91100364e-02 -2.57509816e-04 9.99817353e-01 -9.13973379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters 0.023903458932408774 Centerline is valid? [True, True] Translation: X:456.13, Y:-74.01, Z:-9.14 [[ 9.88042608e-01 1.52940637e-01 1.95183455e-02 4.56134142e+02] [-1.52915789e-01 9.88235346e-01 -2.76807405e-03 -7.40124244e+01] [-1.97120699e-02 -2.49688098e-04 9.99805667e-01 -9.13929845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.814012739 meters 0.022262272390547785 Centerline is valid? [True, True] Translation: X:456.16, Y:-74.02, Z:-9.14 [[ 9.88343322e-01 1.50876582e-01 2.03404813e-02 4.56163059e+02] [-1.50849184e-01 9.88552583e-01 -2.88344139e-03 -7.40202882e+01] [-2.05426791e-02 -2.18514974e-04 9.99788953e-01 -9.13861865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters 0.020609959931190212 Centerline is valid? [True, True] Translation: X:456.19, Y:-74.03, Z:-9.14 [[ 9.88552265e-01 1.49545341e-01 2.00152385e-02 4.56192399e+02] [-1.49518549e-01 9.88754851e-01 -2.83688031e-03 -7.40293166e+01] [-2.02144064e-02 -1.88244983e-04 9.99795650e-01 -9.13947436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.874012739 meters 0.019886010737286592 Centerline is valid? [True, True] Translation: X:456.22, Y:-74.04, Z:-9.14 [[ 9.88956865e-01 1.46999387e-01 1.88547181e-02 4.56220519e+02] [-1.46975149e-01 9.89136575e-01 -2.67240826e-03 -7.40378422e+01] [-1.90427336e-02 -1.28278501e-04 9.99818662e-01 -9.14167547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters 0.019541676589996896 Centerline is valid? [True, True] Translation: X:456.25, Y:-74.05, Z:-9.14 [[ 9.89044729e-01 1.46464720e-01 1.84013559e-02 4.56250737e+02] [-1.46441546e-01 9.89215888e-01 -2.60790670e-03 -7.40450301e+01] [-1.85848799e-02 -1.15386639e-04 9.99827280e-01 -9.14302459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.934012739 meters 0.019956247341602985 Centerline is valid? [True, True] Translation: X:456.28, Y:-74.05, Z:-9.14 [[ 9.89021590e-01 1.46623099e-01 1.83837084e-02 4.56279704e+02] [-1.46599996e-01 9.89192425e-01 -2.60542655e-03 -7.40493296e+01] [-1.85670408e-02 -1.18228475e-04 9.99827611e-01 -9.14355443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters 0.021371195634067905 Centerline is valid? [True, True] Translation: X:456.31, Y:-74.05, Z:-9.14 [[ 9.88709563e-01 1.48755963e-01 1.80295118e-02 4.56307980e+02] [-1.48734100e-01 9.88873925e-01 -2.55506098e-03 -7.40519030e+01] [-1.82089947e-02 -1.55389982e-04 9.99834190e-01 -9.14436782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.994012739 meters 0.022389100728041334 Centerline is valid? [True, True] Translation: X:456.34, Y:-74.05, Z:-9.14 [[ 9.88454097e-01 1.50449808e-01 1.79820490e-02 4.56337058e+02] [-1.50428351e-01 9.88617631e-01 -2.54770980e-03 -7.40544662e+01] [-1.81606731e-02 -1.86715780e-04 9.99835064e-01 -9.14485948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters 0.027716304854747253 Centerline is valid? [True, True] Translation: X:456.37, Y:-74.05, Z:-9.14 [[ 9.87483204e-01 1.56648792e-01 1.83868746e-02 4.56366743e+02] [-1.56627444e-01 9.87654323e-01 -2.60440181e-03 -7.40495614e+01] [-1.85678526e-02 -3.08086125e-04 9.99827555e-01 -9.14426655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.054012739 meters 0.032412994442415535 Centerline is valid? [True, True] Translation: X:456.40, Y:-74.05, Z:-9.14 [[ 9.86905007e-01 1.60219040e-01 1.86645999e-02 4.56396518e+02] [-1.60197692e-01 9.87081412e-01 -2.64308752e-03 -7.40454377e+01] [-1.88469526e-02 -3.81549516e-04 9.99822308e-01 -9.14422284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters 0.03546684917796687 Centerline is valid? [True, True] Translation: X:456.43, Y:-74.04, Z:-9.14 [[ 9.86287365e-01 1.64012258e-01 1.83633592e-02 4.56426078e+02] [-1.63992265e-01 9.86458199e-01 -2.59964356e-03 -7.40437613e+01] [-1.85410596e-02 -4.47453262e-04 9.99828000e-01 -9.14483132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.114012739 meters 0.04042615214817339 Centerline is valid? [True, True] Translation: X:456.46, Y:-74.04, Z:-9.15 [[ 9.85052139e-01 1.71331765e-01 1.78244394e-02 4.56457239e+02] [-1.71314135e-01 9.85213227e-01 -2.52271714e-03 -7.40370755e+01] [-1.79930950e-02 -5.68570505e-04 9.99837949e-01 -9.14719125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters 0.04795539778337039 Centerline is valid? [True, True] Translation: X:456.49, Y:-74.03, Z:-9.15 [[ 9.84482432e-01 1.74626709e-01 1.73162500e-02 4.56488055e+02] [-1.74610583e-01 9.84634521e-01 -2.45059043e-03 -7.40289608e+01] [-1.74781161e-02 -6.11037285e-04 9.99847059e-01 -9.14919408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.174012739 meters 0.04952322114535726 Centerline is valid? [True, True] Translation: X:456.52, Y:-74.03, Z:-9.15 [[ 9.83552773e-01 1.79897910e-01 1.61457508e-02 4.56518610e+02] [-1.79884602e-01 9.83685067e-01 -2.28472301e-03 -7.40266428e+01] [-1.62933508e-02 -6.57226300e-04 9.99867039e-01 -9.15157888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters 0.05072948789314415 Centerline is valid? [True, True] Translation: X:456.55, Y:-74.03, Z:-9.15 [[ 9.83256050e-01 1.81538941e-01 1.58478219e-02 4.56548342e+02] [-1.81526330e-01 9.83383527e-01 -2.24269953e-03 -7.40261908e+01] [-1.59916243e-02 -6.71649067e-04 9.99871900e-01 -9.15253089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.234012739 meters 0.05105074301892746 Centerline is valid? [True, True] Translation: X:456.58, Y:-74.03, Z:-9.15 [[ 9.83091509e-01 1.82409898e-01 1.60534680e-02 4.56576858e+02] [-1.82397081e-01 9.83222328e-01 -2.27132010e-03 -7.40266752e+01] [-1.61984394e-02 -6.95190187e-04 9.99868555e-01 -9.15351614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters 0.05200317346229048 Centerline is valid? [True, True] Translation: X:456.61, Y:-74.03, Z:-9.15 [[ 9.83031410e-01 1.82652081e-01 1.69547662e-02 4.56606190e+02] [-1.82637839e-01 9.83177334e-01 -2.39772908e-03 -7.40269717e+01] [-1.71074920e-02 -7.39538859e-04 9.99853383e-01 -9.15313047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.294012739 meters 0.06074220918566299 Centerline is valid? [True, True] Translation: X:456.64, Y:-74.01, Z:-9.15 [[ 9.82893926e-01 1.83196515e-01 1.89358814e-02 4.56636455e+02] [-1.83178871e-01 9.83075956e-01 -2.67690470e-03 -7.40123982e+01] [-1.91058093e-02 -8.37539999e-04 9.99817117e-01 -9.14954657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters 0.053679536266459 Centerline is valid? [True, True] Translation: X:456.66, Y:-74.02, Z:-9.15 [[ 9.82734705e-01 1.84024859e-01 1.91663910e-02 4.56664350e+02] [-1.84006962e-01 9.82921209e-01 -2.70833504e-03 -7.40207771e+01] [-1.93374532e-02 -8.65174549e-04 9.99812640e-01 -9.14926500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.354012739 meters 0.05785270236367811 Centerline is valid? [True, True] Translation: X:456.70, Y:-74.01, Z:-9.15 [[ 9.82133060e-01 1.87310488e-01 1.81503154e-02 4.56695805e+02] [-1.87295014e-01 9.82300364e-01 -2.56387672e-03 -7.40078350e+01] [-1.83093024e-02 -8.81395491e-04 9.99831982e-01 -9.15102465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters 0.05991146079572925 Centerline is valid? [True, True] Translation: X:456.73, Y:-74.00, Z:-9.15 [[ 9.81767935e-01 1.89247927e-01 1.78029133e-02 4.56726399e+02] [-1.89233359e-01 9.81928924e-01 -2.51469382e-03 -7.40037594e+01] [-1.79570961e-02 -9.00059317e-04 9.99838353e-01 -9.15317644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.414012739 meters 0.0617912564214912 Centerline is valid? [True, True] Translation: X:456.76, Y:-74.00, Z:-9.15 [[ 9.81491026e-01 1.90682101e-01 1.77679897e-02 4.56757081e+02] [-1.90667832e-01 9.81651405e-01 -2.50934577e-03 -7.40001274e+01] [-1.79204594e-02 -9.24883720e-04 9.99838988e-01 -9.15403700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters 0.06350989618154808 Centerline is valid? [True, True] Translation: X:456.79, Y:-74.00, Z:-9.15 [[ 9.81455320e-01 1.90822948e-01 1.82224136e-02 4.56785269e+02] [-1.90807971e-01 9.81624010e-01 -2.57315220e-03 -7.39966543e+01] [-1.83785752e-02 -9.51547854e-04 9.99830647e-01 -9.15353667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.474012739 meters 0.059782480858994416 Centerline is valid? [True, True] Translation: X:456.82, Y:-74.00, Z:-9.15 [[ 9.82083584e-01 1.87327884e-01 2.04963106e-02 4.56816203e+02] [-1.87308204e-01 9.82296935e-01 -2.89293438e-03 -7.39969216e+01] [-2.06753904e-02 -9.98023754e-04 9.99785743e-01 -9.15032477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters 0.05618926233079453 Centerline is valid? [True, True] Translation: X:456.85, Y:-74.00, Z:-9.15 [[ 9.82735301e-01 1.83801752e-01 2.11717787e-02 4.56846163e+02] [-1.83779938e-01 9.82962871e-01 -2.98817718e-03 -7.40024729e+01] [-2.13603046e-02 -9.54360973e-04 9.99771387e-01 -9.14981834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.534012739 meters 0.045611133620472206 Centerline is valid? [True, True] Translation: X:456.87, Y:-74.02, Z:-9.15 [[ 9.83453480e-01 1.79907144e-01 2.12760817e-02 4.56874462e+02] [-1.79884207e-01 9.83683209e-01 -3.00280317e-03 -7.40181311e+01] [-2.14691501e-02 -8.74113855e-04 9.99769129e-01 -9.15097290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters 0.04358674106017473 Centerline is valid? [True, True] Translation: X:456.90, Y:-74.02, Z:-9.15 [[ 9.84945167e-01 1.71668845e-01 2.03181288e-02 4.56903982e+02] [-1.71646176e-01 9.85154489e-01 -2.86750451e-03 -7.40195098e+01] [-2.05087570e-02 -6.63194415e-04 9.99789453e-01 -9.15323852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.594012739 meters 0.03894677781844511 Centerline is valid? [True, True] Translation: X:456.93, Y:-74.03, Z:-9.15 [[ 9.85649544e-01 1.67620112e-01 1.99618082e-02 4.56933315e+02] [-1.67597406e-01 9.85851497e-01 -2.81695280e-03 -7.40274658e+01] [-2.01515564e-02 -5.69019036e-04 9.99796775e-01 -9.15421568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters 0.03431434599727669 Centerline is valid? [True, True] Translation: X:456.96, Y:-74.04, Z:-9.15 [[ 9.86267099e-01 1.63978866e-01 1.97012881e-02 4.56962177e+02] [-1.63956032e-01 9.86463731e-01 -2.77970730e-03 -7.40359342e+01] [-1.98904194e-02 -4.88611157e-04 9.99802047e-01 -9.15482810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.654012739 meters 0.029614467006611033 Centerline is valid? [True, True] Translation: X:456.99, Y:-74.04, Z:-9.16 [[ 9.87306441e-01 1.57636333e-01 1.94107520e-02 4.56990776e+02] [-1.57612951e-01 9.87497169e-01 -2.73826283e-03 -7.40439978e+01] [-1.95997124e-02 -3.55881363e-04 9.99807844e-01 -9.15608171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters 0.02520551389089177 Centerline is valid? [True, True] Translation: X:457.02, Y:-74.05, Z:-9.16 [[ 9.87742091e-01 1.54920281e-01 1.91120051e-02 4.57018468e+02] [-1.54897112e-01 9.87926929e-01 -2.69569942e-03 -7.40545558e+01] [-1.92988830e-02 -2.97738612e-04 9.99813715e-01 -9.15675673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.714012739 meters 0.022160622943105383 Centerline is valid? [True, True] Translation: X:457.05, Y:-74.06, Z:-9.16 [[ 9.88614348e-01 1.49330772e-01 1.84930000e-02 4.57045158e+02] [-1.49308116e-01 9.88787281e-01 -2.60756388e-03 -7.40633709e+01] [-1.86750327e-02 -1.83279931e-04 9.99825590e-01 -9.15875891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters 0.020751413978925222 Centerline is valid? [True, True] Translation: X:457.07, Y:-74.07, Z:-9.16 [[ 9.89012514e-01 1.46726242e-01 1.80459938e-02 4.57072720e+02] [-1.46704261e-01 9.89177129e-01 -2.54310075e-03 -7.40716517e+01] [-1.82238239e-02 -1.32265721e-04 9.99833924e-01 -9.16006759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.774012739 meters 0.019674430183966304 Centerline is valid? [True, True] Translation: X:457.10, Y:-74.08, Z:-9.16 [[ 9.89419652e-01 1.43943604e-01 1.81381076e-02 4.57100163e+02] [-1.43920946e-01 9.89585889e-01 -2.55523622e-03 -7.40812232e+01] [-1.83170252e-02 -8.22526700e-05 9.99832226e-01 -9.16075210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters 0.019122803368600522 Centerline is valid? [True, True] Translation: X:457.13, Y:-74.10, Z:-9.16 [[ 9.90190928e-01 1.38582903e-01 1.77961917e-02 4.57125736e+02] [-1.38560240e-01 9.90350836e-01 -2.50626570e-03 -7.40957334e+01] [-1.79717989e-02 1.58369778e-05 9.99838494e-01 -9.16215562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.834012739 meters 0.019539831374563856 Centerline is valid? [True, True] Translation: X:457.15, Y:-74.10, Z:-9.16 [[ 9.90529562e-01 1.36182208e-01 1.74812035e-02 4.57154165e+02] [-1.36159983e-01 9.90683806e-01 -2.46086636e-03 -7.41039948e+01] [-1.76534715e-02 5.73204989e-05 9.99844164e-01 -9.16227867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters 0.020249030791182992 Centerline is valid? [True, True] Translation: X:457.18, Y:-74.11, Z:-9.16 [[ 9.90766934e-01 1.34500283e-01 1.70456884e-02 4.57180943e+02] [-1.34478917e-01 9.90913552e-01 -2.39878036e-03 -7.41134972e+01] [-1.72134402e-02 8.43465498e-05 9.99851834e-01 -9.16407674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.894012739 meters 0.020066910817618213 Centerline is valid? [True, True] Translation: X:457.21, Y:-74.12, Z:-9.16 [[ 9.90906368e-01 1.33535546e-01 1.65175185e-02 4.57209639e+02] [-1.33515367e-01 9.91044019e-01 -2.32343979e-03 -7.41189918e+01] [-1.66798497e-02 9.69687500e-05 9.99860877e-01 -9.16393128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters 0.020247955535499303 Centerline is valid? [True, True] Translation: X:457.24, Y:-74.13, Z:-9.16 [[ 9.90914069e-01 1.33514367e-01 1.62241008e-02 4.57236180e+02] [-1.33494907e-01 9.91046873e-01 -2.28144410e-03 -7.41268961e+01] [-1.63834499e-02 9.48802331e-05 9.99865778e-01 -9.16434979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.954012739 meters 0.019746054912709 Centerline is valid? [True, True] Translation: X:457.26, Y:-74.13, Z:-9.16 [[ 9.90805293e-01 1.34179321e-01 1.73430539e-02 4.57264295e+02] [-1.34157206e-01 9.90957064e-01 -2.43763043e-03 -7.41312999e+01] [-1.75133014e-02 8.85214775e-05 9.99846626e-01 -9.16182619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters 0.019626009135395514 Centerline is valid? [True, True] Translation: X:457.29, Y:-74.14, Z:-9.16 [[ 9.90681985e-01 1.34847569e-01 1.91137968e-02 4.57291718e+02] [-1.34820851e-01 9.90866351e-01 -2.68552396e-03 -7.41357783e+01] [-1.93013545e-02 8.35618572e-05 9.99813708e-01 -9.16008615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.014012739 meters 0.018966896518404205 Centerline is valid? [True, True] Translation: X:457.32, Y:-74.14, Z:-9.16 [[ 9.90366454e-01 1.36757158e-01 2.17202038e-02 4.57320814e+02] [-1.36723146e-01 9.90604602e-01 -3.05031018e-03 -7.41384958e+01] [-2.19332856e-02 5.12702823e-05 9.99759435e-01 -9.15577798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters 0.018873668371071687 Centerline is valid? [True, True] Translation: X:457.35, Y:-74.14, Z:-9.15 [[ 9.90235767e-01 1.37627510e-01 2.21764546e-02 4.57348488e+02] [-1.37592296e-01 9.90484057e-01 -3.11329147e-03 -7.41422611e+01] [-2.23938993e-02 3.15832641e-05 9.99749225e-01 -9.15486966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.074012739 meters 0.018870132389008434 Centerline is valid? [True, True] Translation: X:457.38, Y:-74.15, Z:-9.16 [[ 9.90203123e-01 1.37860653e-01 2.21859532e-02 4.57376953e+02] [-1.37825496e-01 9.90451634e-01 -3.11334053e-03 -7.41488276e+01] [-2.24033207e-02 2.50495138e-05 9.99749014e-01 -9.15669399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters 0.01881639001388036 Centerline is valid? [True, True] Translation: X:457.40, Y:-74.15, Z:-9.16 [[ 9.90205572e-01 1.37909948e-01 2.17663113e-02 4.57403966e+02] [-1.37876144e-01 9.90444772e-01 -3.05342460e-03 -7.41545614e+01] [-2.19794269e-02 2.24629890e-05 9.99758423e-01 -9.15786056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.134012739 meters 0.01877346132962484 Centerline is valid? [True, True] Translation: X:457.43, Y:-74.16, Z:-9.16 [[ 9.90174255e-01 1.38182642e-01 2.14593234e-02 4.57431660e+02] [-1.38149877e-01 9.90406764e-01 -3.00903337e-03 -7.41598913e+01] [-2.16692552e-02 1.48644943e-05 9.99765194e-01 -9.15973931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters 0.01877346132962484 Centerline is valid? [True, True] Translation: X:457.46, Y:-74.16, Z:-9.16 [[ 9.90180377e-01 1.38138737e-01 2.14594908e-02 4.57459720e+02] [-1.38105988e-01 9.90412888e-01 -3.00783875e-03 -7.41637320e+01] [-2.16692553e-02 1.46187334e-05 9.99765194e-01 -9.16031459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.194012739 meters 0.018840748829437457 Centerline is valid? [True, True] Translation: X:457.49, Y:-74.17, Z:-9.16 [[ 9.90104230e-01 1.38819566e-01 2.05606941e-02 4.57488611e+02] [-1.38789668e-01 9.90317690e-01 -2.88096835e-03 -7.41682436e+01] [-2.07615538e-02 -1.15296327e-06 9.99784456e-01 -9.16210158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters 0.019277363971729664 Centerline is valid? [True, True] Translation: X:457.52, Y:-74.17, Z:-9.17 [[ 9.89674732e-01 1.42114930e-01 1.86352235e-02 4.57517942e+02] [-1.42090968e-01 9.89850162e-01 -2.61039045e-03 -7.41694755e+01] [-1.88170544e-02 -6.44594756e-05 9.99822941e-01 -9.16622985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.254012739 meters 0.020008890523470806 Centerline is valid? [True, True] Translation: X:457.55, Y:-74.17, Z:-9.17 [[ 9.89381401e-01 1.44180302e-01 1.83434887e-02 4.57546572e+02] [-1.44157456e-01 9.89551429e-01 -2.56866569e-03 -7.41707490e+01] [-1.85221765e-02 -1.02960605e-04 9.99828444e-01 -9.16821597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters 0.021851313933845852 Centerline is valid? [True, True] Translation: X:457.58, Y:-74.17, Z:-9.17 [[ 9.88804079e-01 1.48024975e-01 1.88440909e-02 4.57575455e+02] [-1.48001579e-01 9.88983607e-01 -2.63785320e-03 -7.41689140e+01] [-1.90269652e-02 -1.80635217e-04 9.99818955e-01 -9.16733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.314012739 meters 0.023806222963778295 Centerline is valid? [True, True] Translation: X:457.60, Y:-74.17, Z:-9.17 [[ 9.88542651e-01 1.49723905e-01 1.91358099e-02 4.57603767e+02] [-1.49700120e-01 9.88727821e-01 -2.67752046e-03 -7.41680818e+01] [-1.93209964e-02 -2.17789866e-04 9.99813308e-01 -9.16708820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters 0.024521266571729112 Centerline is valid? [True, True] Translation: X:457.63, Y:-74.17, Z:-9.17 [[ 9.88291033e-01 1.51410783e-01 1.88575800e-02 4.57632060e+02] [-1.51388013e-01 9.88470897e-01 -2.63747788e-03 -7.41703300e+01] [-1.90395116e-02 -2.48215828e-04 9.99818701e-01 -9.16809579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.374012739 meters 0.027796951405448182 Centerline is valid? [True, True] Translation: X:457.66, Y:-74.17, Z:-9.17 [[ 9.87854309e-01 1.54247448e-01 1.87507166e-02 4.57660400e+02] [-1.54225467e-01 9.88032203e-01 -2.62142859e-03 -7.41667291e+01] [-1.89306605e-02 -3.02248497e-04 9.99820753e-01 -9.16948549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters 0.027553749950273664 Centerline is valid? [True, True] Translation: X:457.69, Y:-74.17, Z:-9.17 [[ 9.87689954e-01 1.55290769e-01 1.87971408e-02 4.57688994e+02] [-1.55268889e-01 9.87868752e-01 -2.62679737e-03 -7.41695993e+01] [-1.89770254e-02 -3.24149803e-04 9.99819867e-01 -9.16961348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.434012739 meters 0.030370198430911155 Centerline is valid? [True, True] Translation: X:457.72, Y:-74.17, Z:-9.17 [[ 9.87424011e-01 1.57045086e-01 1.81841595e-02 4.57717349e+02] [-1.57024922e-01 9.87591373e-01 -2.54030682e-03 -7.41652270e+01] [-1.83574618e-02 -3.47006289e-04 9.99831427e-01 -9.17169294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters 0.030504044073153644 Centerline is valid? [True, True] Translation: X:457.75, Y:-74.17, Z:-9.17 [[ 9.87311142e-01 1.57781174e-01 1.79390511e-02 4.57746237e+02] [-1.57761692e-01 9.87474037e-01 -2.50496710e-03 -7.41679735e+01] [-1.81095839e-02 -3.56913134e-04 9.99835944e-01 -9.17213020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.494012739 meters 0.03167408679634178 Centerline is valid? [True, True] Translation: X:457.77, Y:-74.17, Z:-9.17 [[ 9.87303995e-01 1.57784502e-01 1.82994956e-02 4.57773712e+02] [-1.57764245e-01 9.87473502e-01 -2.55446935e-03 -7.41690424e+01] [-1.84733227e-02 -3.64968322e-04 9.99829287e-01 -9.17183285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters 0.03137213165551841 Centerline is valid? [True, True] Translation: X:457.80, Y:-74.17, Z:-9.17 [[ 9.87400884e-01 1.57104014e-01 1.89161943e-02 4.57802335e+02] [-1.57082276e-01 9.87581994e-01 -2.63887775e-03 -7.41734303e+01] [-1.90958712e-02 -3.65768630e-04 9.99817590e-01 -9.17115669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.554012739 meters 0.028213609182532483 Centerline is valid? [True, True] Translation: X:457.83, Y:-74.18, Z:-9.17 [[ 9.87847908e-01 1.54258188e-01 1.89979664e-02 4.57829726e+02] [-1.54235752e-01 9.88030523e-01 -2.64940664e-03 -7.41840017e+01] [-1.91792633e-02 -3.12954823e-04 9.99816012e-01 -9.17194598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters 0.02741968446590743 Centerline is valid? [True, True] Translation: X:457.86, Y:-74.19, Z:-9.17 [[ 9.88109000e-01 1.52598243e-01 1.88249646e-02 4.57856485e+02] [-1.52575929e-01 9.88288267e-01 -2.62441159e-03 -7.41914401e+01] [-1.90049722e-02 -2.79031754e-04 9.99819350e-01 -9.17359022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.614012739 meters 0.026411639806946458 Centerline is valid? [True, True] Translation: X:457.88, Y:-74.20, Z:-9.17 [[ 9.88377383e-01 1.50838517e-01 1.89179933e-02 4.57883249e+02] [-1.50815681e-01 9.88558385e-01 -2.63625968e-03 -7.42001595e+01] [-1.90991904e-02 -2.47510594e-04 9.99817563e-01 -9.17449168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters 0.024208501313713243 Centerline is valid? [True, True] Translation: X:457.91, Y:-74.21, Z:-9.17 [[ 9.88812384e-01 1.47660320e-01 2.11305385e-02 4.57910409e+02] [-1.47631132e-01 9.89038112e-01 -2.94323315e-03 -7.42145044e+01] [-2.13335066e-02 -2.09219933e-04 9.99772393e-01 -9.17055248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.674012739 meters 0.02349194351141072 Centerline is valid? [True, True] Translation: X:457.94, Y:-74.22, Z:-9.17 [[ 9.89010089e-01 1.46236674e-01 2.17687591e-02 4.57938963e+02] [-1.46205374e-01 9.89249615e-01 -3.03110420e-03 -7.42218220e+01] [-2.19779951e-02 -1.84916923e-04 9.99758438e-01 -9.16937294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters 0.022531125103902053 Centerline is valid? [True, True] Translation: X:457.97, Y:-74.23, Z:-9.17 [[ 9.89260668e-01 1.44609684e-01 2.12454773e-02 4.57965294e+02] [-1.44579516e-01 9.89488766e-01 -2.95728434e-03 -7.42316401e+01] [-2.14498131e-02 -1.46135757e-04 9.99769916e-01 -9.17127340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.734012739 meters 0.022400041243472592 Centerline is valid? [True, True] Translation: X:457.99, Y:-74.24, Z:-9.17 [[ 9.89333420e-01 1.44164279e-01 2.08816645e-02 4.57993746e+02] [-1.44135061e-01 9.89553759e-01 -2.90548421e-03 -7.42388585e+01] [-2.10823967e-02 -1.35287355e-04 9.99777732e-01 -9.17249021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters 0.02221624908344669 Centerline is valid? [True, True] Translation: X:458.02, Y:-74.25, Z:-9.17 [[ 9.89425693e-01 1.43577430e-01 2.05504259e-02 4.58021007e+02] [-1.43549024e-01 9.89639079e-01 -2.85846204e-03 -7.42457272e+01] [-2.07479152e-02 -1.21757809e-04 9.99784731e-01 -9.17437957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.794012739 meters 0.021965807450213246 Centerline is valid? [True, True] Translation: X:458.05, Y:-74.25, Z:-9.18 [[ 9.89475593e-01 1.43260535e-01 2.03585528e-02 4.58049505e+02] [-1.43232615e-01 9.89685003e-01 -2.83062257e-03 -7.42523118e+01] [-2.05540709e-02 -1.15176804e-04 9.99788736e-01 -9.17556308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters 0.021589828170556543 Centerline is valid? [True, True] Translation: X:458.08, Y:-74.26, Z:-9.18 [[ 9.89621628e-01 1.42325005e-01 1.98148131e-02 4.58076650e+02] [-1.42298387e-01 9.89819976e-01 -2.75410810e-03 -7.42594729e+01] [-2.00050763e-02 -9.40910027e-05 9.99799874e-01 -9.17625045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.854012739 meters 0.021478723393249802 Centerline is valid? [True, True] Translation: X:458.10, Y:-74.26, Z:-9.18 [[ 9.89652682e-01 1.42172041e-01 1.93566702e-02 4.58104343e+02] [-1.42146627e-01 9.89841959e-01 -2.68955259e-03 -7.42642708e+01] [-1.95424236e-02 -8.97624489e-05 9.99809025e-01 -9.17746615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters 0.021906805527788197 Centerline is valid? [True, True] Translation: X:458.13, Y:-74.27, Z:-9.18 [[ 9.89610841e-01 1.42580067e-01 1.84745397e-02 4.58132395e+02] [-1.42557007e-01 9.89783267e-01 -2.56596556e-03 -7.42670710e+01] [-1.86516458e-02 -9.43677651e-05 9.99826038e-01 -9.17970465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.914012739 meters 0.022932355671664344 Centerline is valid? [True, True] Translation: X:458.16, Y:-74.27, Z:-9.18 [[ 9.89242304e-01 1.45182474e-01 1.79363852e-02 4.58161101e+02] [-1.45161186e-01 9.89404887e-01 -2.49011921e-03 -7.42663119e+01] [-1.81078688e-02 -1.40335685e-04 9.99836029e-01 -9.18137723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters 0.02469045442872449 Centerline is valid? [True, True] Translation: X:458.19, Y:-74.26, Z:-9.18 [[ 9.88948728e-01 1.47097137e-01 1.85160975e-02 4.58189590e+02] [-1.47074806e-01 9.89122035e-01 -2.56948727e-03 -7.42644440e+01] [-1.86926443e-02 -1.82160290e-04 9.99825261e-01 -9.18153910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.974012739 meters 0.026526655359343624 Centerline is valid? [True, True] Translation: X:458.22, Y:-74.26, Z:-9.18 [[ 9.88457184e-01 1.50271189e-01 1.92604535e-02 4.58218533e+02] [-1.50247651e-01 9.88644782e-01 -2.67162663e-03 -7.42624056e+01] [-1.94432154e-02 -2.53049367e-04 9.99810931e-01 -9.18045216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters 0.027395458163837476 Centerline is valid? [True, True] Translation: X:458.25, Y:-74.26, Z:-9.18 [[ 9.88322876e-01 1.51145575e-01 1.93108048e-02 4.58247032e+02] [-1.51122102e-01 9.88511478e-01 -2.67749558e-03 -7.42638671e+01] [-1.94936438e-02 -2.72059293e-04 9.99809944e-01 -9.18100142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.034012739 meters 0.027748233963586572 Centerline is valid? [True, True] Translation: X:458.28, Y:-74.27, Z:-9.18 [[ 9.88270225e-01 1.51479138e-01 1.93915589e-02 4.58275362e+02] [-1.51455551e-01 9.88460415e-01 -2.68780420e-03 -7.42661401e+01] [-1.95749346e-02 -2.80682363e-04 9.99808353e-01 -9.18197377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters 0.02759903906439551 Centerline is valid? [True, True] Translation: X:458.30, Y:-74.27, Z:-9.18 [[ 9.88286858e-01 1.51333901e-01 1.96757907e-02 4.58303717e+02] [-1.51309606e-01 9.88482661e-01 -2.72630084e-03 -7.42681013e+01] [-1.98617597e-02 -2.82768857e-04 9.99802696e-01 -9.18201211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.094012739 meters 0.027309959651428167 Centerline is valid? [True, True] Translation: X:458.33, Y:-74.27, Z:-9.18 [[ 9.88379362e-01 1.50695160e-01 1.99300113e-02 4.58331990e+02] [-1.50670131e-01 9.88580241e-01 -2.76014022e-03 -7.42718660e+01] [-2.01183551e-02 -2.74791786e-04 9.99797568e-01 -9.18183062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters 0.026945502563168612 Centerline is valid? [True, True] Translation: X:458.36, Y:-74.28, Z:-9.18 [[ 9.88457555e-01 1.50169610e-01 2.00187226e-02 4.58360138e+02] [-1.50144268e-01 9.88660213e-01 -2.77151500e-03 -7.42755246e+01] [-2.02079119e-02 -2.66171511e-04 9.99795764e-01 -9.18198352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.154012739 meters 0.026984229037391193 Centerline is valid? [True, True] Translation: X:458.39, Y:-74.28, Z:-9.18 [[ 9.88532347e-01 1.49766730e-01 1.93320050e-02 4.58388118e+02] [-1.49743037e-01 9.88721328e-01 -2.67560688e-03 -7.42775960e+01] [-1.95146826e-02 -2.49909189e-04 9.99809539e-01 -9.18330629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters 0.027159364782916858 Centerline is valid? [True, True] Translation: X:458.42, Y:-74.28, Z:-9.18 [[ 9.88504926e-01 1.49987611e-01 1.90191560e-02 4.58416951e+02] [-1.49964740e-01 9.88687844e-01 -2.63124357e-03 -7.42804602e+01] [-1.91986623e-02 -2.51205549e-04 9.99815657e-01 -9.18446358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.214012739 meters 0.02715548555516821 Centerline is valid? [True, True] Translation: X:458.45, Y:-74.29, Z:-9.18 [[ 9.88453483e-01 1.50323224e-01 1.90430919e-02 4.58445190e+02] [-1.50300374e-01 9.88636870e-01 -2.63370517e-03 -7.42855489e+01] [-1.92226099e-02 -2.58888795e-04 9.99815195e-01 -9.18254324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters 0.034719882787126524 Centerline is valid? [True, True] Translation: X:458.47, Y:-74.28, Z:-9.18 [[ 9.88337650e-01 1.50986842e-01 1.97904580e-02 4.58474204e+02] [-1.50962316e-01 9.88535732e-01 -2.73607675e-03 -7.42807457e+01] [-1.99766865e-02 -2.83445713e-04 9.99800406e-01 -9.17697803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.274012739 meters 0.035804394260020724 Centerline is valid? [True, True] Translation: X:458.50, Y:-74.29, Z:-9.18 [[ 9.88246783e-01 1.51570007e-01 1.98702819e-02 4.58502771e+02] [-1.51545424e-01 9.88446480e-01 -2.74590843e-03 -7.42857029e+01] [-2.00569075e-02 -2.97615119e-04 9.99798796e-01 -9.17631507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters 0.04199025336387367 Centerline is valid? [True, True] Translation: X:458.53, Y:-74.28, Z:-9.18 [[ 9.88114698e-01 1.52365606e-01 2.03486001e-02 4.58531634e+02] [-1.52340015e-01 9.88324146e-01 -2.81100500e-03 -7.42818035e+01] [-2.05393133e-02 -3.22310676e-04 9.99788994e-01 -9.17512270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.334012739 meters 0.044357722940727186 Centerline is valid? [True, True] Translation: X:458.56, Y:-74.29, Z:-9.17 [[ 9.88114997e-01 1.52315456e-01 2.07064024e-02 4.58558862e+02] [-1.52288978e-01 9.88331874e-01 -2.85885671e-03 -7.42872663e+01] [-2.09002456e-02 -3.28477682e-04 9.99781512e-01 -9.17460049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters 0.04734197907896937 Centerline is valid? [True, True] Translation: X:458.59, Y:-74.29, Z:-9.17 [[ 9.88181677e-01 1.51897860e-01 2.05915650e-02 4.58587864e+02] [-1.51871614e-01 9.88396144e-01 -2.84155972e-03 -7.42906056e+01] [-2.07842503e-02 -3.19296960e-04 9.99783933e-01 -9.17469503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.394012739 meters 0.05040877455088927 Centerline is valid? [True, True] Translation: X:458.62, Y:-74.29, Z:-9.18 [[ 9.88308257e-01 1.51096762e-01 2.04097303e-02 4.58616233e+02] [-1.51070828e-01 9.88518932e-01 -2.81549993e-03 -7.42902217e+01] [-2.06008177e-02 -3.00733023e-04 9.99787735e-01 -9.17505012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters 0.05209373859846391 Centerline is valid? [True, True] Translation: X:458.64, Y:-74.30, Z:-9.18 [[ 9.88644678e-01 1.48971029e-01 1.97315420e-02 4.58643883e+02] [-1.48946389e-01 9.88841529e-01 -2.72080849e-03 -7.42962485e+01] [-1.99166899e-02 -2.49029107e-04 9.99801612e-01 -9.17642698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.454012739 meters 0.052690017766879226 Centerline is valid? [True, True] Translation: X:458.67, Y:-74.30, Z:-9.18 [[ 9.88848723e-01 1.47615222e-01 1.96964169e-02 4.58671465e+02] [-1.47590417e-01 9.89044841e-01 -2.71511838e-03 -7.43040530e+01] [-1.98814323e-02 -2.22161054e-04 9.99802320e-01 -9.17641645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters 0.05380673250815202 Centerline is valid? [True, True] Translation: X:458.70, Y:-74.31, Z:-9.18 [[ 9.89016166e-01 1.46562414e-01 1.91437143e-02 4.58700016e+02] [-1.46538801e-01 9.89201405e-01 -2.63807511e-03 -7.43095818e+01] [-1.93236317e-02 -1.96198004e-04 9.99813262e-01 -9.17766857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.514012739 meters 0.05670321693477153 Centerline is valid? [True, True] Translation: X:458.73, Y:-74.31, Z:-9.18 [[ 9.89191116e-01 1.45464787e-01 1.84643460e-02 4.58727806e+02] [-1.45442644e-01 9.89363415e-01 -2.54364419e-03 -7.43126104e+01] [-1.86379591e-02 -1.69353070e-04 9.99826284e-01 -9.17955454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters 0.05726434570762096 Centerline is valid? [True, True] Translation: X:458.75, Y:-74.32, Z:-9.18 [[ 9.89232178e-01 1.45186029e-01 1.84584577e-02 4.58754896e+02] [-1.45163872e-01 9.89404361e-01 -2.54178380e-03 -7.43204798e+01] [-1.86319101e-02 -1.65086871e-04 9.99826397e-01 -9.17938547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.574012739 meters 0.059211576461259983 Centerline is valid? [True, True] Translation: X:458.78, Y:-74.32, Z:-9.18 [[ 9.89178590e-01 1.45535988e-01 1.85740176e-02 4.58783353e+02] [-1.45513639e-01 9.89352943e-01 -2.55633700e-03 -7.43248622e+01] [-1.87482980e-02 -1.74099076e-04 9.99824220e-01 -9.17933735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters 0.06057739784011401 Centerline is valid? [True, True] Translation: X:458.81, Y:-74.32, Z:-9.18 [[ 9.89113407e-01 1.45952915e-01 1.87727159e-02 4.58811649e+02] [-1.45930178e-01 9.89291521e-01 -2.58278364e-03 -7.43239410e+01] [-1.89486534e-02 -1.84839836e-04 9.99820441e-01 -9.17933239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.634012739 meters 0.060750260799027386 Centerline is valid? [True, True] Translation: X:458.84, Y:-74.33, Z:-9.18 [[ 9.89060812e-01 1.46334942e-01 1.85686334e-02 4.58839977e+02] [-1.46312785e-01 9.89235082e-01 -2.55358622e-03 -7.43311539e+01] [-1.87424225e-02 -1.91176407e-04 9.99824327e-01 -9.17966089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters 0.06197113489630287 Centerline is valid? [True, True] Translation: X:458.87, Y:-74.33, Z:-9.18 [[ 9.88841276e-01 1.47915112e-01 1.77214536e-02 4.58868296e+02] [-1.47895198e-01 9.89000038e-01 -2.43630130e-03 -7.43316735e+01] [-1.78868841e-02 -2.11802598e-04 9.99839994e-01 -9.18159832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.694012739 meters 0.06310448204975838 Centerline is valid? [True, True] Translation: X:458.90, Y:-74.33, Z:-9.18 [[ 9.88761169e-01 1.48509631e-01 1.72116268e-02 4.58896993e+02] [-1.48490955e-01 9.88910937e-01 -2.36517743e-03 -7.43342643e+01] [-1.73720176e-02 -2.17175292e-04 9.99849072e-01 -9.18358380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters 0.06415037734024195 Centerline is valid? [True, True] Translation: X:458.92, Y:-74.34, Z:-9.18 [[ 9.88597884e-01 1.49626715e-01 1.69136088e-02 4.58924509e+02] [-1.49608855e-01 9.88742531e-01 -2.32354314e-03 -7.43356083e+01] [-1.70708685e-02 -2.33375805e-04 9.99854255e-01 -9.18481537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.754012739 meters 0.06561841775954133 Centerline is valid? [True, True] Translation: X:458.95, Y:-74.33, Z:-9.18 [[ 9.88283175e-01 1.51702903e-01 1.68105701e-02 4.58953275e+02] [-1.51685580e-01 9.88426101e-01 -2.30820631e-03 -7.43338688e+01] [-1.69661678e-02 -2.68759615e-04 9.99856028e-01 -9.18412902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters 0.06651308600042792 Centerline is valid? [True, True] Translation: X:458.98, Y:-74.33, Z:-9.18 [[ 9.88114433e-01 1.52812931e-01 1.66755639e-02 4.58981637e+02] [-1.52796069e-01 9.88255091e-01 -2.28817906e-03 -7.43335993e+01] [-1.68293743e-02 -2.86977861e-04 9.99858335e-01 -9.18449538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.814012739 meters 0.0670271360829678 Centerline is valid? [True, True] Translation: X:459.01, Y:-74.34, Z:-9.18 [[ 9.87647964e-01 1.55684658e-01 1.77140171e-02 4.59010837e+02] [-1.55666111e-01 9.87806742e-01 -2.42956737e-03 -7.43355192e+01] [-1.78762718e-02 -3.57914872e-04 9.99840143e-01 -9.18305658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters 0.06832285750142686 Centerline is valid? [True, True] Translation: X:459.04, Y:-74.34, Z:-9.18 [[ 9.87432597e-01 1.56939989e-01 1.86200370e-02 4.59038877e+02] [-1.56919737e-01 9.87608059e-01 -2.55288036e-03 -7.43357807e+01] [-1.87899477e-02 -4.01054038e-04 9.99823373e-01 -9.18223846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.874012739 meters 0.0686157944288726 Centerline is valid? [True, True] Translation: X:459.07, Y:-74.34, Z:-9.18 [[ 9.87178219e-01 1.58426683e-01 1.94974108e-02 4.59068050e+02] [-1.58404792e-01 9.87370641e-01 -2.67190725e-03 -7.43377847e+01] [-1.96744724e-02 -4.50834664e-04 9.99806337e-01 -9.18094154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters 0.07052277390451211 Centerline is valid? [True, True] Translation: X:459.10, Y:-74.34, Z:-9.18 [[ 9.86863880e-01 1.60338300e-01 1.97816214e-02 4.59095950e+02] [-1.60316169e-01 9.87061995e-01 -2.70989406e-03 -7.43369878e+01] [-1.99601865e-02 -4.97017191e-04 9.99800652e-01 -9.18186076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.934012739 meters 0.07213714619263496 Centerline is valid? [True, True] Translation: X:459.12, Y:-74.33, Z:-9.18 [[ 9.86797899e-01 1.60755167e-01 1.96896770e-02 4.59124246e+02] [-1.60733347e-01 9.86994185e-01 -2.69612776e-03 -7.43341743e+01] [-1.98670132e-02 -5.04254488e-04 9.99802504e-01 -9.18319988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters 0.06971221186184148 Centerline is valid? [True, True] Translation: X:459.15, Y:-74.34, Z:-9.18 [[ 9.86869541e-01 1.60298476e-01 1.98219170e-02 4.59151712e+02] [-1.60276293e-01 9.87068462e-01 -2.71305133e-03 -7.43448845e+01] [-2.00004871e-02 -4.99555659e-04 9.99799845e-01 -9.18347840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.994012739 meters 0.06982449508971321 Centerline is valid? [True, True] Translation: X:459.18, Y:-74.35, Z:-9.18 [[ 9.87162497e-01 1.58347395e-01 2.08879469e-02 4.59179054e+02] [-1.58322349e-01 9.87383343e-01 -2.85787897e-03 -7.43500139e+01] [-2.10769485e-02 -4.85837874e-04 9.99777738e-01 -9.18208443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters 0.07041156200892627 Centerline is valid? [True, True] Translation: X:459.21, Y:-74.35, Z:-9.18 [[ 9.87302670e-01 1.57455629e-01 2.10038916e-02 4.59206645e+02] [-1.57430139e-01 9.87525950e-01 -2.87201746e-03 -7.43525152e+01] [-2.11941034e-02 -4.71095076e-04 9.99775269e-01 -9.18211817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.054012739 meters 0.06884039776956123 Centerline is valid? [True, True] Translation: X:459.23, Y:-74.36, Z:-9.18 [[ 9.87480127e-01 1.56494421e-01 1.98115069e-02 4.59234930e+02] [-1.56471571e-01 9.87678751e-01 -2.70789170e-03 -7.43618309e+01] [-1.99911743e-02 -4.25948363e-04 9.99800066e-01 -9.18492303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters 0.06884039776956123 Centerline is valid? [True, True] Translation: X:459.26, Y:-74.37, Z:-9.19 [[ 9.87490683e-01 1.56427784e-01 1.98115970e-02 4.59262185e+02] [-1.56404934e-01 9.87689307e-01 -2.70723253e-03 -7.43654143e+01] [-1.99911889e-02 -4.25264610e-04 9.99800066e-01 -9.18548139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.114012739 meters 0.06907637859541103 Centerline is valid? [True, True] Translation: X:459.29, Y:-74.37, Z:-9.19 [[ 9.87529704e-01 1.56341024e-01 1.85086063e-02 4.59289869e+02] [-1.56321087e-01 9.87703056e-01 -2.52799878e-03 -7.43685633e+01] [-1.86762369e-02 -3.96811567e-04 9.99825505e-01 -9.18864229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters 0.06872023992710748 Centerline is valid? [True, True] Translation: X:459.32, Y:-74.37, Z:-9.19 [[ 9.87507028e-01 1.56639168e-01 1.71475987e-02 4.59318413e+02] [-1.56622120e-01 9.87655826e-01 -2.34096750e-03 -7.43729567e+01] [-1.73026130e-02 -3.73971411e-04 9.99850229e-01 -9.19133842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.174012739 meters 0.06956361760123024 Centerline is valid? [True, True] Translation: X:459.35, Y:-74.37, Z:-9.19 [[ 9.87392944e-01 1.57398471e-01 1.67599374e-02 4.59346697e+02] [-1.57382308e-01 9.87535102e-01 -2.28730948e-03 -7.43710382e+01] [-1.69110455e-02 -3.79244385e-04 9.99856926e-01 -9.19380482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters 0.07066396443689892 Centerline is valid? [True, True] Translation: X:459.38, Y:-74.37, Z:-9.19 [[ 9.86995005e-01 1.59829727e-01 1.71848127e-02 4.59375549e+02] [-1.59813120e-01 9.87144504e-01 -2.34421035e-03 -7.43687932e+01] [-1.73385679e-02 -4.32634627e-04 9.99849582e-01 -9.19336789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.234012739 meters 0.07079467222416791 Centerline is valid? [True, True] Translation: X:459.40, Y:-74.37, Z:-9.19 [[ 9.86777240e-01 1.61153601e-01 1.73261282e-02 4.59404522e+02] [-1.61136938e-01 9.86929230e-01 -2.36270147e-03 -7.43723780e+01] [-1.74804202e-02 -4.60419205e-04 9.99847100e-01 -9.19347480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters 0.07084185771798791 Centerline is valid? [True, True] Translation: X:459.43, Y:-74.37, Z:-9.19 [[ 9.86575832e-01 1.62454766e-01 1.66306019e-02 4.59432587e+02] [-1.62439610e-01 9.86715883e-01 -2.26715403e-03 -7.43714855e+01] [-1.67779890e-02 -4.64749120e-04 9.99859132e-01 -9.19453312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.294012739 meters 0.07326641072822827 Centerline is valid? [True, True] Translation: X:459.46, Y:-74.37, Z:-9.20 [[ 9.86170661e-01 1.64949733e-01 1.60939109e-02 4.59462463e+02] [-1.64935887e-01 9.86301852e-01 -2.19305782e-03 -7.43660399e+01] [-1.62351984e-02 -4.91734182e-04 9.99868080e-01 -9.19680596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters 0.07321780622523852 Centerline is valid? [True, True] Translation: X:459.49, Y:-74.37, Z:-9.20 [[ 9.86107793e-01 1.65264381e-01 1.67064242e-02 4.59491634e+02] [-1.65249521e-01 9.86249166e-01 -2.27565451e-03 -7.43668100e+01] [-1.68527815e-02 -5.16687934e-04 9.99857848e-01 -9.19666528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.354012739 meters 0.07123141104992307 Centerline is valid? [True, True] Translation: X:459.52, Y:-74.37, Z:-9.20 [[ 9.86163801e-01 1.64803000e-01 1.79144771e-02 4.59519821e+02] [-1.64785852e-01 9.86326352e-01 -2.43932271e-03 -7.43718651e+01] [-1.80715286e-02 -5.46480631e-04 9.99836547e-01 -9.19519548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters 0.06969681944746339 Centerline is valid? [True, True] Translation: X:459.55, Y:-74.38, Z:-9.19 [[ 9.86516920e-01 1.62534164e-01 1.91575747e-02 4.59548137e+02] [-1.62514145e-01 9.86702768e-01 -2.60762060e-03 -7.43764918e+01] [-1.93266595e-02 -5.40915041e-04 9.99813076e-01 -9.19301403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.414012739 meters 0.06995223077203716 Centerline is valid? [True, True] Translation: X:459.58, Y:-74.38, Z:-9.19 [[ 9.86837399e-01 1.60637545e-01 1.86420733e-02 4.59577118e+02] [-1.60618264e-01 9.87013342e-01 -2.53674327e-03 -7.43809996e+01] [-1.88074713e-02 -4.90904321e-04 9.99823003e-01 -9.19470704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters 0.0715605760809087 Centerline is valid? [True, True] Translation: X:459.61, Y:-74.38, Z:-9.20 [[ 9.87244334e-01 1.58298175e-01 1.70385655e-02 4.59605661e+02] [-1.58281767e-01 9.87391270e-01 -2.31581441e-03 -7.43804764e+01] [-1.71903200e-02 -4.10619594e-04 9.99852151e-01 -9.19900507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.474012739 meters 0.07194274916187608 Centerline is valid? [True, True] Translation: X:459.63, Y:-74.38, Z:-9.20 [[ 9.87351144e-01 1.57648572e-01 1.68714680e-02 4.59634446e+02] [-1.57632403e-01 9.87495200e-01 -2.29229432e-03 -7.43828198e+01] [-1.70218706e-02 -3.96190625e-04 9.99855039e-01 -9.19978277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters 0.07213394856773545 Centerline is valid? [True, True] Translation: X:459.66, Y:-74.38, Z:-9.20 [[ 9.87361838e-01 1.57573456e-01 1.69471806e-02 4.59661916e+02] [-1.57557140e-01 9.87507189e-01 -2.30206504e-03 -7.43837306e+01] [-1.70982070e-02 -3.97178123e-04 9.99853736e-01 -9.19959751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.534012739 meters 0.07279807294577006 Centerline is valid? [True, True] Translation: X:459.69, Y:-74.38, Z:-9.20 [[ 9.87378465e-01 1.57401817e-01 1.75623138e-02 4.59690272e+02] [-1.57384310e-01 9.87534556e-01 -2.38322236e-03 -7.43848230e+01] [-1.77185153e-02 -4.10890199e-04 9.99842930e-01 -9.19882031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters 0.07365706004367857 Centerline is valid? [True, True] Translation: X:459.72, Y:-74.38, Z:-9.20 [[ 9.87390745e-01 1.57324176e-01 1.75675832e-02 4.59717519e+02] [-1.57306663e-01 9.87546928e-01 -2.38302095e-03 -7.43844015e+01] [-1.77237196e-02 -4.10525056e-04 9.99842838e-01 -9.19862157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.594012739 meters 0.07244520756303195 Centerline is valid? [True, True] Translation: X:459.75, Y:-74.39, Z:-9.20 [[ 9.87453508e-01 1.56956202e-01 1.73297673e-02 4.59745203e+02] [-1.56939127e-01 9.87605483e-01 -2.34936931e-03 -7.43916883e+01] [-1.74837213e-02 -3.99825590e-04 9.99847068e-01 -9.19925915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters 0.07247528689883213 Centerline is valid? [True, True] Translation: X:459.77, Y:-74.39, Z:-9.20 [[ 9.87578126e-01 1.56192277e-01 1.71294607e-02 4.59773378e+02] [-1.56175493e-01 9.87726595e-01 -2.32141878e-03 -7.43949043e+01] [-1.72818116e-02 -3.82619569e-04 9.99850585e-01 -9.20095881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.654012739 meters 0.07249728579917493 Centerline is valid? [True, True] Translation: X:459.80, Y:-74.40, Z:-9.20 [[ 9.87923428e-01 1.54063895e-01 1.64807813e-02 4.59800274e+02] [-1.54048075e-01 9.88060831e-01 -2.23281605e-03 -7.44013338e+01] [-1.66280108e-02 -3.32981344e-04 9.99861690e-01 -9.20310102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters 0.07269185440281888 Centerline is valid? [True, True] Translation: X:459.83, Y:-74.40, Z:-9.21 [[ 9.88171072e-01 1.52562110e-01 1.55799569e-02 4.59827633e+02] [-1.52547799e-01 9.88293842e-01 -2.10992965e-03 -7.44033697e+01] [-1.57194708e-02 -2.91716689e-04 9.99876399e-01 -9.20573804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.714012739 meters 0.07149736397335033 Centerline is valid? [True, True] Translation: X:459.85, Y:-74.41, Z:-9.21 [[ 9.88260270e-01 1.52097568e-01 1.44211414e-02 4.59854761e+02] [-1.52085266e-01 9.88365449e-01 -1.95231413e-03 -7.44093140e+01] [-1.45503001e-02 -2.63848641e-04 9.99894104e-01 -9.20688729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters 0.0724667450257619 Centerline is valid? [True, True] Translation: X:459.88, Y:-74.41, Z:-9.21 [[ 9.88077182e-01 1.53264872e-01 1.46068963e-02 4.59883797e+02] [-1.53252396e-01 9.88185103e-01 -1.97632500e-03 -7.44114834e+01] [-1.47372185e-02 -2.85780209e-04 9.99891360e-01 -9.20654129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.774012739 meters 0.07249723575865268 Centerline is valid? [True, True] Translation: X:459.91, Y:-74.41, Z:-9.21 [[ 9.87862675e-01 1.54616338e-01 1.48702141e-02 4.59912791e+02] [-1.54603571e-01 9.87974540e-01 -2.01124382e-03 -7.44133238e+01] [-1.50023640e-02 -3.12155500e-04 9.99887409e-01 -9.20686468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters 0.07383738406409233 Centerline is valid? [True, True] Translation: X:459.94, Y:-74.41, Z:-9.21 [[ 9.87572975e-01 1.56479174e-01 1.46248780e-02 4.59941402e+02] [-1.56467038e-01 9.87681201e-01 -1.97744055e-03 -7.44090627e+01] [-1.47541454e-02 -3.35444503e-04 9.99891095e-01 -9.20745025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.834012739 meters 0.07354195247423075 Centerline is valid? [True, True] Translation: X:459.97, Y:-74.41, Z:-9.21 [[ 9.87518967e-01 1.56836829e-01 1.44394835e-02 4.59970718e+02] [-1.56825051e-01 9.87624471e-01 -1.95145609e-03 -7.44105069e+01] [-1.45668474e-02 -3.37372832e-04 9.99893841e-01 -9.20797188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters 0.07443113186809448 Centerline is valid? [True, True] Translation: X:460.00, Y:-74.41, Z:-9.21 [[ 9.87547765e-01 1.56699409e-01 1.39537136e-02 4.59997843e+02] [-1.56688402e-01 9.87646288e-01 -1.88538929e-03 -7.44097624e+01] [-1.40767728e-02 -3.24473101e-04 9.99900865e-01 -9.20949264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.894012739 meters 0.07408325326841796 Centerline is valid? [True, True] Translation: X:460.03, Y:-74.41, Z:-9.21 [[ 9.87612961e-01 1.56257833e-01 1.42873721e-02 4.60025533e+02] [-1.56246264e-01 9.87716246e-01 -1.92926551e-03 -7.44101143e+01] [-1.44133324e-02 -3.26980889e-04 9.99896069e-01 -9.21055248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters 0.07203810524054795 Centerline is valid? [True, True] Translation: X:460.05, Y:-74.41, Z:-9.21 [[ 9.88122353e-01 1.52973955e-01 1.46008589e-02 4.60053678e+02] [-1.52961538e-01 9.88230179e-01 -1.97005578e-03 -7.44135518e+01] [-1.47303766e-02 -2.86713671e-04 9.99891461e-01 -9.21030581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.954012739 meters 0.07233105794949278 Centerline is valid? [True, True] Translation: X:460.08, Y:-74.42, Z:-9.21 [[ 9.88510225e-01 1.50465846e-01 1.44070791e-02 4.60082428e+02] [-1.50453499e-01 9.88615177e-01 -1.94324883e-03 -7.44183557e+01] [-1.45354496e-02 -2.46674123e-04 9.99894324e-01 -9.21081657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters 0.07010387575752672 Centerline is valid? [True, True] Translation: X:460.11, Y:-74.42, Z:-9.21 [[ 9.89367185e-01 1.44804122e-01 1.35771819e-02 4.60109496e+02] [-1.44792630e-01 9.89460329e-01 -1.83080500e-03 -7.44233706e+01] [-1.36991910e-02 -1.54537497e-04 9.99906150e-01 -9.21389309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.014012739 meters 0.06830233765819214 Centerline is valid? [True, True] Translation: X:460.14, Y:-74.43, Z:-9.21 [[ 9.89812081e-01 1.41754537e-01 1.33302821e-02 4.60137432e+02] [-1.41743194e-01 9.89901833e-01 -1.79670079e-03 -7.44327837e+01] [-1.34503612e-02 -1.11080612e-04 9.99909534e-01 -9.21404655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters 0.06793791505823331 Centerline is valid? [True, True] Translation: X:460.17, Y:-74.44, Z:-9.21 [[ 9.90268643e-01 1.38492512e-01 1.37054619e-02 4.60165508e+02] [-1.38480218e-01 9.90363478e-01 -1.84660583e-03 -7.44406863e+01] [-1.38291300e-02 -6.92994982e-05 9.99904371e-01 -9.21485602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.074012739 meters 0.06689161182494219 Centerline is valid? [True, True] Translation: X:460.19, Y:-74.45, Z:-9.21 [[ 9.91117491e-01 1.32175877e-01 1.46852377e-02 4.60192416e+02] [-1.32161078e-01 9.91226280e-01 -1.97792228e-03 -7.44524379e+01] [-1.48178272e-02 1.95365174e-05 9.99890210e-01 -9.21314919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters 0.06702413790132494 Centerline is valid? [True, True] Translation: X:460.22, Y:-74.46, Z:-9.21 [[ 9.91516493e-01 1.29149133e-01 1.46814474e-02 4.60220741e+02] [-1.29134024e-01 9.91625180e-01 -1.97648609e-03 -7.44608457e+01] [-1.48137544e-02 6.38441866e-05 9.99890268e-01 -9.21263347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.134012739 meters 0.06652635177037061 Centerline is valid? [True, True] Translation: X:460.25, Y:-74.47, Z:-9.21 [[ 9.92085381e-01 1.24729021e-01 1.44661038e-02 4.60248086e+02] [-1.24713892e-01 9.92190836e-01 -1.94684522e-03 -7.44732511e+01] [-1.45959637e-02 1.27312580e-04 9.99893465e-01 -9.21334502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters 0.0670841164234491 Centerline is valid? [True, True] Translation: X:460.27, Y:-74.48, Z:-9.21 [[ 9.92288458e-01 1.23145120e-01 1.41030532e-02 4.60274618e+02] [-1.23130589e-01 9.92388663e-01 -1.89733604e-03 -7.44810437e+01] [-1.42293577e-02 1.46187411e-04 9.99898747e-01 -9.21458375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.194012739 meters 0.06713709697414884 Centerline is valid? [True, True] Translation: X:460.30, Y:-74.49, Z:-9.22 [[ 9.92409850e-01 1.22143084e-01 1.42743294e-02 4.60303141e+02] [-1.22128104e-01 9.92512489e-01 -1.91973099e-03 -7.44881378e+01] [-1.44019320e-02 1.61863166e-04 9.99896274e-01 -9.21553364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters 0.06649253097832303 Centerline is valid? [True, True] Translation: X:460.33, Y:-74.50, Z:-9.21 [[ 9.92465327e-01 1.21556712e-01 1.53798549e-02 4.60331436e+02] [-1.21539263e-01 9.92584471e-01 -2.06763015e-03 -7.44954548e+01] [-1.55171394e-02 1.82795007e-04 9.99879585e-01 -9.21363069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.254012739 meters 0.06663744526116779 Centerline is valid? [True, True] Translation: X:460.36, Y:-74.51, Z:-9.22 [[ 9.92423388e-01 1.21968893e-01 1.48124457e-02 4.60358430e+02] [-1.21952763e-01 9.92533909e-01 -1.99074341e-03 -7.45054541e+01] [-1.49446634e-02 1.69241640e-04 9.99888308e-01 -9.21629688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters 0.06606586994260845 Centerline is valid? [True, True] Translation: X:460.39, Y:-74.51, Z:-9.22 [[ 9.92417364e-01 1.22074316e-01 1.43400188e-02 4.60387485e+02] [-1.22059223e-01 9.92520950e-01 -1.92630308e-03 -7.45082212e+01] [-1.44679212e-02 1.61365064e-04 9.99895321e-01 -9.21655778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.314012739 meters 0.06550131807532521 Centerline is valid? [True, True] Translation: X:460.42, Y:-74.52, Z:-9.22 [[ 9.92458065e-01 1.21781177e-01 1.40119340e-02 4.60415563e+02] [-1.21766744e-01 9.92556960e-01 -1.88185054e-03 -7.45169116e+01] [-1.41368166e-02 1.61470169e-04 9.99900057e-01 -9.21770432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters 0.06561511268862255 Centerline is valid? [True, True] Translation: X:460.44, Y:-74.53, Z:-9.22 [[ 9.92528597e-01 1.21221886e-01 1.38650362e-02 4.60442505e+02] [-1.21207707e-01 9.92625421e-01 -1.86153159e-03 -7.45250307e+01] [-1.39884458e-02 1.67074098e-04 9.99902143e-01 -9.21811595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.374012739 meters 0.06513101602409088 Centerline is valid? [True, True] Translation: X:460.47, Y:-74.53, Z:-9.22 [[ 9.92580045e-01 1.20770436e-01 1.41193518e-02 4.60470585e+02] [-1.20755700e-01 9.92680448e-01 -1.89471764e-03 -7.45322782e+01] [-1.42448303e-02 1.75666710e-04 9.99898522e-01 -9.21939129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters 0.06514224663859841 Centerline is valid? [True, True] Translation: X:460.50, Y:-74.54, Z:-9.22 [[ 9.92544853e-01 1.21157379e-01 1.32515774e-02 4.60497102e+02] [-1.21144440e-01 9.92633298e-01 -1.77778051e-03 -7.45416845e+01] [-1.33693482e-02 1.59171972e-04 9.99910614e-01 -9.22136717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.434012739 meters 0.06523918094988548 Centerline is valid? [True, True] Translation: X:460.52, Y:-74.55, Z:-9.22 [[ 9.92421907e-01 1.22249961e-01 1.23977896e-02 4.60524582e+02] [-1.22238731e-01 9.92499334e-01 -1.66248963e-03 -7.45471802e+01] [-1.25080372e-02 1.34401072e-04 9.99921762e-01 -9.22363646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters 0.06447820813261985 Centerline is valid? [True, True] Translation: X:460.55, Y:-74.55, Z:-9.22 [[ 9.92212477e-01 1.23998544e-01 1.17796803e-02 4.60553710e+02] [-1.23988534e-01 9.92282394e-01 -1.57913319e-03 -7.45473903e+01] [-1.18845796e-02 1.06290360e-04 9.99929370e-01 -9.22302571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.494012739 meters 0.06449652419848362 Centerline is valid? [True, True] Translation: X:460.58, Y:-74.54, Z:-9.22 [[ 9.91464043e-01 1.29853713e-01 1.17075045e-02 4.60582772e+02] [-1.29844239e-01 9.91533162e-01 -1.56889128e-03 -7.45433879e+01] [-1.18121053e-02 3.53472721e-05 9.99930234e-01 -9.22430726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters 0.0661058450526866 Centerline is valid? [True, True] Translation: X:460.61, Y:-74.54, Z:-9.22 [[ 9.90992613e-01 1.33381835e-01 1.19552528e-02 4.60612325e+02] [-1.33372220e-01 9.91064724e-01 -1.60148542e-03 -7.45402885e+01] [-1.20620384e-02 -7.43838861e-06 9.99927251e-01 -9.22321441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.554012739 meters 0.06602490939067737 Centerline is valid? [True, True] Translation: X:460.64, Y:-74.54, Z:-9.22 [[ 9.90451837e-01 1.37301792e-01 1.23845044e-02 4.60642041e+02] [-1.37291788e-01 9.90529260e-01 -1.65838458e-03 -7.45362604e+01] [-1.24949132e-02 -5.77407016e-05 9.99921934e-01 -9.22245621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters 0.06845932250748243 Centerline is valid? [True, True] Translation: X:460.67, Y:-74.52, Z:-9.22 [[ 9.89456727e-01 1.44373516e-01 1.14748553e-02 4.60672388e+02] [-1.44365409e-01 9.89523253e-01 -1.53608501e-03 -7.45226731e+01] [-1.15764062e-02 -1.36682537e-04 9.99932982e-01 -9.22496613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.614012739 meters 0.06907872995768291 Centerline is valid? [True, True] Translation: X:460.70, Y:-74.52, Z:-9.23 [[ 9.89229137e-01 1.45935844e-01 1.13333051e-02 4.60702066e+02] [-1.45928045e-01 9.89294044e-01 -1.51659025e-03 -7.45211212e+01] [-1.14332961e-02 -1.53591780e-04 9.99934626e-01 -9.22601034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters 0.06954859509817676 Centerline is valid? [True, True] Translation: X:460.73, Y:-74.52, Z:-9.22 [[ 9.89426323e-01 1.44499930e-01 1.24628373e-02 4.60730245e+02] [-1.44490392e-01 9.89504799e-01 -1.66713533e-03 -7.45173703e+01] [-1.25729383e-02 -1.51252668e-04 9.99920946e-01 -9.22456318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.674012739 meters 0.068521150698682 Centerline is valid? [True, True] Translation: X:460.76, Y:-74.52, Z:-9.22 [[ 9.89813033e-01 1.41725853e-01 1.35625635e-02 4.60758298e+02] [-1.41714310e-01 9.89905938e-01 -1.81325290e-03 -7.45233262e+01] [-1.36826469e-02 -1.27227982e-04 9.99906380e-01 -9.22233843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters 0.0687111458403913 Centerline is valid? [True, True] Translation: X:460.79, Y:-74.53, Z:-9.22 [[ 9.90356821e-01 1.37845508e-01 1.38557632e-02 4.60786422e+02] [-1.37833091e-01 9.90453740e-01 -1.85175554e-03 -7.45293364e+01] [-1.39787486e-02 -7.58839331e-05 9.99902290e-01 -9.22205082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.734012739 meters 0.0673976406008604 Centerline is valid? [True, True] Translation: X:460.81, Y:-74.54, Z:-9.22 [[ 9.90951964e-01 1.33518525e-01 1.36751274e-02 4.60813927e+02] [-1.33506025e-01 9.91046317e-01 -1.82704604e-03 -7.45362653e+01] [-1.37966291e-02 -1.51970359e-05 9.99904822e-01 -9.22435846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters 0.06945541891864153 Centerline is valid? [True, True] Translation: X:460.84, Y:-74.55, Z:-9.22 [[ 9.92176205e-01 1.24170177e-01 1.29670822e-02 4.60841156e+02] [-1.24158149e-01 9.92260931e-01 -1.73164647e-03 -7.45498408e+01] [-1.30817479e-02 1.08129506e-04 9.99914424e-01 -9.22493600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.794012739 meters 0.06948171016923814 Centerline is valid? [True, True] Translation: X:460.87, Y:-74.56, Z:-9.23 [[ 9.92693160e-01 1.19959853e-01 1.30354710e-02 4.60868379e+02] [-1.19947342e-01 9.92778730e-01 -1.74023316e-03 -7.45589727e+01] [-1.31500964e-02 1.63947460e-04 9.99913520e-01 -9.22500962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters 0.07164349018447068 Centerline is valid? [True, True] Translation: X:460.90, Y:-74.57, Z:-9.22 [[ 9.93479356e-01 1.13181860e-01 1.37344478e-02 4.60895167e+02] [-1.13167337e-01 9.93574253e-01 -1.83255061e-03 -7.45728320e+01] [-1.38536052e-02 2.66310320e-04 9.99903999e-01 -9.22441045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.854012739 meters 0.07236909233413837 Centerline is valid? [True, True] Translation: X:460.92, Y:-74.58, Z:-9.22 [[ 9.93678669e-01 1.11409588e-01 1.38060461e-02 4.60922666e+02] [-1.11394749e-01 9.93774531e-01 -1.84162170e-03 -7.45780843e+01] [-1.39252714e-02 2.92059157e-04 9.99902996e-01 -9.22460338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters 0.07272181167994751 Centerline is valid? [True, True] Translation: X:460.95, Y:-74.58, Z:-9.22 [[ 9.93769864e-01 1.10652621e-01 1.33212576e-02 4.60951211e+02] [-1.10638747e-01 9.93859101e-01 -1.77626941e-03 -7.45780305e+01] [-1.34360020e-02 2.91355762e-04 9.99909690e-01 -9.22487279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.914012739 meters 0.07208867711303352 Centerline is valid? [True, True] Translation: X:460.98, Y:-74.58, Z:-9.23 [[ 9.93806652e-01 1.10438077e-01 1.23195077e-02 4.60978394e+02] [-1.10426203e-01 9.93882970e-01 -1.64206463e-03 -7.45810571e+01] [-1.24254954e-02 2.71498296e-04 9.99922764e-01 -9.22673520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters 0.0729309021887948 Centerline is valid? [True, True] Translation: X:461.01, Y:-74.59, Z:-9.23 [[ 9.93843786e-01 1.10098472e-01 1.23634454e-02 4.61007088e+02] [-1.10086496e-01 9.93920646e-01 -1.64711930e-03 -7.45850504e+01] [-1.24696290e-02 2.75930898e-04 9.99922213e-01 -9.22720937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.974012739 meters 0.0729309021887948 Centerline is valid? [True, True] Translation: X:461.04, Y:-74.59, Z:-9.23 [[ 9.93848707e-01 1.10054040e-01 1.23635194e-02 4.61035178e+02] [-1.10042068e-01 9.93925567e-01 -1.64656407e-03 -7.45887021e+01] [-1.24696290e-02 2.75928328e-04 9.99922213e-01 -9.22778479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters 0.07227133853104047 Centerline is valid? [True, True] Translation: X:461.06, Y:-74.59, Z:-9.23 [[ 9.93939433e-01 1.09202583e-01 1.26174530e-02 4.61062514e+02] [-1.09190052e-01 9.94019472e-01 -1.67987329e-03 -7.45932472e+01] [-1.27254405e-02 2.91991956e-04 9.99918986e-01 -9.22738069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.034012739 meters 0.07251028065718783 Centerline is valid? [True, True] Translation: X:461.09, Y:-74.60, Z:-9.23 [[ 9.94037458e-01 1.08308988e-01 1.25974288e-02 4.61091371e+02] [-1.08296435e-01 9.94117232e-01 -1.67641709e-03 -7.45962822e+01] [-1.27048921e-02 3.02164751e-04 9.99919244e-01 -9.22729492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters 0.0725889027604113 Centerline is valid? [True, True] Translation: X:461.12, Y:-74.60, Z:-9.23 [[ 9.94124807e-01 1.07382012e-01 1.36004137e-02 4.61119947e+02] [-1.07367303e-01 9.94217777e-01 -1.80919046e-03 -7.46023814e+01] [-1.37160476e-02 3.38321374e-04 9.99905873e-01 -9.22675123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.094012739 meters 0.07177734652811221 Centerline is valid? [True, True] Translation: X:461.15, Y:-74.61, Z:-9.23 [[ 9.94158300e-01 1.06952973e-01 1.45029565e-02 4.61148587e+02] [-1.06936212e-01 9.94264013e-01 -1.92851764e-03 -7.46079460e+01] [-1.46260284e-02 3.66360591e-04 9.99892967e-01 -9.22581931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters 0.07338727869697394 Centerline is valid? [True, True] Translation: X:461.18, Y:-74.62, Z:-9.22 [[ 9.94322722e-01 1.05193714e-01 1.60189349e-02 4.61176422e+02] [-1.05173051e-01 9.94451656e-01 -2.12922076e-03 -7.46186171e+01] [-1.61540369e-02 4.32372325e-04 9.99869422e-01 -9.22369677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.154012739 meters 0.07353841797689924 Centerline is valid? [True, True] Translation: X:461.21, Y:-74.63, Z:-9.23 [[ 9.94513127e-01 1.03468123e-01 1.54268589e-02 4.61205429e+02] [-1.03448761e-01 9.94632672e-01 -2.04996429e-03 -7.46268018e+01] [-1.55561638e-02 4.42826966e-04 9.99878898e-01 -9.22531979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters 0.07479039314909988 Centerline is valid? [True, True] Translation: X:461.23, Y:-74.64, Z:-9.23 [[ 9.94728605e-01 1.01596467e-01 1.38981840e-02 4.61233813e+02] [-1.01580573e-01 9.94825601e-01 -1.84655993e-03 -7.46364545e+01] [-1.40138732e-02 4.25040478e-04 9.99901711e-01 -9.22906862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.214012739 meters 0.07658080927935011 Centerline is valid? [True, True] Translation: X:461.26, Y:-74.65, Z:-9.23 [[ 9.95000480e-01 9.93012058e-02 1.06450121e-02 4.61261479e+02] [-9.92917538e-02 9.95057359e-01 -1.41408912e-03 -7.46515480e+01] [-1.07328183e-02 3.50057439e-04 9.99942340e-01 -9.23416852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters 0.07643158727529756 Centerline is valid? [True, True] Translation: X:461.29, Y:-74.66, Z:-9.23 [[ 9.94993207e-01 9.93195539e-02 1.11419637e-02 4.61288546e+02] [-9.93091969e-02 9.95055522e-01 -1.48036992e-03 -7.46597493e+01] [-1.12339022e-02 3.66458543e-04 9.99936831e-01 -9.23429238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.274012739 meters 0.07589080698015659 Centerline is valid? [True, True] Translation: X:461.32, Y:-74.67, Z:-9.23 [[ 9.94911353e-01 9.98831958e-02 1.32192166e-02 4.61316856e+02] [-9.98686802e-02 9.94999078e-01 -1.75533065e-03 -7.46657167e+01] [-1.33284364e-02 4.26212681e-04 9.99911082e-01 -9.23064883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters 0.07479601463357191 Centerline is valid? [True, True] Translation: X:461.35, Y:-74.67, Z:-9.23 [[ 9.94741241e-01 1.01160328e-01 1.60140991e-02 4.61346414e+02] [-1.01139206e-01 9.94870013e-01 -2.12546239e-03 -7.46711999e+01] [-1.61469594e-02 4.94631825e-04 9.99869507e-01 -9.22661740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.334012739 meters 0.07236894276934262 Centerline is valid? [True, True] Translation: X:461.38, Y:-74.68, Z:-9.22 [[ 9.94329325e-01 1.04891920e-01 1.75179544e-02 4.61375030e+02] [-1.04867230e-01 9.94483514e-01 -2.32463004e-03 -7.46752139e+01] [-1.76651517e-02 4.74388470e-04 9.99843846e-01 -9.22422174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters 0.07127287202501209 Centerline is valid? [True, True] Translation: X:461.40, Y:-74.68, Z:-9.23 [[ 9.94094908e-01 1.07264272e-01 1.64222298e-02 4.61404315e+02] [-1.07242903e-01 9.94230462e-01 -2.17889310e-03 -7.46768630e+01] [-1.65611985e-02 4.04858934e-04 9.99862772e-01 -9.22753621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.394012739 meters 0.0694269636616254 Centerline is valid? [True, True] Translation: X:461.43, Y:-74.68, Z:-9.23 [[ 9.93449274e-01 1.13475768e-01 1.34829305e-02 4.61433511e+02] [-1.13461940e-01 9.93540733e-01 -1.78861566e-03 -7.46755425e+01] [-1.35988052e-02 2.47099478e-04 9.99907501e-01 -9.23390673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters 0.06728205349745509 Centerline is valid? [True, True] Translation: X:461.46, Y:-74.67, Z:-9.23 [[ 9.93063983e-01 1.16821016e-01 1.32956978e-02 4.61462564e+02] [-1.16807868e-01 9.93152964e-01 -1.76386048e-03 -7.46740492e+01] [-1.34107177e-02 1.98584192e-04 9.99910053e-01 -9.23447025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.454012739 meters 0.06567864641293793 Centerline is valid? [True, True] Translation: X:461.49, Y:-74.67, Z:-9.23 [[ 9.92684292e-01 1.19951238e-01 1.37694211e-02 4.61490698e+02] [-1.19937445e-01 9.92779771e-01 -1.82613729e-03 -7.46730159e+01] [-1.38890502e-02 1.61308607e-04 9.99903529e-01 -9.23354422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters 0.06472601278291634 Centerline is valid? [True, True] Translation: X:461.52, Y:-74.67, Z:-9.23 [[ 9.92084225e-01 1.24689237e-01 1.48823375e-02 4.61519505e+02] [-1.24673671e-01 9.92195839e-01 -1.97282584e-03 -7.46668743e+01] [-1.50121835e-02 1.01773751e-04 9.99887306e-01 -9.23217819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.514012739 meters 0.06342313889689576 Centerline is valid? [True, True] Translation: X:461.55, Y:-74.67, Z:-9.23 [[ 9.91827040e-01 1.26699943e-01 1.50415276e-02 4.61547537e+02] [-1.26684285e-01 9.91941087e-01 -1.99315186e-03 -7.46657421e+01] [-1.51728415e-02 7.13367304e-05 9.99884883e-01 -9.23201392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters 0.06271523298786606 Centerline is valid? [True, True] Translation: X:461.58, Y:-74.66, Z:-9.23 [[ 9.91524088e-01 1.28932605e-01 1.60114160e-02 4.61575565e+02] [-1.28915172e-01 9.91653358e-01 -2.12045896e-03 -7.46624405e+01] [-1.61511708e-02 3.83716828e-05 9.99869561e-01 -9.23313337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.574012739 meters 0.06164588803462328 Centerline is valid? [True, True] Translation: X:461.60, Y:-74.66, Z:-9.23 [[ 9.91534851e-01 1.28813227e-01 1.63031197e-02 4.61603816e+02] [-1.28795152e-01 9.91668872e-01 -2.15822862e-03 -7.46648759e+01] [-1.64453047e-02 4.01961175e-05 9.99864766e-01 -9.23369015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters 0.06322899638806055 Centerline is valid? [True, True] Translation: X:461.63, Y:-74.67, Z:-9.23 [[ 9.91593105e-01 1.28365718e-01 1.62897419e-02 4.61630573e+02] [-1.28347629e-01 9.91726898e-01 -2.15543982e-03 -7.46684305e+01] [-1.64316598e-02 4.65695164e-05 9.99864990e-01 -9.23386715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.634012739 meters 0.06320140904188763 Centerline is valid? [True, True] Translation: X:461.66, Y:-74.67, Z:-9.23 [[ 9.91689050e-01 1.27595402e-01 1.64997629e-02 4.61658245e+02] [-1.27576758e-01 9.91826300e-01 -2.18192059e-03 -7.46727259e+01] [-1.66433019e-02 5.88004858e-05 9.99861489e-01 -9.23455282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters 0.06295977169937336 Centerline is valid? [True, True] Translation: X:461.69, Y:-74.68, Z:-9.24 [[ 9.91881752e-01 1.26119733e-01 1.62604619e-02 4.61685840e+02] [-1.26101445e-01 9.92015023e-01 -2.14925894e-03 -7.46761655e+01] [-1.64016864e-02 8.13429934e-05 9.99865480e-01 -9.23532796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.694012739 meters 0.06124965590981573 Centerline is valid? [True, True] Translation: X:461.71, Y:-74.68, Z:-9.24 [[ 9.91993160e-01 1.25289321e-01 1.58794225e-02 4.61714023e+02] [-1.25271792e-01 9.92120244e-01 -2.09775988e-03 -7.46796038e+01] [-1.60171234e-02 9.17197511e-05 9.99871713e-01 -9.23711767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters 0.06137159190787415 Centerline is valid? [True, True] Translation: X:461.74, Y:-74.68, Z:-9.24 [[ 9.92096469e-01 1.24520616e-01 1.54665119e-02 4.61742448e+02] [-1.24503903e-01 9.92217016e-01 -2.04257635e-03 -7.46846308e+01] [-1.56004792e-02 1.00791681e-04 9.99878300e-01 -9.23885826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.754012739 meters 0.06117571047428931 Centerline is valid? [True, True] Translation: X:461.77, Y:-74.69, Z:-9.24 [[ 9.92263976e-01 1.23147075e-01 1.57162497e-02 4.61770028e+02] [-1.23129654e-01 9.92388423e-01 -2.07498255e-03 -7.46918670e+01] [-1.58521523e-02 1.23794039e-04 9.99874339e-01 -9.23786242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters 0.06166951007422911 Centerline is valid? [True, True] Translation: X:461.80, Y:-74.70, Z:-9.24 [[ 9.92330255e-01 1.22555865e-01 1.61469675e-02 4.61798565e+02] [-1.22537418e-01 9.92461607e-01 -2.13065340e-03 -7.46971737e+01] [-1.62863694e-02 1.35704121e-04 9.99867359e-01 -9.23658506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.814012739 meters 0.06163245074417391 Centerline is valid? [True, True] Translation: X:461.83, Y:-74.71, Z:-9.24 [[ 9.92454598e-01 1.21438404e-01 1.69288300e-02 4.61826224e+02] [-1.21417977e-01 9.92598956e-01 -2.23307478e-03 -7.47056753e+01] [-1.70747200e-02 1.60761045e-04 9.99854203e-01 -9.23617084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters 0.06131073818606069 Centerline is valid? [True, True] Translation: X:461.85, Y:-74.71, Z:-9.24 [[ 9.92522460e-01 1.20838872e-01 1.72375319e-02 4.61854374e+02] [-1.20817616e-01 9.92672120e-01 -2.27305749e-03 -7.47130365e+01] [-1.73858910e-02 1.73463110e-04 9.99848839e-01 -9.23638130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.874012739 meters 0.061430012930224646 Centerline is valid? [True, True] Translation: X:461.88, Y:-74.72, Z:-9.24 [[ 9.92566338e-01 1.20421810e-01 1.76253121e-02 4.61882559e+02] [-1.20399534e-01 9.92722798e-01 -2.32343595e-03 -7.47192092e+01] [-1.77768415e-02 1.84084951e-04 9.99841963e-01 -9.23670129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters 0.061181451118477996 Centerline is valid? [True, True] Translation: X:461.91, Y:-74.72, Z:-9.24 [[ 9.92491094e-01 1.20990065e-01 1.79675658e-02 4.61910626e+02] [-1.20967023e-01 9.92653702e-01 -2.36778546e-03 -7.47246170e+01] [-1.81220492e-02 1.76523027e-04 9.99835767e-01 -9.23606544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.934012739 meters 0.06101993527021146 Centerline is valid? [True, True] Translation: X:461.94, Y:-74.73, Z:-9.24 [[ 9.92358368e-01 1.22014648e-01 1.83655716e-02 4.61938946e+02] [-1.21990764e-01 9.92528287e-01 -2.41944881e-03 -7.47273263e+01] [-1.85235576e-02 1.60530162e-04 9.99828411e-01 -9.23552953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters 0.060604856147258 Centerline is valid? [True, True] Translation: X:461.97, Y:-74.73, Z:-9.24 [[ 9.92202664e-01 1.23238087e-01 1.86077310e-02 4.61967390e+02] [-1.23213798e-01 9.92377123e-01 -2.45056300e-03 -7.47294985e+01] [-1.87678893e-02 1.38725932e-04 9.99823858e-01 -9.23556816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.994012739 meters 0.0603972657104781 Centerline is valid? [True, True] Translation: X:462.00, Y:-74.73, Z:-9.24 [[ 9.92069956e-01 1.24319874e-01 1.84870650e-02 4.61995721e+02] [-1.24296101e-01 9.92242186e-01 -2.43390248e-03 -7.47314260e+01] [-1.86462282e-02 1.16731424e-04 9.99826137e-01 -9.23666629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters 0.06079625511247913 Centerline is valid? [True, True] Translation: X:462.02, Y:-74.73, Z:-9.24 [[ 9.91941639e-01 1.25601528e-01 1.66144993e-02 4.62024740e+02] [-1.25582518e-01 9.92080768e-01 -2.18676184e-03 -7.47332171e+01] [-1.67575859e-02 8.26494636e-05 9.99859578e-01 -9.24171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.054012739 meters 0.061461458637633186 Centerline is valid? [True, True] Translation: X:462.05, Y:-74.74, Z:-9.24 [[ 9.91903191e-01 1.26025925e-01 1.56692422e-02 4.62053342e+02] [-1.26009079e-01 9.92026946e-01 -2.06174136e-03 -7.47361673e+01] [-1.58041433e-02 7.05810628e-05 9.99875104e-01 -9.24443598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters 0.06052539558118889 Centerline is valid? [True, True] Translation: X:462.08, Y:-74.74, Z:-9.24 [[ 9.91944415e-01 1.25678321e-01 1.58504821e-02 4.62081129e+02] [-1.25661048e-01 9.92071043e-01 -2.08500347e-03 -7.47404504e+01] [-1.59868440e-02 7.64193622e-05 9.99872199e-01 -9.24425987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.114012739 meters 0.06050055156101841 Centerline is valid? [True, True] Translation: X:462.11, Y:-74.74, Z:-9.24 [[ 9.91988937e-01 1.25263125e-01 1.63431300e-02 4.62108927e+02] [-1.25244723e-01 9.92123552e-01 -2.14874128e-03 -7.47445149e+01] [-1.64835622e-02 8.46367931e-05 9.99864133e-01 -9.24392776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters 0.06130217884181172 Centerline is valid? [True, True] Translation: X:462.14, Y:-74.75, Z:-9.24 [[ 9.92063703e-01 1.24670866e-01 1.63335136e-02 4.62137784e+02] [-1.24652423e-01 9.92198149e-01 -2.14636814e-03 -7.47488013e+01] [-1.64736715e-02 9.33218795e-05 9.99864296e-01 -9.24414487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.174012739 meters 0.0616134041964489 Centerline is valid? [True, True] Translation: X:462.17, Y:-74.75, Z:-9.25 [[ 9.92211872e-01 1.23483966e-01 1.63496615e-02 4.62166425e+02] [-1.23465337e-01 9.92346561e-01 -2.14780136e-03 -7.47536610e+01] [-1.64897494e-02 1.12457538e-04 9.99864029e-01 -9.24580653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters 0.06317568429916694 Centerline is valid? [True, True] Translation: X:462.20, Y:-74.76, Z:-9.25 [[ 9.92279451e-01 1.22974866e-01 1.60833297e-02 4.62195225e+02] [-1.22956783e-01 9.92409778e-01 -2.11215291e-03 -7.47585988e+01] [-1.62209953e-02 1.18291466e-04 9.99868424e-01 -9.24726564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.234012739 meters 0.06381798633954924 Centerline is valid? [True, True] Translation: X:462.22, Y:-74.76, Z:-9.25 [[ 9.92400808e-01 1.21986751e-01 1.61204746e-02 4.62223769e+02] [-1.21968465e-01 9.92531720e-01 -2.11635455e-03 -7.47645094e+01] [-1.62582496e-02 1.34082417e-04 9.99867817e-01 -9.24758992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters 0.0635580539408936 Centerline is valid? [True, True] Translation: X:462.25, Y:-74.77, Z:-9.25 [[ 9.92661458e-01 1.19915538e-01 1.56042473e-02 4.62251501e+02] [-1.19898159e-01 9.92784084e-01 -2.04795302e-03 -7.47749485e+01] [-1.57372297e-02 1.62003518e-04 9.99876149e-01 -9.24978252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.294012739 meters 0.06425140563357307 Centerline is valid? [True, True] Translation: X:462.28, Y:-74.78, Z:-9.25 [[ 9.92776981e-01 1.18924806e-01 1.58352872e-02 4.62279206e+02] [-1.18906793e-01 9.92903247e-01 -2.07760032e-03 -7.47825916e+01] [-1.59699863e-02 1.79670560e-04 9.99872455e-01 -9.24986179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters 0.0634290060148126 Centerline is valid? [True, True] Translation: X:462.31, Y:-74.79, Z:-9.25 [[ 9.92848173e-01 1.18223084e-01 1.66074583e-02 4.62307649e+02] [-1.18203185e-01 9.92987040e-01 -2.17818076e-03 -7.47851661e+01] [-1.67485022e-02 1.99548315e-04 9.99859714e-01 -9.24719411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.354012739 meters 0.06260167205161954 Centerline is valid? [True, True] Translation: X:462.34, Y:-74.79, Z:-9.24 [[ 9.92837054e-01 1.18007454e-01 1.86768596e-02 4.62335096e+02] [-1.17982266e-01 9.93012683e-01 -2.44868016e-03 -7.47920850e+01] [-1.88353209e-02 2.27602184e-04 9.99822574e-01 -9.24374617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters 0.06215522515962162 Centerline is valid? [True, True] Translation: X:462.36, Y:-74.79, Z:-9.24 [[ 9.92757943e-01 1.18553735e-01 1.94082111e-02 4.62363926e+02] [-1.18526661e-01 9.92947613e-01 -2.54344964e-03 -7.47928721e+01] [-1.95728723e-02 2.24639370e-04 9.99808408e-01 -9.24313361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.414012739 meters 0.05982710248737027 Centerline is valid? [True, True] Translation: X:462.39, Y:-74.79, Z:-9.24 [[ 9.92421928e-01 1.21376249e-01 1.91447731e-02 4.62393184e+02] [-1.21350447e-01 9.92606558e-01 -2.50802246e-03 -7.47944548e+01] [-1.93076417e-02 1.65789708e-04 9.99813576e-01 -9.24443708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters 0.0593825643988253 Centerline is valid? [True, True] Translation: X:462.42, Y:-74.80, Z:-9.25 [[ 9.92158395e-01 1.23527627e-01 1.90432203e-02 4.62421487e+02] [-1.23502507e-01 9.92341126e-01 -2.49407318e-03 -7.47958752e+01] [-1.92054576e-02 1.22630201e-04 9.99815551e-01 -9.24525679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.474012739 meters 0.06013172494680487 Centerline is valid? [True, True] Translation: X:462.45, Y:-74.80, Z:-9.25 [[ 9.91904079e-01 1.25549110e-01 1.90714028e-02 4.62450609e+02] [-1.25524311e-01 9.92087402e-01 -2.49662645e-03 -7.47971136e+01] [-1.92339477e-02 8.24892534e-05 9.99815007e-01 -9.24592697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters 0.059784952381952 Centerline is valid? [True, True] Translation: X:462.48, Y:-74.80, Z:-9.25 [[ 9.91657639e-01 1.27425919e-01 1.94361295e-02 4.62478848e+02] [-1.27400541e-01 9.91848090e-01 -2.54345013e-03 -7.47984847e+01] [-1.96017894e-02 4.60583295e-05 9.99807865e-01 -9.24587093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.534012739 meters 0.05891532834417576 Centerline is valid? [True, True] Translation: X:462.51, Y:-74.80, Z:-9.25 [[ 9.91533421e-01 1.28380628e-01 1.94907541e-02 4.62506549e+02] [-1.28355314e-01 9.91724969e-01 -2.54945467e-03 -7.48011147e+01] [-1.96567681e-02 2.61276322e-05 9.99806787e-01 -9.24699633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters 0.05778527869305259 Centerline is valid? [True, True] Translation: X:462.54, Y:-74.81, Z:-9.25 [[ 9.91596141e-01 1.28020428e-01 1.86511117e-02 4.62535032e+02] [-1.27997206e-01 9.91771531e-01 -2.43850056e-03 -7.48053716e+01] [-1.88098195e-02 3.07175663e-05 9.99823079e-01 -9.24925756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.594012739 meters 0.05749612113498125 Centerline is valid? [True, True] Translation: X:462.56, Y:-74.81, Z:-9.25 [[ 9.91666057e-01 1.27594403e-01 1.78353357e-02 4.62562663e+02] [-1.27573113e-01 9.91826430e-01 -2.33105487e-03 -7.48096254e+01] [-1.79869869e-02 3.63186991e-05 9.99838220e-01 -9.25258082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters 0.056571802397590555 Centerline is valid? [True, True] Translation: X:462.59, Y:-74.81, Z:-9.25 [[ 9.91606923e-01 1.28096043e-01 1.75246584e-02 4.62590666e+02] [-1.28075580e-01 9.91761767e-01 -2.28967963e-03 -7.48126956e+01] [-1.76735851e-02 2.59813858e-05 9.99843810e-01 -9.25355889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.654012739 meters 0.05563036645117754 Centerline is valid? [True, True] Translation: X:462.62, Y:-74.82, Z:-9.25 [[ 9.91503786e-01 1.28959313e-01 1.70217171e-02 4.62619425e+02] [-1.28940152e-01 9.91649886e-01 -2.22297558e-03 -7.48155526e+01] [-1.71662572e-02 9.30591267e-06 9.99852649e-01 -9.25498897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters 0.05479504595704887 Centerline is valid? [True, True] Translation: X:462.65, Y:-74.81, Z:-9.26 [[ 9.91141278e-01 1.31858112e-01 1.58872652e-02 4.62647136e+02] [-1.31841802e-01 9.91268600e-01 -2.07421208e-03 -7.48149280e+01] [-1.60220488e-02 -3.87684588e-05 9.99871638e-01 -9.25744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.714012739 meters 0.054626133959549183 Centerline is valid? [True, True] Translation: X:462.68, Y:-74.81, Z:-9.26 [[ 9.90847971e-01 1.34015802e-01 1.61264632e-02 4.62676616e+02] [-1.33999299e-01 9.90979192e-01 -2.10447673e-03 -7.48145451e+01] [-1.62630226e-02 -7.57182692e-05 9.99867745e-01 -9.25762230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters 0.057065284654269764 Centerline is valid? [True, True] Translation: X:462.70, Y:-74.81, Z:-9.26 [[ 9.90507796e-01 1.36451014e-01 1.65959758e-02 4.62704598e+02] [-1.36433889e-01 9.90646812e-01 -2.16507553e-03 -7.48126000e+01] [-1.67361773e-02 -1.19729332e-04 9.99859933e-01 -9.25744668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.774012739 meters 0.05764517966410692 Centerline is valid? [True, True] Translation: X:462.73, Y:-74.81, Z:-9.25 [[ 9.89779175e-01 1.41261885e-01 1.95515948e-02 4.62734079e+02] [-1.41239087e-01 9.89972233e-01 -2.54899983e-03 -7.48072613e+01] [-1.97156125e-02 -2.38502450e-04 9.99805600e-01 -9.25388987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters 0.05687950014547832 Centerline is valid? [True, True] Translation: X:462.76, Y:-74.81, Z:-9.25 [[ 9.89554730e-01 1.42631515e-01 2.09209923e-02 4.62763109e+02] [-1.42605743e-01 9.89775818e-01 -2.72630799e-03 -7.48082535e+01] [-2.10959497e-02 -2.85622688e-04 9.99777415e-01 -9.25229989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.834012739 meters 0.0587427532039235 Centerline is valid? [True, True] Translation: X:462.79, Y:-74.81, Z:-9.25 [[ 9.89439532e-01 1.43335083e-01 2.15515044e-02 4.62790574e+02] [-1.43307922e-01 9.89674167e-01 -2.80747987e-03 -7.48095663e+01] [-2.17313776e-02 -3.10669750e-04 9.99763797e-01 -9.25174074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters 0.05874853779106565 Centerline is valid? [True, True] Translation: X:462.82, Y:-74.81, Z:-9.26 [[ 9.89386965e-01 1.43955033e-01 1.97581108e-02 4.62819721e+02] [-1.43932348e-01 9.89584185e-01 -2.57285856e-03 -7.48109761e+01] [-1.99226899e-02 -2.98278565e-04 9.99801479e-01 -9.25623825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.894012739 meters 0.05874853779106565 Centerline is valid? [True, True] Translation: X:462.85, Y:-74.81, Z:-9.26 [[ 9.89396211e-01 1.43891452e-01 1.97582201e-02 4.62846993e+02] [-1.43868771e-01 9.89593432e-01 -2.57201927e-03 -7.48143895e+01] [-1.99226964e-02 -2.97844713e-04 9.99801479e-01 -9.25679657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters 0.05874312664926004 Centerline is valid? [True, True] Translation: X:462.88, Y:-74.82, Z:-9.26 [[ 9.89395876e-01 1.43961581e-01 1.92578415e-02 4.62875588e+02] [-1.43940073e-01 9.89583234e-01 -2.50563831e-03 -7.48168244e+01] [-1.94179528e-02 -2.92906897e-04 9.99811411e-01 -9.25902189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.954012739 meters 0.05884839223914345 Centerline is valid? [True, True] Translation: X:462.90, Y:-74.82, Z:-9.26 [[ 9.89313224e-01 1.44515654e-01 1.93538308e-02 4.62904153e+02] [-1.44494052e-01 9.89502467e-01 -2.51729089e-03 -7.48161149e+01] [-1.95144513e-02 -3.06124276e-04 9.99809528e-01 -9.25960981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters 0.05923873602434001 Centerline is valid? [True, True] Translation: X:462.93, Y:-74.82, Z:-9.26 [[ 9.89301345e-01 1.44504772e-01 2.00304557e-02 4.62932554e+02] [-1.44481654e-01 9.89504053e-01 -2.60417697e-03 -7.48184283e+01] [-2.01965331e-02 -3.17717588e-04 9.99795979e-01 -9.25916502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.014012739 meters 0.05965816534163374 Centerline is valid? [True, True] Translation: X:462.96, Y:-74.82, Z:-9.26 [[ 9.89261643e-01 1.44645849e-01 2.09518381e-02 4.62961745e+02] [-1.44620616e-01 9.89483433e-01 -2.72257200e-03 -7.48208225e+01] [-2.11253054e-02 -3.36731678e-04 9.99776779e-01 -9.25800740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters 0.060283557874112374 Centerline is valid? [True, True] Translation: X:462.99, Y:-74.82, Z:-9.25 [[ 9.89360144e-01 1.43475112e-01 2.41122015e-02 4.62989749e+02] [-1.43441376e-01 9.89653860e-01 -3.13194229e-03 -7.48245790e+01] [-2.43120890e-02 -3.60068469e-04 9.99704353e-01 -9.25305381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.074012739 meters 0.06068035747333103 Centerline is valid? [True, True] Translation: X:463.02, Y:-74.83, Z:-9.25 [[ 9.89586504e-01 1.41760639e-01 2.49493834e-02 4.63017822e+02] [-1.41724021e-01 9.89900910e-01 -3.23886932e-03 -7.48305259e+01] [-2.51565615e-02 -3.30785559e-04 9.99683469e-01 -9.25276402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters 0.05995570221278194 Centerline is valid? [True, True] Translation: X:463.05, Y:-74.84, Z:-9.25 [[ 9.89879157e-01 1.39712763e-01 2.48917451e-02 4.63045247e+02] [-1.39675693e-01 9.90192035e-01 -3.23027925e-03 -7.48370837e+01] [-2.50989189e-02 -2.79185642e-04 9.99684934e-01 -9.25418442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.134012739 meters 0.06013344556632542 Centerline is valid? [True, True] Translation: X:463.07, Y:-74.85, Z:-9.26 [[ 9.90223808e-01 1.37404724e-01 2.40156552e-02 4.63072760e+02] [-1.37369569e-01 9.90514965e-01 -3.11539684e-03 -7.48455035e+01] [-2.42159361e-02 -2.14080064e-04 9.99706728e-01 -9.25677935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters 0.05969944144971608 Centerline is valid? [True, True] Translation: X:463.10, Y:-74.86, Z:-9.26 [[ 9.90881010e-01 1.32574110e-01 2.40609456e-02 4.63100052e+02] [-1.32537421e-01 9.91173091e-01 -3.12025874e-03 -7.48588516e+01] [-2.42622274e-02 -9.71705607e-05 9.99705624e-01 -9.25846001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.194012739 meters 0.05978388100509677 Centerline is valid? [True, True] Translation: X:463.13, Y:-74.86, Z:-9.26 [[ 9.91045464e-01 1.31290356e-01 2.43255144e-02 4.63128781e+02] [-1.31252494e-01 9.91343955e-01 -3.15354064e-03 -7.48643331e+01] [-2.45289812e-02 -6.74822880e-05 9.99699117e-01 -9.25871272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters 0.06049068890546705 Centerline is valid? [True, True] Translation: X:463.16, Y:-74.87, Z:-9.26 [[ 9.91091064e-01 1.30697331e-01 2.56263710e-02 4.63157899e+02] [-1.30655142e-01 9.91422314e-01 -3.32106233e-03 -7.48678519e+01] [-2.58406100e-02 -5.67419349e-05 9.99666074e-01 -9.25706986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.254012739 meters 0.06166605495371617 Centerline is valid? [True, True] Translation: X:463.19, Y:-74.87, Z:-9.26 [[ 9.91101006e-01 1.30457324e-01 2.64515234e-02 4.63186335e+02] [-1.30412318e-01 9.91453924e-01 -3.42686475e-03 -7.48721701e+01] [-2.66725263e-02 -5.32353864e-05 9.99644223e-01 -9.25588053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters 0.06130865685196962 Centerline is valid? [True, True] Translation: X:463.22, Y:-74.88, Z:-9.25 [[ 9.91109410e-01 1.30081222e-01 2.79466021e-02 4.63215335e+02] [-1.30030869e-01 9.91503340e-01 -3.61934316e-03 -7.48762253e+01] [-2.81799579e-02 -4.67558920e-05 9.99602865e-01 -9.25418578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.314012739 meters 0.06135904493211874 Centerline is valid? [True, True] Translation: X:463.24, Y:-74.88, Z:-9.26 [[ 9.91093504e-01 1.30358941e-01 2.72068651e-02 4.63243711e+02] [-1.30311354e-01 9.91466865e-01 -3.52243157e-03 -7.48780629e+01] [-2.74338857e-02 -5.43043748e-05 9.99623619e-01 -9.25696616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters 0.06188065176859552 Centerline is valid? [True, True] Translation: X:463.27, Y:-74.88, Z:-9.26 [[ 9.91117579e-01 1.30304424e-01 2.65838486e-02 4.63271871e+02] [-1.30259001e-01 9.91474031e-01 -3.44068708e-03 -7.48813373e+01] [-2.68055323e-02 -5.26601094e-05 9.99640666e-01 -9.25950857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.374012739 meters 0.06161950206305911 Centerline is valid? [True, True] Translation: X:463.30, Y:-74.89, Z:-9.26 [[ 9.91251659e-01 1.29410452e-01 2.59438557e-02 4.63299764e+02] [-1.29366912e-01 9.91591112e-01 -3.35680137e-03 -7.48863759e+01] [-2.61601019e-02 -2.88415643e-05 9.99657766e-01 -9.26154783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters 0.06210538381996912 Centerline is valid? [True, True] Translation: X:463.33, Y:-74.90, Z:-9.26 [[ 9.91770626e-01 1.25468684e-01 2.54682898e-02 4.63327483e+02] [-1.25425453e-01 9.92097578e-01 -3.29422703e-03 -7.48964017e+01] [-2.56803510e-02 7.27458281e-05 9.99670203e-01 -9.26371510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.434012739 meters 0.06274233252337906 Centerline is valid? [True, True] Translation: X:463.36, Y:-74.90, Z:-9.27 [[ 9.91961964e-01 1.24177460e-01 2.43191459e-02 4.63356019e+02] [-1.24137678e-01 9.92260021e-01 -3.14461651e-03 -7.49017721e+01] [-2.45214067e-02 1.00417672e-04 9.99699300e-01 -9.26547292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters 0.0811101388524862 Centerline is valid? [True, True] Translation: X:463.39, Y:-74.87, Z:-9.26 [[ 9.91995610e-01 1.23217102e-01 2.76089731e-02 4.63387377e+02] [-1.23165493e-01 9.92379729e-01 -3.56860601e-03 -7.48734361e+01] [-2.78382986e-02 1.39568700e-04 9.99612430e-01 -9.25911667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.494012739 meters 0.08161027151540197 Centerline is valid? [True, True] Translation: X:463.42, Y:-74.88, Z:-9.26 [[ 9.92176674e-01 1.21661258e-01 2.79997352e-02 4.63416043e+02] [-1.21607603e-01 9.92571662e-01 -3.61753094e-03 -7.48797972e+01] [-2.82318571e-02 1.84249120e-04 9.99601385e-01 -9.25976160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters 0.08321502109787007 Centerline is valid? [True, True] Translation: X:463.44, Y:-74.89, Z:-9.26 [[ 9.92475744e-01 1.19275225e-01 2.76643765e-02 4.63444649e+02] [-1.19221952e-01 9.92861198e-01 -3.57308242e-03 -7.48862875e+01] [-2.78930662e-02 2.47996658e-04 9.99610882e-01 -9.26143397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.554012739 meters 0.08378151249202402 Centerline is valid? [True, True] Translation: X:463.47, Y:-74.89, Z:-9.26 [[ 9.92706295e-01 1.17216200e-01 2.81882085e-02 4.63473159e+02] [-1.17160093e-01 9.93106372e-01 -3.63957447e-03 -7.48929317e+01] [-2.84205066e-02 3.10495345e-04 9.99596008e-01 -9.26153722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters 0.0854014579700625 Centerline is valid? [True, True] Translation: X:463.50, Y:-74.90, Z:-9.26 [[ 9.92960633e-01 1.14914554e-01 2.87023820e-02 4.63502167e+02] [-1.14855449e-01 9.93375306e-01 -3.70495442e-03 -7.49006212e+01] [-2.89379906e-02 3.82248936e-04 9.99581136e-01 -9.26138156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.614012739 meters 0.08653522854311071 Centerline is valid? [True, True] Translation: X:463.53, Y:-74.91, Z:-9.26 [[ 9.93200497e-01 1.12766362e-01 2.89226494e-02 4.63530451e+02] [-1.12705455e-01 9.93621431e-01 -3.73270583e-03 -7.49086301e+01] [-2.91590880e-02 4.47584916e-04 9.99574683e-01 -9.26173266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters 0.11261431737673781 Centerline is valid? [True, False] Translation: X:463.53, Y:-74.91, Z:-9.27 [[ 9.93710061e-01 1.05966851e-01 3.62124519e-02 4.63530877e+02] [-1.06252242e-01 9.94320838e-01 6.04416559e-03 -7.49103297e+01] [-3.53663144e-02 -9.85380238e-03 9.99325836e-01 -9.26556901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.674012739 meters 0.11764896428786972 Centerline is valid? [False, False] Translation: X:463.53, Y:-74.91, Z:-9.26 [[ 9.94941810e-01 9.49888186e-02 3.26790383e-02 4.63532410e+02] [-9.54811646e-02 9.95334919e-01 1.38472434e-02 -7.49083487e+01] [-3.12112546e-02 -1.68974340e-02 9.99369969e-01 -9.26365370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters 0.11097239773919504 Centerline is valid? [False, False] Translation: X:463.53, Y:-74.90, Z:-9.26 [[ 9.95763288e-01 8.64077956e-02 3.14510346e-02 4.63533779e+02] [-8.65499401e-02 9.96242425e-01 3.18403082e-03 -7.48973437e+01] [-3.10577299e-02 -5.89262616e-03 9.99500222e-01 -9.26312013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.734012739 meters 0.6202458127711389 Centerline is valid? [False, False] Translation: X:463.54, Y:-74.89, Z:-9.26 [[ 9.96496668e-01 7.87743089e-02 2.80891160e-02 4.63535556e+02] [-7.91946436e-02 9.96758341e-01 1.41780563e-02 -7.48943770e+01] [-2.68811940e-02 -1.63528934e-02 9.99504870e-01 -9.26135265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters 0.11124372295771416 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.88, Z:-9.26 [[ 9.96673844e-01 7.84980648e-02 2.18929720e-02 4.63516195e+02] [-7.85769127e-02 9.96904224e-01 2.76350030e-03 -7.48826114e+01] [-2.16082668e-02 -4.47459061e-03 9.99756501e-01 -9.25643449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.794012739 meters 0.6211693824822386 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.88, Z:-9.26 [[ 9.96715060e-01 7.80200553e-02 2.17246231e-02 4.63516765e+02] [-7.80726971e-02 9.96946410e-01 1.58432705e-03 -7.48772575e+01] [-2.15346757e-02 -3.27522256e-03 9.99762737e-01 -9.25639944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters 0.6084169439758815 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.87, Z:-9.25 [[ 9.97356985e-01 7.12065692e-02 1.44453913e-02 4.63516284e+02] [-7.13633204e-02 9.97393615e-01 1.06420550e-02 -7.48748603e+01] [-1.36499568e-02 -1.16447990e-02 9.99839026e-01 -9.25387625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.854012739 meters 0.629016627251334 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.87, Z:-9.25 [[ 9.97700413e-01 6.63037053e-02 1.40607573e-02 4.63516548e+02] [-6.63747871e-02 9.97783928e-01 4.64989484e-03 -7.48674365e+01] [-1.37212924e-02 -5.57248178e-03 9.99890331e-01 -9.25364156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters 0.6228805378930601 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.85, Z:-9.26 [[ 9.98531851e-01 5.40584881e-02 3.43822917e-03 4.63524688e+02] [-5.40749487e-02 9.98524907e-01 4.88968757e-03 -7.48455926e+01] [-3.16882835e-03 -5.06843085e-03 9.99982135e-01 -9.25838549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.914012739 meters 0.621580335453883 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.84, Z:-9.26 [[ 9.98938688e-01 4.54621658e-02 7.39527233e-03 4.63519718e+02] [-4.55662298e-02 9.98855048e-01 1.45709168e-02 -7.48424265e+01] [-6.72437966e-03 -1.48924271e-02 9.99866490e-01 -9.25667389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters 0.6377416431487218 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.84, Z:-9.26 [[ 9.98966780e-01 4.48601230e-02 7.27608632e-03 4.63519709e+02] [-4.49531540e-02 9.98902276e-01 1.31703406e-02 -7.48360223e+01] [-6.67727608e-03 -1.34838157e-02 9.99886794e-01 -9.25590740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.974012739 meters 0.6282418830968698 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.83, Z:-9.25 [[ 9.99180130e-01 3.98556329e-02 7.11305240e-03 4.63519115e+02] [-3.99062241e-02 9.99178075e-01 7.11813314e-03 -7.48284211e+01] [-6.82350830e-03 -7.39615226e-03 9.99949367e-01 -9.25481617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters 0.6325351428598118 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.82, Z:-9.25 [[ 9.99366323e-01 3.49085008e-02 6.95334711e-03 4.63518686e+02] [-3.49178899e-02 9.99389423e-01 1.23346771e-03 -7.48214137e+01] [-6.90604305e-03 -1.47548230e-03 9.99975064e-01 -9.25377828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.034012739 meters 0.713297463281969 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.82, Z:-9.26 [[ 9.99481697e-01 2.82999264e-02 1.53443979e-02 4.63517485e+02] [-2.84603114e-02 9.99541477e-01 1.03366795e-02 -7.48188448e+01] [-1.50448349e-02 -1.07680283e-02 9.99828837e-01 -9.25637961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters 0.7032038464444672 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.82, Z:-9.25 [[ 9.99765142e-01 2.01521626e-02 7.97195562e-03 4.63516428e+02] [-2.03027342e-02 9.99607952e-01 1.92805940e-02 -7.48188559e+01] [-7.58028457e-03 -1.94379183e-02 9.99782330e-01 -9.25120693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.094012739 meters 0.7018010321111234 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.81, Z:-9.25 [[ 9.99913759e-01 1.05178614e-02 7.86441445e-03 4.63515918e+02] [-1.05829741e-02 9.99909683e-01 8.28415082e-03 -7.48083394e+01] [-7.77657261e-03 -8.36666528e-03 9.99934760e-01 -9.25051641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters 0.7041093432881512 Centerline is valid? [False, False] Translation: X:463.52, Y:-74.80, Z:-9.25 [[ 9.99953494e-01 5.67754026e-03 7.79590502e-03 4.63515924e+02] [-5.69934725e-03 9.99979900e-01 2.77787463e-03 -7.48028463e+01] [-7.77997683e-03 -2.82217701e-03 9.99965753e-01 -9.25043724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.154012739 meters 0.6974867584579006 Centerline is valid? [False, False] Translation: X:463.51, Y:-74.80, Z:-9.24 [[ 9.99972206e-01 2.97847770e-03 -6.83494107e-03 4.63513079e+02] [-2.96791777e-03 9.99994387e-01 1.55461421e-03 -7.47996923e+01] [ 6.83953309e-03 -1.53428546e-03 9.99975433e-01 -9.24113411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters 0.6937756719586949 Centerline is valid? [False, False] Translation: X:463.51, Y:-74.80, Z:-9.24 [[ 9.99972067e-01 2.70282974e-03 -6.96845968e-03 4.63513821e+02] [-2.69591861e-03 9.99995865e-01 1.00097476e-03 -7.47969486e+01] [ 6.97113633e-03 -9.82160398e-04 9.99975219e-01 -9.24170453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.214012739 meters 0.5995532802663369 Centerline is valid? [False, False] Translation: X:463.55, Y:-74.77, Z:-9.26 [[ 9.99957565e-01 9.13658601e-03 -1.17915815e-03 4.63545486e+02] [-9.13906574e-03 9.99956001e-01 -2.11499711e-03 -7.47697419e+01] [ 1.15978241e-03 2.12568376e-03 9.99997068e-01 -9.25642268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters 0.6254491368493896 Centerline is valid? [False, False] Translation: X:463.54, Y:-74.77, Z:-9.26 [[ 9.99959503e-01 8.93680482e-03 -1.06134824e-03 4.63544262e+02] [-8.93936140e-03 9.99957093e-01 -2.42899521e-03 -7.47683503e+01] [ 1.03959524e-03 2.43838462e-03 9.99996487e-01 -9.25520075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.274012739 meters 0.6373587780693099 Centerline is valid? [False, False] Translation: X:463.54, Y:-74.76, Z:-9.25 [[ 9.99991108e-01 4.09502992e-03 -1.00770278e-03 4.63543363e+02] [-4.10262279e-03 9.99962309e-01 -7.65180030e-03 -7.47639776e+01] [ 9.76330451e-04 7.65586648e-03 9.99970217e-01 -9.25421650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters 0.640091070373379 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.77, Z:-9.24 [[ 9.99992913e-01 -7.30674784e-05 -3.76409795e-03 4.63556969e+02] [ 6.59885176e-05 9.99998229e-01 -1.88074252e-03 -7.47692425e+01] [ 3.76422871e-03 1.88048080e-03 9.99991147e-01 -9.24231593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.334012739 meters 0.6506768621603565 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.77, Z:-9.24 [[ 9.99992875e-01 2.47503312e-04 -3.76686148e-03 4.63557107e+02] [-2.52382454e-04 9.99999130e-01 -1.29486021e-03 -7.47721889e+01] [ 3.76653772e-03 1.29580167e-03 9.99992067e-01 -9.24241046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters 0.49841790922787854 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.77, Z:-9.25 [[ 9.99987788e-01 -1.46741937e-03 -4.71907265e-03 4.63564016e+02] [ 1.45642650e-03 9.99996220e-01 -2.33204952e-03 -7.47740812e+01] [ 4.72247691e-03 2.32514806e-03 9.99986146e-01 -9.24736261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.394012739 meters 0.5087226502581405 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99987979e-01 -1.28997003e-03 -4.73046286e-03 4.63564248e+02] [ 1.28037657e-03 9.99997119e-01 -2.03048526e-03 -7.47756231e+01] [ 4.73306850e-03 2.02440408e-03 9.99986750e-01 -9.24762031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.424012739 meters 0.6188634054034865 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988318e-01 -1.20946094e-03 -4.67980740e-03 4.63563890e+02] [ 1.20064510e-03 9.99997500e-01 -1.88615589e-03 -7.47764496e+01] [ 4.68207694e-03 1.88051507e-03 9.99987271e-01 -9.24733371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.454012739 meters 0.7401341361936297 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988449e-01 -1.20112900e-03 -4.65397695e-03 4.63563607e+02] [ 1.19244975e-03 9.99997546e-01 -1.86723573e-03 -7.47765911e+01] [ 4.65620832e-03 1.86166453e-03 9.99987427e-01 -9.24701839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters 0.6941911186880586 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988614e-01 -1.19004146e-03 -4.62112515e-03 4.63563457e+02] [ 1.18148406e-03 9.99997583e-01 -1.85408943e-03 -7.47766486e+01] [ 4.62332042e-03 1.84860854e-03 9.99987604e-01 -9.24699301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.514012739 meters 0.6398432737609081 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988686e-01 -1.15160873e-03 -4.61531773e-03 4.63563611e+02] [ 1.14338162e-03 9.99997754e-01 -1.78480972e-03 -7.47769921e+01] [ 4.61736277e-03 1.77951246e-03 9.99987757e-01 -9.24729556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters 0.7352623961123919 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988631e-01 -1.10206198e-03 -4.63929151e-03 4.63564010e+02] [ 1.09419551e-03 9.99997960e-01 -1.69781373e-03 -7.47774052e+01] [ 4.64115314e-03 1.69271813e-03 9.99987797e-01 -9.24782213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.574012739 meters 0.718016599896692 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988601e-01 -1.03835108e-03 -4.66034982e-03 4.63564384e+02] [ 1.03096700e-03 9.99998210e-01 -1.58656972e-03 -7.47779581e+01] [ 4.66198889e-03 1.58174697e-03 9.99987882e-01 -9.24832162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters 0.6897442542471621 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988662e-01 -1.00134637e-03 -4.65555251e-03 4.63564463e+02] [ 9.94270016e-04 9.99998347e-01 -1.52204803e-03 -7.47782942e+01] [ 4.65706891e-03 1.51740190e-03 9.99988005e-01 -9.24848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.634012739 meters 0.7186965067617926 Centerline is valid? [False, False] Translation: X:463.56, Y:-74.78, Z:-9.25 [[ 9.99988607e-01 -9.57295766e-04 -4.67640976e-03 4.63564842e+02] [ 9.50530773e-04 9.99998499e-01 -1.44862965e-03 -7.47786377e+01] [ 4.67778950e-03 1.44416807e-03 9.99988016e-01 -9.24899162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters 0.701410226121572 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.78, Z:-9.25 [[ 9.99988448e-01 -9.10392627e-04 -4.71973722e-03 4.63565356e+02] [ 9.03949582e-04 9.99998657e-01 -1.36708155e-03 -7.47790331e+01] [ 4.72097546e-03 1.36279935e-03 9.99987928e-01 -9.24959306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.694012739 meters 0.6965064467736625 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.78, Z:-9.25 [[ 9.99988048e-01 -7.95689770e-04 -4.82389189e-03 4.63566354e+02] [ 7.90073067e-04 9.99999008e-01 -1.16614480e-03 -7.47800073e+01] [ 4.82481499e-03 1.16231964e-03 9.99987685e-01 -9.25072305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters 0.6905113887417885 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.78, Z:-9.25 [[ 9.99988030e-01 -6.46756257e-04 -4.84980555e-03 4.63566696e+02] [ 6.42412204e-04 9.99999391e-01 -8.97221145e-04 -7.47814278e+01] [ 4.85038288e-03 8.94094831e-04 9.99987837e-01 -9.25114947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.754012739 meters 0.7047680248453376 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.78, Z:-9.25 [[ 9.99987922e-01 -4.39873633e-04 -4.89506636e-03 4.63567082e+02] [ 4.37326317e-04 9.99999768e-01 -5.21442469e-04 -7.47834285e+01] [ 4.89529460e-03 5.19295429e-04 9.99987883e-01 -9.25150929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters 0.7047680248453376 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.78, Z:-9.25 [[ 9.99987922e-01 -4.39873633e-04 -4.89506636e-03 4.63567082e+02] [ 4.37326317e-04 9.99999768e-01 -5.21442469e-04 -7.47834285e+01] [ 4.89529460e-03 5.19295429e-04 9.99987883e-01 -9.25150929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.814012739 meters 0.7190056082237297 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.79, Z:-9.25 [[ 9.99987688e-01 1.38122760e-04 -4.96036641e-03 4.63567932e+02] [-1.35149323e-04 9.99999811e-01 5.99769100e-04 -7.47892470e+01] [ 4.96044832e-03 -5.99091326e-04 9.99987517e-01 -9.25267166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters 0.7041958318629014 Centerline is valid? [False, False] Translation: X:463.57, Y:-74.79, Z:-9.25 [[ 9.99987323e-01 3.90383354e-04 -5.02015970e-03 4.63568578e+02] [-3.85043741e-04 9.99999359e-01 1.06455659e-03 -7.47916794e+01] [ 5.02057207e-03 -1.06261012e-03 9.99986832e-01 -9.25341365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8808.11 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%| | 0/16022 [00:00